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CrossFire CX and CrossCode BT

1. 0x6411 Index S Idx Type Default Saved Description Digital Output Ports 1 to 4 Bit 0 Port 1 0x6200 5 u8 rw 0 No Bit 1 Port 2 Bit 2 Port 3 Bit 3 Port 4 0 u8 ro 8 Analog Inputs Number of entries Analog Input Port 5 Only used when Port 1 u16 ro 0 Z 5 is configured as Analog Input 2 u16 ro 0 Analog Input Port 6 Only used when Port 6 is configured as Analog Input 3 u16 ro 0 f Analog Input Port 7 Only used when Port 7 is configured as Analog Input _ Analog Input Port 8 Only used when Port 0x6401 a ld E 8 is configured as Analog Input 5 u16 ro 0 E Analog Input Port 9 Only used when Port 9 is configured as Analog Input Analog Input Port 10 Only used when UNG sto y Port 10 is configured as Analog Input p Analog Input Port 11 Only used when f utet 9 Port 11 is configured as Analog Input 3 Analog Input Port 12 Only used when i ate sre E Port 12 is configured as Analog Input 0 u8 ro 2 Analog Inputs 32 bit Number of entries 0x6402 4 u32 ro 0 E Shaft Encoder 1 Position Ports 1 and 2 Only if configured as Shaft Encoder Input N u32 ro o Shaft Encoder 2 Position Ports 3 and 4 Only if configured as Shaft Encoder Input 0 u8 ro 10 Analog Outputs Number of entries 1 u8 rw 0 No Analog Output LED Driver Ports 15 16 2 u8 rw 0 No Analog Output LED Driver Ports 17 18 3 u8 rw 0 No Analog Output LED Driver
2. CX BT or other equipment may be damaged User Manual and Reference Handbook for the CrossCode CX BT Electrical Interface Overview The CrossCode CX BT is highly configurable The following illustration consists of several boxes which represent the main functional groups on the CrossCode CX BT The arrows leading to and from the functional groups represent I O power or communication busses Where applicable port configuration voltage ranges biases etc are selected by sending an SDO to the object dictionary in the Manufacturer Specific Profile Area index 0x2000 to Ox5FFF CrossCode CX BT CrossCode BT only Bluetooth K Network BTi internal antenna BTe external antenna Bluetooth Interface Encoder Inputs 4 Pa Also configurable as e 4 Digital Inputs 4 Ports 1 4 vl e 4 Digital Outputs Analog Inputs 4 1 Y Also configurable as 8 Ports 5 12 e 8 Digital Inputs e 8 Digital Outputs vl Power CAN Interface Analog Outputs LED Drivers Individual 4 bit intensity control PWM Output Backlight Driver 1 Port 33 Digital I O s Configurable as D e 23 Digital Inputs ry e 23 Digital Outputs 23 Ports 36 48 8 51 60 By default Ports 51 to 60 r are configured to select e Bluetooth Channel P e Bluetooth Role e CAN Baud Rate e CANopen Node ID for CrossCode BT only 2x 24 Veatt
3. Default R S ldx Type Possible Saved Description Port Initialisation Number of Entries The Port Initialisation State or Value for each Output Port is set upon entry into pre operational mode according to the respective sub index herein 0 u32 rw 62 Yes For Digital Output Ports 0 logic low 1 logic hi For LED Driver Analog Output Ports 4 LSBs are used to set the LED intensity For LCD Backlight Driver Port 33 16 LSBs to set backlight brightness Port Initialisation for Port 1 1 u32 rw 0 1 Yes Only used if Ports 1 and 2 are configured as Digital Outputs Port Initialisation for Port 2 2 u32 rw 0 1 Yes Only used if Ports 1 and 2 are configured as Digital Outputs Port Initialisation for Port 3 3 u32 rw 0 1 Yes Only used if Ports 3 and 4 are configured as Digital Outputs Port Initialisation for Port 4 4 u32 rw 0 1 Yes Only used if Ports 3 and 4 are configured as Digital Outputs Port Initialisation for Port 5 3 yoy oy YES Only used if configured as Digital Output Port Initialisation for Port 6 6 u32 D 90 YES Only used if configured as Digital Output Port Initialisation for Port 7 f usA 941 mes Only used if configured as Digital Output Port Initialisation for Port 8 3 UGAN oN TES Only used if configured as Digital Output Port Initialisation for Port 9 3 pde da gu YES Only used if configured as Digital Output Port Initialisation for Port 10 10 ee oA ues Only used if configured as Digital Output Por
4. CrossCode CX BT is a trademark which is the property of CrossControl CiA is a registered trademark which is the property of CAN in Automation Bluetooth is a registered trademark which is the property of Bluetooth CrossControl is not responsible for editing errors technical errors or for material which has been omitted in this document CrossControl is not responsible for unintentional damage or for damage which occurs as a result of supplying handling or using of this material The information in this handbook is supplied without any guarantees and can change without prior notification 43 User Manual and Reference Handbook for the CrossCode CX BT CrossCode CX BT Index A Analog Input neneeese nenene 4 11 22 23 Analog OUtpUt coccccccnnoccnonononcnononcnnnonononancnnncnnoos 4 12 APproval anadir aTe Melts adas 4 B BURRO aii 17 BlUetooth cccconocnccncccccconoconcnnoncnnonoconnonononnnanoranonns 18 Bluetooth coins rias ves cai 4 Bluetooth a na abbas stones Ea eeduncs coveubies ito 19 C CAN id 21 CAN ar e Aan 4 8 9 17 CE Marking isnin irai gi 4 CertificatiONS ccccsssssesecsccsnecusccsscstecsaceusessessctences 4 GONMNECIOSS aE E EA 4 7 COONING isc ceci a Ea a 6 D Digital IMput ooooooooonnoncccnnncccco 4 12 13 14 22 23 Digital OUtpUt oooooccnnoccccconoconononcncnononnncnnnnnos 4 14 15 DIMENSIONS eeren aiae edid eintiid e 5 E Electrical Interface oo o onnnnnnnninnnnnnnnnncccco 7
5. 10 11 EMCiii a eee 40 EMO Violines 22 Encoder oense eetere eaaa eea aaea aai 16 ENVirONME Nh ccccccceeeseececeeeceaeeeeeeeeeeeseaaeeeeeetees 4 Environmental Tolerance ccccccceeeeeeeseeeeeeees 5 Environmental Tolerances cccccessseeeeeeeeeees 40 F Feature aaa dette AA es ieee 3 FUNCHIONS senei ten iooi deii teii 3 H O OEA 6 l o EE AE O AAE ROE 7 10 Install isis ii 6 Interface oocccccccococcconnnnnononoconcnncncnnonocnnnancnonnnaneranonos 21 L A shatter hese A RT 7 12 20 23 E E hele eA eee te ee A EA ET 11 M Molist sica cocidas iaa 6 O Object Dictionary oooonoccccnnnocicononacanononcncnonnrnnnnnnnn 26 P ParaMeter oocccccccoconnconcnncconocnnnnncncnnonnconennnnnanennnnnnenos 21 PDO iaa aia ta t 23 PDO ad 22 PDO tasa atari taa 24 Physical oral na aa 4 Power Interface occccccoconocnccnncocononoconennnnnononononnonos 16 Power Output iii ti 4 Power SUP n aei 4 POCESSOM seccion citrico 4 PVM rt cat ti add Ra 4 PUMA ech BY 4 PU Mist sora as alado orando 15 R Ral maana tee na alo das ein e 1h Not 6 REC Oricon ri csiiesussccalsscouseudeevedeadse 22 A A AAN 11 S SOCK nerien a E a eai 40 T Technical Data ooooonnnnncnnccccnonnconcnnnnonocnnnanancnnnnanons 4 TOMPerat re iniii etini ideii 40 Temperatures miii ene wees 6 AS 5 Trade Maroc 42 A e 23 VW Warranty acct iia nod 6 Vibration ooonnonnccccnocccnnnnnanononananonanoca nana na conan 6 40 44 User Manual
6. 3 Yes Port configuration for Port 46 47 u8 rw 2 3 Yes Port configuration for Port 47 48 u8 rw 2 3 Yes Port configuration for Port 48 49 u8 ro Unused 50 u8 ro Unused 51 u8 rw 2 3 Yes Port configuration for Port 51 52 u8 rw 2 3 Yes Port configuration for Port 52 53 u8 rw 2 3 Yes Port configuration for Port 53 54 u8 rw 2 3 Yes Port configuration for Port 54 55 u8 rw 2 3 Yes Port configuration for port 55 56 u8 rw 2 3 Yes Port configuration for port 56 57 u8 rw 2 3 Yes Port configuration for port 57 58 u8 rw 2 3 Yes Port configuration for port 58 59 u8 rw 2 3 Yes Port configuration for port 59 60 u8 rw 2 3 Yes Port configuration for port 60 61 u8 ro Unused 62 u8 ro Unused Voltage Range Number of entries 0 u8 ro 9 5 0 5 volts 28 0 28 volts 32 User Manual and Reference Handbook for the CrossCode CX BT Index 0x2001 S ldx Type u8 ro Default Possible 0 Saved Description Unused u8 rw 5 28 Yes Voltage range for Voltage Group 1 Ports 5 6 7 8 u8 ro 0 Unused u8 rw 5 28 Yes Voltage range for Voltage Group 2 Ports 9 10 11 12 0x2002 0x2003 u8 ro u8 ro 54 Logic Threshold for Analog Inputs being used as Digital Inputs Number of Entries Unused Port Bias Number of Entries This index specifies the bias of the Port 0 pull down 1
7. 1 Yes Port configuration for Port 21 22 u8 rw 1 Yes Port configuration for Port 22 23 u8 rw 1 Yes Port configuration for Port 23 24 u8 rw 1 Yes Port configuration for Port 24 25 u8 rw 1 Yes Port configuration for Port 25 26 u8 rw 1 Yes Port configuration for Port 26 27 u8 rw 1 Yes Port configuration for Port 27 31 User Manual and Reference Handbook for the CrossCode CX BT Index S ldx Type ES Saved Description 28 u8 rw 1 Yes Port configuration for Port 28 29 u8 rw 1 Yes Port configuration for Port 29 30 u8 rw 1 Yes Port configuration for Port 30 Port configuration for Port 31 31 u8 rw 1 Yes Note Reserved for Status LE on CrossCode BT 32 u8 ro Unused 33 u8 rw 1 Yes Port configuration for Port 33 34 u8 ro Unused 35 u8 ro Unused 36 u8 rw 2 3 Yes Port configuration for Port 36 37 u8 rw 2 3 Yes Port configuration for Port 37 38 u8 rw 2 3 Yes Port configuration for Port 38 39 u8 rw 2 3 Yes Port configuration for Port 39 40 u8 rw 2 3 Yes Port configuration for Port 40 41 u8 rw 2 3 Yes Port configuration for Port 41 42 u8 rw 2 3 Yes Port configuration for Port 42 43 u8 rw 2 3 Yes Port configuration for Port 43 dio0 44 u8 rw 2 3 Yes Port configuration for Port 44 45 u8 rw 2 3 Yes Port configuration for Port 45 46 u8 rw 2
8. 255 No Transmission type for transmit PDO 3 3 u16 rw 500 No Inhibit time for transmit PDO 3 4 Not used 5 u16 rw 0 No Event timer for transmit PDO 3 0 u8 ro 5 Transmit PDO 4 Number of entries E aa No COB ID for transmit PDO 4 0603 2 u8 rw 255 No Transmission type for transmit PDO 4 x 3 u16 rw 500 No Inhibit time for transmit PDO 4 4 Not used 5 u16 rw 0 No Event timer for transmit PDO 4 PDO Mappings for Transmit PDOs Transmit PDO 1 9 pana a NO Number of entries Maximum 8 First mapped object for transmit PDO 1 1 HSA pa 0x60000108 No Digital Input Ports 36 to 43 Second mapped object for transmit PDO1 2 us2 rw 0x60000208 No Digital Input Ports 44 to 53 Third mapped object for transmit PDO 1 0x1A00 3 u32 rw 0x60000308 No Digital Input Ports 54 to 60 Fourth mapped object for transmit PDO 1 E u32 rw 0x60000408 No Digital Input Ports 5 to 12 Fifth mapped object for transmit PDO 1 3 u32 rw 0x60009508 No Digitalifnput Ports 1 t0 4 _ 7 Sixth to eighth mapped object for transmit Pee eee No PDO 1 Unused Transmit PDO 2 URTA a Me Number of entries Maximum 8 First mapped object for transmit PDO 2 1 u32 rw 0x64010116 No Analog Input Port 5 2 u32 rw 0x64010216 No Second mapped object for transmit PDO2 0x1A01 i Analog Input Port 6 Third mapped object for transmit PDO 2 3 u32 rw 0x64010316 No Analog Input Port 7 Fourth mapped object for transmit PDO 2
9. 4 7 X X denotes unused spare bits CrossCode CX only reserved for Bluetooth Status LED on the CrossCode BT Transmit PDOs Digital Inputs and Analog Inputs This section describes the Transmit PDO information from the CrossCode CX BT The information transmitted on these Transmit PDOs directly reflects the status of the CrossCode CX BT inputs To reconfigure the ports the index 0x2000 is used The sub index corresponds to the port number Selector ports 51 to 60 may also be reserved by indices 0x2010 to 0x2021 These ports can be released by specifying valid values to the appropriate index This reconfiguration is not necessary since selector ports are sent via PDO just as Digital Inputs For further information see description of the Object Dictionary The default transmission type for all Transmit PDOs is 255 Event Triggered This means that the Transmit PDOs will be sent only when a change occurs The inhibit time parameter for all PDOs is used and is set to 500 by default This means that all PDOs will be sent at a maximum 23 User Manual and Reference Handbook for the CrossCode CX BT transmission rate of every 50 milliseconds This helps to avoid flooding the CAN bus Transmission type and inhibit time are set at 0x1800 in the Object Dictionary The PDOs of the node are mapped by default to the I O following the mapping described in DS401 Transmit PDO 1 COB ID 180h Node ID
10. 4 u32 rw 0x64010416 No Analog Input Port 8 Fifth to eighth mapped object for transmit rl even No PDO 2 Unused Transmit PDO 3 E oa he f No Number of entries Maximum 8 First mapped object for transmit PDO 3 1 u32 rw 0x64010516 No Analog Input Port 9 0x1A02 2 u32 rw 0x64010616 No Second mapped object for transmit PDO3 Analog Input Port 10 Third mapped object for transmit PDO 3 3 u32 rw 0x64010716 No Analog Input Port 11 4 U32 rw 0x64010816 No Fourth mapped object for transmit PDO 3 Analog Input Port 12 29 User Manual and Reference Handbook for the CrossCode CX BT Index S Idx Type Default Saved Description Fifth to eighth mapped object for transmit PDO 3 Unused Transmit PDO 4 5 8 u32 rw No e a ee 2 Ne Number of entries Maximum 8 1 u32 rw 64020120 No First mapped object for transmit PDO 4 0x1A03 2 u32 rw 64020220 No Second mapped object for transmit PDO4 3 8 u32 rw No Third to eighth mapped object for transmit PDO 4 Unused Note on Mapping Addresses The mapping area controls where the received data in the receive PDOs will be stored If these values are not changed then the default values will be used The values can be read as follows E g 0x62000108 6200 address in manufacturer specific area of Object Dictionary 01 sub index 1 08 1 byte 10 2 bytes 20 4 bytes etc 30 User Manual and R
11. Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 0 7 0 4 0 6 0 7 0 3 0 7 0 7 0 7 Digital Input Digital Input Digital Input Digital Input Digital Input X X X Ports 36 43 Ports 44 48 Selector Ports 5 12 Ports 1 4 Ports 54 60 5 7 7 4 7 X Digital Input X Selector Ports 51 53 Only bits that correspond to ports configured as Digital Inputs will be transmitted X denotes unused spare bits Transmit PDO 2 COB ID 280h Node ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Analog Input Port 5 Analog Input Port 6 Analog Input Port 7 Analog Input Port 8 Value will only be valid if port is configured as Analog Input Transmit PDO 3 COB ID 380h Node ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Analog Input Port 9 Analog Input Port 10 Analog Input Port 11 Analog Input Port 12 Value will only be valid if port is configured as analog input Ports 1 amp 2 and ports 3 amp 4 act in pairs to accept inputs from two shaft encoders The CrossCode CX BT can process these inputs and therefore act as a Shaft Decoder There are two signals from each encoder called A and B By comparing the states of these two digital signals magnitude and direction information are extracted This information allows the CrossCode to either add or subtrac
12. Encoder Inputs 4 ports 5 to 8 Digital Output Type 2 E 8 ports Functional Group Analog Inputs 9 to 12 36 to 43 Da Digital Output Type 1 Functional Group Digital 1 O s 8 7 2 rt 51to53 amp ave 54 to 60 14 User Manual and Reference Handbook for the CrossCode CX BT Electrical Characteristics for Digital Outputs A Value Signal Type Parameter Min Typ Max Unit Comment High Level Output Voltage 45 5 5 5 V push pull De Maximum average is 4 mA Bi Output Current g 2 4 mA Burst of 10 mA for short times y p 10 The overall output current must be less than 50 mA on average Output impedance 510 Q limits output current to 10 mA High Level Output Voltage 4 5 5 5 5 V push pull Digital Output Output Current 0 3 0 5 mA Type 2 Output impedance 10 kQ PWM Output The PWM Output is intended for use as an LCD backlight driver PWM Outputs Port Signal Name Comment 33 PWM Output Electrical Characteristics for PWM Outputs LCD backlight driver a Value Signal Name Parameter Min Typ Max Unit Comment Output Voltage 24 V Same as Supply Voltage Vpatt Output Current 1 A Short Circuit Protected PWM Output Output Frequency 88 90 93 Hz Duty Cycle Range 0 100 Corresponds to 0x00 OxFFFF in software 15 User Manual and Reference Handbook for the CrossCode CX BT Enc
13. Operational mode Communication OK Single Flash Green Stopped Mode Status Solid Red Bus off Single Flash Red CAN error state Double Flash Red Guarding of other node failed Off No CrossCode CX BT power or voltage too low Solid Blue Bluetooth OK Bluetooth Status Off Bluetooth Communication error 1 CrossCode BT only This LED is not provided but is designed to be wired to port 31 2 Single Flash in this case mean blinking with about 1 Hz 3 About 3 Hz Observe that the red and green LEDs can operate in parallel 20 User Manual and Reference Handbook for the CrossCode CX BT CrossCode CX BT CANopen Interface Parameter Overview The CrossCode CX BT supports the CANopen protocol The CANopen Node ID CAN Baud Rate as well as Bluetooth Role and Channel on the CrossCode BT are set by default to be configured through H W hardware via the selector pins described in chapters 2 3 8 and 2 3 9 The appropriate pins are reserved under index 0x2000 and can not be used for other I O unless a valid value is set by writing SDOs to the appropriate index of the OD CANopen Node ID See index 0x2010 CAN Baud Rate See index 0x2011 Bluetooth Channel CrossCode BT only See index 0x2021 Bluetooth Role CrossCode BT only See index 0x2020 A Note that the values determined from the selector pins do not overwrite these indices The CrossCode CX BT supports both heartbeat and node guar
14. Ports 19 20 4 u8 rw 0 No Analog Output LED Driver Ports 21 22 5 u8 rw 0 No Analog Output LED Driver Ports 23 24 6 u8 rw 0 No Analog Output LED Driver Ports 25 26 7 u8 rw 0 No Analog Output LED Driver Ports 27 28 8 u8 rw 0 No Analog Output LED Driver Ports 29 30 9 ww 9 No ised only configured as LED Driver 10 u16 rw 0 No Analog Output Backlight Driver Port 33 40 User Manual and Reference Handbook for the CrossCode CX BT CrossCode CX BT Appendix 1 Environmental Tolerances Environmental Tolerances Environmental Test Level Standard High temperature Functional During test 75 C 24 hours Functional After test 85 C 16 hours IEC 60068 2 2 Low temperature Functional During test 40 C 24 hours Functional After test 40 C 16 hours IEC 60068 2 1 Change of temperature Damp heat cyclic Functional During test 40 C 50 C 5 C min Functional During test 25 C 55 C Rel Humidity gt 90 6 test cycles x 24 hours IEC 60068 2 14 Nb 2 test cycles x 24 hours IEC 60068 2 30 Db Shock Functional During test 50g 6ms 1000 impulses in 6 directions IEC 60068 2 29 Vibration Functional During test sinusoidal 3 5mm 10 27 Hz 10g 27 500 Hz 2 hours in 3 directions IEC 60068 2 6 Electrical Transients Conducted transients Pulse 1 50V 2ms 2 25V 2 ms 3a 220 V 10 ms 3b 220 V 10
15. a name that contains its Channel for example BT_Module_x where x is the Server s Bluetooth Channel 7 Turn on power to the Client The Client will search for the name BT_Module_y where y is the Client s Bluetooth Channel If the Client and Server have the same Bluetooth Channel then the Server will be found When the Client finds the Server it will store the Server BT address the unique address of the Bluetooth chip in its EEPROM Bluetooth Pairing is now complete The next time the units start the Client will not search for the Server instead it will just connect directly to the Server BT address stored in the EEPROM This is to speed up the connection since the search takes around 70 seconds Wired CAN takes precedence over Bluetooth which means that to set up a Bluetooth connection no bus should be connected to the CAN connector 19 User Manual and Reference Handbook for the CrossCode CX BT If a wired bus is connected after power up of the CrossCode CX the unit will detect the bus within about 10 seconds If a CrossCode BT doesn t detect a wired bus at power up the unit will continuously wait for a Bluetooth connection To be able to connect it to wired CAN the unit has to be restarted after wired a bus is connected LED indicators LED indicators LED Description Condition Meaning Blinking Green Preoperational Mode Solid Green
16. and Reference Handbook for the CrossCode CX BT CrossC ontol AB C P O Box 83 SE 822 22 Alfta Sweden Phone 46 271 75 76 00 info crosscontrol se www crossc ontrol com
17. are available on all ports Some ports are reserved for power GND and have no I O capabilities The port assignments of the CrossCode CX BT are the same as the pin assignments on connector X3 The terms port and pin may therefore be used interchangeably whenever connector X3 is concerned 62 pole I O Connector X3 Conn Pin Port Default Signal Other Configurations X3 1 1 Encoder Input Shaft 1 A Digital Input Digital Output X3 2 2 Encoder Input Shaft 1 B Digital Input Digital Output X3 3 3 Encoder Input Shaft 2 A Digital Input Digital Output X3 4 4 Encoder Input Shaft 2 B Digital Input Digital Output X3 5 5 Analog Input Digital Input Digital Output X3 6 6 Analog Input Digital Input Digital Output X3 7 7 Analog Input Digital Input Digital Output X3 8 8 Analog Input Digital Input Digital Output X3 9 9 Analog Input Digital Input Digital Output X3 10 10 Analog Input Digital Input Digital Output X3 11 11 Analog Input Digital Input Digital Output X3 12 12 Analog Input Digital Input Digital Output X3 13 13 GND X3 14 14 5 Voc X3 15 15 LED Driver X3 16 16 LED Driver X3 17 17 LED Driver X3 18 18 LED Driver X3 19 19 LED Driver X3 20 20 LED Driver X3 21 21 LED Driver X3 22 22 LED Driver X3 23 23 LED Driver X3 24 24 LED Driver D SUB female 62 pole o gi O ak E wo a o D Nm DD MWM WH ONO
18. in error mode revert to default values because EEPROM failed Communication Parameters for Receive PDOs 0 u8 ro 5 Receive PDO 1 Number of entries 1 u32 rw 200 No COB ID for receive PDO 1 Digital Outputs Node ID 3 a 0x1400 2 u8 rw 255 No Transmission type for receive PDO 1 3 u16 rw 0 No Inhibit time Not used for receive PDOs 4 Not used 5 u16 rw 0 No Event timer Not used for receive PDOs 0 u8 ro 5 Receive PDO 2 Number of entries gt usas 28004 No COB ID for receive PDO 2 Node ID 0x1401 2 u8 rw 255 No Transmission type for receive PDO 2 3 u16 rw 0 No Inhibit time Not used for receive PDOs 4 Not used 5 u16 rw 0 No Event timer Not used for receive PDOs 0 u8 ro 5 Receive PDO 3 Number of entries 1 u32 rw x00 No COB ID for receive PDO 3 Node ID 0x1402 2 u8 rw 255 No Transmission type for receive PDO 3 3 u16 rw 0 No Inhibit time Not used for receive PDOs 4 Not used 5 u16 rw 0 No Event timer Not used for receive PDOs Receive PDO 4 Number of entries 0 u8 ro 0 Unused 1 u32 rw 500 No COB ID for receive PDO 4 Unused Node ID Transmission type for receive PDO 4 0x1403 2 u8 rw 255 No Unused 3 u16 rw 0 No Inhibit time Unused 4 Unused 5 u16 rw 0 No Event timer Unused PDO Mappings for Receive PDOs Receive PDO 1 g ces 5 No Number of entries Maximum 8 First mapped object for receive PDO 1 1 u82 rw 0x62000108 No Digital Output Por
19. pull up 2 floating u8 rw Yes Port Bias Bias Group 1 Ports 1 to 4 u8 ro Unused u8 rw Yes Port Bias Bias Group 2 Ports 36 to 43 37 43 u8 ro Unused 44 u8 rw Yes Port Bias Bias Group 3 Ports 44 to 53 45 53 u8 ro Unused 54 u8 rw 0 1 2 Yes Port Bias Bias Group 4 Ports 54 to 60 0x200A u8 ro Yes Shaft Encoder Parameters No of Entries There are two pairs of shaft encoders on Ports 1 2 and 3 4 Shaft 1 Position is given on sub index 1 while Shaft 2 Position is on sub index 3 u32 rw Yes Shaft 1 Position To set overwrite with new value u32 ro Yes Unused u32 rw Yes Shaft 2 Position To set overwrite with new value Bl 0 N u32 ro oj jojoj O Yes Unused 0x2010 u8 rw 0 127 Yes CANopen Node ID The CANopen Node ID must be unique The new CANopen Node ID is activated when the node is restarted or reset Possible values are 0 as per selector pins ch 2 3 8 1 to 127 valid ID More node IDs are possible using SDOs than using the selector pins Valid values 33 User Manual and Reference Handbook for the CrossCode CX BT Default Index S ldx Type Possible Saved Description are 1 127 compared to 1 8 with pins CAN Baud Rate All nodes must use the sa
20. 10 User Manual and Reference Handbook for the CrossCode CX BT Electrical Interface Characteristics Analog Inputs There are eight Analog Inputs available on the CrossCode CX BT The eight inputs are all of the same type and as such have identical electrical characteristics The eight inputs are evenly divided into 2 Voltage Groups The input voltage range of Analog Inputs is configured for each Voltage Group as a whole voltage ranges can not be configured individually The inputs have a low range from 0 to 5 V and a high range from 0 to 28 V for the respective Voltage Group Changing the voltage range also affects the input impedance and accuracy for the group Over and under voltage protection is provided at 5 5 V and 0 5 V respectively When operating at the high range protection comes into effect at 30 5V and 0 55V The error associated with the Analog Input conversion is 3 LSB This does not take into account the 1 5 relative error due to noise from the voltage regulator or the 1 5 relative error due to the tolerances in the resistor divider high range only The total error is found using an RMS approach Analog Input Interface Port Signal Type Comment Group 5 Voltage 7 Functional Group Analog Inputs Group 1 8 Analog Input With software selectable voltage range 9 8 ports e Lowrange 0to5V 10 e High range 0 to 28 V Voltage 13 Group 2 12 Electric
21. CrossCode CX BT Object Dictionary continued Device specific entries DS401 index 0x6000 Ox9FFF Index S ldx Type Default Saved Description 0x6000 u8 ro Digital Inputs Number of entries u8 ro No Digital Input Port 36 to 43 Bit 0 Port 36 Bit 1 Port 37 Bit 2 Port 38 Bit 3 Port 39 Bit 4 Port 40 Bit 5 Port 41 Bit 6 Port 42 Bit 7 Port 43 Each bit is only used when the corresponding port is configured as Digital Input u8 ro No Digital Input Ports 44 to 53 Bit 0 Port 44 Bit 1 Port 45 Bit 2 Port 46 Bit 3 Port 47 Bit 4 Port 48 Bit 5 Port 51 Bit 6 Port 52 Bit 7 Port 53 Each bit is only used when the corresponding port is configured as Digital Input u8 ro No Digital Input Ports 54 to 60 Bit 0 Port 54 Bit 1 Port 55 Bit 2 Port 56 Bit 3 Port 57 Bit 4 Port 58 Bit 5 Port 59 Bit 6 Port 60 Each bit is only used when the corresponding port is configured as Digital Input u8 ro No Digital Input Ports 5 to 12 Bit 0 Port 5 Bit 1 Port 6 Bit 2 Port 7 Bit 3 Port 8 Bit 4 Port 9 Bit 5 Port 10 Bit 6 Port 11 Bit 7 Port 12 Each bit is only used when the corresponding port is configured as Digital Input 38 User Manual and Reference Handbook for the CrossCode CX BT Index S ldx
22. CrossCode CX BT rev C 6 100823 CrossCode CX CrossFire BT Sub User Manual and Reference Handbook for the CrossCode BTi and BTe and CrossCode CX models User Manual and Reference Handbook for the CrossCode CX BT Table of Contents Introductionis Gah ee ve heat Ga ee ie es eta sels ee Sa a as la a Pa ea is 3 Functions and Features cuco oro irte nata fro ist oi 3 Techhical D ta iio a Aa 4 References mirror cl e A E E 4 DIMENSION So ita A A a ei oia a 5 IdentificatiON Li ti 5 Environmental Tolerance ninia e id 5 Install de 6 Electrical Interfaces v s s aie e A A A A bs 7 COMMECTOMS EE aes haba cid eens ad ah ae eee ele eigen dash ai beveled oaths De bee aes 7 Electrical Interface Overview ss 5 85sccthabesdedgen estos best nuenls dha bested eed ia teja 10 Electrical Interface Characteristics car niani dci 11 LED indicators viii ii AAA A A A ie 20 CANopen Interface erisnimi e ea e ad E taci n 21 Parameter OverVie W nctaitoin a eeen iaie ie adea te iadaaa See iei aeaa adaa e a aa terida aeia 21 EMCY Object OvervieW icici ei i a nie A ene el E E EEE eee etd 22 Receive PDOs Digital Outputs Analog PWM Outputs oooooccconoccccnococonononcnonanoncncnnno cnn nn nn nn nnnn nr rr nan rra 22 Transmit PDOs Digital Inputs and Analog IMputS ooococonoccccnnnocccinonoccnononnncnono cnn r nono nc unuttun AEE rar non r rra rra rar rre 23 Object DicthOmary xcii ce dies seein eats a Lect a ee ota a ese ee ely dd ee
23. Logic 0 is achieved by wiring the corresponding selector pin to GND Logic 1 is achieved by wiring the corresponding selector pin to 5 Vcc or 24 Veatt Establishing or Modifying the Bluetooth Network To set up a wireless Bluetooth Network follow the steps below 1 If you are modifying an existing Bluetooth Network turn off any devices that will be removed from the network 2 Turn on any devices that will remain be added to the new Bluetooth Network 3 Designate a Bluetooth Role for each of the devices The designation is arbitrary The Bluetooth Role may be set to either Client or Server The Bluetooth Role is set using SDOs at index 0x2020 of the object dictionary Both devices in the network cannot have the same Role 4 Both units must be on the same Bluetooth Channel Set using SDOs index 0x2021 If you are modifying an existing Bluetooth Network you must change to a different Bluetooth Channel than the one previously used At pairing it is important that only two units with the same channel number are powered on at the same time After the pairing procedure several pairs can run in parallel with the same channel number since the connection within the pairs is made with the MAC address and the channel is only used to control whether the channel has changed since the last pairing 5 Turn off both devices 6 Initiate Bluetooth Pairing by turning on power to the Server The Server will set its Bluetooth Name to
24. Output Ports 27 8 28 Eighth mapped object for receive PDO 2 8 USI 0x64110808 NO ED Output Ports 29 4 30 Receive PDO 3 0 ub rw 2 NO Number of entries Maximum 8 First mapped object for receive PDO 3 1 u32 rw 0x64110A10 No PWM Output Port 33 Ux tooa Second mapped object for receive PDO 3 2 u32 rw 0x64110908 No bits 0 3 LED 31 Third to eighth mapped object for receive See BRA 9 No PDO 3 Unused Receive PDO 4 Ox1603 0 us rw 0 NO Number of entries Maximum 8 unused Communication Parameters for Transmit PDOs 0 u8 ro 5 Transmit PDO 1 Number of entries 1 luz2anu 0x180 No COB ID for transmit PDO 1 Node ID 0x1800 2 u8 rw 255 No Transmission type for transmit PDO 1 3 u16 rw 500 No Inhibit time for transmit PDO 1 4 Not used 5 u16 rw 0 No Event timer for transmit PDO 1 0 u8 ro 5 Transmit PDO 2 Number of entries 1 u32 rw 9280 No COB ID for transmit PDO 2 Node ID 0x1801 2 u8 rw 255 No Transmission type for transmit PDO 2 3 u16 rw 500 No Inhibit time for transmit PDO 2 4 Not used 5 u16 rw 0 No Event timer for transmit PDO 2 0 u8 ro 5 Transmit PDO 3 Number of entries 0x1802 1 u32 rw 0x380 No COB ID for transmit PDO 3 28 User Manual and Reference Handbook for the CrossCode CX BT Index S Idx Type Default Saved Description Node ID 2 u8 rw
25. Port 31 32 u32 ro Unused 33 u32 rw 0 0 15 Yes Port Initialisation for Port 33 34 u32 ro Unused 35 u32 ro Unused 3 RR oy TES leed cal aa Output Ee a eS a ES ee Output FEN aM Yes BN ee ene e pal Output oe Meee 940 KeS Ov E cue ES ee Output AO erica oy YES Ss es ee Output T ABAR I ngs n pe A Output Sa EN aM 1 A E pe aes a aoe Output ae ea da oy es a EN a Output A oN YES used caida i Die Output 45 Moan ay mee alee E bs a Output 390 Kes oy xes ET coles A la Output SO No ad Yu YES des i ae Output Spal lead bas a ue ET E E ES al Output 49 u32 ro Unused 50 u32 ro Unused 57 u32 rw 0 1 Yes Port Initialisation for Port 51 Only used if configured as Digital Output 36 User Manual and Reference Handbook for the CrossCode CX BT Index 0x2100 Default S Idx Type Possible Saved Description 52 u32 rw 0 1 Yes A AA n i Output 53 u32 rw 0 1 ee Sri Geeta conte pi Digital Output 54 u32 rw 0 1 ves A E be eae Output 55 u32 rw 0 1 Yes O e He pis Output 56 u32 rw 0 1 Yes O e Output 57 u32 rw oy vee Sry dead cota Digital Output 58 u32 rw 0 1 Yes Only used if configured Da Output 59 u32 rw 0 1 Yes Only used if configured a Bie Output 60 u32 rw 0 1 Yes E m e Output 61 u32 ro i Unused 62 u32 ro Unused 37 User Manual and Reference Handbook for the
26. Typ Max e with external pull up to 7 V Output Voltage 0 1 7 V esome residual low state voltage may be present Open drain Current Sinking Analog Output Output Current 0 20 50 mA LED Driver 350 mA is max current for all 17 Outputs simultaneously provides on off and ASSQUuISn 4 Ps 14 levels of intensity Frequency 32 kHz Digital Inputs There are two types of Digital Inputs available on the CrossCode CX BT called Type 1 and Type 2 Note that some of the Type 1 Digital Inputs Ports 1 to 4 are not configured as Digital Inputs by default and must be reconfigured See index 0x2000 of the Object Dictionary To best match the inputs Type 1 Digital Inputs are configurable to have pull up or pull down resistors For high side drivers configure Digital Inputs with pull down resistors default For low side drivers configure Digital Inputs with pull up resistors For bipolar totem pole or push pull signals configure Digital Inputs as floating i e neither pull up nor pull down resistors Note that most bipolar outputs are capable of driving with pull up or pull down resistors present The Type 1 Digital Inputs are sub divided into 4 Bias Groups Whether or not the Type 1 Digital Inputs are pull up pull down or floating is selectable for each Bias Group as a whole ports can not be configured individually The Bias Groups are configured at index 0
27. Type Default Saved Description 0x6000 u8 ro Digital Input Ports 1 to 4 Bit 0 Port 1 Bit 1 Port 2 Bit 2 Port 3 Bit 3 Port 4 0x6200 u8 ro Digital Outputs Number of entries u8 rw No Digital Output Port 36 to 43 Bit 0 Port 36 Bit 1 Port 37 Bit 2 Port 38 Bit 3 Port 39 Bit 4 Port 40 Bit 5 Port 41 Bit 6 Port 42 Bit 7 Port 43 Each bit is only used when the corresponding port is configured as Digital Output u8 rw No Digital Output Ports 44 to 53 Bit 0 Port 44 Bit 1 Port 45 Bit 2 Port 46 Bit 3 Port 47 Bit 4 Port 48 Bit 5 Port 51 Bit 6 Port 52 Bit 7 Port 53 Each bit is only used when the corresponding port is configured as Digital Output u8 rw No Digital Output Ports 54 to 60 Bit 0 Port 54 Bit 1 Port 55 Bit 2 Port 56 Bit 3 Port 57 Bit 4 Port 58 Bit 5 Port 59 Bit 6 Port 60 Each bit is only used when the corresponding port is configured as Digital Output u8 rw No Digital Output Ports 5 to 12 Bit 0 Port 5 Bit 1 Port 6 Bit 2 Port 7 Bit 3 Port 8 Bit 4 Port 9 Bit 5 Port 10 Bit 6 Port 11 Bit 7 Port 12 Each bit is only used when the corresponding port is configured as Digital Output 39 User Manual and Reference Handbook for the CrossCode CX BT
28. Value Parameter min Typ Max Unit Comment Range 100 200 m Baud rate 1000 kbit s Before a Bluetooth Network can be established the Bluetooth Channel must be the same for each device and the Bluetooth Role must be set up so that there is one Master and one Slave The Bluetooth Channel and Role is configured in hardware by default Use jumpers to tie the appropriate pins low or high Alternatively the Bluetooth Channel and Role may also set by writing to the Object Dictionary using SDOs Indices 0x2020 and 0x2021 are used to set the Bluetooth Channel and Role as well as to enable disable Bluetooth selector pins The following tables describe how to jumper the ports if these parameters are to be set via hardware Bluetooth Role Selection Bluetooth Role Port 54 Server Slave default 0 Client Master 1 assumes no pins are jumpered and Bias Group 4 is pull down default setting Logic 0 is achieved by wiring the corresponding selector pin to GND Logic 1 is achieved by wiring the corresponding selector pin to 5 Vec or 24 Veatt 18 User Manual and Reference Handbook for the CrossCode CX BT Bluetooth Channel Selection Bluetooth Channel Port 51 Port 52 Port 53 1 default 0 0 0 2 0 3 0 1 0 4 0 1 1 5 1 0 0 8 1 1 1 assumes no pins are jumpered and Bias Group 3 is pull down default setting
29. al Characteristics for Analog Inputs Value Signal Type Parameter Ta a Unit Comment in Typ Max Input Voltage 9 _ 5 y protection 0 5V 5 5 V low range Input Voltage 0 1277 y Nominally 28 V igh range protection 0 30 high tection 0 55 V 30 5 V Resolution 10 bits Analog Input Conversion Error 3 LSB i e 4 bits Time constant 100 us Input Impedance 1 MQ 0 5 V range Input Impedance 12 2 kQ 0 28 V range Input 10 nF placed after 10 kO resistor Capacitance 11 User Manual and Reference Handbook for the CrossCode CX BT Analog Outputs LED Drivers Each Analog Output is a low side driver n channel open drain output rated at 50 mA and 7 V The outputs are capable of driving LED s or providing logic outputs with external resistive pull up to 7 V Each LED Output has an individual 4 bit control which provides coarse adjustment of current from fully off to fully on with 14 intensity steps The intensities are controlled using a built in PWM technique at 32 kHz Analog Output LED Driver Interface Port Signal Type Comment Functional Group Analog Outputs LED Drivers 15 31 Analog Outputs 17 ports LED Drivers Note for CrossCode BTi and BTe Port 31 is reserved for Bluetooth status LED by default Electrical Characteristics for Analog Output LED Driver Value Signal Type Parameter Unit Comment Min
30. ays best to install and handle the CrossCode CX BT with care For more information read further User Manual and Reference Handbook for the CrossCode CX BT Installation Your CrossCode CX BT should be installed in such a way that the module is not exposed to any unnecessary stress heat vibration or moisture In this section some recommendations are made regarding methods for how the unit should be installed If the unit is opened by non authorised personnel the warranty becomes void Cooling Although the CrossCode CX BT can operate in relatively high temperatures cooling should still be considered when installing the CrossCode CX BT If the unit becomes too warm it may not perform to its full capacity and with high temperature cease to function Inadequate cooling may lead to overheating causing permanent damage to the unit Vibration We recommend installing the CrossCode CX BT in such a way that it is not unnecessarily exposed to vibration or other stress Rain Moisture The CrossCode CX BT shall preferably be covered or enclosed in order to prevent direct exposure to water User Manual and Reference Handbook for the CrossCode CX BT CrossCode CX BT Electrical Interface Connectors Every I O pin on the CrossCode CX BT is assigned a unique port The ports are numbered from 1 to 62 Every port may be configured individually in software to one of 6 different I O types Not all I O types
31. corresponding selector pin to 5 Vcc or 24 Vgarr CANopen Node ID Selection CANopen Node ID Port 58 Port 59 Port 60 1 default 0 0 0 2 0 0 1 3 0 1 0 4 0 1 1 8 1 1 1 assumes no pins are jumpered and Bias Group 4 is pull down default setting Logic 0 is achieved by wiring the corresponding selector pin to GND Logic 1 is achieved by wiring the corresponding selector pin to 5 Vec or 24 VarT 17 User Manual and Reference Handbook for the CrossCode CX BT Bluetooth Interface CrossCode BTi BTe only Working together with the CrossLink BTC module the CrossCode BT can be used as a mobile device which is linked to a fixed CAN network on a vehicle or in a plant This effectively creates a wireless CAN bridge The two units are linked as a master slave pair so that they can only communicate with one another By these means there is no risk of having other wireless devices interfering The CrossCode BT operates as a class 1 Bluetooth device and supports Bluetooth Version 1 2 The range given in the table below is a result of the Class 1 designation which distinguishes this device from Class 2 and Class 3 devices which have a range of only 10 m and 1 m respectively Although the CrossCode BT has Bluetooth capabilities it can communicate only with other CC Systems Nodes it transmits only CAN messages over the Bluetooth network Bluetooth Interface Characteristics
32. ding The CrossCode CX BT is an NMT slave device It is a heartbeat producer The CrossCode CX BT is a SYNCH message consumer 21 User Manual and Reference Handbook for the CrossCode CX BT EMCY Object Overview The following error codes are supported according to DS 401 and DS 301 Up to 127 errors codes are stored at index 0x1003 of the object dictionary EMCY Object Error Error Manufacturer Specific Error Meaning code register Field Buffer overrun A CAN buffer overrun has occurred in the 0x8110 0x1 Not used CrossCode CX BT Index 0x1029 specifies the action to take when this error occurs An internal software error has occurred This error can be a result of a bug in the software Please note the manufacturer 0x6100 0x1 SW error code specific error field of the message and report the error to CrossControl Index 0x1029 specifies the action to take when this error occurs Guarding of node failed This will occur if the CrossCode CX BT is guarded with Node Guarding and the master has failed to send a guarding remote frame within the time specified in object Ox100C Error will also occur if the CrossCode CX BT is configured as a heartbeat consumer with object 0x1016 and another node has failed to send its heartbeat message Index 0x1029 specifies the action to take when this error occurs PDO not processed because of length error A PDO with the 0x8210 0x11 Not used wrong length has been rec
33. e edie alge es 26 Appendix 1 Environmental Tolerances nara eel eeen aia 41 Technical SUP di A A cea sate aula ed eed eed rescues dde 42 Trade Mark Cte taa aliada dar 43 O root rociar A ae 44 User Manual and Reference Handbook for the CrossCode CX BT CrossCode CX BT Introduction The CrossCode CX CrossFire BT is a compact ruggedised and versatile I O module designed for mobile applications The module is intended for HMI related I O Human Machine Interface Inputs and Outputs typically found in a vehicle cabin a control panel or a handheld remote control unit The Module is available in three versions The CrossFire CX the CrossCode BTi and the CrossCode BTe The CrossCode BTi and CrossCode BTe have a wireless Bluetooth interface but the CrossCode CX does not The difference between the BTi and BTe versions is that the BTi has an internal antenna and the BTe has an external antenna This manual will use the name CrossCode CX BT whenever information is relevant to all three versions of the CrossCode CrossCode BT refers to both the BTi and the BTe This manual describes how the CrossCode CX BT should be used The reader should be familiar with the CANopen standard in order to fully understand the manual Functions and Features The CrossCode CX BT is a CiA DS 401 I O module designed for mobile products such as handheld devices It has 53 I O ports which can be individually c
34. eference Handbook for the CrossCode CX BT Object Dictionary continued Manufacturer Specific Profile Area index 0x2000 to Ox5FFF Default Index S ldx Type Possible Saved Description Port Configuration Number of entries Valid values are 0 Analog Input 1 Analog Output which also includes o Juno e atone 2 Digital Input 3 Digital Output 4 Pulse Counter Input not available 5 Shaft Encoder Input u8 TW 5 2 3 YES fi o aee A A be set to 5 E ue 5 2 3 Tes E BEG be set to 5 gt MR Ee Sas TES a eae tae be set to 5 SIW 5 2 3 ves as be set to 5 5 u8 rw 0 2 3 Yes Port configuration for Port 5 6 u8 rw 0 2 3 Yes Port configuration for Port 6 7 u8 rw 0 2 3 Yes Port configuration for Port 7 8 u8 rw 0 2 3 Yes Port configuration for Port 8 9 u8 rw 0 2 3 Yes Port configuration for Port 9 0x2000 10 u8 rw 0 2 3 Yes Port configuration for Port 10 11 u8 rw 0 2 3 Yes Port configuration for Port 11 12 u8 rw 0 2 3 Yes Port configuration for Port 12 13 u8 ro Unused 14 u8 ro Unused 15 u8 rw 1 Yes Port configuration for Port 15 16 u8 rw 1 Yes Port configuration for Port 16 17 u8 rw 1 Yes Port configuration for Port 17 18 u8 rw 1 Yes Port configuration for Port 18 19 u8 rw 1 Yes Port configuration for Port 19 20 u8 rw 1 Yes Port configuration for Port 20 21 u8 rw
35. eived and thereby ignored Index 0x1029 specifies the action to take when this error occurs 0x8130 0x1 Not used 0x8140 0x1 Not used The CrossCode CX BT has recovered from Bus off The CrossCode CX BT has recovered 0x8120 0x1 Not used from CAN error state The CrossCode CX BT runs in EEPROM Error mode This means that the EEPROM has malfunctioned The CrossCode CX BT reverts to the default values for EEPROM instead of the real values in EEPROM The CrossCode CX BT can still work as desired if all the desired settings are sent by SDOs at startup 0x1000 0x1 0x1 Receive PDOs Digital Outputs Analog PWM Outputs This section describes the Receive PDO information to the CrossCode CX BT The information received on these PDOs will directly affect the CrossCode CX BT outputs There are no Digital Outputs configured by default To reconfigure the ports the index 0x2000 is used The sub index corresponds to the port number Selector ports 51 to 60 may also be reserved by indices 0x2010 to 0x2021 These ports can be released by specifying valid values to the appropriate index For further information see description of the Object Dictionary Analog Outputs LED Drivers 15 to 31 have 4 bits each to set their intensity on RPDO 2 and Byte 3 of RPDO 3 Note however that Port 31 is reserved for Bluetooth Status LED on the CrossCode BT Receive PDO 3 also receives the duty cycle setting for
36. me Baud Rate The new Baud Rate is activated when the node is restarted or reset Possible values are 8 0 1000 kbit s 0x2011 0 u8 rw 0 8 Yes 4 800 kbit s 2 500 kbit s 3 250 kbit s 4 125 kbit s 5 100 kbit s 6 50 kbit s 7 20 kbit s 8 as per selector pins ch 2 3 8 Reset EEPROM function By writing a nonzero value to this index the EEPROM 0x2012 0 u8 rw 0 No will reset to its default values the next time the node is restarted or reset Requested Bluetooth Role CrossCode BT only There must be one Master and one slave in the Bluetooth network 0x2020 0 u8 rw 0 1 2 Yes The value is activated when the node is restarted or reset Possible values are 0 as per selector pins ch 2 3 9 1 Bluetooth Client Master 2 Bluetooth Server Slave Requested Bluetooth Channel CrossCode BT only All nodes on the same network must have 0 the same Bluetooth Channel The value mee Un 0 8 xes is activated when the node is restarted or reset Possible values are 0 as per selector pins ch 2 3 9 1 to 8 Bluetooth Channels 1 to 8 Current Bluetooth Channel CrossCode BT only Upon successful Bluetooth pairing the 0x2022 0 u8 ro 0 No Bluetooth Channel is stored here 0 not successful 1 to 8 Bluetooth Channels 1 to 8 34 User Manual and Reference Handbook for the CrossCode CX BT Index 0x2100
37. ms 4 5V 5 70V ISO 7637 2 EMC Susceptibility Component RF electromagnetic field 30 V m 30 1000 MHz 80 AM 1 kHz sine ISO 11452 2 Bulk Current Injection 60 mA 20 200 MHz 80 AM 1 kHz sine ISO 11452 4 EMC Emissions Component Frequency Narrowb MHz dBuV m Broadb dBuV m 30 75 54 44 75 400 44 55 400 1000 55 64 54 54 65 65 ISO 14982 Electrostatic Discharge 4 kV contact 8 kV air ESD EN 61000 4 2 Enclosure IP67 IEC 60529 41 User Manual and Reference Handbook for the CrossCode CX BT CrossCode CX BT Technical Support Contact your reseller or supplier for help with possible problems with your CrossCode CX BT In order to get the best help you should have access to your CrossCode CX BT and be prepared with the following information before you contact support Part number and serial number of the unit which you find on the brand label Date of purchase which is found on the invoice The conditions and circumstances under which the problem arises LED indicator colours and blink patterns EMCY object Error Codes if possible Description of external equipment which is connected to the CrossCode CX BT 42 User Manual and Reference Handbook for the CrossCode CX BT CrossCode CX BT Trade Mark etc 2006 CrossControl All trademarks sighted in this document are the property of their respective owners
38. n DS301 This module cannot generate sync messages CrossCode 0x1008 0 str ro CX BT Device name 0x1009 0 str ro 1 0 Hardware version 0x100A 0 str ro 1 0 Software version 0x100C 0 u16 rw 0 No Guard time as specified in DS301 0x100D 0 u8 rw 0 No Life time factor as specified in DS301 0x1014 0 u32 rw 2x80 gee No EMCY COB ID as specified in DS301 0 EN 0 No Heartbeat Number of entries i Number of heartbeat guarded nodes 0x1016 Heartbeat Consumer Time 1 127 u32 rw 0 No Monitoring time for node xx as specified in DS301 Producer heartbeat time as specified in 0x1017 0 u16 rw 0 Yes DS301 0 u8 ro 4 Identity Object Number of entries 1 u32 ro OxF2 Vendor ID 0x1018 2 u32 ro TBD Product code 3 u32 ro 0 Revision number 4 u32 ro 0 Serial number Error Behaviour Number of entries 0 u8 rw 9 No 0 E Preoperational if already operational 1 no state change 2 Stopped 1 u8 rw 0 No Communication mandatory Not used 0x1029 2 u8 rw 0 No Bus off 3 u8 rw 0 No CAN error state 4 u8 rw 0 No CAN buffer overrun 5 u8 rw 0 No SW error 6 u8 rw 0 No Guarding of other node failed 26 User Manual and Reference Handbook for the CrossCode CX BT Index S Idx Type Default Saved Description 7 u8 rw 0 No Heartbeat from other node failed u8 rw 1 No PDO with wrong length received 9 A 4 No EEPROM runs
39. oO User Manual and Reference Handbook for the CrossCode CX BT Node ID selection X3 25 25 LED Driver X3 26 26 LED Driver X3 27 27 LED Driver X3 28 28 LED Driver X3 29 29 LED Driver X3 30 30 LED Driver X3 31 31 Bluetooth Status LED LED Driver X3 32 32 GND X3 33 33 PWM Output X3 34 34 GND X3 35 35 24 Veatt X3 36 36 Digital Input Digital Output X3 37 37 Digital Input Digital Output X3 38 38 Digital Input Digital Output X3 39 39 Digital Input Digital Output X3 40 40 Digital Input Digital Output X3 41 41 Digital Input Digital Output X3 42 42 Digital Input Digital Output X3 43 43 Digital Input Digital Output X3 44 44 Digital Input Digital Output X3 45 45 Digital Input Digital Output X3 46 46 Digital Input Digital Output X3 47 47 Digital Input Digital Output X3 48 48 Digital Input Digital Output X3 49 49 5 Voc X3 50 50 GND x3 51 51 ae Digital Input Digital Output X3 52 52 PL a Digital Input Digital Output X3 53 53 ae Digital Input Digital Output X3 54 54 OO Digital Input Digital Output X3 55 55 aia ag Digital Input Digital Output x3 56 56 gre aaa Digital Input Digital Output X3 57 57 ENE e Digital Input Digital Output X3 58 58 ie a Digital Input Digital Output X3 59 59 lis OS Digital Input Digital Output X3 60 60 panopey Digital Input Digital Output User Man
40. oder Input Frequency 0 25 kHz Interrupt driven Power Interface Power Interface Electrical Characteristics Value Parameter Min Typ Max Unit Comment Supply Voltage Vaart 9 24 32 V Load dump protected Supply Current CrossCodeTM CX 50 100 500 mA Depending on load Supply Current a A CrossCode BT 55 105 520 mA Depending on load Note does not include PWM Output current backlight driver equal to max 1 Amp 16 User Manual and Reference Handbook for the CrossCode CX BT CAN Interface Before a CAN Network can be established the baud rate must be the same for every device whereas the CANopen Node ID must be uniquely assigned to each device The CAN Baud Rate and CANopen Node ID can be configured in hardware by jumpering various pins low or high Alternatively these parameters may also set by writing to the Object Dictionary using SDOs The following tables describe how to jumper the ports if these parameters are to be set via hardware CAN Baud Rate Selection Baud Rate Port 55 Port 56 Port 57 0 1000 kbit s default 0 0 0 1 800 kbit s 0 1 2 500 kbit s 0 1 0 3 250 kbit s 0 1 1 4 125 kbit s 1 0 0 5 100 kbit s 1 0 1 6 50 kbit s 1 1 0 7 20 kbit s 1 1 1 assumes no pins are jumpered and Bias Group 4 is pull down default setting State 0 is reached by wiring the corresponding selector pin to GND State 1 is reached by wiring the
41. oder Inputs Ports 1 amp 2 and ports 3 amp 4 act in pairs to accept inputs from two shaft encoders The CrossCode CX BT can process these inputs and therefore act as a Shaft Decoder The Encoder Input port biases are configurable as a whole using Bias Group 1 which can be set in the object dictionary at index 0x2003 to be either pull up pull down or floating This port bias must compliment the output type of the encoders you are using For high side drivers configure Digital Inputs with pull down resistors default For low side drivers configure Digital Inputs with pull up resistors For bipolar totem pole or push pull signals configure Digital Inputs as floating i e neither pull up nor pull down resistors Over voltage protection at the inputs will shut down the input transistors over 5 volts but the inputs can still be read at 32 volts without any damage to the unit In this way the encoder inputs can accept a wide range of inputs without any configuration changes as long as the logic high threshold is observed Shaft Encoder Inputs Port Signal Name Comment 1 Encoder Input Shaft 1 A 2 Encoder Input Shaft 1 B 3 Encoder Input Shaft 2 A 4 Encoder Input Shaft 2 B Electrical Characteristics for Encoder Inputs E Value Signal Name Parameter Min Typ Max Unit Comment Input Voltage 0 32 V logic high threshold at 3 5 V Enc
42. onfigured to provide various types of I O intended for HMI related signals such as joysticks rotary knobs pushbuttons LED drivers and instrumentation lighting The CrossCode CX BT can therefore be configured to have Up to 35 Digital Outputs Up to 35 Digital Inputs Up to 8 Analog Inputs with 2 software selectable ranges 0 5V or 0 28 V 17 Analog Outputs LED Drivers 1 PWM Pulse Width Modulated Output intended for a Backlight Driver 4 Shaft Encoder Inputs 2 pairs There are 4 ports for providing power to other devices 2 joystick power supply outputs 5 V 2 peripheral power supply outputs 9 32 V Configurable using SDOs Service Data Object 7 statically mapped PDOs Process Data Objects compliant to DS 401 Supports use of synch object Support for both heartbeat and node guarding The CrossCode CX BT is an EMCY object producer The COB ID Communication Object Identifier of the EMCY object can be configured Storage for up to 127 Error codes Reset function restores settings back to their factory default values Bluetooth Class 1 wireless serial interface CrossCode BT only User Manual and Reference Handbook for the CrossCode CX BT Technical Data Processor Fujitsu MB90F Physical Housing Plastic enclosure filled with silicon compound Dimensions L x Wx H 175 x 82 x 32 mm 48 60 mm with attached cables Weight 3759 Environment Temperature Range Protection rating EMC Conformity O
43. perating 40 C to 75 C IP67 IEC 60529 ISO 14982 for Emissions ISO 11452 2 for Immunity Power Supply Operating voltage Current consumption 9 to 32 VDC lt 50 mA at 24V without external load Indicators One red green LED indicator CAN interface Communication profile Device Profile ISO 11898 2 High Speed CAN CANopen I O module to CIA DS401 Baud Rate 20 50 100 125 250 500 800 and 1000 kbit s Node ID 1 to 8 set with connector key or 1 to 127 set with SDOs Bluetooth Interface Wireless serial interface via Bluetooth Class 1 Range 100 meters Baud Rate 1 Mbit s Connectors 1 0 62 pole D SUB CAN DIN M12 Power DIN M12 Digital Inputs Input Voltage 0 5V 0 32V Digital Outputs Max Voltage 0 5V Max Current 4 mA Protection Over current Protection Digital Encoder Inputs Voltage 0 5V 0 36V Protection Over voltage Protection Analog Inputs Input Voltage 0 5Vor0 28 V Input impedance 1 MO or 12 2 kQ Resolution 10 bits Conversion Error 3 LSB Protection Over voltage Protection Analog Outputs LED Drivers Low side drivers with independent intensity settings PWM Analog Output Max Voltage 9 32V Max Current 1A Protection Short Circuit Protection Power Outputs Joystick Peripheral Voltage 5 VDC 9 32 VDC depending on power supplied Max Current 0 3A 0 1A Approvals Certifications e Buetooth CIA CE 150 IEC References Bluetooth http ww
44. t Initialisation for Port 11 dd yA 911 veS Only used if configured as Digital Output Port Initialisation for Port 12 12 UAIN oxy ie Only used if configured as Digital Output 13 u32 rw Unused 14 u32 rw Unused 15 u32 rw 0 0 15 Yes Port Initialisation for Port 15 16 u32 rw 0 0 15 Yes Port Initialisation for Port 16 17 u32 rw 0 0 15 Yes Port Initialisation for Port 17 18 u32 rw 0 0 15 Yes Port Initialisation for Port 18 19 u32 rw 0 0 15 Yes Port Initialisation for Port 19 20 u32 rw 0 0 15 Yes Port Initialisation for Port 20 35 User Manual and Reference Handbook for the CrossCode CX BT Index 0x2100 S ldx Type EOS Saved Description 21 u32 rw 0 0 15 Yes Port Initialisation for Port 21 22 u32 rw 0 0 15 Yes Port Initialisation for Port 22 23 u32 rw 0 0 15 Yes Port Initialisation for Port 23 24 u32 rw 0 0 15 Yes Port Initialisation for Port 24 25 u32 rw 0 0 15 Yes Port Initialisation for Port 25 26 u32 rw 0 0 15 Yes Port Initialisation for Port 26 27 u32 rw 0 0 15 Yes Port Initialisation for Port 27 28 u32 rw 0 0 15 Yes Port Initialisation for Port 28 29 u32 rw 0 0 15 Yes Port Initialisation for Port 29 30 u32 rw 0 0 15 Yes Port Initialisation for Port 30 31 u32 rw 0 0 15 Yes Port Initialisation for
45. t subsequent pulses to a cumulative total which represents the shaft position The CrossCode CX BT supports quadrature decoding which means a 1000 line encoder for example will generate a shaft position of 4000 pulses per revolution The shaft position is relative and must therefore be reset to zero at startup or when the mechanism is in its home position For more details refer to the Object Dictionary sub index Ox200A 24 User Manual and Reference Handbook for the CrossCode CX BT Transmit PDO 4 COB ID 480h Node ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 LSB MSB LSB MSB Shaft 1 Position Shaft 2 Position Shaft Position is reported in number of pulses 25 User Manual and Reference Handbook for the CrossCode CX BT Object Dictionary Communication Profile Area index 0x1000 to 0x1FFF Index S Idx Type Default Saved Description 0x1000 0 u32 ro 0xf0191 i V type DS401 analog in out digital Error Register OLIT 28 MORO E Bit coded as specified in DS301 Pre Defined Error Field 0 u32 ro 0 Number of entries Value is increased each 0x1003 time a new error is encountered Error Code History New sub indices are 1 127 u32 ro 0 created every time new error is encountered COB ID Synch Object 0x1005 0 u32 rw 0x80 No SYNC configuration as specified i
46. the PWM Output Backlight Driver Port 33 RPDO 4 is unused 22 User Manual and Reference Handbook for the CrossCode CX BT Receive PDO 1 COB ID 200h Node ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 0 7 0 4 0 6 0 7 0 3 0 7 0 7 0 7 Digital Output Digital Output Digital Output Digital Output Digital Output X X X Ports 36 43 Ports 44 48 Ports 54 60 Ports 5 12 Ports 1 4 5 7 7 4 7 X X Digital Output Ports 51 53 Note Only bits that corresponds to port configured as Digital Output will be used X denotes unused spare bits Receive PDO 2 COB ID 300h Node ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 0 3 0 3 0 3 0 3 0 3 0 3 0 3 0 3 LED Output LED Output LED Output LED Output LED Output LED Output LED Output LED Output Port 15 Port 17 Port 19 Port 21 Port 23 Port 25 Port 27 Port 29 4 7 4 7 4 7 4 7 4 7 4 7 4 7 4 7 LED Output LED Output LED Output LED Output LED Output LED Output LED Output LED Output Port 16 Port 18 Port 20 Port 22 Port 24 Port 26 Port 28 Port 30 The four bit values 0x0 to OxF represent the intensity level of each LED where 0x0 off OxF max Receive PDO 3 COB ID 400h Node ID nee ee Byte 3 Byte 4 Byte 5 Byte6 Byte7 Byte 8 0 3 0 7 0 7 10 7 0 7 10 7 Duty Cycle for LED Output PWM Output Port 31 X X x x x Port 33
47. ts 36 to 43 0x1600 Second mapped object for receive PDO 1 2 us2 rw 0x62000208 No Digital Output Ports 44 to 53 Third mapped object for receive PDO 1 3 u32 rw 0x62000308 No Digital Output Ports 54 to 60 4 u32 rw 0x62000408 No Fourth mapped object for receive PDO 1 27 User Manual and Reference Handbook for the CrossCode CX BT Index S Idx Type Default Saved Description Digital Output Ports 5 to 12 Fifth mapped object for receive PDO 1 MSZ LW 0000008 Ne Digital Output ports 1 to 4 E 7 Sixth to eighth mapped object for receive ae Mere No PDO 1 Unused Receive PDO 2 0 ub 8 No Number of entries Maximum 8 First mapped object for receive PDO 2 1 uS2 rw 0x64110108 No En Output Ports 15 amp 16 Second mapped object for receive PDO 2 2 us2 tw 0x64110208 No ED Output Ports 17 amp 18 Third mapped object for receive PDO 2 3 u32 rw 0x64110308 No LED Output Ports 19 amp 20 Fourth mapped object for receive PDO 2 oxteo1 4 u32 rw 0x64110408 No LED output Ports 21 amp 22 Fifth mapped object for receive PDO 2 5 us2 nw 0x64110508 No LED Output Ports 23 8 24 Sixth mapped object for receive PDO 2 6 us2 nw 0x64110608 No LED Output Ports 25 amp 26 Seventh mapped object for receive PDO 2 7 u32 rw 0x64110708 No LED
48. ual and Reference Handbook for the CrossCode CX BT X3 61 61 GND X3 62 62 24 Veatt for CrossCode BTe BTi only Default for CrossCode CX Port 31 is LED Driver for CrossCode BTe BTi only Default for CrossCode CX Ports 51 54 is Digital Input Power Supply Connector X1 DIN M12 x 1 Conn Pin Port Default Signal Comments male ie X1 1 24 Vege Main Power Input readen 2 X1 2 24 Veatt Main Power Input X X1 3 GND Main Ground Input i 1 X1 4 GND Main Ground Input 4 CAN Connector X2 DIN M12 x 1 Conn Pin Port Default Signal Comments male 5 pole X2 1 E CAN Shield B coded X2 2 24 Veatt Alternative Power Input X2 3 GND Alternative Ground Input 3 4 X2 4 CANH X2 5 CANL 3 4 SMA Antenna Connector This connector is used to attach an external bluetooth antenna Only SMA Female antennas certified to use with Bluegiga circuit WT11 should be used If an extension cable shall be used between the unit and the antenna choose a cable suited for 2 4 GHZ for CrossCode BTe only Notice that the connector illustrations are those which are located on the unit not those that the attached cables shall have in order to mate with them Use caution when plugging unplugging connectors If the pins become bent or damaged they may not function correctly or in the worst case the CrossCode
49. ut Type 1 e Pullup p Bias 51 to 53 a e Pull down Group 3 e Floating Bias 54 to 60 Group 4 13 User Manual and Reference Handbook for the CrossCode CX BT Electrical Characteristics for Digital Inputs Value Signal Type Parameter Unit Comment Min Typ Max over voltage protection 5 V Input Voltage 0 32 V but allows inputs up to 32 V logic high thresh 3 5 V Digital Input Type 1 9 10 11 KQ pull down configuration Input Impedance 25 50 100 kQ pull up configuration 1 MQ floating configuration Input Voltage o 5 v protection 0 5 V 5 5 V low range Input Voltage high range 0 27 7 V protection 0 55 V 30 5 V Ti tant 100 Digital Input Type 2 ll qe Input Impedance 1 MQ low range to GND 12 2 kQ high range Input Capacitance 10 nF placed after 10 kO resistor Digital Outputs There are two types of Digital Outputs There are 27 Digital Outputs of Type 1 and 8 Digital Outputs of Type 2 All of the Type 2 Digital Outputs as well as Ports 1 to 4 and Ports 51 to 60 from the Type 1 Digital Outputs must be reconfigured in order to be used as Digital Outputs The ports can be reconfigured by writing SDOs to the Object Dictionary in the Manufacturer Specific Profile Area indices 0x2000 and 0x2010 0x2021 Digital Outputs Port Signal Type Comment 1 to 4 Digital Output Type Functional Group
50. w bluetooth com CAN in Automation CANopen standard http www can cia or CE Marking http ec europa eu International Standards Organisation International Electrotechnical Commission http www iso org http www iec ch User Manual and Reference Handbook for the CrossCode CX BT Dimensions The CrossCode CX BT dimensions and placement of the four mounting holes are illustrated below The four mounting lugs have clearance holes for 3 5 mm bolts The module weighs 375 grams 32 0 5 e Aca EET ET 175 a 3 5x4 toa AAA E PEIA A E 167 A APEE O EIE IEEE Identification There is a label on the front of the CrossCode CX BT On the label there are numbers which identify your unique module Take note of them During service and other contact with the supplier it is important to be able to provide these numbers Environmental Tolerance The CrossCode CX BT has been designed to cope with tough environmental demands Strict tests have been conducted on the unit in order to ensure that it fulfils the expectations of a rugged unit Much work has been performed to choose and design integral components so that they in the best possible way and under all circumstances provide you with a dependable working instrument In Appendix 1 a list of standards can be found according to which the CrossCode CX BT has been tested and approved Despite thorough design requirements and testing specifications it is alw
51. x2003 in the Object Dictionary 12 User Manual and Reference Handbook for the CrossCode CX BT Over voltage protection at the Type 1 inputs will shut down the input transistors over 5 volts but the inputs can still be read at 32 volts without any damage to the unit In this way the Type 1 Digital Inputs can accept a wide range of inputs without the need for configuration changes Type 2 Digital Inputs are configured as Analog Inputs by default but may be configured to act as Digital Inputs To do this write to index 0x2000 in the Object Dictionary These inputs have no pull up down capabilities and can therefore only accept bipolar inputs The Type 2 Digital Inputs are sub divided into 2 Voltage Groups Whether or not the Type 2 Digital Inputs are using the high or low range is selectable for each Voltage Group as a whole ports can not be configured individually Configuring the voltage range is done at index 0x2001 Digital Inputs Port Signal Type Comment Group Functional Group Encoder Inputs 1to4 Digital Input Type 1 With software selectable bias options Bias 4 ports e Pullup Group 1 e Pull down e Floating 5to 8 Functional Group Analog Inputs Voltage a Group 1 Midi e 2 With software selectable voltage range 9to 12 p e Low range 0 to 5V Voltage e High range 0 to 28 V Group 2 oe Bias 36 to 43 Functional Group Digital I O s Group 2 a With software selectable bias options e Digital Inp

CrossFire CX and CrossCode BT

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