Manual µCAN.4.ao-BOX
Contents
1. 4 Safety Regulations Assembly and Disassembly Terms of Use 4 Assembly and Disassembly 4 1 Safety Regulations This paragraph gives important information about the conditions of use It was written for personnel which is qualified and trained on electrical devices Qualified and trained personnel are persons who fulfill at least one of the following conditions You know the safety regulations for automated machines and you are familiar with the machine You are the operator for the machine and you have been trai ned on operation modes You are familiar with the operation of devices described in this manual You are responsible for setting into operation or service and you are trained on repairing automated machines In additi on you are trained in setting electrcal devices into operation to connect the earthing conductor and to label these devices The devices described in this manual can only be used for the mentioned applications Other devices used in conjuction have to meet the safety regulations and EMI requirements To ensure a trouble free and safe operation of the device please take care of proper transport appropriate storage proper assem bly as well as careful operation and maintenance UCAN 4 a0 BOX MicroControl Version 1 00 Page 11 Assembly and Disassembly General Information Assembly Power Supply 4 2 General Information The uCAN module should be assemb2. Life time factor The object at index 100Dh defines the life time factor The life time factor multiplied with the guard time gives the life time for the life guarding protocol Sub Index Datentyp Zugriff Bedeutung Defaultwert 0 Unsigned8 rw Life time factor 00h The value 001 disables the life guarding UCAN 4A a0 BOX MicroControl Version 1 00 Page 59 CANopen Protocol PDO Communication 8 6 PDO Communication The real time data transfer is performed by means of Process Data Objects PDO The transfer of PDOs is performed with no protocol overhead PDO communication is only possible when the device is in the network state Operational Page 60 MicroControl Version 1 00 4 PDO Communication CANopen Protocol 8 6 1 Transmission Modes Event Driven Message transmission is triggered by the occurrence of an object specific event For synchronous PDOs this is the expiration of the specified transmission period synchronised by the reception of the SYNC object For acyclically transmitted synchronous PDOs and asynchronous PDOs the triggering of a message transmis sion is a device specific event specified in the device profile Timer Driven Message transmission is either triggered by the occurrence of a device specific event or if a specified time has elapsed without occurrence of an event The uCAN 4 a0 BOX does not support the RTR base
3. 5 3 Power Supply The uCAN 4 a0 BOX module is designed for industrial applica tions By means of a DC DC converter the CAN bus of the mod ule is isolated from the supply voltage Also the analogoue outputs are isolated against the power supply The supply volt age must be within the range from 12 V DC to 60 V DC The in put is protected against confusing the poles Please make sure not to confuse the poles when connecting the power supply The positive supply is connected to the terminal V There are 2 terminals for the possitive supply which are in ternally connected The negative supply is connected to the terminal GND There are 2 terminals for the negative supply which are internally connect ed 666 Vi 666 0 2 12 GN 666 DV3 GN 2939 DV4 4 GN 2 CAN L CAN H 66 6o Baud BEER Modul ID 2 o 0 GND supply V supply Abb 7 Connection of power supply The maximum supply voltage for the electronic is 60V DC Hig her voltages will destroy the electronic Page 20 MicroControl Version 1 00 4 CAN Bus Installation 5 4 CAN Bus The two wires of the CAN bus are connected to the correspond ing terminals To reduce the influence of EMI please take care that the CAN bus cable does not cross the wires of the signal lines The CAN bus line with posit
4. The object is read only Only sub indices 0 to 4 are supported An access to other sub indices will lead to an error message The Vendor ID contains a unique value allocated to each manu facturer The numbers are managed by the CAN in Automation The Product Code identifies a specific product i e it is unique to the order code of devices from MicroControl The Revision Number consists of a major revision number up per word and a minor revision number lower word The major revision number identifies a specific CANopen behaviour The minor revision number identifies different versions with the same CANopen behaviour The Serial Number contains the serial number of a device UCAN 4 a0 BOX MicroControl Version 1 00 Page 47 CANopen Protocol Object Dictionary Index 1029h Error behaviour If a serious CANopen device failure is detected in NMT state Op erational the CANopen device will enter by default autonomous ly the NMT state Pre operational The object 1029h allows the device to enter alternatively the NMT state Stopped or remain in the current NMT state Sub Index Data Type Acc Name Defaul Value 0 Unsigned8 ro number of entries 01h 1 Unsigned8 rw Communication error 00h The following codes are possible Value Description 00h Change to NMT state Pre operational 01h No change of the NMT state 02h Change to NMT state Stopped Table 10 C
5. 61 8 6 2 RECEIVE PDO raue 62 8 6 3 Receive PDO Mapping 64 8 6 4 Synchronisation Message 65 8 7 Emergency Message vs aem see eee es 66 Technical Data dah ren 67 ENEE ME Bee 69 4 General Safety Regulations Safety Regulations 1 Safety Regulations Please read the following chapter in any case because it con tains important information about the secure handling of electrical devices 1 1 General Safety Regulations This paragraph gives important information about the conditions of use It was written for personnel which is qualified and trained on electrical devices Qualified and trained personnel are persons who fulfil at least one of the following conditions You know the safety regulations for automated machines and you are familiar with the machine You are operator for the machine and you have been trai ned on operation modes You are familiar with the operation of devices described in this manual You are responsible for setting into operation or service and you are trained on repairing automated machines In additi on you are trained in setting electrical devices into operation to connect the earthing conductor and to label these devices The devices described in this manual may only be used for the mentioned applications Other devices used in conjunction have to meet the safety regulations and EMI requirements To ensure a
6. Network Status LED 29 NMT see Network Management Node Guarding 59 Non fused earthed conductor 12 Object 1000h 42 1001h 42 1003h 43 1005h 65 1008h 44 1009h 44 100Ah 44 1010h 45 1011h 46 1014h 46 1017h 58 1018h 47 1029h 48 1400h 62 64 P PDO see Process Data Object Power supply 20 Pre defined Connection Set 34 Pre defined Error Field 43 Process Data Object 60 Transmission modes 61 H SYNC see Synchronisation Message Synchronisation Message 65 T Terminal CAN bus 21 GND 20 power supply 20 Termination 25 UCAN 4A a0 BOX 69 Index 70 UCAN 4 a0 BOX MicroControl reserves the right to modify this manual and or product described herein without further notice Nothing in this manual nor in any of the data sheets and other supporting doc umentation shall be interpreted as conveying an express or im plied warranty representation or guarantee regarding the suitability of the products for any particular purpose MicroCon trol does not assume any liability or obligation for damages ac tual or otherwise of any kind arising out of the application use of the products or manuals The products described in this manual are not designed intend ed or authorized for use as components in systems intended to support or sustain life or any other application in which failure of the product could create a situation where personal injury or death may occur No part of this documentat
7. AO Field Value The object at index 7330h holds the raw digital values of the DACs for each input Sub Index Data Type Acc Name Default Value 0 Unsigned8 ro Largest Sub Index 04h 1 Unsigned32 ro DAC Value 1 2 Unsigned32 ro DAC Value 2 3 Unsigned32 ro DAC Value 3 4 Unsigned32 ro DAC Value 4 The object allows read only access Only sub indices 0 to 4 are supported An access to other sub indices will lead to an error message Here the digital values for the DAC output can be read for each channel The digital values might not be always linear to the out put signal due to some internal scaling calibration parameters AO Output Fault Value The object at index 7341h holds the 16 bit values to be written to the analogue output in case of an error condition Each output channel can be set up individually Sub Index Data Type Acc Name Default Value 0 Unsigned8 ro Largest Sub Index 04h 1 Unsigned16 rw Output 1 0000 2 Unsigned16 rw Output 2 0000 3 Unsigned16 rw Output 3 0000 4 Unsigned16 rw Output 4 0000 The object allows read write access Only sub indices 0 to 4 are supported An access to other sub indices will lead to an error message The values can be written in the ranges according to object 7300 The output value will only be set in case of an error if the object 6340h AO Fault Mode is set up properly Page 54 MicroControl V
8. Receive 769 895 0x301 0x37F SDO Transmit 1409 1535 0x581 OxSFF SDO Receive 1537 1663 0x601 0x67F Heartbeat Boot up 1793 1919 0x701 Ox77F Table 6 Identifier values according to the Pre defined Connection Set The direction Transmit Receive has to be seen from the devic es point of view Page 34 MicroControl Version 1 00 4 Network Management CANopen Protocol 8 2 Network Management By means of the Network Management NMT messages the state of a CANopen node can be changed Stopped Pre Opera tional Operational Start Node Start Node Node module address 0 all modules By transmitting the Start Node command the CAN node will be set into Operational mode This means that the node can handle PDO communication Stop Node Stop Node Node module address 0 all modules By transmitting the Stop Node command the CAN node will be set into Stopped mode This means that the node can not handle any services except NMT commands Pre Operational Enter Pre Operational Node module address 0 all modules By transmitting the Enter Pre Operational command the CAN node will be set into Pre Operational mode In this state the node can not handle PDO messages 4 MicroControl Version 1 00 Page 35 CANopen Protocol Network Management Page 36 MicroControl Version 1 00 4 Network Man
9. 00 4 Object Dictionary CANopen Protocol 8 4 1 Communication Profile The module uCAN 4 a0 BOX supports the following objects from the communication profile DS 301 Index Name 1000h Device Profile 1001h Error Register 1002h Manufacturer Status 1003h Predefined Error Register 1005h COB ID SYNC Message 1008h Manufacturer Device Name 1009h Manufacturer Hardware Version 100Ah Manufacturer Software Version 100Ch Guard Time 100Dh Life Time Factor 1010h Store Parameters 1011h Restore Default Parameters 1014h COB ID Emergency Message 1016h Heartbeat Consumer Time 1017h Heartbeat Producer Time 1018h Identity Object 1029h Error Behaviour 1400h 1 Receive PDO Parameters 1600h 1 Receive PDO Mapping Parameters 1F80h NMT Startup Table 9 Supported objects of the CANopen communication profile UCAN 4A a0 BOX MicroControl Version 1 00 Page 41 CANopen Protocol Object Dictionary Device Profile Index 1000h The object at index 1000h describes the type of device and its functionality Sub Index Data Acc Name Default Value 0 Unsigned32 ro Device Profile 0008 0194h The object is read only Only sub index 0 is supported An access to other sub indices will lead to an error message Example read parameter module ID 2 index 1000h
10. 1016h defines the consumer heartbeat time Sub Index Data Type Acc Name Default Value 0 Unsigned8 ro Number of objects 2 1 Unsigned32 rw Heartbeat Cons 1 0000 0000h 2 Unsigned32 rw Heartbeat Cons 2 0000 0000h The uCAN 4 a0 BOX can monitor the presence of two other de vices heartbeat producer in the network If a heartbeat produc er message is not received within an adjustable period an emergency message with value 81 30h life guard error or heart beat error is transmitted The 32 bit value of the object defines heartbeat time and the producers node address Bit 31 24 Bit 23 16 Bit 15 0 reserved 00h producer node address heartbeat producer time If the heartbeat time is O or the node ID is O or greater than 127 the corresponding object entry is not used The heartbeat time is given in multiples of 1 millisecond Monitoring starts after recep tion of the first heartbeat UCAN 4 a0 BOX MicroControl Version 1 00 Page 57 CANopen Protocol Device monitoring Index 1017h Producer heartbeat time The object at index 1017h defines the cycle time of the heart beat The producer heartbeat time is 0 if it is not used The time is a multiple of Ims Sub Index Data Type Acc Name Default Value 0 Unsigned16 rw Producer Time 0000h The object allows read write access Only sub index 0 is support ed An access to othe
11. according to EN 61000 4 2 Electromagnetic fields 10 V m according to ENV 50204 Burst 5 kHz 2 kV according to EN 6100 4 4 Conducted RF Disturbance 10 V according to EN 61000 4 6 Electromagnetic emission according to EN 50081 2 UCAN 4A a0 BOX MicroControl Version 1 00 Seite 67 Technical Data Case Aluminium Dimensions 125 80 57 mm L B H Weight 540g Protection class IP66 Impedance min 500 Ohm Signal Span 10V 10V DC Protection Short Circuit protected Resolution 16 bit Accuracy 23 C 0 02 of Span End Impedance max 500 Ohm Signal Span 0 20 mA DC Protection Short Circuit protected Resolution 16 bit Accuracy 23 C 0 01 of Span End Seite 68 MicroControl Version 1 00 4 Index Index A Address range 22 selection 22 Autobaud 24 Baudrate automatic detection 24 bus length 8 setup 23 Bootup message 56 C Cable length 8 CAN cable 19 connection 21 CANopen DS 301 34 DS 404 49 Case dimensions 9 Communication Profile 40 D Device Profile 42 EMC 16 EMCY see Emergency message Emergency message 66 H Heartbeat Protocol 56 Consumer 57 Producer 58 Identity object 47 Manufacturer Device Name 44 Module Status LED 29 Network Management 35 Enter Pre Operational 35 Reset Node 37 Start Node 35 Stop Node 35 Network manager 7
12. an antenna for the electromagnetic field and couples the noise into the system Typical noise sources are spark plugs and electric motors Also a radio set might be a noise source To reduce the impact of noise sources please take care to follow the basic EMC rules Page 16 MicroControl Version 1 00 UCAN 4 a0 BOX EMC Considerations Installation 5 2 1 Grounding All inactive metal plates must be grounded with low impedance This method ensures that all elements of the system will have the same potential Please take care that the ground potential never carries a danger ous voltage The grounding must be connected to the safety earth The uCAN modules are grounded by the contact which is located under one of the PG screws see fig 5 Connection of earthed conductor Additional contacts can be mounted under the PG screws for shielding purposes on demand The ground potential may not be connected to a terminal inside the case UCAN 4 a0 BOX MicroControl Version 1 00 Page 17 Installation EMC Considerations 5 2 2 Shielding of cables If noise is coupled to a cable shield it is grounded to safety earth via the metal cover The cable shields have to be connected to the safety earth with low impedance Cable type For installation of the uCAN module you should only use cable with a shield that covers at least 80 of the core Do not use ca ble with a shield made from metallized foil because it can b
13. the access error to the object dictionary whereas an emergency indicates a severe hardware software failure The emergency identifier has the default value 128 module address The emergency message has the following structure 8 Error Code ER Manufacturer Specific Error Field The following emergency error codes are supported Error Code Description 0000h Error reset or no error 1000h generic error 5000h module hardware 6000h module software 8100h CAN controller entered warning state 8110h CAN controller overrun 8120h CAN controller entered error passive state 8130h heartbeat event node guarding event 8140h device recovered bus off 8150h identifier collision Tx ID reception Table 20 Emergency error codes Page 66 MicroControl Version 1 00 4 Technical Data 9 Technical Data Supply Voltage 12 60 V DC reverse current protected Power Consumption 1 5 W 60 mA 24 V DC without load Isolation Fieldbus Supply 500 Veff Isolation Analogue Output Block Supply 500 Veff Physical Interface Terminal Block 2 5 mm Baudrates 20 kBit s 1 MBit s Status on the bus active node Protocol CANopen DS 404 Physical Interface Terminal Block 2 5 mm Electromagnetic immunity according to EN 50082 2 Electrostatic discharge 8 kV air discharge 4 kV contact discharge
14. trouble free and safe operation of the device please take care of proper transport appropriate storage proper assem bly as well as careful operation and maintenance Please take care to observe the actual local safety regulations If devices are used in a fixed machine without a mains switch for all phases or fuses this equipment has to be installed The fixed machine must be connected to safety earth UCAN 4 a0 BOX MicroControl Version 1 00 Page 1 Safety Regulations Safety Notice GC If devices are supplied by mains please take care that the selected input voltage fits to the local mains 1 2 Safety Notice If devices are supplied by 24V DC this voltage has to be isolated from other voltages The cables for power supply signal lines and sensor lines must be installed in a way that the device function is not influenced by EMI Devices or machines for industrial automation must be construct ed in a manner that an unintentional operation is impossible By means of hardware and software safety precautions have to be taken in order to avoid undefined operation of an automated ma chine in case of a cable fraction If automated machines can cause damage of material or person nel in case of a malfunction the system designer has to take care for safety precautions Possible safety precautions might be a lim it switch or locking Seite 2 MicroControl Version 1 00 4 Overview Operation of
15. uCAN 4 ao BOX 2 Operation of 4 2 1 Overview The 4 is the right solution for the digital to ana logue output of standard signals via CAN Just sending the digital values over the CAN will generate a high precision analogue sig nal 10V or 0 20mA on the outputs Fig 1 Four channel analogue output module uCAN 4 ao BOX Use of a fieldbus for signal acquisition and signal generating has the advantage of reduced costs because expensive I O cards for a PLC or PC can be omitted In addition the design of an appli cation is more flexible and modifications are more easily to achieve 4 MicroControl Version 1 00 Page 3 Operation of uCAN 4 a0 BOX Overview space saving and compact cost effective and service friendly The development in automation towards decentralized intelli gent systems makes the communication between these compo nents quite important Modern automated systems require the possibility to integrate components from different manufacturers The solution for this problem is a common bus system All these requirements are fulfilled by the uCAN 4 a0 BOX mod ule The uCAN 4 ao BOX runs on the standard fieldbus CAN Typical applications for the uCAN 4 ao BOX are industrial auto mation transportation food industry and environmental tech nology The uCAN 4 a0 BOX operates with the CAN protocol CANopen according to D
16. value according to settings in Object 7341h Output Fault Value Table 14 Output signal type definitions Page 52 MicroControl Version 1 00 4 Object Dictionary CANopen Protocol Index 7300h AO Process Value The object at index 7300h holds the 16 bit values to set up the according output individually Sub Index Data Type Acc Name Default Value 0 Unsigned8 ro Largest Sub Index 04h 1 Unsigned16 rw Output 1 0000 2 Unsigned16 rw Output 2 0000 3 Unsigned16 rw Output 3 0000 4 Unsigned16 rw Output 4 0000 The object allows read write access Only sub indices 0 to 4 are supported An access to other sub indices will lead to an error message In the following tables there are shown some output values for the object 7300h and the according sinals which can be seen on the terminal block output Example values for the AO signal type Voltage Object 7300h Sub x Output Signal 00 00h 0 000 V 03 E8h 1 000 V EC 78h 5 000 V 27 10h 10 000V Table 15 Output signal examples Voltage Example values for the AO signal type Current Object 7300h Sub x Output Signal 00 00h 0 000 mA 03 E8h 1 000 mA 27 10h 10 000 mA 4E 20h 20 000 mA Table 16 Output signal examples Voltage UCAN 4 a0 BOX MicroControl Version 1 00 Page 53 CANopen Protocol Object Dictionary Index 7330h Index 7341h
17. will lead to an error message The following signal types are supported Each channel can be configured individually Value Function OBh Voltage Output 10 V 15h Current Output 0 20 mA Table 13 Output signal type definitions Example Set output type to current module address 1 channel 1 601h 8 22h 10h 63h Oth 15h 00h 00h 00h As response the 4 will send 581h 8 60h 10h 63h 01h 00h 00h 00h 00h UCAN 4A a0 BOX MicroControl Version 1 00 Page 51 CANopen Protocol Object Dictionary Analogue Output Fault Mode Index 6340h The object at index 6340h defines the analogue output signal in case of an error The signal can be defined in the AO Output Faulr Value Object 7341h An error can be a Heart Beat Timeout Node Guard Event or Bus Off situation Sub Index Data Type Acc Name Default Value 0 Unsigned8 ro Largest Sub Index 04h 1 Unsigned8 rw Signal Type Output 1 00 2 Unsigned8 rw Signal Type Output 2 00 3 Unsigned8 rw Signal Type Output 3 00 4 Unsigned8 rw Signal Type Output 4 00 The object allows read write access Only sub indices 0 to 4 are supported An access to other sub indices will lead to an error message The following fault types are supported Each channel can be configured individually Value Function 00h Actual output remains unchanged 01h Output will be changed to
18. 0000h The object supports the sub indices 0 to 10 An access to other sub indices will lead to an error message Writing to sub index 0 will clear the error history Example read parameter module ID 2 Index 1003h As response the module will return the error value at position 5 in the history UCAN 4A a0 BOX MicroControl Version 1 00 Page 43 CANopen Protocol Object Dictionary Index 1008 Index 1009h Index 100Ah Manufacturer Device Name The object at index 1008h contains the manufacturer device na me Sub Index Data Type Acc Name Default Value 0 Visible String ro Device name mCAN 4 ao BOX The object is read only Only sub index 0 is supported An access to other sub indices will lead to an error message Manufacturer Hardware Version The object at index 1009h contains the manufacturer hardware version Sub Index Data Type Acc Name Default Value 0 Visible String ro Hardware version The object is read only Only sub index 0 is supported An access to other sub indices will lead to an error message Manufaturer Software Version The object at index 100Ah contains the manufacturer software version Sub Index Data Type Acc Name Default Value 0 Visible String ro Software version The object is read only Only sub index 0 is supported An access to other sub indices will l
19. 602h 8 40h O0h 10h 00h OOh 00h ooh ooh As response the uCAN 4 ao BOX will send 582h 8 42 00 10h 00 91h 04h O8h 00 Byte 5 0194h 404 Device Profile Number Byte 7 Byte8 0008h 8 Additional Information Error Register Index 1001h The object at index 1001h is an error register for the device Sub Index Data Type Acc Name Default Value 0 Unsigned8 ro Error Register 00h The object is read only Only sub index 0 is supported An access to other sub indices will lead to an error message Example read parameter module ID 2 Index 1001h 602h 8 40h Olh 10h 00 00 00 OO 00 Page 42 MicroControl Version 1 00 UCAN 4 a0 BOX Object Dictionary CANopen Protocol Generic Error Communication Error Index 1003 As response the module will return its error register value The fol lowing error types are supported Bit 0 is set to 1 The generic error is set due to hardware faults Bit 4 is set to 1 The communication error is set due to faults on the CAN bus The object is read only Only sub index 0 is supported An access to other sub indices will lead to an error message Pre defined Error Field The object at index 1003h holds the errors that have occured on the device The object stores a maximum of 10 error conditions Sub Index Data Type Acc Name Default Value 0 Unsigned8 rw Number of errors 00h 1 10 Unsigned32 ro Standard error field 0000
20. MicroContrel Systemhaus fur Automatisierung UCAN 4 ao BOX Manual analogue output module Version 1 00 Keywords Document conventions For better handling of this manual the following icons and head lines are used This symbol marks a paragraph containing useful information about the device operation or giving hints on configuration This symbol marks a paragraph which explains possible danger This danger might cause a damage to the system or damage to personnel Read these sections carefully Important keywords appear in the border column to help the rea der when browsing through this document MicroControl GmbH amp Co KG Lindlaustra e 2c D 53842 Troisdorf Fon 49 2241 25 659 0 Fax 49 2241 25 659 11 http www microcontrol net Contents Safety Regulations au cR RE RE RES 1 1 1 General Safety Regulations 1 1 2 Sdieby e C102 26 op rerit Eph ERR 2 Operation of uCAN 4 ao BOX 3 2 1 DVEVIEW Jessen e bet SE e 3 Project Planning a aei dessen 5 3 1 Module Layout area HE EUR OR Ce 5 3 2 Operation Area A EE A EE See ee a RR 6 3 3 Maximum System Configuration 7 3 4 Case Dimensions acu rcs dee he Rc n saline ae 9 Assembly and 11 4 1 Safety 11 4 2 General Information 12 4 3 ccn 13 4 4 Disassembly m 14 Installation u
21. S 301 version 4 02 Other protocol stacks are available on request The uCAN 4 a0 BOX is designed for heavy duty applications The aluminium cast ensures protection class IP66 The compact space saving case gives the freedom to mount the module in many places The quick and easy integration of the 4 in your ap plication reduces the development effort Costs for material and personnel are reduced The easy installation makes maintenance and replacement quite simple Page 4 MicroControl Version 1 00 4 Module Layout Project Planning 3 Project Planning The chapter Project Planning contains information which are im portant for the system engineer when using the uCAN 4 a0 BOX These information include case dimensions and conditions of use 3 1 Module Layout The following figure shows the top view of the 4 PCB Use the figure to identify the terminal blocks LED s and DIP switches Vi GND2 I2 GNDV3 13 GNDV4 l4 GND Baud Modul ID 1 ERBEN 2 1 Baudrate switch 5 Terminal block for Power CAN 2 Module address ID 6 Switch for CANbus termination 3 Bi color LED for module status 7 Bi color LED for signal status 4 Bi color LED for network status 8 Terminal block for digital signals Fig 2 Top view of the uCAN 4 ao BOX 4 MicroControl Ver
22. SS 0 0 0 0 Autobaud 1 0 0 0 20 kBit s 0 1 0 0 50 kBit s 1 1 0 0 100 kBit s 0 0 1 0 125 kBit s 1 0 1 0 250 Kbit s 0 1 1 0 500 kBit s 1 1 1 0 800 kBit s 0 0 0 1 1 MBit s 1 0 0 1 Tabelle 3 Einstellung der Baudrate a LSS will be used only if all Adress Switches are in the OFF Position and the Baudrate Switches are in the OFF Position UCAN 4A a0 BOX MicroControl Version 1 00 Page 23 Installation Baudrate The baudrate 10 kBit s is not supported with the 4 BOX module In the position Autobaud an automatic detection of the baudrate on the CAN bus is started Page 24 MicroControl Version 1 00 4 Termination Installation 5 7 Termination The modules at both ends in the CAN network have to be termi nated with a resistor of 120 ohms That means the modules at the end of the bus line are not reflecting back power and the communication can not be disturbed For termination of the uCAN 4 a0 BOX the Term switch must be turned from position Term Off to position Term On Please make sure that only the devices at both ends of a CAN bus are terminated In un powered condition the correct termination value is 60 Ohm between the lines CAN H and CAN L Termination off Vi 0 2 12 GN DV4 4 GN GN Baud TEE Modul ID GEET Abb 11 Termin
23. agement CANopen Protocol Reset Node Reset Node Node module address 0 all modules By transmitting the Reset Node command the CAN node will issue a reset operation After reset the node will send a Boot up message refer to Heartbeat protocol on page 56 and enter the Pre operational state automatically UCAN 4 a0 BOX MicroControl Version 1 00 Page 37 CANopen Protocol SDO Communication 8 3 SDO Communication All parameters of the devices organized in an object dictionary are accessed via the SDO service Service Data Object A SDO message has the following contents 8 CMD Index Sub Data In dex For calculation of the SDO message identifier please refer to In troduction on page 34 The Command Byte CMD is defined according to the follo wing table SDO client SDO server Function CANopen ma CANopen slave ster 22h 60h write size not specified 23h 60h write size 4 bytes 27h 60h write size 3 bytes 2Bh 60h write size 2 bytes Ha 60h write size 1 byte 40h 42h read size not specified 40h KE read size 4 bytes 40h 47h read size 3 bytes 40h 4Bh read size 2 bytes 40h 4Fh read size 1 byte Table 7 Command byte for f r SDO Expedited Botschaft The byte order for the fields Index and Data is least significant byte first Intel format The minimum time delay between two succeeding SDO
24. allows read only access Only sub indices 0 to 4 are supported An access to other sub indices will lead to an error message Page 64 MicroControl Version 1 00 4 PDO Communication CANopen Protocol Index 1005h 8 6 4 Synchronisation Message The object at index 1005h defines the identifier for the SYNC message On reception of a message with this identifier the re ceipt processing of PDOs is triggered refer to Receive PDO on page 62 Sub Index Data Type Acc Name Default Value 0 Unsigned32 rw COB ID SYNC 80h Only sub index 0 is supported An access to other sub indices will lead to an error message Example Set SYNC ID to 10 module address 1 601h 8 22h 05h 10h 00h 00h 00h 00h As answer you will get the following message The default identifier is 80h in order to ensure a high priority of the SYNC message The SYNC identifier is not saved inside the non volatile memory autonomously It is necessary to store this parameter via object 1010h refer to Store Parameters on page 45 UCAN 4 a0 BOX MicroControl Version 1 00 Page 65 CANopen Protocol Emergency Message 8 7 Emergency Message Emergency objects are triggered by the occurrence of a device internal error situation and are transmitted from an emergency producer on the device An emergency is different from a SDO error message The last one only holds
25. ation of CAN bus Figure 10 shows the termination of the module in off position which is the factory default 4 MicroControl Version 1 00 Page 25 Installation Termination Page 26 MicroControl Version 1 00 4 Function principle Analogue Output Signals 6 Analogue Output Signals The uCAN 4 a0 BOX has four analogue output signals The ter minals are labeled with V1 11 GND to V4 I4 GND from left to right on the PCB Please keep the basics of EMI rules in mind when planning the wiring Only proper wiring and EMI precautions make sure that the module runs without trouble 6 1 Function principle Configuration of each terminal voltage or current output is done via configuration over the CANbus gt Voltage 16 Bit D A e Current Abb 12 Schematic of the analogue output terminal The internal driver architecture consist of an 16 bit digital to an alogue converter By means of additional OPVs the signals are then transformed into the voltage or current output signals Parameter Value Driver Impedance Vout 10 10 V min 500 Ohm lout 0 20 mA max 500 Ohm Tabelle 4 Electrical Parameters UCAN 4A a0 BOX MicroControl Version 1 00 Page 27 Analogue Output Signals Pin Assignment 6 2 Pin Assignment The terminal block of the uCAN 4 a0 BOX is designed to connect 4 analogue output signal lines The termina
26. d PDO trans mission types FCh 2524 and FDh 2534 Bit 30 inside the COB ID field of the PDO communication parameter record is always set to 1 UCAN 4 a0 BOX MicroControl Version 1 00 Page 61 CANopen Protocol PDO Communication 8 6 2 Receive PDO Index 1400h The object at index 1400h defines communication parameters for the Receive PDO Sub Index Data Type Acc Name Default Value 0 Unsigned8 ro Largest Sub Index 2 1 Unsigned32 rw COB ID for PDO 200h Node 2 Unsigned8 rw Transmission Type FFh Only sub indices 0 to 2 are supported An access to other sub indices will lead to an error message COB ID for PDO Sub Index 1 defined the identifier for the Receive PDO The 32 bit value has the following structure Bit 31 Bit 30 Bit 29 Bit 28 0 PDO valid RTR allowed Frame type Identifier 0 valid 0 yes 0 11 Bit 1 not valid 1 noRTR 1 29 Bit Tabelle 18 Definition of COB ID for PDO In order to enable the PDO the most significant bit Bit 31 must be set to 0 In order to disable the PDO the most significant bit must be set to 1 In the default setting the PDO is active Bit 31 0 Transmission Type The transmission type defines the transmission character of the PDO Transmission Type Description 00h acyclic synchronous O1h FOh cyclic synchronous 1 240 dez Tabelle 19 Einstellung des Transmission Type The Receive PDO
27. e damaged very easy and has not a good shielding Cable connection In general the cable shield should be grounded on both ends The cable shield should only be grounded on one end if an atten uation is necessary in the low frequency range The cable shield can not be grounded on both ends for temperature sensors The grounding on one end of the cable is necessary if there is no contact to the safety earth possible analogue signals with only a few mV or mA are transmitted e g temperature sensors The shield of the CAN bus cable may not lead inside the housing of the uCAN 4 ao BOX Never connect the shield to the terminals inside the device Page 18 MicroControl Version 1 00 4 EMC Considerations Installation 5 2 3 CAN Cable The CAN cable must meet the requirements of ISO11898 The cable must meet the following specifications Parameter Value Impedance 108 132 Ohm nom 120 Ohm Specific Resistance 70 mOhm Meter Specific Signal Delay 5 ns Meter Tabelle 2 Specifications of CAN bus cable The CAN bus cable is connected to uCAN 4 ao BOX module via terminals inside the case For the pinning of the terminals re fer to CAN Bus on page 21 of this manual Do not confuse the signal lines of the CAN bus otherwise com munication between the modules is impossible 4 MicroControl Version 1 00 Page 19 Installation Power Supply
28. ead to an error message Page 44 MicroControl Version 1 00 4 Object Dictionary CANopen Protocol Index 1010h Store Parameters The object at index 1010h supports the saving of parameters in anon volatile memory Sub Index Data Type Acc Name Default Value 0 Unsigned8 ro Number of objects 04h 1 Unsigned32 rw Save all parameters 0000 0001h 2 Unsigned32 rw Save communication 0000 0001h 3 Unsigned32 rw Save application 0000 0001h 4 Unsigned32 rw Save manufacturer 0000 0001h In order to avoid storage of parameters by mistake storage is only executed when a specific signature is written to the appro priate sub index The signature is save Example save all parameters module ID 2 index 1010h 602h 8 23h 10h 10h Oth 73h 61h 76h 65h As response the uCAN 4 ao BOX will send 582h 8 60h 10h 10h 01h 00h 00h 00h 00h Parameters are stored in a non volatile memory after reception of the store request message UCAN 4A a0 BOX MicroControl Version 1 00 Page 45 CANopen Protocol Object Dictionary Index 1011h Index 1014h Restore Default Parameters The object at index 1011h supports the restore operation of de fault parameters Sub Index Data Type Acc Name Default Value 0 Unsigned8 ro Number of objects 04h 1 Unsigned32 rw Restore all param 0000 0001h 2 Unsigned32 rw Restore commun 0000 0001
29. ease make sure to leave some area for the PG screws For a quick identification of the modules during operation you may use an adhesive label tag on top of the module Please write down the node ID that is set for the module Please make sure that the first node and the last node in the CAN network are terminated with a resistor refer to Termination on page 25 4 MicroControl Version 1 00 Page 13 Assembly and Disassembly Disassembly 4 4 Disassembly Please make sure to disconnect the power supply from the device first Open the cover of the module and remove all signal lines first Next remove the cables for CAN bus and power supply from the terminals For a safe transport remove the PG screws and close the cover again Page 14 MicroControl Version 1 00 UCAN 4 a0 BOX Potential Basics Installation 5 Installation 5 1 Potential Basics The potential environment of a system that is realized with a UCAN 4 a0 BOX module is characterized by following features The CAN bus potential is isolated from the power supply The electronic of the uCAN 4 a0 BOX module is not isolated from the power supply All O signal lines are not isolated among each other All I O signals are optically isolated from the CAN bus poten tial UCAN 4 a0 BOX MicroControl Version 1 00 Page 15 Installation EMC Considerations 5 2 EMC Considerations EMC Electromagnetic Co
30. ersion 1 00 UCAN 4 a0 BOX Device monitoring CANopen Protocol 8 5 Device monitoring For device monitoring CANopen provides two mechanisms pro tocols heartbeat node guarding It is recommended by the CAN in Automation not to use node guarding for device monitoring AN802 V1 0 CANopen statement on the use of RTR messages UCAN 4 a0 BOX MicroControl Version 1 00 Page 55 CANopen Protocol Device monitoring heartbeat ID 8 5 1 Heartbeat protocol The heartbeat protocol is used in order to survey other CANopen nodes in the network and retrieve their network state The identifier for the heartbeat protocol is set to 700h module address The identifier can not be changed The message repeti tion time called heartbeat producer time is configured with object 1017h The heartbeat protocol transmits one byte of data which repre sents the network state Network State Code dec Code hex Bootup 0 00h Stopped 4 04h Operational 5 05h Pre Operational 127 7Fh Table 17 Status Information for Heartbeat After Power on Reset the module will send the Boot up messa ge to signal that it finished the initialization sequence Example Power on of module with address 2 702h 1 00h Page 56 MicroControl Version 1 00 4 Device monitoring CANopen Protocol Index 1016h Consumer heartbeat time The object at index
31. h 3 Unsigned32 rw Restore application 0000 0001h 4 Unsigned32 rw Restore manufacturer 0000 0001h In order to avoid the restoring of default parameters by mistake restoring is only executed when a specific signature is written to the appropriate sub index The signature is load Example restore all parameters module ID 2 Index 1011h 602h 8 23h 11h 10h Oth 6Ch 6Fh 61h 64h As response the 4 will send 582h 8 60h 11h 10h 01h 00h 00h 00h 00h COB ID for emergency message The object at index 1014h defines the identifier value for the emergency message Sub Index Data Type Acc Name Default Value 0 Unsigned32 rw COB ID EMCY 80h Node ID Only sub index 0 is supported An access to other sub indices will lead to an error message The default value for the identifier is 80h selected node ID Page 46 MicroControl Version 1 00 4 Object Dictionary CANopen Protocol Index 1018h Vendor ID Product Code Revision Number Serial Number Identity Object The object at index 1018h holds the identity object LSS address of device Sub Index Data Type Acc Name Default Value 0 Unsigned8 ro Largest Sub Index 4 1 Unsigned32 ro Vendor ID 0000 000Eh 2 Unsigned32 ro Product Code 0013 A745h 3 Unsigned32 ro Revision Number 0298 00xxh 4 Unsigned32 ro Serial Number
32. ides Ch en Eeer gh eg geg Ke 15 5 1 Potential Basics ou opos ad na hh PR 15 5 2 EMC Considerations use e e etes 16 5 2 1 GIGUNGING sauren 17 5 2 2 Shielding of 18 5 2 3 EE ee Aere Ne EN 19 5 3 Power 20 5 4 CAN BUS mates Beso aes 21 5 5 Address Selection wy idan Pac 22 5 6 sn aduer X Red o ROC RO eS 23 5 7 Termination Pm 25 Analogue Output Signals 27 6 1 Function principle 0000 a ee 27 6 2 PIN Assignment iue am pac he e dO eee 28 Diagnosis u s a E YX a Y EEN 29 7 1 Network 5 30 7 1 1 Representation of NMT state machine 30 UCAN 4 a0 BOX Contents 9 7 1 2 Representation of CAN controller state 31 7 1 3 Combined representation 31 7 2 Module Status Hera 32 CANopen Protocol 24 46 55 ay eR RU RESTER ES 33 8 1 D 34 8 2 Network Management 35 8 3 SDO Communication 38 8 3 1 SDO Abort Protocol 39 8 4 Object Dictionary i3 eu e o oes 40 8 4 1 Communication Profile 41 8 4 2 Device sous dum tir tte ern 49 8 5 Device Monitoring veo proe tmd 55 8 5 1 Heartbeat 56 8 5 2 Node guarding A RENE rr hn 59 8 6 PDO Communication 60 8 6 1 Transmission Modes
33. iguration The maximum cable length depends on the selected baudrate The following table shows the maximum cable length recom mended by the CAN in Automation http www can cia org These distances can be realized with the 4 Baudrate Cable length 1000 kBit s 25m 800 kBit s 50m 500 kBit s 100 m 250 kBit s 250m 125 kBit s 500 m 100 kBit s 650 m 50 kBit s 1000 m 20 kBit s 2500 m Tabelle 1 Dependence of baudrate from cable length It is recommended by the CAN in Automation not to use the baudrate 100 kBit s in new CANopen systems Page 8 MicroControl Version 1 00 4 Case Dimensions Project Planning 3 4 Case Dimensions The case dimensions of the module are given in the following drawing The high protection class IP66 of the module allows an assembly at places with a harsh environment It is possible to mount the module inside a switching cabinet as well as direct on a machine Please check the technical data section for detailled information about maximum environment conditions 125mm e 2 9 MicroContrel Systemhaus f r Automatisierung 80mm e o CAN RR e Y V A 20mm E E ff SS 20mm Fig 4 Case dimensions UCAN 4 a0 BOX MicroControl Version 1 00 Page 9 Project Planning Case Dimensions Page 10 MicroControl Version 1 00
34. ion may be copied transmitted or stored in a retrieval system or reproduced in any way including but not limited to photography magnetic optic or other re cording means without prior written permission from Micro Control GmbH amp Co KG 2009 MicroControl GmbH amp Co KG Troisdorf UCAN 4 a0 BOX MicroControl Version 1 00 Page 71 99 MicroContrel Systemhaus f r Automatisierung MicroControl GmbH amp Co KG Lindlaustra e 2c D 53842 Troisdorf Fon 49 2241 25 659 0 Fax 49 2241 25 659 11 http www microcontrol net
35. ive potential must be connected to the terminal CAN_H The CAN bus line with negative potential must be connected to the terminal CAN_L Vi Off On D 2 12 GNDV3 13 GNDV4 14 GN Baud TEE Modul ID Abb 8 Connection of CAN bus Confusing the poles of the CAN bus lines will lead to a commu nication error on the complete network The shield of the CAN bus cable may not lead into the housing and may not be connec ted to a terminal inside the housing Cable shields have to be connected to the terminals outside the housing If you use a Sub D connector with 9 pins according to CiA stan dard the conductor CAN_H is connected to pin 7 and the con ductor CAN_L is connected to pin 2 UCAN 4A a0 BOX MicroControl Version 1 00 Page 21 Installation Address Selection 5 5 Address Selection Address selection of the uCAN 4 a0 BOX module is done via an 8 pin DIP switch marked Modul ID which is located at the lo wer left corner ofthe PCB Selection of the address may be done with a small screw driver Modul ID un nuum Abb 9 Setup of module address here address 9 is shown The 8 pin DIP switch sets the binary code for the module ad dress The first pin of the switch marked with 1 represents bit of a byte The last pin of the switch marked with 8 represen
36. l blocks marked with V1 to V4 will source an output voltage 10V 10V and the terminal blocks marked with IT to I4 will source an output current 0 20mA Each output has a common ground signal which can be connected to the GND terminal block Vi GND2 12 GNDV3 13 GNDV4 l4 GN Baud Modul ID Abb 13 Terminals for signal lines Pin Function V1 Output 1 voltage n Output 1 current GND Common GND of output 1 V4 Output 4 voltage 14 Output 4 current GND Common GND of output 4 Tabelle 5 Pin assignment Make sure to connect signal lines only in powered off state in or der to prevent a damage of the electronic Page 28 MicroControl Version 1 00 4 Diagnosis 7 Diagnosis All modules of the uCAN family have LEDs to display the opera ting state and to signalize an error state The uCAN 4 ao BOX has two bi color LEDs green red labeled with NS Network Status and MS Module Status on the PCB 999666 299 Vi n G 0 2 12 GNDV3 GN Baud Modul ID NENNEN BERBEEEEE 2 Abb 14 Position of LEDs on the module condition DV4 4 GN D On the case cover the LEDs are marked as ON CAN for the net work status and ERROR for the module status In normal operation all LEDs should have a g
37. led on an at least 2 mm thick mounting plate or direct in the plant The module is fixed with 2 screws of type M4 which are plugged into the bottom part of the case You find an assembly template in the appendix of this manual The uCAN module requires a two core cable for power supply The cable is inserted from the right side into the case where the terminals for power supply are located However it makes sense to use a four core cable in order to run the CAN bus over the same cable The non fused earthed conductor is connected at the terminal outside the case refer to Fig 5 Connection of earthed conduc tor The non fused earthed conductor may not lead inside the case because of EMI The non fused earthed conductor may not lead inside the uCAN case and may not be connected to a terminal inside the case Fig 5 Connection of earthed conductor Operation of the uCAN module is only permitted with closed case Page 12 MicroControl Version 1 00 UCAN 4 a0 BOX Assembly Assembly and Disassembly 4 3 Assembly Assembly is performed with help of the template attached to this manual With the template all necessary bore holes for screws of type M4 can easily be drilled If the module is directly fixed to the machine make sure to take the proper drill size for tapping 52mm 113mm gt Fig 6 Assembly pattern for the module When assembling several modules at the same location pl
38. messa ges must be greater than 20ms Faster communication might lead to an unpredictible device status Page 38 MicroControl Version 1 00 uCAN 4 ao BOX SDO Communication CANopen Protocol 8 3 1 SDO Abort Protocol The SDO abort protocol is used to signalize a fault when acces sing an object This SDO abort protocol has the following format 8 80h Index Sub Abort Code In dex The identifier as well as the index and sub index correspond to the SDO request The abort code may have the following values Abort code Description 0504 0001h Client Server command specifier not valid unknown 0601 0000h Unsupported access to an object 0601 0001h Attempt to read a write only object 0601 0002h Attempt to write a read only object 0602 0000h Object does not exist in the object dictionary 0609 0011h Sub index does not exist Table 8 SDO abort codes UCAN 4 a0 BOX MicroControl Version 1 00 Page 39 CANopen Protocol Object Dictionary EDS 8 4 Object Dictionary This chapter describes the implemented objects for the module 4 For additional information please refer to the CANopen communication profile DS 301 and the device profile DS 404 The implemented objects of the module uCAN 4 a0 BOX are list ed in an Electronic Data Sheet EDS The EDS file can be down loaded from the MicroControl homepage Page 40 MicroControl Version 1
39. mpatibility is the ability of a device to work in a given electromagnetic environment without influen cing this environment in a not admissible way All uCAN modules fit these requirements and are tested for elec tromagnetic compatibility in a EMC laboratory However a EMC plan should be done for the system in order to exclude potential noise sources Noise signals can couple in different ways Depending on that way guided wave propagation or non guided wave propagati on and the distance to the noise source the kinds of coupling are differentiated DC Coupling If two electronic circuits use the same conductor we speak of a DC coupling Noise sources are in that case starting motors fre quency converters switching devices in general and different potentials of cases or of the common power supply Inductance Coupling An inductance coupling is given between two current carrying conductors The current in a conductor will cause a magnetic field which induces a voltage in the second conductor trans former principle Typical noise sources are transformer power cables and RF signal cables Capacitive Coupling A capacitive coupling is given between two conductors which have a different potential principle of a capacitor Noise sources are in that case parallel running conductors static discharge and contactors RF Coupling A RF coupling is given when electromagnetic fields hit a conduc tor This conductor works like
40. odes for error behaviour setup The device detects the following communication errors Bus off conditions of the CAN interface Life guarding event with the state occurred and the reason time out Heartbeat event with state occurred and the reason time out Page 48 MicroControl Version 1 00 4 Object Dictionary CANopen Protocol 8 4 2 Device Profile This section describes all device profile specific objects DS 404 of the 4 Index Name 6301h AO Physical Unit 6302h AO Decimal Digits 6310h AO Output Type 6340h AO Fault Mode 7300h Output Process Value 7330h Output Field Value 7341h Output Fault Value Table 11 Supported objects of the device profile DS 404 4 MicroControl Version 1 00 Page 49 CANopen Protocol Object Dictionary AO Physical Unit Index 6301h The object at index 6301h defines the physical unit ofthe process value Sub Index Data Type Acc Name Default Value 0 Unsigned8 ro Largest Sub Index 04h 1 Unsigned16 ro Physical Unit Out 1 000Bh 2 Unsigned16 ro Physical Unit Out 2 000Bh 3 Unsigned16 ro Physical Unit Out 3 000Bh 4 Unsigned16 ro Physical Unit Out 4 000Bh The object allows read only access Only sub indices 0 to 4 are supported An access to other sub indices will lead to an error message The following signal types are sup
41. ported Each channel can be configured individually Value Function OBh Volt 15h mA Table 12 Output signal type definitions AO Decimal Digits Index 6302h The object at index 6302h defines the number of digits after the comma fixed point representation Sub Index Data Type Acc Name Default Value 0 Unsigned8 ro Largest Sub Index 04h 1 Unsigned8 ro Decimal Digits Out 1 03h 2 Unsigned8 ro Decimal Digits Out 2 03h 3 Unsigned8 ro Decimal Digits Out 3 03h 4 Unsigned8 ro Decimal Digits Out 3 03h The object allows read only access Only sub indices 0 to 4 are supported An access to other sub indices will lead to an error message The number of decimal digits after the comma is al ways 3 i e the process value has a resolution of 0 001 V or mA Page 50 MicroControl Version 1 00 4 Object Dictionary CANopen Protocol Index 6310h Analogue Output Signal Type The object at index 6310h defines the analogue output signal ty pe Sub Index Data Type Acc Name Default Value 0 Unsigned8 ro Largest Sub Index 04h 1 Unsigned16 rw Signal Type Output 1 000Bh 2 Unsigned16 rw Signal Type Output 2 000Bh 3 Unsigned16 rw Signal Type Output 3 000Bh 4 Unsigned16 rw Signal Type Output 4 000Bh The object allows read write access Only sub indices 0 to 4 are supported An access to other sub indices
42. processes a message with 8 byte process data The contents is copied into object 7300h refer to Index 7300h on page 53 and modifies the digital outputs Page 62 MicroControl Version 1 00 4 PDO Communication CANopen Protocol The Receive PDO has to be send with 8 Byte of data The con tents of that 8 Byte data field is copied to the object 7300 with 2 Byte each for the output channels So by receiving the Rx PDO the output values will change on receiving new different data Example Receiving an Rx PDO Default PDO ID Modul address 1 201h 8 00h 00h 00h 00h 00h 00h 00h 00h Index 7300h 01h 00 00 Output 1 02h 00 00 Output 2 03h 00 00 Output 3 04h 00 00 Output 4 Example Set up 5V on channel 2 Modul ID 1 201h 8 00h 00h 4Ch 1Dh 00h 00h 00h 00h A communication with PDOs is only possible in Operational Mode UCAN 4 a0 BOX MicroControl Version 1 00 Page 63 CANopen Protocol PDO Communication 8 6 3 Receive PDO Mapping Index 1600h The object at index 1600h defines the mapping parameters for the Receive PDO Sub Index Data Type Acc Name Default Value 0 Unsigned8 ro Largest Sub Index 4 1 Unsigned32 ro Process Value Out 1 73000110 2 Unsigned32 ro Process Value Out 2 73000210 3 Unsigned32 ro Process Value Out 3 73000310 4 Unsigned32 ro Process Value Out 4 73000410 The object
43. r sub indices will lead to an error message Example Producer time 1000 ms module address 1 601h 8 22h 17h 10h E8h 03h 00h 00h 00h The answer you will receive from the module is 581h 8 60h 17h 10h 00h 00h 00h 00h 00h The heartbeat producer time is not saved inside the non volatile memory autonomously It is necessary to store this parameter via object 1010h refer to Store Parameters on page 45 Page 58 MicroControl Version 1 00 4 Device monitoring CANopen Protocol Index 100Ch Index 100Dh 8 5 2 Node guarding The NMT master polls each NMT slave at regular time intervals This time interval is called the guard time The response of the NMT slave contains the NMT state of that NMT slave The node lifetime is given by the guard time multiplied by the lifetime fac tor If the NMT slave has not been polled during its lifetime a re mote node error is indicated through the NMT service life guarding event Upon life guard error the uCAN 4 a0 BOX will transmit an emer gency message with emergency code 8130h Guard time The object at index 100Ch defines the guard time The life time factor multiplied with the guard time gives the life time for the life guarding protocol Sub Index Data Type Acc Name Default Value 0 Unsigned16 rw Guard time 0000h The value is given in multiple of 1 millisecond The value of 0000h disables the life guarding
44. reen or orange color A red steady light or a red blinking of a LED indicates an error UCAN 4A a0 BOX MicroControl Version 1 00 Page 29 Diagnosis Network Status 7 1 Network Status The bi color LED labeled with NS on the case cover marked as ON CAN shows the status of the CANopen state machine as well as the error state of the CAN controller 7 1 1 Representation of NMT state machine The green light of the NS LED represents the status of the CAN open network management state machine Initialisation Autobaud detection NMT state device is stopped E NMT state device is pre operational NMT statue device is operational Page 30 MicroControl Version 1 00 4 Network Status Diagnosis 7 1 2 Representation of CAN controller state The red light of the NS LED represents the error state of the CAN controller The red light is off during error free condition status controller in warning state CAN status controller in error passive state CAN status controller in bus off state 7 1 3 Combined representation The combination of the green light and the red light of the NS LED allows the representation of both the NMT status and the CAN controller status The following pictures give an example of combined representation Device in pre operational state CAN controller in warning state Device in operational state con
45. sion 1 00 Page 5 Project Planning Operation Area 3 2 Operation Area The uCAN 4 a0 BOX is a robust field module for the output of analogue standard signals such as 10V or 0 4 20mA The output configuration is done via software communication over the CANbus The signals are output on the according terminal block with a high precision of 16bit resolution The module has a power supply range of 12V 60V DC The uCAN 4 a0 BOX needs a four core cable for connection of power supply and CAN bus in order to reduce the amount of ca bling Special CAN bus cables are available as accessories Page 6 MicroControl Version 1 00 4 Maximum System Configuration Project Planning 3 3 Maximum System Configuration For an operational system at least one network manager must be connected to the bus This network manager might be a PLC or PC equipped with a CAN card Every uCAN 4 a0 BOX module is an active node A CANopen network manager can access logically up to 127 CANopen slaves refer to Fig 3 Maximum system configura tion Every module gets a unique address which is set up via a DIP switch The CANbus bus is connected through the modules The last module in the network must be terminated by a termination switch refer to Termination on page 25 Fig 3 Maximum system configuration UCAN 4 a0 BOX MicroControl Version 1 00 Page 7 Project Planning Maximum System Conf
46. troller in error passive state UCAN A a0 BOX MicroControl Version 1 00 Page 31 Diagnosis Module Status 7 2 Module Status The bi color LED labeled with MS on the case cover marked as ERROR shows the status of the device hardware Module status function power OK Module status wrong baudrate setup Module status wrong address setup Page 32 MicroControl Version 1 00 4 CANopen Protocol 8 CANopen Protocol This chapter provides detailed information on how to connect the modules of the uCAN series to a CANopen manager A CA Nopen manager might be a PLC a PC with a CAN interface or any other CAN device with NMT functionality For more information about CANopen manager please refer to the supplied manuals of your CANopen master device This documentation provides the actual implemented functions and services of the uCAN 4 a0 BOX UCAN 4 a0 BOX MicroControl Version 1 00 Page 33 CANopen Protocol Introduction 8 1 Introduction The identifiers of the 4 are set up according to the Pre defined Connection Set which is described in detail in the CANopen communication profile DS 301 The following table gives an overview of the supported services Object COB ID dec COB ID hex Network Management 0 0x000 SYNC 128 0x080 EMERGENCY 129 255 0x081 OxOFF PDO 1 Receive 513 639 0x201 Ox27F PDO 2
47. ts bit 7 of a byte Valid module addresses are within the range from 1 127 resp 01h 7Fh Each node within a CANopen network must have unique module address node ID Two nodes with the same node ID are not allowed The selected address is read during initialization of the module after Power on or Reset The module runs with the selected node ID until a new node ID is selected and a Reset is performed via the CAN bus or the power supply is switched off Switch 8 must always be in OFF position Do not put all switches in the OFF position In these configurations the module will not start to communicate on the bus Page 22 MicroControl Version 1 00 UCAN 4 a0 BOX Baudrate Installation 5 6 Baudrate Baudrate selection of the uCAN 4 a0 BOX module is done via a 4 pin DIP switch marked Baud which is located at the lower left corner of the PCB Selection of the baudrate may be done with a small screw driver Baud ef OFF Abb 10 Setup of baudrate drawing shows 1 MBit s The 4 pin DIP switch sets the binary code for the module baudra te The first pin of the switch marked with 1 represents bit 0 of a byte The last pin of the switch marked with 4 represents bit 3 of a byte The supported baudrates of the uCAN 4 ao BOX module are gi ven in the following table The values are recommended by the CiA Baudrate DIP switch position 1 2 3 4 Autobaud L
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