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CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------ 

141

5.3  EMCY Communication Set 

5.3.1  EMCY COB-ID Parameter 

The EMCY COB-ID is similar to the PDO COB-ID. It can be a default value 

or can be the value defined by users via SDO communication methods. This 
COB-ID is stored in the object 0x1014, and the data format is shown in the 
following table. Before using the EMCY mechanism, bit 31 of the EMCY 
COB-ID needs to be confirmed. 
 
 

Bit Number 

Value 

Meaning 

31 (MSB) 

0 

EMCY exits (EMCY is valid) 

 

1 

EMCY does not exist (EMCY is not valid) 

30 

0 

reserved (always 0) 

29 

0 

11-bit ID (CAN 2.0A) 

 

1 

29-bit ID (CAN 2.0B) 

28-11 

0 

If bit 29=0 

 

x 

If bit 29=1: 28-11 bits of 29-bit COB-ID 

10-0 (LSB) 

x 

10-0 bits of COB-ID 

 

 

Summary of Contents for CAN-8123

Page 1: ...DAS are warranted in one year from the date of delivery to customers Warning ICP DAS revises the manual at any time without notice However no responsibility is taken by ICP DAS unless infringement act...

Page 2: ...ANopen Introduction 21 3 2 SDO Introduction 28 3 3 PDO Introduction 30 3 4 EMCY Introduction 42 3 5 NMT Introduction 43 3 5 1 Module Control Protocols 44 3 5 2 Error Control Protocols 45 4 Configurati...

Page 3: ...tion 142 5 4 NMT Communication Set 150 5 4 1 Module Control Protocol 150 5 4 2 Error Control Protocol 153 5 5 Special Functions for CAN 8123 8223 8423 158 6 Object Dictionary of CAN 8123 8223 8423 166...

Page 4: ...order to expand the I O channel and make it more flexible the CAN 8123 CAN 8223 CAN 8423 supports up to 4 expansion slots for users to increase applications by adding I O channels Users can choose ei...

Page 5: ...CAN 8123 CAN 8223 CAN 8423 user s manual Revision 3 00 May 22 2009 5...

Page 6: ...mer z 16 bit Timer z Power LED RUN LED and ERR LED z Support 1 2 4 expansion I O slots z 2500 Vrms isolation at CAN side z 120 terminal resister selected by jumper s z CAN bus interface ISO IS 11898 2...

Page 7: ...equested cyclic and acyclic SYNC z PDO Mapping variable z No of SDOs 1 server 0 client z Emergency Message Yes z CANopen Version DS 301 v4 02 z Device Profile DS 401 v2 1 z Produce EDS file dynamicall...

Page 8: ...evision 3 00 May 22 2009 8 1 4 Utility Features z Support parameter configuration on the I 8000 and I 87K modules z Provide to show Application and Device Object information z Provide to show Rx and T...

Page 9: ...AN 8423 user s manual Revision 3 00 May 22 2009 9 2 Hardware Specification 2 1 CAN 8123 CAN 8223 Hardware Structure CAN Bus Connector CANopen Status LED Power LED 1 I O Expansion Slot Node ID and Baud...

Page 10: ...CAN 8123 CAN 8223 CAN 8423 user s manual Revision 3 00 May 22 2009 10 2 I O Expansion Slots CAN Bus Connector CANopen Status LED Power LED Node ID and Baud rate rotary switch...

Page 11: ...8423 user s manual Revision 3 00 May 22 2009 11 2 2 CAN 8423 Hardware Structure CAN Bus Connector CANopen Status LED Power LED RS 232 Port connect to PC 4 I O Expansion Slots Power Pin Node ID and Ba...

Page 12: ...At this circumstance users would better check the resistances of the CAN bus before installing a new CAN network 120 120 CAN_H CAN_L Device N Device 2 Device 1 Moreover to minimize the voltage drop v...

Page 13: ...23 CAN 8423 the 120 terminal resistance is supplied as a standard accessory In the following figure the position JP2 allowed to build in a terminal resistance is only for the CAN 8123 CAN 8223 In the...

Page 14: ...e provides users a relationship between the baud rate and the bus length Baud rate bit s Max Bus length m 1 M 25 800 K 50 500 K 100 250 K 250 125 K 500 50 K 1000 20 K 2500 10 K 5000 Note When the bus...

Page 15: ...2 CAN_H CAN_H bus line dominant high 3 CAN_SHLD Optional CAN Shield 4 CAN_L CAN_L bus line dominant low 5 N A N A The pin descriptions only for the CAN 8423 CAN bus connector 2 4 Power LED The CAN ser...

Page 16: ...ferent time The following descriptions will show meanings of the glittering signal as these indicators are being triggered 2 5 1 The RUN LED The RUN LED relates to the physical mechanism on the CANope...

Page 17: ...009 17 2 5 2 The ERR LED The ERR LED relates to the state of missing messages at the CAN physical layer These missing messages might be SYNC or Guard messages The data state and the signal state descr...

Page 18: ...eminding when Events happen A guard event NMT Slave or NMT master or a heartbeat event Medical Application has occurred 4 Triple Flash SYNC Error The SYNC message has not been received within the spec...

Page 19: ...tary switch value and the practical baud rate is presented in the following table Rotary Switch Value Baud rate K BPS 0 10 1 20 2 50 3 125 4 250 5 500 6 800 7 1000 On the other hand if the BAUD rotary...

Page 20: ...pen objects The following table shows the information of the IO types and module names which can be supported by the CAN 8123 CAN 8223 CAN 8423 IO Type Module Name IO Type Module Name AI I 8017H I 801...

Page 21: ...e broadcasting function but also the peer to peer data exchange function between every CANopen node The network management function instructed in the CANopen simplifies the program design In addition...

Page 22: ...ing the device object dictionary is SDO using the Client Server structure as its communication model section 3 2 Real time data or I O values can be accessed quickly without any protocol by means of P...

Page 23: ...OB ID The COB ID structure is displayed below Function Code Node ID bit 10 bit 0 The COB IDs are used for recognizing where the message comes from or where the message is sent to as well deciding the...

Page 24: ...nication object Name 0000 0000000 NMT 0001 0000000 SYNC 0010 0000000 TIME STAMP 0001 Node ID EMERGENCY 0011 0101 0111 1001 Node ID TxPDO1 2 3 4 0100 0110 1000 1010 Node ID RxPDO1 2 3 4 1011 Node ID SD...

Page 25: ...tic Data Types 0x0020 0x003F Complex Data Types 0x0040 0x005F Manufacturer Specific Complex Data Types 0x0060 0x007F Device Profile Specific Static Data Types 0x0080 0x009F Device Profile Specific Com...

Page 26: ...nel 0 1 Practical AO Channel 0 Hardware Standardized Device Profile Area Take the CAN 8423 as an example There are some I 8000 or I 87K series modules inserted in the CAN 8423 I O expansion slots The...

Page 27: ...analog channel will be stored in 2 bytes z The values of digital channels of one module which can t be divided by 8 will be stored in 1 byte z After using the rule described above the result of the o...

Page 28: ...ake the active requirement for a SDO transmission When the SDO client starts to transmit a SDO it is necessary to choose a proper protocol If the SDO client has to get the information from the device...

Page 29: ...t SDO transfer protocol will be given and the SDO transmission will also be stopped The CAN 8123 CAN 8223 CAN 8423 only supports the SDO server Therefore it can be passive and wait for requests from c...

Page 30: ...DO producer and non device or more than one device to play the role of PDO consumer The PDO producer sends out the PDO message after it reached the CAN bus arbitration Afterwards each PDO consumer wil...

Page 31: ...y three conditions They are the event driven timer driven and remote request conditions All of them are described below Event Driven PDO transmission can be triggered by a specific driven event includ...

Page 32: ...es Generally there are two kinds of PDO transmission modes synchronous and asynchronous For the PDO in a synchronous mode it must be triggered by the reception of a SYNC message The synchronous mode c...

Page 33: ...he CAN 8123 CAN 8223 CAN 8423 will respond with a pre defined TxPDO message to the PDO consumers For the RxPDO object the CAN 8123 CAN 8223 CAN 8423 needs to receive the SYNC objects to actuate the Rx...

Page 34: ...number of SYNC objects and the max number of expected SYNC objects can be 240 For example if the TxPDO is set to response when receiving 3 SYNC objects the CAN 8123 CAN 8223 CAN 8423 will feed back t...

Page 35: ...ansmit request message i e SYNC objects This transmission type is only useful for TxPDO In this situation the CAN 8123 CAN 8223 CAN 8423 will update the DI AI value when receiving any SYNC object And...

Page 36: ...ndent of the SYNC object This mode can also be divided into two parts There are RTR only asynchronous transmission type and asynchronous transmission type The RTR only transmission type is only for su...

Page 37: ...TxPDO message can be triggered by receiving the RTR object and the device specified event mentioned in the event driven paragraph Furthermore the DO AO channels can act directly by receiving the RxPD...

Page 38: ...tponed to be transmitted In order to avoid the occupation of the transmission privilege by the message with the lower COB ID the inhibit time parameters for each of the PDO objects are supported to de...

Page 39: ...les the 2nd and the 3rd Furthermore one AO object entry needs 2 bytes of space Therefore the second RxPDO mapping object has been occupied by the first 4 AO object entries The following 4 AO object en...

Page 40: ...following two bytes are for the analog output value After interpreting the data of the RxPDO message the device will actuate the DO and AO channels by the received RxPDO message It is worth to mentio...

Page 41: ...y 22 2009 41 TxPDO D I 0 7 D I 8 1 5 A I 0 A I 1 TxPDO mapping objects RxPDO D O 0 7 A O 0 Object Dictionary Practical I O Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 0 Byte 1 Byte 2...

Page 42: ...to the specific error fields So by checking the EMCY message users can understand what happened in the CAN 8123 CAN 8223 CAN 8423 and then do something about the error event Please note that only the...

Page 43: ...its node ID from 1 to 127 The NMT service supplies two protocols the module control protocol and the error control protocol Through the module control protocol the nodes can be controlled to several...

Page 44: ...the mechanism Operational Initialization State Mechanism Diagram Stop Pre Operational Power on or Hardware reset 1 2 4 3 6 8 5 7 9 1 Under Power on or Hardware Reset the initialization state will be...

Page 45: ...mong each NMT state and communication objects is given Installing Pre operational Operational Stopped PDO O SDO O O SYNC Object O O Time Stamp Object O O EMCY Object O O Boot Up Object O NMT O O O 3 5...

Page 46: ...fferent from each NMT slave And the response of the NMT slave contains the state of that NMT slave which may be in a Stopped Operational or Pre operational state The node life time factor can also be...

Page 47: ...CAN 8123 CAN 8223 CAN 8423 user s manual Revision 3 00 May 22 2009 47 4 Configuration Getting Start 4 1 CAN 8123 CAN 8223 Configuration Flowchart...

Page 48: ...8123 CAN 8223 CAN 8423 user s manual Revision 3 00 May 22 2009 48 The following procedure is the general concept for the off line mode This procedure can be applied in the CAN 8123 CAN 8223 and CAN 8...

Page 49: ...CAN 8123 CAN 8223 CAN 8423 user s manual Revision 3 00 May 22 2009 49 4 2 CAN 8423 Configuration Flowchart...

Page 50: ...d only in the CAN 8423 Start Power on the CAN 8423 Is the value of Baud rotary switch 9 Connect the CAN 8423 CAN port with CANopen network Apply the CAN 8423 on the CANopen network Finish Power off th...

Page 51: ...as the PDO communication objects and the standardized device objects and manufacturer specific objects defined in the CAN 8123 CAN 8223 CAN 8423 Because all parameters configuration of the I 8000 I 8...

Page 52: ...ility Step 1 Download the CANopen Slave Utility file from the web site http www icpdas com products Remote_IO can_bus can 8423 htm or http www icpdas com products Remote_IO can 8123 htm or CD ROM disk...

Page 53: ...d baud rate 1000Kbps as an example Users have to fill in NODE ID with 123 and choose a CAN Baud rate with 1000 kbps Then select 2 Slot in the Slot Number area Step 3 Then select a specific device pres...

Page 54: ...click on the slot module in the CAN Slave Device Situation area If the configuration is successful users can see the correct module name for example 8024 on the top of the slot module Step 5 Then repe...

Page 55: ...ettings on each slot module by moving the cursor on the slot module in order to get the module name and module information in the Module Information area Step 7 The two fields description and create b...

Page 56: ...May 22 2009 56 Step 8 Users can select the PDO Information the Device Information and the Slot Module Information button for purpose to view the PDO objects device profile and slot module configuratio...

Page 57: ...nge of the analog modules will be described to default value in the EDS file However the I 87K slot modules will keep the input output range parameter settings in their own EEPROM As a matter of fact...

Page 58: ...e CAN 8423 and slot modules I 87057 I 87057 I 87024 and I 87017 are inserted in the slot 0 1 2 3 respectively Step 1 To turn off the CAN 8423 is the beginning Then users can set the Baud rotary switch...

Page 59: ...AN 8423 Step 4 Then users can move the cursor to the slot of CAN 8423 in the CANopen Slave Device Situation area to get the information Step 5 Please select the slot module 4 in the CANopen Slave Devi...

Page 60: ...way after users select the output range in one of the channels Step 6 After setting the proper output range users can click Set button to store the configuration If all of slot module configurations...

Page 61: ...information by clicking the buttons For more detail information please refer to the Step 7 and 8 in section 4 5 Note1 The CAN 8423 can also create the EDS file by using off line mode and set the analo...

Page 62: ...223 are similar to the one in CAN 8423 only the example for CAN 8423 is given Before the example users must have one CAN interface to send out the CAN command Therefore the PISO CAN200 400 CAN interfa...

Page 63: ...server what object the SDO client wants to request As well the initiate SDO upload protocol is permitted to transmit up to four bytes of data Therefore if the data length of the object which the SDO c...

Page 64: ...SDO segment protocol is necessary s size indicator 0 Data set size is not indicated 1 Data set size is indicated m multiplexer It represents the index sub index of the data to be transfer by the SDO...

Page 65: ...Protocol When the upload data length is over 4 bytes the upload SDO segment protocol will be needed After finishing the transmission of the initiate SDO upload protocol the SDO client will start to u...

Page 66: ...equal for the request and the response message c indicates whether there are still more segments to be uploaded 0 more segments to be uploaded 1 no more segments to be uploaded seg data It is at most...

Page 67: ...he procedure described above In addition the method of how to get the value stored in the object dictionary is also presented As to the initiate SDO upload protocol users can obtain how many sub index...

Page 68: ...0 0 0 0 0 0 0 1 0 8 40 00 14 00 00 00 00 00 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 ccs 2 m 00 14 00 According to the low byte has the higher transferred sequence the first byte 00 will get t...

Page 69: ...1 1 0 0 0 0 0 0 0 0 1 0 8 40 08 10 00 00 00 00 00 SDO client SDO server CAN 8x23 ccs 2 m 08 10 00 Step 2 The CAN 8423 will respond to the SDO message with the indication of how many bytes will be upl...

Page 70: ...the first 7 bytes in the index 0x1008 and sub index 00 object entries 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1...

Page 71: ...DO server CAN 8x23 ccs 3 t 1 Step 6 Tthe rest of the data will be received from the SDO server 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6...

Page 72: ...09 72 5 1 2 SDO Block Upload Protocol Initiate SDO Block Upload Protocol The SDO Block Upload is usually used for the large data transmission At the beginning of the SDO Block Upload the Initiate SDO...

Page 73: ...ta sc 1 Server supports generating CRC on data pst Protocol Switch Threshold in bytes to change the SDO transfer protocol pst 0 change of transfer protocol not allowed pst 0 If the size of the data in...

Page 74: ...g the Upload SDO Block Segment protocol Each block contains 1 segment for the minimum and 127 segments for the maximum One segment consists of 1 7 bytes And only one block can be transmitted during an...

Page 75: ...er of segment 0 seqno 128 seg data It is at most 7 bytes of segment data to be uploaded ackseq sequence number of last segment that was successfully received during the last block upload If ackseq is...

Page 76: ...3 CAN 8223 CAN 8423 user s manual Revision 3 00 May 22 2009 76 End SDO Block Upload Protocol The End SDO Block Upload protocol is used for finishing the SDO Block upload and is shown in the following...

Page 77: ...r of bytes in the last segment of the last block that do not contain data Bytes 8 n 7 do not contain segment data crc 16 bit Cyclic Redundancy Checksum CRC for the whole data set The algorithm for gen...

Page 78: ...CAN 8123 CAN 8223 CAN 8423 user s manual Revision 3 00 May 22 2009 78 SDO Block Upload Example The following figure shows the general procedure of applying the SDO Block upload...

Page 79: ...0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 A0 08 10 00 7F 00 00 00 SDO client SDO server CAN 8x23 ccs 5 cc 0 cs 0 m 08 10 00 blksize 7F Each block contains 127 segments pst 00 Step 2 The CAN 8423 will...

Page 80: ...4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 A3 00 00 00 00 00 00 00 SDO client SDO server CAN 8x23 ccs 5 cs 3 Step 4 The CAN 8423 will responds to the first 7 bytes of data by...

Page 81: ...cause this segment is the last one not all of the data in the seg data filed is useful The valid data length will be indicated when the CAN 8423 send a message to finish the Block Upload protocol Plea...

Page 82: ...1 0 1 1 0 0 0 0 0 0 1 0 8 D5 00 00 00 00 00 00 00 SDO client SDO server CAN 8x23 scs 6 n 5 This value means the invalid data in the last segment are from 8 5 to 7 i e only the first 3 bytes are valid...

Page 83: ...modes are similar to the upload modes but different in some parameters of the SDO messages They are also separated into two steps If the download data length is less than 4 bytes the download action w...

Page 84: ...ownload protocol is needed If e 0 the download SDO protocol is necessary s size indicator 0 data set size is not indicated 1 data set size is indicated m multiplexer It represents the index sub index...

Page 85: ...icates the number of bytes in segment data that do not contain segment data Bytes 8 n 7 do not contain segment data n 0 if no segment size is indicated c It indicates whether there are still more segm...

Page 86: ...d Example When the SDO download example has been applied the procedure in the below figure may be applied Since all of those object entries which can be written in the CAN 8123 CAN 8223 CAN 8423 are e...

Page 87: ...4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 00 14 02 05 00 00 00 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 ccs 1 n 3 e 1 s 1 m 00 14 02 d 05 00 00 00 Because the n 3...

Page 88: ...he beginning protocol for SDO Block Download In this protocol the SDO server and SDO client will mutually communicate Afterwards the SDO Block Download protocol will also be used And data will be sent...

Page 89: ...s not support generating CRC on data cc 1 Client supports generating CRC on data sc server CRC support sc 0 Server does not support generating CRC on data sc 1 Server supports generating CRC on data m...

Page 90: ...seqno sequence number of segment 0 seqno 128 seg data It is at most 7 bytes of segment data to be downloaded ackseq sequence number of last segment that was received successfully during the last block...

Page 91: ...indicates the number of bytes in the last segment of the last block that do not contain data Bytes 8 n 7 do not contain segment data crc 16 bit Cyclic Redundancy Checksum CRC for the whole data set Th...

Page 92: ...009 92 SDO Block Download Example In this example the value of the object entry with index 0x1400 and sub index 0x02 will be changed to 5 by using the SDO Block Download communication method When the...

Page 93: ...SDO server CAN 8123 CAN 8223 CAN 8423 ccs 6 cc 0 s 0 cs 0 m 00 14 02 size 00 00 00 00 Because the value of s is 0 the size is not used Step 2 The CAN 8423 will reply to the message by using the Initia...

Page 94: ...00 00 00 00 Because this segment is the last one not all of the data in the seg data filed is useful The valid data length will be indicated when the users send a message to finish the Block Download...

Page 95: ...0 00 00 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 ccs 6 n 6 This value means the useless data in the last segment are from 8 6 to 7 i e only the first 2 bytes are valid cs 1 crc 00 00 Step 6 Th...

Page 96: ...xist or is read only even users wouldn t continue the uncompleted SDO protocol under some special situations When these conditions occur both the client and the server can be activated to send the Abo...

Page 97: ...ty in the device 0606 0000h Access failed due to an hardware error 0607 0010h Data type does not match length of service parameter does not match 0607 0012h Data type does not match length of service...

Page 98: ...OB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 40 08 10 01 00 00 00 00 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 c...

Page 99: ...Meaning 31 MSB 0 PDO exits PDO is valid 1 PDO does not exist PDO is not valid 30 0 RTR allowed on this PDO 1 No RTR allowed on this PDO 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B 28 11 0 If bit 29 0...

Page 100: ...the PDO COB ID by themselves Actually all COB ID can be defined by users except the reserved COB ID described in the table of the section 3 1 It is important to avoid the conflict with the defined COB...

Page 101: ...cyclic acyclic synchronous asynchronous RTR only 0 O O 1 240 O O 241 251 reversed 252 O O 253 O O 254 O 255 O Note 1 The transmission type 1 240 indicates how many SYNC objects the TxPDO will be trigg...

Page 102: ...the same rules The first TxPDO communication object is stored in the entry with 0x1800 and the corresponding mapping object is in the 0x1A00 entry and so on Therefore before users access the practical...

Page 103: ...ge has PDO msg the real time data or the data which can be mapped into the PDO mapping objects Read PDO Protocol PDO Consumer PDO Producer request 8 byte Data byte Len L 0 RTR 11 bit COB ID bit 10 0 C...

Page 104: ...e the CAN 8423 rotary switch to set the node ID to 1 and CAN bus baud rate to 125Kbps Moreover use CAN Slave Utility to set the I 8024 and I 87017 input output range to 10V 10V When using the CAN Slav...

Page 105: ...nction of accessing digital I O analog I O with asynchronous PDO z The function by using Event Timer to obtain the input value z The function of the acyclic and synchronous RxPDO z The function of the...

Page 106: ...ng used Step0 The following message must be sent in order to change the NMT state of the CAN 8423 first because only the PDO communication can run under the NMT Operational state 11 bit COB ID bit Fun...

Page 107: ...6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 0 1 0 0 0 0 0 0 0 0 1 0 8 34 12 00 00 00 00 00 00 PDO producer PDO consumer CAN 8123 CAN 8223 CAN 8423 COB ID 0x201 L 8 PDO msg 34 12 00 00 00 00 Only the...

Page 108: ...10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 0 0 1 1 0 0 0 0 0 0 1 0 2 34 12 00 00 00 00 00 00 PDO consumer PDO consumer CAN 8123 CAN 8223 CAN 8423 COB ID 0x181 L 2 PDO msg 34 12 00 00 00 00...

Page 109: ...2 and 3 Users need to transfer the float value to hex format because only the CAN 8123 CAN 8223 CAN 8423 supports the hex format The output range of the I 8024 is 10V 10V According to the transformati...

Page 110: ...dback value for AI is 5V 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 0 1 0 1 0 0 0 0 0 0 1 0 8 00 40 FD FF FD FF FD FF PDO consumer PDO...

Page 111: ...2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2B 00 18 05 E8 03 00 00 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 ccs 1 n 2 e 1 s 1 m 00 18 05 d E8 03 00 00 The value 0x03E8 is...

Page 112: ...00 40 FD FF FF FF FF FF PDO consumer PDO producer CAN 8123 CAN 8223 CAN 8423 COB ID 0x281 L 8 PDO msg 00 40 FD FF FF FF FF FF Step 9 The following example shows that at the second time the 2nd TxPDO...

Page 113: ...DO msg 00 40 FF FF FD FF FF FF Step 11 Users can set the event timer to 0 to finish the event timer test 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1...

Page 114: ...1 n 3 e 1 s 1 m 00 14 02 d 00 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 60 00 14 02 00 00 00 00 SDO client S...

Page 115: ...CAN 8223 CAN 8423 COB ID 0x80 The message of the SYNC object is always fixed as the format described above The COB ID of the SYNC object can be changed arbitrarily It complies with the producer consum...

Page 116: ...8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 00 14 02 FF 00 00 00 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 ccs 1 n 3 e 1 s 1 m 00 14 02 d FF 00 00 00 11 bit...

Page 117: ...a byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 00 18 02 00 00 00 00 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 ccs 1 n 3 e 1 s 1 m 00 18 02 d 00 00 00...

Page 118: ...the character of the transmission type 0 In addition the SYNC message is needed to trigger the action of the first TxPDO 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR...

Page 119: ...3 4 5 6 7 0 0 0 1 0 0 0 0 0 0 0 0 0 00 00 00 00 00 00 00 00 SYNC producer SYNC consumer CAN 8123 CAN 8223 CAN 8423 SYNC COB ID 0x80 Step 22 Nothing happened because the DI values were not changed Thi...

Page 120: ...a byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 00 18 02 03 00 00 00 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 ccs 1 n 3 e 1 s 1 m 00 18 02 d 03 00 00...

Page 121: ...ding to the character of transmission type 3 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 0 0 0 1 0 0 0 0 0 0 0 0 0 00 00 00 00 00 00 00...

Page 122: ...ata byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 00 18 02 FC 00 00 00 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 ccs 1 n 3 e 1 s 1 m 00 18 02 d FC 00...

Page 123: ...00 00 00 00 00 00 PDO producer PDO consumer CAN 8123 CAN 8223 CAN 8423 COB ID 0x201 L 8 PDO msg 34 12 00 00 00 00 00 00 Step 29 The fist TxPDO will not be transmitted immediately according to the tra...

Page 124: ...N 8423 COB ID 0x181 L 2 PDO msg 34 12 00 00 00 00 00 00 Step 31 Transmit a SYNC message 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 0 0...

Page 125: ...values will be the real DI values 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 0 0 1 1 0 0 0 0 0 0 1 0 2 34 12 00 00 00 00 00 00 PDO con...

Page 126: ...1 s 1 m 00 18 02 d FD 00 00 00 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 60 00 18 02 00 00 00 00 SDO client...

Page 127: ...00 00 PDO consumer PDO producer CAN 8123 CAN 8223 CAN 8423 COB ID 0x181 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 0 0 1 1 0 0 0 0 0 0...

Page 128: ...on 3 00 May 22 2009 128 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 60 00 18 02 00 00 00 00 SDO client SDO ser...

Page 129: ...6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 23 05 18 01 82 01 00 00 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 ccs 1 n 0 e 1 s 1 m 05 18 01 d 82 01 00 00 11 bit COB ID bit Func Code Node ID 8 byte Data byte...

Page 130: ...1A 01 d 08 01 00 60 The value 08 01 00 60 means the mapped object is stored in the index 0x6000 with sub index 01 It is an 8 bit data unit Users can check this object in the Standardize object mappin...

Page 131: ...nc Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 23 05 1A 02 08 02 00 60 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 ccs 1 n 0 e 1...

Page 132: ...1 64 means that the mapped object is stored in the index 0x6401 with sub index 01 It is a 16 bit data unit User can check this object in the Standardize object mapping table described above It is mapp...

Page 133: ...sub index 02 and index 0x6401 with sub index 01 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 05 1A 00 03 00...

Page 134: ...lar to the steps 37 to 40 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 23 05 14 01 02 02 00 00 SDO client SDO s...

Page 135: ...1 m 05 16 01 d 08 01 00 62 The value 08 01 00 62 means the mapped object is stored in the index 0x6200 with sub index 01 It is an 8 bit data unit Users can check this object in the Standardize object...

Page 136: ...5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 23 05 16 02 08 02 00 62 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 ccs 1 n 0 e 1 s 1 m 05 16 02 d 08 02 00 62 11 bit COB ID bit Func Code Node ID 8 byte Data byt...

Page 137: ...05 16 03 d 10 01 11 64 The value 10 01 11 64 means the mapped object is stored in the index 0x6411 with sub index 01 It is a 16 bit data unit Users can check this object in the Standardize object mapp...

Page 138: ...5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 05 16 00 03 00 00 00 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 ccs 1 n 3 e 1 s 1 m 05 16 00 d 03 00 00 00 11 bit COB ID bit Func Code Node ID 8 byte Data byt...

Page 139: ...AB 90 00 00 00 00 00 00 The first two bytes are assigned to the value 0x90AB of the DO0 DO15 of the I 8057 The 3rd and 4th bytes are assigned to the value 0x0000 for the AO0 of the I 8024 Total bytes...

Page 140: ...7 0 0 1 1 0 0 0 0 1 0 1 0 4 AB 90 FF FF 00 00 00 00 PDO consumer PDO producer CAN 8123 CAN 8223 CAN 8423 COB ID 0x185 L 4 PDO msg AB 90 FF 3F 00 00 00 00 The first two bytes are assigned to the value...

Page 141: ...cation methods This COB ID is stored in the object 0x1014 and the data format is shown in the following table Before using the EMCY mechanism bit 31 of the EMCY COB ID needs to be confirmed Bit Number...

Page 142: ...e last EMCY event and sub index 5 will record the most previous EMCY event The EMCY communication set is given below COB ID the EMCY COB ID The EMCY COB ID can be defined by users This situation is si...

Page 143: ...or Occur 50 00 81 02 00 00 00 00 EEPROM Access Error 50 00 81 03 00 00 00 00 COM Port Access Error 81 10 11 04 00 00 00 00 Soft Rx Buffer Overrun 81 10 11 05 00 00 00 00 Soft Tx Buffer Overrun 81 10 1...

Page 144: ...B ID 0x201 L 1 PDO msg 00 Step 2 Then the CAN 8423 will reply to an emergency message based on the PDO data length of TxPDO1 doesn t correspond to the value defined in the PDO mapping object 11 bit CO...

Page 145: ...he CAN 8423 will reply to the ending message 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 43 03 10 01 10 82 09...

Page 146: ...8123 CAN 8223 CAN 8423 scs 2 n 3 e 1 s 1 m 01 10 00 d 11 00 00 00 Step 7 Users can send the data to RxPDO1 with data length 2 Then the EMCY message containing the error reset information will be rece...

Page 147: ...or now Step 9 Users have to check the index 0x1003 with sub index 01 again Then the error reset emergency code should be recorded 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3...

Page 148: ...CAN 8223 CAN 8423 ccs 2 m 03 10 02 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 43 03 10 02 10 82 09 00 SDO cl...

Page 149: ...2 2009 149 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 4F 01 10 00 00 00 00 00 SDO client SDO server CAN 8123...

Page 150: ...n be applied for changing the NMT slave status The following figure shows how to change the different NMT statuses for the CAN 8123 CAN 8223 CAN 8423 Start Remote Node Protocol cs NMT command specifie...

Page 151: ...9 151 Enter Pre Operational Protocol cs NMT command specified 128 enter PRE OPERATIONAL Node ID the node ID of the NMT slave device Reset Node Protocol cs NMT command specified 129 Reset_Node Node ID...

Page 152: ...423 Step2 Then turn it on After the initialization the CAN 8423 will automatically enter the Pre_Operational state Users will note the RUN LED flashing twice per second Step3 Users can send the NMT mo...

Page 153: ...d time multiplied by the life time factor The Node Guarding timer of the CAN 8123 CAN 8223 CAN 8423 will start to count after receiving the first RTR message for the guarding identifier The communicat...

Page 154: ...50 This value will be stored in index 0x100C with sub index 00 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2B...

Page 155: ...it Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 0D 10 00 04 00 00 00 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 ccs 1 n...

Page 156: ...rd time life time factor 250 4 1000 users will transmit the node guarding protocol again 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1...

Page 157: ...7 0 0 0 1 0 0 0 0 1 0 1 0 8 30 81 11 07 00 00 00 00 EMCY consumer EMCY producer CAN 8123 CAN 8223 CAN 8423 EMCY msg 30 81 11 07 00 00 00 00 The first two bytes 30 81 are for the emergency error code...

Page 158: ...02 03 and 04 They have different but simply functions for example the subindex 01 records the channel 1 output range code The subindex 02 records the channel 2 output range code and so forth If users...

Page 159: ...e on the CAN 8423 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 0 0 0 0 0 0 0 0 0 0 0 0 8 01 01 00 00 00 00 00 00 NMT master NMT slave CAN...

Page 160: ...2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 4F 06 20 01 00 00 00 00 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 scs 2 n 3 e 1 s 1 m 06 20 01 d 00 00 00 00 Because of the n 3 only the 4th byte is valid...

Page 161: ...ue is 0 the input range of the I 87017 AI channel 0 is 10V 10V 11 bit COB ID bit Func Code Node ID 8 byte Data byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 4F...

Page 162: ...ion table stored in the appendix table the 7V is mapped to the 0x5998 by applying following equation 5998 0 22936 75 22936 32768 32768 32767 10 10 10 7 x V V V V HexValue The first two bytes of the PD...

Page 163: ...80 59 FD FF FD FF FD FF PDO consumer PDO consumer CAN 8123 CAN 8223 CAN 8423 COB ID 0x281 L 8 PDO msg 80 59 FD FF FD FF FD FF The feedback AI0 value is 0x5980 Users have to transfer this value to be a...

Page 164: ...byte 10 9 8 7 6 5 4 3 2 1 0 RTR Data Length 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 07 20 01 01 00 00 00 SDO client SDO server CAN 8123 CAN 8223 CAN 8423 ccs 1 n 3 e 1 s 1 m 07 20 01 d 01 00 00...

Page 165: ...1 2 3 4 5 6 7 0 1 0 1 0 0 0 0 0 0 1 1 0 00 00 00 00 00 00 00 00 PDO consumer PDO consumer CAN 8123 CAN 8223 CAN 8423 COB ID 0x281 Step 12 The feedback value for AI is 5V 11 bit COB ID bit Func Code No...

Page 166: ...lt is not defined or can be defined conditionally by the firmware built in CAN 8123 CAN 8223 CAN 8423 In the table the number accompanying letter h indicates that this value is in the hex format Gener...

Page 167: ...he CAN 8123 CAN 8223 CAN 8423 will have both DI and DO channels Bit 23 bit 19 is always in 0 The general information is 0x191 0x191 401 it means that the CAN 8123 CAN 8223 CAN 8423 complies with the C...

Page 168: ...rameter range is from 0 to 32767 for the CAN 8123 CAN 8223 CAN 8423 and the unit of EMCY inhibit time is ms SDO Communication Entries Idx Sidx Description Type Attr Default 1200h 0h largest sub index...

Page 169: ...e Attr Default 1600h 0h largest sub index supported for receive PDO mapping UNSIGNED 8 RO 8 1h write digital output 1h to 8h UNSIGNED 8 RW 6200 0108h 2h write digital output 9h to 10h UNSIGNED 8 RW 62...

Page 170: ...analog output Ch UNSIGNED 16 RW 6411 0C10h 1604h 0h largest sub index supported for receive PDO mapping UNSIGNED 8 RO 1h RW RW 160Fh 0h largest sub index supported for receive PDO mapping UNSIGNED 8...

Page 171: ...h Node ID 2 transmission type UNSIGNED 8 RW FFh 3 inhibit time UNSIGNED 16 RW 0 4 reversed 5 event timer UNSIGNED 16 RW 0 1804h 0 largest sub index supported for receive PDO parameter UNSIGNED 8 RO 5...

Page 172: ...put 1h UNSIGNED 16 RW 6401 0110h 2h read analog input 2h UNSIGNED 16 RW 6401 0210h 3h read analog input 3h UNSIGNED 16 RW 6401 0310h 4h read analog input 4h UNSIGNED 16 RW 6401 0410h 1A02h 0h largest...

Page 173: ...or more detail about these objects please refer to the section 5 5 Analog Modules Input Output range Entry Idx Sidx Description Type Attr Default 2004h 0h largest sub index supported for Analog Module...

Page 174: ...Devices Entries and Analog Output Devices Entries They are as follows Digital Input Devices Entries Idx Sidx Description Type Attr Default 6000h 0h largest sub index supported for read digital input 8...

Page 175: ...or example if the sub index 01 in the object with index 0x6206 and 0x6207 are 0x31 and 0xF8 respectively and when the error events occurs only the DO5 DO4 DO0 will be changed to error mode output valu...

Page 176: ...x B we can find out the range for hex format is from 0x7FFF 36767 to 0x8000 32768 Therefore if the value got from the AI channel of the I 87017 is 0x1234 4660 the AI value with float format will be ca...

Page 177: ...range The Hmax and Hmin is the maximum and minimum value of the 2 s complement hex range User can find out the Fmax Fmin Hmax and Hmin in the appendix B 2 When the bus off is detected or the node guar...

Page 178: ...UNSIGNED 8 RO No 1h Reset ch1 counter value UNSIGNED 8 WO Yes 3003h 0h largest sub index supported for set XorRegister with 0 or 1 UNSIGNED 8 RO No 1h XorRegister value of ch1 UNSIGNED 8 RW No 3004h...

Page 179: ...the total counter is 1 0x80000000 8192 2147491840 If users select Frequency or Up counting there is only one situation If the object index 0x3000 with sub index 1 is 16384 and the object index 0x3001...

Page 180: ...equency of output pulse 32 bit UNSIGNED 8 RO No 1h Set frequency of output pulse UNSIGNED 32 RW No 3103h 0h largest sub index supported for set pulse duty with 1 999 UNSIGNED 8 RO No 1h Set pulse duty...

Page 181: ...set the value 100 5000000 with the base 0 1Hz that is 10Hz 500kHz to object 0x3102 Object index 0x3103 is pulse duty per mille If set the object to value 300 it means that the high duty is 300 and th...

Page 182: ...ion table has separated into several parts according to the name of slot module They are given below I 87K module I 8K module I 87013 I 8017HS I 8017HW I 87015 I 87015P I 8024 I 8024W I 87017 I 87017R...

Page 183: ...ange 200 00 000 00 22 Platinum 100 a 0 00385 2 s complement HEX 7FFF 0000 Input Range 600 00 000 00 23 Platinum 100 a 0 00385 2 s complement HEX 7FFF 0000 Input Range 100 00 100 00 24 Platinum 100 a 0...

Page 184: ...Input Range 150 00 020 00 2D 1 Cu 1000 a 0 00421 2 s complement HEX 7FFF EEEF Input Range 200 00 200 00 2E 2 Pt 100 a 0 00385 2 s complement HEX 7FFF 8000 Input Range 200 00 200 00 2F 2 Pt 100 a 0 003...

Page 185: ...5 0000 V 5 0000 V 09 5V to 5V 2 s Complement HEX 7FFF 8000 Input Range 1 0000 V 1 0000 V 0A 1V to 1V 2 s Complement HEX 7FFF 8000 Input Range 500 00 mV 500 00 mV 0B 500mV to 500mV 2 s Complement HEX 7...

Page 186: ...Scale Input Range 04 000 mA 20 000 mA 07 4mA to 20mA 2 s Complement HEX 7FFF 8000 Input Range 20 000 mA 20 000 mA 0D default 20mA to 20mA 2 s Complement HEX 7FFF 8000 Input Range 00 000 mA 20 000 mA 1...

Page 187: ...Input Range 100 00 mV 100 00 mV 02 100mV to 100mV 2 s Complement HEX 7FFF 8000 Input Range 500 00 mV 500 00 mV 03 500mV to 500mV 2 s Complement HEX 7FFF 8000 Input Range 1 0000 V 1 0000 V 04 1V to 1V...

Page 188: ...V to 100mV 2 s Complement HEX 7FFF 8000 Input Range 500 00 mV 500 00 mV 03 500mV to 500mV 2 s Complement HEX 7FFF 8000 Input Range 1 0000 V 1 0000 V 04 1V to 1V 2 s Complement HEX 7FFF 8000 Input Rang...

Page 189: ...2009 189 Input Range 500 00 mV 500 00 mV 0B 500mV to 500mV 2 s Complement HEX 7FFF 8000 Input Range 150 00 mV 150 00 mV 0C 150mV to 150mV 2 s Complement HEX 7FFF 8000 Input Range 20 000 mA 20 000 mA 0...

Page 190: ...Input Range 1000 0 0270 0 11 E Type 2 s Complement HEX 7FFF DD71 Input Range 1768 0 0000 0 12 R Type 2 s Complement HEX 7FFF 0000 Input Range 1768 0 0000 0 13 S Type 2 s Complement HEX 7FFF 0000 Inpu...

Page 191: ...l FFF 000 I 87024 Analog Output Type Definition Back to table Range Code Hex Output Range Data Format Max Value Min Value Output Range 20 000 mA 00 000 mA 30 0 to 20mA 2 s Complement HEX 0x7FFF 0 Outp...

Page 192: ...ult 0 to 10V Hexadecimal FFFF 0000 I 87024C I 87028C Analog Output Type Definition Back to table Range Code Hex Output Range Data Format Max Value Min Value Output Range 20 000 mA 00 000 mA 0 default...

Page 193: ...exadecimal 1FFF 2000 Input Range 20 000 mA 20 000 mA 4 20 mA to 20 mA Hexadecimal 1FFF 2000 I 8080 8084W Counter Input Type Definition Back to table Range Code Hex Counter Type Channel number Max Valu...

Page 194: ...8423 user s manual Revision 3 00 May 22 2009 194 I 8088W PWM Output Type Definition Back to table Range Code Hex Counter Type Channel number Max Value Min Value 65535 1 0 Burst Counter 8 FFFF 1 1 defa...

Page 195: ...ot 0 slot 1 slot 2 and slot 3 respectively For example if the I 8050 module is plugged on the slot 0 of CAN 8423 user can set the object index 0x2004 to decide the channel type of I 8050 The object in...

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