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iR-COP

23

04

h

synchronous (cyclic every 4

th

sync)

…..

…..

…..

…..

F0

h

synchronous (cyclic every 240

th

sync)

F1

h

reserved

…..

…..

…..

…..

FB

h

reserved

FC

h

RTR-only (synchronous)

FD

h

RTR-only (event-driven)

FE

h

event-driven (manufacturer-specific)

FF

h

event-driven (device profile and application profile specific)

Word index 03h: Inhibit Time
When Transmission Type of PDO is set to FEh/FFh, the inhibit time specifies the
minimum length of time in 100µs that must be allowed to elapse between the
transmissions. 0 means disabling this function.

Word index 05h: Event Timer

When Transmission Type of PDO is set to FEh/FFh, the Event Timer specifies the
minimum length of time in milliseconds that must be allowed to elapse between

the transmissions. 0 means disabling this function.

6.2.3

PDO Mapping Parameter

Index

Sub-
index

Description

Type

ro/
rw

Default

RPDO1 mapping parameter

(digital outputs)

1600h

00h

Number of mapped application objects in

RPDO1

UNSIGNED8

rw

08h

01h

1st application object

UNSIGNED32

rw

6200 01 08h

02h

2st application object

UNSIGNED32

rw

6200 02 08h

03h

3st application object

UNSIGNED32

rw

6200 03 08h

04h

4st application object

UNSIGNED32

rw

6200 04 08h

05h

5st application object

UNSIGNED32

rw

6200 05 08h

06h

6st application object

UNSIGNED32

rw

6200 06 08h

07h

7st application object

UNSIGNED32

rw

6200 07 08h

08h

8st application object

UNSIGNED32

rw

6200 08 08h

RPDO2 mapping parameter

(analog outputs

)

1601h

00h

Number of mapped application objects in

PDO

UNSIGNED8

rw

04h

01h

1st application object

UNSIGNED32

rw

6411 01 10h

02h

2st application object

UNSIGNED32

rw

6411 02 10h

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Summary of Contents for iR-COP

Page 1: ...User Manual iR COP This guide walks through important information for iR COP V1 01 ...

Page 2: ...e Type 9 6 1 2 1001h Error Register 10 6 1 3 1002h Manufacturer Status Register 10 6 1 4 1003h Predefined Error Field 11 6 1 5 1005h SYNC COB ID Message 13 6 1 6 1008h Manufacturer Device Name 13 6 1 7 1009h Manufacturer Hardware Version 13 6 1 8 100Ah Manufacturer Software Version 13 6 1 9 100Ch Guard Time 100Dh Life Time Factor 13 6 1 10 1010h Store Parameters 13 6 1 11 1011h Restore Default Par...

Page 3: ...ead digital input 27 6 3 2 Write digital output 29 6 3 3 Read Analog input 30 6 3 4 Write Analog output 30 6 4 Manufacturer specific profile area 30 6 4 1 2000h 2001h Digital input filter 30 6 4 2 3000h 300Fh Module Registers 30 6 4 3 4000h 4007h iBus and Module Information 31 7 Power Consumption 32 8 Connecting Remote I O using CODESYS 33 ...

Page 4: ...ode ID rotary switch x10 e Baud Rate DIP Switch b Node ID rotary switch x1 f Expansion Connector c CAN bus Connector d Power Connector 英文版 Front View Side View Side View Top View Bottom View a b c d e f 81mm 3 19 109mm 4 29 27mm 1 06 ...

Page 5: ... Connection 1 x open style connector 5 pole plug included Additional CANopen Features life node guarding heartbeat emergency object variables mapping store restore output error mode General Specification Power Power Supply 24 VDC 15 20 Power Dissipation Nominal 24VDC 100mA Current for Internal Bus Max 2A 5VDC Current Consumption 170mA 5VDC Electrical Isolation Isolated CANopen Yes Isolated power Y...

Page 6: ...ate 3 Single flash STOPPED The device is in the STOPPED state 3 4 CAN ERR LED NO CAN ERR LED State Description 1 ON CAN Bus off The CAN Bus controller is off 2 Triple flash SYNC error The SYNC message has not been received within the configured communication cycle period time out see Object Dictionary Entry 1006h 3 Double flash Error control event A guard event NMT Slave or NMT master or a heartbe...

Page 7: ...800Kbps 0 0 1 1 500Kbps 0 1 0 0 250Kbps 0 1 0 1 125Kbps 0 1 1 0 100Kbps 0 1 1 1 50Kbps SW5 7 Reserved SW8 CAN Bus 120Ω Terminator 4 3 CAN Bus Connect 4 4 CANopen Features 8 TxPDO 8 RxPDO Standard SDO Emergency object Synchronization object SYNC without time stamp Guarding Heartbeat Producer Consumer NMT objects Setting Description 0 Invalid Node ID 1 99 Valid Node ID PIN Name 1 CAN_G 2 CAN_L 3 SHI...

Page 8: ...pond to the request by transmitting a data telegram with its current communication state Pre operation Operation Stopped within a certain time Node Life Time The format of the telegram is as below Bit7 Bit6 Bit0 Toggle bit 4 Stopped 5 Operational 127 Pre operational Node Life Time is calculated by multiplying two parameters Guard Time and Life Time Factor Node Life Time Life Time Factor x Guard Ti...

Page 9: ...artbeat principle a Heartbeat Producer automatically transmits its communication state at regular intervals to the Heartbeat Consumers as an evidence of its communication ability The Heartbeat Consumer Time describes the maximum time within which the arrival of a heartbeat message is expected by a Heartbeat Consumer Absence of the heartbeat message for longer than Heartbeat Consumer Time will be i...

Page 10: ...ect Error Behavior Object Index Sub Index Description 1029h 01h 0 pre operation 1 no state change 2 stopped Digital Analog Output can be configured via error mode and error output value If Error Mode is enabled when an event occurs the output value will be given in Error Value If Error Mode is disabled when an event occurs the output value remains the same Index 6206 Error mode digital output 8 bi...

Page 11: ...eger Sub Index Description Default 00h Highest sub index supported 01h Analog output 01h 0000 000h 02h Analog output 01h 0000 000h 03 FEh Analog output 03h FEh 0000 000h 6 Object Dictionary Object Area Index range hex Communication Profile Area 1000 1FFF Manufacturer Specific Profile Area 2000 5FFF Standardized Device Profile Area 6000 9FFF 6 1 Communication Profile Area Index Sub Index Descriptio...

Page 12: ... 00h Inhibit time EMCY UNSIGNED16 rw 0 1016h 00h Number of sub index UNSIGNED8 ro 0 01h Consumer heartbeat time UNSIGNED32 rw 0 1017h 00h Producer heartbeat time UNSIGNED16 rw 0 1018h Identity object 00h Number of sub index UNSIGNED8 ro 04h 01h Vendor ID UNSIGNED32 ro 0000044Eh 02h Product code UNSIGNED32 ro 00000701h 03h Revision number UNSIGNED32 ro 04h Serial number UNSIGNED32 ro 1027h 00h Numb...

Page 13: ...e is 1 6 1 2 1001h Error Register Please find 1003h for more information on error registers Bit Meaning 0 Generic error 1 Current error 2 Voltage error 3 Temperature error 4 Communication error 5 Pertains to the device profile 6 Reserved 0 7 Manufacturer specific 6 1 3 1002h Manufacturer Status Register Bit Description 0 Low power alarm 1 Hardware error 2 Reserved 3 Heartbeat event 4 Guard event 5...

Page 14: ...rded in Predefined Error Field providing an Error History Sub Index 01 and more Number of error records Setting index 0 to 0 will erase the field and index 0 can only be set to 0 Setting index 0 to values other than 0 will make SDO reply abort 0609 and 0030h Bit0 15 describe Error Code while Bit16 31 provide additional information Byte MSB LSB Additional information Error code Emergency Error Code...

Page 15: ...processed due to length error 8220 PDO length exceeded 90xx External Error F0xx Additional Functions FFxx Device Specific iR COP Error Registers Error Register Predefined Error Field Description 01h 3100h Low power alarm 01h 5000h Hardware error 10h 8100h CAN Bus off Reserved 10h 8130h Heartbeat event 10h 8130h Guard event 10h 8120h CAN in error passive mode 10h 8110h CAN overrun 80h 7000h Module ...

Page 16: ...details in Node Guarding Protocol in this manual 6 1 10 1010h Store Parameters This object shall control the saving of parameters in non volatile memory VALUE DEFINITION Sub Index 01h refers to all parameters that may be stored on the CANopen device Sub Index 02h refers to communication related parameters index from 1000h to 1FFFh Sub Index 03h refers to application related parameters index from 6...

Page 17: ... inhibit time UNSIGNED16 0 1016h 01h Consumer heartbeat time UNSIGNED32 0 1017h 00h Producer heartbeat time UNSIGNED16 0 1029h 01h Communication error UNSIGNED8 0 1400h 01h COB ID used by RPDO1 UNSIGNED32 200h Node ID 02h Transmission type of RPDO1 UNSIGNED8 FFh 1401h 01h COB ID used by RPDO2 UNSIGNED32 300h Node ID 02h Transmission type of RPDO2 UNSIGNED8 FFh 1402h 01h COB ID used by RPDO3 UNSIGN...

Page 18: ...Inhibit time of TPDO4 UNSIGNED16 0 05h Event timer of TPDO4 UNSIGNED16 0 1804 7h 01h COB ID used by TPDO5 8 UNSIGNED32 280h Node ID 02h Transmission type of TPDO5 8 UNSIGNED8 FFh 03h Inhibit time of TPDO5 8 UNSIGNED16 0 05h Event timer of TPDO5 8 UNSIGNED16 0 1600h 00h Number of mapped application objects in RPDO1 UNSIGNED8 08h 01h 1st application object UNSIGNED32 6200 01 08h 02h 2st application ...

Page 19: ...pplication object UNSIGNED32 6200 09 08h 02h 2st application object UNSIGNED32 6200 0A 08h 03h 3st application object UNSIGNED32 6200 0B 08h 04h 4st application object UNSIGNED32 6200 0C 08h 05h 5st application object UNSIGNED32 6200 0D 08h 06h 6st application object UNSIGNED32 6200 0E 08h 07h 7st application object UNSIGNED32 6200 0F 08h 08h 8st application object UNSIGNED32 6200 10 08h 1605h 00h...

Page 20: ...ation object UNSIGNED32 6000 08 08h 1A01h 00h Number of mapped application objects in TPDO2 UNSIGNED8 04h 01h 1st application object UNSIGNED32 6401 01 10h 02h 2st application object UNSIGNED32 6401 02 10h 03h 3st application object UNSIGNED32 6401 03 10h 04h 4st application object UNSIGNED32 6401 04 10h 1A02h 00h Number of mapped application objects in TPDO3 UNSIGNED8 04h 01h 1st application obje...

Page 21: ...0h 1A06h 00h Number of mapped application objects in TPDO7 UNSIGNED8 04h 01h 1st application object UNSIGNED32 6401 11 10h 02h 2st application object UNSIGNED32 6401 12 10h 03h 3st application object UNSIGNED32 6401 13 10h 04h 4st application object UNSIGNED32 6401 14 10h 1A07h 00h Number of mapped application objects in TPDO8 UNSIGNED8 04h 01h 1st application object UNSIGNED32 6401 15 10h 02h 2st...

Page 22: ...ime is 0 or Node ID equals to 0 greater than 127 no heartbeat message is sent Word index 00h Number of word index Word index 01h Consumer heartbeat time 31 24 23 16 15 0 Reserved 00h Node ID Heartbeat time MSB LSB 6 1 15 1017h Producer Heartbeat Time Producer Heartbeat Time specifies the interval at which the node sends heartbeat messages 0x700 Node ID in milliseconds ms By default this object is ...

Page 23: ... by RPDO4 UNSIGNED32 rw 500h Node ID 02h Transmission type of RPDO4 UNSIGNED8 ro FFh 1404h 00h Number of word index in RPDO5 UNSIGNED8 ro 02h 01h COB ID used by RPDO5 UNSIGNED32 rw 8000000 02h Transmission type of RPDO5 UNSIGNED8 ro FFh 1405h 00h Number of word index in RPDO6 UNSIGNED8 ro 02h 01h COB ID used by RPDO6 UNSIGNED32 rw 8000000 02h Transmission type of RPDO6 UNSIGNED8 ro FFh 1406h 00h N...

Page 24: ... 05h Event timer of TPDO1 UNSIGNED16 rw 0 1801h 00h Number of word index in TPDO2 UNSIGNED8 ro 05h 01h COB ID used by TPDO2 UNSIGNED32 rw 280h Node ID 02h Transmission type of TPDO2 UNSIGNED8 ro FFh 03h Inhibit time of TPDO2 UNSIGNED16 rw 0 05h Event timer of TPDO2 UNSIGNED16 rw 0 1802h 00h Number of word index in TPDO3 UNSIGNED8 ro 05h 01h COB ID used by TPDO3 UNSIGNED32 rw 380h Node ID 02h Trans...

Page 25: ... 01h COB ID used by TPDO8 UNSIGNED32 rw 8000000 02h Transmission type of TPDO8 UNSIGNED8 ro FFh 03h Inhibit time of TPDO8 UNSIGNED16 rw 0 05h Event timer of TPDO8 UNSIGNED16 rw 0 Word index 01h COB ID used by TPDO Transmission of TxPDO is only possible in NMT state Operational As shown below setting Bit31 to 1 disables the function Each Node ID supports four TxPDO to use more than four please find...

Page 26: ...en the transmissions 0 means disabling this function 6 2 3 PDO Mapping Parameter Index Sub index Description Type ro rw Default RPDO1 mapping parameter digital outputs 1600h 00h Number of mapped application objects in RPDO1 UNSIGNED8 rw 08h 01h 1st application object UNSIGNED32 rw 6200 01 08h 02h 2st application object UNSIGNED32 rw 6200 02 08h 03h 3st application object UNSIGNED32 rw 6200 03 08h ...

Page 27: ...RPDO5 mapping parameter digital outputs 1605h 00h Number of mapped application objects in PDO UNSIGNED8 rw 08h 01h 1st application object UNSIGNED32 rw 6200 09 08h 02h 2st application object UNSIGNED32 rw 6200 0A 08h 03h 3st application object UNSIGNED32 rw 6200 0B 08h 04h 4st application object UNSIGNED32 rw 6200 0C 08h 05h 5st application object UNSIGNED32 rw 6200 0D 08h 06h 6st application obje...

Page 28: ...D32 rw 280h Node ID 1802h 01h COB ID used by TPDO3 UNSIGNED32 rw 380h Node ID 1803h 01h COB ID used by TPDO4 UNSIGNED32 rw 480h Node ID 1804h 01h COB ID used by TPDO5 UNSIGNED32 rw 8000000h 1805h 01h COB ID used by TPDO6 UNSIGNED32 rw 8000000h 1806h 01h COB ID used by TPDO7 UNSIGNED32 rw 8000000h 1807h 01h COB ID used by TPDO8 UNSIGNED32 rw 8000000h TPDO1 mapping parameter digital inputs 1A00h 00h...

Page 29: ... objects in PDO UNSIGNED8 rw 04h 01h 1st application object UNSIGNED32 rw 6401 09 10h 02h 2st application object UNSIGNED32 rw 6401 0A 10h 03h 3st application object UNSIGNED32 rw 6401 0B 10h 04h 4st application object UNSIGNED32 rw 6401 0C 10h TPDO5 mapping parameter digital inputs 1A04h 00h Number of mapped application objects in PDO UNSIGNED8 rw 08h 01h 1st application object UNSIGNED32 rw 6000...

Page 30: ...outputs 1A07h 00h Number of mapped application objects in PDO UNSIGNED8 rw 04h 01h 1st application object UNSIGNED32 rw 6401 15 10h 02h 2st application object UNSIGNED32 rw 6401 16 10h 03h 3st application object UNSIGNED32 rw 6401 17 10h 04h 4st application object UNSIGNED32 rw 6401 18 10h 6 2 4 Mapping Parameter Sub Index 00h Value Description 00h Mapping disabled 01h Sub index 01h valid 08h Sub ...

Page 31: ...uts UNSIGNED8 ro 80h 01 80h Read input 100h 180h UNSIGNED8 ro 0 6022h Read digital input 1 bit 00h Number of Digital inputs UNSIGNED8 ro 80h 01 80h Read input 181h 1FFh UNSIGNED8 ro 0 6100h Read digital input 16 bit 00h Number of Digital inputs UNSIGNED8 ro 20h 01h Read input 001h to 010h UNSIGNED16 ro 20h Read input 1F0h to 200h UNSIGNED16 ro 6120h Read digital input 32 bit 00h Number of Digital ...

Page 32: ...8 ro 80h 01 80h Write output 081h 0FFh UNSIGNED8 ro 0 6222h Write digital output 1 bit 00h Number of Digital outputs UNSIGNED8 ro 80h 01 80h Write output 100h 180h UNSIGNED8 ro 0 6223h Write digital output 1 bit 00h Number of Digital outputs UNSIGNED8 ro 80h 01 80h Write output 181h 1FFh UNSIGNED8 ro 0 6300h Write digital output 16 bit 00h Number of Digital outputs UNSIGNED8 ro 20h 01h Write outpu...

Page 33: ...le area 6 4 1 2000h 2001h Digital input filter Index Sub index Description Type ro rw Default 2000h 00h Number of digital input UNSIGNED8 ro FFh 01 FFh Digital input 1 255 filter time UNSIGNED16 rw 0000h 2001h 00h Number of digital input UNSIGNED8 ro FFh 01 FFh Digital input 1 255 filter time UNSIGNED16 rw 0000h 6 4 2 3000h 300Fh Module Registers Index Description 3000h Read write the 1st module r...

Page 34: ...umber of analog outputs UNSIGNED16 ro 06h Total power consumption UNSIGNED16 ro 07h Supported power consumption UNSIGNED16 ro 4001h 01h Firmware version of the 1 st module UNSIGNED16 ro 02h Firmware version of the 2 nd module UNSIGNED16 ro 10h Firmware version of the 16 th module UNSIGNED16 ro 4002h 01h Hardware version of the 1 st module UNSIGNED16 ro 02h Hardware version of the 2 nd module UNSIG...

Page 35: ... module UNSIGNED16 ro 7 Power Consumption I O modules use system power supply and external drive power supply and these two types of power supply should be calculated separately Operating coupler and module requires system power supply while switching I O and driver requires external power supply When calculating power consumption for coupler the power needed for the connected modules should be pu...

Page 36: ...for the modules in this system Please consider power requirements when connecting multiple modules Example Device Name Consumption Power Supply Coupler iR COP 170mA 0 85w 2A 10w Module iR DQ08 R 8 220mA 8 1 76A X System Power consumption 170mA 1 76A 1 93 A Power supply 2A 1 93A 8 Connecting Remote I O using CODESYS See cMT CODESYS and Remote I O manuals ...

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