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I-7231D CPS_DCON Gateway

1. Data 8 byte Data byte Func Code Node ID RTR Length 101 9 817161514131211 0 ss NE 111101010 0 0101010111 0 8 1231 05 1A 01 08 01 00 60 SDO server SDO client l 7231D ccs 1 n 0 e 1 s 1 m 05 1A 01 d 08 01 00 60 The value 08 01 00 60 means the mapped object is stored in the index 0x6000 with sub index 01 It is an 8 bit data unit Users can check this object in the Standardize object mapping table described above It is mapped according to the DIO DI7 of the 7053D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9 817161514131211 0 01412314 SNEN 7 110111110 0 0101010111 0 8 160105 1A 01 00 00 00 00 SDO server SDO client lt q l 7231D SCS 9 m 051A01 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 127 Step 40 Fill the DI8 DI15 of the I 7053D and AIO of the I 7012D into the index 0x1A05 with sub index 02 and 03 respectively 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7161514 3 121110 0 1 213141516 7 1111010101010101010111 0 8 123105 1A 02 08 02 00 60 G SDO server I 7231D CCS 1 n 0 e 1 sS 1
2. Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 514 31 2 1 2 3 4 5 6 7 11111010 0 0 0 0 8 23 05 16 02 08 02 00 62 SDO server I 7231D ccs 1 n 0 e 1 s 1 m 05 16 02 d 08 02 00 62 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191 1817 5 413 2 1 2 3 4 5 6 7 1101 1 1 0 0 0 0 8 60 05 16 02 00 00 00 00 i SDO server Il 7231D scs 3 m 05 16 02 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 133 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 16151413121110 0 1 1 213141516 7 1 11010101010101010 11 0 8 23 05 16 03 10 01 11 64 SDO server I 7231D ccs 1 n 0 e 1 s 1 m 05 16 03 d 10 01 11 64 The value 10 01 11 64 means the mapped object is stored in the index 0x6411 with sub index 01 It is a 16 bit data unit Users can check this object in the Standardize object mapping table described above Itis mapped according to the AOO of the l 7021 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 716151413 2111 0 0 1 1 2131 4 1516 7 110 111101010101010 11 0 8 16005 16 03 00 00 00 00
3. 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 71615141 13 2 0 1 2 31415161 7 110111110 010101 0 0 8 43 03 10 01 00 00 00 00 SDO server I 7231D ccs 1 n 2 e 1 s 1 m 03 10 01 d 00 00 00 00 Step 10 Check the index 0x1003 with sub index 02 and the user will see that the emergency error code which is received previously has also been recorded in the emergency object data 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 71615 413 2 1 21 31 41516 7 1 1 11010101010 101 0 0 8 40 03 10 02 00 00 00 00 SDO server I 7231D ccs 2 m 03 10 02 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7161514 31 2 0 1 1 213141 1 516 7 1101111101010101 0 0 8 43 03 10 02 00 FF OB 02 i SDO server I 7231D ccs 1 n 2 e 1 s 1 m 03 10 02 d 00 FF OB 02 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 145 Step 11 Confirm the error register stored in index 0x1001 The value is 0 now 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 514 31 2 1 2 3 4 5 6 7 1111010 0 01010 0 8 140101 10 00 00 00 00 00 SDO server I 7231D CCS
4. Idx Sidx Description Type Attr Default 1A00h Oh largest sub index supported for UNSIGNED 8 RO 8 transmit PDO mapping 1h read digital input 1h to 8h UNSIGNED 8 RW 6000 0108h 2h read digital input 9h to 10h UNSIGNED 8 RW 6000 0208h 3h read digital input 11h to 18h UNSIGNED 8 RW 6000 0308h 4h read digital input 19h to 20h UNSIGNED 8 RW 6000 0408h 5h read digital input 11h to 28h UNSIGNED 8 RW 6000 0508h 6h read digital input 19h to 30h UNSIGNED 8 RW 6000 0608h 7h read digital input 11h to 40h UNSIGNED 8 RW 6000 0708h 8h read digital input 19h to 48h UNSIGNED 8 RW 6000 0808h 1A01h Oh largest sub index supported for UNSIGNED 8 RO 4 transmit PDO mapping 1h read analog input 1h UNSIGNED 16 RW 6401 0110h 2h read analog input 2h UNSIGNED 16 RW 6401 0210h 3h read analog input 3h UNSIGNED 16 RW 6401 0310h 4h read analog input 4h UNSIGNED 16 RW 6401 0410h 1A02h Oh largest sub index supported for UNSIGNED 8 RO 4 transmit PDO mapping 1h read analog input 5h UNSIGNED 16 RW 6401 0510h 2h read analog input 6h UNSIGNED 16 RW 6401 0610h 3h read analog input 7h UNSIGNED 16 RW 6401 0710h 4h read analog input 8h UNSIGNED 16 RW 6401 0810h 1A03h Oh largest sub index supported for UNSIGNED 8 RO 4 transmit PDO mapping 1h read analog input 9h UNSIGNED 16 RW 6401 0910h 2h read analog input Ah UNSIGNED 16 RW 6401 0A10h 3h read analog input Bh UNSIGNED 16 RW 64
5. 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 91817 161514 13 2111 0 0 1 2 31 41 1516 7 1 101111101010101010 1 0 8 60 00 20 01 00 00 00 00 SDO server l 7231D SCS oo m 002001 Step 8 The EMCY message containing the error reset information will be received here 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 918171615 14 13121 111 0 0 1 21 31415 1 6 7 010 01110101010101011 0 8 00 00 00 00 00 00 00 00 NMT slaver I 7231D EMCY msg 000000 00 00 00 00 00 The data OO 00 00 00 00 00 00 00 are the error reset EMCY message It means that the I 8x21 has no error now Step 9 Check the index 0x1003 with sub index 01 again The user will then see that the error reset emergency code has been recorded 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312 110 0 11 2131 4151 6 7 1111010101010101010 1 0 8 40 03 10 01 00 00 00 00 SDO server I 7231D ccs 2 m 03 10 01 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 144
6. 99 5 2 2 Transmission Type The transmission type is one of several parameters defined in PDO communication objects with sub index 02 Each PDO has its own transmission type The transmission type indicates the transmission reception character for its corresponding PDO The following table describes the relationship between the value of the transmission type and the PDO character For example if users used transmission type 0 for 1st TxPDO the CANopen device will follow the rule of the acyclic and synchronous PDO transmission Transmission PDO Transmission method Type cyclic acyclic synchronous asynchronous ire 0 O O 1 240 O O 241 251 0 reversed 252 O O 253 O O 254 O 255 O Note 1 Transmission type 1 240 indicates how many SYNC objects the TxPDO will be triggered by The RxPDO is always triggered by the following SYNC upon reception of data independent of the transmission types 0 240 Transmission type 252 and 253 are only used for TxPDO Transmission type 252 means that the data is updated but not sent immediately after reception of the SYNC object The PDO is only transmitted on remote transmission requests for these two transmission types 3 For the transmission types 254 and 255 the event timer can be used in the TxPDO The PDO which includes the DI value will be sent when the DI va
7. 8 2 2 Wire Connection In order to minimize the reflection effects on the CAN bus line the CAN bus line has to be terminated at both ends by two terminal resistances as following figure According to the ISO 11898 2 spec each terminal resistance is 1200Q or between 1080Q 1320Q The length related resistance should have 70 mQ m The user should check the resistances of CAN bus before install a new CAN network Device 2 I OZ 1209 a Moreover to minimize the voltage drop on long distance the terminal resistance should be higher than the value defined in the ISO 11898 2 The following table could be a reference Bus Cable Parameters f Bus Length Terminal u Length Related i meter an Cross Section Resistance Resistance Q Type 9 mQ m 0 40 70 0 25 23AWG 124 0 1 0 34mm 22AWG 40 300 lt 60 0 34 22AWG 127 0 1 0 6mm 20AWG 300 600 lt 40 0 5 0 6mm 150 300 20AWG 600 1K lt 20 0 75 0 mm 150 300 18AWG I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 9 Remove the cover of the I 7231D Users can see the part of internal structure shown as following figure The J3 is the jumper for terminal resister Its position is displayed below J3 ese transceiver LEDI Ea CAN controller JP2 Ip I The following connection station of the J3 indicates if the terminal resistance is used or not Disable
8. 11 bit COB ID bit RTR Len at confirmation ens 5 RE a 0 Node ID 8 ses s x reserved response End SDO Block Download Protocol ccs client command specifier 6 block download scs server command specifier 5 block download cs Client subcommand 1 end block download request ss server subcommand 1 end block download response n It indicates the number of bytes in the last segment of the last block that do not contain data Bytes 8 n 7 do not contain segment data crc 16 bit Cyclic Redundancy Checksum CRC for the whole data set The algorithm for generating the CRC is as follows X4164 x4124 x5 1 CRC is only valid if in Initiate Block Download cc and sc are set to 1 Otherwise crc has to be set to 0 For I 7231D it is not support CRC check mechanism X not used always 0 reserved reserved for further use always 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 90 SDO Block Download Example In this demo the value of the object entry with index 0x1400 and sub index 0x02 will be changed to 5 by using the SDO Block Download communication method When the SDO Block Download is running the procedure looks as follows SDO Client SDO Server 1 7231D Download Segment 0 bit c 0 seqno 0 SDO Client SDO Server 1 7231D Download Segment I bit c 0 seqno 1 Initial Block Download Protocol Download Segment n bit c 0 seqno n Download Block Prot
9. 2 4 CANopen Status LED The 1 7231D provides three CANopen LED indicators such as Error LED red RUN LED green and Overrun LED red The Error LED and Run LED are defined in the CANopen spec When the CANopen communication events occur these indicators will be triggered to glitter with different period The Overrun LED is defined by ICPDAS When the software buffer of the I 7231D is overrun the overrun LED will turn on Before the I 7231D finishes the preparation for the function of the DCON master or when the I 7231D executes the command to reset itself all CANopen Status LED will be turned off but the Power LED is still turned on The following descriptions interpret the twinkling signal meanings when these indicators are triggered I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 12 2 4 1 RUN LED The RUN LED indicates the condition of the CANopen network state mechanism About the information of CANopen state mechanism please refer to the section 3 5 1 The different signal periods and related meanings are displayed respectively as following figure and table Blanking Single Flash 400 800 1200 1600 2000 200 600 1000 1400 1800 Time ms 0 No CAN RUN LED State Description 1 Single Flash Stopped The Device is in Stopped state 2 Blinking Pre operational The Device is in the pre operational state 3 On Operational The Device is in the operational state I 7231D CA
10. 34 PDO consumer SYNC consumer amp PDO producer 1 7231D SYNC transmitted by SYNC producer SYNC transmitted by SYNC producer Read DI Al SYNC transmitted by SYNC producer gl TxPDO SYNC transmitted by SYNC producer SYNC transmitted by SYNC producer Read DI AI SYNC transmitted by SYNC producer channels sn cyclic synchronous TxPDO PDO producer SYNC consumer amp PDO consumer 1 7231D RxPDO SYNC transmitted by SYNC producer 2e Actuate DO AO channels RxPDO SYNC transmitted by SYNC producer eee eee ene ere vr ane am om gt ae om 2 Actuate DO AO channels cyclic synchronous RxPDO The RTR only synchronous mode is activated when receiving a remote transmit request message and SYNC objects This transmission type is only useful for TxPDO In this situation the I 7231D will update the DI Al value when receiving the SYNC object And if the RTR object is received the I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 35 7231D will respond to the TxPDO object The following figure shows the mechanism of this transmission type PDO consumer SYNC consumer amp PDO producer 1 7231D SYNC transmitted by SYNC producer Z2 Update DI AI Read DI AI values channels 5 ZZ gt Update DI AI values AE Update DI AI Read DI AI es channels Vitne RTR only synchronous TxPDO The asynchronous mode is independent on the SYNC object This
11. 135 Step 44 Users will receive the 1st TxPDO and 5th TxPDO simultaneously because the DI values has changed 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 13 21110 0 1 1 2 13141 1516 7 0 1101110101010101011 0 3 54 6F 01 00 00 00 00 00 PDO PDO f 20200 producer consumer I 7231D COB ID 0x181 L gt 3 PDO msg 546F 01 00 00 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 17161514 13 2 11 0 0 1 213141516 7 0 11011101010101011101 0 4 154 6F 06 00 00 00 00 00 PDO PDO consumer proeucer I 7231D COB ID 0x182 L 4 PDO msg 54 6F 06 00 00 00 00 00 The first two bytes are value Ox6F54 for the DIO DI15 of the 7053D The 3rd and 4th bytes are for the value 0x0006 for the AIO of the 1 7012D After transferring the input value of the AIO is 0 002V I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 136 53 EMCY Communication Set 5 3 1 EMCY COB ID Parameter The EMCY COB ID is similar to the PDO COB ID It can be a default value or be defined by users via SDO communication methods This COB ID is stored in the object 0x1014 and the data format is shown in the following table Before using the EMCY mechanism bit 31 of the EMCY CO
12. 87K Select one or more of the DCON AI AO DI DO modules IO module for your for the user s application CANopen application Configure the RS 485 baud rate checksum module address data format and the type code for the lO Configure these DCON modules modules by usingthe DCON Utility by using the DCON Utility 1 Turn the 7231D s power off 2 Connect these DCON modules with the COM2 on the I 7231D 3 Connect the 1 7231D s COM1 to the PC s COM port via the RS 232 cable CAO910F 4 Wire the INIT pin and GND pin and turn the 1 7231D s power on Use the CAN Gateway Utility to 5 Srl the CAN Gateway vay configure the I 7231D and create to configure the communication an EDS file for the present state parameters of the 1 7231D and establish the EDS file Connect these DCON modules with the COM2 of the I 7231D After finishing the 7231D s configuration and the creation of the specific EDS files turn off the 7231D remove the wire between the INIT pin and GND pin and turn on the 1 7231D Apply the EDS file for the CANopen master interface and run the 1 7231D on the CAN network I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 47 4 2 CAN Gateway Utility Overview The CAN Gateway Utility is designed for the 1 7231D It provides three functions Set the communication parameters of the CANopen CAN bus and RS 485 Such as N
13. Assume that the default EMCY function code has been applied and the node ID for the I 7231D is 1 Step 1 Turn off the I 7231D Then turn on the I 7231D The 1 7231D will now be in the pre operational state Step 2 Set the guard time value to 250 This value is stored in index 0x100C with sub index 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019181716151413 12111 0 0 1 2 31 41 51 6 7 111101 0101010101010111 0 8 2B 0C 10 00 FA 00 00 00 SDO server I 7231D CCS 1 n 3 e 1 S 1 m OG 10 00 d FA 00 00 00 Step 3 The I 7231D will respond to the ending message 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141312111 0 0 1 21 3141516 7 11011111010101010 1011 0 8 1601 OC 10 00 00 00 00 00 SDO client SDO server I 7231D SCS ir 8 m OC 1000 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 152 Step 4 Set the life time factor value to 4 This value is stored in the index 0x100D with sub index 00 Then receive the ending message from I 7231D 11 bit COB ID bit Data 8 byte Data byte Func Code Node I
14. 3 Step 4 The I 7231D responds to the first 7 bytes of data by using the Upload SDO Block Segment protocol 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514131 121 1110 0 1 21 314151 16 7 1101111101010101010111 0 8 114350 53 SF 44 43 4F SDO server I 7231D c 0 seqno 1 seg data 435053 5F 44 43 4F I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 79 Step 5 The I 7231D transmits the rest of the data 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514131 121110 0 1 21 31 4151 6 7 11 01111101010101010 11 0 8 82 4E 00 00 00 00 00 00 SDO server I 7231D c gt al seqno 2 seg data 4E 0000 00 00 00 00 Because this segment is the last one not all of the data in the seg data filed is useful The valid data length will be indicated when the I 7231D send a message to finish the Block Upload protocol Please refer to the value of n in the step 7 Step 6 Afterwards users send a message to confirm the receiving data transmitted from the I 7231D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019181716151413121110 0 11 21314 151 6 7 1
15. 7231D CPS DCON Gateway User Manual Warranty All products manufactured by IPC DAS are warranted against defective materials for a period of one year from the date of delivery to the original purchaser Warning ICP DAS assume no liability for damages consequent to the use of this product ICP DAS reserves the right to change this manual at any time without notice The information furnished by ICP DAS is believed to be accurate and reliable However no responsibility is assumed by ICP DAS for its use nor for any infringements of patents or other rights of third parties resulting from its use Copyright Copyright 2003 by ICP DAS All rights are reserved Trademark The names used for identification only maybe registered trademarks of their respective companies 1 723 1D CANopen DCON Gateway user manual ver 1 03 May 02 2005 1 Tables of Content 1 Intro duclon unussrajmsrmuamenvmnG enisenniknniidntnnn 4 TV SOW ETVICW E T E 4 1 2 Hardware Features sisicicsicccciccccsicis cccnanicccentuascccccnsscvaccuceesevecescnextuens 5 13 deh2S 1 DPE AIRES usinnan raa eea arani ea aina 6 1 4 Utility Features aiiiar nisani unaniona indsin aisean sindiani 7 Hardware Specification s vnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnr 8 21 Hardware Struciureaaaamaaetanmimmmasnuinmimsgnnaneie 8 2 2 Wire Connecuon sauauo evvsssrsvsegasnsdaepusssds va 9 2 3 Power LED E E E E A E E T 12 2 4 CANo
16. Producer Consumers indication request indication o indication p Push model Producer Consumers indication request Remote Transmit Request request i request confirmation response indication p indication H Pull model From the view of the CANopen device the TxPDO is used to transmit data from the CANopen device Therefore it is usually applied on DI AI channels The COB ID of the PDO for receiving data is RxPDO COB ID and it is usually applied on DO AO channels Take the l 7231D for an example if a PDO producer sends a PDO message to the l 7231D it needs to use the RxPDO COB ID of the l 7231D because it is a PDO reception action viewed from the l 7231D Inversely when some PDO consumers send remote transmit requests to the l 7231D it must use the TxPDO COB ID of the l 7231D because it is a PDO transmission action viewed from the l 7231D Trigger Modes Of PDO For PDO producers PDO transmission messages can be trigged by three conditions They are the event driven timer driven and remote request conditions All of them are described below Event Driven PDO transmission can be triggered by the occurrence of an object specific event For PDOs of the cyclic synchronous transmission type this is the expiration of the specified transmission period which is synchronized by the I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 32 exception
17. The first two bytes of the TxPDO message are the values for the DI channels 0 7 and channel 8 15 The third and forth bytes of the TxPDO message refer to the Al channel 0 value The fifth and sixth bytes are the values link to Al channel 1 The relationships among the object dictionary the PDO mapping object and the PDO message are given below I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 40 Practical I O ay Object Dictionary RxPDO mapping objects RxPDO I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 41 3 4 EMCY Introduction EMCY messages are triggered by the occurrence of a device internal error It follows the producer consumer relationship After a CANopen device detects the internal error an emergency message is transmitted to the EMCY consumers only once per error event No further emergency objects must be transmitted if no new errors occur on a device Zero or more emergency consumers may receive the EMCY object The I 7231D only supports the function of the emergency producer The general concept behind the EMCY communications is shown below EMCY Producer EMCY Consumer 1 7231 EMCY message Internal error occurs or dissappears indication indication indication D An emergency message contains 8 byte of data called emergency object data and follows the structure provided bellow Byte 0 1 2 3 4 5 6 7 Content Emergenc
18. byte Func Code Node ID RTR Length 10191817 161514 13 2111 0 0 1 213141 1 516 7 0101010101010101010101 0 8 101 05 00 00 00 00 00 00 NMT slave I 7231D cs z 1 Node ID 5 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 150 5 4 2 Error Control Protocol Error Control Protocol is one of the ways to check if the CANopen device still lives Related objects are indexes 0x100C and 0x100D The 0x100C is the guard time and the 0x100D is the life time factor The node life time is the guard time multiplied by the life time factor The Node Guarding timer of the 7231D starts to count after receiving the first remote transmit request for the guarding identifier The communication set of the Error Control protocol is displayed below NMT Master NMT Slaver request confirmation I 7231D Le 8 byte Data byte 0 7 reserved DE indication 11 bit COB ID bit RTR Ler 8 byte Data byte GEM a ee x response for Node ID Node Guarding Protocol I bit COB CE dd mel Fino Node ID toggle bit The value of this bit must alternate between two consecutive responses from the NMT slave After the node Guarding protocol becomes active the value of the toggle bit of the first response is 0 the state of the NMT Slave 4 STOPPED 5 OPERATIONAL 127 PRE OPERATIONAL I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 151 Error Control Protocol Example
19. m 05 1A 02 d 08 02 00 60 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141 1312111 0 0 11 2131 4151 161 7 11011111110111111 01 1 0 8 1601 051 1A 02 00 00 00 00 SDO server clien I 8KCPSx l 8x21 scs 3 m 051A02 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 128 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 17 161514 1312111 0 0 1 2131 41516 7 1111 0101010101010101 111 0 8 1231 051 1A 103 10 01 01 64 SDO server Il 7231D ccs 1 n 0 e 1 S 1 m 05 1A 03 d 10 01 01 64 The value 10 01 01 64 means that the mapped object is stored in the index 0x6401 with sub index 01 It is a 16 bit data unit User can check this object in the Standardize object mapping table described above It is mapped according to AIO of the I 7012D In 7231D all analog channels are presented by 16 bit value 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 17 161514 1312111 0 01 1 2131 41516 7 11011111010101010101 11 0 8 1601 051 1A 03 00 00 00 00 SDO server I 7231D SCS 483 m 051A03 1 723 1D CANopen DCON Gateway user manual ver 1 03 May 02 2005 129 Step 41 In order to use this PDO mapping object normally the value of the i
20. n It indicates the number of bytes in the last segment of the last block that do not contain data Bytes 8 n 7 do not contain segment data crc 16 bit Cyclic Redundancy Checksum CRC for the whole data set The algorithm for generating the CRC is as follows x 16 x 12 x 5 1 CRC is only valid if in Initiate Block Upload cc and sc are set to 1 Otherwise crc has to be set to 0 For I 7231D it is not support CRC check mechanism X not used always 0 reserved reserved for further use always 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 76 SDO Block Upload Example The following figure indicates the general procedure for applying the SDO Block upload SDO Client SDO Server 1 7231D Upload Segment 0 bit c 0 seqno 0 SDO Client SDO Server 1 7231D Upload Segment I bit c 0 seqno 1 Initial Block Upload Protocol Upload Segment n bit c 0 seqno n Confirm block Upload Block Protocol normal SDO Client SDO Server 1 7231D Upload Segment 0 bit c 0 seqno 0 End Block Upload Protocol Upload Segment I bit c 0 seqno 1 SDO Block Upload Upload Segment n bit c 1 seqno n Confirm block Upload Block Protocol last I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 77 By following this procedure we provide a demo for obtaining the value of the index 0x1008 and sub index 00 object entry Step 1 Request the I 7231
21. 0 respectively because bit 5 4 and 1 of the value OxF8 is 1 1 and 0 Other channels beside DO5 DO4 and DOO will do nothing I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 171 Analog Input Devices Entries Idx Sidx Description Type Attr Default 6401h Oh largest sub index supported for UNSIGNED 8 RO 8 read analog input 16 bit 1h read analog input 1h UNSIGNED 16 RO Note 1 Because the 7231D only supports the hex format all of the Al channels need to transfer to the hex format when storing into this object The transformation equation is shown below HexValue H min FloatValue H max H min F max F min F min The FloatValue is the result after transformation The HexValue is the value which wants to be transferred The Hmax and Hmin is the maximum and minimum values of the 2 s complement hex range The Fmax and Fmin is the maximum and minimum value of the float range User can find out the Hmax Hmin Fmax and Fmin in the appendix B For example The input range of the module l 7017 is set to 10V 10V According to the table in the appendix B we can find out the range for hex format is 0x8000 32767 Ox7FFF 32768 Therefore if the value got from the Al channel of the l 7017 is 0x1234 4660 the Al value with float format can be calculated as follows 4660 32768 4660 32768 10V 10V 10
22. 03 May 02 2005 57 Step 4 When the DCON modules scan is finished the result of the scan will be compared with the parameters stored in the EEPROM of the 1 7231D If any differences have been detected a warning message will pop up as follows Warnning Some EEPROM Data is Error The default connected modules are l 7012 l 7021 1 7053 and l 7057 So if users connect the I 7231D with any different I O module from the ones described above then the Some EEPROM Data is Error warning message may pop up In this case the default value will be shown on each parameter setting field Otherwise the last setting value will be displayed on each parameter setting field General Setting File About Communication Firmware Version 1 00 2004 10 07 PC COM Port v Connect L Connect Status Waiting for configuration 7188x series Situation CAN Bus CAN Channel CAN Parameter Setting CAN Parameter Viewer Application Layer Application Layer CANopen C DeviceNet Baud rate 10 KBPS Baudrate 10 KBPS v Node ID e NODEID 73 Setting Build EDS File Exit Program I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 58 Step 5 Click the CAN Channel button so that the CAN bus configuration information will be given Then users can set the necessary CAN bus communication information Afterwards click the Setting button to finish the CAN parameter setting The CAN Parameter Vie
23. 0x201 L 8 PDO msg EF CD 00 00 00 00 00 00 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 Step 25 The SYNC message needs to be transmitted 3 times because of the character of transmission type 3 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 4 3 2110 0 11 213141516 7 0 0 0 1 0 0 010 101 0 O 00 00 00 00 00 00 00 00 gt SYNC SYNC P I 7231D COB ID 0x80 Step 26 After finishing the transmission of the three SYNC objects the 1st TxPDO is triggered and users can receive the 1st TxPDO from I 7231D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 918 7 51413 21110 0 11 2131 415161 7 0 0 1 1 0 01 0 0 0 1 0 3 10 32 01 00 00 00 00 00 PDO PDO consumer pode I 7231D COB ID 0x181 3 PDO msg I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 10 32 01 00 00 00 00 00 120 Transmission Type 252 for 1st TxPDO Step 27 Set the transmission type of 1st TxPDO to 252 11 bit COB ID bit Data 8 byte Data byte
24. 0x6200 0x6206 0x6207 Description Read DI 8 bit Write DO 8 bit DO Err Mode 8 bit DO Err Output 8 bit SubindexO 3 3 3 3 Subindex1 0x00 0 2 7053 00 08 0x00 0x1 7043 00 08 OxFF 0x1 7043 00 08 0x00 0x1 7043 00 08 Subindex2 0x00 0x2 7053 08 16 0x00 0x1 7043 08 16 OxFF 0x1 7043 08 16 0x00 0x1 7043 08 16 Subindex3 0x00 Ox4 7012 00 01 0x00 Ox4 7012 00 02 OxFF Ox4 7012 00 02 0x00 024 701 2 00 02 Ox6401 Ox6411 Ox6443 On6444 Read Al 16 bit Read AO 16 bit AD En Mode AO Err Output 16 bit 1 1 1 1 Ox0000 0x4 7012 1 0x0000 0 3 7021 1 1 0x3 7021 1 D 0x3 7021 1 Standardized Device Profile Area Information After concluding the prior preparations above we will introduce several functions of PDO communication in this demo They are shown as follows Access digital I O amp analog I O with asynchronous PDO Use Event Timer to obtain the input value The function of the acyclic and synchronous RxPDO The function of the acyclic and synchronous TxPDO The function of the cyclic and synchronous TxPDO The function of the synchronous and RTR only TxPDO The function of the asynchronous and RTR only RxPDO Dynamic PDO mapping for DI Al DO AO channels Before starting this demo the step0 must be checked Assume that the default COB ID for each communication object is being used Step0 The following message must be sent for changing the NMT state of the 7231D first because the PDO communication can on
25. 7011P D l 7018 1 7018P Il 7018R 7018BL I 87018 Range Thermocouple g p Data Format Max Value Min Value Code Hex Type Input Range Celsius 760 00C 210 00 C of FSR 100 00 027 63 J Type Ox7FFF OxDCA2 2 s Complement HEX 32767 9054 Input Range Celsius 1372 0C OC of FSR 100 00 019 68 SE Ox7FFF OxE6D0 2 s Complement HEX X j 32767 6448 Input Range Celsius 400 00 C a 00 C of FSR 100 00 067 50 T Type Ox7FFF OxA99A 2 s Complement HEX 32767 22118 Input Range Celsius 1000 0 C OG of FSR 100 00 027 00 E Type Ox7FFF OxDD71 2 s Complement HEX 32767 8847 Input Range Celsius 1768 0C ERT OG of FSR 100 00 000 00 R Type 2 s Complement HEX p 32767 Input Range Celsius 1768 0 C ET OC of FSR 100 00 000 00 S Type Ox7FFF 2 s Complement HEX 32767 Input Range Celsius 1820 0 C ET OC of FSR 100 00 000 00 B Type 2 s Complement HEX DAFT p 32767 Input Range Celsius 1300 0 C En OC of FSR 100 00 020 77 N Type Ox7FFF OxE56B 2 s Complement HEX x 32767 6805 17231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 180 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 180 Input Range Celsius 2320 0C 0000 0 C of FSR 100 00 000 00 C Type 0 0 2 s Complement HEX wind e a 32767 Input Range Celsius 800 00 C 200 00 C of FSR 100 00 025 00 ml Ox7FFF
26. 7033 0 0x6 7033 0 0x6 7033 0 0x6 7033 DCON Information DCON Information No Address Name Type Code Data Format DO Ch Num AO ChNum DIChNum l Ch 0x01 7017C Ox0D 0x00 0 Ox02 7013 0x20 0x00 0 Ox03 7058 0x40 0x00 0 Ox04 7011P 0x05 0x00 2 0 0 0x05 7013 0x20 0x00 0x06 7033 0x27 0x00 If everything is ok click the Finish button to create the EDS file and save the related information into the EEPROM of the I 7231D EDS File Configuration amp Information Viewer EDS File Information Description This EDS file is for the 7231D with 7017C 7013D 2 7033D 7011P and l 7058 Created By Li Chiang Liu D ii PDO Device DCON Information Information Information Back Finish I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 61 5 CANopen Communication Set 5 1 SDO Communication Set 5 1 1 Upload SDO Protocol Initiate SDO Upload Protocol Before transferring the SDO segments the client and server need to communicate with each other by using the initiate SDO upload protocol During the initiate SDO upload protocol the SDO client can tell the SDO server what object the SDO client wants to get Also the initiate SDO upload protocol is permitted to transfer up to four bytes of data Therefore if the data length of the object which the SDO client wants to read is equal to or less than the permitted data amount the SDO communication
27. Dr eye 6 0 Dict Professional Size 91 46MB Ethereal 0 9 16 Size 35 42MB tap HyperSnap DX 4 Size 5 19MB A InstallShield 5 5 Professional Edition Size 156 00MB B Instrumentation Activex Library 2 nacht Step 4 Click the button Yes button to remove the software Confirm File Deletion re you sure you want to completely remove CAN_GW Utility and all of its components I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 54 Step 5 Finally click the button OK button to finish the uninstall process Remove Programs From Your Computer unlnstallShield will remove the software CAN Gy Utility from your computer Please wait while each of the following components is removed V Shared program files VY Standard program files V Folder items Program folders Program directories Program registry entries ERRROEE I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 55 4 4 Configuration with the CAN Gateway Utility Before using this software utility please make sure that you have connected COM1 of the I 7231D with the available COM port on your PC Also connect the I 7000 87K modules with COM2 of the I 7231D The architecture is displayed in the following figure 7231D vw Available hr port SE Se COM 1 RS 232 peg DCON I 7000 I 87K Series Step 1 First turn off the 1 7231D Connect the INIT pin and the G
28. Enable The CAN bus bard rate has the high relationship with the bus length The following table indicates the corresponding bus length on every kind of baud rate Baud rate bit s Max Bus length m 1M 25 800 K 50 500 K 100 250 K 250 125K 500 50 K 1000 20K 2500 10K 5000 Note When the bus length is greater than 1000m the bridge or repeater devices may be needed I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 10 In order to wiring conveniently the I 7231D supplies two CAN bus connector Each connecter built on the CPS DCON gateway looks like as following figure 9000Q0000000000 pek EE mer RUN CE A 7231 D Overrun CANopen DCON Gateway Description Pin No Signal CAN_L bus line dominant low 2 CAN_L 3 CAN_SHLD Optional CAN Shield 4 CAN_H CAN_H bus line dominant high Be careful that the bypass CAN bus connector can t not be regard as another CAN channel It is just designed for connecting to another CANopen device conveniently The structure of the internal electronic circuit is presented as follows H CAN H S JE No Use CAN L CAN x No Use v a a PE No Use I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 2 3 Power LED The 1 7231D needs 10 30 VDC power input and consumes 3 9W The Power LED will be turn on after applying power
29. Folder window will pop up Here we use the default setting for this field Select Program Folder Setup will add program icons to the Program Folder listed below You may type a new folder name or select one from the existing Folders list Click Next to continue Program Folders ICAN SCAN Gatewa Existing Folders Accessories Administrative Tools Alcohol 120 CANopen Conformance Test DAGPro Dr eye Ethereal Games Mi lt Back Cancel I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 50 Step 6 Click the Next button and start to install the CAN Gateway Utility to the system After finishing the process the following figure will be displayed to prompts users upon the successful of the installation Install Installing CAN GW Utility Finished Step 7 After finishing the installation of the CAN Gateway Utility users can find the CAN GW Utility as shown in the following screenshot 9 Microsoft Office 9 Microsoft Visual Studio 6 0 gt 9 Microsoft Web Publishing gt m PrintMe Internet Printing gt A DAQPro gt 7188e fam iCAN a Release Notes w Microsoft Office Wor All Programs E I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 51 Uninstall CAN Gateway Utility You can uninstall the CAN GW Utility software by one means of any on of the methods described below Method 1 Step 1 Cli
30. I 7231D to transmit the rest of the data 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312 111 0 0 11 2131 415161 7 11110101010101010 0 1 0 8 70 00 00 00 00 00 00 00 SDO server I 7231D CCS pg t 1 Step 6 Receive the rest of the data from the SDO server 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 91817 161514131 121110 0 1 21 31 4151 6 7 11 01111101010101010 11 0 8 11B 4E 00 00 00 00 00 00 f SDO server I 7231D SCS 0 t 1 n 5 c 1 seg data 4E 00 00 00 00 00 00 Because the n 5 only the fisrt two bytes are valid Transfer the value of 0x4E and 0x00 to the corresponding ASCII character After transformation it means N I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 70 5 1 2 SDO Block Upload Initiate SDO Block Upload Protocol The SDO Block Upload is usually used for large data transmission At the beginning of the SDO Block Upload the Initiate SDO Block Upload protocol is needed This protocol is described below SDO Client SDO Server request confirmation request I 7231D 11 bit COB ID bit RTR Len 8 byte Data byte raw sem o PERSER ame lt gt GENER 8 1100 Node ID 3 ST TT blksize pst
31. ID RTR Length 10191817161514 1312 110 0 11 2131 4151 6 7 11 0111110101010101011 0 8 160 00 14 02 00 00 00 00 SDO server l 7231D SCS 3 m 00 14 02 1 723 1D CANopen DCON Gateway user manual ver 1 03 May 02 2005 115 Transmission Type 0 for 1st TxPDO Step 17 Set the transmission type of the 1st TxPDO to 0 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 61514 3 121110 0 1 2 3 4 5 6 7 111 010101010101010111 0 8 2F 00 18 02 00 00 00 00 SDO server I 7231D CCS 1 n 3 e 1 S 1 m 00 18 02 d 00 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312 110 0 11 213141 1 516 7 1 0 111 10 10101010 0 11 0 8 160 00 18 02 00 00 00 00 SDO server I 7231D SCS i 3 m 001802 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 116 Step 18 Change the DO value of the l 7043 and l 7012 to be 0x90AB and 0x00 respectively by using the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9181716151413 21 1 01 1 1 213141516 7 011101010 101010101 0 0 8 AB 90 00 00 00 00 00 00 PD PDO z prod
32. Node or communication FF 00 81 0B 00 00 00 The module with RS 485 address is timeout or receive data error more than three times After producing the EMCY message the emergency object data will be saved to the object with index 0x1003 and the error register of the emergency object data will be mapped to object 0x1001 Therefore users can use these two objects to view what has happened in the I 7231D and check the error history I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 140 EMCY Communication Example Assume that there is a DCON module connected with COM2 on the 7231D This module has the module address 01 and has one digital or analog input channel at least The node ID of the 1 7231D is 1 and the I 7231D works normally with the default COB ID Step 1 In order to produce the emergency event please cut off the RS 485 connection wire between this DCON module and the I 7231D or turn off the DCON module Step 2 Afterwards the I 7231D will respond to an emergency message when reading the input value of this DCON module fails more than three times 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 61514 13 2111 0 0 112 131 41 1516 7 01010 111010101010 10111 0 8 100 FF 81 OB 01 00 00 00 EMCY EMCY consumer I 7231D COB ID 0x81 EMCY msg
33. RxPDO has only two bytes Users need to transfer the float value to hex format because the I 7231D only supports the hex format The output range of the I 7021D is OV 10V According to the transformation table stored in the appendix table The mapping hex format range is from 0x000 0 to OxFFF 4095 Therefore the 5V is mapped to the 0x7FF by applying following equation 5V OV HexValue 10V 0V 4095 0 0 2047 5 2047 0x7 FF The first two bytes of the PDO message will be filled with FF and 07 For more details about how to transfer the value between the hex and float please refer to section 6 3 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 108 Step 4 Even the Al input value will be changed the RxPDO will not respond automatically in the 7231D Therefore users need to use the RTR message from the 2nd TxPDO to read back the Al value 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9 8 7 16151413 2 111 0 0 11 213141 1 516 7 011101110101010 10 1 011 1 O 00 00 00 00 00 00 00 00 PDO PDO FT 240 m producer consumer I 7231D COB ID 0x281 Step 5 The feedback value for Al is 5V 11 bit COB ID bit Data 8 byte Data byte
34. analog channels Take the RxPDO for example there are 11 DO object entries and 13 Al object entries in the object dictionary In the default situation for the 1 7231D the first 8 DO object entries will be mapped to the first RxPDO mapping object because one DO object entry needs one byte space The last 3 DO object entries will be assigned into the 5th RxPDO because of the 2nd and 3rd rule described above One AO object entry needs 2 bytes of space Therefore the second RxPDO mapping object loads the first 4 AO object entries The following 4 AO object entries are packed into the third RxPDO mapping object and so is the 4th RxPDO mapping object Because the 5th RxPDO mapping object has been occupied by the DO object entries the last AO object entry shall be assigned into the 6th RxPDO mapping object Before applying the PDO communications the PDO producer and the PDO consumers need to have their PDO mapping information for each other On the one hand the PDO producers need PDO mapping information to decide how to assign the expected practical I O data into PDO messages On the other hand PDO consumers need the PDO mapping information to know the meaning of each byte of received PDO message That is to say that when a PDO producer transmits a PDO object to PDO consumers the consumers contrast this PDO message with PDO mapping entries which are previously obtained from the PDO producer Then interpret the meanings of these values from the rec
35. be uploaded 1 no more segments to be uploaded enter End block upload phase sequence number of segment 0 lt seqno lt 128 It is at most 7 bytes of segment data to be uploaded sequence number of last segment that was received successfully during the last block upload If ackseq is set to 0 the client indicates the server that the segment with the sequence number 1 was not received correctly and all segments have to be retransmitted by the server number of segments per block that has to be used by server for the following block upload with 0 lt biksize lt 128 not used always 0 reserved for further use always 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 74 End SDO Block Upload Protocol The End SDO Block Upload protocol is used for finishing the SDO Block upload and is shown in the following figure SDO Client SDO Server I 7231D l bit oe RTR Len 8 byte Data oe AE KER 3 TITT r E 10 indication 1011 Node ID scs 6 ale mer reserved request bit COB ID bit mae 8 byte Data byte response 107 confirmation 1100 Node ID 8 reserved End SDO Block Upload Protocol I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 75 ccs client command specifier 5 block upload SCS server command specifier 6 block upload cs client subcommand 1 end block upload request ss server subcommand 1 end block upload response
36. i S T cal ha indication 11 bit COB ID bitYRTR Len 8 byte Data byte mj ERE al response 8 1011 Node ID I l bit COB ID bit R Node ID 8 reserv ae s 1100 Node indication Initiate SDO Block Upload Protocol I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 71 CCS SCS CS SS CC sc pst size biksize X reserved client command specifier 5 block upload server command specifier 6 block upload client subcommand 0 initiate upload request 3 start upload server subcommand 0 initiate upload response multiplexer It represents the index sub index of the data to be transfer by the SDO client CRC support cc 0 Client does not support generating CRC on data cc 1 Client supports generating CRC on data server CRC support sc 0 Server does not support generating CRC on data sc 1 Server supports generating CRC on data Protocol Switch Threshold in bytes to change the SDO transfer protocol pst 0 change of transfer protocol not allowed pst gt 0 If the size of the data in bytes that has to be uploaded is less or equal pst the server can optionally switch to the SDO Upload Protocol by transmitting the server response of the SDO Upload Protocol size indicator 0 Data set size is not indicated 1 Data set size is indicated upload size in byes s 0 Size is reserved for further use always 0 s 1 Si
37. indicated 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 1716151413 21110 0 11 21314151 6 7 111101010101010101011 0 8 40 01 10 00 00 00 00 00 SDO server l 7231D CCS Kr m 01 10 00 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 142 Step 6 The manufacturer specific and generic errors on the error register are indicated in the received message 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9 8 1716151413121110 0 1 2 31 41 516 7 110 11111010101010101 11 0 8 14F 01 10 00 81 FF 0B 01 f SDO server I 7231D SCS 2 n 3 e 1 S 1 m 01 10 00 d 81 FF OB 01 Because the n 3 only the first byte is useful Step 7 Clear the access error counter for the DCON module in index 0x2000 with sub index 01 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 31 1211 0 0 11 2131 4 1516 7 111 010101 0101010101 1 0 8 2B 00 20 01 00 00 00 00 SDO server I 7231D ccs 1 n 2 e 1 Ss 1 m 00 20 01 d 00 00 00 00 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 143
38. is recommended that users confirm the watchdog timer value stored in object 0x2002 If some DCON module don t receive any RS 485 command from the 1 7231D until the watchdog timer value expires then all output channels of this DCON module will be forced to output the safe value defined in this DCON module After that the 1 7231D will not be able to output this DCON module until the object with index 0x2003 has been cleared The safe value defined in DCON is different from the error output value defined in the object with index 0x6200 and index 0x6444 The former is activated when the DCON module cannot receive the RS 485 bus confirmation and only the module whose watchdog has a timeout will output the safe value the latter is activated when the I 7231D cannot receive the node guarding message and all DCON modules will output the error mode value under this condition Therefore it is recommended that setting these two parameters to the same value can guarantee outputting the same value no matter whether the RS 485 bus or CAN bus error occurs I O Modules Watchdog Timer Status Entry Object 0x2003 is used for storing the watchdog timer status of DCON modules After enabling the DCON module s watch timer users can check the sub index value of this object to know if the watchdog has had a timeout or not If there is a watchdog timeout the DCON module may need to be recovered by clearing the sub index of this object Each of the sub index
39. largest sub index supported for UNSIGNED 8 RO 2 server SDO parameter 1h COB ID form client to server UNSIGNED 32 RO 600h Node ID RXSDO 2h COB ID form server to client UNSIGNED 32 RO 580h Node ID TxSDO I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 160 RxPDO Communication Entries Idx Sidx Description Type Attr Default 1400h Oh largest sub index supported for UNSIGNED 8 RO 2 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 200h Node ID 2h transmission type UNSIGNED 8 RW FFh 1401h Oh largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 300h Node ID 2h transmission type UNSIGNED 8 RW FFh 1402h Oh largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 400h Node ID 2h transmission type UNSIGNED 8 RW FFh 1403h Oh largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 500h Node ID 2h transmission type UNSIGNED 8 RW FFh 1404h Oh largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 80000000h 2h transmission type UNSIGNED 8 RW FFh 141Fh Oh largest sub index supported for UNSIGNED 8 RO 5 recei
40. maximum and minimum value of the 2 s complement hex range User can find out the Fmax Fmin Hmax and Hmin in the appendix B 2 When the bus off is detected or the node guarding fails the l 7231D will check the value of the object with index 0x6443 If this value sets to 1 the I 7231D will output the error mode digital output value to the corresponding AO channel For example if the sub index 01 in the object with index 0x6443 and 0x6444 are 1 and 0x0000 respectively When the error events occurs this AO will be output to error mode output because the value of the object with index 0x6443 and sub index 01 is 1 The AO output value is 0 because of the value in the object with index 0x6444 and sub index 01 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 173 Appendix A Dimensions and Mounting Back View Top View 105 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 174 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 175 Appendix B Analog I O Transformation Table In order to look up your required information we have separated the transformation table into several parts according to the DCON module names They are given below 1 7012 D 7012F D 7014D l 7017 1 7017F 1 7017G I 7017R I 7017RC 1 87017 7013 D 1 7033 D 1 87013 7011 D 1 7011P D l 7018 1 701
41. message to finish the data download 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312 111 0 0 1 2131 4151 61 7 11 0111110101010101011 0 8 16000 18 05 00 00 00 00 SDO server I 7231D SCS 3 m 001805 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 110 Step 8 After changing the value of the event timer the Al value will be transmitted automatically every 1 second This is the first time the 2nd TxPDO message is received 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 131 12111 0 0 1 1 2 131 41 1516 7 011101110101010101011 0 2 F51 3F 00 00 00 00 00 00 PDO PDO f producer consumer I 7231D COB ID 0x281 L vg PDO msg F53F 000000 00 00 00 Because the data length is 2 only the first two bytes are valid Step 9 This is the second time the 2nd TxPDO message is received 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 918 17161514 1312 111 0 0 11 213141 516 7 0111011101010101010111 0 2 F8 3F 00 00 00 00 00 00 PDO PDO gt EEE producer consumer I 7231D COB ID 0x281 L 2 PDO msg F8
42. mode can also be divided into two parts for more detail There are RTR only asynchronous transmission type and asynchronous transmission type The RTR only transmission type is only for supporting TxPDO transmissions For this transmission type the TxPDO is only triggered by receiving the RTR object from the PDO consumer This action is depicted below PDO consumer PDO producer 1 7231D Read DI AI RTR Object channels 5 Read DI AI channels 5 RTR only asynchronous TxPDO I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 36 The other part of the asynchronous mode is the asynchronous transmission type Under this transmission type the TxPDO message can be triggered not only by receiving the RTR object but also by the occurrence of TxPDO events described in the event driver paragraph described above Furthermore the DO AO channels can act directly by receiving the RxPDO object This transmission type is the default value when the I 7231D boots up The concept of the asynchronous type is illustrated as follows PDO consumer PDO producer 1 7231D Read DI Al RTR Object channels 5 Read DI AI TxPDO event channels is triggered 4 NS ARE DIN RTR Object channels 5i asynchronous TxPDO PDO producer PDO consumer 1 7231D Actuate DO AO channels RxPDO 5 7 Actuate DO AO channels a asynchronous RxPDO I 7231D CANopen DCON Gateway user manual
43. output 7h UNSIGNED 16 RW 6411 0710h 4h write analog output 8h UNSIGNED 16 RW 6411 0810h 1603h Oh largest sub index supported for UNSIGNED 8 RO 4 receive PDO mapping 1h write analog output 9h UNSIGNED 16 RW 6411 0910h 2h write analog output Ah UNSIGNED 16 RW 6411 0A10h 3h write analog output Bh UNSIGNED 16 RW 6411 0B10h 4h write analog output Ch UNSIGNED 16 RW 6411 OC10h 1604h Oh largest sub index supported for UNSIGNED 8 RO receive PDO mapping 1h RW et ond es RW nee I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 162 161Fh Oh largest sub index supported for UNSIGNED 8 RO receive PDO mapping th RW EN ee 28 RW see I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 163 TxPDO Communication Entries Idx Sidx Description Type Attr Default 1800h 0 largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 180h Node ID 2 transmission type UNSIGNED 8 RW FFh 3 inhibit time UNSIGNED 16 RW 0 4 reversed 5 event timer UNSIGNED 16 RW 0 1801h 0 largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 280h Node ID 2 transmission type UNSIGNED 8 RW FFh 3 i
44. s 0 d is reserved for further use e 0 s 1 d contains the number of bytes to be uploaded and byte 4 contains the least significant bit and byte 7 contains the most significant bit e 1 s 1 d contains the data of length 4 n to be uploaded the encoding depends on the type of the data referenced by index and sub index e 1 s 0 d contains unspecified number of bytes to be uploaded not used always 0 reserved for further use always 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 63 Upload SDO Segment Protocol When the upload data length exceeds 4 bytes the upload SDO segment protocol is needed After finishing the transmission of the initiate SDO upload protocol the SDO client starts to upload the data and the upload segment protocol will follow the process shown below SDO Client SDO Server I 7231D I L bit COB ID bit RTR Len 8 byte EE 10 7 hast me Node ID reversed on JEG request ces 3 indication confirmation response 1011 Node ID Upload SDO Segment Protocol I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 64 CCS SCS seg data X reserved client command specifier 3 upload segment request server command specifier 0 upload segment response toggle bit This bit must alternate for each subsequent segment that is uploaded The first segment will have the toggle bit set to 0 The toggle bit will be equal for
45. the DI values 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 6151413121110 0 11 2131415161 7 0 10 111110101010101011 1 O 00 00 00 00 00 00 00 00 PDO PDO FTF H T Z 1 0 p producer consumer I 7231D COB ID 0x181 Step 37 Set the transmission type of the 1st TxPDO to 255 to finish the test 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9 8 1716151413121110 0 1 2 31 41516 7 111101010101010101011 0 8 12F 001 18 02 FF 00 00 00 SDO server I 7231D CCS 1 n 3 e 1 S 1 m 00 18 02 d FF 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 161514 13 2111 0 0 1 2 31 41 1516 7 1 101111101010101010 1 0 8 160 00 18 02 00 00 00 00 SDO server I 7231D SCS NG m 0018 02 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 125 Dynamic PDO Mapping for DI Al DO AO Channels Step 38 Use the 5th TxPDO to create a new PDO communication with PDO COB ID 0x182 you do this because the COB ID 0x182 is useless for the 7231D Before setting the COB ID of a PDO check bit 31 of the COB ID first Only t
46. the I 7231D Therefore users can easily apply 7k and I 87K IO modules in any CANopen master interface with EDS file via the 1 7231D PISO CPM100 Em PISO CAN200 400 1 8000 1 87K 8 series 1 8421 CANopen Device DCON I 7000 87KSeries 1 723 1D CANopen DCON Gateway user manual ver 1 03 May 02 2005 4 1 2 Hardware Features CPU 80186 80MHz Philip SJA1000 CAN controller Philip 82C250 CAN transceiver SRAM 512K bytes Flash Memory 512K bytes EEPROM 2k bytes Real Time Clock Built in Dual Watchdog 16 bit Timer 2500 Vrms isolation on CAN side Power Supply 3 0W Unregulated 10VDC to 30VDC Operating Temperature 25 C to 75 C Storage Temperature 30 C to 85 C Humidity 5 95 NS MS and IO Led directors COM1 RS 232 TXD RXD RTS CTS GND Communication speed 115200 max Configure tool connection COM2 RS 485 D2 D2 Communication speed 115200 max Connect to DCON IO modules Display 7 segmemt LED to show operation mode Node ID CAN baud and RS 485 baud 1 723 1D CANopen DCON Gateway user manual ver 1 03 May 02 2005 5 1 3 7231D Features NMT Slave Error Control Node Guarding Node ID Setting by Utility No of PDOs 32 Rx 32Tx PDO Modes Event triggered remotely requested cyclic and acyclic SYNC PDO Mapping variable No of SDOs 1 server 0 client Emergency Message Yes CANopen Version DS 301 v4 01 Device Profile DSP 401 v2 0 Produc
47. the SYNC COB ID In the I 7231D this is used to receive the SYNC COB ID The following table shows the data format of the SYNC Bit Number Value Meaning 31 MSB x do not care 30 0 Device does not generate SYNC message Device generates SYNC message 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B 28 11 0 If bit 29 0 x If bit 29 1 28 11 bits of 29 bit COB ID 10 0 LSB x 10 0 bits of COB ID The l 7231D doesn t support the SYNC generation therefore 29 bit ID bit 30 and bit 31 are always 0 4 The object with index 0x1008 0x1009 and Ox100A record the 1 7231D product information When interpreting these objects the ASCII table may be needed 5 The range of the 0x100c is 0 32767 in I 7231D For more information of the object with index 0x100C and 0x100D please refer to section 5 4 2 6 For the object with index 0x1014 please refer to section 5 3 1 7 The object with index 0x1015 store the inhibit time period between two EMCY message The function of this object is similar to the PDO communication object with sub index 04 It I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 159 is useful for avoiding the large loading on the CAN bus because of transmitting a lot of EMCY messages This parameter range is 0 32767 for the I 7231D and the unit of EMCY inhibit time is ms SDO Communication Entries Idx Sidx Description Type Attr Default 1200h Oh
48. ver 1 03 May 02 2005 37 Inhibit Time Because of the arbitration mechanism of the CAN bus the smaller CANopen communication object ID has a higher transmission priority than the bigger one For example there are two nodes on the CAN bus the one needs to transmit the CAN message with the COB ID 0x181 and the other has to transmit the message with COB ID 0x182 When these two nodes transmit the CAN message to the CAN bus simultaneously only the message containing COB ID 0x181 can be sent to the CAN bus successfully because of the higher transmission priority The message with COB ID 0x182 needs to hold the transmission until the message with COB ID 0x181 is transmitted successfully This arbitration mechanism can guarantee the successful transmission for one node when a transmission conflict occurs However if the message with COB ID 0x181 is transmitted again and again the message with COB ID 0x182 will never get a chance to be transmitted Therefore the disadvantage of this arbitration mechanism is that the lower priority of a CAN message is never transmitted successfully if the higher priority message is sent continuously In order to avoid the occupation of the transmission privilege by the message with a lower COB ID the inhibit time parameters for each of the PDO objects define a minimum time interval between each PDO message transmission which has a multiple of 100us During this time interval the PDO message will be inhibi
49. wouldn t like to continue with the uncompleted SDO protocol under some special conditions When these situations occur both the client and the server can be activated to send the Abort SDO Transfer message The Abort SDO Transfer protocol is shown below SDO Client SDO Server 1 7231D ria ree oa ETL 7 5 40 indication er gt request 1100 Node ID Abort SDO Transfer Protocol SDO Client SDO Server 1 7231D 11 bit COB ID a EZ 8 byte Data byte n indicatio 1011 Node ID Abort SDO Transfer Protocol cs command specifier 4 abort transfer request X not used always 0 multiplexer It represents index and sub index of the SDO d contains a 4 byte Abort Code about the reason for the abort I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 95 Abort Code Description 0503 0000h Toggle bit not alternated 0504 0000h SDO protocol timed out 0504 0001h Client server command specifier not valid or unknown 0504 0002h Invalid block size block mode only 0504 0003h Invalid sequence number block mode only 0504 0004h CRC error block mode only 0504 0005h Out of memory 0601 0000h Unsupported access to an object 0601 0001h Attempt to read a write only object 0601 0002h Attempt to write a read only object 0602 0000h Object does not exist in the object dictionary
50. 0 19200 38400 57600 115200 NN OO oO AJOIN gt I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 18 2 6 Module Support The 1 7231D supports many kinds of DI DO Al and AO modules of I 7K I 87K series When users want to use these modules on the CANopen network they only connect these modules with the COM2 of the 1 7231D Then the firmware built in the 1 7231D will search them for organizing the corresponding CANopen entries automatically The following table shows the modules name and basic information supported by the 1 7231D Name IO channel Number Name IO channel Number oe 1DI 2D0 1AI I 87013 4 AI ene 1DI 2D0 1Al 87016 2 AI 7013 1Al pala 8 Al I 87017R l 7014 1DI 2DO 1Al Fe 8 AI I 87018R l 7016 4DO0 1DI 2AI 87019 8 Al 7016P 4D0 1DI 1Al 87022 2 AO l 7017 l 7017F l 7017C 8 Al 87024 4 AO I 7017R I 7017RC l 7018 l 7018P 7018R 8 Al 87026 2 AO I 7018BL I 7019R 8 Al 87040 32 DI 7021 1 AO 87041 32 DO l 7022 2 AO 87051 16 DI 7024 4 AO 87052 8 DI l 7033 3Al 87053 16 DI 7041 14 DI 87054 8 DI 8 DO l 7042 13 DO 87055 8 DI 8 DO 7043 16 DO 87057 16 DO I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 19 7044 4 DI 8 DO 87058 8 DI 7045 14 DO 87063 4 DI 4 DO l 7050 7 DI DO 87064 8 DO l 7
51. 00FF810B01 00 00 00 The first two bytes OO FF are emergency error codes The 3rd byte 81 is the error register It means that the I 7231D has either a manufacturer specific or generic error The last five bytes OB 01 00 00 00 are the manufacturer specific error fields This emergency message means that the module with address 01 has timed out or this is a read write error occurring more than three times I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 141 Step 3 Read the 0x1003 object with sub index 01 users will then be able to see the emergency error code of the emergency object data recording in this object 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141312 1 0 0 1 21 31 41 5 1 6 7 1111010101010101010 1 0 8 140103 10 01 10010000 00 SDO server Il 7231D ccs 2 2 m 03 10 01 Step 4 The I 7231D responds to the ending message 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 61514 31 21110 0 1 213141 1516 7 1101111 1010101010101 1 0 8 1431031 101 01100 FF OB 01 SDO server Il 7231D SCS 2 n 0 e 1 sS 1 m 03 10 01 d 00 FF OB 01 Step 5 Check the object 0x1001 and make sure that the manufacturer specific and generic errors on the error register are
52. 01 0B10h 4h read analog input Ch UNSIGNED 16 RW 6401 0C10h 1A04h Oh largest sub index supported for UNSIGNED 8 RO transmit PDO mapping th RW dett oat poe RW nee I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 166 1A1Fh Oh largest sub index supported for UNSIGNED 8 RO transmit PDO mapping th RW EN ee wh RW see I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 167 6 2 Manufacturer Specific Profile Area In the following table there is information about some special functions for the DCON modules Index 0x2000 records the access error count for the DCON module The watchdog timer of each DCON module can be controlled by accessing the object with index 0x2001 and the value of this watchdog is stored in the object with index 0x2002 The object with index 0x2003 allows users to check the status of each watchdog timer Entries with sub index 00 for these objects indicate how many entries each object has For more detail about these objects please refer to section 5 5 VO Module Read Write Error Counter Entries Idx Sidx Description Type Attr Default 2000h Oh largest sub index supported for UNSIGNED 8 RO 8 I O Module R W Error Counter 1h Module 1 R W Error Counter UNSIGNED 16 RW I O Modules Watchdog Timer Enable Control Entries Idx Sidx Description Type A
53. 02 2005 15 2 4 3 Overrun LED This LED is useless when the I 7231D works normally When CAN message loading is heavy and cause software buffer overrun the overrun LED will be turned on At the same time an emergency message will be transmitted to users automatically In this case some CAN message may be lost After the buffer overrun condition disappears the LED will be turned off For further information of the emergency message refer to the section 3 4 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 16 2 5 7 segment LED OD Show the operation state of the 1 7231D If it works normally the LED displays the character n These two LED indicate the CANopen node ID of the I 7231D by using hex format For example if the CANopen node ID of the I 7231D is 31 these two LED will show the characters 1F This LED displays the CAN bus baud rate of the I 7231D by number 0 7 The meanings of these numbers are described in the table below 7 segment LED Number Baud rate K BPS 0 10 20 50 125 250 500 800 1000 NI OO AJOIN gt I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 17 The RS 485 baud rate of the I 7231D is indicated on this LED The mapping table between LED number and RS 485 baud rate is displayed on the following table 7 segment LED Number Baud rate BPS 0 1200 2400 4800 960
54. 051 16 DI 87065 8 DO l 7052 8 DI l 87066 8 DO l 7053 16 DI 87068 8 DO 7055 8 DI 8 DO 87069 8 DO 7058 8 DI l 7060 4 DI 4 DO l 7063 7063A 8 DI 3DO 7063B 7065 7065A 4 DI 5DO 7065B l 7066 7 DO l 7067 7 DO I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 20 3 CANopen System 3 1 CANopen Introduction CANopen is a kind of network protocol based on CAN bus and has been used in various applications such as vehicles industrial machines building automation medical devices maritime applications restaurant appliances laboratory equipment amp research It allows for not only broadcasting but also peer to peer data exchange between every CANopen node The network management functions specified in CANopen simplifies the project design Besides users also can implement and diagnose the CANopen network by standard mechanisms for network start up and error management By the device model any CANopen device can effectively access or get the conditions relating to the I O values and node states of other devices in the same network Generally a CANopen device can be modeled into three parts Communication amp Object Dictionary Application program The functions and general concepts for each part are shown as follows Application F Application T objcet Application objcet Application objcet c Bus System Process I 7231D CANopen DCON Gateway u
55. 0604 0041h Object cannot be mapped to the PDO Bird The number and length of the objects to be mapped would exceed PDO length 0604 0043h General parameter incompatibility reason 0604 0047h General internal incompatibility in the device 0606 0000h Access failed due to an hardware error ee Data type does not match length of service parameter does not match 0607 0012h Data type does not match length of service parameter too high 0607 0013h Data type does not match length of service parameter too low 0609 0011h Sub index does not exist 0609 0030h Value range of parameter exceeded only for write access 0609 0031h Value of parameter written too high 0609 0032h Value of parameter written too low 0609 0036h Maximum value is less than minimum value 0800 0000h General error 0800 0020h Data cannot be transferred or stored to the application T R Data cannot be transferred or stored to the application because of local control 60006 Data cannot be transferred or stored to the application because of the present device state Object dictionary dynamic generation fails or no object 0800 0023h dictionary is present e g object dictionary is generated from file and generation fails because of an file error I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 96 Abort SDO Transfer Example The object index 0x1008 doesn t have the sub index 01 entry Therefore if users read the object entry wi
56. 1 010 10 101010 10 0 11 0 8 23 05 14 01 02 02 00 00 SDO server I 7231D CCS 1 n 0 e 1 S 1 m 05 14 01 d 02 02 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312 110 0 1 2131 41 1 516 7 11 0111110101010101011 0 8 160051 14 01 00 00 00 00 f SDO server l 7231D SCS EG m 051401 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 131 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 71615141 13 2111 0 0 1 2131415 16 7 111 1010101010101010 11 0 8 23 05 16 01 08 01 00 62 SDO server Il 7231D ccs 1 n 0 e 1 s 1 m 05 16 01 d 08 01 00 62 The value 08 01 00 62 means the mapped object is stored in the index 0x6200 with sub index 01 It is an 8 bit data unit Users can check this object in the Standardize object mapping table described above It is mapped to the DOO DO7 for l 7043D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 716151413 2111 0 0 1 2131415 16 7 110 111101010101010 11 0 8 16005 16 01 00 00 00 00 SDO server I 7231D scs vg m 051601 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 132 11 bit COB ID bit
57. 100 AOS je w a 0 00385 175 84 Input Range 100 00 C 2 s Complement HEX ores 32767 32768 Input Range of FSR 100 00 000 00 dene 139 16 100 00 a 0 003916 ii A 2 s Complement HEX T 2 i 32767 0 Input Range 200 00C 000 00 C of FSR 100 00 000 00 a 0 003916 dl Ox7FFF 0 2 s Complement HEX 32767 0 Input Range 00 00 C 000 00 C Platinum 100 ny fe a a 0 003916 m 100 00 2 s Complement HEX ane 32767 0 Input Range 100 00 C Nickel 120 200 64 ME ETEN Ox7FFF Ox999A S e P 32767 26214 Input Range 100 00C 000 00 C of FSR 100 00 000 00 Ox7FFF 0 2 s Complement HEX 32767 0 Input Range 0 00C 200 00 C AEG oe a Platinum 1000 00 00 033 33 a 0 00385 3137 1 0185 2 2 s Complement HEX ia 0xDS56 P 32767 10922 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 178 I 7011 D 1 7011P D l 7018 1 7018P I 7018R I 7018BL 1 87018 R Code angg us Data Format Max value Min value Hex 32767 32768 32767 32768 32767 32768 32767 32768 32767 32768 Ox7FFF 0x8000 Default 2 s Complement HEX j X 32767 32768 Input Range 20 000mA 20 000mA of FSR 100 00 100 00 2 s Complement HEX DE 0x8000 i 32767 32768 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 179 Thermocouple Type for I 7011 D I
58. 111010101010101010111 0 8 A2102 7F 00 00 00 00 00 SDO server I 7231D CCS 5 cs 5 2 ackseq 2 biksize TF I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 80 Step 7 When the reception confirmation is ok the 1 7231D will send a message to enter the End SDO Block Upload protocol 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 51413 2111 0 01 1 1 2131 415161 7 1101 11 1 0 0 0 0 0 1 0 8 D5100 00 00 00 00 00 00 SDO server I 7231D SCS 6 n 5 This value means the useless data in the last segment are from 8 5 to 7 That is to say that only the first 3 bytes are valid ss 1 crc 00 00 Step 8 Users send a message to finish the End SDO Block Upload protocol 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 5141312111 0 0 1 2 3 41 5 6 7 1111010 01010101011 0 8 A1 00 00 00 00 00 00 00 SDO server l 7231D ccs 5 cs 1 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 81 5 1 3 Download Initiate SDO Download Protocol The download modes are similar to the upload modes but different in some parameters in their SDO messages They are also separated into two steps If the download data length is less than 4 by
59. 1111010101 101 0 0 8 A2 01 7F 00 00 00 00 00 SDO server I 7231D SCS 5 ss gt 2 ackseq 01 biksize TF I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 93 Step 5 The SDO client sends the ending message to finish the SDO Block Download 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141312111 0 0 11 21314151 161 7 111101010 101010101011 0 8 D9 00 00 00 00 00 00 00 f SDO server l 7231D CCS 6 n gt 6 This value means the useless data in the last segment are from 8 6 to 7 That is to say that only the first 2 bytes are valid cs 1 crc 0000 Step 6 The I 7231D responds to the message to terminate the End SDO Block Download protocol 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 31 1211 0 0 1 2 3 4 5 64 7 11 011111 01 0101010101 1 0 8 A1 00 00 00 00 00 00 00 SDO server I 7231D SCS 5 5 SS I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 94 5 1 5 Abort SDO Transfer Protocol In some situations the SDO client or SDO server needs to terminate the SDO transmission For example the value of entries which users want to modify does not exist or is read only or users
60. 138 The data format of the emergency object data follows the structure bellows Byte 0 1 2 3 4 5 6 7 Content Emergency Error Code Error register Manufacturer specific Error Field Each bit on the error register is defined as follows The I 7231D only supports bit 0 bit 4 and bit 7 Ww Meaning generic error current voltage temperature communication error overrun error state device profile specific reserved always 0 N OQ 01 BR W W NM gt O manufacturer specific I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 139 The emergency error codes and the error register are specified in the following table Emergency Error Manufacturer Specific Error Description Error Code Register Field High Low First Two Last Three Byte Byte Byte Byte 00 00 00 00 00 00 00 00 Error Reset or No Error 10 00 81 01 00 00 00 00 CAN Controller Error Occur 50 00 81 02 00 00 00 00 EEPROM Access Error 50 00 81 03 00 00 00 00 COM Port Access Error 81 10 11 04 00 00 00 00 Soft Rx Buffer Overrun 81 10 11 05 00 00 00 00 Soft Tx Buffer Overrun 81 10 11 06 00 00 00 00 CAN Controller Overrun 81 30 11 07 00 00 00 00 Lift Guarding Fails 81 40 11 08 00 00 00 00 Recover from bus off 82 10 11 09 00 00 00 00 PDO Data length Error FF 00 80 OA 00 00 00 00 Request to reset
61. 2 m 01 10 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 514132 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 8 14F 01 10 00 00 00 00 00 SDO server I 7231D ccs 1 n 2 e 1 s 1 m 01 10 00 d 00 00 00 00 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 146 5 4 NMT Communication Set 5 4 1 Module Control Protocol The NMT communication set can be applied for changing the NMT status of the NMT slave The following figure shows how to change the different NMT statuses for the I 7231D Start Remote Node Protocol NMT Master NMT Slave 11 bit C OB IE A Een 8 ETTE Data De 0000 0000000 dea Node ID Indication request indication indication Start Remote Node Protocol cs NMT command specifier 1 start Node ID the node ID of the NMT slave device I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 147 Stop Remote Node Protocol NMT Master NMT Slave I 1 bit COB ID bit R 8 ME Data me Dan re or 69 Indication request l 7231 0000 0000000 cs 2 Node ID Not use indication indication Stop Remote Node Protocol cs NMT command specifier 2 stop Node ID _ the node ID of the NMT slave device Enter Pre Operational Protocol NMT Master NMT Slave 11 bit COB ID GET byte Data byte nr 107 Fo AN PT pr peeo l 7231 request 000 0000000 28 N
62. 2 RW 80h 1008h Oh manufacturer device name VISIBLE STRING RO 8x21 1009h Oh manufacturer hardware version VISIBLE STRING RO 100Ah Oh manufacturer software version VISIBLE_STRING RO 100Ch Oh guard time UNSIGNED 16 RW 0 100Dh Oh life time factor UNSIGNED 8 RW 0 1014h Oh COB ID of EMCY UNSIGNED 32 RW 80h Node ID 1015h Oh Inhibit time of EMCY UNSIGNED 16 RW 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 158 1018h Oh largest sub index supported for UNSIGNED 8 RO 1 identity object 1h vender ID UNSIGNED 32 RO Note 1 The object with index 0x1000 has the following data format Additional information General Information bit 31 bit 24 bit 23 bit16 bit 15 bit O Specific functionality I O functionality Device profile number For 7231D the specific functionality is always 0 The I O functionality defines what kind of device the I 7231D is Bit 16 17 18 19 present the DI DO Al AO respectively For example if bit 16 is 1 it means that the 7231D has DI channels If both bit 16 and 17 are 1 the 1 7231D has both DI and DO channels Bit 23 bit 19 is always 0 The general information is 0x191 0x191 401 it means that the I 7231D follows the CANopen spec DS401 2 About the object with index 0x1001 and 0x1003 please refer to section 5 3 2 3 The object with index 0x1005 stores
63. 231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 123 Transmission Type 253 for 1st TxPDO Step 34 Set the transmission type of the 1st TxPDO to 253 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 5 4 13 21 1 0 1 1 21314151 161 7 111 01 0 0 01 10 101 0 0 8 2F 00 18 02 FD 00 00 00 SDO server Il 7231D ccs 1 n 3 e 1 s 1 m 00 18 02 d FD 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191 1817 514131211 1 21 31 41516 7 1101111 010101010 0 8 16000 18 02 00 00 00 00 SDO server I 7231D SCS 3 m 00 18 02 Step 35 Change the DO value of the l 7043 and l 7012 to be 0x5678 and 0x00 respectively by using the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 5 4 13 2 1 0 11 2131 41516 7 01111010 0 0101 101 0 0 8 178 56 00 00 00 00 00 00 PDO PDO producer I 7231D COB ID 0x201 L 8 PDO msg 78 56 00 00 00 00 00 00 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 124 Step 36 Because of the transmission type 253 the 1st TxPDO can only be transmitted when receiving the RTR message So send RTR message to get
64. 31D COB ID 0x701 t EE S 7F The value 7F means that the l 7231D is in the NMT state pre_operational Step 6 Since life time is equal to 1000 ms guard time life time factor 250 4 1000 users will need to transmit the node guarding protocol again If not an error event will be triggered and an EMCY message will be received All values from the output channels will be changed according to index 0x6206 index 0x6207 index 0x6443 and index 0x6444 Step 7 If users don t send the node guarding protocol to the l 8421 the EMCY message for guarding failure will be received 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID Length 10 91817161514 13 121110 0 11 213141516 7 0 0 0 11010 10101110 111 0 8 30 81 11 07 00 00 00 00 EMCY EMCY consumer producer I 7231D EMCY msg 3081 11 07 00 00 00 00 The first two bytes 30 81 are for the emergency error code The 3rd byte 11 is for the error register The last five bytes 07 00 00 00 00 are the manufacturer specific error fields This emergency message indicates a life guard error I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 154 5 5 Special Functions for DCON modules I O Modules R W Error Control Entry The 1 7231D Manufacturer Specific Profile Area defines some special functions for DCON modules The object with index 0x2000 is t
65. 3F 00 00 00 00 00 00 The value of 0x3FF8 is equal to 4 998V The Al value is changed because of the noise disturbance or other factors I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 111 Step 10 This is the third time the 2nd TxPDO message is received 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 19181 7 5141312 110 112 3 1 4151 6 7 0 1 01 1 0101010 1 0 2 F8 3F 00 00 00 00 00 00 PD PDO S consumer I 7231D COB ID 0x281 L 2 PDO msg F8 3F 00 00 00 00 00 00 Step 11 Set the event timer to 0 to finish the event timer test 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 5141312 0 0 1 213141516 7 1111 1010 0101010 1 0 8 2B 00 18 05 00 00 00 00 SDO server I 7231D ccs 1 n 2 e 1 Ss 1 m 00 18 05 d 00 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 514131 2 0 0 1 2 31 41 1516 7 110111 0 0 0 1 0 8 16000 18 05 00 00 00 00 SDO server I 7231D scs 3 m 00 1805 1 723 1D CANopen DCON Gateway user manual ver 1 03 May 02 2005 sg Transmission Type 0 for 1st RxPDO Step 12 Set the transmission type of the 1st R
66. 4F 00 14 00 02 00 00 00 SDO server I 7231D SCS 2 n 3 e 1 S 1 m 00 14 00 d 02 Because the n 3 only the 4th byte is valid Therefore the feedback value is 02 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 67 Example for normal transfer Step 1 Send the RxSDO message to the I 7231D to obtain the object entry with index 0x1008 and sub index 00 stored in the communication profile area The message structure is as follows As mentioned above the node ID for the 7231D is set to 1 and the information about object entry with index 0x1008 is described in chapter 6 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312 111 0 0 11 2131 415161 7 1111010101010101010 1 0 8 40 08 10 00 00 00 00 00 SDO server l 7231D CCS gt 2 m 081000 Step 2 The 1 7231D responds to the SDO message to indicate how many bytes users will upload from the 1 7231D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141312111 0 0 1 1 2131 4 1516 7 110 11111010101010 10111 0 8 141108 10 00 09 00 00 00 SDO server SDO client I 7231D Scs 2 n 0 e 0 s 1 m 08 10 00 d 09 00 00 00 Because the e 0 and s 1 the d means that how many data users w
67. 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 84 SDO Download Example When the SDO download example has been applied the procedure in the below figure may be applied SDO Client SDO Server SDO Client SDO Server 1 7231 1 7231 Initial SDO Download Protocol bit e 1 Initial SDO Download Protocol bit e 0 Download SDO Protocol bit t 0 bit c 0 he s SDO Download with expedited transfer Download SDO Protocol bit t 1 bit c 0 ee EN Download SDO Protocol bit t 0 bit c 0 Download SDO Protocol bit t bit c 1 SDO Download with normal transfer Since all of those object entries which can be written in the I 7231D are equal or less than 4 bytes we can only provide the demo for expedited transfer I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 85 Example for expedited transfer Step 1 Send the Rx SDO message to the I 7231D to access the object entry with index 0x1400 and sub index 02 stored in the communication profile area Here change the value of this object entry to 5 Assume that the node ID for the I 7231D is set to 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 61514 3 2 1 0 1 2 31 41 1516 7 11 1 0101010101010 0 0 8 12F1001 14 02 05 00 00 00 SDO server I 7231D ccs 1 n 3 e 1 S 1 m 00 14 02 d 05 00 00 00 Beca
68. 8P I 7018R I 7018BL 1 87018 l 7021 l 7022 87022 l 7024 1 87024 87026 I 7012 D 1 7012F D 1 7014 D l 7017 1 7017F I 7017C I 7017R I 7017RC 1 87017 R ae Data Format Code Hex Input Range 10 00 10 08 of FSR 100 00 100 00 Ox7FFF 0x8000 Default 2 s Compl t HEX dd 32767 32768 Input Range 5 000 5 0000V of FSR 100 00 100 00 32767 32768 M 32767 32768 Ox7FFF 0x8000 2 s Complement HEX j 32767 32768 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 176 a 32767 32768 Input Ran with 125 ohms resistor of FSR 100 00 100 00 TE Ox7FFF 0x8000 ed kli 32767 32768 7013 D I 7033 D 1 87013 Pange RTD Type Data Format Max Value Min Value Code Hex yP Input Range 100 00 C 100 00 C Default Input Range 150 00mV OC a 0 00385 138 50 060 25 2 s Complement HEX OERE 0x8000 32767 32768 Input Range 100 00 C 00 C Platinum 100 of FSR 100 00 000 00 138 50 100 00 a 0 00385 Ox7FFF 2 s Complement HEX 32767 2 s Complement HEX OE PD 32767 Input Range 600 00 C m C 7 Platinum 100 poler 100 00 000 00 313 59 100 00 2 s Complement HEX po Pee 32767 1723 1D CANopen DCON Gateway user manual ver 1 03 May 02 2005 177 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 177 a 0 00385 Input Range 200 00 C m C Platinum
69. AI Standardized Device Dictionary Object 0x6401 Practical Al Channel 0 1 AO Standardized Device Dictionary Object 0x6411 Subindex1 AO Channel 0 AO Channel 0 Practical AO gt tome Channel 0 Standardized Device Hardware Profile Area Take the l 7231D as another example There are some DCON modules connecting to the COM 2 of the l 7231D The related information for each module is shown below Module Name Module Address DO ch AO ch DI ch Al ch l 7011 Ox 01 2 0 1 1 l 7053 Ox 02 0 0 16 0 87053 Ox 03 0 0 16 0 87024 Ox 06 0 4 0 0 l 7017 0x 08 0 0 0 8 7053 Ox OA 0 0 16 0 7041 Ox OB 0 0 14 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 26 When the I 7231D boots up all the channels of the modules connected with 1 7231D will be scanned Also the I O values of these channels are arranged into proper object entries one by one So the minimum data unit is one byte the DI and DO channels which are not enough to fill up one byte will be regarded as one byte automatically The I 7231D uses objects with the index 0x6000 to store the input values of the DI channels The I O values of the DO Al and AO channels are put into the object with the indexes 0x6200 0x6401 and 0x6411 respectively When data come through these I O values to the corresponding object it will follow the rules below The modules which are address
70. B ID needs to be confirmed Bit Number Value Meaning 31 MSB 0 EMCY exits EMCY is valid 1 EMCY does not exist EMCY is not valid 30 0 reserved always 0 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B 28 11 0 If bit 29 0 x If bit 29 1 28 11 bits of 29 bit COB ID 10 0 LSB x 10 0 bits of COB ID I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 137 5 3 2 EMCY Communication The EMCY message is triggered when some internal error occurs After the transmission of one EMCY message the object with index 0x1003 will record this EMCY event Therefore users can check this object to understand the history of the error s occurrences The 1 7231D supports a max of 5 records stored in the index 0x1003 object Sub index 1 of this object stores the last EMCY event and sub index 5 records the oldest EMCY event The EMCY communication set is given below EMCY Producer EMCY Consumer 1 7231D 11 bit COB UE Ma EG 8 byte ove Daw ts Indication request COB ID 0 EMCY msg indication p indication TRQCPM j gt Emergency Object Protocol COB ID the EMCY COB ID The EMCY COB ID can be defined by user This situation is similar to the PDO COB ID The default value is 4 bit function code 0001 with 7 bit node ID EMCY msg record the type or class of the occurrence error I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005
71. CAN CAN Gateway Utility Step 2 Execute the setup exe file to install the CAN Gateway Utility Step 3 A Welcome window pops up to prompt user to begin installation Welcome Welcome to the CAN Gy Utility Setup program This program will install CAN_G W Utility on your computer It is strongly recommended that you exit all Windows programs before running this Setup program Click Cancel to quit Setup and then close any programs you have running Click Next to continue with the Setup program WARNING This program is protected by copyright law and international treaties Unauthorized reproduction or distribution of this program or any portion of it may result in severe civil and criminal penalties and will be prosecuted to the maximum extent possible under law Next gt Cancel I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 49 Step 4 Click the Next button and a Choose Destination Location window will pop up for deciding the installation path Choose Destination Location Setup will install CAN GW Utility in the following folder To install to this folder click Next To install to a different folder click Browse and select another folder You can choose not to install CAN Gy Utility by clicking Cancel to exit Setup m Destination Folder C iCAN CAN_Gateway Browse one Step 5 Click the Next button A Select Program
72. CON Gateway user manual ver 1 03 May 02 2005 102 PDO Communication Example To take a look at a PDO communication demo some DCON modules may be needed They are I 7043D or l 7043 1 7053D or l 7053 1 7021 and 7012D or l 7012 and their RS 485 module addresses are configured as 0x01 0x02 0x03 and 0x04 respectively The output and input ranges for the l 7021 and 1 7012D modules are 0 10V and 10V 10V respectively The Baud rate and checksum of these modules are set to 9600bps and to disable When users want to configure the DCON modules the following procedure is the best for reference Connect the PC RS 485 COM port with the RS 485 port on one of the DCON modules If there is no RS 485 COM port on your PC the RS 232 RS 485 converter l 7520 may be needed Turn this DCON module s power on Then follow the steps described in the quick start on the DCON Utility on line Help menu to ensure the correct configuration Afterwards turn the DCON Module s power off and disconnect this DCON module with the PC RS 485 COM port Repeat the steps mentioned above until all of the DCON modules have been configured After finishing the configurations users can connect all the DCON modules to their PC simultaneously and scan them by using the DCON Utility The result may look like as follows Pies File COMPort Search Run Terminal Help The 1 7000 8000 Modules Found else It C Module Address Bau
73. D RTR Length 10191817161514 31 2 0 1 2 3 4 5 6 7 11 1 0101010101010 0 8 12F 0D 10 00 04 00 00 00 f SDO server l 7231D CCS 1 n 3 e 1 S 1 m OD 10 00 d 04 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 31 2 0 1 2 3 1 4151 6 7 11 011111010101010 0 8 160 0D 10 00 00 00 00 00 SDO server I 7231D SCS 3 m OD 10 00 Step 5 Send the node guarding protocol to start the mechanism of the node guard The life time here is equal to 1000 ms guard time life time factor 250 4 1000 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RT Length 10 9 8171615 4 31 2 12131415 16 7 1 1111 01010 0 01 0 1 O 10000 00 00 00 00 00 00 NMT slaver I 7231D COB ID 0x701 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 153 Step 5 Afterwards users can receive the message which records the NMT state of the I 7231D For the reason that life time is equal to 1000 ms guard time life time factor 250 4 1000 users will need to transmit the node guarding protocol again 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 91817161514 13 21 111 0 0 11 2 131 4 1516 7 1 1 1101010101010 1011 0 8 ZF 100100 00 00 00 00 00 NMT slaver I 72
74. D to transmit the data by using the SDO Block Upload method 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 312 11 0 0 Vs Sa a gt So 111 0101010101010101 111 0 8 AO 08 10 00 7F 00 00 00 SDO server SDO client l 7231D ccs a 5 cc 0 cs 0 m 081000 biksize 7F Each block contains 127 segments pst 00 Step 2 The 1 7231D confirms the requirement with the Initiate SDO Block Upload protocol 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312111 0 0 1 1 2131 41516 7 110 11110101010101011 0 8 C2108 10 00 09 00 00 00 SDO server I 7231D SCS 6 sc 0 s 1 ss 0 m 081000 size 090000 00 The 1 7231D will response 9 bytes data during the SDO Block Upload I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 78 Step 3 Send the message to finish the Initiate SDO Block Upload protocol and inform the I 7231D to start the data transmission 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 31 121110 011 1 213141 1516 7 111 010101010101010 11 0 8 A3 100100 00 00 00 00 00 SDO server I 7231D ccs i 5 cs
75. Data byte at Node ID 8 seg data seqno request indication 11 bit COB ID I 1 bit COB ID bit RTR Len 8 byte Data byte confirmation 60 mes e response 8 73 121 LOLL Node ID scs 3 x ss 2 ackseq blksize reserved SCS X SS Download SDO Block Segment Protocol SCS server command specifier 5 block download ss server subcommand 0 initiate download response c It indicates whether there are still more segments to be downloaded 0 more segments to be downloaded 1 no more segments to be downloaded enter End block download phase seqno sequence number of segment 0 lt seqno lt 128 seg data Itis at most 7 bytes of segment data to be downloaded ackseq sequence number of last segment that was received successfully during the last block download If ackseq is set to 0 the server indicates the client that the segment with the sequence number 1 was not received correctly and all segments have to be retransmitted by the client biksize number of segments per block that has to be used by client for the following block download with 0 lt biksize lt 128 x not used always 0 reserved reserved for further use always 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 89 End SDO Block Download Protocol SDO Client SDO Server 1 7231D I 1 bit COB ID OR 8 byte gg w 7 sy Seno 5 4 2 K a Node ID a cre reserved uig d A indication request
76. Func Code Node ID RTR Length 101918 7 5 4 13 2 1 0 11 21314151 161 7 111 01 0 0 0 0 0 0 0 8 2F 00 18 02 FC 00 00 00 SDO server I 7231D ccs 1 n 3 e 1 s 1 m 00 18 02 d FC 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191 1817 514131211 11213141 5161 7 1101111 010101010 0 8 16000 18 02 00 00 00 00 SDO server I 7231D SCS 3 m 00 18 02 Step 28 Change the DO value of the l 7043 and l 7012 to be 0x1234 and 0x00 respectively by using the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 5 4 13 2 1 0 11 2131 41516 7 01111010 010 0101010 0 8 34 12 00 00 00 00 00 00 PDO PDO producer I 7231D COB ID 0x201 L 8 PDO msg 34 12 00 00 00 00 00 00 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 121 Step 29 The 1st TxPDO will not be transmitted immediately because of transmission type 252 Send the RTR message of the 1st TxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 5 41 13 2 01 1 2131 41516 7 010111 0 0 0 0 1 O 00 00 00 00 00 00 00 00 PDO PDO consumer I 7231D COB ID 0x181 Step 30 The feedb
77. Func Code Node ID RTR Length 10191817161514 131 12 1 0 0 1 1 213141516 7 011101110101010101011 0 2 1F51 3F 00 00 00 00 00 00 PDO PDO consumer procu er l 7231D COB ID gt 0x281 L er PDO msg F53F 00 00 00 00 00 00 Because the data length is 2 only the first two bytes are valid The feedback Al value is Ox3FF5 Users also need to transfer this value to float The 1 7012D s input float range is set to 10V 10V and the input hex range is from 0x8000 32768 to Ox7FFF 32767 The value 0x3FF5 16373 can be transferred by using the following equation 16373 32768 32767 32768 4 997V FloatValue 10V 10V 10V I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 109 Event Timer Functionality Step 6 Use the SDO to change the event timer of the 2nd RxPDO to 1000 which is stored in index 0x1801 with sub index 5 The value 1000 means 1 second because the unit in the event timer is ms 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 3 12 11 0 0 11 213141516 7 1 11101 01010101010 0 1 0 8 2B 00 18 05 E8 03 00 00 SDO server I 7231D ccs 1 n 2 e 1 S 1 m 00 18 05 d E8 03 00 00 The value 0x03E8 is equal to 1000 Because the n 2 the last two bytes 00 00 is useless Step 7 The l 7231D will response the
78. NC object from SYNC producer the I 7231D will respond with a predefined TxPDO message to the CANopen PDO consumers For the RxPDO object the I 7231D needs to receive the SYNC object to actuate the RxPDO object which is received before the SYNC object The following figures indicate how the acyclic synchronous transmission type works on the RxPDO and the TxPDO I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 33 PDO consumer SYNC consumer amp PDO producer 1 7231D Read DI AI SYNC transmitted by SYNC producer channels Read DI Tx PDO event channels is triggered S 5 SYNC transmitted by SYNC producer Read DI Al channels TxPDO mS m aa acyclic synchronous TxPDO PDO producer SYNC consumer amp PDO consumer 1 7231D SYNC transmitted by SYNC producer Actuate DO AO channels SYNC transmitted by SYNC producer Actuate DO AO channels acyclic synchronous RxPDO The cyclic synchronous transmission mode is triggered by the reception of an expected number of SYNC objects and the max number of expected SYNC objects can be 240 For example if the TxPDO is set to react when receiving 3 SYNC objects the 1 7231D will feedback the TxPDO object after receiving 3 SYNC object For the RxPDO actuating the DO AO channels by the RxPDO is independent of the number of SYNC objects These concepts are shown in the figures below I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005
79. ND pin on the 1 7231D Then turn on the 1 7231D E Device Profile DSP 402 v2 1 gis VO Modules of 1 7K 1 87K series 0 0 0 0 0 1K Vdc isolation on CAN side COMI COM2 e A Connect to Connect to PC COM port DCON modules Cable CA0910F Ground 10 30VDC I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 56 Step 2 Execute the CAN GW101 exe file The following software figure will be displayed General Setting File About Communication Firmware Version PCCOMPort com1 x i J Status 7188x series Situation CAN Parameter Setting CAN Parameter Viewer Application Layer C CANopen C DeviceNet Build EDS File Exit Program Step 3 Press the Connect button to connect the CANopen gateway Then the Com Port Scan Parameter Setting dialog window will pop up as follows Please set the proper value for the RS 485 communication parameters These parameters need to match with the DCON modules parameters Then press the OK button to begin the modules scans Communication Firmware Version PC COM Port i Connect Connect Status Connecting JEE 7188x series Situation Com Port Scan Parameters Setting COM Port SCAN Parameters Setting COM2 Baudrate 9600 BPS vi Timeout 200 CheckSum I Disable vi CAN Parameter Setting CAN Parameter Viewer Application Layer C CANopen DeviceNet I 7231D CANopen DCON Gateway user manual ver 1
80. Nopen DCON Gateway user manual ver 1 03 May 02 2005 13 2 4 2 ERR LED The ERR LED indicates the status of the CAN physical layer and indicates errors due to missing CAN messages These messages may be SYNC or Guard messages Each error event has different twinkling signal period and the signal periods and related meanings are displayed respectively as following figure and table Single Flash Double Flash Triple Flash 400 800 1200 1600 2000 200 600 1000 1400 1800 Time ms I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 14 No Error LED State Description 1 Off No error The Device is in working condition 2 Single Flash Warning limit At least one of the error counters reached of the CAN controller has reached or exceeded the warning level too many error frames 3 Double Flash Error Control A guard event NMT Slave or Event NMT master or a heartbeat event Heartbeat consumer has occurred 4 Triple Flash SYNC Error The SYNC message has not been received within the configured communication cycle period time out see Object Dictionary Entry 0x1006 5 On Bus Off The CAN controller is bus off Note If several errors are present at the same duration the error with the highest number is indicated For example if NMT Error No 3 and Sync Error No 4 occur the SYNC error is indicated I 7231D CANopen DCON Gateway user manual ver 1 03 May
81. OxE000 2 s Complement HEX X 32767 8192 Input Range Celsius 100 00 C 200 00 C of FSR 050 00 100 00 M Type 2 s Complement HEX ne nn P 16384 32768 Input Range Celsius 900 00C 200 00 C L Type of FSR 100 00 022 22 DIN43710 Ox7FFF OxE38F 2 s Complement HEX 32767 7281 Note Type L and M are only for I 7011P D 1 7018P and 1 87018 And the type L2 DIN43710 is special for 1 87017 l 7021 nange Data Format Max Value Min Value Code Hex Output Range 20 000mA 00 000mA of Span 100 00 000 00 30 i OxFFF 2 s Complement HEX 4095 0 Output Range 20 000mA 04 000mA 31 of Span 100 00 000 00 OxFFF 0 2 s Complement HEX 4095 0 0 of Span 100 00 000 00 OxFFF 2 s Complement HEX 4095 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 181 2 Output Range 10 000V 00 000V Default l 7022 1 87022 Range Type ge Yp Data Format Max Value Min Value Hex Output Range 20 000mA 00 000mA of Span 100 00 000 00 2 s Complement HEX OG P 4095 Output Range 20 000mA 04 SA of Span 100 00 000 00 OxFFF 2 s zsComplement HEX HEX 4095 Output Range 10 000V me i of Span 100 00 000 00 OxFFF 0 Default 2 s Complement HEX X 4095 0 l 7024 1 87024 nange Data Format Max Value Min Value Code Hex T naman Output Range 20 000mA 0 000mA 2 s zsComploment HEX l
82. SDO server I 7231D scs vg m 051603 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 134 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 61514 13121110 0 1 2 314151 16 7 11 1 010101010101010111 0 8 2F 05 16 00 03 00 00 00 f SDO server l 7231D CCS xq n 13 e S El m 05 16 00 d 03 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 161514 13 2111 0 0 11 213141 1 516 7 11 0111110101010101011 0 8 16005 16 00 00 00 00 00 SDO server I 7231D scs a m 0516 00 Step 43 Transmit the DOO DO15 of I 7043D and AOO of l 7021 to be 0x90AB and OV respectively 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 918 7 615141312 1 0 0 1 1 213141516 7 0101111101010101011101 0 8 AB 90 00 00 00 00 00 00 PDO PDO producer consumer I 7231D COB ID gt 0x202 PDO msg AB 90 00 00 00 00 00 00 The first two bytes are value 0x90AB for the DOO DO15 of the l 7043D The 3rd and 4th bytes are the value 0x0000 for the AOO of the l 7021 Total bytes of this PDO message are 4 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005
83. Step 22 Nothing has happened because the DI values don t change This is the main difference between transmission type 0 and 1 At transmission type 1 the TxPDO is always transmitted no matter whether the DI values are changed or not when the I 7231D receives the SYNC object 1 723 1D CANopen DCON Gateway user manual ver 1 03 May 02 2005 118 Transmission Type 3 for 1st TxPDO Step 23 Set the transmission type of the 1st TxPDO to 3 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191 1817 51 14 312 1 01 1 2131 4 1516 7 11111010 0 01 10 101 0 0 8 2F 00 18 02 03 00 00 00 SDO server I 7231D ccs 1 n 3 e 1 s 1 m 00 18 02 d 03 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191 1817 514131211 11213141 5161 7 1101111 010101010 0 8 16000 18 02 00 00 00 00 SDO server I 7231D SCS 3 m 00 18 02 Step 24 Change the DO value of the l 7043 and l 7012 to be OxCDEF and 0x00 respectively by using the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID Length 10191817 51413 21 0 1 213141 1 516 7 01111010 0 0 01 0 0 0 8 EF CD 00 00 00 00 00 00 PDO PDO producer I 7231D COB ID
84. V 1 422V 32767 32768 By the way any Al value which is bigger then the maximum value of the input range will be set to the maximum value of the input range automatically And the Al value which is small then the minimum value of the input range is also set to the minimum value of the input range automatically I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 172 Analog Output Devices Entries Idx Sidx Description Type Attr Default 6411h Oh largest sub index supported for UNSIGNED 8 RO write analog output 16 bit 1h write analog output 1h UNSIGNED 16 RW 6443 Oh largest sub index supported for UNSIGNED 8 RW error mode analog output 16 bit 1h error mode analog output 1h UNSIGNED 16 RW 0 6444 Oh largest sub index supported for UNSIGNED 8 RW error value analog output 16 bit 1h error value analog output 1h UNSIGNED 16 RW 0 Note 1 Because the I 7231D doesn t support float format user need to transfer the AO value form float format to hex format It is similar with the Al situation The transformation equation is as follows FloatValue F min F max F min HexValue H max H min H min The HexValue is the result after transformation The FloatValue is the value which wants to be transferred The Fmax and Fmin is the maximum and minimum values of the float range The Hmax and Hmin is the
85. ack DI values are the old one If users use the I 7053D the LEDs on the I 7053D can indicate the practical DI values 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 5 4 3 2 0 1 2 3 4 5 6 7 011101 0 10 00 0 3 10 32 01 00 00 00 00 00 PDO PDO consumer proanper l 7231D COB ID 0x181 L 3 PDO msg 10 32 01 00 00 00 00 00 Step 31 Transmit a SYNC message 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 51 41 13 2 01 1 2131 41516 7 010101 01010 0 O 00 00 00 00 00 00 00 00 SYNC SYNC producer I 7231D COB ID 0x80 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 122 Step 32 Send the RTR message of the 1st TxPDO again 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 16 5 14 3 2 0 11 2131415161 7 01011111010101 1010 1 O 00 00 00 00 00 00 00 00 PDO PDO producer consumer I 7231D COB ID 0x181 Step 33 The feedback DI values are the practical DI values 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RT Length 10191817161514 3 2 0 1121314151 161 7 0111011101010100 0 3 CB ED 01 00 00 00 00 00 PDO PDO I 7231D COB ID 0x181 L 3 PDO msg CB ED 01 00 00 00 00 00 I 7
86. ameter of this PDO in the PDO communication objects This parameter determines the COB ID of the PDO communication It has 32 bits and the meaning of each bit is given in the table follow Bit Number Value Meaning 31 MSB 0 PDO exits PDO is valid 1 PDO does not exist PDO is not valid 30 0 RTR allowed on this PDO 1 No RTR allowed on this PDO 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B 28 11 0 If bit 29 0 x If bit 29 1 28 11 bits of 29 bit COB ID 10 0 LSB X 10 0 bits of COB ID Note 1 7231D only supports CAN 2 0A I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 98 In the following table the default PDO COB ID parameters are presented Default COB ID of PDO Number of PDO Bit10 Bit7 f Bit6 BitO Function Code TxPDO1 0011 Node ID TxPDO2 0101 Node ID TxPDO3 0111 Node ID TxPDO4 1001 Node ID RxPDO1 0100 Node ID RxPDO2 0110 Node ID RxPDO3 1000 Node ID RxPDO4 1010 Node ID Note 1 Users can also define the PDO COB ID by themselves Actually all of the COB ID can be defined by users except the reserved COB ID described in the table in section 3 1 When users want to define the COB ID it is important to avoid the conflict with the COB ID used in the same node 2 The PDO COB ID parameters cannot be changed if the PDO is valid bit 31 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005
87. ation Life as ve pi coniirn response Time Slave state I I I I I y Node Guarding Event Life Guarding Event indication indication S Guarding error The NMT master polls each NMT slave at regular time intervals This time interval is called the guard time and may be different for each NMT slave The response of the NMT slave contains the state of that NMT slave which may be in a stopped operational or pre operational state The node life time is given by the guard time life time factor The node life time factor can also be different for each NMT slave If the NMT slave has not been polled during its life time a remote node error is indicated through the Life Guarding Event service In addition the reported NMT slave state which does not match the expected state also produces the Life Guarding Event This event may occurs in the DO and AO channels to output the error mode value recorded in the object with index 0x6207 and index 0x6444 The object with index 0x6026 and 0x6443 can control the error mode value of the DO or AO channels to enable or disable when the Lift Guarding Event has been indicated For more information about objects with index 0x6206 0x6207 0x6443 and 0x6444 please refer to chapter 6 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 46 4 Configurations amp Getting Start 4 1 1 7231D Configuration Flowchart Select the necessary ICPDAS 1 7000
88. can be finished by only using the initial SDO upload protocol That is to say if the data upload is less enough to be transmitted in the initiate SDO upload protocol then the upload SDO segment protocol will not be used The communication method of this protocol is shown as follows SDO Client SDO Server 1 7231D I L bit COB ID bit RTR Len 8 byte Data byte Node ID reversed r i request ro fs a eea indication 11 bit COB ID bit RTR Len 8 byte Data byte confirmation 47 3 medl Sem Initiate SDO Upload Protocol I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 62 CCS SCS xX reserved client command specifier 2 initiate upload request server command specifier 2 initiate upload response Only valid if e 1 and s 1 otherwise 0 If valid it indicates the number of bytes in d that do not contain data Bytes 8 n 7 do not contain segment data transfer type 0 normal transfer 1 expedited transfer If the e 1 it means that the data of the object are equal or less than 4 bytes and only initiate SDO upload protocol is needed If e 0 the upload SDO protocol is necessary size indicator 0 Data set size is not indicated 1 Data set size is indicated multiplexer It represents the index sub index of the data to be transfer by the SDO The first two bytes are the index value and the last byte is the sub index value data e 0
89. ck Start in the task bar Then click Uninstall CAN GW Utility to remove this software Wy MICFOSOrt visual STUDIO D U La W Microsoft Office Worl Microsoft Web Publishing 172310 M PrintMe Internet Printing 17241D gt T DAQPro All Programs 7188e fm iCcAN E KKMANS 3 MSN Messenger 6 2 Step 2 Click the button Yes button to remove the software Confirm File Deletion 2 Are you sure you want to completely remove CAN GW Utility and all of its components Step 3 Afterwards click the button OK button to end the uninstall process Remove Programs From Your Computer unlnstallShield will remove the software CAN Gy Utility from your computer Please wait while each of the following components is removed Y Shared program files Standard program files Folder items Program folders Program directories Program registry entries HERaER oe 52 Method 2 Step 1 Click Start in the task bar then click Setting Control Panel as shown in the following figure my My Network Places UltraEdit CE g 7188xwC2 Set Program Access and Defaults 2 Printers and F a Release Notes CA Printers and Faxes wj Microsoft Office Word 2003 Help and Support gt Search All Programs gt I Run A Log Off Shut Down Step 2 Click the Add Remove button Programs icon to open the dialog E Control Panel F
90. dication 11 bit COB ID bit RTR Len 8 byte p ata bye confirmation et Esters bagen poserte LOT Node ID HA biksi red 0l Node AnS size reserve Initiate SDO Block Download Protocol I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 87 CCS SCS CS SS CC sc size biksize X reserved client command specifier 6 block download server command specifier 5 block download size indicator 0 Data set size is not indicated 1 Data set size is indicated client subcommand 0 initiate download request server subcommand 0 initiate download response client CRC support cc 0 Client does not support generating CRC on data cc 1 Client supports generating CRC on data server CRC support sc 0 Server does not support generating CRC on data sc 1 Server supports generating CRC on data multiplexer It represents the index sub index of the data to be transfer by the SDO download size in byes s 0 Size is reserved for further use always 0 s 1 Size contains the number of bytes to be downloaded Byte 4 contains the LSB and byte 7 is the MSB number of segments per block with 0 lt biksize lt 128 not used always 0 reserved for further use always 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 88 Download SDO Block Segment Protocol SDO Client SDO Server 1 7231D I 1 bit COB ID Se en 8 byte
91. drate Alarm Checksum Tf 9600 Disable 2 2 9600 Disable 3 3 9600 Disable 4 4 9600 Disable Disable 10 Searching Status COM Port COM 1 Address orde Alhex Baud Rate 3600 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 103 Once completing your configurations connect these four DCON modules with COM2 of the 1 7231D and each I O channels for these modules should be wired as follows 1 7043D 1 7053D I 7021 1 7012D Use the CAN Gateway Utility to set the node ID of the I 7231D CAN bus baud rate RS 485 baud rate and RS 485 checksum to 1 125Kbps 9600bps and disable respectively The following figures are extracted from the CAN Gateway Utility windows PDO NO COB ID Hex Transmission Type Inhibit Time Event Timer Mapping 0 Mapping 1 Mapping 2 1 201 255 Reversed Reversed 0x1 7043 00 07 Ox1 7043 08715 Ox4 7012 00701 2 301 255 Reversed Reversed 0x3 7021 0 0x3 7021 0 emne fees 3 401 255 Reversed Reversed pee nen fee nnn om 4 501 255 Reversed Reversed esee ann so rer RxPDO Information PDO NO COB ID Hex Transmission Type Inhibit Time Event Timer Mapping 0 Mapping 1 Mapping 2 1 181 255 00 0x2 7053 00707 0x2 7053 08715 Ox4 7012 00 00 2 281 255 00 Oxd 7012 0 Ox4 7012 0 3 381 255 OD semen er sone 4 481 255 OG semen nn seen TxPDO Information I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 104 Index 0x6000
92. e COB IDs described above the other COB IDs can be applied by users if need All of the default COB IDs used in the CANopen protocol are shown in the following table Bit10 Bit7 KEN Bit6 BitO Communication object Name Function Code 0000 0000000 NMT 0001 0000000 SYNC 0010 0000000 TIME STAMP 0001 Node ID EMERGENCY 0011 0101 0111 1001 Node ID TxPDO1 2 3 4 0100 01 10 1000 1010 Node ID RxPDO1 2 3 4 1011 Node ID SDO for transmission TxSDO 1100 Node ID SDO for reception RxSDO 1110 Node ID NMT Error Control Note For the 1 7231D we provide all communication objects except for the TIME STAMP I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 24 Object Dictionary The object dictionary collects a lot of important information This information has an influence on the device s behavior such as the data in the I O channels the communication parameters and the network states The object dictionary is essentially a group of objects It consists of a lot of object entries and these entries can be accessible via the network in a pre defined method Each object entry within the object dictionary has their own functionality ex communication parameters device profile data type ex 8 bit Integer 8 bit unsigned and access type read only write only All of them are addressed by a 16 bit index and an 8 bit sub index The overall profile of the standard ob
93. e EDS file dynamically Baud Rate setting by Utility 10K 20K 50K 125K 250K 500K 800K and 1M bps CAN ERR and Overrun LED indicators Support max 15 I 7000 I 87K I O series modules Auto scan the input channel situations from the DCON modules Provide friendly Utility to configure Support the watchdog function of I 7000 87K I O series modules 7 segmemt LED to show operation mode Node ID CAN baud and RS 485 baud 1 723 1D CANopen DCON Gateway user manual ver 1 03 May 02 2005 6 1 4 Utility Features Support CANopen node ID baud rate setting and com port parameters setting Support auto scan 7k l 87K modules Show I 7k I 87K modules configuration Show Application and assembly objects configuration Support IO connection path setting Support EDS file creating 1 723 1D CANopen DCON Gateway user manual ver 1 03 May 02 2005 7 2 Hardware Specification 2 1 Hardware Structure CAN Bus Bypass CAN Connector Bus Connector soposssspessss Power LED CANopen Status LED CANopen DCON Gateway E NMT Slave E SDO I server SDO 0 client SDO PDO 32Rx 32Tx Dynamic PDO CANopen version DS 301 v4 01 Device Profile DSP 402 v2 1 15 1 O Modules of I 7K I 87K series 7 segment LED COMI COM2 Reserved for RS 485 Port time being Connect to I O modules RS 232 Port connect to PC 1 723 1D CANopen DCON Gateway user manual ver 1 03 May 02 2005
94. ed from 0x1 to OxF will be taken into account The modules with any other addresses will be regarded as useless The I O channel values of the DCON modules with lower addresses are first placed into the object dictionary After the I 7231D has filled the all I O channels in one module then the I 7231D will go to the next address to continue Each analog channel is stored by using 2 bytes The number of digital channels for one module which can t be divided by 8 with no remainder is stored with 1 byte I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 27 After using the rule described above the result of the object filling is as follows Index 0x6000 0x6200 0x6401 0x6411 sub index for DI for DO for Al for AO 0x00 9 1 9 4 0x01 DIO DO0 DO1 AIO AOO MA 0x01 MA 0x01 MA 0x01 MA 0x06 0x02 DIO DI7 Alo AO1 MA 0x02 MA 0x08 MA 0x06 0x03 DI8 DI15 Al1 AO2 MA 0x02 MA 0x08 MA 0x06 0x04 DIO DI7 Al2 AO3 MA 0x03 MA 0x08 MA 0x06 0x05 DI8 DI15 Al3 MA 0x03 MA 0x08 0x06 DIO DI7 Al4 MA 0x0A MA 0x08 0x07 DI8 DI15 Al5 MA 0x0A MA 0x08 0x08 DIO DI7 AI6 MA 0x0B MA 0x08 0x09 DI8 DI13 Al7 MA 0x0B MA 0x08 Note MA refers to the RS 485 module address The information described above can also be viewed by using the CAN Gateway Utility For more details about the object dictionary and how to use the CAN Gateway Utilit
95. eived PDO object For example if a CANopen device has 16 DI 8 DO 2 Al and 1 AO channels The input or output values of these channels will be stored into several specific entries for I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 39 each other If the user defined PDO mapping objects have been used then general concept for these PDO mapping objects which have been depicted may be very useful DI Standardized Device Dictionary Object 0x6000 Subindex1 DI Channel 0 7 Subindex2 DI Channel 8 15 DO Standardized Device Dictionary Object 0x6200 Subindex1 DO Channel 0 7 Al Standardized Device Dictionary Object 0x6401 AO Standardized Device Dictionary Object 0x6411 Subindex1 AO Channel 0 AO Channel 0 RxPDO Mapping Object TxPDO Mapping Object According to the PDO mapping objects in the figure above if this CANopen device gets the RxPDO message including three bytes the first byte is interpreted as the output value of the DO channels 0 7 and the following two bytes are the analog output value After interpreting the data of the RxPDO message the device will actuate the DO and AO channels with the received RxPDO message This situation is the same for TxPDO When the TxPDO trigger events occur the CANopen device will send the TxPDO message to the PDO consumers The values of the bytes assigned in the TxPDO message follow the TxPDO mapping object as in the above figure
96. ement HEX MER p 32767 Pr Output Range 20 000mA 04 De zsComplement HEX Complement HEX Veng e j 32767 Li Output Range 10 000V m 32 Ox7FFF i 2 s Complement HEX 32767 Output ESO 10 000V _ Default Ox7FFF 0x8000 2 s zsComploment HEX HEX X 32767 32768 Eire Output Range 05 000V 00 000V 2s Complement HEX lement HEX OX TFEF eme 32767 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 182 ES Output Range 05 000V 05 000V 35 0x7 FFF 0x8000 2 s Complement HEX 32767 32768 l 87026 Range Type z Data Format Max Value Min Value Hex Output Range 20 000mA 00 000mA of FSR 100 00 100 00 OxFFFF 0 2 s Complement HEX 65535 0 Output Range 20 000mA 04 000mA of FSR 100 00 100 00 OxFFFF 2 s Complement HEX 65535 Output Range 10 000V TEN 2 of FSR 100 00 100 00 OxFFFF 0 Default 2 s Complement HEX 65535 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 183
97. es Entries Idx Sidx Description Type Attr Default 6000h Oh largest sub index supported for UNSIGNED 8 RO 8 read digital input 8 bit 1h read digital input 1h to 8h UNSIGNED 8 RO I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 170 Digital Output Devices Entries Idx Sidx Description Type Attr Default 6200h Oh largest sub index supported for UNSIGNED 8 RO write digital output 8 bit 1h write digital output 1h to 8h UNSIGNED 8 RW 6206 Oh largest sub index supported for UNSIGNED 8 RW error mode digital output 8 bit 1h error mode digital output 1h to UNSIGNED 8 RW 0 8h 6207 Oh largest sub index supported for UNSIGNED 8 RW error value digital output 8 bit 1h error value digital output 1h to UNSIGNED 8 RW 0 8h Note 1 When the bus off is detected or the node guarding fails the 7231D will check the value of the object with index 0x6206 If the bit of this value sets to 1 the 1 7231D will output the error mode digital output value to the corresponding DO channel For example if the sub index 01 in the object with index 0x6206 and 0x6207 are 0x31 and OxF8 respectively When the error events occurs only the DO5 DO4 DOO will be changed to error mode output value because the bit 5 bit 4 and bit 1 of the value 0x31 is 1 And the DO5 DO4 and DOO will be change to 1 1 and
98. es is also mapped to its corresponding DCON module and is similar to the situation mentioned above I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 157 6 Object Dictionary of I 7231D 6 1 Communication Profile Area The following information lists each entry into the communication profile area defined in 1 7231D In order to look these up conveniently all communication entries are divided into several tables They are General Communication Entries RxPDO Communication Entries RxPDO Mapping Communication Entries TxPDO Communication Entries and TxPDO Mapping Communication Entries In the table header you can see Idx Sidx and Attr which represent index sub index and attribute respectively The sign in the default field means that the default is not defined or may be defined conditionally by the firmware built in 1 7231D In the table the number accompanying letter h indicates that this value is in the hex format General Communication Entries Idx Sidx Description Type Attr Default 1000h Oh device type UNSIGNED 32 RO 1001h Oh error register UNSIGNED 8 RO 1003h Oh largest sub index supported for UNSIGNED 8 RO FEh predefine error field 1h actual error the newest one UNSIGNED 32 RO 5h actual error the oldest one UNSIGNED 32 RO 1005h Oh COB ID of Sync message UNSIGNED 3
99. fter writing the sub index of this object to 1 via the SDO communication method set the DCON modules watchdogs to enable and the I 7231D will periodically send the RS 485 command to inform all DCON modules that the communication between the I 7231D and the DCON module is ok If the watchdog timer has escaped please refer to the following section without receiving the RS 485 command from the I 7231D the DCON module will send out a safe value to ensure the safety of the machines and employees The DCON module s safe value can be set by using the DCON Utility For more details related to the watchdog safe value and watchdog timer for the DCON modules please refer to the DCON module s manual 1 7000 or 87K series modules packaged in the DCON modules in the box Alternatively users can download it on the following web site http www icpdas com download index htm I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 156 I O Modules Watchdog Timer Value Entry Object 0x2002 is used for storing the watchdog timer value of DCON modules Similarly each sub index is also mapped to the different DCON module as mentioned previously When the sub index of the object with index 0x2001 is set to 1 it enables the corresponding watchdog based on the watchdog timer value stored in the sub index of the object with index 0x2002 Therefore before enabling the watchdog timer by accessing the object 0x2001 it
100. gth 101918 7 51413 2111 0 0 11 21314151 161 7 0 0 0 1 0 010 0 0 0 0 O 00 00 00 00 00 00 00 00 SYNC SYNC a consumer producer I 7231D COB ID 0x80 The message of the SYNC object is always fixed as the format described above The COB ID of the SYNC object can be changed arbitrarily It follows the producer consumer relationship Step 15 After transmitting the SYNC object the 1st RxPDO is triggered and the DI value is changed Hence users can receive the 1st TxPDO from 7231D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 514 3 21 11 0 0 1 21 3141 516 7 010 1 1 0 0 0 0 01 1 0 3 187 A91 01 00 00 00 00 00 PDO PDO I 7231D COB ID 0x181 L 3 PDO msg 87 A9 01 00 00 00 00 00 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 114 Step 16 Set the transmission type of the 1st RxPDO to 255 to finish the test 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019181716151413121110 0 1 2 31 41516 7 111101010101010101011 0 8 12F 001 14 02 FF 00 00 00 SDO server I 7231D CCS 1 n 3 e 1 S 1 m 00 14 02 d FF 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node
101. he COB ID which has the value 0 on its bit 31 can be changed if users want to configure the COB ID of a valid PDO communication bit 31 is 1 set this PDO to an invalid state bit 31 is 0 The Therefore COB ID can be configured directly because the 5th TxPDO is invalid 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 716151413 2 1 2 3 4 5 6 7 11110101010101010 0 8 23 05 18 01 82 01 00 00 SDO server I 7231D CCS 1 n 0 e 1 sS 1 m 05 18 01 d 82 01 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 1817161514 13 2 1 21 31 41516 7 11 01111101010101 0 0 8 60 05 18 01 00 00 00 00 SDO client SDO server I 7231D scs 3 m 05 18 01 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 126 Step 39 Build a new PDO mapping object for the 5th TxPDO Before starting to fill in the device objects into the index 0x1A05 check the value of the index 0x1A05 with sub index 00 If the value is not equal to 0 any modification will be rejected In this case it is necessary to write the value to 0 Its value is 0 and can be configured directly because the 0x1A05 has not been used before First fill the DIO DI7 of the l 7053 into the index 0x1A05 with sub index 01 11 bit COB ID bit
102. he I O modules read write error control entry Each sub index of this object is mapped to the corresponding DCON module beside sub index 00 For example there are 4 DCON modules connected with the I 7231D and the module address for each DCON module is 2 5 7 and 9 respectively Sub index 1 is mapped to the DCON module with address 2 Sub index 2 is mapped to the DCON module with address 5 Sub index 3 and sub index 4 are mapped to the DCON module with address 7 and 9 respectively and so the sub index will be 4 This means that there are 4 DCON modules connected with the 1 7231D If accessing the I O channels on the DCON modules fails the value of the corresponding sub index will count the number of times this error occurs according to ether a read write timeout or read write failure The counting range is from 0 to 65535 and the counting value may be returned to 0 after 65536 It can be cleared to 0 via the SDO communication method I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 155 I O Modules Watchdog Timer Enable Control Entries All DCON modules have their own host watchdog Object 0x2001 is used for storing the watchdog Enable situation of the DCON modules and the sub indexes of this object are also mapped to the corresponding DCON modules The mapping method is the same with the I O modules read write error control entry Value 1 or 0 of the sub index indicates that the watchdog has been enabled or disabled A
103. ication methods For example the PDO message can only transmit or receive in the operational state In the following table the relationship among each NMT state and communication objects is given Installing Pre operational Operational Stopped PDO O SDO O O SYNC Object O O Time Stamp Object O O EMCY Object O O Boot Up Object O NMT O O O 3 5 2 Error Control Protocols There are two kinds of protocols defined in the error control protocol According to the CANopen spec one device is not allowed to use both error control mechanisms Guarding Protocol and Heartbeat Protocol at the same time The l 7231D provides the salve function of the Node Guarding Protocol Therefore users can only use this protocol for the l 7231D in practical application And only node guarding protocols will be introduced here The node guarding protocol of the error protocol is described below I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 45 Node Guarding Protocol The Node Guarding Protocol follows the Master Slave relationship It provides a way to help uses monitor the node in the CAN bus The communication method of node guarding protocol is defined as follows NMT Master NMT Slave Remote transmit request request indication confirm response Slave state A Guard I l Time Node v request Remote transmit request indic
104. ile Edit View Favorites Tools Help ay Q Back JD 3 po Search Er Folders E Address gt Control Panel s Vg Control Panel x 4 Taj Accessibility Add Hardwar Add or Administrative Adobe Gamma Automatic B Switch to Category View Options Remove Tools Updates Programs des were o B CSNW Date and Time Display Folder Options Fonts Game Windows Update Controllers Help and Support D a e 6 _ Internet IXXAT Keyboard Mouse Network Network Setup Options Interfaces Connections Wizard ob amp amp eB PC cillin Phone and Power Options Printers and Regional and Scanners and etting Modem axe anguage amera I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 53 Step 3 Find out the CAN GW Utility and click the Change Remove button amp Add or Remove Programs Currently installed programs C show updates Sort by Name vi Change or Remove ME GN Adobe Photoshop 7 0 Size 136 00MB amp amp Alcohol 120 Swe 2 CAN GW Utility Add New Programs Used B Adobe Acrobat 6 0 Professional Size 356 00MB Size Last Used On 1n 78 2004 To change this program or remove it from your computer click Change Remove Change Remove Add Remove Windows fice CANopen Node Manager V2 1 1 alias E DCON Utility GS 3 DCON ActiveX Size 15 45MB Set Program dk ocon pi Size 43 15MB Access and DFX for Winamp Size 3 83MB ro Dr eye 6 0 Professional Size 578 00MB oJ
105. ill upload from the l 7231D The byte 09 is the lowest byte in the data length with long format Therefore the data 09 00 00 00 means that users will upload 7 bytes data from l 7231D I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 68 Step 3 Request the I 7231D to start the data transmission 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312 111 0 0 1 2131 415161 7 11110101010101010 0 1 0 8 60 00 00 00 00 00 00 00 SDO server I 7231D ccs gt 9 t 0 Step 4 The I 7231D will respond to the first 8 bytes in the index 0x1008 and sub index 00 object entries 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 16 1514 3 12 111 0 0 1 21 31 41516 7 11011111010101010101 11 0 8 100 43 50 53 5F 44 43 4F SDO server Il 7231D scs 0 t 0 n 0 c 0 seg data 43 50 53 5F 44 43 4F Users can check chapter 6 to see that the object entry with index 0x1008 and sub index 00 has the data type VISIBLE_STRING Therefore users need to transfer these data values to the corresponding ASCII character After transformation they are CPS_DCO I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 69 Step 5 Request the
106. ject dictionary is shown below Index hex Object 0000 Reserved 0001 001F Static Data Types 0020 003F Complex Data Types 0040 005F Manufacturer Specific Data Types 0060 007F Device Profile Specific Static Data Types 0080 009F Device Profile Specific Complex Data Types OOAO OFFF Reserved for further use 1000 1FFF Communication Profile Area 2000 5FFF Manufacturer Specific Profile Area 6000 9FFF Standardized Device Profile Area A000 BFFF Standardized Interface Profile Area C000 FFFF Reserved for further use Take the standardized device profile area for an example Assume that a CANopen device has 16 DI 8 DO 2Al and 1AO channels The values of these channels will be stored into several entries in the standardized device dictionary such as the entries with indexes 0x6000 0x6200 0x6401 and 0x6411 When the CANopen device obtains the input value these values are stored in the 0x6000 and 0x6401indexes Furthermore the values stored in the 0x6200 and 0x6411 indexes also output to the DO and AO channels The basic concept is depicted as follows I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 25 DI Standardized Device Practical DI Dictionary Object 0x6000 Channel 0 15 Subindex1 DI Channel 0 7 Subindex2 DI Channel 8 15 DO Standardized Device Practical DO Dictionary Object 0x6200 Channel 0 7 Subindex1 DO Channel 0 7
107. l 7231D SCS 5 SC 0 Ss 0 SS 0 m 00 14 02 biksize 7F I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 92 Step 3 The SDO client starts to transmit the data of the object entry index 0x1400 and sub index 02 by using the Download SDO Block Segment protocol Seeing as the data length of the value is less than the maximum data length of one block the SDO Block Segment Download protocol is only implemented once 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9 18171615141 13 121110 0 1 2 31 41 151 6 7 111101010101010101011 0 8 18105 00 00 00 00 00 00 SDO server I 7231D c so seqno at seg data 05 00 00 00 00 00 00 00 Because this segment is the last one not all of the data in the seg data filed is useful The valid data length will be indicated when the users send a message to finish the Block Download protocol Please refer to the value of n in the step 5 Step 4 The I 7231D responds to the message to confirm if the transmission is successful or not If not this block needs to be transmitted again After finishing the data transmission the Download SDO Block Segment protocol is terminated 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7161514 3 2 0 1 2 3 4 5 6 7 110 1
108. l channel status the TxPDO is transmitted automatically when the transmission type is 255 It is based on the CANopen spec 401 Hence users will receive the 1st TxXPDO message 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID Length 10 918 7 514 3121110 0 1 11213141516 7 0 0 1 1 0 0 010 101 11 0 3 CB ED 01 00 00 00 00 00 PD PDO 2 consumer I 7231D COB ID 0x181 L 3 PDO msg CB ED 01 00 00 00 00 00 Because the data length is 3 only the first two bytes are valid The DI value is 1 if the DI is OFF because of the character of the l 7043D and 1 7012D DI channels Therefore the first byte indicates that the DI2 Dl4 and DI5 of the I 7053D are ON The second byte shows that the DI9 and DI12 of the I 7053D are ON The last byte means the DIO of the I 7012D is OFF I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 107 Step 3 In order to output 5V to the AOO of the l 7021 users must send the PDO message by using the 2nd RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 817 514 3 121110 11213141 516 7 01111410 01 010 0 1011 0 8 FF 07 00 00 00 00 00 00 PDO PDO p I 7231D COB ID 0x301 L 8 PDO msg FF 07 00 00 00 00 00 00 Only the first two bytes are useful because the data in the 2nd
109. lue is changed For the RxPDO both of these two types mean that receiving the RxPDO will directly trigger an update of the mapped data I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 100 5 2 3 PDO Communication Rule The PDO related objects are indicated from index 0x1400 to 0x1BFF For the 1 7231D RxPDO communication objects are from index 0x1400 to index 0x141F and RxPDO mapping objects are from index 0x1600 to index 0x161F The ranges of the TxPDO communication objects and the mapping objects are from index 0x1800 to index 0x181F and from index 0x1A00 to index Ox1A1F respectively Moreover each PDO communication object has its own PDO mapping object For example the first RxPDO communication object is stored in the entry with index 0x1400 and the corresponding mapping object is stored in an entry with index 0x1600 The object with index 0x1401 and the object with index 0x1601 are the couple and so on The TxPDO also follows the same rules The first TxPDO communication object is stored in the entry with 0x1800 and the corresponding mapping object is in the 0x1A00 entry and so on Therefore before users access the practical I O channels via PDO communication each parameter for the PDO communications and mapping objects must be handled Besides PDO communications can be only applied in the NMT operational state Users can use the NMT module control protocol to change the NMT state of the I 7231D It is de
110. ly run under the NMT Operational state 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9181716151413 21110 0 11 2131 41516 7 0101010101010101010101 0 8 101 01 00 00 00 00 00 00 NMT slave I 7231D cs gd Node ID 1 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 105 amp Access Digital I O amp Analog I O Step 1 In order to change the DO value for the l 7043 and l 7012 to be 0x1234 and 0x00 respectively users must send the PDO message by using the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 91817 61514131 121110 0 11 2131 415161 7 0111010101010101010 111 0 8 34 12 00 00 00 00 00 00 PDO PDO m consumer producer I 7231D COB ID 0x201 L 8 PDO msg 341200 00 00 00 00 00 Only the first three bytes are useful even the L is set to 8 because the data in the1st RxPDO contains only three bytes According to the PDO mapping table shown above the first byte is the DOO DO7 channel values of the l 7043D The second byte is the DO8 DO15 channel values of the l 7043D And the last byte is the DOO DO1 channel values of the I 7012D I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 106 Step 2 Owing to the change of the D
111. ndex 0x1A05 with sub index 00 must be changed to 3 The value 3 means there are 3 objects mapped to the 5th TxPDO They are the index 0x6000 with sub index 01 index 0x6000 with sub index 02 and index 0x6401 with sub index 01 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141312111 0 0 1 11 21 31 41516 7 11 1 010101010101010 11 0 8 12F1051 1A 00 03 00 00 00 SDO server I 7231D ccs 1 n 3 e 1 S 1 m 05 1A 00 d 03 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 31 12111 0 0 1 21 3141516 7 11 011111 01 0101010101 1 0 8 60 05 1A 00 00 00 00 00 SDO server I 7231D SCS gt 59 m 051A00 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 130 Step 42 Use the 5th RxPDO to create a new PDO communication with PDO COB ID 0x202 and build the RxPDO mapping object in the index 0x1605 because the COB ID 0x202 is useless for the I 7231D This procedure is similar to the steps 37 to 40 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9181716151413 21110 0 1 2131 4151 6 7 1
112. nhibit time UNSIGNED 16 RW 0 4 reversed 5 event timer UNSIGNED 16 RW 0 1802h 0 largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 380h Node ID 2 transmission type UNSIGNED 8 RW FFh 3 inhibit time UNSIGNED 16 RW 0 4 reversed 5 event timer UNSIGNED 16 RW 0 1803h 0 largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 480h Node ID 2 transmission type UNSIGNED 8 RW FFh 3 inhibit time UNSIGNED 16 RW 0 4 reversed 5 event timer UNSIGNED 16 RW 0 1804h 0 largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 80000000h 2 transmission type UNSIGNED 8 RW FFh 3 inhibit time UNSIGNED 16 RW 0 4 reversed I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 164 5 event timer UNSIGNED 16 RW 0 181Fh 0 largest sub index supported for UNSIGNED 8 RO 5 receive PDO parameter 1 COB ID used by PDO Tx UNSIGNED 32 RW 80000000h 2 transmission type UNSIGNED 8 RW FFh 3 inhibit time UNSIGNED 16 RW 0 4 reversed 5 event timer UNSIGNED 16 RW 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 165 TxPDO Mapping Communication Entries
113. nnnnnnnnnnnnnnnnnnnnnnnnnnnnen 62 5 1 SDO Communication Set rvvvvvvvvvvvvvvvvvvnvvvnvvvvnvvvnvnnvnnvnnnnvnnnnnnner 62 5 1 1 Upload SDO Protocol u mummsssuassnsavunannnannsnnnnenedananasdne 62 5 1 2 SDO BIOCK Upload uuamsmsennmanmsdunmnenmnunsnmne 71 5 1 3 Download uussaregsnmnesmnmnamun etan 82 5 14 SDO Block Download ernnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnvennnnnnnnn 87 5 1 5 Abort SDO Transfer Protocol ccccceeeeeeeeeeeeeeeeeeeeeees 95 5 2 PDO Communication Set uavdammusnmmimndm neesiiesmmveevie 98 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 2 5 2 1 PDO COB ID Parameters annnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnenn 98 5 2 2 Transmission NPeLuuanssasssamesmsmnnamnmennn 100 5 2 3 PDO Communication Rule sssnnnnnnnnnnennnnnnnnnnnnnnnnveeer 101 5 3 EMCY Communication Set n nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenenr 137 5 3 1 EMCY COB ID Parameter urrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnneer 137 5 3 2 EMCY Communication nnnonnnnnnnnnnnnnnnnnennnnnnnnnnnnnvenneven 138 5 4 NMT Communication Set ssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnener 147 5 4 1 Module Control Protocol sssnnnnnnnnnnnnnnnnnnnnnnnnnnvennnnnnnnn 147 5 4 2 Error Control Protocol nnrnnnnnnnnnnnnnnnnnnnvnnnnnnnnnnnnnnnnnvener 151 5 5 Special Functions for DCON modules rrrnnnnnnnnvvvnnnnnnnnnnnnnnnnnen 155 6 Object Dictionary of I 7231D rrrnnnnn
114. nnnnnvvvnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnen 158 6 1 Communication Profile Area xxxxnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnr 158 6 2 Manufacturer Specific Profile Area rrrrnnnnnnnnnnvvvnnnnnnnnnnnnnnnnnen 168 6 3 Standardized Device Profile Area ccccccceeeeeeeeeeeeeeeeeeeeeeeees 170 Appendix A Dimensions and Mounting rrrnnnnnnnnvvvvvnnnnnnnnnnnnnnnvvnnnnnnnnnnnnn 174 Appendix B Analog I O Transformation Table rrnnnnnnnnnnnnnvvvvnnnnnnnnnnnn 176 1 723 1D CANopen DCON Gateway user manual ver 1 03 May 02 2005 3 1 Introduction 1 1 Overview DCON protocol is the default protocol of ICPDAS s l 7000 and l 87K modules The 1 7231D is a CANopen slave to DCON master gateway Using 7231D gateway the DCON I O modules can be connected with the CAN bus In CANopen protocol application the 1 7231D plays the role in a CANopen slave device Hence it can produce or consume the PDO messages receive the SDO message from the SDO client and deal with the NMT messages from NMT master In the DCON protocol application it is a DCON master device The 1 7231D will collect all I O information of the l 7000 and 1 87K series modules through the RS 485 port of I 7231D As long as the I 7231D receiving the command form CAN bus it will do the corresponding actions to DCON I O channels In addition we also provide the utility tool for users to configure the communication parameters and build EDS file for
115. ocol normal SDO Client SDO Server 1 7231D Download Segment 0 bit c 0 seqno 0 End Block Download Protocol Download Segment bit c 0 seqno 1 SDO Block Download Download Segment n bit c 1 seqno n Confirm block Download Block Protocol last I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 91 Step 1 In order to inform the I 7231D that the value of the object entry with index 0x1400 and sub index 02 will be modified by using the SDO Block Download method the Initiate SDO Block Download protocol is implemented 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615141312111 0 0 11 213141516 7 111101010101010101011 0 8 CO 00 14 02 00 00 00 00 g SDO server I 7231D ccs 6 cc 0 S 0 cs 0 m 00 14 02 size 00 00 00 00 Because the value of s is 0 the size is not used Step 2 The I 7231D responds to the message by using the Initiate SDO Block Download protocol Afterwards the SDO client can start to download the object s data with index 0x1400 and sub index 02 to I 7231D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 7 514 13 121110 0 1 213141516 7 1 0 1 1 0 01010 101 11 0 8 AO 00 14 02 7F 00 00 00 SDO server SDO client lt
116. ode ID indication gt indication Enter Pre Operational Protocol 3 cs NMT command specifier 128 enter PRE OPERATIONAL Node ID the node ID of the NMT slave device I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 148 Reset Node Protocol NMT Master NMT Slave 11 bit COB ID bit 8 byte Data byte iat oneal a eau a 0 j8 Reset Node Protocol cs NMT command specifier 129 Reset_Node Node ID the node ID of the NMT slave device Reset Communication Protocol Indication l 7231 indication indication NMT Master NMT Slave 11 bit COB ID bit 8 byte Data byte er rart 0 j8 Reset Communication Protocol cs NMT command specifier 130 Reset_Communication Node ID the node ID of the NMT slave device I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 Indication l 7231 indication indication sl 149 Module Control Protocol Example Assume that the 7231D node ID is 5 Step1 Turn off the I 7231D Step2 Turn on the I 7231D After finishing the initialization the 1 7231D will enter the Pre Operational state automatically The user will then see the CAN LED flashing about twice per second Step3 Send the NMT module control protocol to command the I 7231D to enter its operational state 11 bit COB ID bit Data 8 byte Data
117. ode ID CAN bus baud rate RS 485 baud rate RS 485 checksum and RS 485 timeout value Scan the l 7000 or I 87K modules hanging on the COM2 of the 7231D Then create the EDS file to match the scanning result of scanning Show the important information which is useful in the CANopen network and the RS 485 network Such as the PDO communication objects I 7000 I 87K modules information and the standardized device objects and manufacturer specific objects defined in the 7231D Before users start to use the I 7231D they must configure the 7000 1 87K IO modules by using the DCON Utility During the configuration users need to give a unique ID 0x01 0x0F for each I 7000 87K module in the RS 485 network Also if Al AO modules are used users need to choose the correct type of code for the proper input output range of these Al and AO modules The DCON Utility can be downloaded free from the following web site http www icpdas com download 7000 7000 htm For more information about how to configure the 1 7000 87K modules please refer to the on line help of the DCON Utility or the user manual for the 7000 87K modules I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 48 4 3 CAN gateway Utility Installation Install CAN Gateway Utility Step 1 Download the CAN Gateway Utility setup file from the web site http www icpdas com download index htm or CD ROM disk following the path of Napdos iI
118. of the SYNC message For PDOs of the acyclic synchronous or asynchronous transmission type the triggering of a PDO transmission is device specified in the CANopen spec DSP 401 v2 1 By following this spec the PDO will be triggered by any change in the Dl channel states when the transmission type of this PDO is set to acyclic synchronous or asynchronous Timer Driven PDO transmissions are also triggered by the occurrence of a specific event for the device or if a specified time has elapsed without the occurrence of an event For example the PDO transmission of the I 7231D can be triggered by the event timer of the PDO communication parameters which is set by the user Remote Request If the PDO transmission type is set to asynchronous or RTR only the PDO transmission can only be triggered after receiving a remote transmit request from any other PDO consumer PDO Transmission Types Generally speaking there are two kinds of PDO transmission modes synchronous and asynchronous For the PDO in a synchronous mode it must be triggered by the reception of a SYNC message The synchronous mode can then be distinguished with more detail into three kinds of transmission These are the acyclic synchronous cyclic synchronous and RTR only synchronous The acyclic synchronous can be triggered by both the reception of a SYNC message and the occurrence of an event defined by an event driver mentioned above For the TxPDO object after receiving a SY
119. ormation from the device object dictionary and from the SDO server the segment upload protocol or block upload protocol will be applied The former protocol is used for transmitting fewer data the latter protocol is used for transmitting larger data Both the segment download protocol and block download protocol will be implemented when the SDO client wants to modify the object dictionary to the SDO server The differences between the segment download protocol and the block download protocol are similar to the differences between the segment upload protocol and the block upload protocol Because of the different access types in the object dictionary not all accessing action of the object dictionary via the I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 29 SDO transmission is allowed If the SDO client trends to modify the entries of the object dictionary of the SDO server using the read only access type then the abort SDO transfer protocol will be given and the SDO transmission will also stop The 1 7231D only supports the SDO server Therefore it can only be passive and wait for the client requirements The general concept of the upload and download protocol with the I 7231D indicated in the following figure SDO Client SDO Server 1 7231D Request the data of the object dictionary Response the data of the object dictionary or the abort SDO message Upload protocol SDO Client SDO Server 1 7231D Wri
120. pen Status LED isso seis piiaciisiassdiupisaahintinwsieaaleutbicdineadiusinans 12 2 4 1 RUN LED esas ccccicua ovis cucacvaicxicaviscvaccvascvacavisevaccvitavdcavardiscade 13 2 42 ERR LED Gorges 14 243 Qverrun LED vvusssosssekrsasesedseeenund 16 2 5 7 segment LED Luanda 17 2 6 Module Support un emsemnueneisesenneevvduaraindeadaenvdvakvakenekkbnkde 19 GANOPEN System a r a a aaa aS a AE S a ESE EEEE SN a 21 3 1 CANopen Introduction rrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen 21 3 2 SDO Introduction o seicciccccsetasennscavevsctetesnsnawansnansctueesnsuausnsvarsaeneesess 29 3 3 PDO IMUPOGUCUOM sacsicstcieccccteascacstiaecic ceases sivas ciastcas dua sivdecvexteascvesase 31 34 EMC Y niroductonnuukessuuvesarnusenmsusuasanoausadek 42 35 NMT Nro dU O a aar a ence ene 43 3 5 1 Module Control ProtoColS snnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 44 3 5 2 Error Control Protocols nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnvener 45 Configurations amp Getting Start rrrnnnnnnnnnvvvnnnnnnnnnnnnnnnnnvennnnnnnnnnnnnnnnnen 47 4 1 1 7231D Configuration Flowchart rrnnnnnnnnnnnnnnnvvnnnnnnnnnnnnnnnnner 47 4 2 CAN Gateway Utility Overview nnnnnvnnnnnnnnnnnnnnnnnvvnnnnnnnnnnnnnnnnnen 48 4 3 CAN gateway Utility Installation eernnnnnnnnnnnnnnvvvnnnnnnnnnnnnnnnnen 49 4 4 Configuration with the CAN Gateway Utility ennnnnnnnnnnnnnnnne 56 CANopen Communication Set rrrnnnnnnnnnnnvvvnnnnnnnn
121. quests In this case the 8 byte data is useless The data length field is 4 bit data It indicates that the valid data number stored in the 8 byte data field The last field 8 byte data is applied to stores the message data CANopen spec uses the 4 bit function code and 7 bit node ID to combine the 11 bit ID of CAN message and call it communication object ID COB ID The COB ID structure is displayed below bit 10 bit 0 Function Code Node ID I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 22 The COB IDs are defined for recognizing where the message comes from or where the message must be sent to Also they are used to distinguish the functionality of the transmitted or received messages and decide the priority of the message transmission for each node on the network According to the arbitration mechanism of the CAN bus the CAN message with the lower value COB ID has the higher priority to be transmitted into the CAN bus In the CANopen spec some COB IDs are reversed for specific communication objects and can t be defined arbitrarily by users The following lists are these reversed COB IDs Reversed COB ID Hex Used by object 0 NMT 1 Reserved 101 180 reversed 581 5FF Default Transmit SDO 601 67F Default Receive SDO 6E0 reversed 701 77F NMT Error Control 780 7FF reversed I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 23 Beside th
122. rol protocol the nodes can be controlled into several kinds of status such as installing pre operational operational and stopped The NMT slave in different statuses has different privileges to implement the communication protocol The error control protocol gives the user the way to detect the remote error in the network It can confirm if the node still lives or not I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 43 3 5 1 Module Control Protocols Before introducing the modules control protocols lets look at the architecture of the NMT state mechanism The following figure displays the relationships among each NMT state and the mechanism for changing the NMT state of a NMT slave Power on or Hardware reset 1 SN State Mechanism Diagram At Power on the initialization state is entered autonomously Initialization finished enter Pre Operational automatically 3 6 Start Remote Node indication 7 Enter Pre Optional State indication 8 Stop Remote Node indication Reset Node or Reset Communication indication I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 44 Devices enter the Pre Operational state directly after finishing the device initialization Then the nodes can be switched into different states by receiving an indication Each different NMT state allows for specific commun
123. s on the type of the data referenced by index and sub index e 1 s 0 d contains unspecified number of bytes to be downloaded not used always 0 reserved for further use always 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 83 Download Segment Protocol SDO Client SDO Server request confirmation CCS SCS seg data xX reserved I 7231D I L bit COB ID bit RTR Len 8 Data a ender 1100 Node ID JE OE seg data oft Je a indication 11 bit COB ID bit RTR Len SEE mest ERT _ ses Download SDO Segment Protocol response client command specifier 0 download segment request server command specifier 1 download segment response It is at most 7 bytes of segment data to be downloaded The encoding depends on the type of the data referenced by index and sub index It indicates the number of bytes in segment data that do not contain segment data Bytes 8 n 7 do not contain segment data n 0 if no segment size is indicated It indicates whether there are still more segments to be downloaded 0 more segments to be downloaded 1 no more segments to be downloaded toggle bit This bit must alternate for each subsequent segment that is downloaded The first segment will have the toggle bit set to 0 The toggle bit will be equal for the request and the response message not used always 0 reserved for further use always 0 I
124. scribed in section 5 3 Incidentally during communication via the PDO messages the data length of the PDO message must match with the PDO mapping object If the data length L of the PDO message exceeds the total bytes n of the PDO mapping object entries only the first n bytes of the PDO message are used by the PDO consumer If L is less than n the PDO message will not be processed by the PDO consumer and an Emergency message with error code 8210h will be transmitted to the PDO producer The PDO communication set is shown as follows I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 101 PDO Producer PDO Consumers 11 bit COB ID bit RTR Len 8 byte Data byte Em Write PDO Protocol Indication PDO msg indication indication COB ID the default PDO COB ID or the PDO COB ID defined by user L the data length about how many bytes the PDO message has PDO msg the real time data or the data which can be mapped into the PDO mapping objects PDO Consumer PDO Producer Remote Transmit Request rComiDtGnrrrfe smeden ar i l l bit COB ID bit 8 byte Data byte COB ID PDO msg Read PDO Protocol Indication COB ID the default PDO COB ID or the PDO COB ID defined by user L the data length about how many bytes the PDO message has PDO msg the real time data or the data which can be mapped into the PDO mapping objects I 7231D CANopen D
125. ser manual ver 1 03 May 02 2005 21 Communication The communication part provides several communication objects and appropriate functionalities to transmit CANopen messages via the underlying network structure These objects may be PDO Process Data Object SDO Service Data Object NMT Network Management Objects SYNC Synchronous Objects etc Each communication object has its communication model and functionality Take the PDO SDO and NMT for examples the communication objects for accessing the device object dictionary entries is SDO and SDO uses the Client Server structure for its communication model section 3 2 The real time data or I O value can be transmitted or received quickly without any protocol overhead by means of PDO communication objects The PDOs communication model follows the Producer Consumer structure It is also named the Push Pull model section 3 3 NMT communication objects are used for controlling and supervising the state of the nodes in the CANopen network and it follows a Master Slave structure section 3 5 No matter which kind of communication object is used the transmitted message must obey the data frame defined in the CAN 2 0A spec Generally it looks like the following figure ID RTR Pata 8 byte Data Length The ID field has 11 bit data It is useful in the arbitration mechanism The RTR filed has a one bit value If the RTR is set to 1 this message is used for remote transmit re
126. te the data of the object dictionary Response access OK or the abort SDO message Download protocol I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 30 3 3 PDO Introduction Communication Modes For The PDO Based on the transmission data format of the CAN bus the PDO can transmit eight bytes of process data at any one time Because of the PDO messages without overheads it is more efficient than other communication objects within CANopen and is therefore used for real time data transfer such as DI DO Al AO etc PDO reception or transmission is implemented via the producer consumer communication model also called the push pull model When starting to communicate in the PDO push mode it needs one CANopen device to play the role of PDO producer and zero or more than one device to play the role of PDO consumer The PDO producer sends out the PDO message after it has won the CAN bus arbitration Afterwards each PDO consumer receives this PDO message respectively and therefore message checks need to be processed or need to be dropped In the PDO pull mode one of the PDO consumers need to send out a remote transmit request to the PDO producer According to this remote request message the PDO producer responds the corresponding PDO message for each PDO consumer in the CAN bus The PDO communication structure figure is shown below I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 31
127. ted from transmission Event Timer This parameter is only used for TxPDO If the value of the event timer is not equal to 0 and the transmission type is in asynchronous mode the expiration of this time value is considered to be an event This event will cause the transmission of the TxPDO message The event timer parameter is defined as a multiple of 1ms PDO Mapping Objects The PDO mapping objects provide the interface between PDO messages and real I O data in the CANopen device They define the meanings for each byte in the PDO message and may be changed by using a SDO message All of the PDO mapping objects are arranged in the Communication Profile Area In the CANopen spec CiA DS401 RxPDO and TxPDO default mapping I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 38 objects may be specified as follows There shall be up to 4 enabled TxPDO mapping objects and up to 4 RxPDO mapping objects with default mappings 1st RxPDO and TxPDO mappings are used for digital outputs and inputs to each other amp 2nd 3rd and 4th RxPDO and TxPDO mapping objects are assigned to record the value of analog outputs and inputs respectively f a device supports too many digital input or output channels which exceed the 8 channels the related analog default PDO mapping objects shall remain unused and the additional digital I Os may use additional PDO mapping objects This rule shall also be obeyed for the additional
128. tes the download action will finish in the download initialization protocol Or the download segment protocol will be needed These two protocols are shown below SDO Client SDO Server 1 7231D 1100 Node ID ies request ZE indication 11 bit COB ID bit 8 tonet Dis byte confirmation 47 EF response Initiate SDO Download Protocol I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 82 CCS SCS X reserved client command specifier 1 initiate download request server command specifier 3 initiate download response Only valid if e 1 and s 1 otherwise 0 If valid it indicates the number of bytes in d that do not contain data Bytes 8 n 7 do not contain segment data transfer type 0 normal transfer 1 expedited transfer If the e 1 it means that the data of the object are equal or less than 4 bytes and only initiate SDO download protocol is needed If e 0 the download SDO protocol is necessary size indicator 0 data set size is not indicated 1 data set size is indicated multiplexer It represents the index sub index of the data to be transfer by the SDO data e 0 s 0 d Is reserved for further use e 0 s 1 d contains the number of bytes to be downloaded and byte 4 contains the least significant bit and byte 7 contains the most significant bit e 1 s 1 d contains the data of length 4 n to be downloaded the encoding depend
129. th index 0x1008 and sub index 01 the 1 7231D will response the Abort SDO Transfer message We will also use this point as a demo to follow Step 1 Send the Rx SDO message to the I 7231D to obtain the object entry with index 0x1008 and sub index 01 Assume that the node ID for the I 7231D is set to 1 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312 110 0 11 2131 41516 7 1111010101010101010 1 0 8 40 08 10 01 00 00 00 00 SDO server I 7231D CCS gt 2 m 081001 Step 2 The I 7231D will respond to the Abort SDO message as its indication 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID Length 10191817161514131 21 110 0 1 21 3141 1516 7 1 0 1111101001010 10111 0 8 80 08 10 01 11 00 09 06 SDO server I 7231D cs 4 m 081001 d 110009 06 Because low byte needs to transfer firstly the data are O6 09 00 11 after converting Therefore after searching the Abort Code table described above this Abort Code can be interpreted as Sub index does not exist I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 97 5 2 PDO Communication Set 5 2 1 PDO COB ID Parameters Before using the PDO to transmit the real time data it is necessary to check the COB ID par
130. th index 0x1400 with sub index 00 Also users can get the string located in the object with index 0x1008 by using the initiate SDO upload protocol and the upload SDO segment protocol I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 66 Example for expedited transfer Step 1 Send the RxSDO message to the I 7231D to obtain the object entry with index 0x1400 and sub index 00 stored in the communication profile area The message structure is as follows Assume that the node ID of the I 7231D is set to 1 Users can find the information about the object entry with index 0x1400 in chapter 6 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 1312 111 0 0 1 2131 415161 7 1111010101010101010 1 0 8 40 00 14 00 00 00 00 00 SDO server I 7231D ccs 2 m 0014 00 Because low byte needs to transfer firstly the first byte 00 is the low byte of 0x1400 the second byte 0x14 is the high byte of 0x1400 and the last byte OO means the sub index 00 Step 2 The 1 7231D will respond to the data stored in the object entry with index 0x1400 and sub index 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 131 1211 0 01 11 213141 1516 7 11 011111010101010 0111 0 8
131. the request and the response message indicates whether there are still more segments to be uploaded 0 more segments to be uploaded 1 no more segments to be uploaded It is at most 7 bytes of segment data to be uploaded The encoding depends on the type of the data referenced by index and sub index It indicates the number of bytes in seg data that do not contain segment data Bytes 8 n 7 do not contain segment data n 0 if no segment size is indicated not used always 0 reserved for further use always 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 65 SDO Upload Example The practical application of the SDO upload is illustrated as below SDO Client SDO Server SDO Client SDO Server 1 7231D 1 7231D Initial SDO Upload Protocol bit e 1 Initial SDO Upload Protocol bit e 0 SDO Upload with expedited transfer Upload SDO Protocol bit t 0 bit c 0 Upload SDO Protocol bit t 1 bit c 0 Upload SDO Protocol bit t 0 bit c 0 Upload SDO Protocol bit t bit c 1 SDO Upload with normal transfer In the following paragraph both expedited transfer and normal transfer are given according to the procedure described above The method on how to get the value stored in the object dictionary is also presented By means of the initiate SDO upload protocol users can obtain how many sub indexes the object with index 0x1400 can support This information is located in the object wi
132. ttr Default 2001h Oh largest sub index supported for UNSIGNED 8 RO 8 VO Module Watchdog Timer Enable Control 1h Module 1 control status of UNSIGNED 8 RW Watchdog Timer I O Modules Watchdog Timer Value Entries Idx Sidx Description Type Attr Default 2002h Oh largest sub index supported for UNSIGNED 8 RO 8 VO Module Watchdog Time Value 1h Module 1 Watchdog Timer value UNSIGNED 8 RW I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 168 I O Modules Watchdog Timer Status Entries Idx Sidx Description Type Attr Default 2003h Oh largest sub index supported for UNSIGNED 8 RO 8 VO Module Watchdog Time Status 1h Module 1 Watchdog Timer UNSIGNED 8 RW status I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 169 6 3 Standardized Device Profile Area When the 1 7231D s power is on all of device profile entries are produced automatically by the firmware built inside the I 7231D These device entries will match the channel types and numbers of the DCON modules connected to the 7231D In order to look them up conveniently these entries are divided into four tables Digital Input Devices Entries Digital Output Devices Entries Analog Input Devices Entries and Analog Output Devices Entries They are as follows Digital Input Devic
133. ucer I 7231D COB ID 0x201 L 2 8 PDO msg AB 90 00 00 00 00 00 00 Step 19 The 1st TxPDO will not be transmitted immediately even if the DI value is changed because of the character of the transmission type 0 The SYNC message is needed to trigger the action of the 1st TxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101 9 8 7161514 3 2 1 0 11 213141 1 516 7 010 10111010101010 0 0 O 10010000 00 00 00 00 00 SYNC SYNC producer I 7231D COB ID 0x80 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 Step 20 After transmitting the SYNC object the 1st TxPDO is triggered and users can receive the 1st TxPDO from I 7231D 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O 1 2 3 4 5 6 7 010 1111101010101010111 0 3 54 6F 01 00 00 00 00 00 PDO PDO I 7231D COB ID 0x181 L 3 PDO msg 54 6F 01 00 00 00 00 00 Step 21 Send the SYNC message again 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817161514 13121110 0 11 213141516 7 0 0 101110101010101010 0 O 00 00 00 00 00 00 00 00 SYNC SYNC p I 7231D SYNC 0x80 COB ID
134. ult value when creating the EDS file EDS File Configuration amp Information Viewer EDS File Information Description Created By D PDO Information Device Information Information 32 DCON Back Finish Step 8 Users can click on the PDO Information Device Information and the DCON Information button to view the PDO objects device profile and 7000 87K configuration information These information dialogs are shown below IE Rx Tx PDO Parameters Setting Result Receive PDO 1 205 2 305 3 405 4 505 PDO NO COB ID Hex Transmission Type Inhibit Time 255 Reversed 255 Reversed 255 Reversed 255 Reversed Transmit PDO Event Timer Mapping 0 Reversed Ox4 7011P 00 01 Reversed Reversed Reversed Mapping 1 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 60 Manufacturer Specific Standardized Device Object Dictionary Setting Result 0x2000 0x2001 0x2002 Description Module W R Error Count Module WDT Enable Disable Module WDT Timer Module WDT Status Subindex0 6 6 6 6 Subindex1 0 0x1 7017C 0 0x1 7017C D 0x1 7017C 0 0x1 7017C Subindex2 0 0x2 7013 0 0x2 7013 0 0x2 7013 0 0x2 7013 Subindex3 0 0x3 7058 0 0 3 7058 0 0x3 7058 0 0x3 7058 Subindex4 0 0x4 7011P 0 0x4 7011P 0 0x4 7011P 0 0 4 7011P Subindex5 0 0x5 7013 0 0x5 7013 0 0x5 7013 0 0x5 7013 Subindex6 0 0x6
135. use the n 3 only the 4th byte is valid Therefore the feedback value is 05 Step 2 The l 7231D will response the message to finish the data download Afterwards users can use upload methods mentioned before to read back the value for confirmation 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019181716151413 21 1 0 1 2 3 4 5 6 7 110111110101010101 0 0 8 60 00 14 02 00 00 00 00 SDO server I 7231D SCS 2 3 m 001400 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 86 5 1 4 SDO Block Download The procedure of SDO Block Download is similar with the SDO Block Upload There are three steps during the SDO Block Download The Initiate SDO Block Download protocol is the beginning protocol for SDO Block Download In this protocol the SDO server and SDO client communicate each other to prepare the necessary information Afterwards the SDO Block Download protocol is used And SDO client start to send data to SDO server After finishing the data transmission the client and server will use the End SDO Block protocol to terminate the SDO Block Download The following figures are the structures for the three protocols Initiate SDO Block Download Protocol SDO Client SDO Server l 7231 I L bit COB ID bit RTR Len _8 byte ET ta byte FE swe EEE request bid kes 6 x cesjes o in
136. ve PDO parameter 1h COB ID used by PDO Rx UNSIGNED 32 RW 8000 0000h 2h transmission type UNSIGNED 8 RW FFh 1 723 1D CANopen DCON Gateway user manual ver 1 03 May 02 2005 161 RxPDO Mapping Communication Entries Idx Sidx Description Type Attr Default 1600h Oh largest sub index supported for UNSIGNED 8 RO 8 receive PDO mapping 1h write digital output 1h to 8h UNSIGNED 8 RW 6200 0108h 2h write digital output 9h to 10h UNSIGNED 8 RW 6200 0208h 3h write digital output 11h to 18h UNSIGNED 8 RW 6200 0308h 4h write digital output 19h to 20h UNSIGNED 8 RW 6200 0408h 5h write digital output 11h to 28h UNSIGNED 8 RW 6200 0508h 6h_ write digital output 19h to 30h UNSIGNED 8 RW 6200 0608h 7h write digital output 11h to 40h UNSIGNED 8 RW 6200 0708h 8h write digital output 19h to 48h UNSIGNED 8 RW 6200 0808h 1601h Oh largest sub index supported for UNSIGNED 8 RO 4 receive PDO mapping 1h write analog output 1h UNSIGNED 16 RW 6411 0110h 2h write analog output 2h UNSIGNED 16 RW 6411 0210h 3h write analog output 3h UNSIGNED 16 RW 6411 0310h 4h write analog output 4h UNSIGNED 16 RW 6411 0410h 1602h Oh largest sub index supported for UNSIGNED 8 RO 4 receive PDO mapping 1h write analog output 5h UNSIGNED 16 RW 6411 0510h 2h write analog output 6h UNSIGNED 16 RW 6411 0610h 3h write analog
137. wer frame on the right hand side indicates the parameter setting results After clicking the Setting button users can see that each field value on the CAN Parameter Viewer frame has changed to the value configured in the CAN Parameter Setting frame on the left hand side CAN Parameter Setting CAN Parameter Viewer Application Layer Application Layer CANopen CANopen DeviceNet Baud rate 10 KBPS Baud rate 1000 KBPS vi Node ID 1 NODEID 5 i Setting guild EDS File Exit Program Step 6 Click the COM2 D button to configure the RS 485 parameters for the CPS_DCON gateway After finishing the configuration click the Setting button to save the setting results and then click the Build EDS File button to continue General Setting Fie About Communication Firmware Version 1 00 2004 10 07 PC COM Port Connect Sud Connect Status Waiting for configuration 7188x series Situation CAN Bus CAN Channel COM1 Parameter Setting COM1 Parameter Viewer Checksum Disable Checksum Disable Baudrate 9600 BPS Baud rate 9600 BPS vi Timeout 200 Timeout 200 i ECLI EDS File Exit Program I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 59 Step 7 The two fields description and create by can help users to do some notes in the EDS file If these two fields are empty the ICPDAS CANopen slave DCON master Gateway and ICPDAS will be used as the defa
138. xPDO to 0 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191817 514 31 2 0 11 2 131 41 1516 7 1111 1010 0 0 010 0 8 2F 00 14 02 00 00 00 00 SDO server I 7231D ccs 1 n 3 e 1 s 1 m 00 14 02 d 00 00 00 00 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10191 1817 514 32 1 21 3 141516 7 110111 01010 0 0 8 60 00 14 02 00 00 00 00 SDO server I 7231D scs 3 m 00 14 02 Step 13 Change the DO value of the l 7043 and l 7012 to be 0x5678 and 0x00 respectively by using the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 91817 5 4 3 2 0 1 2 3141 516 7 O 111010 01010 0 0 8 78 56 00 00 00 00 00 00 PDO PDO producer I 7231D COB ID 0x201 L 8 PDO msg 78 56 00 00 00 00 00 00 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 113 Step 14 The DO value will not change immediately because of the character of the transmission type 0 The SYNC message is needed to trigger the action of the 1st RxPDO 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Len
139. y refer to both chapter 5 and chapter 6 Application The application part handles all of the device functionalities which respect to the interaction with the process environment It is the bridge between the object dictionary and practical process such as the analog I O digital I O I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 28 3 2 SDO Introduction In order to access the entries in a device object dictionary service data objects SDOs are provided By means of the SDO communication method a peer to peer communication bridge between two devices is established The SDO transmission follows the client server relationship The general concept is shown in the figure below Client Server request confirmation response The SDO has two kinds of the COB IDs RxSDOs and TxSDOs They are viewed at point in the CANopen device For example form the view of the 7231D if users want to send a SDO message then the I 7231D needs to receive the SDO message transmitted from users Hence the receive SDO RxSDO COB ID of the I 7231D will be used If the 1 7231D wants to transmit a SDO message then the TxSDO COB ID of the I 7231D will need to be utilized Before the SDO has been used only the client can take the active requirement for a SDO transmission When the SDO client starts to transmit a SDO it is necessary to choose the proper protocol to transmit the SDO If the SDO client has to get the inf
140. y Error Code Error register Manufacturer specific Error Field All the fields in the emergency object data will be described in section 5 3 Take the l 7231D for an example if any errors occur in the l 7231D the EMCY message will be sent out from the l 7231D Afterwards the EMCY message will not be transmitted again if the same error occurs repeatedly However if any other different errors detected by the l 7231D occur it will trigger the transmission of the EMCY message again After one but not all error reasons are gone an emergency message containing the emergency error code 00 00 may be responded to with the remaining errors in the error register and manufacturer specific error fields Hence by means of checking the EMCY message users can understand what is happening in the l 7231D and can then do something about the error event I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 42 3 5 NMT Introduction The Network Management NMT follows a node oriented structure and also follows the master server relationship On the same CAN bus network only one CANopen device can have the power to implement the function of NMT master All the other CANopen nodes are regarded as NMT slaves Each NMT slave is unique and identified by its node ID from 1 to 127 The NMT service supplies two protocols module control protocol and error control protocol for different purposes Through the NMT module cont
141. ze contains the number of bytes to be uploaded Byte 4 contains the LSB and byte 7 is the MSB number of segments per block with 0 lt biksize lt 128 not used always 0 reserved for further use always 0 I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 72 Upload SDO Block Segment Protocol After finish the Initiate SDO Block protocol the SDO server starts to respond to the data by using the Upload SDO Block Segment protocol Each block contains 1 segment for minimum and 127 segments for maximum One segment consists of 1 7 bytes Only one block can be transmitted during an Upload SDO Block Segment protocol The SDO server can send a maximum of 127 blocks by using 127 Upload SDO Block Segment protocols Here is the structure of the Upload SDO Block Segment protocol SDO Client SDO Server 1 7231D I l bit COB ID bit RTR 8 byte Data byte 0 7 ev gt 5 Node ID 8 seg dat indication ton Node er iy request I l bit COB ID bit RTR Len 8 byte Data byte response F r Fn o Eee O18 confirmation EE 2 7 5 4 2 1 0 0 Upload SDO Block Segment Protocol I 7231D CANopen DCON Gateway user manual ver 1 03 May 02 2005 73 CCS CS seqno seg data ackseq biksize X reserved client command specifier 5 block upload client subcommand 2 block upload response It indicates whether there are still more segments to be uploaded 0 more segments to

I-7231D CPS_DCON Gateway

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