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Implemented CANopen Objects

CAN-CBX-AO412

Manual • Doc.-No.: C.3040.21 / Rev. 1.2

Page 57 of 92

7.9.7 Manufacturer Device Name (1008

)

INDEX

1008

Name

manufacturer device name

Data type

visible string

Default value

see chapter 7.9.1 (page 49)

For detailed description of the SDO Uploads, please refer to [1].

Summary of Contents for CAN-CBX-AO412

Page 1: ...21 Rev 1 2 Page 1 of 92 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 AO412 4 Analog Outputs 1...

Page 2: ...ges 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 th...

Page 3: ...to Conductor Connection Conductor Cross Section inserted 5 Chapter moved and updated 6 Chapter moved and updated 7 Chapter Software renamed to CANopen Firmware general part chapter 7 1 7 4 updated and...

Page 4: ...lified 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...

Page 5: ...etting the Baud Rate 19 3 3 3 Assignment of Coding Switch Labelling to Name in Schematic Diagram 19 3 4 1 Connecting Power Supply and CAN Signals to CBX InRailBus 21 3 4 2 Connection of the Power Supp...

Page 6: ...lues 47 7 7 1 Setting the Analog Outputs 47 7 7 2 Reading the Analog Outputs 47 7 8 Communication Profile Area 48 7 8 1 Used Names and Abbreviations 48 7 9 Implemented CANopen Objects 49 7 9 1 Overvie...

Page 7: ...gnment of the Sub Indices 80 7 10 2 2 Assignment of the variables AOUTx_value x 1 4 80 7 10 2 3 Examples of CAN Frames for the SDO Transfer 81 7 10 3 Analog Output Error Mode 6443h 82 7 10 4 Analog Ou...

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 w...

Page 9: ...meters are stored in a serial EEPROM The four analog outputs are converted via a LTC2620 12 bit D A converter The outputs are connected via an 8 pin screw plug connector The analog outputs are electri...

Page 10: ...board connector with spring cage connection X500 analog outputs CAN 5 pin printed circuit board connector with spring cage connection X400 CAN interface Only for test and programming purposes X200 6 p...

Page 11: ...cage connections or via Phoenix Contact TBUS connector InRailBus CAN Controller MB90F497 ISO 11898 1 CANopen software only 11 bit CAN identifiers are supported Electrical isolation of the CAN interfac...

Page 12: ...current maximum 10 mA Minimum load resistor 1 k_ channel Electrical isolation of the interface against other units via four channel digital isolator IL717 3 Table 4 Data of the analog outputs 2 5 Sof...

Page 13: ...0 21 Rev 1 2 Page 13 of 92 3 Hardware Installation 3 1 Connecting Diagram Fig 2 Connection of the CAN CBX AO412 module Note The connector pin assignment can be found on page 24 and following For condu...

Page 14: ...or states are described in the following chapters 3 2 1 Indicator States In principle the are 8 indicator states distinguished Indicator state Display on LED on off LED off blinking LED blinking with...

Page 15: ...ed 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 fla...

Page 16: ...or state of the Error LED 3 2 5 Operation of the Power LED LED indication Display function Label Name Colour Indicator state Description P Power green off no power supply voltage or the module is in B...

Page 17: ...3040 21 Rev 1 2 Page 17 of 92 3 2 7 Assignment of LED Labelling to Name in Schematic Diagram Labelling on CAN CBX AO412 Name of the LED in Schematic Diagram 1 E LED200A S LED200B M LED200C P LED200D...

Page 18: ...er 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...

Page 19: ...en 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 implemented from firmware version 2 06...

Page 20: ...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 bef...

Page 21: ...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 plugis...

Page 22: ...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 Note The module is conn...

Page 23: ...nds 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 o...

Page 24: ...tact 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 connec...

Page 25: ...w z y y a w wxysw s 4 2 CAN 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...

Page 26: ...Pin Position Pin Assignment line connector with labelling 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 t...

Page 27: ...AN 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...

Page 28: ...the voltage value of the LSB VLSB_D A is determined by the reference voltage VREF 4 096 V and its resolution n 12 6 The amplification K of the post connected differential amplifier is K 30 9 k 12 4 k...

Page 29: ...1851290 included in the scope of delivery For conductor connection and conductor cross section see page 30 Pin Position Pin Assignment view of line connector Pin Signal 1 1G 2 1O 3 2G 4 2O 5 3G 6 3O 7...

Page 30: ...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...

Page 31: ...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...

Page 32: ...N 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 Examp...

Page 33: ...rop over the wire has to be considered 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...

Page 34: ...mmended 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 a...

Page 35: ...he 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...

Page 36: ...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...

Page 37: ...s 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...

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 stro...

Page 39: ...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 t...

Page 40: ...ication 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...

Page 41: ...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 repres...

Page 42: ...ice 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...

Page 43: ...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 Downl...

Page 44: ...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...

Page 45: ...ver SDO 600 Node ID SDO to CAN CBX AO412 Node Guarding 700 NodeID configurable with object 100Eh NodeID CANopen address set 1h 7Fh 7 5 1 Setting the COB ID The COB IDs which can be set except the one...

Page 46: ...8 byte to CAN CBX AO412 Receive PDO D A values channel 1 to 4 as 16 bit values RPDO3 400h Node ID 8 byte to CAN CBX AO412 Receive PDO Dummy Mapping Rx PDO2 CAN CBX AO412 CAN Identifier 300h Node ID By...

Page 47: ...outputs are set as soon as an object for setting the outputs of the CAN CBX AO412 is received 7 7 2 Reading the Analog Outputs Differing from the CANopen Specification CiA 301 the values of the analo...

Page 48: ...the local EEPROM if the command save is called see page 61 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 rea...

Page 49: ...e Name visible string ro CAN CBX AO412 1009h Manufacturer Hardware Version visible string ro x yy depending on version 100Ah Manufacturer Software Version visible string ro x yy depending on version 1...

Page 50: ...20h rw 1402h 2 3 Receive PDO Parameter PDO CommPar 20h rw 1601h 0 2 Receive PDO Mapping PDO Mappping 21h rw 1602h 0 3 Receive PDO Mapping PDO Mappping 21h rw Index Sub index max Description Data type...

Page 51: ...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...

Page 52: ...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...

Page 53: ...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 erro...

Page 54: ...d 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 Inter...

Page 55: ...unsigned 32 Access mode rw Default value see chapter 7 9 1 page 49 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...

Page 56: ...2 Page 56 of 92 7 9 6 Communication Cycle Period 1006h INDEX 1006h Name Communication Cylcle Period Data type unsigned 32 Access mode rw Default value 0 Ks Value range of the parameter Value Meaning 0...

Page 57: ...l Doc No C 3040 21 Rev 1 2 Page 57 of 92 7 9 7 Manufacturer Device Name 1008h INDEX 1008h Name manufacturer device name Data type visible string Default value see chapter 7 9 1 page 49 For detailed de...

Page 58: ...d similarly to reading the manufacturer s device name via the domain upload protocol Please refer to 1 for a detailed description of the upload 7 9 9 Manufacturer Software Version 100Ah INDEX 100Ah Na...

Page 59: ...ed 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 ti...

Page 60: ...it 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 re...

Page 61: ...ex 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 r...

Page 62: ...ndex 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 aut...

Page 63: ...ue 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_commu...

Page 64: ...ure load 64h 61h 6Fh 6Ch sequence in CAN telegram in object 1011h sub index 1 4 On readaccesstotheappropriatesub index theCANopen deviceprovides information about its default parameter restoring capab...

Page 65: ...ue 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 do...

Page 66: ...Page 66 of 92 7 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...

Page 67: ...smits 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...

Page 68: ...d 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...

Page 69: ...is higher than 0 it is active and stops the node life guarding see page 59 If the value of the producer heartbeat time is set to 0 transmitting heartbeats by this module is stopped Index Sub index De...

Page 70: ...d 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 0000 0017h product_code Here the esd article number of...

Page 71: ...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 m...

Page 72: ...ject 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 Descri...

Page 73: ...e 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...

Page 74: ...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 Meanin...

Page 75: ...ented 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 a...

Page 76: ...meters 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...

Page 77: ...2 receive PDO parameter Data Type PDOCommPar INDEX 1402h Name 3 receive PDO parameter Data Type PDOCommPar Index Sub index Description Value range Default Data type Access mode 1401h 0 no_of_entries...

Page 78: ...range Default Data type Access mode 1601h 0 no_of_mapped_application_ objects_in_PDO_2 4 4 unsigned 8 rw 1 1st _application_object 6411 0110h 6411 0210h 6411 0310h 6411 0410h 0003 0010h 6411 0110h uns...

Page 79: ...Z skf btttu UVXW Y h WvV V WVWX wxysz VW ocnne U V jeVg fZqVjZ VY_lZ U V je Vg d occue wll l m vZ occce wll l Y_Z h YV l V W VW Y_Z h YV l V W gg Z VW skf btttu h x sZjZa V W d 7 10 Device Profile Are...

Page 80: ...me of the variable indicates the number of the analog output channel With the variable AOUTx_value the output values of the channels can be specified individually The analog value contains the voltage...

Page 81: ...put voltage of the output channel 1 shall be set to VOUT 5 0 V The bit value is calculated according to the following formula n 5 0V 2 10 205V 16051 3EB3 Bit 15 d h The following table shows the entri...

Page 82: ...or_Mode_Analog_Output_1 0 1 2 1 unsigned 8 rw 2 Error_Mode_Analog_Output_2 0 1 2 1 unsigned 8 rw 3 Error_Mode_Analog_Output_3 0 1 2 1 unsigned 8 rw 4 Error_Mode_Analog_Output_4 0 1 2 1 unsigned 8 rw T...

Page 83: ...umber of entries 4 4 unsigned 8 ro 1 Analog_Output_1 80000000h 7FFFFFFFh 0 integer 32 rw 2 Analog_Output_2 80000000h 7FFFFFFFh 0 integer 32 rw 3 Analog_Output_3 80000000h 7FFFFFFFh 0 integer 32 rw 4 A...

Page 84: ...o C 3040 21 Rev 1 2 CAN CBX AO412 Page 84 of 92 7 11 Manufacturer Specific Profile Area 7 11 1 Overview of the implemented Objects Index Name Data Type 2404h Calibration Offset Value 16 Bit integer 16...

Page 85: ...e A D value can be specified The offset affects the objects 6401h and 6402h see also figure on page The default values OffsetFactory_x x 1 4 are determined in the factory calibration of the CAN CBX AO...

Page 86: ...on_Gain_3 8000h 7FFFh GainFactory_3 integer 16 rw 4 Calibration_Gain_4 8000h 7FFFh GainFactory_4 integer 16 rw With this object the gain of the A D converter channels can be corrected The gain value w...

Page 87: ...ss 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 CiA 301 mode the object 1F50h...

Page 88: ...about object 1F51h and the firmware update please refer to 5 7 12 2 Verify Application Software 1F52h Index Sub index Description Value range Default Data type Access mode 1F52h 0 Number of entries 2...

Page 89: ...Specification 5 CiA Draft Standard Proposal 302 V4 1 04 2010 Additional Application Layer functions Part 3 Configuration and program download 6 Linear Technology Data sheet LTC 2600 LTC2610 LTC2620 Oc...

Page 90: ...Manual Doc No C 3040 21 Rev 1 2 CAN CBX AO412 Page 90 of 92 9 EU Declaration of Conformity...

Page 91: ...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 Connect...

Page 92: ...der No CAN CBX AO412 ME Manual in English C 3040 21 CAN CBX AO412 MD Manual in German C 3040 20 Table 14 Available manuals Printed Manuals If you need a printout of the manual additionally please cont...

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