Transcript
CAN-CBX-REL4 CANopen Module with 4 Relay Outputs with InRailBus
Manual to Product C.3012.02
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
esd electronic system design gmbh Vahrenwalder Str. 207 • 30165 Hannover • Germany www.esd-electronics.com • Fax: 0511/37 29 8-68 Phone: 0511/37 29 80 • International: +49-5 11-37 29 80
Page 1 of 83
NOTE
The information in this document has been carefully checked and is believed to be entirely reliable. esd makes no warranty of any kind with regard to the material in this document, and assumes no responsibility for any errors that may appear in this document. esd reserves the right to make changes without notice to this, or any of its products, to improve reliability, performance or design. esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product of esd gmbh. esd does not convey to the purchaser of the product described herein any license under the patent rights of esd gmbh nor the rights of others.
esd electronic system design gmbh Vahrenwalder Str. 207 30165 Hannover Germany Phone: Fax: E-mail: Internet:
+49-511-372 98-0 +49-511-372 98-68
[email protected] www.esd-electronics.com
USA / Canada: esd electronics Inc. 525 Bernardston Road Suite 1 Greenfield, MA 01301 USA Phone: Fax: E-mail: Internet:
Page 2 of 83
+1-800-732-8006 +1-800-732-8093
[email protected] www.esd-electronics.us
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Document-File:
I:\texte\Doku\MANUALS\CAN\CBX\REL4\English\CBX-REL4_10.en9
Date of print:
2007-10-17
PCB version:
Rev.1.1
Firmware version:
2.0
Changes in the chapters The changes in the document listed below affect changes in the hardware and firmware as well as changes in the description of facts only.
Chapter -
Changes versus previous version First English version
Technical details are subject to change without further notice.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 3 of 83
This page is intentionally left blank.
Page 4 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Contents
Page
1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2. Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1 General Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2 CPU-Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3 CAN-Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.4 Relay-Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3. Hardware Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 Connecting Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.1 Relay LEDs 1-4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.2 Indicator States of the Status-LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3 Coding Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.1 Setting the Node-ID via Coding Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.2 Setting the Baud Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4 Installation of the Module Using Optional InRailBus Connector . . . . . . . . . . . . . . . . . 3.4.1 Connecting Power Supply and CAN-Signals to CBX-InRailBus . . . . . . . . . . 3.4.2 Connection of the Power Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.3 Connection of CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.5 Remove the CAN-CBX Module from the Optional InRailBus . . . . . . . . . . . . . . . . . .
8 8 8 9 9
11 11 12 12 13 16 16 17 18 20 20 21 21
4. Description of the Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4.1 CAN Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 5. Connector Pin Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 Power Supply Voltage X100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2 CAN-Bus X600 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3 CAN and Power Supply Voltage via InRailBus Connector X101 . . . . . . . . . . . . . . . . 5.4 Relay Outputs X300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23 23 24 25 26
6. Correctly Wiring Electrically Isolated CAN Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 7. CAN-Bus Troubleshooting Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1 Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2 CAN_H/CAN_L Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3 Ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4 CAN Transceiver Resistance Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31 31 32 32 33
8. Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1 Definition of Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2 NMT-Boot-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.3 CANopen Object Directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.3.1 Access on the Object Directory via SDOs . . . . . . . . . . . . . . . . . . . . . . . . . . 8.4 Overview of used CANopen Identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.4.1 Setting the COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.5 Default PDO Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34 34 35 35 35 39 39 40
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 5 of 83
Contents
Page
8.6 Setting the Relays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6.1 Supported Transmission Types Based on DS-301 . . . . . . . . . . . . . . . . . . . . 8.7 Implemented CANopen-Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.1 Device Type (1000h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.2 Error Register (1001h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.3 Manufacturer Status Register (1002h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.4 Pre-defined Error Field (1003h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.5 COB-ID SYNC Message (1005h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.6 Manufacturer’s Device Name (1008h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.7 Manufacturer’s Hardware Version (1009h) . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.8 Manufacturer’s Software Version (100Ah) . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.9 Guard Time (100Ch) und Life Time Factor (100Dh) . . . . . . . . . . . . . . . . . . . 8.7.10 Node Guarding Identifier (100Eh) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.11 Store Parameters (1010h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.12 Restore Default Parameters (1011h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.13 COB_ID Emergency Object (1014h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.14 Inhibit Time EMCY (1015h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.15 Consumer Heartbeat Time (1016h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.16 Producer Heartbeat Time (1017h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.17 Identity Object (1018h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.18 Verify Configuration (1020h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.19 Error Behaviour Object (1029h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7.20 Receive PDO Communication Parameter 1400h - 1403h . . . . . . . . . . . . . . . 8.7.21 Receive PDO Mapping Parameter 1600h - 1603h . . . . . . . . . . . . . . . . . . . . 8.8 Device Profile Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.8.1 Overview of implemented Objects 6200h ... 6270h . . . . . . . . . . . . . . . . . . . . 8.8.2 Write Output 8-Bit (6200h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.8.3 Change Polarity Output 8-bit (6202h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.8.4 Error Mode Output 8-bit (6206h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.8.5 Error Value Output 8-bit (6207h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.8.6 Filter Mask Output 8-bit (6208h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.8.7 Write Output Bit 1 to 4 (6220h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.8.8 Change Polarity Bit 1 to 4 (6240h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.8.9 Error Mode Output Bit 1 to 4 (6250h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.8.10 Error Value Output Bit 1 to 4 (6260h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.8.11 Filter Mask Output Bit 1 to 4 (6270h) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.9 Manufacturer Specific Profile Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.10 Firmware-Update via DS-302-Objects (1F51h-1F52h) . . . . . . . . . . . . . . . . . . . . . . . . 8.10.1 Download Control via Object 1F51h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Page 6 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
41 41 42 44 45 46 47 49 50 51 51 52 53 54 55 56 57 58 59 60 62 63 64 65 70 70 71 72 73 74 75 76 77 78 79 80 81 82 83
CAN-CBX-REL4
i
Overview
1. Overview Coding Switches
Electrical Isolation CAN Connector MC1,5/5-GF-3,81
CAN Baud Rate
Physical CAN Layer
Digital Isolator
CAN CANopen Node-ID
+5 V=
DC/DC Converter
ME-MAX Bus Connector
Power Connector MSTBO 2,5/4G1L-KMGY
+5 V=
Microcontroller MB90497
X300 Connector plug
C A N B U S
Power Supply 24 V(DC) LEDs
2 change over contacts 2 normally open contacts
Fig. 1: Block circuit diagram of the CAN-CBX-REL4 module The CAN-CBX-REL4 module offers four monostable relay outputs. Two of these are normally open contacts and two are change over contacts. The individual channels are electrically isolated and therefore various voltages can be applied to the CAN-CBX-REL4 module simultaneously. The CAN-CBX-REL4 module is equipped with a MB90F497 microcontroller, which buffers the CAN data into a local SRAM. The firmware is stored in the Flash. Parameters are stored in a serial EEPROM. The power supply voltage and the CAN bus connection can either be fed via the InRailBus connector, integrated in the top-hat-rail, or via separate plugs. The ISO 11898-2-compliant CAN interface allows a maximum data transfer rate of 1 Mbit/s. The CANinterface is electrically isolated by a digital isolator and a DC/DC-converter. The CANopen node number and the CAN-bit rate can be configured via coding switches.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 7 of 83
Technical Data
2. Technical Data 2.1 General Technical Data Power supply voltage
Nominal voltage: Input voltage range: Current consumption (24 V, 20 C):
24 V/DC 18...30 V/DC max.: 100 mA
X100 (4-pin COMBICON connector with spring cage connection) 24V-power supply voltage X101 (5-pin ME-MAX-TBUS-connector, Phoenix Contact) CAN interface and power supply via InRailBus Connectors
X300 (10-pin Mini-COMBICON-connector) - Relay outputs (2 monostable change over contacts, 2 monostable normally open contacts) X600 (5-pin Mini-COMBICON-connector) - CAN-interface Only for test and programming purposes: X200 (6-pin COMBICON-connector) the connector is placed inside the case
Temperature range
-20 C ... +70 C ambient temperature
Humidity
max. 90%, non-condensing
Dimensions
width: 22 mm, height: 121 mm, depth: 113 mm (including mounting rail fitting and connector projection)
Weight
145 g Table 1: General data of the module
2.2 CPU-Unit CPU
16 Bit C MB90F497
RAM
2 kByte integrated
Flash
64 kByte integrated
EEPROM
128 Byte Table 2: Microcontroller
Page 8 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Technical Data
2.3 CAN-Interface Number of CAN interfaces
1
Connector
5-pin COMBICON with spring-cage connections or via Phoenix Contact TBUS-connector (InRailBus)
CAN-Controller
MB90F497, ISO 11898-1 (CANopen-software, only 11-bit CAN-identifiers are supported)
Electrical isolation of the CAN interface against other units
via dual-channel digital isolator (ADUM1201BR) and DC/DCconverter
Physical CAN Layer
Physical Layer according to ISO 11898-2, transfer rate programmable from 10 Kbit/s up to 1 Mbit/s
Bustermination
has to be set externally Table 3: Data of the CAN interface
2.4 Relay-Connection Number
2 relays with monostable change over contacts, 2 relays with monostable normally open contacts
Relay type
OMRON G6C-211x
Max. switching voltage
250 VAC, 125 VDC
Max. switching current
8 A (AC and DC)
Max. switching power
resistive load: 2000 VA / 240 W; inductive load: 875 VA / 170 W
Max. switching frequency
30 operations per minute
Endurance mechanical load
100 000 cycles Table 4: Relay
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 9 of 83
Technical Data
2.5 Order Information Type
Features
Order-No.
CAN-CBX-REL4 CANopen-IO-Profile DS401, 2 relays with change over contacts, 2 relays with normally open contacts, 1x CAN-CBX-TBUS (C.3000.01)
C.3012.02
Manual in English
C.3012.21
CAN-CBX-TBUS
Mounting-rail bus connector of the CBX-InRailBus for CAN-CBX-modules, (a bus connector is included in delivery of the CANCBX-module)
C.3000.01
CAN-CBX-TBUSConnector
Terminal plug of the CBX-InRailBus for the connection of the +24 V power supply voltage and the CAN interface
C.3000.02
CAN-CBX-REL4
Manuals: CAN-CBX-REL4-ME Accessories:
Table 5: Order information
Page 10 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Hardware Installation
3. Hardware Installation 3.1 Connecting Diagram
Fig. 2: Connections of the CAN-CBX-REL4 module The signal pin assignment can be found on page 23 and the following.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 11 of 83
Hardware Installation
3.2 LEDs
Fig. 3: Position of the LEDs in the front panel The CAN-CBX-REL4 module is equipped with 4 Status LEDs and 4 LEDs for the relays. 3.2.1 Relay LEDs 1-4 The four lower green LEDs show the states of the relays.
Label
Componen t No.
1
Indication LED on
LED off
LED300A
Relay 1 energized
Relay 1 de-energized
2
LED300B
Relay 2 energized
Relay 2 de-energized
3
LED300C
Relay 3 energized
Relay 3 de-energized
4
LED300D
Relay 4 energized
Relay 4 de-energized
Table 6: Indication of LEDs 1-4
Page 12 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Hardware Installation
3.2.2 Indicator States of the Status-LEDs The terms of the indicator states of the LEDs are chosen in accordance with the CANopen-Standard DS303-3 (chapter 3.1). The indicator states are described in the following chapters. In principle there are 8 indicator states distinguished: Indicator state on off blinking flickering 1 flash 2 flashes 3 flashes 4 flashes
Display LED on LED off LED blinking with a frequency of approx. 2.5 Hz LED flickering with 10 Hz LED 200 ms on, 1400 ms off LED 200 ms on, 200 ms off, 200 ms on, 1000 ms off LED 2x (200 ms on, 200 ms off) + 1x (200 ms on, 1000 ms off) LED 3x (200 ms on, 200 ms off) + 1x (200 ms on, 1000 ms off)
Table 7: Indicator states of the LEDs CAN-Error-LED LED indication Label
Name
Colour
Display function Component No.
Indicator state off 1 flash
E
CAN Error
red
200A
on
2 flashes
Description no error CAN controller is in Error Active state CAN controller state is Bus Off (or coding switch configuration ID-Node > 7Fh when switching on; see page 15) Heartbeat or Nodeguard error occurred. The LED automatically turns off, if Nodeguard/Heartbeat-messages are received again.
Table 8: Indicator states of the red CAN Error-LED
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 13 of 83
Hardware Installation
CANopen-Status-LED LED indication Label
Name
Colour
Display function Component No.
Indicator state blinking on
S
CANopen Status
green
Pre-operational Operational
1 flash
200B
Description
3 flashes
Stopped Module is in bootloader mode (or coding switch configuration ID-Node > 7Fh when switching on; see page 15)
Table 9: Indicator states of the CANopen Status-LED Module-Error-LED LED indication Label
M
Name
Module Error
Colour
red
Display function Component No.
Indicator state
Description
off
no error
on
error on an error-controlled output - if the module has switched to the state stopped due to an error, the LED remains on, even if the error is no longer existing - errors that occur after changing to stopped state are not indicated
2 flashes
EEPROM error - stored data have an invalid checksum therefore default values are loaded - indicator state is continued until the module resets or an error occurs at the outputs.
200C
Table 10: Indicator state of the Error-LED Module Status-LED LED indication
Display function
Label
Name
Colour
Component No.
Indicator state
P
Module Status
green
200D
on
Description power supply voltage is on
Table 11: Indicator state of the Power-LED
Page 14 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Hardware Installation
Special Indicator States The indicator states described in the following table are indicated by the four status LEDs together: LED indication - red CAN-error LED is on - all other LEDs are off
Description Invalid Node-ID: The coding switches for the Node-ID are set to an invalid ID-value, the module is stopped
Table 12: Special indicator states
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 15 of 83
Hardware Installation
3.3 Coding Switches
Fig. 4: Position of the coding switches
Attention! At the moment the module is switched ‘on’, the state of the coding switches is determined. Changes of the settings therefore have to be made before switching on the module, because changes of the settings are not determined during operation. After a reset (e.g. NMT reset) the settings are read again.
3.3.1 Setting the Node-ID via Coding Switch The address range of the CAN-CBX-REL4 modules can be set hexadecimal from 01h to 7Fh (decimal from 1 to 127). The four higher-order bits (higher-order nibble) can be set with coding switch HIGH, the four lowerorder bits can be set with coding switch LOW.
Page 16 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Hardware Installation
3.3.2 Setting the Baud Rate The baud rate can be set with the coding switch BAUD. Values from 0h to Fh can be set via the coding switch. The values of the baud rate can be taken from the following table: Setting [Hex]
Baud rate [Kbit/s]
0
1000
1
666.6
2
500
3
333.3
4
250
5
166
6
125
7
100
8
66.6
9
50
A
33.3
B
20
C
12.5
D
10
E
reserved
F
reserved
Table 13: Index of the baud rate
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 17 of 83
Hardware Installation
3.4 Installation of the Module Using Optional InRailBus Connector If the CAN bus signals and the power supply voltage shall be fed via the InRailBus, please proceed as follows:
Figure 5: Mounting rail with bus connector 1. Position the InRailBus connector on the mounting rail and snap it onto the mounting rail using slight pressure. Plug the bus connectors together to contact the communication and power signals (in parallel with one). The bus connectors can be plugged together before or after mounting the CANCBX modules. 2. Place the CAN-CBX module with the DIN rail guideway on the top edge of the mounting rail.
Figure 6 : Mounting CAN-CBX modules
Page 18 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Hardware Installation
3. Swivel the CAN-CBX module onto the mounting rail in pressing the module downwards according to the arrow as shown in figure 6. The housing is mechanically guided by the DIN rail bus connector. 4. When mounting the CAN-CBX module the metal foot catch snaps on the bottom edge of the mounting rail. Now the module is mounted on the mounting rail and connected to the InRailBus via the bus connector. Connect the bus connectors and the InRailBus if not already done.
Figure 7: Mounted CAN-CBX module
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 19 of 83
Hardware Installation
3.4.1 Connecting Power Supply and CAN-Signals to CBX-InRailBus To connect the power supply and the CAN-signals via the InRailBus, a terminal plug (order no.: C.3000.02) is needed. The terminal plug is not included in delivery and must be ordered separately (see order information).
Fig. 8: Mounting rail with InRailBus and terminal plug Plug the terminal plug into the socket on the right of the mounting-rail bus connector of the InRailBus, as described in Fig. 8. Then connect the CAN interface and the power supply voltage via the terminal plug. 3.4.2 Connection of the Power Supply Voltage
Attention! It is not permissible to feed through the power supply voltage through the CBX station and to supply it to another CBX station via connector X100! A feed through of the +24 V power supply voltage can cause damage on the CBX modules.
Fig. 9: Connecting the power supply voltage to the CAN-CBX station Page 20 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Hardware Installation
3.4.3 Connection of CAN
Fig. 10: Connecting the CAN signals to the CAN-CBX station Generally the CAN signals can be fed via the CAN connector of the first CAN-CBX module of the CBX station. The signals are then connected through the CAN-CBX station via the InRailBus. To lead through the CAN signals the CAN bus connector of the last CAN-CBX module of the CAN-CBX station has to be used. The CAN connectors of the CAN-CBX modules which are not at the ends of the CAN-CBX station must not be connected to the CAN bus, because this would cause incorrect branching. A bus termination must be connected to the CAN connector of the CAN-CBX module at the end of the CBX-InRailBus (see Fig. 10), if the CAN bus ends there.
3.5 Remove the CAN-CBX Module from the Optional InRailBus If the CAN-CBX module is connected to the InRailBus please proceed as follows: Release the module from the mounting rail in moving the foot catch (see Fig. 7) downwards (e.g. with a screwdriver). Now the module is detached from the bottom edge of the mounting rail and can be removed.
i
Note: It is possible to remove entire individual devices from the whole without interrupting the InRailBus connection, because the contact chain will not be interrupted.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 21 of 83
Description of the Units
4. Description of the Units 4.1 CAN Interface An 82C251 is used as driver unit. The differential CAN bus signals are electrically isolated from the other signals via a dual digital converter (ADUM120BR) and a DC/DC converter.
X101 Bus Connector MEMAX
DC/DC RSS-0505 5.0V
+
+5V
+ 5V
GND
-
5V
-
10µF CAN_GND
5.0V
GND
5
CAN_H
2.2nF/250V~
CAN_Rx
4
CAN_GND
2.2M
CAN_Tx
+24 V
CAN_L
CAN Transceiver PCA82C251
Digital Isolator ADUM1201Br VIB
VOB
TX
BUSL
VOA
VIA
RX
BUSH
VDD1
VDD2
VDD
GND1
GND2
R/GND
1 2
X600 CAN_L CAN_H
GND
CAN_GND 100nF 100nF VC120605
3
PE_GND
2 4 1 3
Functional Earth
Fig. 11: CAN interface
Page 22 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Connector Pin Assignment
5. Connector Pin Assignment 5.1 Power Supply Voltage X100 Device connector: COMBICON MSTBO 2,5/4-G1L-KMGY Line connector: COMBICON FKCT 2,5/4-ST, 5.0 mm pitch, spring-cage connection, PHOENIX-CONTACT order no.: 19 21 90 0 (included in the scope of delivery) Pin Position:
Pin Assignment: Pin Signal
4
3
2
1
P24
M24
M24
P24
(+ 24 V)
(GND)
(GND)
(+ 24 V)
Please refer also to the connecting diagram on page 11.
i
Note:
The pins 1 and 4 are connected to each other at the PCB. The pins 2 and 3 are connected to each other at the PCB.
Signal Description: P24... power supply voltage +24 V M24... reference potential
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 23 of 83
Connector Pin Assignment
5.2 CAN-Bus X600 Device Connector: Line Connector:
COMBICON MC 1,5/5-GF-3,81 COMBICON FK-MCP 1,5/5-STF-3,81, spring-cage connection (included in the scope of delivery) Pin Position: (Illustration of device connector)
1 2 3 4 5
Pin-Assignment: Pin
Signal
1
CAN_GND
2
CAN_L
3
Shield
4
CAN_H
5
-
Signal description: CAN_L, CAN_H ... CAN_GND ... Shield ... - ...
CAN signals reference potential of the local CAN physical layer pin for line shield connection (using hat rail mounting direct contact to the mounting rail potential) not connected
Recommendation of an adapter cable from 5-pin Combicon (here line connector FK-MCP1,5/5STF-3,81 with spring-cage-connection) to 9-pin DSUB: Assignment of the 9-pin DSUBconnector according to CiA DS 102.
Page 24 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Connector Pin Assignment
5.3 CAN and Power Supply Voltage via InRailBus Connector X101 Connector type: Bus connector MEMAX ME 22,5 TBUS 1,5/5-ST-3,81 KMGY Pin Position:
Pin Assignment: Pin
Signal
5
M24
(GND)
4
P24
(+24 V)
3
CAN_GND
2
CAN_L
1
CAN_H
S
FE
(PE_GND)
Signal Description: CAN_L, CAN_H ... CAN_GND ... P24... M24... FE...
CAN signals reference potential of the local CAN-Physical layers power supply voltage +24 V reference potential functional earth contact (EMC)(connected to mounting rail potential)
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 25 of 83
Connector Pin Assignment
5.4 Relay Outputs X300 Device connector: Mini-COMBICON MC 1,5/10-G-5,08 Line connector: Mini-COMBICON MC 1,5/10-ST-5,08 (included in the scope of delivery)
Pin Assignment: Pin Position:
Page 26 of 83
Pin
Labelling
Signal
1
14
NO
2
11
COM
3
12
NC
4
24
NO
5
23
COM
6
34
NO
7
31
COM
8
32
NC
9
44
NO
10
43
COM
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Relay 1
Relay 2
Relay 3
Relay 4
CAN-CBX-REL4
Wiring
6. Correctly Wiring Electrically Isolated CAN Networks Generally all instructions applying for wiring regarding an electromagnetic compatible installation, wiring, cross sections of wires, material to be used, minimum distances, lightning protection, etc. have to be followed. The following general rules for the CAN wiring must be followed:
1.
A CAN net must not branch (exception: short dead-end feeders) and has to be terminated by the wave impedance of the wire (generally 120 W ±10%) at both ends (between the signals CAN_L and CAN_H and not at GND)!
2.
A CAN data wire requires two twisted wires and a wire to conduct the reference potential (CAN_GND)! For this the shield of the wire should be used!
3.
The reference potential CAN_GND has to be connected to the earth potential (PE) at one point. Exactly one connection to earth has to be established!
4.
The bit rate has to be adapted to the wire length.
5.
Dead-end feeders have to kept as short as possible (l < 0.3 m)!
6.
When using double shielded wires the external shield has to be connected to the earth potential (PE) at one point. There must be not more than one connection to earth.
7.
A suitable type of wire (wave impedance ca. 120 : ±10%) has to be used and the voltage loss in the wire has to be considered!
8.
CAN wires should not be laid directly next to disturbing sources. If this cannot be avoided, double shielded wires are preferable.
Wire structure
Signal assignment of wire and connection of earthing and terminator CAN wire with connectors DSUB9 connector (female or male) pin designation
CAN_L CAN_GND
120 Ohm
CAN_H
1 2 3 4 5 6 7 8 9 connector case
DSUB9 connector (female or male) pin designation
CAN_GND
(at wire shield) n.c.
CAN_L
n.c.
n.c.
n.c.
n.c. n.c.
n.c.
CAN_H
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c. = not connected
1 2 3 4 5 6 7 8 9 connector case
120 Ohm
Shielded wire with transposed wires
earth (PE)
Figure: Structure and connection of wire
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 27 of 83
Wiring
Cabling for devices which have only one CAN connector per net use T-connector and dead-end feeder (shorter than 0.3 m) (available as accessory) Connecting CAN_GND to Protective Conductor PE
CAN-Board e.g. PCI/405, CAN-USB, VME-CAN2, etc.
Net 1
PE
Terminator with PE Connector
CAN_H
Female Connector
CAN_L
Male Connector
CAN_GND
Male Terminator (Order-no.: C.1302.01)
T-Connector Order-no.: C.1311.03
Net 2
Female Terminator (Order-no.: C.1301.01)
l < 0,3 m T-Connector C.1311.03
T-Connector C.1311.03
l < 0,3 m CAN-CBMDIO8
CAN-Cable Order-no.: C.1323.03
T-Connector C.1311.03
l < 0,3 m CAN-CBMAI4
CAN-Cable Order-no.: C.1323.03
T-Connector C.1311.03 Terminator
l < 0,3 m
l < 0,3 m CAN-CBMCOM1
e.g. CAN-SPS Interface CSC595/2 or CAN-PC Board
CAN-Cable Order-no.: C.1323.03
Figure: Example for correct wiring (when using single shielded wires)
Terminal Resistance use external terminator, because this can later be found again more easily! 9-pin DSUB-terminator with male and female contacts and earth terminal are available as accessories
Earthing CAN_GND has to be conducted in the CAN wire, because the individual esd modules are electrically isolated from each other!
CAN_GND has to be connected to the earth potential (PE) at exactly one point in the net! each CAN user without electrically isolated interface works as an earthing, therefore: do not connect more than one user without potential separation!
Earthing CAN e.g. be made at a connector
Page 28 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Wiring
Wire Length Optical couplers are delaying the CAN signals. By using fast optical couplers and testing each board at 1 Mbit/s, however, esd CAN guarantee a reachable length of 37 m at 1 Mbit/s for most esd CAN modules within a closed net without impedance disturbances like e.g. longer dead-end feeders. (Exception: CAN-CBM-DIO8, -AI4 and AO4 (these modules work only up to 10 m with 1 Mbit/s)) Bit rate [Kbit/s] 1000 800 666.6 500 333.3 250 166 125 100 66.6 50 33.3 20 12.5 10
Typical values of reachable wire length with esd interface lmax [m]
CiA recommendations (07/95) for reachable wire lengths lmin [m]
37 59 80 130 180 270 420 570 710 1000 1400 2000 3600 5400 7300
25 50 100 250 500 650 1000 2500 5000
Table: Reachable wire lengths depending on the bit rate when using esd-CAN interfaces
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 29 of 83
Wiring
Examples for CAN Wires Manufacturer
Type of wire
U.I. LAPP GmbH Schulze-Delitzsch-Straße 25 70565 Stuttgart Germany www.lappkabel.de
e.g. UNITRONIC ®-BUS CAN UL/CSA UNITRONIC ®-BUS-FD P CAN UL/CSA
ConCab GmbH Äußerer Eichwald 74535 Mainhardt Germany www.concab.de
e.g. BUS-PVC-C (1 x 2 x 0.22 mm²) Order No.: 93 022 016 (UL appr.) BUS-Schleppflex-PUR-C (1 x 2 x 0.25 mm²) Order No.: 94 025 016 (UL appr.)
SAB Bröckskes GmbH&Co. KG Grefrather Straße 204-212b 41749 Viersen Germany www.sab-brockskes.de
e.g. SABIX® CB 620 (1 x 2 x 0.25 mm²) CB 627 (1 x 2 x 0.25 mm²)
(UL/CSA approved) (UL/CSA approved)
Order No.: 56202251 Order No.: 06272251 (UL appr.)
Note: Completely configured CAN wires can be ordered from esd.
Page 30 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
CAN-Bus Troubleshooting Guide
7. CAN-Bus Troubleshooting Guide The CAN-Bus Troubleshooting Guide is a guide to find and eliminate the most frequent hardware-error causes in the wiring of CAN-networks. 2
V 120 :
CAN_H
CAN_H
CAN_L
CAN_L
CAN_GND
CAN_GND
3
V 1 120 :
:
Figure: Simplified diagram of a CAN network
7.1 Termination The termination is used to match impedance of a node to the impedance of the transmission line being used. When impedance is mismatched, the transmitted signal is not completely absorbed by the load and a portion is reflected back into the transmission line. If the source, transmission line and load impedance are equal these reflections are eliminated. This test measures the series resistance of the CAN data pair conductors and the attached terminating resistors. To test it, please 1. Turn off all power supplies of the attached CAN nodes. 2. Measure the DC resistance between CAN_H and CAN_L at the middle and ends of the network 1 (see figure above). The measured value should be between 50 and 70 . The measured value should be nearly the same at each point of the network. If the value is below 50 , please make sure that: - there is no short circuit between CAN_H and CAN_L wiring - there are not more than two terminating resistors - the nodes do not have faulty transceivers. If the value is higher than 70 , please make sure that: - there are no open circuits in CAN_H or CAN_L wiring - your bus system has two terminating resistors (one at each end) and that they are 120 each.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 31 of 83
CAN-Bus Troubleshooting Guide
7.2 CAN_H/CAN_L Voltage Each node contains a CAN transceiver that outputs differential signals. When the network communication is idle the CAN_H and CAN_L voltages are approximately 2.5 volts. Faulty transceivers can cause the idle voltages to vary and disrupt network communication. To test for faulty transceivers, please 1. Turn on all supplies. 2. Stop all network communication. 3. Measure the DC voltage between CAN_H and GND 2 (see figure above). 4. Measure the DC voltage between CAN_L and GND 3 (see figure above). Normally the voltage should be between 2.0 V and 4.0 V. If it is lower than 2.0 V or higher than 4.0 V, it is possible that one or more nodes have faulty transceivers. For a voltage lower than 2.0 V please check CAN_H and CAN_L conductors for continuity. For a voltage higher than 4.0 V, please check for excessive voltage. To find the node with a faulty transceiver please test the CAN transceiver resistance (see next page).
7.3 Ground The shield of the CAN network has to be grounded at only one location. This test will indicate if the shielding is grounded in several places. To test it, please 1. Disconnect the shield wire (Shield) from the ground.
CAN_H CAN_L
2. Measure the DC resistance between Shield and ground (see picture on the right hand).
CAN_GND
:
3. Connect Shield wire to ground.
>1M:
Fig.: Simplified schematic diagram of ground test measurement The resistance should be higher than 1 M . If it is lower, please search for additional grounding of the shield wires.
Page 32 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
CAN-Bus Troubleshooting Guide
7.4 CAN Transceiver Resistance Test CAN transceivers have one circuit that controls CAN_H and another circuit that controls CAN_L. Experience has shown that electrical damage to one or both of the circuits may increase the leakage current in these circuits. To measure the current leakage through the CAN circuits, please use an resistance measuring device and: 1. Disconnect the node from the network. Leave the node unpowered 4
(see figure below).
2. Measure the DC resistance between CAN_H and CAN_GND 5
(see figure below).
3. Measure the DC resistance between CAN_L and CAN_GND 6
(see figure below).
Normally the resistance should be between 1 M and 4 M or higher. If it is lower than this range, the CAN transceiver is probably faulty.
5
:
CAN-node
6
:
CAN_H CAN_L CANTransceiver
CAN_GND 4
Power 4
Disconnect CAN !
Disconnect Power !
Figure: Simplified diagram of a CAN node
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 33 of 83
Software
8. Software Apart from basic descriptions of the CANopen, this chapter contains the most significant information about the implemented functions. A complete CANopen description is too extensive for the purpose of this manual. Further information can therefore be taken from the CAL / CANopen documentation ‘CiA Draft Standard 301, V 4.02’ and ‘CiA Draft Standard Proposal 401, V 2.1’.
8.1 Definition of Terms COB ... Emergency-Id... NMT... Rx... SDO... Sync... Tx...
Communication Object Emergency Data Object Network Management (Master) receive Service Data Object Sync(frame) Telegram transmit
PDOs (Process Data Objects) PDOs are used to transmit process data. In the ‘Receive’-PDO (RxPDO) process data is received by the CAN-CBX-module. SDOs (Service Data Objects) SDOs are used to transmit module internal configuration- and parameter data. In opposition to the PDOs SDO-messages are confirmed. A write or read request on a data object is always answered by a response telegram with an error index.
Page 34 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Software
8.2 NMT-Boot-up The CAN-CBX-REL4 module can be initialized with the ‘Minimum Capability Device’ boot-up as described in CiA-Draft Standard 301 in chapter 9.4. Usually a telegram to switch from Pre-Operational status to Operational status after boot-up is sufficient. For this the 2-byte telegram ‘01h’, ‘00h’, for example, has to be transmitted on CAN-identifier ‘0000h’ (= Start Remote Node all Devices).
8.3 CANopen Object Directory The object directory is basically a (sorted) group of objects which can be accessed via the network. Each object in this directory is addressed with a 16-bit index. The index in the object directories is represented in hexadecimal format. The index can be a 16-bit parameter in accordance with the CANopen specification (CiA-Draft DS 301) or a manufacturer-specific code. By means of the MSBs of the index the object class of the parameter is defined. Part of the object directory are among others: Index [Hex]
Object
Example
0001 ... 009F
Definition of data types
-
1000 ... 1FFF
Communication Profile Area
1001h : Error register
2000 ... 5FFF
Manufacturer Specific Profile Area
-
6000 ... 9FFF
Standardized Device Profile Area
according to application profile DS 40x
A000 ... FFFF
reserved
-
8.3.1 Access on the Object Directory via SDOs SDOs (Service Data Objects) are used to get access to the object directory of a device. An SDO therefore represents a ‘channel’ to access the parameter of the device. The access via this channel can be made in CAN-CBX-REL4 module state operational and pre-operational. The SDOs are transmitted on ID ‘600h + NodeID’ (request). The receiver acknowledges the parameter on ID ‘580h + NodeID’ (response).
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 35 of 83
Software
An SDO is structured as follows:
Identifier
Index
Command code
(low)
(high)
23h
00
14h
Sub-index
LSB
01
7Fh
Data field
MSB
Example: 600h+ Node-ID
(write)
(Index=1400h)
(Receive-PDO-Comm-Para)
(COB-def.)
04h
00
00
COB-ID = 0000 047Fh
Description of the SDOs: Identifier . . . . . . . The parameters are transmitted on ID ‘600h + NodeID’ (request). The receiver acknowledges the parameters on ID ‘580h + NodeID’ (response).
Command code . . The command code transmitted consists among other things of the command specifier and the length. Frequently required combinations are, for instance: 40h = 64dec : Read Request, i.e. a parameter is to be read 23h = 35dec : Write Request with 32-bit data, i.e. a parameter is to be set The CAN-CBX-REL4 module responds to every received telegram with a response telegram. This can contain the following command codes: 43h = 67dec :
Read Response with 32 bit data, this telegram contains the parameter requested 60h = 96dec : Write Response, i.e. a parameter has been set successfully 80h = 128dec : Error Response, i.e. the CAN-CBX-REL4 module reports a communication error
Page 36 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Software
Frequently Used Command Codes The following table summarizes frequently used command codes. The command frames must always contain 8 data bytes. Notes on the syntax and further command codes can be found in CiA DS 301, chapter “Service Data Object”.
Command
Write Request (Initiate Domain Download)
Write Response (Initiate Domain Download)
Read Request (Initiate Domain Upload)
Read Response (Initiate Domain Upload)
Error Response (Abort Domain Transfer)
Number of data bytes
Command code [Hex]
1 2 3 4
2F 2B 27 23
-
60
-
40
1 2 3 4
4F 4B 47 43
-
80
Index, Sub-Index . Index and sub-index will be described in the chapters “Device Profile Area” and “Manufacturer Specific Objects” of this manual.
Data Field . . . . . . The data field has got a size of a maximum of 4 bytes and is always structured ‘LSB first, MSB last’. The least significant byte is always in ‘Data 1’. With 16-bit values the most significant byte (bits 8...15) is always in ‘Data 2’, and with 32-bit values the MSB (bits 24...31) is always in ‘Data 4’.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 37 of 83
Software
Error Codes of the SDO Domain Transfer The following error codes might occur (according to CiA DS 301, chapter “Abort SDO Transfer Protocol”): Abort code [Hex]
Description
0x05040001
wrong command specifier
0x06010002
wrong write access
0x06020000
wrong index
0x06040041
object can not be mapped to PDO
0x06060000
access failed due to an hardware error
0x06070010
wrong number of data bytes
0x06070012
service parameter too long
0x06070013
service parameter too small
0x06090011
wrong sub-index
0x06090030
transmitted parameter is outside the accepted value range
0x08000000
undefined cause of error
0x08000020
Data cannot be transferred or stored to the application
0x08000022
Data cannot be transferred or stored to the application because of the present device state
0x08000024
access to flash failed
Page 38 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Software
8.4 Overview of used CANopen Identifiers Identifier [Hex]
Function
Description
Network management
0
NMT
SYNC
80
Sync to all, (configurable via object 1005h)
Emergency Message
80 + NodeID
configurable via object 1014h
Rx-PDO1
200 + NodeID
PDO1 to CAN-CBX-REL4 (Rx) (object 1400h)
Rx-PDO2
300 + NodeID
PDO2 to CAN-CBX-REL4 (Rx) (object 1401h)
Rx-PDO3
400 + NodeID
PDO3 to CAN-CBX-REL4 (Rx) (object 1402h)
Rx-PDO4
500 + NodeID
PDO4 to CAN-CBX-REL4 (Rx) (object 1403h)
Tx-SDO
580 + Node-ID
SDO to CAN-CBX-REL4 (Tx)
Rx-SDO
600 + Node-ID
SDO to CAN-CBX-REL4 (Rx)
Node Guarding
700 + NodeID
configurable via object 100Eh
NodeID: CANopen address [1h...7Fh]
8.4.1 Setting the COB-ID The COB-IDs which can be set (except the one of SYNC), are deduced initially from the setting of the Node-ID via the coding switches (see page 16). If the COB-IDs are set via SDO, this setting is valid even if the coding switches are set to another Node-ID after that. To accept the Node-ID from the coding switches again, the Comm defaults or all defaults have to be restored (object 1011h)
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 39 of 83
Software
8.5 Default PDO Assignment PDOs (Process Data Objects) are used to transmit process data: CAN identifier
Length
Transmission direction
Assignment
200h + Node-ID
1 byte
to CAN-CBX-REL4 (Rx/Receive-PDO1)
Setting of the Relay
300h + Node-ID
1 byte
to CAN-CBX-REL4 (Rx/Receive-PDO2)
400h + Node-ID
1 byte
to CAN-CBX-REL4 (Rx/Receive-PDO3)
500h + Node-ID
1 byte
to CAN-CBX-REL4 (Rx/Receive-PDO4)
For PDOs 2-4 there are no objects mapped in default setting.
Rx-PDO1 (-> CAN-CBX-REL4) CAN Identifier: 200h + Node-ID 0
1
2
3
4
5
6
7
Write_ Output_ 8-Bit
-
-
-
-
-
-
-
Byte Parameter
Parameter description: Parameter
Description
Write_ Output_ 8-Bit
Setting of the relays
Page 40 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Data type
see page
Byte
71
CAN-CBX-REL4
Software
8.6 Setting the Relays The relays will be energized, as soon as an output setting object is received by the CAN-CBX-REL4 (e.g. object 6200h via Rx-PDO). 8.6.1 Supported Transmission Types Based on DS-301 Transmission type Synchronous means that the CANopen device shall actuate the received data with the reception of the next SYNC. Transmission type Event-driven means that the PDO may be received at any time. The CANopen device will actualize the data immediately.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 41 of 83
Implemented CANopen Objects
8.7 Implemented CANopen-Objects A detailed Description of the objects can be taken from CiA DS-301. Index [Hex]
Sub-index (max.) [Dec]
1000
-
Device Type
unsigned 32
00020191h
1001
-
Error Register
unsigned 8
00h
1002
-
Manufacturer Status Register
unsigned32
00h
1003
10
Pre-Defined-Error-Field
unsigned32
00h
1005
-
COB-ID-Sync
unsigned32
80h
1008
-
Manufacturer Device Name
visible string
“CAN-CBX-REL4”
1009
-
Manufacturer Hardware Version
visible string
x.yy (depending on version)
100A
-
Manufacturer Software Version
visible string
x.yy (depending on version)
100C
-
Guard Time
unsigned 16
0000h
100D
-
Life Time Factor
unsigned 8
00h
100E
-
Node Guarding Identifier
unsigned 32
Node-ID + 700h
1010
4
Store Parameter
unsigned 32
n.a.
1011
4
Restore Parameter
unsigned 32
n.a.
1014
-
COB-ID Emergency Object
unsigned 32
80h + Node-ID
1015
-
Inhibit Time EMCY
unsigned 16
00h
1016
1
Consumer Heartbeat Time
unsigned 32
00h
1017
-
Producer Heartbeat Time
unsigned 16
00h
1018
4
Identity Object
unsigned 32
Vendor Id: 00000017h Prod. Code: 23012002h
1020
2
Verify Configuration
unsigned 32
n.a.
1029
2
Error Behaviour
unsigned 8
00h
Page 42 of 83
Description
Data type
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Default value
CAN-CBX-REL4
Implemented CANopen Objects
Index [Hex]
Subindex default [Hex]
1400
3
1. Receive PDO-Parameter
PDO CommPar (20h)
1401
3
2. Receive PDO-Parameter
PDO CommPar (20h)
1402
3
3. Receive PDO-Parameter
PDO CommPar (20h)
1403
3
4. Receive PDO-Parameter
PDO CommPar (20h)
1600
1
1. Receive PDO-Mapping
PDO Mappping (21h)
1601
0
2. Receive PDO-Mapping
PDO Mappping (21h)
1602
0
3. Receive PDO-Mapping
PDO Mappping (21h)
1603
0
4. Receive PDO-Mapping
PDO Mappping (21h)
CAN-CBX-REL4
Description
Data type
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 43 of 83
Implemented CANopen Objects
8.7.1 Device Type (1000h) INDEX
1000h
Name
device type
Data Type
unsigned 32
Access Type
ro
Default Value
0002 0191
The value of the device type is: 0002 0191h (Digital output: 0002h Digital profile number: 0191h ) Example: Reading the Device Type The CANopen master transmits the read request on identifier ‘603h’ (600h + Node-ID) to the CANCBX-REL4 module with the module no. 3 (Node-ID=3h): ID
603h
RTR
0h
LEN
8h
DATA 1
2
3
4
5
6
7
8
40h
00h
10h
00h
00h
00h
00h
00h
Read Request
Index=1000h
Subindex
The CAN-CBX-REL4 module no. 3 responds to the master by means of read response on identifier ‘583h’ (580h + Node-ID) with the value of the device type: ID
583h
RTR
0h
LEN
8h
DATA 1
2
3
4
5
6
7
8
43h
00h
10h
00h
91h
01h
02h
00h
Read Response
Index=1000h
Sub-index
dig. Profile No.191
Digital Output
value of device type: 0002 0191h The data field is always structured following the rule ‘LSB first, MSB last‘ (see page 37, data field).
Page 44 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Implemented CANopen Objects
8.7.2 Error Register (1001h) This object is an error register for the CAN-CBX-REL4. INDEX
1001h
Name
error register
Data type
unsigned 8
Access type
ro
Default value
0
The following bits of the error register are being supported at present: Bit
Meaning
0
generic
1
-
2
-
3
-
4
communication error (overrun, error state)
5
-
6
-
7
-
Bits which are not supported (-) are always returned as ‘0’. If an error is active, the according bit is set to ‘1’. The following messages are possible: 00h 01h 10h
no errors generic error communication error
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 45 of 83
Implemented CANopen Objects
8.7.3 Manufacturer Status Register (1002h)
Page 46 of 83
INDEX
1002h
Name
manufacturer status register
Data Type
unsigned 32
Access Type
ro
Default Value
0
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Implemented CANopen Objects
8.7.4 Pre-defined Error Field (1003h) INDEX
1003h
Name
pre-defined error field
Data type
unsigned 32
Access type
ro
Default value
No
The pre-defined error field provides an error history of the errors that have occurred on the device and have been signalled via the Emergency Object. Sub-index 0 contains the current number of errors stored in the list. Under sub-index 1 the last error which occurred is stored. If a new error occurs, the previous error is stored under sub-index 2 and the new error under sub-index 1, etc. In this way a list of the error history is created. The error buffer is structured like a ring buffer. If it is full, the oldest entry is deleted for the latest entry. This module supports a maximum of 10 error entries. When the 11th error occurs the oldest error entry is deleted. In order to delete the entire error list, sub-index ‘0’ has to be set to ‘0’. This is the only permissible write access to the object. With every new entry to the list the module transmits an Emergency Frame to report the error. Index Sub-index [Hex] [Dec]
1003
Description
Value range [Hex]
Default
Data type
R/W
0, 1...10
-
unsigned 8
rw
0
no_of_errors_in_list
1
error-code n
0...FFFF FFFF
-
unsigned 32
ro
2
error-code (n-1)
0...FFFF FFFF
-
unsigned 32
ro
:
:
:
:
:
:
0...FFFF FFFF
-
unsigned 32
ro
10
error-code (n-9)
Meaning of the variables: no_of_errors_in_list - contains the number of error codes currently on the list n = number of error which occurred last - in order to delete the error list this variable has to be set to ‘0’ - if no_of_errors_in_list 0, the error register (Object 1001h) is set
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 47 of 83
Implemented CANopen Objects
error-code x The 32-bit long error code consists of the CANopen-Emergency-Error-Code described in DS 301, Table 21 and the error code defined by esd (Manufacturer-Specific Error Field). Bit:
31 ...
... 16
15 ...
manufacturer-specific error field
Contents:
manufacturer-specific error field: emergency-error-code:
... 0
emergency-error-code
for CAN-CBX-REL4 always ‘00’, unless emergency-error-code = 2300h (see below)
the following error codes are supported: 8120h - CAN in Error Passive Mode 8130h - Lifeguard Error / Heartbeat Error 8140h - Recovered from “Bus Off” 8210h - PDO too short 8220h - PDO too long 6000h - Software error: EEPROM Checksum error (no transmission of this error as Emergency Message) 0000h - error reset or no error
Emergency Frame The data of the emergency frame transmitted by the CAN-CBX-REL4 have the following structure: Byte: Contents:
0
1
emergency-error-code (see above)
2
3
errorregister 1001h
no_of_errors_ in_list 1003,01h
4
5
6
7
-
An Emergency Message is transmitted, if the first error occurs. If an error cause has gone, an emergency message containing error-code 0000h (error reset) is transmitted. (See also DS-301, chapter: “Emergency Object”).
Page 48 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Implemented CANopen Objects
8.7.5 COB-ID SYNC Message (1005h) INDEX
1005h
Name
COB-ID SYNC message
Data type
unsigned 32
Access type
rw
Default value
0000 0080h
Structure of the parameter: Bit-No.
Value
Meaning
31 (MSB)
-
30
0/1
29
0
always 0 (11-bit ID)
28...11
0
always 0 (29-bit IDs are not supported)
10...0 (LSB)
x
Bit 0...10 of the SYNC-COB-ID
do not care 0: Device does not generate SYNC message 1: Device generates SYNC message
The identifier can take values between 0...7FFh.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 49 of 83
Implemented CANopen Objects
8.7.6 Manufacturer’s Device Name (1008h) INDEX
1008h
Name
manufacturer’s device name
Data type
visible string
Default value
string: ‘CAN-CBX-REL4’
For detailed description of the Domain Uploads, please refer to CiA DS 202-2 (CMS-Protocol Specification).
Page 50 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Implemented CANopen Objects
8.7.7 Manufacturer’s Hardware Version (1009h) INDEX
1009h
Name
manufacturer’s hardware version
Data type
visible string
Default value
string: e.g. ‘1.0’
The hardware version is read similarly to reading the manufacturer device name via the domain upload protocol. Please refer to CiA DS 202-2 (CMS-Protocol Specification) for a detailed description of the upload.
8.7.8 Manufacturer’s Software Version (100Ah) INDEX
100Ah
Name
manufacturer’s software version
Data type
visible string
Default value
string: e.g.: ‘1.8’
Reading the software version is similar to reading the manufacturer device name via the domain upload protocol. Please refer to CiA DS 202-2 (CMS-Protocol Specification) for a detailed description of the upload.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 51 of 83
Implemented CANopen Objects
8.7.9 Guard Time (100Ch) und Life Time Factor (100Dh) The CAN-CBX-REL4 module supports the node guarding or alternatively the heartbeat function (see page 59) Guard time and life time factors are evaluated together. Multiplying both values will give you the life time. The guard time is represented in milliseconds.
Page 52 of 83
INDEX
100Ch
Name
guard time
Data type
unsigned 16
Access type
rw
Default value
0 [ms]
Minimum value
0
Maximum value
FFFFh (65.535 s)
INDEX
100Dh
Name
life time factor
Data type
unsigned 8
Access type
rw
Default value
0
Minimum value
0
Maximum value
FFh
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Implemented CANopen Objects
8.7.10 Node Guarding Identifier (100Eh) The module only supports 11-bit identifier.
INDEX
100Eh
Name
node guarding identifier
Data type
unsigned 32
Default value
700h + Node-ID
Structure of the parameter node guarding identifier : Bit No. 31 (MSB) 30 29...11 10...0 (LSB)
Meaning reserved always 0, because 29-bit IDs are not supported bit 0...10 of the Node Guarding Identifier
The identifier can take values between 1...7FFh.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 53 of 83
Implemented CANopen Objects
8.7.11 Store Parameters (1010h) This object supports saving of parameters to the EEPROM. In order to avoid storage of parameters by mistake, storage is only executed when a specific signature is written to the appropriate sub-index. The signature is ‘save’. Reading the index returns information about the implemented storage functionalities (refer to CiA DS 301 for more information).
Index [Hex]
1010
Subindex
INDEX
1010h
Name
store parameters
Data type
unsigned 32
Description
0
number_of_entries
1
save_all_parameters (objects 1000h ... 9FFFh)
2
save_communication_parameter (objects 1000h ... 1FFFh)
3
save_application_parameter (objects 6000h ... 9FFFh)
4
save_manufacturer_parameter (objects 2000h ... 5FFFh)
Value range
Data type
R/W
4h
unsigned 8
ro
unsigned 32
rw
unsigned 32 no default, write: 65 76 61 73h (= ASCII: ‘e’ ‘v’ ‘a’ ‘s’) unsigned 32
rw
unsigned 32
rw
rw
Parameters which can be saved or loaded: Communication parameter of the objects 1005h ... 1029h Application parameter of the objects 6200h ... 6270h
Page 54 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Implemented CANopen Objects
8.7.12 Restore Default Parameters (1011h) Via this command the default parameters, valid when leaving the manufacturer, are activated again. Every individual setting stored in the EEPROM will be lost. Only command ‘Restore all Parameters’ is being supported. In order to avoid restoring of default parameters by mistake, restoring is only executed when a specific signature is written to the appropriate sub-index. The signature is ’load’. Reading the index provides information about its parameter restoring capability (refer to CiA DS 301 for more information).
Index [Hex]
1011
Subindex
INDEX
1011h
Name
restore default parameters
Data type
unsigned 32
Description
0
number_of_entries
1
load_all_default_parameters (objects 1000h ... 9FFFh)
2
load_communication_parameter (objects 1000h ... 1FFFh)
3
load_application_parameter (objects 6000h ... 9FFFh)
4
load_manufacturer_parameter (objects 2000h ... 5FFFh)
Value range
Data type
R/W
3
unsigned 8
ro
unsigned 32
rw
unsigned 32 no default, write: 64 61 6F 6Ch (= ASCII: ‘d’ ‘a’ ‘o’ ‘l’) unsigned 32
rw
unsigned 32
rw
rw
Parameters which can be saved or loaded: Communication parameter of the objects 1005h ... 1029h Application parameter of the objects 6200h ... 6270h
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 55 of 83
Implemented CANopen Objects
8.7.13 COB_ID Emergency Object (1014h) INDEX
1014h
Name
COB-ID emergency object
Data type
unsigned 32
Default value
80h + Node-ID
This object defines the COB-ID of the Emergency Object (EMCY). The structure of this object is shown in the following table: Bit-No.
Value
Meaning
31 (MSB)
0/1
30
0
reserved (always 0)
29
0
always 0 (11-bit ID)
28...11
0
always 0 (29-bit IDs are not supported)
10...0 (LSB)
x
bits 0...10 of COB-ID
0: EMCY exists / is valid 1: EMCY does not exist / EMCY is not valid
The identifier can take values between 0...7FFh.
Page 56 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Implemented CANopen Objects
8.7.14 Inhibit Time EMCY (1015h) INDEX
1015h
Name
inhibit_time_emergency
Data type
unsigned 16
Access type
rw
Value range
0-FFFFh
Default value
0
Tis object defines the Inhibit Time for the EMCY message. The value is given in multiples of 100 s.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 57 of 83
Implemented CANopen Objects
8.7.15 Consumer Heartbeat Time (1016h) INDEX
1016h
Name
consumer heartbeat time
Data type
unsigned 32
Default value
No
The heartbeat function can be used for mutual monitoring of the CANopen modules (especially to detect connection failures). The heartbeat function does not require RTR-Frames. Function: A module, the so-called heartbeat producer, cyclically transmits a heartbeat message on the CAN-bus on the node-guarding identifier (see object 100Eh). One or more heartbeat consumer receive the message. It has to be received within the heartbeat time stored on the heartbeat consumer, otherwise a heartbeat event is triggered on the heartbeat-consumer module. A heartbeat event generates a heartbeat error on the CAN-CBX-REL4 module. Each module can act as a heartbeat producer and a heartbeat consumer. One CAN-network can contain several heartbeat producers and heartbeat consumers. Index [Hex]
Sub-index
1016
Description
0
number_of_entries
1
consumer-heartbeat_time
Value range [Hex]
Default
Data type
Index [Hex]
1
1
unsigned 8
ro
0...007FFFFF
0
unsigned 32
rw
Meaning of the Variable consumer-heartbeat_time_x: consumer-heartbeat_time_x Bit Assignment
31 ...
...24
reserved (always ‘0’)
23 ...
...16
15 ...
Node-ID (unsigned 8)
...0 heartbeat_time (unsigned 16)
Node-ID
Node-Id of the heartbeat producer to be monitored.
heartbeat_time
Cycle time of heartbeat producer to transmit the heartbeat on the node-guarding ID (see object 100Eh). The consumer-heartbeat time of the monitoring module must always be higher than the producer-heartbeat time of the heartbeat-transmitting module.
Page 58 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Implemented CANopen Objects
8.7.16 Producer Heartbeat Time (1017h) INDEX
1017h
Name
producer heartbeat time
Data type
unsigned 16
Default value
0 ms
The Producer Heartbeat time defines the cycle time with which the CAN-CBX-REL4 module transmits a heartbeat-frame to the node-guarding ID. If the value of the producer heartbeat time is higher than ‘0’, it is active and stops the Node-/ LifeGuarding (see page 52). If the value of the producer-heartbeat-time is set to ‘0’, transmitting heartbeats by this module is stopped. Index Sub-index [Hex] 1017
0
Description producer-heartbeat_time
producer-heartbeat_time
CAN-CBX-REL4
Value range [Hex]
Default
Data type
R/W
0...FFFF
0 ms
unsigned 16
rw
Cycle time of heartbeat producer to transmit the heartbeat on the nodeguarding ID (see object 100Eh). The consumer-heartbeat time of the monitoring module must always be higher than the producer-heartbeat time of the heartbeat-transmitting module.
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 59 of 83
Implemented CANopen Objects
8.7.17 Identity Object (1018h) INDEX
1018h
Name
identity object
Data type
unsigned 32
Default value
No
this object contains general information about the CAN module. Index Sub-index [Hex]
1018
Description
Value range [Hex]
Default
Data type
Index [Hex]
0...4
4
unsigned 8
ro
0
no_of_entries
1
vendor_id
0...FFFF FFFF
0000 0017h
unsigned 32
ro
2
product_code
0...FFFF FFFF
2301 2002h
unsigned32
ro
3
revision_number
0...FFFF FFFF
0000 0000h
unsigned32
ro
4
serial_number
0...FFFF FFFF
-
unsigned32
ro
Parameter Description: vendor_id
This variable contains the esd-vendor-ID. This is always 00000017h.
product_code
Here the esd-article number of the product is stored. Example: Value ‘2301 2002h’ corresponds to article number ‘C.3012.02’.
revision_number
Here the software version is stored. In accordance with DS 301 the two MSB represent the revision numbers of the major changes and the two LSB show the revision number of minor corrections or changes.
revision_no major_revision_no 31
16
minor_revision_no 15
MSB
Page 60 of 83
0
LSB
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Implemented CANopen Objects
serial_number
Here the serial number of the hardware is read. The first two characters of the serial number are letters which designate the manufacturing lot. The following characters represent the actual serial number. In the two MSB of serial_no the letters of the manufacturing lot are coded. They each contain the ASCII-code of the letter with the MSB set ‘1’ in order to be able to differentiate between letters and numbers: (ASCII-Code) + 80h = read_byte The two last significant bytes contain the number of the module as BCD-value. Example: If the value ‘C1C2 0105h’ is being read, this corresponds to the hardware-serial number code ‘AB 0105’. This value has to correspond to the serial number of the module.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 61 of 83
Implemented CANopen Objects
8.7.18 Verify Configuration (1020h) INDEX
1020h
Name
verify configuration
Data type
unsigned 32
Default value
No
In this object the date and the time of the last configuration can be stored to check whether the configuration complies with the expected configuration or not in the future. Index Sub-index [Hex]
1020
Description
Value range [Hex]
Default
Data type
R/W
2
2
unsigned 8
ro
0
no_of_entries
1
configuration_date
0...FFFFFFFF
0
unsigned 32
rw
2
configuration_time
0...FFFFFFFF
0
unsigned 32
rw
Parameter Description: configuration_date Date of the last configuration of the module. The value is defined in number of days since the 01.01.1984. configuration_time Time in ms since midnight at the day of the last configuration.
Page 62 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Implemented CANopen Objects
8.7.19 Error Behaviour Object (1029h) INDEX
1029h
Name
error behaviour object
Data type
unsigned 8
Default value
No
If an error event occurs (such as heartbeat error), the module changes into the status which has been defined in variable communication_error, output_error or input_error. Index Sub-index [Hex] 1029
Description
Value range [Hex]
Default
Data type
R/W
0
no_of_error_classes
6
6
unsigned 8
ro
1
communication_error
0...2
0
unsigned 8
rw
2
output_error
0...2
0
unsigned 8
rw
Parameter Description: Parameter
Description
no_of_error_classes
number of error classes (here always ‘3’)
communication_error
heartbeat/lifeguard error and Bus off
output_error
output error
The module can enter the following states if an error occurs. Parameter value
Module states
0
pre-operational (only if the current state is operational)
1
no state change
2
stopped
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 63 of 83
Implemented CANopen Objects
8.7.20 Receive PDO Communication Parameter 1400h - 1403h This objects define the parameters of receive PDOs (Rx-PDOs).
Index Sub-index [Hex]
1400
1401
1402
1403
INDEX
1400h -1403h
Name
receive PDO parameter
Data Type
PDOCommPar
Description
Value range [Hex]
Default
Data type
R/W
3
3
unsigned 8
ro
0
no_of_entries
1
COB_ID used by Rx_PDO1
1... 0000 07FF
200h + Node-ID
unsigned 32
rw
2
transmission type
0...FF
255d
unsigned 8
rw
3
inhibit time
0...FFFF
0h
unsigned16
rw
0
no_of_entries
3
3
unsigned 8
ro
1
COB_ID used by Rx_PDO2
1... 8000 07FF
300h + Node-ID
unsigned 32
rw
2
transmission type
0...FF
255d
unsigned 8
rw
3
inhibit time
0...FFFF
0h
unsigned16
rw
0
no_of_entries
3
3
unsigned 8
ro
1
COB_ID used by Rx_PDO3
1... 800007FF
400h + Node-ID
unsigned 32
rw
2
transmission type
0...FF
255d
unsigned 8
rw
3
inhibit time
0...FFFF
0h
unsigned16
rw
0
no_of_entries
3
3
unsigned 8
ro
1
COB_ID used by Rx_PDO4
1... 800007FF
500h + Node-ID
unsigned 32
rw
2
transmission type
0...FF
255d
unsigned 8
rw
0...FFFF
0h
unsigned16
rw
inhibit time 3 All transmission types are supported.
Page 64 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Implemented CANopen Objects
8.7.21 Receive PDO Mapping Parameter 1600h - 1603h This objects define the assignment of the receive data to Rx-PDOs. INDEX
1600h-1603h
Name
receive PDO mapping
Data Type
PDO Mapping
The following table shows the assignment of the Receive PDO Mapping parameters for the defaultconfiguration: Index [Hex]
Subindex [Hex]
1600
1601 1603
Description
0
no_of_mapped_application_ objects_in_PDO1
1
1st_application_object_PDO1
2
2nd_application_object_PDO1
: :
: :
1F
31th_application_object_PDO1
20
32th_application_object_PDO1
0
no_of_mapped_application_ objects_in_PDOx
1
1st_application_object_PDOx
2
2nd_application_object_PDOx
: :
: :
1F
31th_application_object_PDOx
20
32th_application_object_PDOx
Value range [Hex]
Default
Data type
R/W
1...20
1
unsigned 8
rw
6200 0108h unsigned 32
rw
0000 0000h unsigned 32
rw
see below, objects, that can be mapped
: :
: :
0000 0000h unsigned 32
rw
0000 0000h unsigned 32
rw
1...20
see below, objects, that can be mapped
: :
0
unsigned 8
rw
0000 0000h unsigned 32
rw
0000 0000h unsigned 32
rw
: :
: :
: :
0000 0000h unsigned 32
rw
0000 0000h unsigned 32
rw
Objects, that can be mapped: 0001 00 01h, 0005 00 08h, 0006 00 10h, 0007 00 20h, 0016 00 18h,
CAN-CBX-REL4
0018 00 28h, 0019 00 30h, 001A 00 38h, 001B 00 40h, 6200 01 08h,
6220 01 01h, 6220 02 01h, 6220 03 01h, 6220 04 01h
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 65 of 83
Implemented CANopen Objects
8.7.21.1 Synchronous Setting of the Relays of 8 CAN-CBX-REL4-Modules: In general there is the possibility to access several CAN-CBX modules synchronously. The CAN-CBXREL4 modules can be configured so that up to 8 CAN-CBX-REL4 modules can be addressed (object 6200h) with a single CAN frame simultaneously. Therefore all 32 relays can be set simultaneously. The Receive COB-IDs of the CAN-CBX-REL4 modules must be set to the same value using object 1400h. The mapping has to be defined in object 1600h. Subindex 0h contains the number of valid entries within the mapping record (see following table). The number of valid entries shall be the same for all modules. Value
Description
00h
Mapping disabled
01h
Subindex 01h valid
02h
Subindex 01h and 02h valid
03h
Subindex from 01h- 03h valid
: 08h
: Subindex from 01h - 08h valid
Subindices from 01h to 08h contain the information of the mapped application objects. The entry describes the content of the PDO by their index, subindex and length. For the CAN-CBX-REL4 module the value 6200 0108h (index 6200h, subindex 01h and length 08h) may only be contained once. The other subindices contain the value 0005 0008h as placeholder for the so called dummy mapping.
i
Note: Mapping with bit-objects (object 6220h) enables the parallel connection of up to 16 CANCBX-REL4 modules.
Example : There are three CAN-CBX-REL4 modules which shall be addressed via RPDO-Mapping simultaneously. Therefore the RPDO COB-IDs of the modules have to be configured to the same value. For further information refer to standard DS-301. The object 1600h must be configured differently for the three modules. For the first module the application_object has to be contained in subindex 1h, for the second module in subindex 2h and for the third module in subindex 3h (see Fig.12). For a higher number of modules (here up to 8 modules) the entries have to be continued respectively. In the preceding or following subindices (here subindex 1h and 2h) which are not used, the value Page 66 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Implemented CANopen Objects
0005 0008h has to be entered for the dummy-mapping. Subindex 0h contains the number of subindices, according to the number of the valid objects. Entry in object 1600h for module 3: Index [Hex]
Subindex
Description
Value
0
no_of_mapped_application_ objects_in_PDO
03h
1
1st_application_object
0005 0008h
2
2nd_application_object
0005 0008h
3
3rd_application_object
6200 0108h
1600
Rx-PDO Data Bytes
COB-ID
1
2
3
4
62000108
5
6
7
8
Len = 3
62000108
62000108
Outputs
Outputs
Outputs
Module 1
Module 2
Module 3
Objekt 1600h
Objekt 1600h
Objekt 1600h
0h
3
0h
3
0h
3
1h
62000108
1h
00050008
1h
00050008
2h
00050008
2h
62000108
2h
00050008
3h
00050008
3h
00050008
3h
62000108
COB-ID (Module 1) = COB-ID (Module 2) = COB-ID (Module 3)
The COB-IDs of the modules must be set to the same value via object 1400h.
Figure 12: Example for the Rx-PDO mapping with three CAN-CBX-REL4 modules
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 67 of 83
Implemented CANopen Objects
8.7.21.2 Switching the four Relays of a Module with Mapping of Bit-Objects Via the objects 1600h to 1603h the four relays of the CAN-CBX-REL4 can be switched by mapping of bit-objects with one PDO. In the example below, the relays are switched with the bits 4 - 7 of the first data byte of the Rx-PDO. Subindex 05h to 08h of object 1600h contain the object 6220h, and the subindex, which contains the number of the relay that shall be switched. The subindices 01h to 04h of the object 1600h contain the value 0001 0001h as placeholder for the so called dummy mapping, because the data byte must always be 1 byte long. Rx-PDO
Data byte 1 of Rx-PDO 7
6
5
4
3
2
1
0
COB-ID
Data byte 1
(200+Node-ID)
2
3
4
5
6
7
8
Rel4 Rel3 Rel2 Rel1
6220 0X 01 Relay x
Module 1 Relay 1- 4 Objekt 1600h 0h
8
1h 0001 00 01 2h 0001 00 01 3h 0001 00 01 4h 0001 00 01 5h 6220 01 01 6h 6220 02 01 7h 6220 03 01 8h 6220 04 01
Fig. 13: PDO mapping of bit-objects
Page 68 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Implemented CANopen Objects
8.7.21.3 Switching the four relays of a module with different PDOs With the objects from 1600h to 1603h the 4 relays of the CAN-CBX-REL4 can be independently switched by individual PDOs. In the example below the relays are switched by bit 0 of the first data byte of the corresponding Rx-PDOs. Subindex 01h of the objects 1600h to 1603h contains the object 6220h, and the subindex, which contains the number of the relay that shall be switched. The subindices 02h to 08h of the objects 1600h to 1603h contain the value 0001 0001h as placeholder for the so called dummy mapping, because the data byte must always be 1 byte long.
Rx-PDO1 COB-ID
Data byte 1 of Rx-PDO1-4
Data byte 1
(200+Node-ID)
2
3
4
5
6
7
8
7
6
5
4
2
3
1
Rx-PDO2
0 Relx
Data byte
COB-ID
1
(300+Node-ID)
2
3
4
5
6
7
8
Rx-PDO3 COB-ID
Data byte 1
(400+Node-ID)
2
3
4
5
6
7
8
Rx-PDO4 COB-ID
Data byte 1
(500+Node-ID)
6220 02 01
6220 03 01
Relay
Relay
Relay
Relay
Module 1 Relay 1
Module 1 Relay 2
Module 1 Relay 3
Module 1 Relay 4
Objekt 1601h
Objekt 1602 h
Objekt 1603h
0h
8
0h
8
0h
8
0h
4
5
6
7
8
8
1h 6220 01 01
1h 6220 02 01
1h 6220 03 01
1h 6220 04 01
2h 0001 00 01
2h 0001 00 01
2h 0001 00 01
2h 0001 00 01
3h 0001 00 01
3h 0001 00 01
3h 0001 00 01
3h 0001 00 01
4h 0001 00 01
4h 0001 00 01
4h 0001 00 01
4h 0001 00 01
5h 0001 00 01
5h 0001 00 01
5h 0001 00 01
5h 0001 00 01
6h 0001 00 01
6h 0001 00 01
6h 0001 00 01
6h 0001 00 01
7h 0001 00 01
7h 0001 00 01
7h 0001 00 01
7h 0001 00 01
8h 0001 00 01
8h 0001 00 01
8h 0001 00 01
8h 0001 00 01
3
6220 04 01
6220 01 01
Objekt 1600h
2
Fig. 14: PDO-Mapping with several PDOs
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 69 of 83
Device Profile Area
8.8 Device Profile Area 8.8.1 Overview of implemented Objects 6200h ... 6270h Index [HEX]
{RPDO1} CAN Reception
Name
Data Type
6200
Write Output 8-bit
unsigned 8
6202
Change Polarity Output
unsigned 8
6206
Error Mode Output 8-bit
unsigned 8
6207
Error Value Output 8-bit
unsigned 8
6208
Filter Mask Output 8-bit
unsigned 8
6220
Write Output Bit 1 to 4
Boolean
6240
Change Polarity Output Bit 1 to 4
Boolean
6250
Error Mode Output Bit 1 to 4
Boolean
6260
Error Value Output Bit 1 to 4
Boolean
6270
Filter Mask Output Bit 1 to 4
Boolean
Default Communication Parameter
Default Mapping Parameter
1400h
1600h
RECEIVE RPDO1
Switch if Device Failure
ENTRY into 6200h
Change Polarity
Filter Mask
6202h
6208h
CHANGE POLARITY
BLOCK FILTER
Relaiy
Error Mode 6206h
Switch if 0h
Error Value 6207h
Fig. 15: Relationship between the output objects for an 8-bit access The objects 6200h to 6208h are used for 8-bit access. For single output line information the objects must be replaced by the objects 6220h to 6270h correspondingly. Page 70 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Device Profile Area
8.8.2 Write Output 8-Bit (6200h) Index [Hex] 6200
Subindex [Dec]
Description
0
number_of_output 8-bit
1
Write_output_8-bit
Value range [Hex]
Default [Hex]
Data type
R/W
1
1
unsigned 8
const
00...0F
0
unsigned 8
rw
Assignment of the variable Write_output_8-bit: Index: 6200h, Subindex: 1 Bit:
7
6
5
4
3
2
1
0
Relay:
-
-
-
-
Rel_4
Rel_3
Rel_2
Rel_1
If a relay bit is set to ‘1’, the corresponding relay will be energized.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 71 of 83
Device Profile Area
8.8.3 Change Polarity Output 8-bit (6202h) This object inverts the relay coil control voltage. Index [Hex] 6202
Subindex
Value range [Hex]
Description
0
number_of_output 8-bit
1
change polarity output_8-bit
Default Data type [Hex]
R/W
1
1
unsigned 8 const
00...0F
0
unsigned 8
rw
Assignment of the variable change_polarity_output_DO8-DO1: This variable determines whether a relay is inverted. Bit:
7
6
5
4
3
2
1
0
Relay:
-
-
-
-
Rel_4
Rel_3
Rel_2
Rel_1
If an output bit is set to ‘1’, the coil of the corresponding relay will be energized by setting the output bit of object 6200h to ‘0’.
Page 72 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Device Profile Area
8.8.4 Error Mode Output 8-bit (6206h) This object determines whether the relays are set to an error value defined in object 6207h, in case of an internal device failure. Index [Hex] 6206
Subindex
Description
Value range [Hex]
Default [Hex]
Data type
R/W
0
number_of_output_8-bit
1
1
unsigned 8
const
1
error_mode_output_8-bit
00...0F
0F
unsigned 8
rw
Assignment of the variable error_mode_output_8-bit: 1 = Relay state shall take the value predefined in object 6207h. 0 = Relay state shall be kept if an error occurs. Bit:
7
6
5
4
3
2
1
0
Relay:
-
-
-
-
Rel_4
Rel_3
Rel_2
Rel_1
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 73 of 83
Device Profile Area
8.8.5 Error Value Output 8-bit (6207h) On condition that the corresponding error mode (object 6206h) is active, device errors shall switch the relays to the error value defined in this object. Index [Hex]
Subindex
6207
Description
0
number_of_output 8 bit
1
error_value_output_8-bit
Value range [Hex]
Default [Hex]
Data type
R/W
1
1
unsigned 8
const
00...0F
0
unsigned 8
rw
Assignment of the variable error_value_output_8-bit: Bit:
7
6
5
4
3
2
1
0
Relay:
-
-
-
-
Rel_4
Rel_3
Rel_2
Rel_1
This variable contains the value, a relay is set to, if an error occurred. 0= 1=
If object 6206h is active the relay will be de-energized in case of fault. If object 6206h is active the relay will be energized in case of fault.
Page 74 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Device Profile Area
8.8.6 Filter Mask Output 8-bit (6208h) This object defines an additional configurable filter mask for a group of the four relays. Index [Hex]
Subindex
6208
Description
Value range [Hex]
Default [Hex]
Data type
R/W
0
number_of_output 8-bit
1
1
unsigned 8
const
1
filter_mask_output_8-bit
00...FF
FF
unsigned 8
rw
Assignment of the variable filter_mask_output_8-bit: Bit:
7
6
5
4
3
2
1
0
Relay:
-
-
-
-
Rel_4
Rel_3
Rel_2
Rel_1
0= 1=
Relay is not set to the new output value. Keep the current value. Set relay to the received output value.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 75 of 83
Device Profile Area
8.8.7 Write Output Bit 1 to 4 (6220h) With this object the relays 1 to 4 can be switched. Index [Hex]
6220
Subindex [Dez]
Description
Value range
Default
Data type
R/W
0
number_of_entries
4
4
unsigned 8
ro
1
write_output_Rel1
0,1
0
Boolean
rw
2
write_output_Rel2
0,1
0
Boolean
rw
3
write_output_Rel3
0,1
0
Boolean
rw
4
write_output_Rel4
0,1
0
Boolean
rw
Assignment of the variable write_output_Relx (x=1...4) Setting a variable to ‘1’ (TRUE) switches the corresponding relay.
Page 76 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Device Profile Area
8.8.8 Change Polarity Bit 1 to 4 (6240h) This object inverts the relay coil control voltage. Index [Hex]
6240
Subindex [Dez]
Description
Value range
Default
Data type
R/W
4
4
unsigned 8
ro
0
number_of_entries
1
change_polarity_Rel1
0,1
0
Boolean
rw
2
change_polarity_Rel2
0,1
0
Boolean
rw
3
change_polarity_Rel3
0,1
0
Boolean
rw
4
change_polarity_Rel4
0,1
0
Boolean
rw
Assignment of the variable change_polarity_Relx (x=1...4) Setting a variable to ‘1’ (TRUE) inverts the corresponding relay output.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 77 of 83
Device Profile Area
8.8.9 Error Mode Output Bit 1 to 4 (6250h) This object determines whether the relays are set to an error value defined in object 6260h, in case of an internal device error indication. Index [Hex]
6250
Subindex [Dez]
Description
Value range
Default
Data type
R/W
0
number_of_entries
4
4
unsigned 8
ro
1
error_mode_Rel1
0,1
1
Boolean
rw
2
error_mode_Rel2
0,1
1
Boolean
rw
3
error_mode_Rel3
0,1
1
Boolean
rw
4
error_mode_Rel4
0,1
1
Boolean
rw
Assignment of the variable error_mode_Relx (x=1...4) ‘1’ (TRUE) =
set the relay output to the error value predefined in object 6260h in case of an error.
‘0’ (FALSE) =
current relay state shall be kept if an internal device error occurs.
Page 78 of 83
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Device Profile Area
8.8.10 Error Value Output Bit 1 to 4 (6260h) On condition that the corresponding error mode (object 6250h) is active, device errors shall switch the relays to the error value defined in this object,
Index [Hex]
6260
Subindex [Dez]
Description
Value range
Default
Data type
R/W
0
number_of_entries
4
4
unsigned 8
ro
1
error_value_Rel1
0,1
1
Boolean
rw
2
error_value_Rel2
0,1
1
Boolean
rw
3
error_value_Rel3
0,1
1
Boolean
rw
4
error_value_Rel4
0,1
1
Boolean
rw
Assignment of the variable error_value_Relx (x=1...4) This variable contains the error value. ‘0’ (FALSE) =
If object 6250h is enabled, the relay will be de-energized if an error occurs.
‘1’ (TRUE) =
If object 6250h is enabled, the relay will be energized if an error occurs.
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 79 of 83
Device Profile Area
8.8.11 Filter Mask Output Bit 1 to 4 (6270h) This object defines an additional configurable filter mask for a single relay. Index [Hex]
6270
Subindex [Dez]
Description
Value range [Hex]
Default
Data type
R/W
4
4
unsigned 8
ro
0
number_of_entries
1
filter_mask_Rel1
0,1
1
Boolean
rw
2
filter_mask_Rel2
0,1
1
Boolean
rw
3
filter_mask_Rel3
0,1
1
Boolean
rw
4
filter_mask_Rel4
0,1
1
Boolean
rw
Assignment of the variable filter_mask_Relx (x=1...4) ‘1’ (TRUE) = ‘0’ (FALSE) =
Page 80 of 83
Set the relay to the output value received. Do not care the received output value. Keep the current value.
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Manufacturer Specific Profile Area
8.9 Manufacturer Specific Profile Area
Attention: The objects of the Manufacturer Specific Profile Area must not be changed by the user!
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 81 of 83
Firmware Update via DS-302 objects
8.10 Firmware-Update via DS-302-Objects (1F51h-1F52h) The objects described below are used for program updates via the object dictionary.
Attention: The firmware update must be carried out only by qualified personnel! Faulty program update can result in deleting of the memory and loss of the firmware. The module then can not be operated further!
In normal DS 301 mode the object 1F50h can not be accessed. The objects 1F51h and 1F52h are available in normal DS 301-mode, too. For further information about the objects and the firmware-update please refer to the manual ‘FirmwareUpdate via DS 302 Objects’.
Index [Hex]
Subindex [Hex]
1F51
1
1F52
0,1,2
Page 82 of 83
Description
Data type
R/W
Boot-Loader: FLASH command
unsigned 8
rw
Boot-Loader: Firmware Date
unsigned 32
ro
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
CAN-CBX-REL4
Firmware Update via DS-302 objects
8.10.1 Download Control via Object 1F51h
i
INDEX
1F51h
Name
Program Control
Data Type
unsigned 8
Access Type
rw
Value Range
0...FEh
Default Value
0
Note: The value range of this objects in the implementing of the CAN-CBX-REL4 differs from the value range specified in the DS 302. For further information about object 1F51h and the firmware-update please refer to the manual ‘Firmware Update via DS 302 Objects’
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.0
Page 83 of 83
