User manual
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1. 02h Transmission Type 01h Diginput8_3 6000h 03h Diginput8_4 6000h 04h Note The Transmission Type is configurable Oth is the factory set value present in the modules when come from the factory FFh is the default value Hardware Set up Hexadecimal rotary switches service and I O LEDs Service Status Meaning Negative screw driver LEDs Sie ON Operational RUN Blinking _ Pre operational CANopen Single flash STOPPED OFF Device in RESET state ON BUS OFF Single flash Warning limit reached ERR Double flash Error Control Event e Triple flash_ Sync Error CANopen OFF No error Device working ON DIAG Error ST Blinking _ INIT and DIAG running Single flash Baud rate setting OFF Module OK and ready PWR ON Module Power Supply ON OFF Module Power Supply OFF VO LEDs Status Meaning IN1 32 ON Input active e OFF Input inactive Bit Rate and Node ID configuration Bit rate Node ID aai Baud rate Bus length Hi Lo Valid ID Node kbps m switch switch 20 2500 DE oth address 1 50 1000 EAE 02h address 2 100 500 V 4 125 500 A 7Fh address 127D 250 250 6 500 100 800 50 Notes Default value 3 1000 25 Procedure for Node ID and Bit Rate configuration The HI and LO hexadecimal rotary swithches set the module s Bit Rate and CAN Node ID During the configuration the2. INSIGNE NSIGNEI NSIGNEI NSIGNEI INSIGNE NSIGNEI NSIGNE NSIGNEI INSIGNE NSIGNEI NSIGNEI NSIGNEI INSIGNE NSIGNEI NSIGNEI NSIGNEI NSIGNEI NSIGNEI INSIGNE NSIGNEI NSIGNEI NSIGNEI UNSIGNE UNSIGNE f e e e ecBe Bc B BcecBc UNSIGNE UNSIGNE UNSIGNE UNSIGNE UNSIGNE is String is String is String D32 D8 D32 D32 D32 D32 D16 D32 D8 D32 D32 D16 D16 identity 23h D8 D32 D8 D32 D32 PDO CommPar 20h D8 D32 D16 ping 21h D8 D32 D32 D32 D32 D8 D8 oo0oo0oo0oo0oo0oo0o000gg zoog Index Sub Object Name hex Index 200C VAR Operating Mode 3000 VAR Node Address 3001 VAR Node Baudrate 6000 ARRAY Read Input 8 bit 00h VAR Number of entries 01h VAR Diglnput8_1 02h VAR Diginput8_2 03h VAR Diglnput8_3 04h VAR _ Diginput8_4 6002 ARRAY Polarity Input 8 bit 00h VAR Number of entries Oth VAR Polarity8_1 02h VAR Polarity8_2 03h VAR Polarity8_3 04h VAR Polarity8_4 6003 ARRAY Filter Constant Input 8 bit 00h VAR Number of entries Oth VAR _ FilterConst8_1 02h VAR FilterConst8_2 03h VAR FilterConst8_3 04h VAR _ FilterConst8_4 6005 VAR Global Interrupt Enable Digital 6006 ARRAY Interrupt Mask Any Change 8 bit 00h VAR Number of entries Oth VAR _ InterruptAnyChange8_1 02h VAR _ InterruptAnyChange8_2 03h VAR _ InterruptAnyChange8_3 04h VAR _ InterruptAnyChange8_4 6007 ARRAY Interrupt Mask Low to High 8 bit 00h VAR Number of en
3. module must be off line and the CAN bus must be physically disconnected To configure the module follow the procedure 1 Turn the Power OFF 2 Set the HI switch to F 3 Select the desired Bit Rate value by setting the LO switch following the table e g 8 for 1 Mbps 4 Turn the Power ON 5 Shift the HI switch to E all the module service LEDs should flash 6 Turn the Power OFF Now configure Node ID 7 Set the HI and LO switches to the desired valid Node ID following the table 8 Turn the Power ON Alternatively at step 7 set the value 00h Then at the next Power ON the last valid stored value will be resumed as Node ID Default values Bit Rate 500 kbps Node ID 127D Parameter configuration Configuring the Input Channels The functional block diagram for the Inputs is consistent with the standard profile CiA DS401 2 The ne signal is first filtered Index 6003h Filter Constant Input 8 bit and Index 2004 Filter Constant then polarised Index 6002 Polarity Input 8 bit and finally assigned to the variable that contains its value Index 6000h Read Input 8 bit The information is now ready to be transmitted on the CAN network via the TPDO1 Other entries determine the trigger condition Index 6006h Interrupt Mask Any Change 8 bit detection of any input level change Index 6007h Interrupt Mask Low to High 8 bit detection of a Low to High edge Index 6008h Interrupt Mask H
4. ASCON mod 10 CB DI 32LV 00 M U 10 CB DI 32LV 2 07 07 TECNOLOGIC IS09001 Certified Ascon Tecnologic S r l via Indipendenza 56 27029 Vigevano PV Italia Tel 39 0381 69871 Fax 39 0381 698730 www ascontecnologic com User manual Contents Characteristics Hardware Set up Parameter configuration Commands P SERTAAAE Emergency messages E E ESE SEEM parameter Store Restore E ONN Object Dictionary APPLICABLE STANDARDS Cod J30 478 1ADI 32LV E Functional Block Diagram PDOs used by the module The DI 32LV module is suited for the CiA DS301 protocol 1 and implements the CiA DS401 standard Device Profile 2 _ Characteristics Technical data Number of channels 32 Polarity EN 61131 2 type 1 Sink UL state 0 3 11 5 Vdc UT transition 5 11 Vdc UH state 1 11 30 Vdc Input impedance 5 KQ ON OFF delay 5 ms ON OFF delay lt 5 ms General 3 way isolation Channel to Channel No note Channel to Logic 800 Vp Logic to Serial Bus 800 Vp Power Supply to Logic 800 Vp Power supply 24 Vdc 15 25 Power consuption 3W Overvoltage protection 40 Vdc Dimensions L 152 H 110 W 65 Weight 350 g Safety regulations Isolation class II 50Vrms EN61010 1 Installation cathegory Il Pollution degree 2 CE marking EN61131 2 3 wa Input ao ai can fa Eae diagram Input Power supply channel
5. Parameter 0 a d COB ID 600h NodelD The entries of a device Object Dictionary are accessed trough SDO Service Data Object messages The basic SDO messages are as follows as based on the Client Server request and response model List of CiA documents to which the user should refer 1 CiA DS301 CANopen Application Layer and Communication Profile 2 CiA DS401 CANopen Device Profile for generic 1 0 Modules Power Supply 45W 24Vdc 2A Power Supply 120W 24Vdc 5A Additional Terminal Block 2x11 Female Plug 11 Screw clamp Female Plug 11 Spring clamp RJ45 terminated cable 14cm RJ45 terminated cable 22cm CAN termination Adapter AP S2 AL DR45 24 AP S2 AL DR120 24 AP S2 TB 211 1 AP S2 SPINA V11 AP S2 SPINA M11 AP S2 LOCAL BUS76 AP S2 LOCAL BUS152 AP S2 TERM CAN Byte 0 il m2 8 aA ls ee Read 40h Index Sub Index Reserved request COB ID 600h NodelD Read 4xh Index Sub Index Data response COB ID 580h NodelD Write 22h Index Sub Index Data request COB ID 600h NodelD Write 60h Index Sub Index Reserved response COB ID 580h NodelD This code is type dependant Please refer to the CIA DS301 Profile for more details A In order to configure the module it is necessary to connect it to a PC with the CAN interface and the superivisory software installed The configuration can be obtained by writing the desired values to the m
6. aram VAR Largest subindex supported VAR COB ID used VAR Transmission type VAR Inhibit time VAR Reseved VAR Event timer RECORD 1st Transmit PDO Mapping VAR No of mapped application obj VAR DigInput8_1 VAR DigInput8_2 VAR Diginput8_3 VAR Diginput8_4 ARRAY Filter Constant VAR Number of entries VAR Filter Constant 1 VAR Filter Constant 2 VAR Filter Constant 3 VAR Filter Constant 4 VAR Filter Constant 5 VAR Filter Constant 6 VAR Filter Constant 7 VAR Filter Constant 8 VAR Filter Constant 9 VAR Filter Constant 10 VAR Filter Constant 11 VAR Filter Constant 12 VAR Filter Constant 13 VAR Filter Constant 14 VAR Filter Constant 15 VAR Filter Constant 16 VAR Filter Constant 17 VAR Filter Constant 18 VAR Filter Constant 19 VAR Filter Constant 20 VAR Filter Constant 21 VAR Filter Constant 22 VAR Filter Constant 23 VAR Filter Constant 24 VAR Filter Constant 25 VAR Filter Constant 26 VAR Filter Constant 27 VAR Filter Constant 28 VAR Filter Constant 29 VAR Filter Constant 30 VAR Filter Constant 31 VAR Filter Constant 32 Type NSIGNEI INSIGNE NSIGNEI NSIGNEI NSIGNEI INSIGNE INSIGNE NSIGNEI INSIGNE NSIGNE NSIGNEI INSIGNE is S a S e UNSIGNE UNSIGNE UNSIGNE UNSIGNE UNSIGNE UNSIGNE UNSIGNE UNSIGNE UNSIGNE UNSIGNE UNSIGNE NSIGNEI NSIGNEI NSIGNEI NSIGNEI NSIGNEI DO Map NSIGNEI NSIGNE NSIGNE NSIGNE NSIGNE NSIGNEI NSIGNEI ecEe ce cS vweicec NSIGNEI INSIGNE NSIGNEI
7. igh to Low 8 bit detection of a High to Low edge Index 6005h Global Interrupt Enable the actual PDO transmission is performed if two initial conditions are met the variable in Index 6005h should be TRUE and the PDO transmission type should be 255 Module specific parameters Index 3000h Node Address Current Module Node ID Read only access Index 3001h Baudrate Current Module Bit rate Read only access Commands Index 200Ch Operating mode The device has its own internal state machine It is possible to move through this by sending appropriate values to the Index 200Ch following the table below Transition Operating Behaviour mode value Init At Power Up the Device is in the ready state Transition 1 is also executed if Index 200Ch Operating Mode contains the default value 1 1 Oth Operating mode RUN is activated 2 00h Return to the initialisation ready state The transition is performed e following an operator s command e after assigning a configuration parameter 2004h 3 FFh The error state is automatically assigned by the devi ce and the operating mode value is read only when e an attempt is made to execute an unexpected command 4 00h This value causes an exit from the error state after the error condition is acknowledged The only transition is to the ready state _ Emergency messages The module automatically
8. odule s variables listed in the Object Dictionary Object Dictionary structure Index Sub Object hex Index 1000 1001 1003 1005 1006 1007 1008 1009 100A 100C 100D 1010 1011 1014 1015 1017 1018 1200 1800 1A00 2004 00h Oth 00h Oth Oth 02h 03h 04h 05h 06h 07h 08h 09h OAh OBh OCh ODh OEh OFh 10h 11h 12h 13h 14h 15h 16h 17h 18h 19h 1Ah 1Bh 1Ch 1Dh 1Eh 1Fh 20h Default hex 00010191 00 00000000 00000080 Communication cycle period 00000000 Synchrounous window length 00000000 goy 0000 00 01 03 01 01 80 NodelD 0000 0000 01 000000E9 02 600 NodelD 580 NodelD 05 180 NodelD FF 0000 0000 04 60000108 60000208 60000308 60000408 Name VAR Device Type VAR Error Register ARRAY Predefined error field VAR COB ID SYNC VAR VAR VAR Manufacturer Device Name VAR Manufacturer Hardware Version 1 00 VAR Manufacturer Software Version 1 00 VAR Guard Time VAR Life Time Factor ARRAY Store parameters VAR Largest subindex supported VAR Save all parameters ARRAY Restore Default Parameters VAR Largest subindex supported VAR Restore all default parameters VAR COB ID EMCY VAR Inhibit Time EMCY VAR Producer heartbeat time RECORD Identity Object VAR Number of entries VAR Vendor ID RECORD Server SDO Param VAR Number of entries VAR COB ID Client gt Server VAR COB ID Server gt Client RECORD 1st Transmit PDO Comm P
9. s 17 32 Environment 800Vp Operating Storage Temperature 10 465 C 40 85 C Relative 5 95 non condensing 5 95 non condensing Humidity Appropriate measures must For a short period slight be taken against humidity condensation may appear gt 85 on the housing Mounting Vertical free air Protection IP20 Vibrations 10 57Hz 0 0375mm 3 axes 57 150Hz 0 5g Shock 3 axes 15g 11ms half sine CANopen 1 0 module 32 Isolated Digital Inputs mod I0 CB DI 32LV 32 optoisolated digital inputs with edge detect and interrupt functions A WARNING A 1 The product described in this manual should only be installed operated and maintained by qualified application programmers and software engineers who are familiar with automation safety concepts and applicable national standards 2 This product supports the Parameter defaults indicated by CiA standards in addition some para meters have a factory set value present in the module when comes from the factory The default values can be loaded with the restore command but after the restore factory set values are lost Functional Block Diagram Transmit ae Interrupt enable ra Any change 7 gt High to low 4 gt 10R gt Close if TRUE Low to high PDOs used by the module TPDO Properties Mapped objects Index Sub index Diginput8_1 6000h Oth TPDO1 COBID 180h NodelD Diginput8_2 6000h
10. sends emergency messages including error codes The communication errors are descrided in CiA DS301 1 The error codes are expressed as a DEVICE SPECIFIC ERROR type of code The codes indicating a specific condition are also inserted following the table below Error code Error 0000000000 No error This code is generated when exiting an error condition to notify the end of one of the error states 0000000007 Error Wrong Command An attempt to execute a command from an illegal state 0 1 2 3 4 5 6 7 Emergency Oth FFh 21h 00h ooh 0Oh OOh Oyh Message COB ID entry 1014h NodelD Error code This module allows parameters to be saved in a non volatile memory In order to avoid storing parameters by mistake storage is only executed when a specific signature is written to the appropriate subindex The signature is save Similarly the default values of parameters according to the communication or device profile are restored On receipt of the correct signature in the appropriate subindex the device restores the default parameters and then confirms the SDO transmission The signature is load The new configuration becomes active after a reset i e after a Power OFF Power ON cycle or an NMT Reset Node message Byte 0 1 2 3 4 5 6 7 Store 22h 10h 10h Oih 73h 61h 76h 65h Parameter S a V e COB ID 600h NodelD Restore 22h 1th 10h oih 6Ch 6Fh 61h 64h
11. tries Oth VAR _ InterruptLowToHigh8_1 02h VAR _ InterruptLowToHigh8_2 03h VAR _ InterruptLowToHigh8_3 04h VAR _ InterruptLowToHigh8_4 6008 ARRAY Interrupt Mask High to Low 8 bit 00h VAR Number of entries Oth VAR InterruptHighToLow8_1 02h VAR _ InterruptHighToLow8_2 03h VAR _ InterruptHighToLow8_3 04h VAR _ InterruptHighToLow8_4 Default hex 01 iF 06 Type UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNED UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 BOOLEAN UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS Se0ce The factory set value present in the modules when new for the transmission type is O1h
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