User Manual Connection to CAN
Contents
1. 2 2 6 SUTRON ELECTRONIC GMBH CAN 2 3 4 Structure of the Status Byte The status byte within the request and response PDO has the following structure Table 2 2 Structure of the status byte in a request and response PDO Bit Value Access Description 0 1 2 Bit Length of the Set Delete Bit Mask 1 3 4 Byte Number in Bytes 2 4 Word Number in Bytes 2 4 Double Number in Bytes Word 3 This bit toggles with each PDO This indicates to the controller that a new PDO has been received 4 Telegram Type 0 Request Telegram 1 Response Telegram 5 0 Bit Bit Access in Write Mode Set Delete 1 Byte Read or Write Byte 6 2 Word Read or Write Word 3 Double Read or Write Double word Word 7 0 Request PDO Write 1 Request PDO Read 0 Response PDO No Error 1 Response PDO Error from the controller during telegram processing The first data byte contains the error number 2 3 5 Index Bytes This value specifies the index from the communication partner s object dictionary The index points to one variable without subindex the beginning of an array the beginning of a record If you do not use CANopen the numbering between communication partners can be declared here as desired 2 3 6 Subindex Byte This value specifies the subindex from the communication partner s object dictio nary The subindex points to one variable basic CAN variable of the size of the ac c2. User Manual Connection to CAN Part Number 80 860 634 Version 2 Date 23 11 2005 Valid for TSwin net 4 0x TSwin net 4 1x sutron ELECTRONIC GMBH Version Date Modifications 1 04 07 2005 First edition 2 23 11 2005 Validation extended chapter Important Notes added protocol parameters corrected This manual including all illustrations contained herein is copyright protected Use of this manual by any third party in departure from the copyright provision is forbidden No part of this manual may be reproduced trans lated or electronically or photographically archived or altered without the express written consent from S tron electronic GmbH Violations shall be cause for damage liability S tron electronic reserves the right to make any changes that contribute to technical improvement 6 SUTRON ELECTRONIC GMBH Overall Table of Contents 1 Important Notes Overall Table of Contents mr 1 1 SYMBOIS4 u ai ke 000 1 1 SENI e 1 1 Intended Use ale a E Ea 1 1 Target Group te reote intera ege eon wa RE X REB 1 2 un m b 2 1 Data Obiecis 2 1 Identifier ini 2 1 PDO Communication 2 1 Indirect Process Data Communication 2 1 Data Exchange 2 2 Structure of
3. 1 5222 2 10 Register Errors in Serial Message 2 11 0 m 2 11 Terminal Status on the eer anne 2 12 Node Guarding for SDO 2 12 Communication Relatioris cote rrt rrr tree n n ee a 2 12 Terminal Module NUMD ET dE bra ra bati tana anderer hen 2 13 6 SUTRON ELECTRONIC GMBH Overall Table of Contents 2 6 1 10 2 gm 2 13 2 6 1 11 Identifier Setlings 2 2 22 22 A 2 14 2 6 2 Poll Area via PDO 1 2 15 2 6 3 Poll Area via SDO Channel sss 2 15 2 6 4 Parallel Message System via PDO 2 16 2 6 5 Parallel Message System SDO 2 16 2 6 6 Strings via the SDO na 2 16 2 6 7 Tables via the SDO Channel sss 2 16 2 6 8 Input 2 17 2 6 9 Physical Connection 2 00 2 18 2 6 9 1 Pin Assignmehnit asa eaa CO EX EE GA EA ERR EX EA ER bes 2 18 2 6 9 2 for CAN Muenster I e RI 2 18 2 7 eee oin alien 2 1
4. 2 31 2 7 Error Messages Error messages are displayed on the operating device along with a code and sub code Error messages are composed as follows Communication Error Code XXXXX Subcode XXXXX Retries XXXXX CAN error messages Code Subcode Error Type Possible Cause 1 Slave is currently not ready Packets out of sequence Protocol framing error Timeout CRC error Parity error Send process aborted Receive process aborted NI oO a AJOJN Buffer too small for cyclic data No cyclic data defined Cyclic data already defined The selected protocol is not supported Receive buffer overrun gt o Undefined system variable o Error from CAN controller Error number is stated in subcode Stuff error Format error Operating device has no connection to bus No stations are connected to the bus 4 5 Bus error Bus line has short circuit to logical 0 or 1 CBC error 51 No response from communication partner No partner for request obiect or response obiect No recipi ent for transferred identifier XX Identifier where the error occurred S sutron ELECTRONIC GMBH CAN Table 2 31 error messages Code Subcode Error Type Possible Cause 53
5. 6 Programming 2 6 1 Protocol Parameters With the protocol parameters you can adapt the communication of the controller used 2 6 1 1 Baud Rate This parameter specifies the communication rate Table 2 13 Baud rate Configurable Values Baud Default Value 10 kBit s 20 kBit s 50 kBit s 100 kBit s 125 kBit s 250 kBit s 500 kBit s 1 MBit s 2 6 1 2 Maximum Waiting Time For Response This parameter specifies how long the operating device waits for a response from the controller Table 2 14 Maximum waiting time for response Configurable Values Default Value 1 ms to 65535 ms 1000 ms 2 6 1 3 Delay until Connection Set Up This parameter specifies the waiting time after which the operating device starts the communication Table 2 15 Delay until connection set up Configurable Values Default Value 1sto255s 5s S sutron ELECTRONIC GMBH CAN 2 6 1 4 Register Errors in Serial Message System If you activate this parameter Node Guarding and service related errors re corded Table 2 16 Register errors in serial message system Configurable Values Default Value ON x OFF Enter the following error numbers and error descriptions into the list of error mes sages Table 2 17 Error messages for the serial message system for CAN Value Text
6. Device Reaction Start node 1 0 OPERATIONAL Stop node 2 0 PRE OPERATIONAL Enter pre operational 128 0 PRE OPERATIONAL Reset node 129 0 Communication Error 60 Reboot PRE OPERATIONAL Reset communication 130 0 Re initialize CAN PRE OPERATIONAL If you choose the value Master the parameter Node guarding for SDO channels is enabled and can then be selected After the initializing phase the operating device sends a global Start Node telegram to every station 2 6 1 7 Node Guarding for SDO Channels A limited node guarding is performed A slave which is accessed by the operating device per SDO expects a Start Node telegram During operation the operating device monitors all SDO channels to verify thatthe stations are in the OPERATIONAL state It uses a Node Guarding telegram for this purpose If a station is not in this state a Start Node telegram is sent to this station to restore it to the OPERATIONAL state Table 2 21 Node guarding for SDO channels Configurable Values Default Value OFF X ON 2 6 1 8 Communication Relations Define up to 15 independent communication relations in the table 2 12 6 SUTRON ELECTRONIC GMBH CAN i Terminal module number 10 ba Cancel Default settings set Help Commu Identifier settings Default nication HE EE n over identifier identifier Mode Module Request Response rds 6 roo2
7. General 9020 Terminal is in PRE OPERATIONAL State 9021 Terminal is in OPERATIONAL State Only if Terminal Status Master 9012 Timeout Waiting for Response When Reading the Guarding Identifier 9013 Timeout Waiting for Response When Reading the Guard Time 9014 Timeout Waiting for Response When Reading the Life Time Factor 9015 Timeout During Guarding Telegram 9129 to 9255 Emergency telegram from SDO partners Error number 9000 128 node number of the emergency message 2 6 1 5 Use CANopen If you activate this parameter you indicate that you are using CANopen Table 2 18 Use CANopen Configurable Values Default Value OFF x ON Activating this parameter allows you to choose the following parameters Terminal Status on the Bus CANopen service S sutron ELECTRONIC GMBH CAN 2 6 1 6 Terminal Status on the Bus Use this parameter to determine whether you want the operating device to function as the master or the slave This applies to SDO accesses services and node guarding Table 2 19 Terminal status on the bus Configurable Values Default Value Slave X Master If you choose the value Slave the operating device after initializing expects a start stop telegram from the master In addition it responds to NMT commands Table 2 20 NMT commands NMT Command Byte 0 Byte 1 Operating
8. Request and Response 2 2 Structure of the Status sen 2 3 Midex Byle S CER 2 3 Subindex Byte sen lad sl 2 3 User Data Bytes of Request and Response PDO 2 4 Response Object With an Error sse 2 5 Tasks of the Communication Partner 2 5 Procedure for Communication Without 2 5 Procedure for Communication With Errors 2 5 SDO Communication 2 6 Server SDO Mr 2 6 2 6 CANopen in Operating Devices 2 6 tact rate eeu naa dad ud nee nares 2 6 Object Dictionary 2 6 Object Description nnns 2 8 Guard tot 2 8 a 2 8 Store 5 2 9 Restore Default Parameters 2 9 Programming M en 2 10 Protocol Parameters esses nennen nnn 2 10 Baud Rate daaa bala daaa any daaa KA A 2 10 Maximum Waiting Time For 2 10 Delay until Connection 5
9. Syntax The following image illustrates the structure of the input syntax for variables in the programming software gt B j Number gt Number gt 2 gt Number ndex Subindex Bit number BY Number Number Index Subindex W DVV Figure 2 2 Syntax diagram S sutron ELECTRONIC GMBH CAN Operating Device 2 6 9 Physical Connection The operating devices to be connected to the CAN bus are equipped with interfaces complying with the CiA Draft Standard 102 for operating devices with two interfaces all signal lines are jumpered from connector to connector 2 6 9 1 Pin Assignment 5 1 00000 0000 9 6 Figure 2 3 9 pin D SUB female connector strip Connector in the terminal 9 pin D SUB female connector strip Table 2 30 Pin assignment CAN Pin Designation Function 1 nc Not Connected 2 CAN L CAN L Bus Line Dominant LOW 3 CAN GND CAN Ground 4 nc Not Connected 5 nc Not Connected 6 CAN GND CAN Ground 7 CAN H CAN H Bus Line Dominant HIGH 8 nc Not Connected 9 nc Not Connected 2 6 9 2 Cable for CAN Next CAN Bus Participant B o gt N x I z m INN o o gt gt Z Z E qo CAN GND SME 2 D SUB D SUB Male Connector Female Connector 9 Pin 9 Pin 2 18 6 SUTRON ELECTRONIC GMBH CAN Table
10. Variable Name Access Index Sub Bit Number Communication Address index Relation Type Var12 Double 200 20 3 1 4 word Double word access Index 200 subindex 20 communication relation 1 Index 200 to 300 in communication relation 1 is a double word address However the default setting is Byte address Therefore a 4 must be entered for the address type Var11 Double 50 25 6 word Double word access Index 50 subindex 25 communication relation 6 S sutron ELECTRONIC GMBH CAN 2 24 ELECTRONIC GMBH Index A Index Cable 2 18 CAN E 2 1 Important notes ll 1 1 Intended USE 1 1 Pin assignment se Red ann 2 18 Protocol parameters ee 2 10 S Safety Notes 1 1 een 1 1 T Target group aces 1 2 6 SUTRON ELECTRONIC GMBH Index 2 ELECTRONIC GMBH 6 SUTRON ELECTRONIC GMBH S tron electronic GmbH Kurze Stra e 29 D 70794 Filderstadt Phone 0049 711 77098 0 Fax 0049 711 77098 60 E mail doku suetron de Internet www suetron com 6 SUTRON ELECTRONIC GMBH
11. byte of the request object is copied to the response object with the following change Bit 7 Control bit 1 Error detected Bit 4 Telegram type 1 Response object 2 Index and subindex are copied from the request object to the response object 3 The error number is entered into byte 5 2 4 SDO Communication SDO communications are point to point connections One station is always the client while the other acts as a server With CANopen a distinction is made between a client SDO and a server SDO 2 4 1 Server SDO Each CANopen module has a server SDO channel This channel allows external ac cess to the object dictionary 2 4 2 Client SDO In addition to a server SDO channel the operating device also has a client SDO channel This makes it possible to access the object dictionary using the server SDO channel of another device 2 5 CANopen in Operating Devices 2 5 1 Capability The operating device is a minimum capability device in accordance with DS301 and thus provides minimum NMT functionality PRE OPERATIONAL and OPERA TIONAL only 2 5 2 Object Dictionary Table 2 8 Object dictionary for CANopen Index Object Name Type Attribute 0x1000 VAR Device Type Unsigned 32 const 0x1001 VAR Error Register Unsigned 8 ro 0x1004 ARRAY Number of PDO Supported Unsigned 32 ro 0x1008 VAR Manufacturer Device Name vis string const 0x1009 VAR Manufacturer Hardware Version vis string
12. nication Rules Identifier address en Mode Connected Module Response n with number identifier identifier EE Manual Master Jo T n 2 x CANopen Master Te em 1 13 root CANopen sve o 2 5 CANopen Master s Te 2 16 CANopen Master B 4 Manual Master jo 185 Master 1418 1546 i s Manual Master 9 1 10 Manual Master jo T 11 Manual Master jo 2 Manual Master jo fm fi 13 Manual Master jo 1 14 Manual Master jo 185 1 15 v Manual Master jo 185 1 Figure 2 4 Communication relations for CAN 6 SUTRON ELECTRONIC GMBH 2 21 CAN Below see an example of a variable list with sample variables for these communica tion relations Table 2 32 Variable list for CAN No Variable name Address Comm Relation 0 Vari B 0 1 3 1 1 Var2 B 100 10 12 5 2 Var3 B 100 10 12 1 2 3 Var4 BY 1 35 1 4 Var5 BY 10 78 1 5 Var6 W 11 24 1 6 Var W 100 102 5 7 Var8 W 130 12 1 2 8 Var9 DW 100 102 5 9 Var10 DVV 130 20 1 2 10 Var11 DW 50 25 6 11 Var12 DVV 200 20 1 4 Explanation of the addresses Index 100 to 199 is wor
13. 9 2 9 Applications ni anne 2 21 2 8 1 Examples for Communication Relations 2 21 Wi eT A 1 6 SUTRON ELECTRONIC GMBH Important Notes 1 Important Notes A gt 1 1 Symbols The symbols in this manual are used to draw your attention on notes and dangers Danger This symbol is used to refer to instructions wich if ignored or not carfully followed could result in personal injury Note This symbol indicates application tips or supplementary notes Reference to source of information This symbol refers to detailed sources of information on the current topic 1 2 Safety Notes Read this manual carefully before using the operating device Keep this manual in a place where it is always accessible to all users Proper transportation handling and storage placement and installation of this product are prerequisites for its subsequent flawless and safe operation This user manual contains the most important information for the safe operation of the device The user manual in particular the safety notes must be observed by all person nel working with the device Observe the accident prevention rules and regulations that apply to the operating site Installation and operation must only be carried out by qualified and trained per sonnel 1 3 Intended Use The device is designed for use in the industry The device is state of the art and ha
14. CANopen Slave 30 798 ra v Manual Master Jo ps ps p 11 Poot Manual Master Tas ps 12 Manual Master Tas ps p 13 Manual Master Te 53 f 14 Manual I ET p iH 15 gt Manual Master fe B NEN Figure 2 1 Communication relations for CAN 2 6 1 9 Terminal Module Number ili Manual Master fs m FE 001 CANopen fi p 7 roo2 Manual Master 5 ps p 5 2 CANopen Master o Teo s nh 7 soo Manual Master pe ps p 8 spo CANopen Master Jo pas In CANopen mode the assignment of the identifiers for the request and response ob jects are computed based on the module number Table 2 22 Terminal module number Configurable Values Default Value 0 to 127 1 2 6 1 10 Communication Over This parameter specifies if the communication relation is to be handled using PDOs or SDOs Table 2 23 Communication over Configurable Values Default Value PDO1 x PDO2 SDO 6 SUTRON ELECTRONIC GMBH 2 13 CAN 2 6 1 11 Identifier Settings In CANopen mode the identifiers are assigned automatically If this mode is not used you need to assign values for the request and response identifier manually Mode This parameter indicates whether you want to enter the iden
15. Wrong response object Message without response bit PDO Identifier where the error occurred 54 Wrong response object Response without request Identifier where the error occurred 55 Operating device can not find CAN hardware CAN hardware in operating device is defective 0 60 0 message from master with module reset 129 0 100 Error from communication partner Error number is stated in subcode Error number from communication partner freely definable System errors 1283 Parameter inconsistent Toggle bit does not change 1284 Waiting time has elapsed 1537 Write access to read only object 1538 Object does not exist 1542 Error during access due to a hardware error 1543 Data type conflict 1545 Subindex does not exist 2048 Other error 2 20 6 SUTRON ELECTRONIC GMBH CAN 2 8 Applications 2 8 1 Examples for Communication Relations With TSwin you can define up to 15 communication relations Carry out the following steps to open the table for the communication relations 1 In the main window of TSwin select the Controllers tab 2 Select the Communication parameters option from the left list box 3 Click the Edit button The Protocol parameters CAN window appears 4 Click the Communication relations button The CAN Communication relations window opens CAN communication relations Ed Terminal module number 5 Default settings set Cancel Help Commu Identifier settings Default
16. ation objects The communication objects are divided up into PDOs pro cess data objects and SDOs service data objects PDOs process data objects Maximum length 8 bytes Contain 1 to 64 data objects from the object dictionary Their contents is defined by the device manufacturer SDOs service data objects Direct access to the object dictionary via index and subindex Data of any size can be transmitted 2 2 Identifier Every communication object is identified by a unique identifier Every PDO is a com munication object to which an identifier is assigned Two communication objects are always required for communications based on using SDOs An identifier is assigned to each of the two communication objects 2 3 PDO Communication 2 3 1 Indirect Process Data Communication An operating device is generally capable of displaying or changing a data volume many times larger than that which can be exchanged using a PDO In addition the PDOs predefined by the device manufacturer usually do not contain the data to be processed by the operating device For this reason the operating de vice does not access data objects directly but through special communication ob jects a request PDO and a response PDO The request PDO and response PDO are used to establish a point to point connec tion on the data level between two devices 2 1 6 SUTRON ELECTRONIC GMBH CAN Operating device is th
17. const 0x100A VAR Manufacturer Software Version vis string const 2 6 6 SUTRON ELECTRONIC GMBH CAN Table 2 8 Object dictionary for CANopen 6 SUTRON ELECTRONIC GMBH Index Object Name Type Attribute 0x100B VAR Node ID Unsigned 32 ro 0x100C VAR Guard Time Unsigned 16 rw 0x100D VAR Life Time Factor Unsigned 32 rw 0x100E VAR Guard ID Unsigned 32 ro 0x100F VAR Number of SDO Supported Unsigned 32 ro 0x1010 VAR Store Parameters Unsigned 32 rw 0x1011 VAR Restore Default Parameters Unsigned 32 rw 0x1014 VAR Emergency ID Unsigned 32 ro 0x1200 RECORD 1st Server SDO SDO Parameter ro 0x1280 RECORD 1st Client SDO SDO Parameter ro 0x1281 RECORD 2nd Client SDO SDO Parameter ro 0x1282 RECORD 3rd Client SDO SDO Parameter ro 0x1283 RECORD 4th Client SDO SDO Parameter ro 0x1284 RECORD 5th Client SDO SDO Parameter ro 0x1285 RECORD 6th Client SDO SDO Parameter ro 0x1286 RECORD 7th Client SDO SDO Parameter ro 0x1287 RECORD 8th Client SDO SDO Parameter ro 0x1288 RECORD 9th Client SDO SDO Parameter ro 0x1289 RECORD 10th Client SDO SDO Parameter ro 0x128A RECORD 11th Client SDO SDO Parameter ro 0x128B RECORD 12th Client SDO SDO Parameter ro 0x128C RECORD 13th Client SDO SDO Parameter ro 0x128D RECORD 14th Client SDO SDO Parameter ro 0x128E RECORD 15th Client SDO SDO Parameter ro 2 7 CAN 2 5 3 Object Description De
18. d oriented Index 200 to 300 is double word oriented Table 2 33 Explanation of the addresses The following applies to the communication relation 1 Index 0 to 99 is byte oriented Sub index Variable Name Access Index Bit Number Communication Relation Address Type Var1 Bit 0 1 3 1 Bit access Bit 3 of index 0 subindex 1 of communication relation 1 If no address type is entered the default value in the communication relation definition table applies In this case no specified address type means byte address Var3 Bit 100 10 12 4 Bit access Bit 12 of index 100 subindex 10 of communication relation 1 Index 100 in the communication relation 1 is a word address However the default setting is Byte address Therefore a 2 must be entered here for the address type Var2 Bit 100 10 12 5 Bit access Bit 12 of index 100 subindex 10 of comm unication relation 5 Var5 Byte 10 78 4 Byte access Index 10 subindex 78 communication relation 1 Var8 Word 130 12 Word access Index 130 subindex 12 communication relation 1 Index 100 to 199 in communication relation 1 is a word address However the default setting is Byte ad dress Therefore a 2 must be entered here for the address type 2 22 6 SUTRON ELECTRONIC GMBH CAN Table 2 33 Explanation of the addresses
19. e client Communication partner is the server 2 3 2 Data Exchange Sequence All services required for the operation of the operating device are initiated by the op erating device itself i e the operating device has client functionality The communication partner merely responds to requests from the operating device i e the communication partner has server functionality The operating device sends a request PDO and the communication partner returns a response PDO as a reply acknowledgment If the communication partner receives a request object from the operating device it interprets the first 4 bytes for data direction and accessed data object In the case of a write request it stores the received data and returns a blank re sponse PDO for acknowledgment In the case of a read request it transfers the requested data to the operating device via a response PDO Request PDO and response PDO always exist in pairs Each pair stands for one communication relation between the operating device and one station 2 3 3 Structure of Request and Response PDO Request and response PDO are each 8 bytes in size The first four bytes of these objects contain the definition of the accessed data object from the object dictionary The remaining 4 bytes contain the data Table 2 1 Structure of request and response PDO Byte Content 1 Status 2 Index Low 3 Index High 4 Subindex 5 User Data 6 7 8
20. ess If you do not use CANopen the numbering between communication partners can be declared here as desired S sutron ELECTRONIC GMBH CAN 2 3 7 User Data Bytes of Request and Response PDO The user data are classified by the type of access Table 2 3 User data bit oriented in a byte address Byte Content 5 AND Mask 6 7 OR Mask 8 Table 2 4 User data bit oriented in a word address Byte Content 5 AND Mask Low Byte 6 AND Mask High Byte 7 OR Mask Low Byte 8 OR Mask High Byte The bit masks must be linked in the controller with the specified address using the OR or AND logical operations where the AND mask deletes bits and the OR mask sets bits Table 2 5 User data byte oriented in a word address Byte Word Content 5 1 Byte 1 6 Byte 2 7 2 Byte 3 8 Byte 4 Table 2 6 User data double word oriented in a word address Byte Double word Content 5 1 Lowest Byte 6 Byte 7 Byte 8 Highest Byte 6 SUTRON ELECTRONIC GMBH CAN 2 3 8 Response Object With an Error If a communication error occurs a response object with the following structure is re turned Table 2 7 Structure of the response object containing an error Byte Content 5 Error Number 6 7 8 2 3 9 Tasks of the Communication Partner The TesiMod operating device s communication partner
21. has a server functionality As a server the communication partner is responsible for interpreting incoming tele grams and for replying with a response object This procedure must be performed within the waiting time specified in the protocol parameters A response object must be transferred in reply to every request object In the case of an error the communication partner simultaneously transmits an error number to the operating device 2 3 9 1 Procedure for Communication Without Errors 1 The status byte of the request object is copied to the response object with the following change Bit 7 Control Bit 0 Error free Action Bit 4 Telegram Type 1 Response Object 2 Index and subindex are copied from the request object to the response object 3 When the operating device writes data the user data must be copied to the ac cessed address 4 When the operating device reads data the data must be copied from the access ed address to the address for the user data bytes 2 3 9 2 Procedure for Communication With Errors If the communication partner detects an error in the request object contents this can be indicated to the operating device through an error message in the response ob ject The error numbers can be freely defined The operating device always displays the communication error Communication Error 100 The subcode of the error message contains the error number S sutron u ELECTRONIC GMBH CAN 1 The status
22. nication relations only Table 2 28 Default address type in bytes Configurable Values Default Value 1 Byte X 2 Word 3 Double word 2 6 2 Poll Area via PDO Channel For the poll area specify whether you want to use one or three variables for this pur pose Restrictions regarding the poll area with 1 variable The variables must be byte oriented or word oriented area must be contiguous controller must be able to access this area in bit mode The operating device must be able to access this area in word mode Restrictions regarding the poll area with 3 variables The variables must be byte oriented or word oriented The area for the single variable LED Control must be contiguous The controller must be able to access these areas in bit mode The operating device must be able to access these areas in word mode Table 2 29 Word oriented polling area for CAN Word Address Reference High Byte Low Byte Word Address 0 Index 100 WCB Reserved Subindex 0 Word Address 1 Index 100 Message Channel Message Channel Subindex2 High Byte Low Byte Word Address 2 Index 100 LEDs 1 to 4 LEDs 5 to 8 Subindex 4 Word Address 3 Index 100 LEDs 9 to 12 LEDs 13 to 16 Subindex 6 Word Address 4 Index 100 LEDs 17 to 20 LEDs 21 to 24 Subindex 8 Word Address 5 Index 100 LEDs 25 to 28 LEDs 29 to 32 Subindex 10 2 6 3 P
23. oll Area via SDO Channel You can define the poll area via SDO channel for one single variable only S sutron ELECTRONIC GMBH CAN The data for the poll area must be created as a segmented object on the server for this object The object for deleting the message number in the serial message chan nel must be created using the following subindex Poll area is byte oriented subindex 2 Poll area is word oriented subindex 1 2 6 4 Parallel Message System via PDO Channel The same principles that apply to the polling area apply to the data area for the par allel message system The data area must be byte oriented or word oriented byte address can be accessed in byte word or word mode word address can be accessed in word mode only 2 6 5 Parallel Message System via SDO Channel The data for the parallel message system must be created as a segmented object on the server for this object 2 6 6 Strings via the SDO Channel Strings must be created as a segmented object The size of strings can not exceed 48 bytes 2 6 7 Tables via the SDO Channel Data objects to be displayed as tables must be created on the server as an array The individual elements of an array are accessed via the subindex of the object Each subindex points to one element in the table The table can contain 256 ele ments as a byte word or double word 2 16 6 SUTRON ELECTRONIC GMBH CAN 2 6 8 Input
24. s been built to the latest standard safety re quirements However dangerous situations or damage to the machine itself or other property can arise from the use of this device The device fulfills the requirements of the EMC directives and harmonized Euro pean standards Any modifications to the system can influence the EMC behav ior S sutron ELECTRONIC GMBH Important Notes 1 4 Target Group All configuration and programming work in connection with the automation system must be performed by trained personnel only e g qualified electricians electrical en gineers The configuration and programming personnel must be familiar with the safety con cepts of automation technology b S sutron ELECTRONIC GMBH CAN 2 CAN operating devices with the interface closely conform with the Communication Profile specification The interface complies with the specifications of ISO DIS 11898 CANopen uses a subset ofthe CAL CAN Applications Layer communication ser vices The operating devices allow access to the data of devices on the CANopen bus by means of special PDOs or SDOs By defining up to 15 communication relations the operating device can access the data of up to 15 different devices 2 1 Data Objects All CANopen data are located an object dictionary with an index and subindex Data packets which can be exchanged on a CANopen network are referred to as communic
25. scribed below are only objects which differ from the standard definition 2 5 3 1 Guard Time Table 2 9 Guard time for Designation Value Index 100Ch Name Guard Time Object Code VAR Data Type Unsigned 16 Object Class Optional Access rw Value Range 100 to 65535 Default Value 0 2 5 3 2 Life Time Factor Table 2 10 Life time factor for CANopen Designation Value Index 100Dh Name Life Time Factor Object Code VAR Data Type Unsigned 8 Object Class Optional Access rw Value Range to 255 Default Value 0 S sutron ELECTRONIC GMBH CAN 2 5 3 3 Store Parameters Table 2 11 Store parameters for CANopen Designation Value Index 1010h Name Store Parameters Object Code ARRAY Number of Elements 1 Data Type Unsigned 16 Sub Index 4 Description Save Manufacturer Parameters Object Class Optional Access rw Value Range 657661 73h Default Value no 2 5 3 4 Restore Default Parameters Table 2 12 Store parameters for CANopen Designation Value Index 1011h Name Restore Default Parameters Object Code ARRAY Number of Elements 4 Data Type Unsigned 32 Sub Index 4 Description Restore Manufacturer Default Object Class Optional Access rw Value Range 64616F6Ch Default Value no SUTRON ELECTRONIC GMBH CAN 2
26. tifier values manually or want the values to be computed automatically in accordance with the CANopen de fault values Table 2 24 Mode Configurable Values Default Value Manual X CANopen Connected with This parameter specifies whether the operating device communicates with a master or with a slave Based on this information the values for the request and response identifiers are swapped This parameter is only available if you select CANopen for the Mode option Table 2 25 Connected with Configurable Values Default Value Master X Slave Module number This parameter specifies the slave s module number for a communication relation in the CANopen mode To be able to change the module number you must select the following settings Mode CANopen and Connected with Slave Table 2 26 Module number Configurable Values Default Value 0 to 127 0 Identifier In the CANopen mode the identifier values for request and response objects are computed automatically In Manual mode you need to enter the values manually Table 2 27 Identifier Configurable Values Default Value 0 to 65535 385 Request 513 Response 2 14 6 SUTRON ELECTRONIC GMBH CAN Default address type in bytes This parameter specifies the address type of the data block of the communication partner This parameter is relevant for PDO commu
Download Pdf Manuals
Related Search