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Product Line CST User Manual

1. CMD Description Parameter 1 Write to HCTL register UNSIGNEDS register UNSIGNED8 value 2 Read from HCTL register UNSIGNEDS register 3 Initialize HCTL filter UNSIGNED8 Pol_A UNSIGNED8 Pol_B UNSIGNED8 Gain UNSIGNED8 Sample_Time 4 Position Control Mode u 5 Trapez Move Mode UNSIGNED16 acceleration UNSIGNED8 max_velocity INTEGER24 final_position 6 Integral Velocity Mode IUNSIGNED16 acceleration INTEGER8 command_velocity 7 Proportional Velocity Model INTEGER16 command_velocity 8 Initiate refence run UNSIGNED16 acceleration INTEGER8 command_velocity INTEGER8 mode 9 Init Mode Description of the Reference Run The module can perform an automatic reference run The used mode Integral Velocity Mode The parameters needed for the reference run are acceleration and command_velocity The following limiting switch inputs can be chosen by means of the parameter mode e mode 0 only Chan_C e mode 1 only Ref e mode 2 Chan_C and Ref Please consider that both inputs can be switched to high active or low active via the control register The default value is high active e When the command is executed the module runs the motor with the specified parameters in one direction until a limiting switch becomes active according to the chosen mode In mode 2 the modules waits for the ref input to become active e Now the motor runs
2. Aue Digital npr ut Mo cst Dis casa ye x naneo ne swan nse Thome Ems Product Line CST User Manual Preliminary Sonnenhang 3 D 85304 IImm nster Tel 49 8441 490260 THOMAS W NSCHE Fax 49 8441 81860 Users Manual Product Line CST User Manual for Product Line CST Document version 2 1 Documentation date June 12th 2007 No part of this document or the software described herein may be reproduced in any form without prior written agreement from EMS Dr Thomas W nsche For technical assistance please contact EMS Dr Thomas W nsche Sonnenhang 3 D 85304 IImmuenster Tel 49 8441 490260 Fax 49 8441 81860 Mail support ems wuensche com Our products are continuously improved Due to this fact specifications may be changed at any time and without announcement WARNING CST devices and accompanying software may not be used in applications where damage to life health or private property may result from failures in or caused by these components ii EMS Dr Thomas Wunsche Product Line CST Users Manual Contents 1 OVGIVIGW cic as mar eB dee ee er Sew Gee nehmen 1 VAY Features 2 22 208 Hoe 2 4 ee Beek Ge oS ee ee ee EE 1 1 2 General Description 220 200500 1 1 3 Sample Applications a 0 4864 a ia sah aaa sa nen 1 1 4 Ordering Information 62 4848 ie8 2 8 Saw 24422 4 2 2 2 Communication zu 4 0 oe ee aa a er aa Baar 3 2 1 Communicatio
3. Trapez Move Integral Velocity and Proportional Velocity can be passed via the Param register The Position register holds the actual position Nominal Values Parameter Min Typ Max Unit Power supply V 20 24 28 V Input current Limit_L Limit _R Ready 3 5 mA Input current Ref 5 8 mA Furthermore the nominal values specified within the chapter General Features have to be considered Limiting Values Output current AnaOut Parameter Min Max Unit Supply voltage V 0 30 V Input current Limit_L Limit _R Ready Ref 0 30 V Output current Enable output stage 1 mA 8 mA Furthermore the limiting values specified within the chapter General Features have to be considered EMS Dr Thomas Wunsche 41 CST MC 1100 Data Sheets THIS PAGE INTENTIONALLY LEFT BLANK 42 EMS Dr Thomas Wunsche Data Sheets CST I2 TTL CST Incremental Encoder Module with 2 Input Channels Features e 2 incremental inputs TTL level e Counting range 24 Bit Signals changes of input levels Signals changes of range transgression e Galvanic separation of CAN ground and process ground Assignment of the Terminal Blocks Terminal Block 1 inner block Clamp Name Function 1 Ph_0A Channel 0 phase A 2 Ph_0B Channel 0 phase B 3 Ph_0C Channel 0 phase C 4 Ph_1C Channel 0 phase C
4. EMS Dr Thomas W nsche 31 CST AI4 12 0 10V Data Sheets CAN Communication The module is accessed by 1 write and 6 read variables The message id s for the variable access are assigned during the configuration see CST product line configuration manual LMT Address The module has the LMT product name CST0014 Index of the Variables Variable Nr Length Access Description Control 0 5 Byte write Write to control registers Status 0 4 Byte read Read the status All_Chan 1 8 Byte read Sample all channels Chan_0 2 2 Byte read Sample channel 0 Chan_1 3 2 Byte read Sample channel 1 Chan_2 4 2 Byte read Sample channel 2 Chan_3 5 2 Byte read Sample channel 3 Registers of the Control Section The control section only contains the module specific flags described in the CST product line configuration manual Registers of the Status Section The status section only contains the module specific flags described in the CST product line configuration manual Nominal Values Parameter Min Typ Max Unit Voltage supply V 20 24 28 V Internal resistance 25 kOhm Measurement error related to the maximum 0 2 deflection Temperature drift 100 100 ppm C Modules with higher accuracy upon request Furthermore the nominal values specified within the chapter General Features have to be considered Limiting Values P
5. Furthermore the nominal values specified within the chapter General Features have to be considered Limiting Values Parameter Min Max Unit Supply voltage V 0 30 V Furthermore the limiting values specified within the chapter General Features have to be considered EMS Dr Thomas W nsche 21 CST D08 H 24V 500mA Data Sheets THIS PAGE INTENTIONALLY LEFT BLANK 22 EMS Dr Thomas Wunsche Product Line CST CST DI8 TTL CST Digital Module with 8 Inputs TTL Level Features 8 digital input channels with TTL level e 2 terminal blocks with 10 clamps for wiring e Signals input level changes Assignment of the Terminal Blocks Terminal Block 1 inner block Clamp Name Function 1 Chan_0 Input channel 0 2 Chan_1 Input channel 1 3 Chan_2 Input channel 2 4 Chan_3 Input channel 3 5 Chan_4 Input channel 4 6 Chan_5 Input channel 5 1 Chan_6 Input channel 6 8 Chan_7 Input channel 7 9 Reserved do not connect 10 Gnd Common ground for CAN bus and CST node 11 ExtPWR Power supply 5V for external logic Terminal Block 2 outer block Clamp Name Function 1 10 Gnd Common ground for CAN bus and CST node 11 ExtPWR Power supply 5V for external logic Operation Indication The meaning of the different indicators is shown within the following table The position of the indicators refers to the clamp mounted at the s
6. Parameter Min Max Unit Power supply V 0 30 V Furthermore the limiting values specified within the chapter General Features have to be considered 34 EMS Dr Thomas W nsche Data Sheets CST A02 12 0 10V CST Analogue Module with 2 Outputs 0 10V 12 Bit Features e 2 analogue outputs with 0 10V output range and 12 Bit resolution e Accuracy 0 2 e Galvanic separation of bus and process ground Assignment of the Terminal Blocks Terminal Block 1 inner block Clamp Name Function 1 AGnd Process ground 2 Chan_0 Output channel 0 3 V Positive voltage supply 24V 4 AGnd Process ground 5 Chan_1 Output channel 1 6 V Positive voltage supply 24V 7 AGnd Process ground 8 AGnd Process ground 9 V Positive voltage supply 24V 10 V Positive voltage supply 24V All clamps AGnd are connected internally All clamps V are internally connected Terminal Block 2 outer block N A Operation Indication The meaning of the different indicators is shown within the following table The position of the indicators refer to the clamp mounted at the same height as the indicator Position Colour Function 8 red Module has initialized correctly 9 red Supply voltage for the power circuit is connected CAN Communication The module is accessed by 4 write and 1 read variable The message id s for the variable access are assigned during
7. ee gt cs 01 manufacturer name See COB Id 2021 0 1 8 cs 02 product_name gt COB Id 2021 0 1 8 3 cs 03 serial_number gt COB Id 2021 cs command specifier manufacturer name ASCII characters EMS_T_W product_name characterisation of product 7 ASCII chars see individal product data sheets serial_number BCD coded serial number 14 digits with first pair of digits in first byte of serial_number first digit of a pair in the high order bits of a byte Figure 5 Protocol sequence used for Switch Mode Selective The successive messages for Switch Mode Selective should be sent with a space of at least 5ms 6 EMS Dr Thomas W nsche Product Line CST Communication Switch Mode Global switches between operation mode and configuration mode for all CAL LMT compatible modules clases 1 2 attached to the network Figure 6 shows the protocol used to perform Switch Mode Global Switch Mode Global 0 1 2 8 Config Config Master 7 CS 04 mode mar gt Slave COB Id 2021 cs command specifier mode mode to set 0 switches to operation mode 1 switches to configuration mode Figure 6 Protocol used for Switch Mode Global EMS Dr Thomas W nsche 7 Communication Product Line CST 2 6 Identification Services The LMT address parameters of a device currently switched to configuration mode can be inquired Figure 7 shows the protocol sequences used to ge
8. Typ Max Unit Threshold of the input stage 0 8 2 4 V Furthermore the nominal values specified within the chapter General Features have to be considered Limiting Values Parameter Min Max Unit Input voltage V Furthermore the limiting values specified within the chapter General Features have to be considered EMS Dr Thomas W nsche 49
9. 5 Ph_1B Channel 0 phase B 6 Ph_1A Channel 0 phase A T Reserved do not connect 8 Reserved do not connect 9 ExtPWROut Power supply 5V for external logic output 10 AGnd Process ground 11 V Power supply for process logic input All voltage of terminal block 1 refer to AGnd Terminal Block 2 outer block N A Operation Indication The meaning of the different indicators is shown within the following table The position of the indicators refers to the clamp mounted at the same height as the indicator Position Colour Function 10 red Internal power supply connected 11 red Power supply for external logic connected CAN Communication The module is accessed by 2 write 4 read and 1 event variable The message id s for the variable access are assigned during the configuration see CST product line configuration manual LMT Address The module has the LMT product name CST1012 EMS Dr Thomas Wunsche 43 CST II2 TTL 44 Index of the Variables Data Sheets Variable No Length Access Description Control 0 5 byte Write Write to control registers Status 0 4 byte Read Event Read the status Command 1 4 byte Write Execute a comman All_Chan 1 6 byte Read Read position off all channels Chan_0 2 3 byte Read Read position of channel 0 Chan_1 3 3 byte Read Read position of channel 1 Registers of the Control Section In addition to the bus specific
10. Thomas W nsche Data Sheets CST AI4 12 0 10V CST Analogue Module with 4 Inputs 0 10V 12 Bit Features e 4 analogue inputs with 0 10V input range and 12 Bit resolution e Accuracy 0 2 Sampling time lt 1ms per channel e Galvanic separation between bus and process ground Assignment of the Terminal Blocks Treminal Block 1 inner block Clamp Name Function Chan_0 Input channel 0 2 AGnd Process ground 3 Chan_1 Input channel 1 4 AGnd Process ground 5 Chan_2 Input channel 2 6 AGnd Process ground 7 Chan_3 Input channel 3 8 AGnd Process ground 9 AGnd Process ground 10 V Positive voltage supply 24V Terminal Block 2 outer block 1 V Positive voltage supply 24V 2 AGnd Process ground 3 V Positive voltage supply 24V 4 AGnd Process ground 5 V Positive voltage supply 24V 6 AGnd Process ground f V Positive voltage supply 24V 8 AGnd Process ground 9 AGnd Process ground 10 V Positive voltage supply 24V All clamps AGnd are internally connected All clamps V are internally connected Operation Indication The meaning of the different operation indicators is shown within the following table The position of the indicators refers to the clamp mounted at the same height as the indicator LED Position Colour Function 10 red Internal power supply connected 11 red Power supply for the process side connected
11. flags see CST product line configuration manual the control section of the module also contains module specific flags in subregister 2 The bits are shown in the following table Name Bit no Description Clear_0 0 Reset counter 0 Clear_1 1 Reset counter 1 The module specific part of the status register conta following table ins the signals shown in the Name Bit no Description InLim_0O 0 Channel 0 within allowed range InLim_1 1 Channel 1 within allowed range LoLim_0 2 Channel 0 has fallen below the lower limit HiLim_0O 3 Channel 0 has exceeded the upper limit LoLim_1 4 Channel 1 has fallen below the lower limit HiLim_1 5 Channel 1 has exceeded the upper limit Ph_0A 9 Phase signal A of channel 0 Ph_0B 10 Phase signal B of channel 0 Ph_0C 11 Phase signal C of channel 0 Ph_1A 13 Phase signal A of channel 1 Ph_1B 14 Phase signal B of channel 1 Ph_1C 15 Phase signal B of channel 1 EMS Dr Thomas Wunsche Data Sheets CST II2 TTL Commands and their corresponding parameters are writen to the command register and executed after writing For this purpose a command is written to data byte 0 and the parameters are written to the following data bytes The following table contains the possible commands and parameters CMD Description Parameter Set lower limit channel 0 UNSIGNED24 LoLim_0 Set upper limit channel 0 UNSIGNED24 HiL
12. in the opposit direction with the lowest velocity until the switch becomes inactive again In mode 2 the the module will run the motor until the Ref input becomes inactive and the Chan_C input becomes active too e The reached position is hold within the Position Control Mode the Actual Position register is initialized to 0 e During the reference run bit 7 within the module specific status word is set e A command issued during an active reference run is executed by the module and the reference run is interrupted The following exceptions apply The commands Write to HCTL register and Read fromHCTL register are executed without interrupting the reference run the command Initialize HCTL filter is discarded 40 EMS Dr Thomas Wunsche Data Sheets CST MC 1100 The result register holds the result of a command execution The first byte contains the number of the command If an error occured the following additional bits are set 7 Command syntax error Message length too short erronous command code 8 Command error Trapez Move command ist not executed when the PROF bit is set after command Init Mode the HCTL 1100 didn t switch to Init Mode the Init Filter command can only be executed if the preceding command permits filtering A preceding reference run does not allow filtering New parameters for the command Position Control
13. modulated signal for the output stage TTL level End_L End_R Limiting switch input left right 24V normally closed Ref Reference switch input 24V Ready Readiness signal output stage input 24V Ph_A DIR TTL output function depends on configuration bit M1 Ph_B Ph_C Ph_D Phase outputs B C D for synchronous machines TTL level Enable Output stage enable output 24 V Operation Indication The module has no operation LEDs CAN Communication The module is accessed by 3 write 3 read and 2 event variables The message id s for the variable access are assigned during the configuration see CST product line configuration manual LMT Address The module has the LMT product name CST1004 Index of the Variables Variable Nr Length Access Description Control 0 5 Byte Write Write to control registers Status 0 4 Byte Read Event Read status Command 1 1 7 Byte Write Execute a command Result 1 1 3 Byte Read Event Read the result Param 2 1 3 Byte Write Transfer new parameters Position 2 3 Byte Read Event Read the current position 1 The number of transfered bytes depends on the parameters of the specified command 38 EMS Dr Thomas W nsche Data Sheets CST MC 1100 Description of the Variables Apart from the bus specific flags see CST Product Line configuration manual the control register also contains module specific flags within subregister 2 The bits have the followin
14. module is accessed by 4 write and 1 read variables The message id s for the variable access are assigned during the configuration see CST product line configuration manual LMT Address The module has the LMT product name CST0006 EMS Dr Thomas Wunsche 33 CST A02 12 0 25mA Data Sheets Index of the variables Variable Nr Length Access Description Control 0 5 Byte Write Write to control registers Status 0 4 Byte Read Read the status All_Chan 1 4 Byte Write Write all channels Chan_0 2 2 Byte Write Write channel 0 Chan_1 3 2 Byte Write Write channel 1 Registers of the Control Section The control section only contains the module specific flags described in the CST product line configuration manual Registers of the Status Section The status section only contains the module specific flags described in the CST product line configuration manual Nominal Values Parameter Min Typ Max Unit Maximum signal range 0 25 mA Nominal accurat signal range 4 20 mA Power supply V 20 24 28 V Measurement error within nominal signal 0 2 range related to maximum deflection at 25 C Temperature drift 100 100 ppm C Load at nominal supply 0 800 Ohm Module with higher accuracy on demand Furthermore the nominal values specified within the chapter General Features have to be considered Limiting Values
15. 0x26 serial number The module should then answer with the following message example Ox7E4 0x08 0x03 0x00 0x00 0x00 0x00 0x00 0x01 0x78 00000178 The different variables can now be configured After the configuration the module has to be switched back into operating mode 0x7E5 0x02 0x04 0x00 switch to operating mode Configuration of the Variables To configure the module it has to be switched into configuration mode using one of the methods decribed above Now the variables can be configured There are 3 different ways to access the variables 1 Write access 0 write a value to a variable e g Set an output 2 Read access 1 read a value from a variable e g read an input 3 Event access 2 generates a message in case of an occuring event Not every variable can be accessed by all of the access types described above The COB Id will be used later as the identifier of a specific messages has to be splitted in high and low bytes before transmission Define COB Id 0x14 for reading access to the byte variable Var1 all channels Ox7E5 0x05 0x80 0x01 0x01 0x14 0x00 Define COB Id 0x214 for reading access to the byte variable Var1 Ox7E5 0x05 0x80 0x01 0x01 0x14 0x02 Configuration of the control variable Var0 for writing access 0 with COB 0x10 Ox7E5 0x05 0x80 0x00 0x00 0x10 0x00 Configuration of the status variable VarO for reading access 1 with COB 0x11 Ox7E5 0x05 0x80 0x01 0x00 0x11 0x00 Confi
16. 4 nPh_C Phase C inverted 5 nPh_B Phase B inverted 6 nPh_A Phase A inverted 7 Reserved do not use 8 Reserved do not use 9 ExtPWROut Power supply 5V for external logic output 10 AGnd Process ground 11 V Power supply 24V input All voltages on terminal block 1 are related to AGnd Terminal Block 2 outer block N A Operation Indication The meaning of the different indicators is shown within the following table The position of the indicators refers to the clamp mounted at the same height as the indicator Position Colour Function 10 red Internal power supply connected 11 red Power supply for external logic connected CAN Communication The module is accessed by 2 write 4 read and 1 event variable The message id s for the variable access are assigned during the configuration see CST product line configuration manual LMT Address The module has the LMT product name CST1015 EMS Dr Thomas Wunsche 47 CST IMED TTL Data Sheets Index of the Variables Variable No Length Access Description Control 0 5 byte Write Write to the control registers Status 0 4 byte Read Event Read the status Command 1 4 byte Write Execute a command Pos_Val 2 3 byte Read Event Read position Registers of the Control Section In addition to the bus specific flags see CST product line configuration manual the control section of the module also contains module specific flags i
17. 8 1 Byte Read Event Read Status change channel 6 Chan_7 9 1 Byte Read Event Read Status change channel 7 Registers of the Control Section The control section only contains the module specific flags described in the CST product line manual Registers of the Status Section The status section only contains the module specific flags described in the CST product line manual Nominal Values Parameter Minimum Typical Maximum Unit Threshold voltage of input stage 0 8 E 2 4 V Furthermore the nominal values specified within the chapter General Features have to be considered Limiting Values Parameter Min Max Unit Input voltage 0 5 V Furthermore the limiting values specified within the chapter General Features have to be considered 24 EMS Dr Thomas W nsche Data Sheets CST D08 TTL CST Digital Module with 8 Outputs TTL Level Features e 8 digital outputs with TTL level e 2 terminal blocks with 11 clamps for wiring Terminal Block 1 inner block Clamp Name Function 1 Chan_0O Output switch channel 0 2 Chan_1 Output switch channel 1 3 Chan_2 Output switch channel 2 4 Chan_3 Output switch channel 3 5 Chan_4 Output switch channel 4 6 Chan_5 Output switch channel 5 7 Chan_6 Output switch channel 6 8 Chan_7 Output switch channel 7 9 Reserved do not use 10 Gnd Common ground for CAN bus an
18. N bus and CST node Terminal Block 2 outer block Clamp Name Function 1 9 These clamps are connected internally They can be connected eitehr to 24V or to ground potential 10 Gnd Common ground for CAN bus and CST node Operation Indication The meaning of the different indicators is shown within the following table The position of the indicators refers to the clamp mounted at the same height as the indicator Position Colour Function 1 green Switching condition channel 0 2 green Switching condition channel 1 3 green Switching condition channel 2 4 green Switching condition channel 3 5 green Switching condition channel 4 6 green Switching condition channel 5 T green Switching condition channel 6 8 green Switching condition channel 7 10 red Module initialization successful EMS Dr Thomas W nsche 17 CST DI8 24V Data Sheets CAN Communication The module is accessed by 1 write 10 read and 9 event variables The message id s for the variable access are assigned during the the configuration see CST product line manual LMT Address The module with 12V supply has the LMT product name CST0003 The module with 24V supply has the LMT product name CST1003 Index of the Variables Variable Nr Length Access Description Control 0 5 byte write Write to control registers Status 0 1 byte read Read the status All_C
19. Read Write read all channels Chan_0 2 1 Byte Write Read Write read channel 0 Chan_1 3 1 Byte Write Read Write read channel 1 Chan_2 4 1 Byte Write Read Write read channel 2 Chan_3 5 1 Byte Write Read Write read channel 3 Chan_4 6 1 Byte Write Read Write read channel 4 Chan_5 7 1 Byte Write Read Write read channel 5 Chan_6 8 1 Byte Write Read Write read channel 6 Chan_7 9 1 Byte Write Read Write read channel 7 Registers of the Control Section The control section only contains the module specific flags described in the CST product line manual Registers of the Status Section The status section only contains the module specific flags described in the CST product line manual Nominal Values Parameter Min Typ Max Unit Output current low V 0 6V 5 mA Output current high V 2 4V 5 mA Furthermore the nominal values specified within the chapter General Features have to be considered Limiting Values Parameter Min Max Unit Output current low 20 mA Output current high 20 mA Sum of all output currents 50 mA Furthermore the limiting values specified within the chapter General Features have to be considered 26 EMS Dr Thomas W nsche Data Sheets CST AI8 8 0 10V CST Analogue Module with 8 Inputs 0 10V Features 8 analogue inputs 0 10V with 8 bits resolution e 2 terminal blocks with 10 clamps for wiring e S
20. al Features 3 1 Connection Scheme The CAN interface connector D Sub 9 male complies to CiA standard DS 102 1 The pin usage is detailed in the following table Pin 1 Reserved by CiA Pin2 CAN_L CAN_Low bus line dominant low Pin 3 Gnd Ground Pin 4 Reserved by CiA Pin 5 Reserved by CiA Pin 6 Gnd Optional ground internally connected to Pin 3 Pin7 CAN_H CAN_High bus line dominant high Pin 8 _ Reserved by CiA error signal Pin 9 V CAN Positive power supply from CAN Bus 3 2 Absolute Limiting Values In the following table the limiting values of the bus interface are summarized The application specific limiting values are stated in the different module data sheets Any also temporary stress in excess of the limiting values may cause permanent damage on the devices Parameter Min Max Unit Storage temperature 20 80 C Operating temperature 0 60 C Supply voltage 100 16 Voltage on bus connections 4 7 16 Current across ground connection 1 1 j Extended temperature range upon request V CAN Note Modules marked VS24 on the name plate are layouted for differing supply voltages 3 3 Nominal Values The following table shows the nominal values of the CST product line Parameter Min Typ Max Unit Current consumption logic 75 110 mA Supply voltage o 14 V 10 20 50 100 125 kB
21. ame height as the indicator Position Colour Function 1 green Switching condition channel 0 2 green Switching condition channel 1 3 green Switching condition channel 2 4 green Switching condition channel 3 5 green Switching condition channel 4 6 green Switching condition channel 5 7 green Switching condition channel 6 8 green Switching condition channel 7 10 red Internal supply voltage connected 11 red Supply voltage for external logic connected EMS Dr Thomas W nsche 23 CST DI8 TTL Product Line CST CAN Communication The module is accessed by 1 write 10 read and 9 event variables The message id s for the variable access are assigned during the configuration see CST product line configuration manual LMT Address The module has the LMT product name CST0009 Index of the Variables Variable Nr Length Access Description Control 0 5 Byte Write Write to control registers Status 0 1 Byte Read Read the status All_Chan 1 1 Byte Read Event Read all channels status change of at least one channel Chan_0 2 1 Byte Read Event Read Status change channel 0 Chan_1 3 1 Byte Read Event Read Status change channel 1 Chan_2 4 1 Byte Read Event Read Status change channel 2 Chan_3 5 1 Byte Read Event Read Status change channel 3 Chan_4 6 1 Byte Read Event Read Status change channel 4 Chan_5 7 1 Byte Read Event Read Status change channel 5 Chan_6
22. and AC asynchronous motors as well as step motors with incremental input e Regulating output analogue or PWM e Galvanic separation between bus and process ground Assignment of the Terminal Blocks Terminal Block 1 inner Block Clamp Name Function 1 Ana_Out Analogue voltage output to the inverter 2 Chan_A Incremental input A 3 Chan_B Incremental input B 4 PWM PWM output 5 V Positive power supply input 24V 6 End_L Limit switch left 7 End_R Limit switch right 8 Ref Reference switch 9 Ready Readiness signal from output stage 10 AGnd Process ground 11 V Positive power supply input 24V Terminal Block 2 outer block Clamp Name Function 1 AGnd Process ground 2 Chan_C Incremental input C 3 AGnd Process ground 4 Ph_A DIR Phase A rolling direction 5 Ph_B Phase B 6 Ph_C Phase C 7 Ph_D Phase D 8 Enable Output stage enable 9 V Positive power supply input 24V 10 AGnd Process ground 11 V Positive power supply input 24V Alle clamps Agnd are internally connected All clamps V are internally connected EMS Dr Thomas Wunsche 37 CST MC 1100 Data Sheets Specification of the used values Ana_Out Analogue regulation signal 10 V for the output stage Chan_A Chan_B Phase signale of the incremental input TTL level Chan_C Index signal of the incremental input TTL level PWM Pulse width
23. arameter Min Max Unit Voltage supply V 0 30 V Furthermore the limiting values specified within the chapter General Features have to be considered 32 EMS Dr Thomas W nsche Data Sheets CST A02 12 0 25mA CST Analogue Module with 2 Outputs 0 25mA 12 Bit Features e 2 analogue outputs with 0 25mA output range and 12 bit resolution e Accuracy 0 2 within signal range 4 20mA e Galvanic separation between bus and process ground Assignment of the Terminal Blocks Terminal Block 1 inner block Clamp Name Function 1 AGnd Process ground 2 Chan_0 Ouput channel 0 3 V Positive voltage supply input 24V 4 AGnd Process ground 5 Chan_1 Output channel 1 6 V Positive voltage supply input 24V 7 AGnd Process ground 8 AGnd Process ground 9 V Positive voltage supply input 24V 10 V Positive voltage supply input 24V All clamps AGnd are internally connected All clamps V are internally connected All voltages on the terminal blocks relate toAGnd Terminal Block 2 outer block N A Operation Indication The meaning of the different operation indicators is shown within the following table The position of the indicators refers to the clamp mounted at the same height as the indicator LED Position Colour Function 8 red Internal power supply connected 9 red Power supply for the process side connected CAN Communication The
24. cs 131 reserved COB Id 2021 0 1 hw fw sw COB Id 2020 hw hardware version fw communication firmware version sw module software version Config Slave Figure 8 Protocol used for the version inquiery EMS Dr Thomas W nsche Communication Product Line CST 2 7 Structure of the Variable Index Control Status register CST devices have a Control Status section that can be accessed through variable number 0 The control section is affected by writing operations and consists of several 16 bit registers manipulated by a 5 byte message The selection of the register to manipulate is done by the first byte of the message the following 2 bytes contain the value to store and the last two bytes contain a mask releasing the bits to manipulate Only active bits bits set to 1 in the mask can be affected in the control register The control register 0 contains flags influencing the behaviour of the CST device on the CAN bus The following bits are defined current version x 3 x Bit Nr Function Bit set to 1 0 Auto Bus On The device reactivates its CAN controller if it switched into bus off state because of errors 1 Auto Baud The device detects the data rate if it has been changed during operation The status register Reading the status register returns a message of 4 bytes The first two bytes contain the bus state the following two byte
25. d process 11 ExtPWR Power supply 5V for external logic output Terminal Block 2 outer block Clamp Name Function 1 10 Gnd Common ground for CAN bus and process 11 ExtPWR Power supply 5V for external logic output Operation Indication The meaning of the different indicators is shown within the following table The position of the indicators refers to the clamp mounted at the same height as the indicator Position Colour Function 1 green Switching condition channel 0 2 green Switching condition channel 1 3 green Switching condition channel 2 4 green Switching condition channel 3 5 green Switching condition channel 4 6 green Switching condition channel 5 7 green Switching condition channel 6 8 green Switching condition channel 7 10 red Internal power supply connected 11 red Power supply for external logic connected EMS Dr Thomas Wunsche 25 CST D08 TTL Data Sheets CAN Communication The module is accessed by 10 write 10 read and 1 event variable The message id s for the variable access are assigned during the configuration see CST product line manual LMT Address The module has the LMT product name CST0010 Index of the Variables Variable Nr Length Access Description Control 0 5 Byte Write Write to control register Status 0 4 Byte Read Event Read change of status All_Chan 1 1 Byte Write
26. dule with Error Detection 47 EMS Dr Thomas Wunsche Users Manual Product Line CST THIS PAGE INTENTIONALLY LEFT BLANK EMS Dr Thomas Wunsche Product Line CST Overview 1 Overview 1 1 Features e Multifaceted solution for I O functions on the CAN bus e CiA and ISO 11898 compatible bus interface e Automatic data rate detection based on a table with standard values Independent intelligence due to microcontroller 80C32 or DS 80C320 e Robust layout electronics completely enclosed in epoxy resin e Compact structure for use in cramped conditions e Modules available for different application types e Modular setup for easy adaptation to application demands 1 2 General Description The CAN modules of the CST Product Line are built for distributed input output in measuring control and automation uses Their compact and rugged structure with completely enclosed electronics allows the use not only in a control box but also in proximity of the process The way of building in connection with high granularity offers the possibility to implement decentralized control solutions consistently Through the integrated microcontroller CST modules can perform pre processing functions independently In many cases they help to lower the costs for control hardware and installation while offering an enlargement of flexibility at the same time CST modules are available with a wide range of different functions In addition to dig
27. ed when state changes occur e g modification of input signals The devices are complying to the CAL LMT protocol following CiA completely configurable over the CAN bus The assignment of COB id s takes place dynamically during the initialization of the network the data rate is recognized by the device by means of a table containing standard data rates 2 2 Operational States For distinction between configuration and normal operation CST devices operate in two states a configuration mode and an operation mode The transitions between the operating modes are influenced through mode switching commands Configuration Mode Switch Mode Global with parameter Operation_Mode Switch Mode Selective with suitable LMT Address parameter Switch Mode Global with parameter Configuration _Mode Operation Mode Figure 1 CST module operating states and transitions The common procedure after power on of the system follows the following steps e Switching the CST device into configuration mode e Assignment of COB Id s for the variables to use Optional offset assignment to write variables e Switching the CST device into operation mode by using Switch Mode Global Operation of the system through the configured identifierConfiguration Mode EMS Dr Thomas Wunsche 3 Communication Product Line CST 2 3 Configuration Mode In configuration mode COB identifiers for reading and writing op
28. el 2 0x037 0x01 0x01 0x034 0x04 Set channel 6 0x038 0x01 0x01 0x034 0x04 EMS Dr Thomas W nsche data frame RTR Frame inquire status of the channels data frame RTR Frame inquire status of the channels data frame RTR Frame inquire status of the channels data frame RTR Frame inquire status of the channels data frame RTR Frame inquire status of the channels data frame RTR Frame inquire status of the channels 13 Communication Product Line CST 14 Configuration using an offset During the configuration an offset can be specified to shift the values within a message This offers the possibility to access a couple of modules later at the same time using only one CAN message when in operating mode The specific module will then evaluat the values at different positions within the CAN messages Example Set an offset of 8 for the byte variable Var 1 Thus the second byte within a message will be valid for this module 0Ox7E5 0x03 0x81 0x01 0x08 If the byte variable for this module is addressed later the module will evaluate the second byte within the received CAN message A message would have the following structure Set channels 2 and 6 see example above 0x033 0x02 0x00 0x22 data frame 0x034 0x04 RTR Frame inquire status of the channels If the offset is not needed this step can be omitted during configuration EMS Dr Thomas Wunsche Product Line CST General Features 3 Gener
29. erations as well as for event notification are determined for individual variables through a compatible extension of the CAL LMT protocol The variables represent the state of the inputs and outputs and are described in the CST data sheets Figure 2 shows the protocol for the assignment of COB id s Assign COB Id for Variable 0 A 2 3 4 5 Config 5 cs 128 ty vn id a Config Master Slave COB Id 2021 cs command specifier ty variable access type 0 write 1 read 2 event vn variable number id COB Id least significant byte first Figure 2 Assigning a COB id to a module variable By the declaration of an offset it is possible to determine for certain write variables which part of the data field should be evaluated Through this mechanism it is possible to set several outputs on different CST devices by transmitting only one COB The default offset is set to 0 Figure 3 shows the protocol used for the assignment of an offset Assign Start Bit for Write Variable Operation 0 1 2 3 Config Config M ster a cs 129 vn sbit Slave COB Id 2021 cs command specifier vn variable number sbit start bit of value within COB Figure 3 Assigning an offset to a module variable 4 EMS Dr Thomas W nsche Product Line CST Communication 2 4 Operation Mode In operation mode the data exchange between one or more control units and CST devices take
30. g meaning Name Bit Nr Description Mode_0 0 MO 1 output signal on Ana_Out is valid MO 0 output signal on PWM is valid Mode_1 1 M1 0 output PhA Dir is direction output M1 1 output PhA Dir is phase output Enable 2 Enable external output stage Reset 3 Reset line of the HCTL 1100 Indx_Pol 4 active level of the Chan_C input 1 High Active 0 Low Active Ref_Pol 5 active level of the reference switch input 1 High Active 0 Low Active The status register contains an image of the control register within the module specific 2 status bytes In addition the status register also contains the following status bits Name Bit Nr Description Do_Ref 7 Reference run is active Endsch_rechts 8 Limiting switch right Endsch_links 9 Limiting switch left Index 10 Status of the incremental input Chan C Bereit 11 Readiness signal from the output stage Referenzsch 12 Reference switch Profile 13 Profile line of the HCTL 1100 Init 14 Init line of the des HCTL 1100 Limit 15 Limit line of the HCTL 1100 The command and the appropriate parameters are written to the command register The command itself is written to data byte 0 the parameters are written to the following data bytes Please notive that the number of parameters depend on the specified command EMS Dr Thomas Wunsche 39 CST MC 1100 Data Sheets Table with Commands and appropriate Parameters
31. guration of the status variable Var0 for event access 2 with COB 0x12 Ox7E5 0x05 0x80 0x02 0x00 0x12 0x00 EMS Dr Thomas Wunsche Product Line CST Communication Configuration of the byte variable Var1 for writing access 0 with COB 0x33 Ox7E5 0x05 0x80 0x00 0x01 0x33 0x00 Configuration of the byte variable Var1 for reading access 1 with COB 0x34 Ox7E5 0x05 0x80 0x01 0x01 0x34 0x00 Now the different channels outputs are configured example 4 channels Configuration of the channelO variable Var2 for writing access 0 with COB 0x35 Ox7E5 0x05 0x80 0x00 0x02 0x35 0x00 Configuration of the channel1 variable Var3 for writing access 0 with COB 0x36 Ox7E5 0x05 0x80 0x00 0x03 0x36 0x00 Configuration of the channel2 variable Var4 for writing access 0 with COB 0x37 Ox7E5 0x05 0x80 0x00 0x04 0x37 0x00 Configuration of the channel6 variable Var8 for writing access 0 with COB 0x38 Ox7E5 0x05 0x80 0x00 0x08 0x38 0x00 The configuration is finished the module has to be switched back into operating mode Ox7E5 0x02 0x04 0x00 Switch modul into operating mode Verification of the configuration Inquire the status of the module important the RTR bit has to be set 0x011 0x04 RTR Frame Now set the channels 2 and 6 0x033 0x01 0x22 0x034 0x04 Reset all channels 0x033 0x01 0x00 0x034 0x04 Set channel 0 0x035 0x01 0x01 0x034 0x04 Set channel 1 0x036 0x01 0x01 0x034 0x04 Set chann
32. han 1 1 byte read event Read all channels status change of at least one channel Chan_O 2 1 byte read event Read Status change of channel 0 Chan_1 3 1 byte read event Read Status change of channel 1 Chan_2 4 1 byte read event Read Status change of channel 2 Chan_3 5 1 byte read event Read Status change of channel 3 Chan_4 6 1 byte read event Read Status change of channel 4 Chan_5 7 1 byte read event Read Status change of channel 5 Chan_6 8 1 byte read event Read Status change of channel 6 Chan_7 9 1 byte read event Read Status change of channel 7 Registers of the Control Section The control section only contains the module specific flags described in the CST product line manual Registers of the Status Section The status section only contains the module specific flags described in the CST product line manual Nominal Values Parameter Minimum Typical Maximum Unit Threshold voltage of input stage 5 V Hysteresis 0 5 V Furthermore the nominal values specified within the chapter General Features have to be considered Limiting Values Parameter Minimum Maximum Unit Input voltage 0 30 V Furthermore the limiting values specified within the chapter General Features have to be considered 18 EMS Dr Thomas W nsche Data Sheets CST D08 H 24V 500mA CST Digital Module with 8 Outputs 24V 500mA Features e 8 digital output channel
33. he Control Section The control section of the modules consists of 4 registers Register 0 contains bus specific flags and is described in the CST product line manual Register 1 is not used Register 2 contains module specific flags shown in the following table Register 3 represents a mask the bits of witch enable the event triggering in case of a change of the module specific status default all events disabled Bit Function 0 reserved Enable output if supply voltage for the power circuit in 12V mode is connected 2 Enable output if supply voltage for the power circuit in 24V mode is connected default Registers of the Status Section The structure of the status registers is described in the CST product line configuration manual The occupancy of the module specific part is shown in the following table Bit Event Function 0 reserved 1 yes Supply voltage for the power circuit in 12V mode is connected 2 yes Supply voltage for the power circuit in 24V mode is connected 3 reserved 4 yes Output stage is enabled Nominal Values Parameter Min Typ Max Unit Supply voltage V 8 12 24 28 V Output current per channel 0 500 mA Reduction of total current at environmental 100 mA C temperature gt 40 C Threshold value to enable Ouput in 12V 10 V mode Threshold value to enable Ouput in 24V 20 V mode
34. im_0O set lower limit channel 1 UNSIGNED24 LoLim_1 WlN oO set upper limit channel UNSIGNED24 HiLim_1 Note The position data is internally handled as an unsigned 24 bit value Any underflow or overflow results in an erronous evaluation of the limits It is therefore recommended to set the zero point outside of the area of operation Nominal Values Parameter Min Typ Max Unit Threshold of the input stage 0 8 2 4 V Furthermore the nominal values specified within the chapter General Features have to be considered Limiting Values Parameter Min Max Unit Input voltage 0 5 V Furthermore the limiting values specified within the chapter General Features have to be considered EMS Dr Thomas W nsche 45 CST II2 TTL 46 THIS PAGE INTENTIONALLY LEFT BLANK Data Sheets EMS Dr Thomas W nsche Data Sheets CST INED TTL CST Incremental Input Module with Error Detection Features e 1 incremental input with TTL level e Complentary inputs with error detection e Counting range 24 bit e Signaling of changes of the input levels e Signaling of range overflows e Galvanic separation between bus and process ground Assignment of the Terminal Blocks Terminal Block 1 inner block Clamp Name Function 1 Ph_A Phase A 2 Ph_B Phase B 3 Ph_C Phase C
35. it s eet 250 500 800 1000 i V CAN EMS Dr Thomas W nsche 15 General Features Product Line CST 3 4 Measurements The module descriptions can be obtained from the specific module datasheets feeder clip thread bolt 0 08 0 5 qmm 4 40 UNC Sub D9 connector hexagon bolt SW 5 internal thread 4 40 UNC 99 1 ie gt 1 1 1 1 1 0 1 0 o gt D oo co number of feeder co co gt D clips and clips st varies oO ise N N picture not full scale Updated July 1999 CST Product Line EMS Dr Thomas Wunsche Sonnenhang 3 D 85304 IImm nster all measurements without tolerance specification have tolerance 0 5 mm edges rounded 16 EMS Dr Thomas Wunsche Data Sheets CST DI8 24V CST Digital Module with 8 Inputs 24V Features e 8 digital input channels 24V e 2 terminal blocks with 10 clamps for wiring e Signals input level changes Assignment of theTerminal Blocks Terminal Block 1 inner block Clamp Name Function 1 Chan_0 Input channel 0 2 Chan_1 Input channel 1 3 Chan_2 Input channel 2 4 Chan_3 Input channel 3 5 Chan_4 Input channel 4 6 Chan_5 Input channel 5 1 Chan_6 Input channel 6 8 Chan_7 Input channel 7 9 Reserved do not connect 10 Gnd Common ground for CA
36. ital input output with different turn off levels analog inputs outputs incremental encoders and a digital motor controller are available A configurable logic module with network computer functionality allows the use of decentralized intelligence and the implementation of critical functions directly into the hardware CST devices are layouted in a modular manner The basic element is the base module with processor 80C32 CAN controller Philips SJA1000 and 8k of ROM The interfaces have been realized with an application module piggybacked on one side of the base module Different application modules are available Control functions can be implemented efficiently by use of a programmable variation of the base module 1 3 Sample Applications The application area of the CST product line is very wide Some sample application are detailed in the following e Remote I O in control systems e Modular large display systems e Remote data processing e Distributed measurement data acquisition e Automation of buildings EMS Dr Thomas Wunsche 1 Overview Product Line CST 1 4 Ordering Information Article Number 11 00 001 20 11 00 002 20 11 00 103 20 11 00 104 20 11 00 005 20 11 00 006 20 11 00 007 20 11 00 008 20 11 00 009 20 11 00 010 20 11 00 111 20 11 00 112 20 11 00 113 20 11 00 901 20 11 00 902 20 Description CST DI8 TTL 8 digital input channels TTL level CST DO8 TTL 8 digital outpu
37. n Concept ooo wa ee ce en 3 2 2 Operational States 2 2 Ho mn 3 2 3 Configuration Mode 2 2 2 0 42 amp 3 42 0 04 64 842 2 4 2 4 Operation Mode 0000 eee eee ees 5 2 5 Mode Switching 0 2 amp bod o ane be Bae ee Soe 6 2 6 Identification Services 2 4 4 25 sr EA eG Oe eee ew 8 2 7 Structure of the Variable Index 04 10 2 8 Configuration Example 2 ese es ee 4 Su ee ee eee 11 3 General Features 3 6 644255 vo 00000 ee ES Oe a een 15 3 1 Connection Scheme 24 4 22544 bad eee 4 4 debe He 15 3 2 Absolute Limiting Values 2 2 ces 4 4 sa sau pe ee a 4 15 3 3 Nominal Values aoaaa es 15 3 4 Measurements 222 22 0 m mn an nn a rn 16 4 Module Descriptions n 2 2 2 2 2 2 nn m nn nn nn 17 CST Digital Module with 8 Inputs 24V 2 17 CST Digital Module with 8 Outputs 24V 500mA 19 CST Digital Module with 8 Inputs TTL Level 23 CST Digital Module with 8 Outputs TTL Level 25 CST Analogue Module with 8 Inputs 0 10V 27 CST Analogue Module with 4 Inputs 0 25mA 12 Bit 29 CST Analogue Module with 4 Inputs 0 10V 12 Bit 31 CST Analogue Module with 2 Outputs 0 25mA 12 Bit 33 CST Analogue Module with 2 Outputs 0 10V 12 Bit 35 CST Motor Control Module MC 1100 004 37 CST Incremental Encoder Module with 2 Input Channels 43 CST Incremental Input Mo
38. n subregister 2 The bits are shown in the following table Name Bit No Description Clear 0 Reset the counter The module specific part of the statusregister contains the signals shown in the following table Name Bit No Description InLim 0 Channel within allowed range LoLim 2 Channel has fallen below the lower limit HiLim 3 Channel has exceeded the upper limit Error A 8 Error signal phase A Ph_A 9 Phase signal A Ph_B 10 Phase signal B Ph_C 11 Phase signal C Error B 12 Error signal phase B nPh_B 13 Phase signal A inverted nPh_B 14 Phase signal B inverted nPh_C 15 Phase signal C inverted Commands and their corresponding parameters are writen to the command register and executed after writing For this purpose a command is written to data byte 0 and the parameters are written to the following data bytes The following table contains the possible commands and parameters CMD Description Parameter 0 Set lower limit UNSIGNED24 LoLim Set upper limit UNSIGNED24 HiLim 4 Reset both error signals Note The position data is internally handled as an unsigned 24 bit value Any underflow or overflow results in an erronous evaluation of the limits It is therefore recommended to set the zero point outside of the area of operation 48 EMS Dr Thomas Wunsche Data Sheets Nominal Values CST INED TTL Parameter Min
39. ndition channel 5 7 green Switching condition channel 6 8 green Switching condition channel 7 10 red Supply voltage for the logic connected 11 red Supply voltage for the output stages is connected This indicator is not updated during the baudrate detection procedure Changes when connecting or disconnecting the power supply indicate a correct baudrate detection CAN Communication The module is accessed by 10 write 10 read and 1 event variable The message id s for the variable access are assigned during the configuration see CST product line manual LMT Address The module with 12V supply has the LMT product name CST0001 The module with 24V supply has the LMT product name CST1001 Index of the variables Variable Nr Length Access Description Control 0 5 Byte write Write to control registers Status 0 4 Byte read Read the status All_Chan 1 1 Byte write read Write Read all channels Chan_0 2 1 Byte write read Write Read channel 0 Chan_1 3 1 Byte write read Write Read channel 1 Chan_2 4 1 Byte write read Write Read channel 2 Chan_3 5 1 Byte write read Write Read channel 3 Chan_4 6 1 Byte write read Write Read channel 4 Chan_5 7 1 Byte write read Write Read channel 5 Chan_6 8 1 Byte write read Write Read channel 6 Chan_7 9 1 Byte write read Write Read channel 7 20 EMS Dr Thomas W nsche Data Sheets CST D08 H 24V 500mA Registers of t
40. s contain the module state Changes occuring in the status register may trigger events with certain devices The bus state currently returns a copy of the control register 0 10 EMS Dr Thomas Wunsche Product Line CST Communication 2 8 Configuration Example The following configuration example shows the configuration for a CST module of type CST DO8 24V 500mA General structure of a CAN message here with 8 bytes of data ID Length Data Ox7E5 0x08 0x01 0x02 0x03 0x0x 0x05 0x06 0x07 0x08 0x7E5 2021 decimal is a specific identifier used for the configuration Ox7E4 2020 decimal is used by the module when answering to a request All values are hexadecimal values Important values within the CAN messages are printed in bold face Synchronisation CST modules perform an automatic baudrate detection for baudrates following the CiA standard To synchronize modules connected to the bus to the required baudrate one should send synchronisation messages preferably with varying time intervalls 0 10ms Ox7E5 0x08 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 Ox7E5 0x08 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 Ox7E5 0x08 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 Ox7E5 0x08 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 Ox7E5 0x08 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 Depending on the number of modules connected to the bus one should send up to 500 synchronisation messages Mode Switching into the Configuration Mode There now are t
41. s place through the configurated COB id s Figure 4 shows the protocol sequences used in operation mode Write Variable 0 Client 3 gt offset val Server Configured COB Id Read Variable Client 3 gt RTR Frame Server Configured COB Id 0 z val lt Configured COB Id Event Client val Server Configured COB Id Configured COB Id COB Id configured for this variable and access mode val value of the variable offset offset of value from start of message Figure 4 Protocol sequences for variable access in operation mode With values longer than a byte the least significant byte is transmitted first the most significant byte is transmitted last The transmit position of a value with an offset writing variables is obtained by casting the value into a longer variable corresponding to the offset and then shifting it left depending on the dimension of the offset EMS Dr Thomas Wunsche Communication Product Line CST 2 5 Mode Switching To change the operational modes commands for mode switching are provided Switch Mode Selective switches the CST device specified by the adress parameters into configuration mode Figure 5 shows the protocol used to perform switch Mode Selective Switch Mode Selective 0 1 8 Config u Config
42. s with 24V 500mA switching power 2 terminal blocks with 11 clamps for wiring e Monitoring of the supply voltage within the power circuit Short circuit and overload proof outputs Assignment of the Terminal Blocks Terminal Block 1 inner block Clamp Name Function 1 Chan_0 Output channel 0 2 Chan_1 Output channel 1 3 Chan_2 Output channel 2 4 Chan_3 Output channel 3 5 Chan_4 Output channel 4 6 Chan_5 Output channel 5 7 Chan_6 Output channel 6 8 Chan_7 Output channel 7 9 Reserved do not connect 10 Gnd Common Ground for CAN bus and CST node 11 V Positive supply power circuit Terminal Block 2 outer block Clamp Name Function 1 9 These clamps represent the second connection for the load Connected to ground potential 10 Gnd Common Ground for CAN bus and CST node 11 V Positive supply power circuit EMS Dr Thomas W nsche 19 CST D08 H 24V 500mA Data Sheets Operation Indication The meaning of the different indicators is shown within the following table The position of the indicators refers to the clamp mounted at the same height as the indicator Position Colour Function 1 green Switching condition channel 0 2 green Switching condition channel 1 3 green Switching condition channel 2 4 green Switching condition channel 3 5 green Switching condition channel 4 6 green Switching co
43. scription Control 0 5 Byte write Write to control registers Status 0 1 Byte read Read the status All_Chan 1 8 Byte read Read all channels with synchronized scanning Chan_0 2 1 Byte read Read channel 0 Chan_1 3 1 Byte read Read channel 1 Chan_2 4 1 Byte read Read channel 2 Chan_3 5 1 Byte read Read channel 3 Chan_4 6 1 Byte read Read channel 4 Chan_5 7 1 Byte read Read channel 5 Chan_6 8 1 Byte read Read channel 6 Chan_7 9 1 Byte read Read channel 7 Registers of the Control Section The control section only contains the module specific flags described in the CST product line configuration manual Registers of the Status Section The status section only contains the module specific flags described in the CST product line configuration manual Nominal Values Parameter Min Typ Max Unit Reference output at 25 C version RO 9 970 10 10 030 V Channel deviation compared to the reference 1 1 Bit Temperature drift of the reference 100 100 ppm C Furthermore the nominal values specified within the chapter General Features have to be considered Limiting Values Parameter Min Max Unit Input voltage 0 30 V Furthermore the limiting values specified within the chapter General Features have to be considered 28 EMS Dr Thomas W nsche Data Sheets CST AI4 12 0 25mA CST Analogue Module with 4 Inputs 0 25mA 12 Bit Fea
44. t channels TTL level CST DI8 24V 8 digital input channels 24V CST DO8H 24V 500mA 8 digital output channels 24V 500mA CST AI8 8 0 10V 8 analog input channels 0 10V 8 bit resolution CST AI8 8 0 10V RO 8 analog input channels 0 10V 8 bit resolution reference output for potentiometer supply CST AI4 12 0 10V 4 analog input channels 0 10V 12 bit resolution galvanically separated CST AI4 12 0 25mA 4 analog input channels 0 25mA 12 bit resolution galvanically separated CST A02 12 0 10V 2 analog ouput channels 0 10V 12 bit resolution galvanically separated CST A02 12 0 25mA 2 analog output channels 0 25mA 12 bit resolution galvanically separated CST I2 TTL 2 channel incremental encoder 24 bit resolution galvanically separated CST IMED TTL 1 channel incremental encoder 24 bit resolution error detection galvanically separated CST MC1100 Digital motor controller for synchronous asynchronous and stepping motors galvanically separated CST MKR Clamp for CST modules assembly rail fixing CST MKS Clamp for CST modules screw fixing EMS Dr Thomas Wunsche Product Line CST Communication 2 Communication 2 1 Communication Concept The control of the CST devices takes place through module specific variables that can be accessed by messages COB Communication Object with configurable CAN identifiers COB id s These variables have reading and writing access Furthermore events can be trigger
45. t those parameters Inquire Manufacturer Name 0 1 eK cs 36 reserved Sag COB Id 2021 0 1 cs 36 manufacturer_name COB Id 2020 inquire Product Name a cs 37 reserved cane COB Id 2021 0 1 cs 37 product_name COB Id 2020 Inquire Serial Number 0 1 Config cs 38 reserved Config Master Slave COB Id 2021 0 1 ex cs 38 serial_number X COB Id 2020 cs command specifier manufacturer name ASCII characters EMS_T_W product_name characterisation of product 7 ASCII chars serial_number BCD coded serial_number 14 digits Figure 7 Protocol sequence to inquire the LMT parameters This function can be used to identify an unknown CST device Therefore the device has to be operated exclusively in the CAN network and has to be switched into configuration mode by using the function Switch Mode Global Afterwards an inquiery of the LMT parameters can be done 8 EMS Dr Thomas Wunsche Product Line CST Communication To check the module version a function is implemented in the firmware beginning with version x 3 x that provides inquirery of the version of the hardware the communication firmware and the module software Figure 8 shows the protocol used to inquire the version number Config Master Inquire Version Number 0 1
46. the variable access are assigned during the configuration see CST product line configuration manual LMT Address The module has the LMT product name CST0005 Index of the Variables Variable Nr Length Access Bedeutung Control 0 5 Byte write Write to control registers Status 0 4 Byte read Read the status All_Chan 1 8 Byte read Read all channels Chan_0 2 2 Byte read Read channel 0 Chan_1 3 2 Byte read Read channel 1 Chan_2 3 2 Byte read Read channel 2 Chan_3 5 2 Byte read Read channel 3 Registers of the Control Section The control section only contains the module specific flags described in the CST product line configuration manual Registers of the Status Section The status section only contains the module specific flags described in the CST product line configuration manual Nominal Values Parameter Min Typ Max Unit Power supply V 20 24 28 V Input load 159 30 159 55 159 80 Ohm measurement error related to maximum 0 2 deflection Temperature drift 100 100 ppm C modules with higher accuracy on demand Furthermore the nominal values values specified within the chapter General Features have to be considered Limiting values Parameter Min Max Unit Power supply 0 30 V Furthermore the limiting values specified within the chapter General Features have to be considered EMS Dr
47. the configuration see CST product line configuration manual LMT Adress The module has the LMT product name CST0008 EMS Dr Thomas W nsche 35 CST A02 12 0 10V 36 Index of the variables Data Sheets Variable Nr Length Access Description Control 0 5 Byte write Write to control registers Status 0 4 Byte read Read the status All_Chan 1 4 Byte write Write to all channels Chan_0 2 2 Byte write Write to channel 0 Chan_1 3 2 Byte write Write to channel 1 Registers of the Control Section The control section only contains the module specific flags described in the CST product line manual Registers of the Status Section The status section only contains the module specific flags described in the CST product line manual Nominal Values Parameter Min Typ Max Unit Supply voltage V 20 24 28 V Output current 0 ze 20 mA Output error at 25 C 0 2 Limiting Values Furthermore the nominal values specified within the chapter General Features have to be considered Parameter Min Max Unit Supply voltage V V Furthermore the limiting values specified within the chapter General Features have to be considered EMS Dr Thomas W nsche Data Sheets CST MC 1100 CST Motor Control Module MC 1100 Features e Digital motor controller based on the HCTL 1100 Hewlett Packard for DC AC synchron
48. tures e 4 analogue inputs with 0 25mA input range and 12 bit resolution e Accuracy 0 2 e Sample Time lt ims per channel e Galvanic separation between bus and process ground Assignment of the Terminal Blocks Terminal Block 1 inner block Clamp Name Function 1 Chan_0 Input channel 0 2 AGnd Process ground 3 Chan_1 Input channel 1 4 AGnd Process ground 5 Chan_2 Input channel 2 6 AGnd Process ground 7 Chan_3 Input channel 3 8 AGnd Process ground 9 AGnd Process ground 10 V Positive voltage supply input 24V Terminal Block 2 outer block Clamp Name Function 1 V Positive voltage supply input 24V 2 AGnd Process ground 3 V Positive voltage supply input 24V 4 AGnd Process ground 5 V Positive voltage supply input 24V 6 AGnd Process ground 7 V Positive voltage supply input 24V 8 AGnd Process ground 9 AGnd Process ground 10 V Positive voltage supply input 24V All clamps AGnd are internally connected All clamps V are internally connected All voltages on the terminal blocks relate toAGnd Operation Indication Position Colour Funktion 10 rot Internal supply is connected 11 rot Supply for the process side is connected EMS Dr Thomas W nsche 29 CST AI4 12 0 25mA Data Sheets 30 CAN Communication The module is accessed by 1 write and 6 read variables The message id s for
49. wo possibilities to configure the modules 1 Switch Mode Global Condition Only one module connected to the bus Ox7E5 0x02 0x04 0x01 Switch the module into configuration mode Ox7E5 0x01 0x82 Check presence of the module If the configuration parameters are unknown they can be inquired through the following 3 messages time intervall about 5ms Ox7E5 0x01 0x24 Manufacturer EMS_T_W Ox7E5 0x01 0x25 Product name CSTxxxx Ox7E5 0x01 0x26 Serial number binary coded decimal value with 7 digits The module should then answer with the following messages example Ox7E4 0x08 0x24 0x45 0x4D 0x53 Ox5F 0x54 0x5F 0x57 EMS_T_W Ox7E4 0x08 0x25 0x43 0x53 0x54 0x30 0x30 0x30 0x31 CST0001 Ox7E4 0x08 0x26 0x00 0x00 0x00 0x00 0x00 0x01 0x78 00000178 The different variables can now be configured see below EMS Dr Thomas Wunsche 11 Communication Product Line CST 12 After the configuration the module has to be switched back into operating mode Ox7E5 0x02 0x04 0x00 Switch to operating mode 2 Switch Mode Selective specific selection of a module connected to the bus Switch the module into configuration mode time intervall about Sms Ox7E5 0x08 0x01 0x45 0x4D 0x53 Ox5F 0x54 0x5F 0x57 EMS_T_W Ox7E5 0x08 0x02 0x43 0x53 0x54 0x30 0x30 0x30 0x31 CST0001 Ox7E5 0x08 0x03 0x00 0x00 0x00 0x00 0x00 0x01 0x78 00000178 Check presence of the device e g Inquire serial number Ox7E5 0x01
50. ynchronous scanning of all channels e Reference output 10V only Version CST AI8 8 0 10V RO Assignment of the Terminal Blocks Terminal Block 1 inner block Clamp Name Function 1 Chan_O Input channel 0 2 Chan_1 Input channel 1 3 Chan_2 Input channel 2 4 Chan_3 Input channel 3 5 Chan_4 Input channel 4 6 Chan_5 Input channel 5 7 Chan_6 Input channel 6 8 Chan_7 Input channel 7 9 Reserved do not connect 10 RefOut Reference output 10V only version CST AI8 8 0 10V RO Terminal Block 2 outer block Clamp Name Function 1 10 Gnd Common ground for CAN bus and CST node Operation Indication The meaning of the different operation indicators is shown within the following table The position of the indicators refers to the clamp mounted at the same height as the indicator Position Colour Function 9 red Module initialized correctly CAN Communication The module is accessed by 1 write and 10 read variables The message id s for the variable access are assigned during the configuration see CST product line configuration manual LMT Address The module has the LMT product name CST0011 The module with reference output RO has the LMT product name CST0007 EMS Dr Thomas Wunsche 27 CST AI8 8 0 10V Data Sheets Index of the Variables Variable Nr Length Access De

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