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Connector Pin Assignment

CAN-CBX-AI814

Manual • Doc.-No.: C.3020.21 / Rev. 1.5

Page 25 of 108

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4.2 CAN Bus (X400)

4.2.1 CAN Interface

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 107).

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Summary of Contents for C.3020.02

Page 1: ...1 Rev 1 5 Page 1 of 108 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 AI814 8 A D Converter Inputs 14 Bit Manual to Product C 3020 02 ...

Page 2: ...nges without notice to this or any of its products to improve reliability performance or design All rights to this documentation 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 2014 esd electronics system design gmbh Hannover esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover G...

Page 3: ...ction Conductor Cross Section inserted 5 6 Chapter moved and updated 6 7 Chapter moved and updated 7 8 Chapter moved note to installation and wiring inserted 8 9 Chapter Software renamed to CANopen Firmware general part chapter 8 1 8 4 updated and restructured 8 6 9 5 Description of the parameters inserted 8 8 Chapter Used Names and Abbreviations inserted 8 9 1 9 7 Product specific properties of C...

Page 4: ...ualified Personal This documentation is directed exclusively towards qualified personal in control and automation engineering The installation and commissioning of the product may only be carried out by qualified personal which is authorized to put devices systems and electric circuits into operation according to the applicable national standards of safety engineering Conformity The CAN CBX module...

Page 5: ...ing Switch Labelling to Name in Schematic Diagram 19 3 4 Installation of the Module Using InRailBus Connector 20 3 4 1 Connecting Power Supply and CAN Signals to CBX InRailBus 21 3 4 2 Connection of the Power Supply Voltage 22 3 4 3 Connection of CAN 23 3 5 Remove the CAN CBX Module from the InRailBus 23 4 Connector Assignment 24 4 1 Power Supply Voltage 24 V X100 24 4 2 CAN Bus X400 25 4 2 1 CAN ...

Page 6: ... 6 Default PDO Assignment 48 8 7 Reading the Analog Values 49 8 7 1 Messages of the Analog Inputs 49 8 7 2 Supported Transmission Types Based on DS 301 49 8 8 Communication Profile Area 50 8 8 1 Used Names and Abbreviations 50 8 9 Implemented CANopen Objects 51 8 9 1 Overview of Communication Profile Objects with Product Specific Properties 51 8 9 2 Device Type 1000h 53 8 9 3 Error Register 1001h ...

Page 7: ...Bit 6402h 85 8 10 5 Read Input Raw Data 16 Bit 6404h 87 8 10 6 Analog Interrupt Trigger Selection 6421h 88 8 10 7 Global Interrupt Enable 6423h 89 8 10 8 Interrupt Upper Limit 6424h 90 8 10 9 Interrupt Lower Limit 6425h 91 8 10 10 Analog Input Interrupt Delta 6426h 92 8 11 Manufacturer Specific Profile Area 94 8 11 1 Overview of Manufacturer Specifc Objects 2310h 2405h 94 8 11 2 Sample Time 2310h ...

Page 8: ... constants NULL Programming data types uint32_t Variable names Count The following indicators are used to highlight noticeable descriptions Attention Warnings or cautions to tell you about operations which might have unwanted side effects Note Notes to point out something important or useful Number Representation All numbers in this document are base 10 unless designated otherwise For hexadecimal ...

Page 9: ... is held in the flash Parameters are stored in a serial EEPROM The 14 bit A D converter a TLC3578 converts the eight analog inputs The inputs are connected via a 12 pole plug with spring cage connections The analog inputs are electrically isolated by digital isolators The power supply voltage and the CAN bus connection can be fed via the InRailBus connector integrated in the top hat rail or via se...

Page 10: ...ge via InRailBus 1G 8P 12 pin printed circuit board connector X500 analog inputs CAN 5 pin printed circuit board connector X400 CAN interface Only for test and programming purposes internal X200 6 pin printed circuit board connector connector Temperature range 20 eC 70 eC ambient temperature Humidity max 90 non condensing Protection class IP20 Pollution degree maximum permissible according to DIN ...

Page 11: ...spring cage connection or via Phoenix Contact TBUS connector InRailBus CAN Controller MB90F497 ISO11898 1 CAN 2 0 CANopen software supports only 11 bit CAN identifier Electrical isolation of CAN interfaces against other units via digital Isolator and DC DC converter Physical layer CAN physical layer according to ISO 11898 2 transfer rate programmable from 10 Kbit s up to 1 Mbit s Bus termination h...

Page 12: ... rage 10 24 V Accuracy input voltage 9 2 V error 5 mV Drift temperature range 50 ppm gC Conversion time h 100 is 8 channels simultaneously Electrical isolation against other units via dual digital isolator Input impedance typically 10 kj Table 4 Data of analog inputs 2 5 Software Support The firmware of the module supports CANopen according to CiA CANopen specifications CiA 301 1 and CiA DS 401 2 ...

Page 13: ...0 21 Rev 1 5 Page 13 of 108 3 Hardware Installation 3 1 Connecting Diagram Fig 2 Connections of the CAN CBX AI814 module Note The connector pin assignment can be found on page 24 and following For conductor connection and conductor cross section see page 30 ...

Page 14: ...described in the following chapters 3 2 1 Indicator States In principle there are 8 indicator states distinguished Indicator state Display on LED constantly on off LED constantly off blinking LED blinking with a frequency of approx 2 5 Hz flickering LED flickering with a frequency of approx 10 Hz 1 flash LED 200 ms on 1400 ms off 2 flashes LED 200 ms on 200 ms off 200 ms on 1000 ms off 3 flashes L...

Page 15: ... red off no error 1 flash CAN controller is in Error Active state on CAN controller state is Bus Off or coding switch position ID node 7Fh when switching on see Special Indicator States on page 16 2 flashes Heartbeat or Nodeguard error occurred The LED automatically turns off if Nodeguard Heartbeat messages are received again Table 6 Indicator states of the red CAN Error LED 3 2 3 Operation of the...

Page 16: ... of the Error LED 3 2 5 Operation of the Power LED LED indication Display function Label Name Colour Compone nt No Indicator state Description P Power green 200D off no power supply voltage or the module is in Bootloader Mode this state is indicated by the CANopen status LED 3 Flashes on power supply voltage is on and application software is running Table 9 Indicator state of the Power LED 3 2 6 S...

Page 17: ...o C 3020 21 Rev 1 5 Page 17 of 108 3 2 7 Assignment of LED Labelling to Name in Schematic Diagram Labelling on CAN CBX AI814 Name of the LED in Schematic Diagram E LED200A S LED200B M LED200C P LED200D The Schematic Diagram is not part of this manual ...

Page 18: ...ter 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 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 Note Avoid the following settings Setting the address r...

Page 19: ...ken 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 1 800 F 1 2 83 3 1 implemented since firmware version 2 03 Table 11 Index of the baud rate 3 3 3 Assignment of Coding Switch Labelling to Name in Schematic Diagram Labelling on the CAN CBX AI814 Name in the Schematic Diagram 2 Baud SW301 Low SW300 High...

Page 20: ...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 CAN CBX modules 2 Place the CAN CBX module with the DIN rail guideway on the top ...

Page 21: ...tom 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 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 plugi...

Page 22: ... terminal plug 3 4 2 Connection of the Power Supply Voltage The power supply voltage can be supplied via the 24V connector or via the InRailBus Attention Please note the safety instructions containing the requirements on power supply current circuits see page 4 Attention The connections for the 24 V power supply are internally connected and must not be supplied by two independent power sources at ...

Page 23: ...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 InRailBus If the CAN CBX module is connected to the InRailBus please proceed as follows Release the mod...

Page 24: ...Contact order no 19 21 90 0 included in the scope of delivery For conductor connection and conductor cross section see page 30 Pin Position Pin Assignment Labelling on Housing 24V M P Labelling on connector free free 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 Note The pins 1 and 4 are connected internally The pins 2 and 3 are conn...

Page 25: ...rface 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 107 ...

Page 26: ... see page 30 Pin Position Pin Assignment Illustration of device 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...

Page 27: ...r 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 28: ...ÑÒÓÀÔÕÖ ØÙÚÚÛÜÝÑÀÒÒÕÖ ØÞÚÚÛÜÝÑÀßÒÕÖ àáâÍ ãÉÇ äåæçè äåáâ äéêë éä ÅÅã ÂÍÍìÇ ãÉÇíÍËÍ î ïðñòóôõö ø ùúÍÍ äûüýþÿ éÂú ÂÅ ÄÇ í Â à å éûÆ þ ÿþ èêéíúÊ î ïðñòóô ö ø ó ñ ïðôï Öò ñó å ÿ á û ÿû áêÊÂÊ í ÿû û ü ûüûÆÿ û þ Éþüÿ ü á û ÿ ûÆ 4 3 Analog Inputs X500 4 3 1 Analog Input Circuit Fig 12 Analog input circuit example channel 1 ...

Page 29: ...1 2P Input Channel2 3G GND 3P Input Channel3 4P Input Channel4 5G GND 5P Input Channel5 6P Input Channel6 7G GND 7P Input Channel7 8P Input Channel8 Signal description xP Positive input pin of the analog input x 1 2 8 xG Reference potential analog ground connected to functional earth contact of the module x 1 2 8 Note The xG pins are electrically connected The xP inputs can be connected to any xG ...

Page 30: ...ule without plastic sleeve max 2 5 mm 1 5 mm Conductor cross section stranded with ferrule with plastic sleeve min 0 25 mm 0 25 mm Conductor cross section stranded with ferrule with plastic sleeve max 2 5 mm 0 5 mm Conductor cross section AWG kcmil min 24 26 Conductor cross section AWG kcmil max 12 16 2 conductors with same cross section solid min n a n a 2 conductors with same cross section solid...

Page 31: ...e shielded single twisted pair cable must be followed 1 A cable type with a wave impedance of about 120 10 with an adequate wire cross section 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 the two twisted wires to the data signals CAN_H CAN_L and the cable shield to the reference potential CAN...

Page 32: ...õ ë ì âãÖ äåæÚ çÝèÚÝÖÙØÞé ÞßàêàÞáà âãÖ äåæÚ çÝèÚÝÖÙØÞé ÞßàêàÞáà ÕÖ ØÙÙÚÛÜØÝ ÞßàßßÞáà ÕÖ ØÙÙÚÛÜØÝ ÞßàßßÞáà ÕÖ ØÙÙÚÛÜØÝ çÝèÚÝÖÙØÞé ÞßàßßÞáà ÌÈË ÌÈË ÌÈË ÌÈË Figure 13 CAN wiring for light industrial environment 5 1 2 Cabling for devices which have only one CAN connector per net use T connectors and cable stubs shorter than 0 3 m available as accessory Figure 14 Example for proper wiring with single s...

Page 33: ...ered 2 For heavy industrial environment use a four wire CAN cable Connect the two twisted wires to the data signals CAN_H CAN_L and the cable shield to the reference potential CAN_GND the cable shield to functional earth FE at least at one point 3 The reference potential CAN_GND has to be connected to the functional earth FE at exactly one point 4 A CAN net must not branch exception short cable st...

Page 34: ...cables at one connector where the cable s shield is looped through e g DSUB9 connector from ERNI ERBIC CAN BUS MAX order no 154039 The usage of esd s T connector type C 1311 03 is not recommended for single shielded double twisted pair cables because the shield potential of the conductive DSUB housing is not looped through this T connector type Furthermore mixed use of single twisted and double tw...

Page 35: ...the CAN signals By using fast digital isolators and testing each board at 1 Mbit s esd modules typically reach a wire length of 37 m at 1 Mbit s within a closed net without impedance disturbances like e g longer stub Bit Rate kBit s Typical values of reachable wire length with esd interface lmax m CiA recommendations 07 95 for reachable wire lengths lmin m 1000 37 25 800 59 50 666 6 80 500 130 100...

Page 36: ...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 5 5 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 CSA 2x 2x 0 22 UL CSA approved Part No 2170261 UNITRONIC BUS FD P CAN UL CSA 2x...

Page 37: ...is 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 ends of the network see figure above and the middle if the network cable consists of more than one line section The measured value should be between 50 and 7...

Page 38: ... of the CAN GND wires 6 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 the error rate will increase strongly Make sure that there is no short circuit between CAN_GND and CAN_L 6 4 CAN_H CAN_L Voltage Each node contains a CAN transceiver that outputs differential signals When the network communication i...

Page 39: ... 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 Switch off the node and disconnect it from the network see figure below 2 Measure the DC resistance b...

Page 40: ...erminated at both ends esd offers special T connectors and terminator connectors Additionally the CAN_GND signal has to be connected to earth at exactly one point For easier wiring the termination connectors are equipped with an earth connector A CAN participant without an electrically isolated interface acts as an earth connection 3 Setting the baud rate only if another baud rate than the default...

Page 41: ... Set Global_Interrupt_Enable to true 1 the module will then transmit the measured values every 2 5 ms CAN Identifier Len Data 600h Node ID 8 Byte 2F 23 64 0 1 0 0 0 6 Send the start telegram for all CANopen modules NMT start command CAN Identifier Len Data 0 2 Byte 1 00 or Node ID 00 start all modules Now the CAN CBX AI814 should be cyclically transmitting data on the 2 and 3 PDO ...

Page 42: ...Communication Object Emergency Id Emergency Data Object NMT Network Management Master SDO Service Data Object Sync Sync frame Telegram PDOs Process Data Objects PDOs are used to transmit process data In the Transmit PDO TPDO the CAN CBX module transmits data to the CANopen network In the Receive PDO RPDO the CAN CBX module receives data from the CANopen network SDOs Service Data Objects SDOs are u...

Page 43: ...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 44: ...evice Access via this channel is possible in operational and pre operational status The SDOs Service Data Objects are transmitted on ID 600h Node ID request The server acknowledges the parameters on ID 580h Node ID response An SDO is structured as follows Identifier Command code Index Sub index LSB Data field MSB low high Example 600h Node ID 23h 00h 14h 01h 7Fh 04h 00h 00h write Index 1400h Recei...

Page 45: ...es on the syntax and further command codes 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 bedescr...

Page 46: ...e mapped to PDO 06060000h access failed due to an hardware error 06070010h wrong number of data bytes 06070012h service parameter too long 06070013h service parameter too small 06090011h wrong sub index 06090030h transmitted parameter is outside the accepted value range 08000000h undefined cause of error 08000020h data cannot be transferred or stored in the application 08000022h data cannot be tra...

Page 47: ...nt SDO 580h Node ID SDO from CAN CBX AI814 transmit SDO Server SDO 600h Node ID SDO to CAN CBX AI814 receive SDO Node Guarding 700h Node ID configurable via object 100Eh NodeID 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 18 If the COB IDs are set via SDO th...

Page 48: ... CAN CBX AI814 Transmit PDO A D values channel 1 to 4 as 16 bit values TPDO3 380h Node ID 8 byte from CAN CBX AI814 Transmit PDO A D values channel 5 to 8 as 16 bit values TPDO2 CAN CBX AI814 CAN Identifier 280h Node ID Byte 0 1 2 3 4 5 6 7 Parameter Analog_Input_16_1 Analog_Input_16_2 Analog_Input_16_3 Analog_Input_16_4 TPDO3 CAN CBX AI814 CAN Identifier 380h Node ID Byte 0 1 2 3 4 5 6 7 Paramete...

Page 49: ... 240 synchronous remote request The state of the inputs is latched 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 inpu...

Page 50: ...n the local EEPROM if the command save is called see page 63 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 51: ...32 rw 00h 1008h Manufacturer Device Name visible string ro CAN CBX AI814 1009h Manufacturer 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 0000h 100Dh Life Time Factor unsigned 8 rw 00h 100Eh Node Guarding Identifier unsigned 32 rw Node ID 700h 1010h 4 Store Parameter unsig...

Page 52: ... 20h rw 1802h 5 3 Transmit PDO Parameter PDO CommPar 20h rw 1A01h 4 2 Transmit PDO Mapping PDO Mappping 21h rw 1A02h 4 3 Transmit PDO Mapping PDO Mappping 21h rw 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 parameters unsigned 16 rw default 64h 100 ms ...

Page 53: ...5 6 7 8 603h 0h 8h 40h 00h 10h 00h 00h 00h 00h 00h Read Request Index 1000h Sub Index The CAN CBX module no 3 responds to the client by means of read response with 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 94h 01h 02h 00h Read Response Index 1000h Sub Index Example here Device Profile Nr 0191h Example here Input value ...

Page 54: ...8 Access type 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 temperature 4 communication error overrun error state 5 device profile 6 reserved 7 manufacturer For a list of the error bits supported by this CAN CBX module see chapter 8 9 1 page 51 Bits which are not supported are always returned as 0 If an error ...

Page 55: ...s 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 i...

Page 56: ...ard error heartbeat error 8140h Recovered from Bus Off 8240h Unexpected SYNC data length 6000h Software error EEPROM checksum error no transmission of this error message as emergency message 6110h Internal Software error e g saved data had invalid checksum and default data is loaded FF10h Data loss A D data overflow 5000h Hardware error e g A D converter defective 5030h Sensor error Emergency Mess...

Page 57: ...pe unsigned 32 Access mode rw Default value see chapter 8 9 1 page 51 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 58: ...4 Page 58 of 108 8 9 6 Communication Cycle Period 1006h INDEX 1006h Name Communication Cylcle Period Data type unsigned 32 Access mode rw Default value 0 cs Value range of the parameter Value Meaning 0 No transmission of SYNC messages 1 FFFFFFFFh Cycle time in microseconds ...

Page 59: ...al Doc No C 3020 21 Rev 1 5 Page 59 of 108 8 9 7 Manufacturer Device Name 1008h INDEX 1008h Name manufacturer device name Data type visible string Default value see chapter 8 9 1 page 51 For detailed description of the SDO Uploads please refer to 1 ...

Page 60: ...ead similarly to reading the manufacturer s device name via the domain upload protocol Please refer to 1 for a detailed description of the upload 8 9 9 Manufacturer Software Version 100Ah INDEX 100Ah Name manufacturer 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 s device name via the ...

Page 61: ...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 100Dh Name lif...

Page 62: ... bit identifiers 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 63: ... to 1 for more information INDEX 1010h Name store parameters Data type unsigned 32 Index Sub index Description Value range Data 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 9FF...

Page 64: ... the character string save 73h 61h 76h 65h order from CAN telegram to object 1010h sub index 1 4 On read access to 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 10 CAN CBX module does not save the parameters autonomously CAN C...

Page 65: ...lue 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 Assignment...

Page 66: ...ature load 64h 61h 6Fh 6Ch sequence in CAN telegram in object 1011h sub index 1 4 Onread access to theappropriatesub index theCANopen deviceprovides information about itsdefault parameter restoring capability with the following format Bit 31 1 0 Content reserved cmd 0 1 MSB LSB Bit Value Description cmd 1 the CAN CBX module does not restore default parameters the CAN CBX module restores the defaul...

Page 67: ...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 68: ... Page 68 of 108 8 9 15 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 defined with this entry The time is determined as a multiple of 100 ds ...

Page 69: ...nsmits a heartbeat message on the CAN bus 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 module Each module can act as a heartbeat...

Page 70: ...ed 16 Node ID Node Id of the heartbeat producer to be monitored heartbeat_time Within this time ms the heartbeat producer has to transmit the heartbeat on the node guarding ID to avoid the transmission of a heartbeat event 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 ...

Page 71: ...e is higher than 0 it is active and stops the node life guarding see page 61 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 ms of heartbeat producer to transmit the heartbeat o...

Page 72: ...ned 32 ro 4 serial_number 0 FFFFFFFFh unsigned 32 ro Description of the variables 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 The nibbles of the long words have the following meaning product_code efgh ijklh e 1 article number beginning with character K 2 article number beginning with character C fghi ...

Page 73: ...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 74: ...bject defines whether 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 contains t...

Page 75: ...the expected configuration or not The content of the parameters is not evaluated by the firmware 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 val...

Page 76: ... communication_error or output_error Index Sub index Description Value range Default Data type Access mode 1029h 0 no_of_error_classes 1 1 unsigned 8 ro 1 communication_error 0 2 0 unsigned 8 rw Meaning of the variables Variable Meaning no_of_error_classes number of error classes here always 1 communication_error heartbeat lifeguard error and Bus off The module can enter the following states if an...

Page 77: ...nted to be able to start CANopen nodes in environments without NMT master Via NMT startup the auto startup of a CANopen node can be switched on or off Further features of the parameters NMT startup are currently not supported The value range of the object is described in the following table Value Hex Meaning 0000 0002h Auto startup disabled default 0000 0008h Auto startup enabled alle other values...

Page 78: ...rameters Data type unsigned 16 Index Sub index Description Value range Default Data type Access mode 1F91h 0 number_of_entries 1 1 unsigned 8 ro 1 NMT master detection timeout 0 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 79: ...s 0 FFh 05 unsigned 8 ro 1 COB ID used by PDO 1 800007FFh 280h Node ID unsigned 32 rw 2 transmission type 0 FFh FFh 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 1802h 0 number_of_entries 0 FFh 05 unsigned 8 ro 1 COB ID used by PDO 1 800007FFh 380h Node ID unsigned 32 rw 2 transmission type 0 FFh FFh unsigned 8 rw 3...

Page 80: ...signed 32 rw 2 Read_Analog_Input_16_2 0 FFFFFFFFh 6401 02 10h unsigned 32 rw 3 Read_Analog_Input_16_3 0 FFFFFFFFh 6401 03 10h unsigned 32 rw 4 Read_Analog_Input_16_4 0 FFFFFFFFh 6401 04 10h unsigned 32 rw 1A02h 0 number of entries 0 FFh 4 unsigned 8 rw 1 Read_Analog_Input_16_5 0 FFFFFFFFh 6401 05 10h unsigned 32 rw 2 Read_Analog_Input_16_6 0 FFFFFFFFh 6401 06 10h unsigned 32 rw 3 Read_Analog_Input...

Page 81: ...ad Analog Inputs 16 Bit integer 16 6402h Read Analog Inputs 32 Bit integer 32 6404h Read Analog Inputs Raw Data 16 Bit integer 16 6421h Analog Interrupt Trigger Selection unsigned 8 6423h Analog Input Global Interrupt Enable boolean 6424h Analog Input Interrupt Upper Limit integer 32 6425h Analog Input Interrupt Lower Limit integer 32 6426h Analog Input Interrupt Delta Unsigned unsigned 32 ...

Page 82: ...t u t w z n o y x m n u u y o u n q o y n o p u n s y y s t p u s n o p u n s y s n o z n o y y r n y t w n r p x y z n o y x p u s t m n o p q r n s p t u n p u z n o y o s p o y x o s p s n p u u n o t n n s n p s y n u n o t n s n p s p u s t y n u n o t n s n p s u n o t u s u s y r r s y o s n u x p u y u n o t u s y r r s r p y r y o y s p t u y r p p s t y r p p s _ 1 XOR AND 8 10 2 Relatio...

Page 83: ..._Analog_Input_16_x x 1 8 The last digit of the name of the variable is the number of the respective analog input channel The data bits are shifted left aligned in two s complement representation in the 16 bit variable Calculation of the measured voltage The measured voltage is calculated of the value gained by addition and averaging of the variable Read_Analog_Input_16_x see also diagram on page 8...

Page 84: ... ª Gain_x from Objekt 6401h 6402h Obj 2404h Obj 6404h Obj 2405h The AD value is the value which results from addition and averaging see figure on page 82 The AD value is then equivalent to the Read Analog Input Raw Data 16 Bit value object 6404h Offset is defined in the objects Calibration Offset Value object 2404h see page 101 and Gain is defined in the objects Calibration Gain Value object 2405h...

Page 85: ...e number of the respective analog input channel The data bits are shifted left aligned in two s complement representation in the 32 bit variable Calculation of the measured voltage The measured voltage is calculated of the value gained by addition and averaging of the variable Read_Analog_Input_32_x see also diagram on page 82 Value of the variable Read_Analog_Input_32_x Measured voltage object240...

Page 86: ...x Gain_x from Objekt 6401h 6402h Obj 2404h Obj 6404h Obj 2405h The AD value is the value which results from addition and averaging see figure on page 82 The AD value is then equivalent to the Read Analog Input Raw Data 16 Bit value object 6404h Offset is defined in the objects Calibration Offset Value object 2404h see page 101 and Gain is defined in the objects Calibration Gain Value object 2405h ...

Page 87: ...ad_Analog_In_Raw_16_x x 1 8 The last digit of the name of the variable is the number of the respective analog input channel The data bits are shifted left aligned in the 16 bit variable Calculation of the measured voltage The measured voltage is calculated of the value gained by addition and averaging of the variable Read_Analog_In_Raw_16_x see also diagram on page 82 Value of the variable Read_An...

Page 88: ...gger_6 0 7 7 unsigned 8 rw 7 Analog_Input_IRQ_Trigger_7 0 7 7 unsigned 8 rw 8 Analog_Input_IRQ_Trigger_8 0 7 7 unsigned 8 rw This object defines the interrupt trigger condition Assignment of the variable Analog_Input_IRQ_Trigger_x x 1 8 Bit 7 6 5 4 3 2 1 0 Meaning reserved for future applications not supported Change of value higher than Delta 6426h Input below Lower Limit 6425h Upper Limit exceed...

Page 89: ...le the interrupt function of the module is enabled or disabled The values in object 6421h and 6426h remain unaffected of this In the default setting the interrupts triggered by a change of the analog input value are disabled Value range Analog_Input_Global_Interrupt_Enable true Global Interrupt enabled Analog_Input_Global_Interrupt_Enable false Global Interrupt disabled default setting Note To ena...

Page 90: ...nput_Interrupt_Upper_Limit_4 80000000h 7FFF0000h 0 integer 32 rw 5 Analog_Input_Interrupt_Upper_Limit_5 80000000h 7FFF0000h 0 integer 32 rw 6 Analog_Input_Interrupt_Upper_Limit_6 80000000h 7FFF0000h 0 integer 32 rw 7 Analog_Input_Interrupt_Upper_Limit_7 80000000h 7FFF0000h 0 integer 32 rw 8 Analog_Input_Interrupt_Upper_Limit_8 80000000h 7FFF0000h 0 integer 32 rw In object Analog_Input_Interrupt_Up...

Page 91: ...nput_Interrupt_Lower_Limit_4 80000000h 7FFF0000h 0 integer 32 rw 5 Analog_Input_Interrupt_Lower_Limit_5 80000000h 7FFF0000h 0 integer 32 rw 6 Analog_Input_Interrupt_Lower_Limit_6 80000000h 7FFF0000h 0 integer 32 rw 7 Analog_Input_Interrupt_Lower_Limit_7 80000000h 7FFF0000h 0 integer 32 rw 8 Analog_Input_Interrupt_Lower_Limit_8 80000000h 7FFF0000h 0 integer 32 rw In object Analog_Input_Interrupt_Lo...

Page 92: ...the analog input voltage which can be evaluated for triggering the interrupt is defined Via object 6421h the type of evaluation is selected The interrupt function is enabled via object 6423h Positive and negative changes of the voltage are evaluated The value Analog_Input_IRQ_Delta_x is always the absolute value of the difference between the current AD value less the last preceding AD value The di...

Page 93: ...value 0066 0000h 31 875 mV example 3400 0000h 4 16 V example Note For the voltage difference calculation the objects 6401h or 6402h are evaluated which are calculated from gain offset Accu_N object 2402h and Average_N object 2403h It can be expedient to use all of the upper 16 bits of the 32 bit variable Analog_Input_IRQ_Delta_x because resolutions higher than 14 bit can be achieved by the additio...

Page 94: ...rea 8 11 1 Overview of Manufacturer Specifc Objects 2310h 2405h Index Name Data Type 2310h Sample Time Set Point unsigned 16 2312h Sample Time Actual Value unsigned 16 2401h Channel Enabled unsigned 8 2402h Accu_N unsigned 8 2403h Average_N unsigned 8 2404h Calibration Offset Value integer 32 2405h Calibration Gain Value integer 16 ...

Page 95: ...ia this object the sample rate can be defined Always all eight A D channels are converted Assignment of the Variable Sample_Time The sample time is subdivided in 0 5 Ês steps Value of the variable Sample_Time_x Hex Sample time Sample rate 00C8h 100 Ês 10 000 SPS 00C9h 100 5 Ês 9 950 SPS 0271h 312 5 Ês default 3200 SPS FFFFh 32767 5 Ês 30 SPS The sample rate is calculated of the sample time as desc...

Page 96: ...value In this case AccuN 8 Example Settings for minimum sample time AccuN AverageN Sample Time 8 0 approx 125 Ës At disadvantageous settings of AccuN and AverageN the minimum sample time will be longer The value AccuN is therefore set to the smallest value In this case AccuN 0 An AverageN unequal 0 will increase the sample time too Example Disadvantageous settings for minimum sample time AccuN Ave...

Page 97: ... 5 Sample_Time_Actual _5 0 FFFFh unsigned 16 ro 6 Sample_Time_Actual _6 0 FFFFh unsigned 16 ro 7 Sample_Time_Actual _7 0 FFFFh unsigned 16 ro 8 Sample_Time_Actual _8 0 FFFFh unsigned 16 ro Via this object the actual value of the sample time preset can be read for each channel Assignment of the variable Sample_Time_Actual_x x 1 8 The value of the variable read multiplied by 0 5 results in the sampl...

Page 98: ...nel_Enabled_2 false true boolean ro 3 Channel_Enabled_3 false true boolean ro 4 Channel_Enabled_4 false true boolean ro 5 Channel_Enabled_5 false true boolean ro 6 Channel_Enabled_6 false true boolean ro 7 Channel_Enabled_7 false true boolean ro 8 Channel_Enabled_8 false true boolean ro The object Channel Enabled returns which A D channels are mapped in a PDO Value range Channel_Enabled_x false A ...

Page 99: ...w many analog values are to be added up for the averaging By the appropriate pre processing of the output value of the A D converter the result of this addition is always a 16 bit value in the two s complement representation The number of additions is calculated as number of additions 2 Accu_Count_x Up to 256 values can be added up default setting 8 values are added up Advantage Filter with decima...

Page 100: ...s the average of the last 2n samples is evaluated After everyconversion a new average is available because the A D values are buffered in a ring buffer The number of the averaged values is calculated as number of averaged values 2 Average_Count_x It can be averaged from the last 1 2 4 8 16 default or 32 values Note For input signals with a frequency Fsample the filter improves the resolution by Av...

Page 101: ...cts the objects 6401h and 6402h see also figure on page 82 The default values OffsetFactory_x x 1 8 are determined in the manufacturer s calibration of the CAN CBX AI814 With object 1011h load_manufacurer_parameter these module specific default values can be loaded again Value range Value of the variable Calibration_Offset_x Offset voltage Binary bit ÎÏÐÐÐÑ Hexa decimal ÎÏ ÎÑ ÒÓ ÒÔ ÒÕ ÒÖ Ò ÒØ ÒÎ Ò...

Page 102: ...Gain_5 8000h 7FFFh integer 16 rw 6 Calibration_Gain_6 8000h 7FFFh integer 16 rw 7 Calibration_Gain_7 8000h 7FFFh integer 16 rw 8 Calibration_Gain_8 8000h 7FFFh integer 16 rw With this object the gain of the A D converter channels can be corrected The gain value with which the measured A D converter value is multiplied is calculated as Calibration_Gain_x Gain_x 1 218 with x 1 8 The resulting value ...

Page 103: ... loss of the firmware The module then can not be operated further Note esd offers the program CANfirmdown for a firmware update Please contact our support for this In normal DS 301 mode the object 1F50h can not be accessed The objects 1F51h and 1F52h are also available in normal DS 301 mode For further information about the objects and the firmware update please refer to 5 Index Sub index Descript...

Page 104: ...n about object 1F51h and the firmware update please refer to 5 8 12 2 Verify Application Software 1F52h Index Sub index Description Value range Default Data type Access mode 1F52h 0 Number of entries 2 2 unsigned 8 ro 1 Application_Software_Date 0 FFFF FFFFh unsigned 32 rw 2 Application_Software_Time 0 0526 5C00h unsigned 32 rw Description of the variable Application_Software_Date Date of the gene...

Page 105: ...er for Industrial Applications CiA DS202 2 February 1996 CMS Protocol Specification 5 CiA Draft Standard Proposal 302 V4 1 04 2010 Additional Application Layer functions Part 3 Configuration and program download 6 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 FKCT 2 5 4 ST KMGY 1921900 d...

Page 106: ...Manual Doc No C 3020 21 Rev 1 5 CAN CBX AI814 Page 106 of 108 10 EU Declaration of Conformity ...

Page 107: ...delivery of the CAN CBX module C 3000 01 CAN CBX TBUS Connector Terminal plug of the CBX InRailBus for the connection of the 24 V power supply voltage and the CAN interface Female type 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 C 3000 03 Table 13 Order information PDF Manuals Manua...

Page 108: ...Order No CAN CBX AI814 ME Manual in English C 3010 21 CAN CBX AI814 MD Manual in German C 3010 20 Table 14 Available manuals Printed Manuals If you need a printout of the manual additionally please contact our sales team sales esd eu for a quotation Printed manuals may be ordered for a fee ...

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