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1. Object Dictionary structure with default values 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 Name Default Type hex VAR Device Type 20194 UNSIGNED32 VAR Error Register 0 UNSIGNED8 ARRAY Predefined error field 0 UNSIGNED32 VAR COB ID SYNC 80 UNSIGNED32 VAR Communication cycle period 0 UNSIGNED32 VAR Synchrounous window length 0 UNSIGNED32 VAR Manufacturer Device Name O4RT Vis String VAR Manufacturer Hardware Version 0100 Vis String VAR Manufacturer Software Version 0100 Vis String VAR Guard Time 0 UNSIGNED16 VAR Life Time Factor 0 UNSIGNED8 ARRAY Store Parameters UNSIGNED32 VAR Largest subindex supported 1 UNSIGNED8 VAR Save all parameters 3 UNSIGNED32 ARRAY Restore Default Parameters UNSIGNED32 VAR Largest subindex supported 1 UNSIGNED8 VAR Restore all default parameters 1 UNSIGNED32 VAR COB ID EMCY 80 NodelD UNSIGNED32 VAR Inhibit Time EMCY 000 UNSIGNED16 VAR Producer heartbeat time 07D0 UNSIGNED16 RECORD Identity Object identity 23h VAR Number of entries 4 UNSIGNED8 VAR Vendor ID 000000E9 UNSIGNED32 RECORD Server SDO parameter SDO Parameter 22h VAR Number of entries 2 UNSIGNED8 VAR COB ID Client gt Server rx 600 NodelD UNSIGNED32 VAR COB ID Server gt Client tx 580 NodelD UNSIGNED32 RECORD 1st Transmit PDO Comm Param2. Byte 0 I 2 o lae l e z Beat tees a COB Ee m nae Read response SN me COB Pee NodelD oa eee A a COB Eee NodelD a Write response 0 e COB STEE m wee This code is type dependant Please refer to the CIA DS301 Profile for more details List of CiA documents to which the user should refer 1 CiA DS301 CANopen Application Layer and Communication Profile 2 CiA DS404 CANopen Device Profile Measuring Devices and Closed Loop Controllers 3 CIA DRP303 2 Representation of SI Units and Prefixes Power Supply 45W 24Vdc 2A Power Supply 120W 24Vdc 5A AP S2 AL DR45 24 AP S2 AL DR120 24 Additional Terminal Block 2x11 AP S2 TB 211 1 Female Plug 11 Screw clamp AP S2 SPINA V11 Female Plug 11 Spring clamp AP S2 SPINA M11 RJ45 terminated cable 14cm AP S2 LOCAL BUS76 RJ45 terminated cable 22cm AP S2 LOCAL BUS152 CAN termination Adapter AP S2 TERM CAN A writing the desired values to the module s variables listed in the Object Dictionary Index Sub Object hex Index 1000 1001 1003 1005 1006 1007 1008 1009 100A 100C 100D 1010 1011 1014 1015 1017 1018 1200 1800 1801 1802 1803 1A00 1A01 1A02 1A03 2000 2001 3000 3001 3500 6110 6112 The factory set value present in the modules when new for the transmission type is Oth 00 01 00 01 h h h h H e SB E E ea E a a g E ea E
3. _ value but results in an additional net process value Writing 1 on autotare will enable Fieldb R Al i the tare zero value to be set so that the instantaneous measured net process value beco OUS cannas mes zero The parameters Span Start and Span End define the process value validity range If the process value exceeds these limits it will be marked as overflowed Power supply 2500Vp Environment PDOs used by the module Operating Storage TPDO Properties Mapped objects Index Sub index Temperature 10 65 C 40 85 C TPDO1 COBID 180h NodelD NetPV1 9140h Oth Relative 5 95 non condensing 5 95 non condensing Transmission Type 01h Al Operating mode1 6112h Oth Humidity Appropriate measures must For a short period slight TPDO2 COBID 280h NodelD NetPV2 9140h 02h be taken against condensation may appear Transmission Type 01h Al Operating mode2 6112h 02h l humidity gt 85 on the housing TPDO 3 COBID 380h NodelD NetPV3 9140h 03h Mounting Vertical free air Transmission Type 01h Al Operating mode3 6112h 03h Protection IP20 TPDO 4 COBID 480h NodelD NetPV4 9140h 04h Vibrations 3 axes 10 57Hz 0 0375mm Transmission Type 01h Al Operating mode4 6112h 04h 57 150Hz 0 5g Shock 3 axes 15g 11ms half sine Note The Transmission Type is configurable Oth is the factory set value present in the modules when come fro
4. mod 0 CB AI 04RT 00 CANopen 1 0 Module TECHOLOGIC a 4 Configurable ej IS09001 Certified User Analogue Inputs manual mod 0 CB AI O4RT Ascon Tecnologic S r l Contents 4 inputs configurable for via line eae Characteristics TC RTD or mV let Atala g Functional Block Diagram Fax 39 0381 698730 PDOs used by the module www ascontecnologic com Hardware Set up Parameter configuration Commands Emergency messages Parameter Store Restore Object Dictionary APPLICABLE STANDARDS The ALOART mode suelo fe CUR DSAN proben 1 sn kopiante aci os ee ee programmets end software ongtwory eh ere familar with AOM alina 401 standard Device Profile as far as the Analogue Input Function Block is concerned 2 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 Characteristics Functional Block Diagram Technical data Scaling gt gt NetPV gt Transmit gt Accuracy at 25 C 0 05 FS A Temperature coefficient 0 005 FS K Input impedance mV gt 100MQ Digital resolution 16 bit Data format Binary Integer Input types J
5. 02h 03h 04h 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h ARRAY Al Physical Unit PV VAR Number of entries VAR Al Physical Unit PV ch1 VAR Al Physical Unit PV ch2 VAR Al Physical Unit PV ch3 VAR _ Al Physical Unit PV ch4 ARRAY Al Decimal Digits PV VAR Number of entries VAR Al Decimal Digits PV ch1 VAR Al Decimal Digits PV ch2 VAR Al Decimal Digits PV ch3 VAR _ Al Decimal Digits PV ch4 ARRAY Al Status VAR Number of entries VAR Al Status ch1 VAR Al Status ch2 VAR Al Status ch3 VAR Al Status ch4 ARRAY Life Counter VAR Number of entries VAR Life Counter cht VAR Life Counter ch2 VAR Life Counter ch3 VAR Life Counter ch4 ARRAY Al Input FV VAR Number of entries VAR Al Input FV ch1 VAR Al Input FV ch2 VAR Al Input FV ch3 VAR _ Al Input FV ch4 ARRAY Al Input Scaling 1 FV VAR Number of entries VAR Al Input Scaling VAR Al Input Scaling 1 VAR Al Input Scaling VAR Al Input Scaling 1 ARRAY Al Input Scaling 1 PV VAR Number of entries VAR Al Input Scaling VAR Al Input Scaling 1 VAR Al Input Scaling VAR Al Input Scaling 1 ARRAY Al Input Scaling 2 FV VAR Number of entries VAR AI Input Scaling 2 VAR Al Input Scaling 2 VAR Al Input Scaling 2 FV ch3 VAR _ Al Input Scaling 2 ARRAY Al Input Scal
6. K L N R S T Scaling 2 FV Input range 50 mV sargam w 300 mV La 1000 mV ie Total input system transfer time 100 ms lt Conversion method Sigma delta oe Overvoltage protection 30 a MRR gt 100 dB aI General The analogue input function block describes for each input channel how field values are converted to process values The field values are converted to the real physical dimension 3 way isolation 800 Vp a of the measured quantity and the result is called Process Value The conversion from Power supply 24 Vdc 15 25 Field Value to Process Value is generally described as a linear transformation Power consuption 3W Dimensions L 76 H 110 W 65 This is defined by two pairs of field values and corresponding process values Input Scaling 1 Weight 220 g FV Input Scaling 1 PV and Input Scaling 2 FV Input Scaling 2 PV called calibration point 1 and 2 Safety regulations polation er vems Non linear transformation e g for thermocouples and PT100 sensors is possible and is defined Pollution degree 2 within the parameter Sensor Type In this case the input scaling values are meaningless CE marking EN61131 2 The calibration characteristic can be shifted by an additional input offset value Writing 1 on autozero will enable the zero offset value to be set so that the instantaneous 3 way isolation diagram 800Vp measured process value becomes zero The tare zero value works like the zero offset
7. access 20 2500 o 01h address 1 Index 3001h Baudrate 50 1000 EE o2 adress 2 Current Module Bit rate Read only access 100 500 V 4 125 500 7Fh address 127D 250 250 6 500 100 800 50 8 1000 25 Notes Default value 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 the 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 Turn the Power ON Shift the HI switch to E all the module service LEDs should flash Turn the Power OFF Now configure Node ID 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 Noo Parameter configuration Index 6110h Al Sensor type Index 6131h Al Physical Unit PV Index 6132h Al Decimal Digits PV The Al Physical Unit PV assigns SI units and prefixes to the process value with the following Scaling input variables Index 9120h Al Input Scaling 1FV Index 9121h Al Input Scaling 1PV Index 9122
8. FFFFADF8 ARRAY Al Span End VAR Number of entries 4 VAR Al Span End ch1 0001D4CO VAR Al Span End ch2 0001D4CO VAR Al Span End ch3 0001D4CO VAR Al Span End ch4 0001D4CO Type UNSIGNED32 UNSIGNEDS UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS 22222 a N NI NI N N N N N N N N NI N N N N N NI NI N NI IS IS IS SIGNED8 IS IS E S NTI GNED8 GNED8 GNED8 GNED8 GNED8 ITEGER32 GNED8 ITEGER32 NTEGER32 ITEGER32 ITEGER32 EGER32 UNSIGNEDS EGER32 EGER32 EGER32 EGER32 EGER32 UNSIGNEDS EGER32 NTEGER32 EGER32 EGER32 EGER32 UNSIGNED8 EGER32 NTEGER32 EGER32 NTEGER32 ITEGER32 UNSIGNED8 EGER32 ITEGER32 ITEGER32 NTEGER32 ITEGER32 UNSIGNEDS EGER32 NTEGER32 ITEGER32 ITEGERS2 ITEGERS2 UNSIGNEDS EGER32 ITEGER32 ITEGER32 NTEGER32 ITEGER32 UNSIGNEDS EGER32 NTEGER32 ITEGER32 NTEGER32 ITEGER32 UNSIGNED8 EGER32 NTEGER32 EGER32 NTEGER32 EGER32 UNSIGNED8 EGER32 NTEGER32 EGER32 NTEGER32 EGER32 UNSIGNED8 EGER32 NTEGER32 EGER32 EGER32 EGER32 UNSIGNED8 EGER32 NTEGER32 EGER32 EGER32 Acc MO Attr RO RW RW RW RW 0
9. PDO CommPar 20h VAR Largest subindex supported 5 UNSIGNED8 VAR COB ID used 180 NodelD UNSIGNED32 VAR Transmission type pF UNSIGNED8 VAR Inhibit time UNSIGNED16 VAR Reseved UNSIGNED8 VAR Event timer 0 UNSIGNED16 RECORD 2nd Transmit PDO Comm Param PDO CommPar 20h VAR Largest subindex supported 5 UNSIGNED8 VAR COB ID used 280 NodelD UNSIGNED32 VAR Transmission type Eine UNSIGNED8 VAR Inhibit time 0 UNSIGNED16 VAR Reseved UNSIGNED8 VAR Event timer 0 UNSIGNED16 RECORD 3th Transmit PDO Comm Param PDO CommPar 20h VAR Largest s ubindex supported 5 UNSIGNED8 VAR COB ID used 380 NodelD UNSIGNED32 VAR Transmission type FF UNSIGNED8 VAR Inhibit time 0 UNSIGNED16 VAR Reseved UNSIGNED8 VAR Event timer 0 UNSIGNED16 RECORD 4th Transmit PDO Comm Param PDO CommPar 20h VAR Largest subindex supported 5 UNSIGNED8 VAR COB ID used 480 NodelD UNSIGNED32 VAR Transmission type ie UNSIGNED8 VAR Inhibit time 0 UNSIGNED16 VAR Reseved UNSIGNED8 VAR Event timer 0 UNSIGNED16 RECORD 1st Transmit PDO Mapping PDO Mapping 21h VAR No of mapped application obj 2 UNSIGNED8 VAR Net PV1 91400120 UNSIGNED32 VAR Al Operating Mode 1 61120108 UNSIGNED32 RECORD 2ndTransmit PDO Mapping PDO Mapping 21h VAR No of mapped application obj 2 UNSIGNED8 VAR Net PV2 91400220 UNSIGNED32 VAR Al Operating Mode 2 61120208 UNSIGNED32 RECORD 3th Transmit PDO Mapping PDO Mapping 21h VAR No of mapped application obj 2 UNSIGNED8 VAR Net PV3 91400320
10. UNSIGNED32 VAR Al Operating Mode 3 61120308 UNSIGNED32 RECORD 4th Transmit PDO Mapping PDO Mapping 21h VAR No of mapped application obj 2 UNSIGNED8 VAR Net PV4 91400420 UNSIGNED32 VAR Al Operating Mode 4 61120408 UNSIGNED32 ARRAY Cold Junction Temperature INTEGER16 VAR Number of entries UNSIGNED8 VAR Cold Junction Measure VAR 50 60 Hz Input Filter 00 UNSIGNED8 VAR Node Address TE UNSIGNED8 VAR Node Baurate 06 UNSIGNED8 ARRAY Out of Range mode UNSIGNED8 VAR Number of entries 4 UNSIGNED8 VAR Ch1 Out of Range mode 0 UNSIGNED8 VAR Ch2 Out of Range mode 0 UNSIGNED8 VAR Ch3 Out of Range mode 0 UNSIGNED8 VAR Ch4 Out of Range mode 0 UNSIGNED8 ARRAY Al Sensor Type UNSIGNED16 VAR Number of entries 4 UNSIGNED8 VAR Al Sensor Type ch1 1E UNSIGNED16 VAR Al Sensor Type ch2 1E UNSIGNED16 VAR Al Sensor Type ch3 1E UNSIGNED16 VAR Al Sensor Type ch4 1E UNSIGNED16 ARRAY Al Operating Mode UNSIGNED8 VAR Number of entries 4 UNSIGNED8 VAR Al Operating Mode ch1 0 UNSIGNED8 VAR Al Operating Mode ch2 0 UNSIGNED8 VAR Al Operating Mode ch3 0 UNSIGNED8 VAR Al Operating Mode ch4 0 UNSIGNED8 MO Mololelolelolelelo lt a lt oooO aoo Index Sub Object Name hex 6131 6132 6150 6F20 9100 9120 9121 9122 9123 9130 9140 9143 9144 9145 9148 9149 Index 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h 00h Oth
11. h Al Input Scaling 2FV Index 9123h Al Input Scaling 2PV As regards linear inputs the above variables allow the scale of the physical input to be changed and the desired physical unit to be assigned to this input In addi tion an offset can be added PV 4 Span gt j PV2 Measure gt R 3 PV 12 344 Negative Positive FV FV2 Fy overload overload Index 9148h Al Span start Index 9149h Al Span end These two variables take into account the validity of the span values indicating possible overloads and limiting the measure in correspondence of the extreme points of the span Span programmed values C structure Input Span Span Input LO HI Span Span 31 24 23 1615 87 0 Start End Range Range Start End TCJ 210 C 1200 C PT100 200 C 600 C MSB Prefix SI Numerator SI Denominator Reserved LSB TCK 200 C 11372 C PT1000 200 C 1 600 C Physical units and prefixes are coded according to CiA standard 3 Within the DS404 TCL oat eit 1V 1 28V 1 28V_ 1V 1V profile some additional physical units are specified TCN 0 C 1300 C 50 mV_ 80 mV 80 mV_ 50 mV 50 mV TCR 0 C 1600 C 300 mV_ 320 mV 320 mV 700 _ 300 Code Physical unit Code Physical unit TCS 0 C 1760 C 55h m s A3h mmHg TCT 200 C 400 C 56h Nm A4h atm Ath at ABh PSI A2h mmH20 ACh F Index 6150h Al Status bit 7 3 2 1 0 Reserved Negat
12. ing 2 VAR Number of entries VAR Al Input Scaling 2 VAR Al Input Scaling 2 PV ch2 VAR Al Input Scaling 2 VAR Al Input Scaling 2 PV ch4 Default hex 4 002D0000 002D0000 002D0000 002D0000 ooo NPN NA A oooos mA ooocfs oooofs T T T T T kav T ARRAY Al input PV VAR Number of entries 4 VAR Al input PV ch1 VAR Al input PV ch2 VAR Al input PV ch3 VAR _ Al input PV ch4 ARRAY Al Net PV VAR Number of entries 4 VAR Al Net PV ch1 VAR Al Net PV ch2 VAR Al Net PV ch3 VAR Al Net PV ch4 ARRAY Al Interrupt Delta Net PV VAR Number of entries 4 VAR Al Interrupt Delta Net PV ch1 1 VAR Al Interrupt Delta Net PV ch2 1 VAR Al Interrupt Delta Net PV ch3 1 VAR Al Interrupt Delta Net PV ch4 1 ARRAY Al Interrupt Lower Limit Net PV VAR Number of entries 4 VAR Al Interrupt Lower Limit Net PV ch1 FFFFADF8 VAR Al Interrupt Lower Limit Net PV ch2 FFFFADF8 VAR Al Interrupt Lower Limit Net PV ch3 FFFFADF8 VAR Al Interrupt Lower Limit Net PV ch4 FFFFADF8 ARRAY Al Interrupt Upper Limit Net PV VAR Number of entries 4 VAR Al Interrupt Upper Limit Net PV ch1 0001D4CO VAR Al Interrupt Upper Limit Net PV ch2 0001D4CO VAR Al Interrupt Upper Limit Net PV ch3 0001D4CO VAR Al Interrupt Upper Limit Net PV ch4 0001D4CO ARRAY Al Span Start VAR Number of entries 4 VAR Al Span Start ch1 FFFFADF8 VAR Al Span Start ch2 FFFFADF8 VAR Al Span Start ch3 FFFFADF8 VAR Al Span Start ch4
13. ive overload _ Positive overload _ Not valid e g sensor break Index 6F20h Life Counter A counter that increments at each new generated sample Index 9143h Al Interrupt Delta NetPV Index 9144h Al Interrupt Lower Limit Net PV Index 9145h Al Interrupt Upper Limit Net PV The last the variables relate to the asynchronous mode of transmission of a PDO transmission type 255 A comparison is made with the mapped Net PV value and a transmission is initiated asynchronously when any of the limits is reached Index 6112h Al Operating Mode Determines the operating state of the four input channels according to the following values 00h Initialising Oth Operating default The module automatically 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 one for each channel OxFFOn for channel n The codes indicating a specific condi tion are also inserted following the table below Error code Error 0000000000 No error This code is generated when exiting an error contidion to notify the end of one of the error states 0000000001 Error No Valid Calib An attempt to change the state of an input channel not properly calibrated to operating 0000000002 Error No Config An attempt to change the state of an input channel with a non valid Sensor Type to
14. m the factory FFh is the default value Hardware Set up Value Sensor Decimal Value Sensor Decimal E TE n type digits type digits Hexadecimal rotary switches service and I O LEDs TCJ 0x01 2 PT100 3 wires 0x1E 2 TCK 0x02 2 PT1000 2 wires 0x21 2 LED _ Status Meaning TCL 0x03 2 PT100 2 wires 0x24 2 ON Operational TCN 0x04 2 1V 0x2B 3 RUN Blinking Pre operational CANopen TCR 0x05 2 50 mV 0x2710 3 Single flash STOPPED TCS 0x06 2 300 mV 0x2711 3 OFF Device in RESET state TCT 0x07 2 ON BUS OFF Sub Index 1 gt channel 1 Sub Index 2 gt channel 2 Single flash Warning limit reached Sub Index 3 gt channel 3 Sub Index 4 gt channel 4 ERR Double flash Error Control Event Default value e Triple flash _ Sync Error CANopen OFF No error Device working Negative ON DIAG Error screw driver ST Blinking INIT and DIAG running Wee Single flash Baud rate setting OFF Module OK and ready PWR ON Module Power Supply ON OFF Module Power Supply OFF Module specific parameters Bit Rate and Node ID configuration Index 2000h Cold Junction Measure Temperature of the cold junction measured on the module s terminal block Bit rate Node ID Available through TPD04 Baud rate Bus length Hi Lo Valid ID Node Index 3000h Node Address Lo switch kbps m switch switch Current Module Node ID Read only
15. operating 0000000006 Error No Command Invalid command received 0000000007 Error Wrong Command An attempt to execute a command from an illegal state 0000000008 Error Wrong Assignment An attempt to assign a parameter from an illegal state 0 CTE Emergency Onh FFh 21h 00h 00h 00h OEh 00h 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 Down or an NMT Reset Node message Byte 0 1 2 3 4 5 6 if Store 22h 10h 10h Oih 73h 6ih 76h 65h Parameter gt a 2 COB ID 600h NodelD Restore 22h 11h 10h Oth 6Ch 6Fh 61h 64h 0 a d Parameter 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
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