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CAN-8124/CAN-8224/CAN-8424 User Manual

CAN-8124/ CAN-8224/ CAN-8424 User Manual (Version 2.0, Aug/2007)

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Table of Content

Chapter 1 Introduction........................................................................................ 4

1.1 Overview ..................................................................................................................... 4

1.2 Hardware Features .....................................................................................................6

1.3 CAN-8124/CAN-8224/CAN-8424 DeviceNet Features .............................................. 7

1.4 Utility Feature ............................................................................................................. 7

Chatper 2 Hardware Specification..................................................................... 8

2.1 CAN-8124/CAN-8224 Hardware Structure ................................................................ 8

2.2 CAN-8424 Hardware Structure ..................................................................................9

2.3 Wire connection .......................................................................................................10

2.4 PWR LED................................................................................................................... 14

2.5 DeviceNet LED..........................................................................................................15

2.5.1 MOD LED..................................................................................................................... 15

2.5.2 NET LED ...................................................................................................................... 16

2.6 NA and DR Rotary Switch ........................................................................................ 17

2.7 Module Support ........................................................................................................19

2.8 Application Flowchart .............................................................................................. 20

Chapter 3 DeviceNet System ........................................................................... 21

3.1 DeviceNet Introduction ............................................................................................ 21

3.2 Predefined Master Slave Connection Set............................................................... 25

3.2.1 Explicit Messages: ........................................................................................................ 26

3.2.2 I/O Bit Strobe Messages: ............................................................................................. 27

3.2.3 I/O Poll Messages:........................................................................................................ 28

3.2.4 I/O Change of State/Cyclic Messages:........................................................................ 29

3.3 EDS File..................................................................................................................... 30

Chapter 4 DeviceNet Profile Area .................................................................... 32

4.1 DeviceNet Statement of Compliance ...................................................................... 32

4.2 Identity Object (Class ID: 0x01)............................................................................... 33

4.3 DeviceNet Object (Class ID:0x03) ........................................................................... 35

4.4 Assembly Object (Class ID: 0x04)........................................................................... 37

4.5 Application Object (Class ID:0x64)....................................................................... 38

4.6 Connection Object (Class ID:0x05)......................................................................... 41

4.6.1 Explicit connection....................................................................................................... 42

4.6.2 Poll I/O connection....................................................................................................... 43

4.6.3 Bit–Strobe I/O Connection .......................................................................................... 44

4.6.4 Change of State or Cyclic I/O Connection (Acknowledge) ...................................... 45

4.6.5 Change of State or Cyclic I/O Connection (Unacknowledge) .................................. 46

Summary of Contents for CAN-8124

Page 1: ...umes no liability for damages consequent to the use of this product ICP DAS reserves the right to change this manual at any time without notice The information furnished by ICP DAS is believed to be accurate and reliable However no responsibility is assumed by ICP DAS for its use or for any infringements of patents or other rights of third parties resulting from its use Copyright Copyright 2007 by...

Page 2: ... 20 Chapter 3 DeviceNet System 21 3 1 DeviceNet Introduction 21 3 2 Predefined Master Slave Connection Set 25 3 2 1 Explicit Messages 26 3 2 2 I O Bit Strobe Messages 27 3 2 3 I O Poll Messages 28 3 2 4 I O Change of State Cyclic Messages 29 3 3 EDS File 30 Chapter 4 DeviceNet Profile Area 32 4 1 DeviceNet Statement of Compliance 32 4 2 Identity Object Class ID 0x01 33 4 3 DeviceNet Object Class I...

Page 3: ...defined Master Slave Connection Set 111 7 2 2 How to apply the Poll IO connection 112 7 2 3 The Bit Strobe IO connection example 115 7 2 4 Change of State Cyclic IO with Acknowledge connections 118 7 2 5 Change of State Cyclic IO without Acknowledge connections 122 7 2 6 Reset Service 124 7 2 7 DEVICE HEARTBEAT 127 7 2 8 Fragmentation example 129 Chapter 8 Interpreting Analog Module Data 133 8 1 A...

Page 4: ...exibility in data acquisition and a control system for the DeviceNet network In order to expand the I O channel to make it more flexible CAN 8124 CAN 8224 CAN 8424 supports 1 2 and 4 expansion slots respectively for user to expand their I O channel numbers in various DeviceNet applications Users can configure the I 87K or I 8000 IO series modules to fit their customized applications The symbol x i...

Page 5: ...CAN 8124 CAN 8224 CAN 8424 User Manual CAN 8124 CAN 8224 CAN 8424 User Manual Version 2 0 Aug 2007 5 153 Figure 1 1 DeviceNet application ...

Page 6: ... in Watchdog Timer z 16 bit Timer z PWR LED NET LED MOD LED z Support 1 2 4 expansion I O slots z 2500 Vrms isolation on CAN side z 120Ω terminal resister selected by jumper z CAN bus interface ISO IS 11898 2 5 pin screw terminal with on board optical isolators protection z Power Supply 20W Unregulated 10VDC to 30VDC z Operating Temperature 25 C to 75 C z Storage Temperature 30 C to 85 C z Humidit...

Page 7: ...es Polling Bit Strobe Change of State Cyclic z Supports Fragmented IO maximum 128 bytes output and or 128 bytes input data z Dynamic Assembly Objects Mapping z Supports Device Heartbeat message z Supports Device Shutdown message z EDS file dynamically z Support all standard DeviceNet data rate 125K 250K and 500K bps z Data rate and Node Address MAC ID configured via rotary switch z NET MOD and Pow...

Page 8: ...8224 CAN 8424 User Manual Version 2 0 Aug 2007 8 153 Chatper 2 Hardware Specification 2 1 CAN 8124 CAN 8224 Hardware Structure DeviceNet Status LED Power LED Node ID and Baud rate rotary switch CAN Bus Connector 1 I O Expansion Slot 2 I O Expansion Slots ...

Page 9: ... 8424 User Manual CAN 8124 CAN 8224 CAN 8424 User Manual Version 2 0 Aug 2007 9 153 2 2 CAN 8424 Hardware Structure DeviceNet Status LED Power LED RS 232 Port connect to PC Power Pin CAN Bus Connector 4 I O Expansion Slots ...

Page 10: ...0 mΩ m The user should check the resistances of their CAN bus before they install a new CAN network as in figure 2 1 Figure 2 1 wire connections Moreover to minimize the voltage drop over long distances the terminal resistance should be higher than the value defined by ISO 11898 2 Table 2 1 may be used as a reference Table 2 1 The relation between bus cable and length Bus Cable Parameters Bus Leng...

Page 11: ...0Ω terminal resistance is supplied The JP2 for the CAN 8124 CAN 8224 is for terminal resistance The JP2 position is shown in the following figure JP1 on CAN 8424 is used for adjusting terminal resistance and its position is shown in the following figure The following connection status is presented for if the terminal resister is enable or disable ...

Page 12: ...Max Bus length m 500 K 100 250 K 250 125 K 500 Note When the bus length is greater than 1000m bridge or repeater devices may be needed The pin assignments for these CAN 8124 CAN 8224 and CAN 8424 CAN bus connectors are shown in figure 2 2 figure 2 3 table 2 3 and table 2 4 Figure 2 2 The connector pin assignments for the CAN 8424 Table 2 3 Connector pins of CAN 8424 Pin No Signal Description 1 N A...

Page 13: ...Pin 5 V CAN_L SHIELD CAN_H V Figure 2 3 The connector pin assignments for the CAN 8124 CAN 8224 Table 2 4 Connector pins of CAN 8124 CAN 8224 Pin No Signal Description 1 V Ground 0V 2 CAN_L CAN_L bus line dominant low 3 SHIELD Optional CAN Shield 4 CAN_H CAN_H bus line dominant high 5 V CAN external positive supply I 8KDNSx power ...

Page 14: ...the PWR LED will be turned on If the Power LED is off after giving the proper voltage please check the power and load of power supply first If the situation is not improved please communicate your problem with your distributor in order to find the solution The corresponding conditions are given in table 2 5 Table 2 5 PWR led conditions condition status indicates Off No power No power supply Solid ...

Page 15: ... device is powered up When the DeviceNet communication events occur these indicators will be triggered to glitter with different conditions 2 5 1 MOD LED This LED provides the devices status It indicates whether or not the device is operating properly Table 2 6 shows the conditions for all MOD statuses Table 2 6 The MOD led conditions condition status indicates Off Normal Solid Critical fault Devi...

Page 16: ...all NET statuses Table 2 7 NET led conditions condition status indicates Off Off line DeviceNet is not online Flashing On line DeviceNet is on line but not communicating Init solid Link failed Critical Device has detected an error that has rendered it incapable of communicating on the link for example detected a duplicate node address or network configuration error Solid On line communicating Devi...

Page 17: ... be used by the device for communication on the network are set via the upper rotary switches The MSD means the most significant digit of the node address and LSD represent the low significant digit of the node ID in the decimal format The node address of the CAN 8124 CAN 8224 CAN 8424 is useless when the value exceeds 64 decimal format because the max node value in the DeviceNet is 63 For example...

Page 18: ...firmware built in the CAN 8x24 will not be executed Before users employ the utility tool to configure the CAN 8x24 the initial mode is needed Because the CAN 8124 CAN 8224 has no RS 232 COM Port it is necessary to run this utility tool in the off line mode if users want to get the EDS file of users CAN 8124 CAN 8224 Furthermore when the CAN 8124 CAN 8224 CAN 8424 is started up the DeviceNet firmwa...

Page 19: ... 8224 CAN 8424 will search through them automatically organizing them into their corresponding DeviceNet entries Table 2 8 below provides the modules names with their basic information supported by the CAN 8124 CAN 8224 CAN 8424 Table 2 8 support modules IO Type Module Name IO Type Module Name AI I 87013 I 87016 I 87017 I 87018 AO I 8024 I 87022 I 87024 I 87026 DO I 8037 I 8041 I 8056 I 8057 I 806...

Page 20: ...0 153 2 8 Application Flowchart The procedure to follow on how to use the CAN 8124 CAN 8224 CAN 8424 is as follows Users can refer to the procedure to apply the CAN 8124 CAN 8224 CAN 8424 devices to the DeviceNet application as in figure 2 7 Figure 2 7 CAN 8124 CAN 8224 CAN 8424 application flowchart ...

Page 21: ...e control in embedded networks such as in textile machinery printing machines injection molding machinery or packaging machines DeviceNet is a low level network that provides connections between simple industrial devices sensors actuators and higher level devices controllers It allows direct peer to peer data exchange between nodes in an organized and if necessary deterministic manner The network ...

Page 22: ...thin the CAN Identifier Field With this in mind the below figure also describes the components for a DeviceNet Connection ID Because of the arbitration scheme defined by CAN Group 1 messages have a higher priority than group 2 messages and group 2 messages have higher priority than group 3 messages and so on This prioritization must be taken into consideration when establishing connections Table 3...

Page 23: ...h the Master gathers I O data and to which the Master distributes I O data Table 3 2 DeviceNet Identifiers IDENTIFIER BITS 10 9 8 7 6 5 4 3 2 1 0 IDENTITY USAGE HEX RANGE 0 Group 1 Message ID Source MAC ID Group 1 Messages 000 3ff 0 1 1 0 0 Source MAC ID Slave s Multicast Poll Response 0 1 1 0 1 Source MAC ID Slave s I O Change of State or Cyclic Message 0 1 1 1 0 Source MAC ID Slave s I O Bit Str...

Page 24: ...epresented by the below object model The object model provides a template for organizing and implementing the Attributes data Services methods or procedures and behaviors of the components within a DeviceNet product Figure 3 2 depicts the object model for CAN 8124 CAN 8224 Group 2 server Only The next section would explain these objects More detailed information about Predefined Master Slave Conne...

Page 25: ...n For this reason a set of identifiers has been reserved within Message Group 2 to simplify the movement of I O and configuration data typically seen in Master Slave relationships The steps which are necessary to create and configure a connection between devices has been removed within the Predefined Set The Predefined Master Slave Connection Set allows for the establishing of a DeviceNet communic...

Page 26: ...are used to perform operations such as reading and writing attributes Explicit response Messages indicate the results to attempt to service an Explicit Request massage Within a Slave Explicit Request and Response Messages are received transmitted by a single Connection Object The architecture is as figure 3 3 Figure 3 3 the architecture of Explicit message ...

Page 27: ... Strobe Command has multicast capabilities Multiple Slaves can receive and react to the same Bit Strobe Command The Bit Strobe response is an I O message that a Slave transmits back to the Master when the Bit Strobe Command has been received Within a Slave the two messages are received transmitted by a single Connection Object The architecture is as in figure 3 4 Figure 3 4 the architecture of IO ...

Page 28: ...owards a single specific Slave point to point connection A Master must transmit a separate Poll command message for each one of its Slaves that is to be polled The Poll Response is an I O message that the Slave transmits back to the Master when the Poll Command is received Within a Slave the two messages are received transmitted by a single Connection Object as in figure 3 5 Figure 3 5 the archite...

Page 29: ...ledge Message may be returned in response to this message Within either the Master or the Slave the producing Change of State Message and consuming Acknowledge Messages are received transmitted by one Connection Object The consuming Change of State and producing Acknowledge Message are received transmitted by a second Connection Object The architecture for these messages can be seen in figure 3 6 ...

Page 30: ...resses are encoded in the EDS ICP DAS provides users with the CAN Slave utility software they need to create suitable EDS files The EDS file system architecture is presented in Figure 3 8 Figure 3 8 the architecture of EDS file EDS provides information about the device s configuration data according to the following context content format The information in an EDS file allows configuration tools t...

Page 31: ...tion The CAN utility can scan I 8K I 87K IO modules connected to the CAN 8124 CAN 8224 However users can only use off line mode to create EDS files of CAN 8124 CAN 8224 with the specific IO modules It also provides a graph interface for users to be able to make up their own EDS file system For more detailed information on this topic please refer to the next section ...

Page 32: ...object class that is implemented in the DeviceNet network 4 1 DeviceNet Statement of Compliance General Device Data Conforms to DeviceNet Specification Volume I Release 1 1 Vendor Name ICP DAS Device Profile Name ICPDAS CAN 8x24 Production Revision 1 03 DeviceNet Physical Conformance Data Network Power Consumption Max Open Hardwired Isolated Physical Layer Yes LEDs Supported Yes MAC ID Setting Swi...

Page 33: ...Instance UINT Get 1 Class Service Service Code Service name Support 0x0E Get_Attribute_Single Yes Instance Attribute Attribute ID Description Method DeviceNet Data Type Value 1 Vendor UINT Get UINT 803 2 Product type UINT Get UINT 0x00 3 Product code Get UINT 2 CAN 8124 CAN 8224 3 CAN 8424 4 Revision vision Major Revision Minor Revision Get Struct of USINT USINT 1 03 5 Status Get WORD 0 6 Serial n...

Page 34: ...24 CAN 8424 User Manual CAN 8124 CAN 8224 CAN 8424 User Manual Version 2 0 Aug 2007 34 153 Instance Service Service Code Service name Support 0x0E Get_Attribute_Single Yes 0x10 Set_Attribute_Single Yes 0x05 Reset Yes ...

Page 35: ... Service Code Service name Support 0x0E Get_Attribute_Single Yes Instance attribute Attribute ID Description Method DeviceNet Data Type Value 1 MAC ID Get USINT Range 0 63 2 Baud Rate Get USINT Range 0 2 3 BOI Get Set BOOL 0 4 Bus off counter Get Set USINT 0 5 Allocation information Get Set STRUCT 6 MAC ID Switch Changed Get BOOL 0 No Change 1 Change since last Reset or Power up 7 Baud Rate Switch...

Page 36: ...4 CAN 8224 CAN 8424 User Manual CAN 8124 CAN 8224 CAN 8424 User Manual Version 2 0 Aug 2007 36 153 Instance Service Service Code Service name Support 0x0E Get_Attribute_Single Yes 0x10 Set_Attribute_Single Yes ...

Page 37: ...t will produce data on the network and an output will consume data from the network Class attribute Attribute ID Attribute name Data Type Method Value 0x01 Revision UINT Get 2 0x02 Max Instance UINT Get By slot number Class service Service Code Service name Support 0x0E Get_Attribute_Single Yes Instance attribute Attribute ID Description Method DeviceNet Data Type Value 0x03 Data Get Set Defined b...

Page 38: ...tribute_Single to read and write I 7K I 87K IO modules Class attribute Attribute ID Attribute name Data Type Method Value 0x01 Revision UINT Get 1 0x02 Max Instance UINT Get By slot number Class service Service Code Service name Support 0x0E Get_Attribute_Single Yes Instance attribute Attribute ID Description Method Data Type Default Value 0x01 Module name Get WORD 0 0x02 Module Type Get CHAR 0 0x...

Page 39: ...in module is I 8055 The corresponding module name in DeviceNet is 8055 Module Type This attribute contains the module type of the plugged in modules 0 DO module 1 DI module 2 AO module 3 AI module 4 DO DI mdoule Configuration This attribute includes the module configuration In DI DO module the value is 0x40 Please refer to the module manual for more information relating to analog module configurat...

Page 40: ...ttribute indicates the DO channel number of the module AO channel num The attribute indicates the AO channel number of the module DI channel num The attribute indicates the DI channel number of the module AI channel num The attribute indicates the AI channel number of the module DO data The attribute indicates the DO data of the module AO data The attribute indicates the AO data of the module DI d...

Page 41: ...y Object Please use the CAN Slave Utility to set the IO connection path For CAN 8124 CAN 8224 it is needed to set the path via the CAN bus via explicit message Connection Instance ID Description 1 References the Explicit Messaging Connection into the Server 2 References the Poll I O Connection 3 References the Bit Strobe I O Connection 4 References the Slave s Change of State or Cyclic I O Connect...

Page 42: ...ction_id UINT Get Table 3 2 0x06 initial_comm_characteristics BYTE Get 0x21 0x07 produced_connection_size UINT Get 0x20 0x08 consumed_connection_size UINT Get 0x20 0x09 expected_packet_rate UINT Get 0x09c4 0x0C watchdog_timeout_action USINT Get 1 0x0D produced_connection_path_ length UINT Get 0 0x0E produced_connection_path EPATH Get Empty 0x0F consumed_connection_path_length UINT Get 0 0x10 consu...

Page 43: ..._characteristics BYTE Get 0x01 0x07 produced_connection_size UINT Get No specified default 0x08 consumed_connection_size UINT Get No specified default 0x09 expected_packet_rate UINT Get 0 0x0C watchdog_timeout_action USINT Get 0 0x0D produced_connection_path_ length UINT Get No specified default 0x0E produced_connection_path EPATH Get No specified default 0x0F consumed_connection_path_length UINT ...

Page 44: ...nitial_comm_characteristics BYTE Get 0x02 0x07 produced_connection_size UINT Get No specified default 0x08 consumed_connection_size UINT Get 0x08 0x09 expected_packet_rate UINT Get 0 0x0C watchdog_timeout_action USINT Get 0 0x0D produced_connection_path_ length UINT Get No specified default 0x0E produced_connection_path EPATH Get No specified default 0x0F consumed_connection_path_length UINT Get N...

Page 45: ...ble 3 2 0x06 initial_comm_characteristics BYTE Get 0x01 0x07 produced_connection_size UINT Get No specified default 0x08 consumed_connection_size UINT Get No specified default 0x09 expected_packet_rate UINT Get 0 0x0C watchdog_timeout_action USINT Get 0 0x0D produced_connection_path_ length UINT Get No specified default 0x0E produced_connection_path EPATH Get No specified default 0x0F consumed_con...

Page 46: ...ion_id UINT Get 0xFFFF 0x06 initial_comm_characteristics BYTE Get 0x0F 0x07 produced_connection_size UINT Get No specified default 0x08 consumed_connection_size UINT Get No specified default 0x09 expected_packet_rate UINT Get 0 0x0C watchdog_timeout_action USINT Get 0 0x0D produced_connection_path_ length UINT Get No specified default 0x0E produced_connection_path EPATH Get No specified default 0x...

Page 47: ...7 153 Note The first assembly instance number in the CAN 8124 CAN 8224 CAN 8424 is 0x64 The second is 0x65 The priority of Assembly instances follow the DO AO DI and AI order There are many examples for users to go through in order to better understand Assembly objects Please refer to the next section ...

Page 48: ...K IO modules from ICP DAS in your DeviceNet application 1 Execute CAN Slave Utility in the off line mode 2 Select the proper module slot No and name for each I 8000 I 87K module plugged in the CAN 8124 CAN 8224 3 Produce the corresponding EDS file 1 Reset the CAN 8124 CAN 8224 device with the proper node ID and baud rate 2 Apply the EDS file in your DeviceNet 3 Start to communicate with the Device...

Page 49: ...needed I 8K I 87K IO modules from ICP DAS in your DeviceNet application 1 Connect the COM1 of the DeviceNet gateway PC s COM 1 2 port with the download cable CA0910F 2 Execute CAN Slave Utility to configure the CAN 8424 device and create the EDS file After configuring CAN 8424 and creating the specific EDS files apply the EDS file in your DeviceNet li i ...

Page 50: ...hich is useful in the DeviceNet network Such as Assembly instances and Application instance attributes For the reason that all I 8000 I 87K AI AO parameter configurations can be done by using explicit messages for the DeviceNet specification the CAN 8124 CAN 8224 CAN 8424 can work directly without using the CAN Slave Utility if users don t need to use the I 8424 EDS file creation system in the on ...

Page 51: ...ing the CAN Slave Utility Step 1 Download the CAN Slave Utility setup file from the web site http www icpdas com download download list htm or CD ROM disk following the path of CAN CD DeviceNet Slave CAN 8x24 Utility Step 2 Execute the setup exe file to install the CAN Slave Utility Step 3 A Welcome window will pop up to prompt the user to begin installation ...

Page 52: ...l Version 2 0 Aug 2007 52 153 Step 4 Click the Next button and a Choose Destination Location window will pop up for deciding the installation path Step 5 Click the Next button A Ready to Install the Program window will pop up Here press the Install button to install the Utility ...

Page 53: ...n and start to install the CAN Slave Utility to the system After finishing this process the following figure will be displayed prompting users to Finish the successful completion of the installation Step 7 After finishing the installation of the CAN Slave Utility users can find the CAN_SL Utility as shown in the following screenshot ...

Page 54: ...all CAN Slave Utility You can uninstall the CAN_SL Utility software by the following means described below Step 1 Click Start in the task bar then click Settings Control Panel Step 2 Click the Add Remove Programs button icon to open the dialog Step 3 Find out the CAN_SL Utility and click the Change Remove button ...

Page 55: ...CAN 8424 User Manual CAN 8124 CAN 8224 CAN 8424 User Manual Version 2 0 Aug 2007 55 153 Step 4 Select the Remove option and press the Next button to remove the software Step 5 Click the Yes button to remove the software ...

Page 56: ...CAN 8124 CAN 8224 CAN 8424 User Manual CAN 8124 CAN 8224 CAN 8424 User Manual Version 2 0 Aug 2007 56 153 Step 6 Finally click the Finish button to finish the uninstall process ...

Page 57: ...elect DeviceNet from under the Application Layer option Then select offline from the Setting status Step 2 If the CAN slave device is CAN 8224 with node id 1 and and baud rate 125 Kbps then users must set the file s correct value for the CAN 8224 node id and baud rate in the NODE ID and CAN Baud rate Then select the 2 Slot as the number of slots under Slot Number ...

Page 58: ...odule icons as shown in the CAN Slave Device Situation frame below A list box will pop up Select the correct slot module that is plugged into the CAN 8224 Step 4 If the I 8024 and I 8042 modules are plugged into slot 0 and slot 1 respectively then select 8024 from the list box and click the Apply Module button to save this configuration ...

Page 59: ...on users can move the mouse point to the slot module in the CAN Slave Device Situation frame If the configuration has been successful users will see the correct module name on the top of the slot module Step 6 Repeat steps 4 6 to configure slot 1 with the I 8042 module Then click the Save Setting button to finish the off line parameter settings ...

Page 60: ...r settings in the General Setting window Also users can check the default settings for each slot module by clicking on the module s icon Alternatively users can move the mouse pointer over the slot module to show the modules name and information displayed in the Module Information frame Then click the Build EDS file button to go to the next step ...

Page 61: ...7 61 153 Step 8 In this step users can begin building the specific EDS files for their CAN 8124 CAN 8224 In this dialog users can know the information of IO modules assembly components and application instances Due to the off line mode the output and input instance parameters are not able to be set ...

Page 62: ...r Manual CAN 8124 CAN 8224 CAN 8424 User Manual Version 2 0 Aug 2007 62 153 By clicking the Module View button the following figure will be displayed Clicking on the Assembly Object View button the following figure will be displayed ...

Page 63: ...ep 9 Press the NEXT button to go to the next step Otherwise you can press the Back button to go back to the above step Step 10 The next step shows the settable connection path The connection path in the CAN 8124 CAN 8224 device is default path Users can refer to the settable path to set these IO connection paths The application and assembly object instance can also be shown in this figure ...

Page 64: ...ng it a description in the description box provided as can be seen in the following figure Step 12 Click the Finish button to complete the I 8KDNS1 I 8KDNS2 configuration and the system will create the EDS file for users as in the following figure Step 13 When this process is finished the main window will pop up Then select Exit program to exit the program ...

Page 65: ... the EDS file for the specific CAN 8124 CAN 8224 The file name is ICPDNS1 eds 1 represents the Node ID of the device Therefore users can apply the EDS file in the DeviceNet application as the following figure Note There is also some device information in the EDS file Users can also see the information form the EDS file ...

Page 66: ...CAN 8424 please make sure that you have connected the COM1 port of the CAN 8424 with the available COM port on your PC The architecture is displayed in the following figure In this demo the CAN 8424 will be used and slot modules I 8057 I 8053 I 8024 and I 8017H are plugged into slots 0 1 2 and 3 respectively Step 1 Turn off the CAN 8424 Set the DR rotary switch for the CAN 8424 to 9 Then turn on t...

Page 67: ...5 Kbps for the demo Therefore set the DR rotary switch to 0 Step 3 Execute the CAN_SL exe file and the figure will be displayed Select a PC COM port to connect the CAN 8424 We used the PC COM 1 port for this demo Click the Connect button to store the information into the CAN 8424 Then press the Connect button to connect to the CAN 8424 The utility will scan the IO modules plugged into the CAN 8424...

Page 68: ...dules there will be some information about the firmware version MAC ID and baud rate as shown in the below windows Step 5 In the CAN Slave Device situation section press the specific modules and their module configuration information will be revealed in the right upper window Furthermore users can set their specific module configuration ...

Page 69: ... 69 153 Step 6 After selecting the needed configuration press the Set button to set the module s configuration as in this specific one Step 7 After finishing the process of configuration press the Build EDS file to button to go to the next step to start to build the specific EDS file for your I 8x20 ...

Page 70: ... 8224 CAN 8424 User Manual Version 2 0 Aug 2007 70 153 Step 8 The dialog will be displayed as follows In this dialog users can defined their needed assembly objects Step 9 Set the output instance and input instance to either default or user defined mode ...

Page 71: ...g In addition the usable IO information will be shown in the IO Mapping frame Users can set clear the specific channel IO of the slot to the assembly instance In the default mode the system just shows the default Assembly instance information Users cannot modify the assembly instance components Step 10 In addition the utility also provides module assembly and application object information by pres...

Page 72: ...r Manual CAN 8124 CAN 8224 CAN 8424 User Manual Version 2 0 Aug 2007 72 153 Step 11 If you press the Module View button the Module Information window will pop up Users can get the IO module plugged into the CAN 8424 from this dialog ...

Page 73: ...124 CAN 8224 CAN 8424 User Manual Version 2 0 Aug 2007 73 153 Step 12 By pressing the Assembly Object View button the Assembly Object Information window will pop up Users can get every assembly object information in the CAN 8424 from this dialog ...

Page 74: ... Application Object View button the Application Object Information window will pop up Users can get every application object s information in the CAN 8424 from this dialog Step 14 After creating the assembly object press the NEXT button to go to the next step Alternatively you can press the Back button to go back to the above step ...

Page 75: ...ersion 2 0 Aug 2007 75 153 Step 15 Upon completion of the above steps the following window will pop up Users can set their EDS files information from here Step 16 Users can set the specified information they want in the below fields This information will be stored in the EDS file ...

Page 76: ...or the I 8x20 The utility will list all useable paths in these fields These selections include assembly and application objects Step 18 Press the Finish button to complete the CAN 8424 configuration and the system will create the EDS file for the CAN 8424 Otherwise press the Back button to go back to the above step Users can then find the EDS file in the execute file path ...

Page 77: ... defined or default settings However the number of assembly objects is only a default setting in the CAN 8124 CAN 8224 Every IO slot modules represents an application object instance The CAN 8x24 device would arrange the application instances in order by slot address The assembly object instances consist of these application object attributes Moreover the default assembly instances are the groups ...

Page 78: ...CAN 8124 CAN 8224 CAN 8424 User Manual CAN 8124 CAN 8224 CAN 8424 User Manual Version 2 0 Aug 2007 78 153 Figure 6 1 DeviceNet object sketch map Note The max number in the assembly instance is 8 ...

Page 79: ...57 slot 2 and I 8053 slot 3 to the I 8x20 as follows The CAN 8424 will arrange the application objects for the DeviceNet according to the following table Slot Address Application Instance ID Module name DO Length Byte AO Length Byte DI Length Byte AI Length Byte 0 0x01 87017 0 0 0 16 1 0x02 8024 0 8 0 0 2 0x03 8057 2 0 0 0 3 0x04 8053 0 0 2 0 Because there are four slots in the CAN 8424 the applic...

Page 80: ...h channel 0x04 Total Channels Get CHAR 8 0x05 Total Length Get CHAR 16 0x06 Reserved Get CHAR 0 0x07 DO Length Get CHAR 0 0x08 AO Length Get CHAR 0 0x09 DI Length Get CHAR 0 0x0A AI Length Get CHAR 16 0x0B DO channel num Get CHAR 0 0x0C AO channel num Get CHAR 0 0x0D DI channel num Get CHAR 0 0x0E AI channel num Get CHAR 8 0x14 DO data Set Defined by module channel num 0 0x15 AO data Set Defined b...

Page 81: ... Value 0x01 Module name Get WORD 8024 0x02 Module Type Get CHAR 2 AO type 0x03 Configuration Get Set Depend on the number of module channel 1st byte 1st channel 2nd byte 2nd channel 3rd byte 3rd channel 4th byte 4th channel 0x04 Total Channels Get CHAR 4 0x05 Total Length Get CHAR 8 0x06 Reserved Get CHAR 0 0x07 DO Length Get CHAR 0 0x08 AO Length Get CHAR 0 0x09 DI Length Get CHAR 0 0x0A AI Lengt...

Page 82: ...4 DO data Set Defined by module channel num 0 0x15 AO data Set Defined by module channel num 1st and 2nd bytes 1st channel 3rd and 4th bytes 2nd channel 5th and 6th bytes 3rd channel 7th and 8th bytes 4th channel 0x16 DI data Get Defined by module channel num 0 0x17 AI data Get Defined by module channel num 0 ...

Page 83: ...6 0x05 Total Length Get CHAR 2 0x06 Reserved Get CHAR 0 0x07 DO Length Get CHAR 2 0x08 AO Length Get CHAR 0 0x09 DI Length Get CHAR 0 0x0A AI Length Get CHAR 0 0x0B DO channel num Get CHAR 16 0x0C AO channel num Get CHAR 0 0x0D DI channel num Get CHAR 0 0x0E AI channel num Get CHAR 0 0x14 DO data Set Defined by module channel num 1st bit of 1st byte 1st channel 2nd bit of 1st byte 2nd channel 3rd ...

Page 84: ... 2nd bit of 2nd byte 10th channel 3rd bit of 2nd byte 11th channel 4th bit of 2nd byte 12th channel 5th bit of 2nd byte 13th channel 6th bit of 2nd byte 14th channel 7th bit of 2nd byte 15th channel 8th bit of 2nd byte 16th channel 0x15 AO data Set Defined by module channel num 0 0x16 DI data Get Defined by module channel num 0 0x17 AI data Get Defined by module channel num 0 ...

Page 85: ...06 Reserved Get CHAR 0 0x07 DO Length Get CHAR 0 0x08 AO Length Get CHAR 0 0x09 DI Length Get CHAR 2 0x0A AI Length Get CHAR 0 0x0B DO channel num Get CHAR 0 0x0C AO channel num Get CHAR 0 0x0D DI channel num Get CHAR 16 0x0E AI channel num Get CHAR 0 0x14 DO data Set Defined by module channel num 0 0x15 AO data Set Defined by module channel num 0 0x16 DI data Get Defined by module channel num 1st...

Page 86: ...l 8th bit of 1st byte 8th channel 1st bit of 2nd byte 9th channel 2nd bit of 2nd byte 10th channel 3rd bit of 2nd byte 11th channel 4th bit of 2nd byte 12th channel 5th bit of 2nd byte 13th channel 6th bit of 2nd byte 14th channel 7th bit of 2nd byte 15th channel 8th bit of 2nd byte 16th channel 0x17 AI data Get Defined by module channel num 0 ...

Page 87: ...I 8 I 87017 ch0 ch3 0x68 AI 8 I 87017 ch4 ch7 If the default assembly instances are not adaptive the user defined assembly object can be created by applying the CAN Slave Utility The system will show the unit of IO modules in the utility software Therefore users can arrange the unit to the specific assembly instance In analog modules the unit of length is 2 bytes and 1 byte is in the digital modul...

Page 88: ...24 6th byte AO 2nd CH of I 8024 7th byte AO 3rd CH of I 8024 8th byte AO 3rd CH of I 8024 0x65 Output 2 1st byte AO 4th CH of I 8024 2nd byte AO 4th CH of I 8024 0x66 Input 8 1st byte DI 1st byte of I 8057 2nd byte DI 2nd byte of I 8057 3rd byte AI 1st CH of I 87017 4th byte AI 1st CH of I 87017 5th byte AI 2nd CH of I 87017 6th byte AI 2nd CH of I 87017 7th byte AI 3rd CH of I 87017 8th byte AI 3...

Page 89: ...O Length Byte AO Length Byte DI Length Byte AI Length Byte 0 0x01 8057 2 0 0 0 1 0x02 8064 1 0 0 0 2 0x03 8042 2 0 2 0 3 0x04 8053 0 0 2 0 Since there are four slots in I 8420 the application instance number is 4 The corresponding instance attributes are as follows Application Instance 1 Attribute ID Description Method Data Type Value 0x01 Module name Get WORD 8057 0x02 Module Type Get CHAR 0 DO t...

Page 90: ...nel num Get CHAR 0 0x14 DO data Set Defined by module channel num 1st bit of 1st byte 1st channel 2nd bit of 1st byte 2nd channel 3rd bit of 1st byte 3rd channel 4th bit of 1st byte 4th channel 5th bit of 1st byte 5th channel 6th bit of 1st byte 6th channel 7th bit of 1st byte 7th channel 8th bit of 1st byte 8th channel 1st bit of 2nd byte 9th channel 2nd bit of 2nd byte 10th channel 3rd bit of 2n...

Page 91: ...0 Application Instance 2 Attribute ID Description Method Data Type Value 0x01 Module name Get WORD 8064 0x02 Module Type Get CHAR 0 DO type 0x03 Configuration Get Set Depend on the number of module channel 0x40 0x04 Total Channels Get CHAR 8 0x05 Total Length Get CHAR 1 0x06 Reserved Get CHAR 0 0x07 DO Length Get CHAR 1 0x08 AO Length Get CHAR 0 0x09 DI Length Get CHAR 0 0x0A AI Length Get CHAR 0 ...

Page 92: ...t channel 2nd bit of 1st byte 2nd channel 3rd bit of 1st byte 3rd channel 4th bit of 1st byte 4th channel 5th bit of 1st byte 5th channel 6th bit of 1st byte 6th channel 7th bit of 1st byte 7th channel 8th bit of 1st byte 8th channel 0x15 AO data Set Defined by module channel num 0 0x16 DI data Get Defined by module channel num 0 0x17 AI data Get Defined by module channel num 0 ...

Page 93: ...R 32 0x05 Total Length Get CHAR 4 0x06 Reserved Get CHAR 0 0x07 DO Length Get CHAR 2 0x08 AO Length Get CHAR 0 0x09 DI Length Get CHAR 2 0x0A AI Length Get CHAR 0 0x0B DO channel num Get CHAR 16 0x0C AO channel num Get CHAR 0 0x0D DI channel num Get CHAR 16 0x0E AI channel num Get CHAR 0 0x14 DO data Set Defined by module channel num 1st bit of 1st byte 1st channel 2nd bit of 1st byte 2nd channel ...

Page 94: ...h bit of 2nd byte 13th channel 6th bit of 2nd byte 14th channel 7th bit of 2nd byte 15th channel 8th bit of 2nd byte 16th channel 0x15 AO data Set Defined by module channel num 0 0x16 DI data Get Defined by module channel num 1st bit of 1st byte 1st channel 2nd bit of 1st byte 2nd channel 3rd bit of 1st byte 3rd channel 4th bit of 1st byte 4th channel 5th bit of 1st byte 5th channel 6th bit of 1st...

Page 95: ...t bit of 2nd byte 9th channel 2nd bit of 2nd byte 10th channel 3rd bit of 2nd byte 11th channel 4th bit of 2nd byte 12th channel 5th bit of 2nd byte 13th channel 6th bit of 2nd byte 14th channel 7th bit of 2nd byte 15th channel 8th bit of 2nd byte 16th channel 0x17 AI data Get Defined by module channel num 0 ...

Page 96: ...06 Reserved Get CHAR 0 0x07 DO Length Get CHAR 0 0x08 AO Length Get CHAR 0 0x09 DI Length Get CHAR 2 0x0A AI Length Get CHAR 0 0x0B DO channel num Get CHAR 0 0x0C AO channel num Get CHAR 0 0x0D DI channel num Get CHAR 16 0x0E AI channel num Get CHAR 0 0x14 DO data Set Defined by module channel num 0 0x15 AO data Set Defined by module channel num 0 0x16 DI data Get Defined by module channel num 1st...

Page 97: ...l 8th bit of 1st byte 8th channel 1st bit of 2nd byte 9th channel 2nd bit of 2nd byte 10th channel 3rd bit of 2nd byte 11th channel 4th bit of 2nd byte 12th channel 5th bit of 2nd byte 13th channel 6th bit of 2nd byte 14th channel 7th bit of 2nd byte 15th channel 8th bit of 2nd byte 16th channel 0x17 AI data Get Defined by module channel num 0 ...

Page 98: ...oftware Therefore users can arrange the unit to the specific assembly instances In analog modules the unit of length is 2 bytes where 1 byte is in the digital modules Users can assign assembly instances as either input or output instances However there must be DO or AO units in output instances Plus there must be DI or AI units in input instances For example Assembly Object Instance ID Hex Instanc...

Page 99: ...sers to understand the CAN 8124 CAN 8224 to a suitable degree Example1 AI AO modules demo In this demo apply the I 87017 slot 0 I 8024 slot 1 into the CAN 8224 as follows The CAN 8224 would arrange the application objects for the DeviceNet according to the following table Slot Address Application Instance ID Module name DO Length Byte AO Length Byte DI Length Byte AI Length Byte 0 0x01 87017 0 0 0...

Page 100: ...el 7th byte 7th channel 8th byte 8th channel 0x04 Total Channels Get CHAR 8 0x05 Total Length Get CHAR 16 0x06 Reserved Get CHAR 0 0x07 DO Length Get CHAR 0 0x08 AO Length Get CHAR 0 0x09 DI Length Get CHAR 0 0x0A AI Length Get CHAR 16 0x0B DO channel num Get CHAR 0 0x0C AO channel num Get CHAR 0 0x0D DI channel num Get CHAR 0 0x0E AI channel num Get CHAR 8 0x14 DO data Set Defined by module chann...

Page 101: ...thod Data Type Value 0x01 Module name Get WORD 8024 0x02 Module Type Get CHAR 2 AO type 0x03 Configuration Get Set Depend on the number of module channel 1st byte 1st channel 2nd byte 2nd channel 3rd byte 3rd channel 4th byte 4th channel 0x04 Total Channels Get CHAR 4 0x05 Total Length Get CHAR 8 0x06 Reserved Get CHAR 0 0x07 DO Length Get CHAR 0 0x08 AO Length Get CHAR 8 0x09 DI Length Get CHAR 0...

Page 102: ... and 4th bytes 2nd channel 5th and 6th bytes 3rd channel 7th and 8th bytes 4th channel 0x16 DI data Get Defined by module channel num 0 0x17 AI data Get Defined by module channel num 0 Refer to the application object instances The CAN 8224 will define the default assembly object instances according to the following table Assembly Object Instance ID Hex Data Length Byte Component modules 0x64 AO 8 ...

Page 103: ...ength Byte AO Length Byte DI Length Byte AI Length Byte 2 0x01 8042 2 0 2 0 Application Instance 1 Attribute ID Description Method Data Type Value 0x01 Module name Get WORD 8042 0x02 Module Type Get CHAR 4 DO_AND_DI_TYPE 0x03 Configuration Get Set Depend on the number of module channel 0x40 0x04 Total Channels Get CHAR 32 0x05 Total Length Get CHAR 4 0x06 Reserved Get CHAR 0 0x07 DO Length Get CHA...

Page 104: ...le channel num 1st bit of 1st byte 1st channel 2nd bit of 1st byte 2nd channel 3rd bit of 1st byte 3rd channel 4th bit of 1st byte 4th channel 5th bit of 1st byte 5th channel 6th bit of 1st byte 6th channel 7th bit of 1st byte 7th channel 8th bit of 1st byte 8th channel 1st bit of 2nd byte 9th channel 2nd bit of 2nd byte 10th channel 3rd bit of 2nd byte 11th channel 4th bit of 2nd byte 12th channe...

Page 105: ...bit of 1st byte 2nd channel 3rd bit of 1st byte 3rd channel 4th bit of 1st byte 4th channel 5th bit of 1st byte 5th channel 6th bit of 1st byte 6th channel 7th bit of 1st byte 7th channel 8th bit of 1st byte 8th channel 1st bit of 2nd byte 9th channel 2nd bit of 2nd byte 10th channel 3rd bit of 2nd byte 11th channel 4th bit of 2nd byte 12th channel 5th bit of 2nd byte 13th channel 6th bit of 2nd b...

Page 106: ...7 AI data Get Defined by module channel num 0 Refer to the application object instances The CAN 8124 will define the default assembly object instances according to the following table Assembly Object Instance ID Hex Instance Type Data Length Byte Component modules 0x64 Output DO 2 I 8042 0x65 Input DI 2 I 8042 ...

Page 107: ...Predefined Master Slave Connection Set for the CAN 8124 CAN 8224 CAN 8424 IDENTIFIER BITS 10 9 8 7 6 5 4 3 2 1 0 IDENTITY USAGE HEX RANGE 0 Group 1 Message ID Source MAC ID Group 1 Messages 000 3ff 0 1 1 0 1 Source MAC ID Slave s I O Change of State or Cyclic Message 0 1 1 1 0 Source MAC ID Slave s I O Bit Strobe Response Message 0 1 1 1 1 Source MAC ID Slave s I O Poll Response or Change of State...

Page 108: ...uest Message The following table lists the Error Codes that may be present in the General Error Code field of an Error Response message Error code Error Condition General Error code Hex Additional Error Condition Additional Error Code Hex Invalid allocation choice 02 Invalid Unconnected request 03 Resource unavailable 02 Poll After COS_CYCLIC 04 Service not support 08 None FF Invalid attribute val...

Page 109: ...CAN 8424 User Manual Version 2 0 Aug 2007 109 153 Reply data too large 11 None FF Not enough data 13 None FF Attribute not supported 14 None FF Too much data 15 None FF Object does not exist 16 None FF FRAGMENTATION EQ 17 None FF Invalid parameter 20 None FF ...

Page 110: ...f the Predefined Master Slave Connection Set 2 Apply the Master s Explicit Request Messages to set an expected_packet_rate attribute for the IO connection to establish an I O Connection Object State 3 There are two ways to access the IO modules The first method is by way of an IO connection object The other is by using an explicit message to set get the IO attribute for the application object 4 Re...

Page 111: ...entifier Fields IDENTIFIER BITS 10 9 8 7 6 5 4 3 2 1 0 IDENTITY USAGE HEX RANGE 1 0 Source MAC ID 0 1 1 Slave s Explicit Unconnected Response Messages 1 0 Destination MAC ID 1 1 0 Group 2 Only Unconnected Explicit Request Messages Note CAN 8424 Node ID 0x09 Master node ID 0x0a Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 6 _ Frag 0 Transaction ID 0 ...

Page 112: ...d Response Messages 1 0 Destination MAC ID 1 1 0 Group 2 Only Unconnected Explicit Request Messages 1 0 Destination MAC ID 1 0 0 Master s Explicit Request Messages 0 1 1 1 1 Source MAC ID Slave s I O Poll Response Message 1 Requests the use of the Predefined Master Slave Connection set Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 6 _ Frag 0 Transact...

Page 113: ...lave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 4 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Set Attribute Request _ Class ID 5 _ Instance ID 2 Poll IO connection Instance ID _ Attribute ID 9 _ Attribute Data 0x0E0A ID 10 001001 100 Data 0A 10 05 02 09 0A 0E _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 3 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Serv...

Page 114: ...53 3 Apply the Poll I O connection to access the IO modules Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 5 _ Poll Output Data ID 10 001001 101 Data FF FF _ Group 1 Message _ Message ID F _ Source MAC ID 0x09 _ Poll Response Data ID 0 1111 001001 Data FF DF ...

Page 115: ...ation MAC ID 1 1 0 Group 2 Only Unconnected Explicit Request Messages 1 0 Destination MAC ID 1 0 0 Master s Explicit Request Messages Note CAN 8x24 Node ID 0x09 Master node ID 0x0A 1 Requests the use of the Predefined Master Slave Connection set Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 6 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Allo...

Page 116: ...0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 4 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Set Attribute Request _ Class ID 5 _ Instance ID 3 Bit Strobe IO connection Instance ID _ Attribute ID 9 _ Attribute Data 0x0E0A ID 10 001001 100 Data 0A 10 05 03 09 0A 0E _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 3 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Se...

Page 117: ...robe I O connection to access IO modules Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 0 _ Bit Strobe 64 bit Output Data ID 10 001001 000 Data FF FF FF FF FF FF FF FF _ Group 1 Message _ Message ID E _ Source MAC ID 0x09 _ Bit Strobe Response Data ID 0 1110 001001 Data FF DF ...

Page 118: ... not support the poll and has no support for output data connection instance 2 does not need to be instantiated The figure below shows COS Cyclic I O connection Identifier Fields IDENTIFIER BITS 10 9 8 7 6 5 4 3 2 1 0 IDENTITY USAGE HEX RANGE 0 1 1 0 1 Source MAC ID Slave s I O Change of State or Cyclic Message 1 0 Destination MAC ID 0 1 0 Master s Change of State or Cyclic Acknowledge Message 1 0...

Page 119: ...ID 6 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Allocate_Master Slave_Connection_Set Request _ Class ID 3 _ Instance ID 1 _ Allocation Choice Explicit Cyclic _ Allocator s MAC ID 0x0A ID 10 001001 110 Data 0A 4B 03 01 21 0A _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 3 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Allocate_Master Slave_Connection_Set Response _Connection...

Page 120: ...MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 4 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Set Attribute Request _ Class ID 5 _ Instance ID 4 Cyclic IO connection Instance ID _ Attribute ID 9 _ Attribute Data 0x0E0A ID 10 001001 100 Data 0A 10 05 04 09 0A 0E _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 3 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service...

Page 121: ... _ Cyclic Output Data of 2 bytes ID 0 1101 001001 Data FF DF _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 2 Master Change of State or Cyclic Acknowledge Message _No response data ID 10 001001 010 Data No data _ Group 1 Message _ Message ID D _ Source MAC ID 0x09 _ Cyclic Output Data of 2 bytes ID 0 1101 001001 Data FF DF _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 2 Master...

Page 122: ...ected Explicit Request Messages 1 0 Destination MAC ID 1 0 0 Master s Explicit Request Messages Note CAN 8x24 Node ID 0x09 Master node ID 0x0A 1 Requests the use of the Predefined Master Slave Connection set Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 6 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Allocate_Master Slave_Connection_Set Reque...

Page 123: ...4 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Set Attribute Request _ Class ID 5 _ Instance ID 4 Cyclic IO connection Instance ID _ Attribute ID 9 _ Attribute Data 0x0E0A ID 10 001001 100 Data 0A 10 05 04 09 0A 0E _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 3 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Set Attribute Response _Response Attribute Data 0x0E10 ID 10 001001 ...

Page 124: ...ate the cycling power as closely as possible Note CAN 8x24 Node ID 0x09 Master node ID 0x0A 1 Requests the use of the Predefined Master Slave Connection set Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 6 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Allocate_Master Slave_Connection_Set Request _ Class ID 3 _ Instance ID 1 _ Allocation Choice...

Page 125: ...on MAC ID 0x09 _ Message ID 4 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Reset service _ Class ID 1 _ Instance ID 1 _ Service Data 0 ID 10 001001 100 Data 0A 05 01 01 00 _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 3 _ Frag 0 Transaction ID 0 Destination MAC ID 0x0A _ Service Reset Response ID 10 001001 011 Data 0A 85 _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 3 _ Frag 0...

Page 126: ...end Duplicated ID messages Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 7 _ Physical Port Number 0 _ Vendor ID 803 __ Serial Number 1 ID 10 001001 111 Data 00 23 03 01 00 00 00 _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 7 _ Physical Port Number 0 _ Vendor ID 803 __ Serial Number 1 ID 10 001001 111 Data 00 23 03 01 00 00 00 ...

Page 127: ...fined Master Slave Connection set Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 6 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service Allocate_Master Slave_Connection_Set Request _ Class ID 3 _ Instance ID 1 _ Allocation Choice Explicit _ Allocator s MAC ID 0x0A ID 10 001001 110 Data 0A 4B 03 01 01 0A _ Group 2 Message _ Source MAC ID 0x09 _ Messag...

Page 128: ...ssage please set 0 into the heartbeat interval attribute value in the Identity object instance _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 4 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Service set attribute _ Class ID 1 _ Instance ID 1 _ Attribute ID 0x0A _ Attribute Data 2 seconds ID 10 001001 100 Data 0A 10 01 01 0A 02 00 _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 3 _ Fra...

Page 129: ...ule s returns no acknowledgments other than the CAN provided Ack on a per fragment basis The connection simply invokes the Link Producer s Send service as necessary to move the message without waiting for any specific acknowledgment from the receiving module s In this demo the polling consumed size is 10 bytes The master must send the fragmented messages Data 0102030405060708090A Assume that an I ...

Page 130: ...nctions and as such a degree of flow control is necessary In this demo assume that attribute data 0102030405060708090A The assembly instance ID 4 attribute 3 Note The slave device node is 0x09 and the master node ID is 0x0A 1 Requests the use of the Predefined Master Slave Connection set Master MAC ID 0x0A Slave MAC ID 0x09 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 6 _ Frag 0 Transa...

Page 131: ...9 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 4 _ Frag 0 Transaction ID 0 Souce MAC ID 0x0A _ Fragment Type First Fragment Fragment Count 0 _ Service set attribute _ Class ID 4 _ Instance ID 2 _ Attribute ID 0x03 _ Attribute Data 0102 _ _ ID 10 001001 100 Data 8a 00 10 04 02 03 01 02 _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 3 _ Frag 0 Destination MAC ID 0x0A _ Fragment Type...

Page 132: ...ta 8a 41 03 04 05 06 07 08 _ Group 2 Message _ Source MAC ID 0x09 _ Message ID 3 _ Frag 1 Destination MAC ID 0x0A _ Fragment Type Acknowledge Fragment Count 1 _Ack State Success ID 10 001001 011 Data 8A C1 00 _ Group 2 Message _ Destination MAC ID 0x09 _ Message ID 4 _ Frag 1 Transaction ID 0 Souce MAC ID 0x0A _ Fragment Type Final Fragment Fragment Count 2 _ Attribute Data 09 0A __ _ ID 10 001001...

Page 133: ...The Fmax and Fmin is the maximum and minimum value of the float range Users can find out the Hmax Hmin Fmax and Fmin values from in the appendix B For example the input range for the module I 7017 is set to 10V 10V According to the table in the appendix B we can find out the range for the hex format as 0x8000 32767 0x7FFF 32768 Therefore if the value received from the AI channel of the I 7017 is 0...

Page 134: ...nimum values of the float range The Hmax and Hmin are the maximum and minimum values of the 2 s complement hex range User can find out the Fmax Fmin Hmax and Hmin values from in the appendix B 2 When bus off is detected or the node guarding fails the device will check the value of the object with index 0x6443 If this value is set to 1 the device will output the error mode digital output value to t...

Page 135: ... problems 9 1 Problem Unable to Communicate with the Device If you are unable to communicate with the device please make sure that you have specified an appropriate MAC ID The MSD means the most significant digit of the node address and LSD represents the low significant digit of the node ID in the decimal format Please check these settings and try again Figure 9 1 shows the NA rotary switch Figur...

Page 136: ...All of the LEDs are off It is necessary to provide device power to the device Please check the connect pins on the I 8420 I 8820 and I 8KDNS1 I 8KDNS2 Figure 9 2 and 9 3 show the I 8420 I 8820 and I 8KDNS1 I 8KDNS2 power pin assignments Figure 9 2 CAN 8424 power pin assignments Figure 9 3 CAN 8124 power pin assignments ...

Page 137: ...OD LED is Flashing Check the setting values on the NA and DR rotary switches If the values are invalid the MOD led will be flashing Figure 9 4 NA and DR rotary switches 9 4 Problem NET LED is Solid when power up The device detects a duplicate node address Please change the NA rotary switch to another value and try again ...

Page 138: ...rtant DeviceNet knowledge for users It is enough to use ICP DAS s DeviceNet products 9 6 Problem Why can I not to communicate any IO message with the device CAN 8x24 devices provide the Assembly Object path as the default IO connection path when the distributors send it to you Before you use the new device please configure your device with the CAN Slave Utility For more details relating to this pl...

Page 139: ...figure The CAN 8424 will take the information of these modules as the attribute data of application instance as in the following table Slot Address Application Instance ID Module name DO Length Byte AO Length Byte DI Length Byte AI Length Byte 0 0x01 8053 0 0 2 0 1 0x02 8064 1 0 0 0 2 0x03 8042 2 0 2 0 3 0x04 8057 2 0 0 0 Refer to the application object instances The CAN 8424 will define the defau...

Page 140: ...y instances In analog modules the unit of length is 2 bytes where 1 byte is in the digital modules Users can assign assembly instances as either input or output instances However there must be DO or AO units in output instances Plus there must be DI or AI units in input instances For example Assembly Object Instance ID Hex Instance Type Data Length Byte Component modules 0x64 Output 2 1st byte DO ...

Page 141: ... the IO attribute of application instance We can get the DI value for the I 8042 by getting the 22th attribute for the 3rd application instance Also to output the DO data on the I 8053 by setting the 20th attribute data for the first application instance 2 Apply the IO connection to get set the modules IO data Plus the IO connection path can be either an application or assembly instances ...

Page 142: ...CAN 8124 CAN 8224 CAN 8424 User Manual CAN 8124 CAN 8224 CAN 8424 User Manual Version 2 0 Aug 2007 142 153 Appendix A Dimension z CAN 8124 CAN 8224 Dimension ...

Page 143: ...CAN 8124 CAN 8224 CAN 8424 User Manual CAN 8124 CAN 8224 CAN 8424 User Manual Version 2 0 Aug 2007 143 153 z CAN 8424 Dimension ...

Page 144: ...dix B Analog I O Transformation Table In order to look up your required information we have separated the transformation table into several parts according to the slot module names They are given below I 87K Range Code I 8K Range Code I 87013 I 8024 I 87017 I 87018 Thermocouple of I 87018 I 87022 I 87024 I 87026 ...

Page 145: ...ment HEX 0x7FFF 32767 0 0 Input Range 200 00 000 00 of FSR 100 00 000 00 Ohm 175 84 100 00 22 Platinum 100 a 0 00385 2 s Complement HEX 0x7FFF 32767 0 0 Input Range 600 00 000 00 of FSR 100 00 000 00 Ohm 313 59 100 00 23 Platinum 100 a 0 00385 2 s Complement HEX 0x7FFF 32767 0 0 Input Range 100 00 100 00 of FSR 100 00 100 00 Ohm 139 16 059 58 24 Platinum 100 a 0 003916 2 s Complement HEX 0x7FFF 32...

Page 146: ...atinum 100 a 0 003916 2 s Complement HEX 0x7FFF 32767 0 0 Input Range 100 00 80 00 of FSR 100 00 080 00 Ohm 200 64 120 60 28 Nickel 120 2 s Complement HEX 0x7FFF 32767 0x999A 26214 Input Range 100 00 000 00 of FSR 100 00 000 00 Ohm 200 64 120 60 29 Nickel 120 2 s Complement HEX 0x7FFF 32767 0 0 Input Range 600 00 200 00 of FSR 100 00 033 33 Ohm 3137 1 0185 2 2A Platinum 1000 a 0 00385 2 s Compleme...

Page 147: ... FSR 100 00 100 00 09 2 s Complement HEX 0x7FFF 32767 0x8000 32768 Input Range 1 0000V 1 0000V of FSR 100 00 100 00 0A 2 s Complement HEX 0x7FFF 32767 0x8000 32768 Input Range 500 00mV 500 00mV of FSR 100 00 100 00 0B 2 s Complement HEX 0x7FFF 32767 0x8000 32768 Input Range 150 00mV 150 00mV of FSR 100 00 100 00 0C 2 s Complement HEX 0x7FFF 32767 0x8000 32768 Input Range with 125 ohms resistor 20 ...

Page 148: ...7FFF 32767 0x8000 32768 Input Range 100 00mV 100 00mV of FSR 100 00 100 00 02 2 s Complement HEX 0x7FFF 32767 0x8000 32768 Input Range 500 00mV 500 00mV of FSR 100 00 100 00 03 2 s Complement HEX 0x7FFF 32767 0x8000 32768 Input Range 1 0000V 1 0000V of FSR 100 00 100 00 04 2 s Complement HEX 0x7FFF 32767 0x8000 32768 Input Range 2 5000V 2 5000V of FSR 100 00 100 00 05 Default 2 s Complement HEX 0x...

Page 149: ...t Range Celsius 400 00 270 00 of FSR 100 00 067 50 10 T Type 2 s Complement HEX 0x7FFF 32767 0xA99A 22118 Input Range Celsius 1000 0 0270 0 of FSR 100 00 027 00 11 E Type 2 s Complement HEX 0x7FFF 32767 0xDD71 8847 Input Range Celsius 1768 0 0000 0 of FSR 100 00 000 00 12 R Type 2 s Complement HEX 0x7FFF 32767 0 0 Input Range Celsius 1768 0 0000 0 of FSR 100 00 000 00 13 S Type 2 s Complement HEX ...

Page 150: ...plement HEX 0x7FFF 32767 0 0 Input Range Celsius 800 00 200 00 of FSR 100 00 025 00 17 L Type 2 s Complement HEX 0x7FFF 32767 0xE000 8192 Input Range Celsius 100 00 200 00 of FSR 050 00 100 00 18 M Type 2 s Complement HEX 0x4000 16384 0x8000 32768 Input Range Celsius 900 00 200 00 of FSR 100 00 022 22 19 L Type DIN43710 2 s Complement HEX 0x7FFF 32767 0xE38F 7281 84HAppen dix B ...

Page 151: ...e Hex Data Format Max Value Min Value Output Range 20 000mA 00 000mA of Span 100 00 000 00 0 2 s Complement HEX 0xFFF 4095 0 0 Output Range 20 000mA 04 000mA of Span 100 00 000 00 1 2 s Complement HEX 0xFFF 4095 0 0 Output Range 10 000V 00 000V of Span 100 00 000 00 2 Default 2 s Complement HEX 0xFFF 4095 0 0 83HAppen dix B ...

Page 152: ...ent HEX 0x7FFF 32767 0 0 Output Range 20 000mA 04 000mA 31 2 s Complement HEX 0x7FFF 32767 0 0 Output Range 10 000V 00 000V 32 2 s Complement HEX 0x7FFF 32767 0 0 Output Range 10 000V 10 000V 33 Default 2 s Complement HEX 0x7FFF 32767 0x8000 32768 Output Range 05 000V 00 000V 34 2 s Complement HEX 0x7FFF 32767 0 0 Output Range 05 000V 05 000V 35 2 s Complement HEX 0x7FFF 32767 0x8000 32768 82HAppe...

Page 153: ...65535 0 0 Output Range 20 000mA 04 000mA of FSR 100 00 100 00 1 2 s Complement HEX 0xFFFF 65535 0 0 Output Range 10 000V 00 000V of FSR 100 00 100 00 2 Default 2 s Complement HEX 0xFFFF 65535 0 0 I 8024 Range Code Hex Data Format Max Value Min Value Output Range 10 000V 10 000V 00 Default 2 s Complement HEX 0x7FFF 32767 0x8000 32768 Output Range 20 000mA 00 000mA 01 2 s Complement HEX 0x7FFF 32767...

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