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Hardware-Description

September

COS-REL8

2021

Summary of Contents for COS Series

Page 1: ...Hardware Description September COS REL8 2021 ...

Page 2: ... 24 1 7 Firmware Update 24 2 CANopen Log 28 2 1 Identifier 28 2 2 Network Management 30 2 3 object directory 32 33 2 3 1 communication profile 47 2 3 1 1 0x6002 Polarity Input 8 Bit 4 48 2 3 1 2 0x1000 Device Type 49 2 3 1 3 0x1001 Error Register 50 2 3 1 4 0x1003 Predefined Error Field 51 2 3 1 5 0x1005 COB ID SYNC 51 2 3 1 6 0x1008 Manufacturer device name 51 2 3 1 7 0x100A Manufacturer software...

Page 3: ... Communication Parameter 77 2 3 1 21 0x1A01 Transmit PDO2 Mapping Parameter 79 2 3 1 21 1 0x1A00 Transmit PDO1 Mapping Parameter 82 2 3 1 22 0x1A02 Transmit PDO3 Mapping Parameter 84 2 3 1 23 0x1F51 Program Control 85 2 3 1 24 0x1F80 MNT Startup 86 2 3 2 manufacturer profile 89 2 3 2 1 0x2100 Custom Data 90 2 3 2 2 0x5F00 Deditec Special 90 2 3 2 3 0x5F10 Deditec Register Mode Read 90 2 3 2 4 0x5F...

Page 4: ...INDEX Index 4 Seite 105 2 5 2 Heartbeat Protokoll 2 6 Emergency 106 2 7 PDOs 107 2 8 Store in EEPROM 110 3 CAN Bus length 112 4 appendix 114 4 1 revisions 114 ...

Page 5: ...I Hardware Description Seite 5 Hardware Description ...

Page 6: ...iA 301 CiA 305 and CiA 401 Galvanic isolation of the CAN bus 8 relay outputs galvanically isolated AC switching voltage 36V 3A or 5A DC switching voltage 30V 3A or 5A Node number and baud rate configurable via coding switch or LSS LED status display for each input output channel Suitable for DIN rail mounting TS35 ...

Page 7: ...logs Configurable via coding switch CANopen according to CiA specification CiA 301 CiA 305 and CiA 401 CAN 2 0A or CAN 2 0B Baud rates Configurable via coding switch 1 Mbit s 800 Kbit s 500 Kbit s 250 Kbit s 125 Kbit s 100 Kbit s 50 Kbit s 20 Kbit s 10 Kbit s or Autobaud Node ID Configurable via coding switch or LSS 0x01 0x7F control LEDs CANopen RUN CANopen ERR Power Status ...

Page 8: ...or 5A A C DC depending on version Max Switching capacity 78W AC 60W DC Insulation voltage between open contacts 750 V rms Insulation voltage between contacts and coil 3 kV rms activity LED One LED per output channel plug connector 1 pluggable 16 pole terminal strip for 8 outputs operating temperature 10 C 50 C Dimensions 99 mm x 22 5 mm x 114 5 mm LxWxH Length with connector 117mm ...

Page 9: ...Hardware Description Seite 9 1 1 2 connection example 1 1 2 1 outputs ...

Page 10: ...Hardware Description Seite 10 1 1 3 block diagram ...

Page 11: ...Hardware Description Seite 11 1 1 4 pin assignment Port Pin 1 1 2 2 3 4 3 5 6 4 7 8 5 9 10 6 11 12 7 13 14 8 15 16 ...

Page 12: ...ription Seite 12 1 2 Installation Modules of the COS series can be operated stand alone or in combination In a network the CAN bus and the power supply can be passed on via the in rail bus connector see accessories ...

Page 13: ...he operating mode bit rate and node number Node ID can be determined via coding switches The coding switches are located at the bottom of the front panel In this example the operating mode is CANopen the bit rate is 250 kBit s and the Node ID is 0x24 ...

Page 14: ...s 4 CANopen Bitrate 125 kBit s 5 CANopen Bitrate 100 kBit s 6 CANopen Bitrate 50 kBit s 7 CANopen Bitrate 20 kBit s 8 CANopen Bitrate 10 kBit s 9 CANopen Autobaud LSS A CANopen Autobaud B CANopen Bootloader Bitrate 250 kBit s C CANopen Bootloader Bitrate 1000 kBit s Node ID 0x7e D CAN 2 0 A B use settings from EEPROM E CAN 2 0 A B Bitrate 1000 kBit s CAN ID 0x100 F CANopen Bitrate 1000 kBit s Node...

Page 15: ...Hardware Description Seite 15 Attention The coding switches are always queried at module start ...

Page 16: ...Hardware Description Seite 16 1 4 Dimensions 1 front view Dimensions in mm ...

Page 17: ...Hardware Description Seite 17 2 Side view DIN rail mounting left Dimensions in mm ...

Page 18: ... the status LED which shows manufacturer specific information is located in the right area Flashing states for Run and Error LED State Description on LED on off LED off blinking LED flashes at 2 5 Hz flicker LED flickers with 10 Hz 1 flash LED 200 ms on 1400 ms off 2 flashes 1x LED 200 ms on 200ms off 200ms on 1000ms off 3 flashes 2x LED 200 ms on 200ms off 200ms on 600ms off ...

Page 19: ...inking Pre Operational on Operational 1 flash Stopped CANopen Error LED State Beschreibung off no error 1 flash CAN Controller status error 2 flashes Heartbeat Nodeguard error 3 flashes Synchronization error 4 flashes Event Timer error on CAN Controller status Bus Off ...

Page 20: ...tion or 2 seconds bootloader At the end of this sequence the LED can also flash n times but at least once indicating the submode Applikation The boot process was completed successfully and the product is in the application The product is now ready for use The status LED lights up for 5 seconds and goes out for about 300ms The application sequence repeats itself ...

Page 21: ...NodeID and baud rate via coding switch x2 CANopen mode NodeID via coding switch baud rate successfully determined via autobaud x3 CANopen mode NodeID via coding switch Baud rate via autobaud still pending x4 CANopen mode fixed NodeID 0x7e and baud rate 1000 kBit s x10 Error during firmware update bootloader only ...

Page 22: ...Hardware Description Seite 22 Bootloader The status LED lights for 2 seconds and goes out for about 300ms The bootloader sequence repeats itself explanation ...

Page 23: ...Hardware Description Seite 23 1 5 1 COS REL8 LED 1 8 Shows the status of the respective output LED ON relay is switched LED OFF relay is not switched ...

Page 24: ...nation 1 7 24V Power supply 2 GND 3 CAN GND CAN Bus 4 CAN High 5 CAN Low 1 7 Firmware Update Updating the firmware by the emtas CANopen UpdateManager Tool Before updating the firmware the module should be configured with the rotary coding switch switch 3 position F as follows Bit rate 1000 kBit s Node ID 0x7e A bit rate of 1000 kbit s must be set under Settings Options ...

Page 25: ...Hardware Description Seite 25 Establishing a connection to the module Bootloader ID 126 Node ID 126 Select firmware file Check Device Data Firmware update ...

Page 26: ...Hardware Description Seite 26 ...

Page 27: ...II CANopen Log Seite 27 CANopen Log ...

Page 28: ...ork Management 0x080 SYNC 0x080 NodeID EMERGENCY 0x180 NodeID Client PDO1 0x200 NodeID Server PDO1 0x280 NodeID Client PDO2 0x300 NodeID Server PDO2 0x380 NodeID Client PDO3 0x400 NodeID Server PDO3 0x480 NodeID Client PDO3 0x500 NodeID Server PDO4 0x580 NodeID Client SDO 0x600 NodeID Server SDO 0x700 NodeID Node Guarding The COB IDs are set and stored during the initial commissioning of the modul...

Page 29: ...open Log Seite 29 Thus these COB IDs are active even if the Node ID is changed To adapt the COB IDs to the new node ID the Communication Parameters 0x1011 2 0x1011 Restore default parameters must be reset ...

Page 30: ...Operational state Communication via PDO can only take place in this state Stop Node COB ID DLC Byte0 Byte1 0 2 0x02 Node ID The Stop Node message sets the module to the Stopped state In this state communication via SDO or PDO is not possible Enter Pre Operational COB ID DLC Byte0 Byte1 0 2 0x80 Node ID The Enter Pre Operational message sets the module to the Pre Operational state In this state com...

Page 31: ...Nopen Log Seite 31 Reset Node COB ID DLC Byte0 Byte1 0 2 0x80 Node ID A hardware reset of the module is triggered via the message Reset Node After restarting the module it is in the Pre Operational state ...

Page 32: ...pants in an object directory Each object has a 16 bit index and an 8 bit subindex For a better overview the index area is divided into logical segments Index Description 0x0001 0x025F Definition for Data Types 0x0260 0x0FFF reserved 0x1000 0x1FFF communication profile 0x2000 0x5FFF manufacturer profile 0x6000 0x9FFF device profile 0xA000 0xAFFF reserved ...

Page 33: ...ter unsigned 8 0x1003 Predefined Error Field unsigned 32 0x1003 1 Standard Error Field unsigned 32 0x1003 2 Standard Error Field unsigned 32 0x1003 3 Standard Error Field unsigned 32 0x1003 4 Standard Error Field unsigned 32 0x1003 5 Standard Error Field unsigned 32 0x1003 6 Standard Error Field unsigned 32 0x1003 7 Standard Error Field unsigned 32 0x1003 8 Standard Error Field unsigned 32 0x1005 ...

Page 34: ...nsigned 16 0x100d Life time factor unsigned 8 0x1010 Store parameters unsigned 8 0x1010 1 Save all parameters unsigned 32 0x1010 2 Save communication parameters unsigned 32 0x1010 3 Save application parameters unsigned 32 0x1010 4 Save manufacturer parameters unsigned 32 0x1011 Restore default parameters unsigned 8 0x1011 1 Restore all default parameters unsigned 32 ...

Page 35: ...1011 4 Restore manufacturer default parameters unsigned 32 0x1014 COB ID EMCY unsigned 32 0x1015 Inhibit Time Emergency unsigned 16 0x1016 Consumer Heartbeat Time unsigned 8 0x1016 1 Consumer Heartbeat Time 1 unsigned 32 0x1016 2 Consumer Heartbeat Time 2 unsigned 32 0x1017 Producer Heartbeat Time unsigned 16 0x1018 Identity Object unsigned 8 0x1018 1 Vendor Id unsigned 32 ...

Page 36: ...Serial number unsigned 32 0x1029 Error behaviour unsigned 8 0x1029 1 Communication Error unsigned 8 0x1029 2 Specific Error Class unsigned 8 0x1400 RPDO1 Communication Parameter unsigned 8 0x1400 1 COB ID unsigned 32 0x1400 2 Transmission Type unsigned 8 0x1401 RPDO2 Communication Parameter unsigned 8 0x1401 1 COB ID unsigned 32 ...

Page 37: ...Parameter unsigned 8 0x1402 1 COB ID unsigned 32 0x1402 2 Transmission Type unsigned 8 0x1403 RPDO4 Communication Parameter unsigned 8 0x1403 1 COB ID unsigned 32 0x1403 2 Transmission Type unsigned 8 0x1600 RPDO1 Mapping Parameter unsigned 8 0x1600 1 Mapping Entry 1 unsigned 32 0x1600 2 Mapping Entry 2 unsigned 32 ...

Page 38: ... 5 Mapping Entry 5 unsigned 32 0x1600 6 Mapping Entry 6 unsigned 32 0x1600 7 Mapping Entry 7 unsigned 32 0x1600 8 Mapping Entry 8 unsigned 32 0x1601 RPDO2 Mapping Parameter unsigned 8 0x1601 1 Mapping Entry 1 unsigned 32 0x1601 2 Mapping Entry 2 unsigned 32 0x1601 3 Mapping Entry 3 unsigned 32 0x1601 4 Mapping Entry 4 unsigned 32 ...

Page 39: ... 7 Mapping Entry 7 unsigned 32 0x1601 8 Mapping Entry 8 unsigned 32 0x1602 RPDO3 Mapping Parameter unsigned 8 0x1602 1 Mapping Entry 1 unsigned 32 0x1602 2 Mapping Entry 2 unsigned 32 0x1602 3 Mapping Entry 3 unsigned 32 0x1602 4 Mapping Entry 4 unsigned 32 0x1602 5 Mapping Entry 5 unsigned 32 0x1602 6 Mapping Entry 6 unsigned 32 ...

Page 40: ... RPDO4 Mapping Parameter unsigned 8 0x1603 1 Mapping Entry 1 unsigned 32 0x1603 2 Mapping Entry 2 unsigned 32 0x1603 3 Mapping Entry 3 unsigned 32 0x1603 4 Mapping Entry 4 unsigned 32 0x1603 5 Mapping Entry 5 unsigned 32 0x1603 6 Mapping Entry 6 unsigned 32 0x1603 7 Mapping Entry 7 unsigned 32 0x1603 8 Mapping Entry 8 unsigned 32 ...

Page 41: ...x1800 2 Transmission Type unsigned 8 0x1800 3 Inhibit Time unsigned 16 0x1800 4 Event Timer unsigned 16 0x1801 TPDO2 Communication Parameter record 0x1801 1 COB ID unsigned 32 0x1801 2 Transmission Type unsigned 8 0x1801 3 Inhibit Time unsigned 16 0x1801 4 Event Timer unsigned 16 0x1802 TPDO3 Communication Parameter record ...

Page 42: ...802 3 Inhibit Time unsigned 16 0x1802 4 Event Timer unsigned 16 0x1803 TPDO4 Communication Parameter record 0x1803 1 COB ID unsigned 32 0x1803 2 Transmission Type unsigned 8 0x1803 3 Inhibit Time unsigned 16 0x1803 4 Event Timer unsigned 16 0x1a00 TPDO1 Mapping Parameter unsigned 32 0x1a00 1 Mapping Entry 1 unsigned 32 ...

Page 43: ...4 Mapping Entry 4 unsigned 32 0x1a00 5 Mapping Entry 5 unsigned 32 0x1a00 6 Mapping Entry 6 unsigned 32 0x1a00 7 Mapping Entry 7 unsigned 32 0x1a00 8 Mapping Entry 8 unsigned 32 0x1a01 TPDO2 Mapping Parameter unsigned 32 0x1a01 1 Mapping Entry 1 unsigned 32 0x1a01 2 Mapping Entry 2 unsigned 32 0x1a01 3 Mapping Entry 3 unsigned 32 ...

Page 44: ...6 Mapping Entry 6 unsigned 32 0x1a01 7 Mapping Entry 7 unsigned 32 0x1a01 8 Mapping Entry 8 unsigned 32 0x1a02 TPDO3 Mapping Parameter unsigned 32 0x1a02 1 Mapping Entry 1 unsigned 32 0x1a02 2 Mapping Entry 2 unsigned 32 0x1a02 3 Mapping Entry 3 unsigned 32 0x1a02 4 Mapping Entry 4 unsigned 32 0x1a02 5 Mapping Entry 5 unsigned 32 ...

Page 45: ...unsigned 32 0x1a02 8 Mapping Entry 8 unsigned 32 0x1a03 TPDO4 Mapping Parameter unsigned 32 0x1a03 1 Mapping Entry 1 unsigned 32 0x1a03 2 Mapping Entry 2 unsigned 32 0x1a03 3 Mapping Entry 3 unsigned 32 0x1a03 4 Mapping Entry 4 unsigned 32 0x1a03 5 Mapping Entry 5 unsigned 32 0x1a03 6 Mapping Entry 6 unsigned 32 ...

Page 46: ... Seite 46 Index Description data type 0x1a03 7 Mapping Entry 7 unsigned 32 0x1a03 8 Mapping Entry 8 unsigned 32 0x1f51 Program Control unsigned 8 0x1f51 1 Program Control unsigned 8 0x1f80 NMT Startup unsigned 32 ...

Page 47: ...digital inputs Sub index Description data type access Default 0 number of entries unsigned 8 ro 1 1 Polarity Input Channel 1 8 unsigned 8 rw 0 Subindex 1 Bit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Port DIO8 DIO7 DIO6 DIO5 DIO4 DIO3 DIO2 DIO1 Value Description 0 Input is not inverted 1 Input is inverted ...

Page 48: ...ss Default 0 Device Type unsigned 32 ro 0x0003 0191 Device Type Bit Description value dez 31 Special functionality 0 24 23 Manufacturer specific PDO mapping implemented 0 22 reserved 0 21 20 19 Analog outputs implemented 0 18 Analog inputs implemented 0 17 Digital outputs implemented 1 16 Digital inputs implemented 1 15 Device Profile 401 0 ...

Page 49: ...be read via index 0x1001 Sub index Description data type access Default 0 Error Register unsigned 8 ro 0x00 Supported bits of the error register Bit Description 0 generic 1 2 3 4 communication 5 6 7 Possible errors value Description 0x00 no error 0x01 generic error 0x10 communication error ...

Page 50: ...bindex 0 is incremented If further older errors occur the subindex of these errors is also incremented Sub index Description data type access Default 0 Number of entries unsigned 8 rw 1 Error Code n unsigned 32 ro 2 Error Code n 1 10 Error Code n 9 The module supports up to 10 entries for errors As soon as the 11th error occurs the oldest error subindex 10 is deleted To delete the entire error lis...

Page 51: ...DO Sub index Description data type access Default 0 COB ID SYNC Message unsigned 32 rw 0x80 2 3 1 6 0x1008 Manufacturer device name The module name can be read via index 0x1008 2 3 1 7 0x100A Manufacturer software version The current software version e g 1 00 can be read out via index 0x100A Sub index Description data type access Default 0 Manufacturer software version visible string ro ...

Page 52: ...tion is the Life Time By default the Guard Time is configured to 0ms Node guarding is therefore inactive Sub index Description data type access Default 0 Guard Time unsigned 16 rw 0 note CAN in Automation CiA recommends using only the heartbeat protocol for device monitoring Node guarding should only be used in existing systems Further information can be found in chapter Device Monitoring ...

Page 53: ...lication is the Life Time By default the Life Time Factor is configured with 0 Node guarding is therefore inactive Sub index Description data type access Default 0 Life Time Factor unsigned 8 rw 0 note CAN in Automation CiA recommends using only the heartbeat protocol for device monitoring Node guarding should only be used in existing systems Further information can be found in chapter Device Moni...

Page 54: ... the value 0x65766173 ASCII save must take place The subindex determines which parameters are to be stored Sub index Description data type access Default 0 Number of entries unsigned 8 ro 4 1 Save all parameters 0x1000 0x9FFF unsigned 32 rw 0x0000 0001 2 Save communication 0x1000 0x1FFF 3 Save application 0x6000 0x9FFF 4 Save manufacturer 0x2000 0x5FFF ...

Page 55: ... subindex determines which parameters are to be reset Sub index Description data type access Default 0 Number of entries unsigned 8 ro 4 1 Restore all parameters 0x1000 0x9FFF unsigned 32 rw 0x0000 0001 2 Restore communication 0x1000 0x1FFF 3 Restore application 0x6000 0x9FFF 4 Restore manufacturer 0x2000 0x5FFF Attention The factory settings are only active after restarting the module All individ...

Page 56: ...access Default 0 COB ID EMCY unsigned 32 rw 0x80 NodeID 2 3 1 13 0x1015 Inhibit Time Emergency The inhibit time dead time for EMCY messages emergency messages can be defined via index 0x1015 The value is specified in the unit 100 us e g value 10 1000 us Sub index Description data type access Default 0 Inhibit Time Emergency unsigned 16 rw 0 ...

Page 57: ...017 Producer Heartbeat Time must be active on the device to be monitored This device then sends a CAN message heartbeat cyclically in the defined time Index 0x1016 is the counterpart Here a time window is defined in which this heartbeat is expected Sub index Description data type access Default 0 Number of entries unsigned 8 ro 2 1 Consumer Heartbeat Time 1 unsigend 32 rw 0 2 Consumer Heartbeat Ti...

Page 58: ...CANopen Log Seite 58 Consumer Heartbeat Time Bit Description Wert dez 31 reserved 0 24 23 device address NodeID z B 0x3F 16 15 Heartbeat Producer Time ms z B 1000 für 1Sek 0 ...

Page 59: ...e heartbeat producer is activated value 0 a heartbeat message on identifier 0x700 nodeID is sent cyclically during this time The heartbeat protocol is suitable for monitoring a node The value is given in the unit 100 us e g value 10 1000 us Sub index Description data type access Default 0 Producer Heartbeat Time unsigned 16 rw 0 ...

Page 60: ...t Code unsigned 32 ro 0x01027 E18 3 Revision Number unsigned 32 ro 4 Serial Number unsigned 32 ro Vendor ID The Vendor ID is a unique manufacturer identification The DEDITEC Vendor ID has the value 0x44F Product Code The product code is a manufacturer specific identifier for identifying the hardware Revision Number This can be used to query the firmware version of the module The version number is ...

Page 61: ...CANopen Log Seite 61 Serial Number The serial number is the serial number of the module ...

Page 62: ...x1400 By default the top bit of the COB ID is not set RPDO1 is therefore active Sub index Description data type access Default 0 number of entries unsigned 8 ro 2 1 COB ID unsigned 32 rw 0x200 NodeID 2 Transmission Type unsigned 8 rw 255 COB ID Bit Description 31 PDO valid 0 valid 1 invalid 30 reserviert 29 Frame Type 0 11 Bit 1 29 Bit 28 Identifier 0 ...

Page 63: ...ption 0 acyclically synchronous Module reacts to each SYNC message 1 240 cyclically synchronous Module reacts to every nth SYNC message 255 event driven PDO is sent when Event Timer expires more information about the Transmission Type can be found here ...

Page 64: ... Operational operating mode in the event of an operating fault e g heartbeat timeout or bus off Sub index Description data type access Default 0 number of entries unsigned 8 ro 1 1 Communication Error unsigend 8 rw 0 Communication Error Value Description 0 Changes to Pre Operational operating state 1 Current operating status is maintained 2 changes to operating state Stopped ...

Page 65: ...the digital outputs 0x6200 1 0x6200 Write Output 8 Bit Subindex 2 to 8 is a dummy mapping a kind of placeholder Sub index Description data type access Default 0 number of entries unsigned 8 rw 8 1 Mapping Entry 1 unsigned 32 rw 0x6200 0108 2 Mapping Entry 2 0x0005 0008 3 Mapping Entry 3 0x0005 0008 4 Mapping Entry 4 0x0005 0008 5 Mapping Entry 5 0x0005 0008 6 Mapping Entry 6 0x0005 0008 7 Mapping ...

Page 66: ...CANopen Log Seite 66 Attention By default RPDO1 is active To edit the mapping entries the COB ID 0x1400 1 0x1400 Receive PDO1 Communication Parameter must be set to invalid ...

Page 67: ...CANopen Log Seite 67 Mapping Entry Bit Description 31 Index 16 15 Subindex 8 7 Länge 0 possible mapping Mapping hex Description 6200 01 08 Digital outputs Ch 01 08 0005 00 08 Dummy Mapping ...

Page 68: ...d via index 0x1800 By default the top bit of the COB ID is not set TPDO1 is therefore active Sub index Description data type access Default 0 number of entries unsigned 8 ro 5 1 COB ID unsigned 32 rw 0x180 NodeID 2 Transmission Type unsigned 8 rw 255 3 Inhibit Time unsigned 16 rw 0 4 reserved unsigned 8 const 0 5 Event Timer unsigned 16 rw 0 ...

Page 69: ...CANopen Log Seite 69 COB ID Bit Description 31 PDO valid 0 valid 1 invalid 30 RTR allowed 0 yes 1 no 29 Frame Type 0 11 Bit 1 29 Bit 28 Identifier 0 ...

Page 70: ...hronous Module reacts to every nth SYNC message 255 event driven PDO is sent when Event Timer expires Inhibit Time The Inhibit Time is a period of time that must be waited between sending identical messages Event Timer The Event Timer describes the send interval in which the PDO is automatically sent The value 0 deactivates the event timer ...

Page 71: ...a index 0x1801 By default the highest bit of the COB ID is set TPDO2 is therefore inactive Sub index Description data type access Default 0 number of entries unsigned 8 ro 5 1 COB ID unsigned 32 rw 0x8000 0280 NodeID 2 Transmission Type unsigned 8 rw 255 3 Inhibit Time unsigned 16 rw 0 4 reserved unsigned 8 const 0 5 Event Timer unsigned 16 rw 0 ...

Page 72: ...CANopen Log Seite 72 COB ID Bit Description 31 PDO valid 0 valid 1 invalid 30 RTR allowed 0 yes 1 no 29 Frame Type 0 11 Bit 1 29 Bit 28 Identifier 0 ...

Page 73: ...hronous Module reacts to every nth SYNC message 255 event driven PDO is sent when Event Timer expires Inhibit Time The Inhibit Time is a period of time that must be waited between sending identical messages Event Timer The Event Timer describes the send interval in which the PDO is automatically sent The value 0 deactivates the event timer ...

Page 74: ...a index 0x1802 By default the highest bit of the COB ID is set TPDO3 is therefore inactive Sub index Description data type access Default 0 number of entries unsigned 8 ro 5 1 COB ID unsigned 32 rw 0x8000 0380 NodeID 2 Transmission Type unsigned 8 rw 255 3 Inhibit Time unsigned 16 rw 0 4 reserved unsigned 8 const 0 5 Event Timer unsigned 16 rw 0 ...

Page 75: ...CANopen Log Seite 75 COB ID Bit Description 31 PDO valid 0 valid 1 invalid 30 RTR allowed 0 yes 1 no 29 Frame Type 0 11 Bit 1 29 Bit 28 Identifier 0 ...

Page 76: ...hronous Module reacts to every nth SYNC message 255 event driven PDO is sent when Event Timer expires Inhibit Time The Inhibit Time is a period of time that must be waited between sending identical messages Event Timer The Event Timer describes the send interval in which the PDO is automatically sent The value 0 deactivates the event timer ...

Page 77: ...nter 16 Bit are mapped to Byte 0 7 in the 2nd TPDO transmit PDO Sub index Description data type access Default 0 number of entries unsigned 8 rw 4 1 Mapping Entry 1 unsigned 32 rw 0x2411 0110 2 Mapping Entry 2 0x2411 0210 3 Mapping Entry 3 0x2411 0310 4 Mapping Entry 4 0x2411 0410 Attention By default TPDO2 is inactive The mapping entries can be edited directly To activate PDO2 the COB ID 0x1801 1...

Page 78: ...te 78 Mapping Entry Bit Description 31 Index 16 15 Subindex 8 7 Länge 0 possible Mapping Mapping hex Description 6000 01 08 Digital inputs Ch 01 08 5010 01 10 input counter Ch 01 08 5010 08 10 0005 00 08 Dummy Mapping ...

Page 79: ...d Input 8 Bit are mapped to Byte0 in the transmit PDO Subindex 2 to 8 is a dummy mapping a kind of placeholder Sub index Description data type access Default 0 number of entries unsigned 8 rw 8 1 Mapping Entry 1 unsigned 32 rw 0x6000 0108 2 Mapping Entry 2 0x0005 0008 3 Mapping Entry 3 0x0005 0008 4 Mapping Entry 4 0x0005 0008 5 Mapping Entry 5 0x0005 0008 6 Mapping Entry 6 0x0005 0008 7 Mapping E...

Page 80: ...CANopen Log Seite 80 Attention By default TPDO1 is active To edit the mapping entries the COB ID 0x1800 1 0x1800 Transmit PDO1 Communication Parameter must be set invalid ...

Page 81: ...e 81 Mapping Entry Bit Description 31 Index 16 15 Subindex 8 7 Lenght 0 possible Mapping Mapping hex Description 6000 01 08 Digital inputs Ch 01 08 5010 01 10 input counter Ch 01 08 5010 08 10 0005 00 08 Dummy Mapping ...

Page 82: ...nter 16 Bit are mapped to Byte 0 7 in the 3rd TPDO transmit PDO Sub index Description data type access Default 0 number of entries unsigned 8 rw 4 1 Mapping Entry 1 unsigned 32 rw 0x2411 0510 2 Mapping Entry 2 0x2411 0610 3 Mapping Entry 3 0x2411 0710 4 Mapping Entry 4 0x2411 0810 Attention By default TPDO3 is inactive The mapping entries can be edited directly To activate PDO3 the COB ID 0x1802 1...

Page 83: ...te 83 Mapping Entry Bit Description 31 Index 16 15 Subindex 8 7 Länge 0 possible Mapping Mapping hex Description 6000 01 08 Digital inputs Ch 01 08 5010 01 10 input counter Ch 01 08 5010 08 10 0005 00 08 Dummy Mapping ...

Page 84: ...led Sub index Description data type access Default 0 number of entries unsigned 8 ro 1 1 Program Control unsigned 8 rw Program Control value Description 0 starts the module in the bootloader Other functions are not supported Attention An improper firmware update may result in the module no longer being able to be operated It is therefore advisable to have the firmware update carried out by an expe...

Page 85: ... The automatic change to operating mode Operational should only be used in environments where no NMT master is available Sub index Description data type access Default 0 MNT Startup unsigned 32 rw 2 NMT Startup value Description 2 Changes to Pre Operational operating state 8 changes to operating state Operational Other functions are not supported ...

Page 86: ...stom Data unsigned 8 0x2100 1 Custom Data 1 unsigned 32 0x2100 2 Custom Data 2 unsigned 32 0x2100 3 Custom Data 3 unsigned 32 0x2100 4 Custom Data 4 unsigned 32 0x2100 5 Custom Data 5 unsigned 32 0x2100 6 Custom Data 6 unsigned 32 0x2100 7 Custom Data 7 unsigned 32 0x2100 8 Custom Data 8 unsigned 32 0x5F00 DEDITEC Special unsigned 8 0x5F00 1 ModuleState unsigned 32 ...

Page 87: ...oadID0 3 unsigned 32 0x5F00 5 BootloadID4 7 unsigned 32 0x5F10 DEDITEC Register Mode Read unsigned 8 0x5F10 1 Register Address unsigned 32 0x5F10 2 Read Byte unsigned 32 0x5F10 3 Read Word unsigned 32 0x5F10 4 Read Long unsigned 32 0x5F10 5 Read Byte Increment Address unsigned 32 0x5F10 6 Read Word Increment Address unsigned 32 ...

Page 88: ...Register Mode Write unsigned 8 0x5F20 1 Register Address unsigned 32 0x5F20 2 Write Byte unsigned 32 0x5F20 3 Write Word unsigned 32 0x5F20 4 Write Long unsigned 32 0x5F20 5 Write Byte Increment Address unsigned 32 0x5F20 6 Write Word Increment Address unsigned 32 0x5F20 7 Write Long Increment Address unsigned 32 0x5F20 8 Error Code unsigned 32 ...

Page 89: ...an be stored in the EEPROM of the module A write access causes an automatic saving A write access to index 0x1010 0 or 0x1010 4 Store parameters is therefore not necessary Sub index Description data type access Default 0 number of entries unsigned 8 ro 8 1 Custom Data 1 unsigned 32 rw 8 Custom Data 8 ...

Page 90: ...2 0x5F00 Deditec Special Index is required for internal purposes 2 3 2 3 0x5F10 Deditec Register Mode Read Index is required for internal purposes 2 3 2 4 0x5F20 Deditec Register Mode Write Index is required for internal purposes ...

Page 91: ...0x6003 Filter Constant Input 8 Bit unsigned 8 0x6005 Global Interrupt Enable Digital boolean 0x6006 Interrupt Mask Any Change 8 Bit unsigned 8 0x6007 Interrupt Mask Low to High 8 Bit unsigned 8 0x6008 Interrupt Mask High to Low 8 Bit unsigned 8 Digital outputs Index Description data type 0x6200 Write Output 8 Bit unsigned 8 0x6202 Polarity Output 8 Bit unsigned 8 0x6206 Error Mode Output 8 Bit uns...

Page 92: ...CANopen Log Seite 92 2 3 3 1 Digital outputs Context of the implemented objects for digital outputs ...

Page 93: ...apter 0x2400 I O Port Direction Sub index Description data type access Default 0 Number of entries unsigned 8 ro 1 1 Write Output Channel 1 8 unsigned 8 rw 0 Subindex 1 Bit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Port DIO8 DIO7 DIO6 DIO5 DIO4 DIO3 DIO2 DIO1 Wert Description 0 Output is not switched 1 Output is switched Example Outputs 1 8 subindex 1 are written from device address 20 0x14 Only out...

Page 94: ...DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 0x61 4 8 0x2F 0x00 0x62 0x01 0x42 0x00 0x00 0x00 Response Frame COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 0x59 4 8 0x60 0x00 0x62 0x01 0x00 0x00 0x00 0x00 ...

Page 95: ...gital outputs Sub index Description Datenty p access Default 0 Number of entries unsigned 8 ro 1 1 Polarity Output Channel 1 8 unsigned 8 rw 0 Subindex 1 Bit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Port DIO8 DIO7 DIO6 DIO5 DIO4 DIO3 DIO2 DIO1 Wert Description 0 Output is not inverted 1 Output is inverted ...

Page 96: ...rror The state itself is defined in object 0x6207 Error Value Output 8 Bit Sub index Description data type access Default 0 number of entries unsigned 8 ro 1 1 Error Mode Output 1 8 unsigned 8 rw Subindex 1 Bit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Port DIO8 DIO7 DIO6 DIO5 DIO4 DIO3 DIO2 DIO1 Wert Description 0 Output should not be switched 1 Output is switched after 0x6207 ...

Page 97: ... Mode for the corresponding output must be activated in object 0x6206 Error Mode Output 8 Bit Sub index Description data type access Default 0 Number of entries unsigned 8 ro 1 1 Error Value Output 1 8 unsigned 8 rw Subindex 1 Bit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Port DIO8 DIO7 DIO6 DIO5 DIO4 DIO3 DIO2 DIO1 Wert Description 0 Output is switched off 1 Output is switched on ...

Page 98: ...ed with a response frame Structure SDO Frame COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Identi fier 8 Com mand o Index Subi ndex data field Bit 0 7 Bit 8 15 Bit 0 7 Bit 8 15 Bit 16 2 3 Bit 24 3 1 Example The digital inputs 0 7 index 0x6000 subindex 1 are read from device address 10 0x0A SDO Frame COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 0x60 A 8 0x...

Page 99: ...CANopen Log Seite 99 Response Frame COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 0x58 A 8 0x4F 0x00 0x60 0x01 0x88 0x00 0x00 0x00 ...

Page 100: ...D Request The receiver acknowledges the parameters on ID 0x580 0x0A NodeID Response Command The command in the request frame consists of the Specifier 0x40 Read Request and the length 0x0 undefined Accordingly the receiver acknowledges with the command 0x4F Read Response with 1 byte data ...

Page 101: ...equently used commands command Number of bytes value Write Request 1 0x2F 2 0x2B 3 0x27 4 0x23 unbestimmt 0x22 Write Response 0x60 Read Request 0x40 Read Response 1 0x4F 2 0x4B 3 0x47 4 0x43 unbestimmt 0x42 Error Response 0x80 ...

Page 102: ...te 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Identi fier 8 0x80 Index Subi ndex error code Bit 0 7 Bit 8 15 Bit 0 7 Bit 8 15 Bit 16 2 3 Bit 24 3 1 Possible error codes error code Description 0x0504 0001 Command unknown 0x0601 0000 Access to object not allowed 0x0601 0001 Read access to object not allowed 0x0601 0002 Write access to object not allowed 0x0602 0000 Index unknown 0x0604 0041 Object ...

Page 103: ...o small 0x0607 0013 Length too large 0x0609 0011 Subindex unknown 0x0609 0030 Transmitted parameter outside the value range 0x0800 0000 undefined error cause 0x0800 0020 Data cannot be transferred or stored 0x0800 0022 Data cannot be transferred or stored wrong operating mode 0x0800 0024 Access to Flash failed ...

Page 104: ...monitored NMT slaves with CAN remote frames to report back with a CAN message consisting of the current operating state e g pre operational and a toggle bit If a slave does not respond within a certain time lifetime this is evaluated as a failure of the node and triggers a node guarding error at the master This method can also be used to monitor the status of the NMT master itself Each slave can d...

Page 105: ...ally sends a message heartbeat on the CAN bus This message is received by one or more nodes heartbeat consumer For this purpose the node number of the producer and a heartbeat time are configured in the heartbeat consumer If the message of the configured node does not appear within the set time e g due to a connection termination the consumer triggers a heartbeat error ...

Page 106: ...ssage with error code 0x0000 is also sent COB ID DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 0x80 Node ID 8 Error Code Error Regis ter Manufacturer Specific Error Field Error Code Error code of the occurred error Error Register Shows the current contents of the error register see also 0x1001 Error Register Manufacturer Specific Error Field Depending on the type of error there is ma...

Page 107: ...PDOs also Transmit TX or TPDO The direction of the transmission was determined from the module s point of view Modules of the COS series send their input data digital analog inputs with TPDOs and receive output data digital analog outputs with RPDOs Transmission can be synchronous asynchronous or event driven Transmi ssion Type transference cyclic acyclical ly in sync asynchro nous RTR 0 x x 1 240...

Page 108: ...an RPDO for example the output value is not set until the next SYNC message is received This allows several devices to be populated with data RPDO These data can then be set to active at the same time SYNC With a TPDO the SYNC message triggers the reading of the inputs and an immediate sending of the PDO if the data has changed ...

Page 109: ...e 252 253 applies to PDOs whose transmission must be requested by a remote frame A distinction is made here between synchronous 252 and asynchronous 253 In synchronous mode the data is not determined until a SYNC message is received With asynchronous the data is determined constantly Asynchronous Transmission With Transmission Type 254 255 the transmission mode is asynchronous or event driven A di...

Page 110: ...ve immediately after setting To make these variables permanently available e g at module restart they must be stored in the EEPROM For this a write access to index 0x1010 Store parameters must be made The storage should only take place in the operating mode Pre Operational ...

Page 111: ...III CAN Bus length Seite 111 CAN Bus length ...

Page 112: ...ite 112 3 CAN Bus length bit rate kbit s bus length m wire cross section mm 1000 25 0 25 to 0 34 800 50 0 34 to 0 6 500 100 250 250 125 500 0 5 to 0 6 100 650 0 75 to 0 8 50 1000 20 2500 not defined in CiA 303 1 10 5000 ...

Page 113: ...IV appendix Seite 113 appendix ...

Page 114: ...appendix Seite 114 4 appendix 4 1 revisions Rev 3 00 DEDITEC Design Update 2021 Rev 1 00 First DEDITEC manual ...

Page 115: ...appendix Seite 115 ...

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