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Implemented CANopen Objects

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

CAN-CBX-DIO8

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8.9.26 Object Transmit PDO2 Communication Parameter 1801

This object defines the parameters of a transmit PDO2.

INDEX

1801

Name

transmit PDO2 parameter

Data type

PDOCommPar

Index

Sub-

index

Description

Value range

Default

Data type

Access

mode

1801

number_of_entries

0...FF

unsigned 8

COB-ID used by PDO2

1...

800007FF

8000 0000

+280

+Node-ID

unsigned 32

transmission type

0...FF

255

unsigned 8

inhibit time

0...FFFF

unsigned 16

reserved

0..FF

unsigned 8

const

event timer

0...FFFF

unsigned 16

The transmission types 0, 1...240, 252, 253 and 255 are supported.

Per default the highest bit of the parameter COB-ID used by_PDO2 is set:

8000 0000

+280

+Node-ID

Per default this object is not valid.

Summary of Contents for C.3010.02

Page 1: ...ev 3 1 Seite 1 von 123 esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany http www esd eu Phone 49 0 511 3 72 98 0 Fax 49 0 511 3 72 98 68 CAN CBX DIO8 Compact I O Module with InRailBus Manual to Product C 3010 02 ...

Page 2: ...tation are reserved by esd Distribution to third parties and reproduction of this document in any form whole or in part are subject to esd s written approval 2016 esd electronics system design gmbh Hannover esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany Phone 49 511 372 98 0 Fax 49 511 372 98 68 E mail info esd eu Internet www esd eu This manual contains important in...

Page 3: ...Safety Information inserted 3 2 3 Note to power LED inserted 3 2 6 LED description revised 3 3 Note inserted 3 3 1 Note inserted 3 3 3 Assignment of Coding Switch moved to chapter 3 3 3 3 4 2 Note concerning earthing of mounting rail inserted 4 1 Input voltage range temperature range description of housing changed 5 2 2 Picture of connector changed 5 4 3 Note on cable length inserted 6 7 Chapters ...

Page 4: ...include a warning relating to property damage DANGER Danger statements indicate a hazardous situation which if not avoided will result in death or serious injury WARNING Warning statements indicate a hazardous situation that if not avoided could result in death or serious injury CAUTION Caution statements indicate a hazardous situation that if not avoided could result in minor or moderate injury N...

Page 5: ...s to be securely installed before commissioning Never let liquids get inside the CAN CBX module Otherwise electric shocks or short circuits may result Protect the CAN CBX module from dust moisture and steam Protect the CAN CBX module from shocks and vibrations The CAN CBX module may become warm during normal use Always allow adequate ventilation around the CAN CBX module and use care when handling...

Page 6: ...lly explosive materials is not permitted The operation of the CAN CBX module for medical purposes is prohibited Service Note The CAN CBX module does not contain any parts that require maintenance by the user The CAN CBX module does not require any manual configuration of the hardware Unauthorized intervention in the device voids warranty claims Disposal Devices which have become defective in the l...

Page 7: ...wer Supply and CAN Signals to CBX InRailBus 22 3 4 2 Connection of the Power Supply Voltage 23 3 4 3 Connection of CAN 24 3 5 Remove the CAN CBX Module from the InRailBus 24 4 Technical Data 25 4 1 General technical Data 25 4 2 CPU Unit 26 4 3 CAN Interface 26 4 4 Digital In Outputs 27 4 5 Software Support 27 5 Connector Pin Assignment 28 5 1 Power Supply Voltage X100 28 5 2 CAN 29 5 2 1 CAN Inter...

Page 8: ...Telegrams 47 8 4 2 Non volatile Storage of Parameters to EEPROM 49 8 5 Overview of Used CANopen Identifiers 50 8 5 1 Setting the COB ID 50 8 6 PDO Assignment 51 8 7 Setting and Reading of the Out Inputs 52 8 7 1 Status Message of the Digital Inputs 52 8 7 2 Digital Outputs 52 8 7 3 Supported Transmission Types Based on DS 301 52 8 8 Communication Profile Area 53 8 8 1 Used Names and Abbreviations ...

Page 9: ...y Input 8 Bit 6002h 96 8 10 6 Filter Constant Input 8 Bit 6003h 97 8 10 7 Global Interrupt Enable Digital 6005h 98 8 10 8 Interrupt Mask Any Change 8 Bit 6006h 99 8 10 9 Interrupt Mask Low to High 8 Bit 6007h 100 8 10 10 Interrupt Mask High to Low 8 Bit 6008h 101 8 10 11 Write Output 8 Bit 6200h 102 8 10 12 Change Polarity Output 8 Bit 6202h 103 8 10 13 Error Mode Output 8 Bit 6206h 104 8 10 14 Er...

Page 10: ...ored in a serial EEPROM The eight digital in outputs can be individually set as outputs or inputs The CAN CBX DIO8 features the possibility to connect the power supply and the CAN bus signals via the InRailBus connector TBUS connector integrated in the mounting rail Individual modules can then be removed without interrupting the bus signals The ISO 11898 compliant CAN interface allows a maximum da...

Page 11: ... bus has to be terminated at both ends esd offers special T connectors and termination connectors Additionally the CAN_GND signal has to be connected to earth at exactly one point in the CAN network For details please read chapter Correct Wiring of Electrically Isolated CAN Networks A CAN node with electrical connection to earth potential acts as an earth potential 35 3 Set the baud rate only if i...

Page 12: ...DIO8 Seite 12 von 123 7 Transmit data CAN Digital Output CAN Identifier Len Data 200h Node ID 8 Byte 0 8 byte user data Set digital outputs 8 Receive data Digital Input CAN CAN Identifier Len Data 180h Node ID 8 Byte 0 8 byte user data Set digital inputs ...

Page 13: ... Diagram Figure 2 Connections of the CAN CBX DIO8 module NOTICE Read chapter Quick Start on page 11 before you start with the installation of the hardware INFORMATION Refer to page 34 for information on conductor connection and conductor cross section The connector pin assignments can be found on page 28 and the following ...

Page 14: ... 3 Position of the LEDs and connector in the front panel The CAN CBX DIO8 module is equipped with 4 status LEDs and 8 LEDs for the I O channels INFORMATION Refer to page 34 for information on conductor connection and conductor cross section The connector pin assignments can be found on page 28 and the following ...

Page 15: ...on 1000 ms off 3 flashes LED 2x 200 ms on 200 ms off 1x 200 ms on 1000 ms off 4 flashes LED 3x 200 ms on 200 ms off 1x 200 ms on 1000 ms off Table 2 Indicator states The red LED flashes oppositely in phase with the green LED 3 2 2 Operation of the CAN Error LED LED indication Display function Label Name Colour Name in schematic diagram 1 Indicator state Description E CAN Error red 200A off no erro...

Page 16: ...ates of the CANopen Status LED 3 2 4 Operation of the Error LED LED indication Display function Label Name Colour Name in schematic diagram 1 Indicator state Description M Error red 200C off no error on error occurred on one of the monitored outputs if the module has switched to Stopped state when the error occurred the LED remains on even if the error does no longer exist errors that occur after ...

Page 17: ... operating voltage of the digital outputs is lower than the value set in object 2300h sub index 2 see page 111 flickering read value of the operating voltage of the digital outputs is higher than the value set in object 2300h sub index 3 see page 111 on read value of the operating voltage of the digital outputs is within the limits object 2300h sub index 2 and 3 see page 111 1 The schematic diagra...

Page 18: ...LED400B IO3 4 LED400A IO4 5 LED410D IO5 6 LED410C IO6 7 LED410B IO7 8 LED410A IO8 1 The schematic diagram is not part of this manual Table 8 Indication of LEDs 1 8 LED State of channels IO1 IO8 off input voltage level is below the lower switching threshold or output state is off on input voltage level is higher than the upper switching threshold or output state is on Table 9 State of channels IO1 ...

Page 19: ...re not determined during operation After a CANopen 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 module can be set decimal from 1 to 127 or hexadecimal from 01h to 7Fh The three higher order bits higher order nibble can be set with coding switch HIGH the four lower order bits can be set with coding switch LOW INFORMATIO...

Page 20: ...e taken from the following table Setting Hex Bit 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 800 F 2 83 3 2 from firmware version 1 02 on Table 10 Index of the baud rate 3 3 3 Assignment of the Coding Switch Labelling to the Name in the Schematic Diagram Labelling on the CAN CBX DIO8 Name in Schematic Diagram 1 Baud SW301 Low SW300 High SW...

Page 21: ...d 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 CAN CBX 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 3 Swivel theCAN CBXmoduleontoth...

Page 22: ...e 7 Mounted CAN CBX module 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 is needed The terminal plug is not included in deliveryand must be ordered separately orderno C 3000 02 see order information Fig 8 Mounting rail with InRailBus and terminal plug Plug the terminal plug into the socket on the rig...

Page 23: ...nected and must not be supplied by two independent power sources at the same time Fig 9 Connecting the power supply voltage to the CAN CBX station Earthing of the Mounting Rail NOTICE The module is connected with the mounting rail via its functional earth contact This improves the stability against electromagnetic disturbances Thus the mounting rail shall be connected to an appropriate functional ...

Page 24: ...ds 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 InRailBus If the CAN CBX module is connected to the InRailBus please proceed as follows Release the modul...

Page 25: ...connector X600 CAN interface InRailBus 5 pin ME MAX TBUS connector Phoenix Contact X101 CAN interface and power supply voltage via InRailBus Only for test and programming purposes internal X200 6 pin socket connector Temperature range 20 fC 60 fC ambient temperature Humidity max 90 non condensing Protection class IP20 Pollution degree maximum permissible according to DIN EN 61131 2 Pollution Degre...

Page 26: ...g connector with spring cage connection or via InRailBus connector CAN CBX TBUS CAN controller MB90F497 according to ISO11898 1 only 11 bit CAN identifier are supported by software Electrical isolation of CAN interfaces from other units via dual digital isolator and DC DC converters Physical layer CAN physical layer according to ISO 11898 2 transfer rate programmable from 10 Kbit s up to 1 Mbit s ...

Page 27: ...Design high side switch Nominal voltage 24 V Nominal load current up to 1 A per output at 50hC ambient temperature all channels switched Digital input circuit Nominal voltage 24 V Protective circuit 20 pin Mini Combicon Input switching threshold UINOff 0 8 V UINOn i 12 V UINMax 30 V Table 13 Data of digital in outputs 4 5 Software Support The firmware of the module supports the CiA CANopen Specifi...

Page 28: ... Contact order no 19 21 90 0 included in the scope of delivery For conductor connection and conductor cross section see page 34 Pin Position Pin Assignment Labelling on Housing 24V M P Labelling on connector Pin No 1 2 3 4 Signal P24 24 V M24 GND M24 GND P24 24 V Please refer also to the connecting diagram on page 13 INFORMATION The pins 1 and 4 are connected internally The pins 2 and 3 are connec...

Page 29: ...ace The physical layer is designed according to ISO 11898 2 The CAN bus signals are electrically isolated from the other signals via a digital isolator and a DC DC converter Fig 11 CAN Interface The CAN interface can be connected via the CAN connector or optionally via the InRailBus Use the mounting rail bus connector of the CBX InRailBus CAN CBX TBUS see order information page 123 ...

Page 30: ...ent Illustration of plug connector Labelling Signal Pin G CAN_GND 1 L CAN_L 2 Sh Shield 3 H CAN_H 4 5 Signal description CAN_L CAN_H CAN signals CAN_GND reference potential of the local CAN physical layer Shield 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 connecto...

Page 31: ...tor CAN CBX TBUS Phoenix Contact 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 signals CAN_GND reference potential of the local CAN Physical layers P24 power supply voltage 24 V M24 reference potential FE functional earth contact EMC connected to mounting rail potential ...

Page 32: ...ÆÍÍ ÐÑÃ ÒÓÔÕÕ Ö ØÙÚ ÛÜÝÞÜÝßàØáÜàÝ âãäåæçãæãèâçãééêç äëìíîìïðäíì ñÁ òóô ÀÍÃÅ õÊÈ òö òÎõ ÏÅø ùúÌÏ ûüýþÿÿ û û û û ÿ ü ü ü üÿ û ÿ ýüÿ ÿ ýü ÿ þ þ ÿ ü ÿ ÿ ÿ ü ÿ ÿ þ 001 23 4356 3 5 4 Digital In Outputs X400 5 4 1 Digital Inputs Figure 13 Digital input circuit Example IO1 5 4 2 Digital Outputs Figure 14 Digital output circuit Example IO1 ...

Page 33: ... 34 Connector top view Pin Assignment Pin Assignment Signal Pin Pin Position Pin Signal L 24 V 1 11 L 24 V M24 2 12 IO1 3 13 IO2 4 14 IO3 5 15 IO4 6 16 IO5 7 17 IO6 8 18 IO7 9 19 IO8 10 20 M24 Signal Description L 24 V supply voltage of the digital outputs M24 reference potential IO1 8 signals of the digital IOs 1 8 NOTICE The maximum current load of the connector pins is 6A pin If all 8 outputs a...

Page 34: ...tranded with ferrule without plastic sleeve max 2 5 mm 1 5 mm 1 5 mm Conductor cross section stranded with ferrule with plastic sleeve min 0 25 mm 0 25 mm 0 25 mm Conductor cross section stranded with ferrule with plastic sleeve max 2 5 mm 0 5 mm 0 75 mm Conductor cross section AWG kcmil min 24 26 24 Conductor cross section AWG kcmil max 12 16 16 2 conductors with same cross section solid min n a ...

Page 35: ... CAN network design margin must be given for signal loss across the complete system and cabling parasitic loadings network imbalances ground offsets against earth potential and signal integrity Therefore the practical maximum number of nodes bus length and stub length are typically much lower esd has concentrated her recommendations concerning CAN wiring on the specifications of the ISO 11898 2 Th...

Page 36: ...with single shielded single twisted pair cable should be followed 1 A cable type with a wave impedance of about 120 â 10 with an adequate conductor cross section ã 0 22 mm has to be used The voltage drop over the wire has to be considered 2 For light industrial environment use at least a two wire CAN cable Connect ä the two twisted wires to the data signals CAN_H CAN_L and ä the cable shield to th...

Page 37: ...A termination resistor has to be connected at both ends of the CAN bus If an integrated CAN termination resistor which is equipped at the CAN interface at the end of the bus is connected this one has to be used for termination instead of an external CAN termination plug å 9 pin DSUB termination connectors with integrated termination resistor and male and female contacts are available from esd orde...

Page 38: ...onductor cross section v 0 22 mm has to be used The voltage drop over the wire has to be considered 2 For heavy industrial environment use a four wire CAN cable Connect w two twisted wires to the data signals CAN_H CAN_L and w the other two twisted wires to the reference potential CAN_GND and w the cable shield to functional earth FE at least at one point 3 The reference potential CAN_GND has to b...

Page 39: ...elded double twisted pair cables because the shield potential of the conductive DSUB housing is not looped through this T connector type If a mixed application of single twisted and double twisted cables is unavoidable take care that the CAN_GND line is not interrupted Fig 18 Example for proper wiring with single shielded double twisted pair cables 6 3 3 Termination ê A termination resistor has to...

Page 40: ...rther recommendations of the CiA like standard values of the cross section depending on the cable length are described in the CiA recommendation CiA 303 1 see CiA 303 CANopen Recommendation Part 1 Cabling and connector pin assignment Version 1 8 0 Table 2 Bit Rate kBit s Theoretical values of reachable wire length with esd interface lmax m CiA recommendations 07 95 for reachable wire lengths lmin ...

Page 41: ...rt No 2170272 ConCab GmbH Äußerer Eichwald 74535 Mainhardt Germany www concab de e g BUS PVC C 1x 2x 0 22 mm Part No 93 022 016 UL appr BUS Schleppflex PUR C 1x 2x 0 25 mm Part No 94 025 016 UL appr 6 6 2 Cable for Heavy Industrial Environment Applications Four Wire Manufacturer Cable Type U I LAPP GmbH Schulze Delitzsch Straße 25 70565 Stuttgart Germany www lappkabel de e g UNITRONIC BUS CAN UL C...

Page 42: ...ine and load impedance are equal these reflections are avoided 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 one end of the network see figure above The measured value should be between 50 ì and 70 ì If th...

Page 43: ...the CAN_GND wires 7 3 Short Circuit in CAN Wiring A CAN bus might possibly still be able to transmit data if there is a short circuit between CAN_GND and CAN_L but generally the error rate will increase strongly Make sure that there is no short circuit between CAN_GND and CAN_L 7 4 CAN_H CAN_L Voltage Each node contains a CAN transceiver that outputs differential signals When the network communica...

Page 44: ...e through the CAN circuits please use a resistance measuring device and 1 Switch off the node and disconnect it from the network see figure below 2 Measure the DC resistance between CAN_H and CAN_GND see figure below 3 Measure the DC resistance between CAN_L and CAN_GND see figure below The measured resistance has to be about 500 k for each signal If it is much lower the CAN transceiver is probabl...

Page 45: ...bject Emergency Id Emergency Data Object NMT Network Management Master Rx receive SDO Service Data Object Sync Sync frame Telegram Tx 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 DIO8 module In the Transmit PDO TxPDO the CAN CBX DIO8 module transmits data to the CANopen network SDOs Service Data Objects S...

Page 46: ...t directory is basically a sorted group of objects which can be accessed via the CAN 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 1 or a manufacturer specific code By means of the MSBs of the index the object class of th...

Page 47: ...perational and pre operational status in the CAN CBX module This chapter does not describe all possible but only some important modes of access in the CAN CBX module Definitions for the access modes can be taken from 1 An SDO is structured as follows Identifier Command code Index Sub index LSB Data field MSB low high Example 600h Node ID 23h 00 14h 01 7Fh 04h 00 00 write Index 1400h Receive PDO Co...

Page 48: ...can be found in 1 Command Number of data bytes Command code Write Request Initiate Domain Download 1 2 3 4 2Fh 2Bh 27h 23h Write Response Initiate Domain Download 60h Read Request Initiate Domain Upload 40h Read Response Initiate Domain Upload 1 2 3 4 4Fh 4Bh 47h 43h Error Response Abort Domain Transfer 80h Index Sub Index Index and sub index will be described in the chapters Device Profile Area a...

Page 49: ...0020 data cannot be transferred or stored in the application 0x08000022 data cannot be transferred or stored in the application because of the present device state 0x08000024 access to flash failed 8 4 2 Non volatile Storage of Parameters to EEPROM After the transfer the parameters are immediately active The non volatile storage of the parameters however is not carried out automatically It must be...

Page 50: ...ject 1400h Client SDO 580h Node ID SDO from CAN CBX DIO8 Server SDO 600h Node ID SDO to CAN CBX DIO8 Node Guarding 700h Node ID configurable via object 100Eh Node ID CANopen address 1h 7Fh 8 5 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 19 If the COB IDs are set via SDO this setting ...

Page 51: ...yte from CAN CBX DIO8 Transmit PDO Request the state of the inputs RPDO1 CAN CBX DIO8 CAN identifier 200h Node ID Byte 0 1 2 3 4 5 6 7 Parameter Write_ Output_ DO8 DO1 Parameter description Name Description Data type See page Write_ Output_ DO8 DO1 Setting of the digital outputs Byte 102 TPDO1 CAN CBX DIO8 CAN identifier 180h Node ID Byte 0 1 2 3 4 5 6 7 Parameter Read_ Input_ DI8 DI1 Parameter de...

Page 52: ...with each SYNC message and is transmitted after the reception of a RTR frame PDO transmission type 252 asynchronous remote request After the reception of a RTR frame the last latched state of the inputs is transmitted PDO transmission type 253 event controlled asynchronous The transmission is initiated if the state of selected inputs has changed PDO transmission type 254 255 8 7 2 Digital Outputs ...

Page 53: ...n the local EEPROM if the command save is called see page 66 Data type data type e g unsigned 8 unsigned 32 Access mode allowed access modes to this parameter ro read_only This parameter can only be read Write accesses will cause an error message const constant This parameter can not be set by the user It is readable Write accesses will cause an error message rw read write This parameter can be re...

Page 54: ...facturer Hardware Version visible string ro x yy depending on version 100Ah Manufacturer Software Version visible string ro x yy depending on version 100Ch Guard Time unsigned 16 rw default 0000h 100Dh Life Time Factor unsigned 8 rw default 00h 100Eh Node Guarding Identifier unsigned 32 rw Node ID 700h 1010h 3 Store Parameter unsigned 32 rw n a 1011h 3 Restore Parameter unsigned 32 rw n a 1014h CO...

Page 55: ...g 21h ro 1800h 5 1 Transmit PDO Parameter PDO CommPar 20h rw 1801h 5 2 Transmit PDO Parameter PDO CommPar 20h rw 1A00h 1 1 Transmit PDO Mapping PDO Mapping 21h ro 1A01h 4 2 Transmit PDO Mapping PDO Mapping 21h ro Index Sub index max Description Data type Access mode Product specific properties 1F80h NMT startup unsigned 32 rw default 2 autostart disabled 1F91h 1 Self starting nodes timing paramete...

Page 56: ...h 600h Node ID to the CAN CBX DIO8 module with the module no 3 Node ID 3h ID RTR LEN DATA 1 2 3 4 5 6 7 8 603h 0h 8h 40h 00h 10h 00h 00h 00h 00h 00h Read Request Index 1000h Sub index The CAN CBX DIO8 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 RTR LEN DATA 1 2 3 4 5 6 7 8 583h 0h 8h 43h 00h 10h 00h 91h 01h 03h 0...

Page 57: ...ccess mode ro Default value 0 The following bits of the error register are being supported at present Bit Meaning 0 generic 1 current 2 voltage 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 no errors 01h generic error 02h current error 04h voltage er...

Page 58: ...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 Description Value range Default Data type Access mode 1003h 0 no_of_errors_in_list 0 1 10 unsi...

Page 59: ... had invalid checksum and default data is loaded FF10h Data loss A D data overflow 5000h Hardware error e g A D converter defective 3110h VIO too high configurable via object 2300h 3120h VIO too low configurable via object 2300h 2300h Output Error open load no load detected at least at one output 2320h Output Error short circuit at outputs at least one output shorted to GND Emergency Frame The dat...

Page 60: ...ge Data type unsigned 32 Access mode rw Default value 80h Structure of the parameter Bit No Value Meaning 31 MSB do not care 30 0 1 0 Device does not generate SYNC message 1 Device generates SYNC message 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 The identifier can take values between 0 7FFh ...

Page 61: ...3 8 9 5 Communication Cycle Period 1006h INDEX 1006h Name Communication Cylcle Period Data type unsigned 32 Access mode rw Default value 0 s Value range of communication cycle period Value Meaning 0 No transmission of SYNC messages 1 FFFF FFFFh Cycle time of the SYNC frame in microseconds ...

Page 62: ... 21 Rev 3 1 CAN CBX DIO8 Seite 62 von 123 8 9 6 Manufacturer s Device Name 1008h INDEX 1008h Name manufacturer s device name Data type visible string Default value string CAN CBX DIO8 For detailed description of the SDOn Uploads please refer to CiA 1 ...

Page 63: ... read similarly to reading the manufacturer device name via the domain upload protocol Please refer to 1 for a detailed description of the upload 8 9 8 Manufacturer s Software Version 100Ah INDEX 100Ah Name manufacturer s software version Data type visible string Default value string e g 1 2 depending on version Reading the software version is similar to reading the manufacturer device name via th...

Page 64: ...n shall be used preferentially Use the node guarding only for existing systems and not for new developments 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 INDEX 100Ch Name guard time Data type unsigned 16 Access mode rw Default value 0 ms Minimum value 0 Maximum value FFFFh 65 535 s INDEX 100...

Page 65: ...1 bit identifier INDEX 100Eh Name node guarding identifier Data type unsigned 32 Access mode rw Default value 700h Node ID Structure of the parameter node guarding identifier Bit No Meaning 31 MSB 30 reserved 29 11 always 0 because 29 bit IDs are not supported 10 0 LSB bit 0 10 of the Node Guarding Identifier The identifier can take values between 1 7FFh ...

Page 66: ...a type Access mode 1010h 0 number_of_entries 4 unsigned 8 ro 1 save_all_parameters objects 1000h 9FFFh no default write 65 76 61 73h ASCII e v a s unsigned 32 rw 2 save_communication_parameter objects 1000h 1FFFh unsigned 32 rw 3 save_application_parameter objects 6000h 9FFFh unsigned 32 rw 4 save_manufacturer_parameter objects 2000h 5FFFh unsigned 32 rw Assignment of the variables save all parame...

Page 67: ... the appropriate sub index the CAN CBX module provides information about its storage functionality with the format described in the following Bit 31 2 1 0 Inhalt reserved auto cmd 0 0 1 MSB LSB Bit Value Description auto 0 CAN CBX module does not save the parameters autonomously 1 CAN CBX module saves the parameters autonomously cmd 0 CAN CBX module does not save the parameters on command 1 CAN CB...

Page 68: ...alue range Data type Access mode 1011h 0 number_of_entries 4 unsigned 8 ro 1 restore_all_default_parameters objects 1000h 9FFFh no default write 64 61 6F 6Ch ASCII d a o l unsigned 32 rw 2 restore_communication_parameter objects 1000h 1FFFh unsigned 32 rw 3 restore_application_parameter objects 6000h 9FFFh unsigned 32 rw 4 restore_manufacturer_parameter objects 2000h 5FFFh unsigned 32 rw Assignmen...

Page 69: ...e load 64h 61h 6Fh 6Ch sequence in CAN telegram in object 1011h sub index 1 4 On read access to the appropriate sub index the CANopen device provides information about its default parameter restoring capability with the following format Bit 31 1 0 Content reserved cmd 0 1 MSB LSB Bit Value Description cmd 0 the CAN CBX module does not restore default parameters 1 the CAN CBX module restores the de...

Page 70: ...lue 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 0 EMCY exists is valid 1 EMCY does not exist EMCY is not valid 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 The identifier can take values between 0 7FF...

Page 71: ...Seite 71 von 123 8 9 14 Inhibit Time EMCY 1015h INDEX 1015h Name inhibit_time_emergency Data type unsigned 16 Access mode rw Value range 0 FFFFh Default value 0 The Inhibit Time for the EMCY message can be adjusted via this entry The time is determined as a multiple of 100 s ...

Page 72: ...ally transmits a heartbeat message on CAN on the node guarding identifier see object 100Eh One or more heartbeat consumers 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 DIO8 module Each module can act as a hear...

Page 73: ...8 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 Example consumer heartbeat_time 0031 03E8h Node ID 31...

Page 74: ...f the producer heartbeat time is higher than 0 it is active and stops the Node Life Guarding see page 64 If the value of the producer heartbeat time is set to 0 transmitting heartbeats by this module is stopped Index Sub index Description Value range Default Data type Access mode 1017h 0 producer heartbeat_time 0 FFFFh 0 ms unsigned 16 rw producer heartbeat_time Cycle time of heartbeat producer to...

Page 75: ... FFFFh 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 0002h corresponds to article number C 3010 02 The nibbles of the long words have the following meaning product_code abcd efghh a 1 article number beginning with character K 2 article number beginn...

Page 76: ...e 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 si...

Page 77: ...her a counter is mapped into the SYNC message or not and further the highest value the counter can reach The value range of the object is described in the following table Value Description 0 The SYNC message shall be transmitted as a CAN message of data length 0 1 reserved 2 240 The SYNC message shall be transmitted as a CAN message of data length 1 The first data byte of the SYNC message contains...

Page 78: ...uration complies with the expected configuration or not in the future Index Sub index Description Value range Default Data type Access mode 1020h 0 no_of_entries 2 2 unsigned 8 ro 1 configuration_date 0 FFFFFFFFh 0 unsigned 32 rw 2 configuration_time 0 FFFFFFFFh 0 unsigned 32 rw Parameter Description configuration_date Date of the last configuration of the module The value is defined in number of ...

Page 79: ...signed 8 rw 2 output_error 0 2 0 unsigned 8 rw 3 input_error 0 2 0 unsigned 8 ro 4 VIO_extreme_low 0 2 1 unsigned 8 rw 5 VIO_low_warning 0 2 1 unsigned 8 rw 6 VIO_high_warning 0 2 1 unsigned 8 rw Parameter Description Parameter Description no_of_error_classes number of error classes here always 6 communication_error heartbeat lifeguard error and Bus off output_error output error input_error input ...

Page 80: ...l Doc No C 3010 21 Rev 3 1 CAN CBX DIO8 Seite 80 von 123 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 ...

Page 81: ...p is implemented to be able to start CANopen nodes in environments without NMT master Via NMT startup the auto startup of a CANopen node can be enabled or disabled Further features of the parameters NMT startup are currently not supported The value range of the oject is described in the following table Value Meaning 2 Auto startup disabled default 8 Auto startup enabled all other values reserved ...

Page 82: ...ameters Data Type unsigned 16 Index Sub index Description Value range Default Data type Access mode 1F91h 0 number_of_entries 3 1 unsigned 8 ro 1 NMT master detection timeout 0000 FFFFh 64h unsigned 16 rw Sub index 1 of this object contains the timeout in ms between the change from preoperational operational In default it is 100 ms The sub indices 2 and 3 of this object are not supported ...

Page 83: ...rameter 1400h defines the parameters of a receive PDO Rx PDO INDEX 1400h Name receive PDO parameter Data type PDOCommPar Index Sub index Description Value range Default Data type Access mode 1400h 0 no_of_entries 2 2 unsigned 8 ro 1 COB_ID used by PDO1 1 8000 07FFh 200h Node ID unsigned 32 rw 2 transmission type 0 FFh 255d unsigned 8 rw All transmission types are supported ...

Page 84: ...h unsigned 32 rw 4 4th _application_object 0005 0008h unsigned 32 rw 5 5th _application_object 0005 0008h unsigned 32 rw 6 6th _application_object 0005 0008h unsigned 32 rw 7 7th _application_object 0005 0008h unsigned 32 rw 8 8th _application_object 0005 0008h unsigned 32 rw Parallel connection of up to 8 CAN CBX DIO8 Modules In general there is the possibility to access several CAN CBX DIO8 modu...

Page 85: ...apping Example There are three CAN CBX DIO8 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 s CiA 301 1 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 ...

Page 86: ... 2h 62000108 00050008 3h Objekt 1600h COB ID Rx PDO Len 3 1 3 2 4 5 6 7 8 Module 3 Outputs Module 2 Outputs Module 1 Outputs Data Bytes Entry in object 1600h for module 3 Index Hex Subindex Description Value 1600 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 Figure 22 Example for the Rx ...

Page 87: ... Default Data type Access mode 1800h 0 number_of_entries 0 FFh 5 unsigned 8 ro 1 COB ID used by PDO1 1 800007FFh 0000 0000h 180h Node ID unsigned 32 rw 2 transmission type 0 FFh 255d unsigned 8 rw 3 inhibit time 0 FFFFh 0 unsigned 16 rw 4 reserved 0 FFh 0 unsigned 8 const 5 event timer 0 FFFFh 0 unsigned 16 rw The transmission types 0 1 240 252 253 and 255 are supported Per default the highest bit...

Page 88: ... Default Data type Access mode 1801h 0 number_of_entries 0 FFh 5 unsigned 8 ro 1 COB ID used by PDO2 1 800007FFh 8000 0000h 280h Node ID unsigned 32 rw 2 transmission type 0 FFh 255d unsigned 8 rw 3 inhibit time 0 FFFFh 0 unsigned 16 rw 4 reserved 0 FFh 0 unsigned 8 const 5 event timer 0 FFFFh 0 unsigned 16 rw The transmission types 0 1 240 252 253 and 255 are supported Per default the highest bit...

Page 89: ... Tx PDO mapping is freely configurable In the default setting the digital inputs DI1 DI8 object 6000h sub index 1 are mapped Objects that can be mapped with index sub index and length in bit 6000 01 08 Digital Inputs Read_Input_DI8 DI1 object 6000h sub index 1 2402 01 10 2402 08 10 Counter_Value_1 Counter_Value_8 16 bit obj 2402h sub index 1 8 2403 01 20 2403 08 20 Counter_Value_1 Counter_Value_8 ...

Page 90: ...ely configurable The number of the objects that can be mapped depends on their length Maximum 8 byte can be transferred From this follows that maximal four 16 bit values see object 2402h or two 32 bit values see object 2403h can be transferred in the PDO Combinations are possible In the default setting the digital inputs DI1 DI8 object 6000h sub index 1 are mapped Objects that can be mapped with i...

Page 91: ...n assignment of the Transmit PDO2 mapping parameters Index Sub index Description Value Datatype 1A01h 0 number of entries in PDO2 4 unsigned 8 1 object_to_be_mapped_1 0005 00 08h unsigned 8 2 object_to_be_mapped_2 6000 01 08h unsigned 8 3 object_to_be_mapped_3 2403 05 20h unsigned 32 4 object_to_be_mapped_4 2402 01 10h unsigned 16 ...

Page 92: ...nput Polarities unsigned 8 6003h Filter Constant Input 8 bit unsigned 8 6005h Global Interrupt Enable Digital boolean 6006h Interrupt Mask Any Change 8 bit unsigned 8 6007h Interrupt Mask Low to High 8 bit unsigned 8 6008h Interrupt Mask High to Low 8 bit unsigned 8 6200h Write Output 8 bit unsigned 8 6202h Change Polarity Output unsigned 8 6206h Error Mode Output 8 bit unsigned 8 6207h Error Valu...

Page 93: ...ual Doc No C 3010 21 Rev 3 1 Seite 93 von 123 0 1 2 22 3 0 3 4 5 6 5 5 7 3 3 5 28 1 3 9 5 28 3 6 5 28 3 A B B B B 8 10 2 Interrelation of the Implemented Objects of the Digital Inputs Fig 23 Overview of the objects for the digital inputs ...

Page 94: ... FHGD fgNIOXNE CDjNOD kFNHGQD fgNIOX NEUX eelWX m RFno Jpabq P raZ cd JXFMTD PKHFQNIs YeWeX GISGI CQNjDQ GISGICQNjDQ QQKQfIFID eeUWX GISGI QQKQRFnoEKQ LDQTDMOsRDnnFTD eeeWX R Zq bJd R ffaq ZDFhjNF fC FOODnn etWWX KHIFTD PXsnNOFH GISGI KHIFTD LDQTDMOs RDnnFTD cXQDnXKHhn FMh RKMNIKQNMT GISGI CQNjDQ PKgDQ fGSSHs 8 10 3 Interrelation of the Implemented Objects of the Digital Outputs Fig 24 Overview of...

Page 95: ...Access mode 6000h 0 no_of_entries 1 1 unsigned 8 ro 1 read_input_DI8 DI1 0 FFh unsigned 8 ro Assignment of the variables read_input_DI8 DI1 Index 6000h Sub index 1 Bit 7 6 5 4 3 2 1 0 Input DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 An input bit is read as 1 if the corresponding input is active i e voltage is on if the according bit in object 6002h Polarity Input 8 Bit is set to 0 ...

Page 96: ...nputs can be set individually Index Sub index Description Value range Default Data type Access mode 6002h 0 no_of _entries 1 1 unsigned 8 rw 1 polarity_input_DI8 DI1 0 FFh 0 unsigned 8 rw Assignment of the parameter polarity_input_DI8 DI1 Index 6002h Sub index 1 Bit 7 6 5 4 3 2 1 0 Input DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 Bit value DIx Input 1 inverted 0 not inverted ...

Page 97: ...he object 2310h the sample rate of the digital inputs is defined Index Sub index Description Value range Default Data type Access mode 6003h 0 no_of _entries 1 1 unsigned 8 rw 1 filter constant _DI8 DI1 0 FFh 0 unsigned 8 rw Assignment of the parameter filter constant_DI8 DI1 Index 6003h Sub index 1 Bit 7 6 5 4 3 2 1 0 Input DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 Bit value DIx Input 1 filter enabled 0 fi...

Page 98: ... 98 von 123 8 10 7 Global Interrupt Enable Digital 6005h Index Sub index Description Value range Boolean Default Data type Access mode 6005h 0 Global Interrupt Enable Bit false interrupts disabled Global Interrupt Enable Bit true interrupts enabled True False 1 boolean rw ...

Page 99: ...006h 0 no_of_entries 1 unsigned 8 const 1 IRQ mask_any_8_DI8 DI1 0 FFh FFh unsigned 8 rw Assignment of parameter IRQ mask_any_8_DI8 DI1 Index 6006h Sub index 1 Bit 7 6 5 4 3 2 1 0 Input DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 This object determines which input port lines shall activate an interrupt by rising or falling edge detection Bit value DIx Interrupt enable 0 interrupt disabled 1 interrupt enabled ...

Page 100: ...ccess mode 6007h 0 no_of_entries 1 1 unsigned 8 ro 1 IRQ mask_LH_8_DI8 DI1 0 FFh 0 unsigned 8 rw Assignment of the parameter IRQ mask_LH_8_DI8 DI1 Index 6007h Sub index 1 Bit 7 6 5 4 3 2 1 0 Input DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 For activated IRQ an interrupt is generated by rising edge detection of the input signal Bit value DIx Interrupt enable 0 interrupt disabled 1 interrupt enabled ...

Page 101: ...ccess mode 6008h 0 no_of_entries 1 1 unsigned 8 ro 1 IRQ mask_HL_8_DI8 DI1 0 FFh 0 unsigned 8 rw Assignment of the parameter IRQ mask_HL_8_DI8 DI1 Index 6008h Sub index 1 Bit 7 6 5 4 3 2 1 0 Input DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 For activated IRQ an interrupt is generated by falling edge detection of the input signal Bit Value DIx Interrupt enable 0 interrupt disabled 1 interrupt enabled ...

Page 102: ... range Default Data type Access mode 6200h 0 no_of_entries 1 1 unsigned 8 const 1 write_output_DO8 DO1 0 FFh 0 unsigned 8 rw Assignment of the variable write_output_DO8 DO1 Index 6200h Sub index 1 Bit 7 6 5 4 3 2 1 0 Output DO8 DO7 DO6 DO5 DO4 DO3 DO2 DO1 If an output bit is set to 1 the corresponding output is activated i e the output voltage is on ...

Page 103: ...idually Index Sub index Description Value range Default Data type Access mode 6202h 0 no_of_entries 1 1 unsigned 8 const 1 change polarity output_DO8 DO1 0 FFh 0 unsigned 8 rw Assignment of the parameter change_polarity_output_DO8 DO1 The parameter determines which digital output can be inverted Bit 7 6 5 4 3 2 1 0 Contents DO8 DO7 DO6 DO5 DO4 DO3 DO2 DO1 Setting an output bit to 1 inverts the cor...

Page 104: ... value defined in object 6207h in case of an internal device error Index Sub index Description Value range Default Data type Access mode 6206h 0 no_of_entries 1 1 unsigned 8 const 1 error_mode_output_DO8 DO1 0 FFh FFh unsigned 8 rw Assignment of the parameter error_mode_output_DO8 DO1 Bit 7 6 5 4 3 2 1 0 Contents DO8 DO7 DO6 DO5 DO4 DO3 DO2 DO1 Value Meaning 1 Output shall take the pre defined val...

Page 105: ...ult Data type Access mode 6207h 0 no_of_entries 1 1 unsigned 8 const 1 error_value_output_DO8 DO1 0 FFh 0 unsigned 8 rw Assignment of the parameter error_value_output_DO8 DO1 Index 6207h Sub index 1 Bit 7 6 5 4 3 2 1 0 Contents DO8 DO7 DO6 DO5 DO4 DO3 DO2 DO1 The parameter contains the value the outputs shall be set to in case of fault Value Meaning 1 Output shall be set to 1 enabled in case of fa...

Page 106: ... 2403h Index Name Data Type 2210h Output Errors 8 Bit unsigned 8 2220h Output Error Mask Bit 1 to 8 unsigned 8 2250h I O Direction Mask 8 Bit unsigned 8 2300h VIO Voltage 16 Bit unsigned 16 2310h Sample Configuration unsigned 16 2400h Counter Enable unsigned 8 2401h Counter Preload unsigned 32 2402h Counter Value 16 Bit unsigned 16 2403h Counter Value 32 Bit unsigned 32 ...

Page 107: ...gned 8 ro 2 output_error_short_DO8 DO1 0 FFh 0 unsigned 8 ro The bit mask returned by this object indicates at which outputs errors have occurred error states open overload Assignment of the parameters output_error_open_DO8 DO1 resp output_error_short_DO8 DO1 Index 2210h Sub index 1 2 Bit 7 6 5 4 3 2 1 0 Output error_ DIO8 error_ DIO7 error_ DIO6 error_ DIO5 error_ DIO4 error_ DIO3 error_ DIO2 err...

Page 108: ...so objects 1003h and 1014h Assignment of the parameters output_error_mask_open_DO8 DO1 resp output_error_mask_open_DO8 DO1 Index 2220h Sub index 1 2 Bit 7 6 5 4 3 2 1 0 Output DIO8 DIO7 DIO6 DIO5 DIO4 DIO3 DIO2 DIO1 INFORMATION An Emergency Message is transmitted if the first error of an output driver occurs and the according bit in object Output Error Mask Bit 1 to 8 is set to 1 If another error ...

Page 109: ...o_of_entries 1 unsigned 8 ro 1 I O_direction_mask_DIO8 DIO1 0 FFh 0 unsigned 8 rw This object defines a bit mask that determines which of the 8 I O channels shall be used as input and which as output Assignment of the parameter I O_direction_mask_DIO8 DIO1 Index 2250h Sub index 1 Bit 7 6 5 4 3 2 1 0 Output DIO8 DIO7 DIO6 DIO5 DIO4 DIO3 DIO2 DIO1 Value Meaning 1 channel is used as output 0 channel ...

Page 110: ...e_value Voltage in V x 10d Assignment of the variable VIO_Voltage Index 2300h Subindex 1 This variable returns the measured value of the supply voltage of the digital outputs Example Value of the variable VIO_Voltage F0h 240d Voltage in V value of the variable 10d 240d 10d 24 0 V Assignment of the parameters VIO_low_emergency_voltage Index 2300h Subindex 2 This variable defines the voltage limit t...

Page 111: ... C8h unsigned 16 rw This object enables and defines the filter of the digital inputs Assignment of the parameter sample_rate This parameter defines the sample rate that is used to read the digital inputs The sample rate is set in steps of 0 5 us The minimum value is 100 us Value of parameter sample_rate Dec Resulting sample rate us v199 current parameter value is not changed old value will stay va...

Page 112: ...counter must be mapped This setting is contained in the Transmit PDO2 Mapping parameter per default see object 1A01h object_to_be_mapped_1 4 The PDO2 Mapping must be enabled via object 1801h Therefore for the parameter COB ID used by_PDO2 the most significant bit must not be set Per default this bit is set see object 1801h sub index 1 i e the event timer is disabled per default The transmission ty...

Page 113: ...1 Seite 113 von 123 wxy wxzz The maximum attainable input clock rate results from the sample rate of the inputs see object Sample Configuration 2310h Fig 25 Interrelation of maximum count frequency and sample rate So the absolute maximum of the countable input frequency is 5 kHz ...

Page 114: ...e enabled The counters count the number of changes of the digital inputs 1 8 In this process either changes with rising or with falling edges are counted By default rising edges are counted To count the falling edges adapt the parameter Polarity_Input object 6002h Assignment of the variable counter enable Index 2400h Subindex 0 Bit 7 6 5 4 3 2 1 0 Port counter8 counter7 counter6 counter5 counter4 ...

Page 115: ...FFFh 0 unsigned 32 rw 2 counter_preload_2 0 unsigned 32 rw 3 counter_preload_3 0 unsigned 32 rw 4 counter_preload_4 0 unsigned 32 rw 5 counter_preload_5 0 unsigned 32 rw 6 counter_preload_6 0 unsigned 32 rw 7 counter_preload_7 0 unsigned 32 rw 8 counter_preload_8 0 unsigned 32 rw In this object the initial values counter_preload_1 8 of the counters 1 8 are defined Beginning from the initial value ...

Page 116: ...lue_4_16 bit 0 unsigned 16 ro 5 counter_value_5_16 bit 0 unsigned 16 ro 6 counter_value_6_16 bit 0 unsigned 16 ro 7 counter_value_7_16 bit 0 unsigned 16 ro 8 counter_value_8_16 bit 0 unsigned 16 ro The parameters counter_value_x_16 bit contain the least significant 16 bit of the current 32 bit values of the counters 1 8 see object 2400h also x 1 8 The following table shows the position of the 16 b...

Page 117: ...signed 32 ro 5 counter_value_5_32 bit 0 unsigned 32 ro 6 counter_value_6_32 bit 0 unsigned 32 ro 7 counter_value_7_32 bit 0 unsigned 32 ro 8 counter_value_8_32 bit 0 unsigned 32 ro This object contains the current 32 bit values counter_value_x_32 bit of the counters 1 8 see object 2400h also The counters count the number of changes of the digital inputs 1 8 Beginning with the 32 bit initial value ...

Page 118: ...of the memory and loss of the firmware The module then can not be operated further INFORMATION esd offers the program CANfirmdown for a firmware update Please contact our support for this In normal CiA 301 mode the objects 1F50h and 1F52h can not be accessed The object 1F51h is also available in normal CiA 301 mode For further information about the objects and the firmware update please refer to 2...

Page 119: ...ndex Description Value range Default value Data type Access mode 1F51h 0 number of programs 1 1 unsigned 8 ro 1 program_number_1 0 2 1 unsigned 8 rw INFORMATION The value range of this object in the implementation for the CAN CBX DIO8 differs from the value range specified in CiA 302 2 For further information about object 1F51h and the firmware update please refer to the standard 2 ...

Page 120: ...Index Sub index Description Value range Default Value Data type Access mode 1F52h 0 number of entries 2 2 unsigned 8 ro 1 application_software_date 0 FFFF FFFFh unsigned 32 ro 2 application_software_time 0 FFFF FFFFh unsigned 32 ro Meaning of the variables application_software_date Date of the last application software of the module specified in days since 01 01 1984 Example 0000 196Dh 26 10 2001 ...

Page 121: ...Technical data is taken from the Phoenix Contact website https www phoenixcontact com online portal de PCB plug connector FKCT 2 5 4 ST KMGY 1921900 downloaded 2013 10 09 5 Phoenix Contact GmbH Co KG Blomberg Technical data is taken from the Phoenix Contact website https www phoenixcontact com online portal de PCB plug connector FK MCP 1 5 5 STF 3 81 1851261 downloaded 2013 10 09 6 Phoenix Contact...

Page 122: ...Manual Doc No C 3010 21 Rev 3 1 CAN CBX DIO8 Seite 122 von 123 10 Declaration of Conformity ...

Page 123: ...ontact order information MCVR 1 5 5 STF 3 81 AU 1846631 C 3000 02 CAN CBX TBUS Connection adapter Terminal plug of the CBX InRailBus for the connection of the 24 V power supply voltage and the CAN interface Male type Phoenix Contact order information IMC 1 5 5 ST 3 81 AU 1943276 C 3000 03 Table 15 Order information PDF Manuals Manuals are available in English and usually in German as well For avai...

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