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UMDIO128CO V2.0.1 Preliminary Documentation – May be Subject to Change 21-53

3.2.

COMMUNICATION OBJECTS (DS-301 and DS-401)

The communication objects supported by the DIO128 Controller are listed in the following table. A
more detailed description of some of the objects is given in the following subchapters. Only those
objects that have device-profile specific information are described. For more information on the
other objects, refer to the generic CANopen protocol specification DS-301.

Index

(hex)

Object

Object Type

Data Type

Access

PDO
Mapping

1000 Device

Type

VAR

UNSIGNED32 RO

No

1001 Error

Register

VAR

UNSIGNED8 RO

No

1003

Pre-Defined Error Field

ARRAY

UNSIGNED32

RO

No

100C Guard

Time

VAR

UNSIGNED16 RO

No

100D Life Time Factor

VAR

UNSIGNED8

RO

No

1010 Store

Parameters

ARRAY

UNSIGNED32 RW

No

1011

Restore Default Parameters

ARRAY

UNSIGNED32

RW

No

1016

Consumer Heartbeat Time

ARRAY

UNSIGNED32

RW

No

1017

Producer Heartbeat Time

VAR

UNSIGNED16

RW

No

1018 Identity

Object

RECORD

RO

No

1020 Verify

Configuration

ARRAY

UNSIGNED32 RW

No

1029 Error

Behaviour

ARRAY

UNSIGNED8 RW

No

1400

RPDO1 Communication Parameter RECORD

RW

No

1401

RPDO2 Communication Parameter RECORD

RO

No

1402

RPDO3 Communication Parameter RECORD

RO

No

1403

RPDO4 Communication Parameter RECORD

RO

No

1600

RPDO1 Mapping Parameter

RECORD

RW

No

1601

RPDO2 Mapping Parameter

RECORD

RO

No

1602

RPDO3 Mapping Parameter

RECORD

RO

No

1603

RPDO4 Mapping Parameter

RECORD

RO

No

1800 TPDO1

Communication

Parameter RECORD

RW

No

1801 TPDO2

Communication

Parameter RECORD

RO

No

1802 TPDO3

Communication

Parameter RECORD

RO

No

1803 TPDO4

Communication

Parameter RECORD

RO

No

1A00 TPDO1

Mapping

Parameter

RECORD

RW

No

1A01 TPDO2

Mapping

Parameter

RECORD

RO

No

1A02 TPDO3

Mapping

Parameter

RECORD

RO

No

1A03 TPDO4

Mapping

Parameter

RECORD

RO

No

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Содержание AXDIO128CO

Страница 1: ...USER MANUAL UMAXDIO128CO 12 DIGITAL INPUT 8 RELAY OUTPUT CONTROLLER With CANopen USER MANUAL P N AXDIO128CO...

Страница 2: ...DI Digital Input DO Digital Output Relay EDS Electronic Data Sheet EMCY Emergency LSB Least Significant Byte or Bit LSS Layer Settling Service MSB Most Significant Byte or Bit NMT Network Management...

Страница 3: ...and Lifetime Factor 23 3 2 5 Object 1010h Store Parameters 24 3 2 6 Object 1011h Restore Parameters 25 3 2 7 Object 1016h Consumer Heartbeat Time 27 3 2 8 Object 1017h Producer Heartbeat Time 28 3 2...

Страница 4: ...8 bit 49 3 4 7 Object 2221h DO Discrete Enable Number 50 3 4 8 Object 3000h CAN Slew Rate 51 3 4 9 Object 5555h Start In Operational Mode 51 APPENDIX A Technical Specifications A LIST OF FIGURES 1 Ha...

Страница 5: ...yte to control the relays The outputs can also be individually or globally enabled disabled by a discrete input while being controlled by an RPDO message All twelve inputs on the unit accept an active...

Страница 6: ...o observe the current state of DIO128 and easily identify a normal operating condition and situations when there is a network error or absence of network traffic In case of an error on the network pow...

Страница 7: ...d to 1003h Pre Defined Error Field as outlined in Section 3 2 3 In the case of a CAN network fault the module will remain in the BUSOFF mode until the problem is resolved regardless of what is set in...

Страница 8: ...data the following relationships hold true 0 OFF 1 ON 0 FALSE 1 TRUE 0 DISABLED 1 ENABLED When evaluating a DI the controller will read the level 0 1 at the pin and when it detects a change of state i...

Страница 9: ...lobal Interrupt Enable default 1 is applicable In this case the TPDO will only be sent when the Input State changes What kind of state change activates the transmission is determined by one and only o...

Страница 10: ...it is 1 then the Logic State is immediately set to the value in object 6207h Error Value default 0 In this case none of the other logic outlined below except polarity is applied If no error is active...

Страница 11: ...er the conditions above object 6202h DO Polarity default 0 is evaluated When it is ENABLED the Relay State will be the opposite of the Logic State The value Relay State is applied to the relay outputs...

Страница 12: ...y be Subject to Change 12 53 2 INSTALLATION INSTRUCTIONS 2 1 Dimensions and Pinout NB The AXDIO128 is shown here The model AXDIO128CO has the same packaging connectors pin out and dimensions Figure 6...

Страница 13: ...UMDIO128CO V2 0 1 Preliminary Documentation May be Subject to Change 13 53 Figure 8 40 Pin Connections Connections I O INPUT DIN GND LOAD LOAD OUTPUT NO NC C...

Страница 14: ...d right to reduce likelihood of moisture entry The CAN wiring is considered intrinsically safe The power wires are not considered intrinsically safe and so in hazardous locations they need to be locat...

Страница 15: ...Shield pin provide on the connector However the other end should not be connected in this case All wires used must be 16 or 18 AWG GROUNDING Protective Earth PE must be connected to the module s grou...

Страница 16: ...aisy chain or backbone configuration with short drop lines CAN TERMINATION It is necessary to terminate the network therefore an external CAN termination is required No more than two network terminato...

Страница 17: ...hanged is to use Layer Settling Services LSS and protocols as defined by CANopen standard DS 305 Follow the steps below to configure either variable using LSS protocol If required please refer to the...

Страница 18: ...llowing message Note the module will reset itself back to the pre operational state Item Value COB ID 0x7E5 Length 2 Data 0 0x04 cs 4 for switch state global Data 1 0x00 switches to waiting state 3 1...

Страница 19: ...x00 Activate bit timing parameters by sending the following message Item Value COB ID 0x7E5 Length 3 Data 0 0x15 cs 19 for activate bit timing parameters Data 1 delay_lsb Data 2 delay_msb The delay in...

Страница 20: ...dule will reset itself back to the pre operational state Item Value COB ID 0x7E5 Length 2 Data 0 0x04 cs 4 for switch state global Data 1 0x00 switches to waiting state The following screen capture le...

Страница 21: ...Restore Default Parameters ARRAY UNSIGNED32 RW No 1016 Consumer Heartbeat Time ARRAY UNSIGNED32 RW No 1017 Producer Heartbeat Time VAR UNSIGNED16 RW No 1018 Identity Object RECORD RO No 1020 Verify C...

Страница 22: ...eld in the following manner 0000h invalid not allowed 0001h digital input s implemented 1b implemented 0002h digital output s implemented 1b implemented 0004h analogue input s implemented 0b not imple...

Страница 23: ...ll return to the error free behaviour state if at least one error is still active The DIO128 Controller has a limitation of a maximum of 3 errors in the list If the device registers more errors the li...

Страница 24: ...Time and Lifetime Factor The objects at index 100Ch and 100Dh have been provided to for backwards compatibility However since the standard recommends that newer networks do not use the life guarding...

Страница 25: ...rameters in non volatile memory and then confirm the SDO transmission By read access the object provides information about the module s saving capabilities For all sub indexes this value is 1h indicat...

Страница 26: ...the defaults only when a specific signature is written to the appropriate sub index The signature is load The signature is a 32 bit unsigned number composed of the ASCII codes of the signature charact...

Страница 27: ...ss RW PDO Mapping No Value Range 0x64616F6C write access 1h read access Default Value 1h Sub Index 2h Description Restore default communication parameters Access RW PDO Mapping No Value Range 0x64616F...

Страница 28: ...eat from the module If the DIO128 Controller fails to receive a heartbeat from a node in the expected timeframe it will indicate a communication error and respond as per object 1029h Bits 31 24 23 16...

Страница 29: ...efault Value 0 3 2 9 Object 1018h Identity Object The identity object indicates the data of the DIO128 Controller including vendor id device id software and hardware version numbers and the serial num...

Страница 30: ...ersion identified in object 1018h was compiled The date is represented as a hexadecimal value showing day month year as per the format below The time value at sub index 2 is a hexadecimal value showin...

Страница 31: ...n the Event Timer of the associated communication object see Section 3 2 12 for more information If a heartbeat message is not received as expected see Section 3 2 8 a Heartbeat Error is flagged See S...

Страница 32: ...ate Change 3 2 12 RPDO Behaviour Per the CANopen standard DS 301 the following procedure shall be used for re mapping and is the same for both RPDOs and TPDOs a Destroy the PDO by setting bit exists m...

Страница 33: ...0 Node ID RPDO4 Mapping at Object 1603h Default ID 0x500 Node ID Sub Index Value Object 0 0 Number of mapped application objects in PDO 1 0 Not used by default 2 0 Not used by default 3 0 Not used by...

Страница 34: ...that there is no RTR allowed on the PDO Sub Index 2h Description Transmission type Access RO PDO Mapping No Value Range See value definition in DS 301 Default Value 255 FFh Event Driven Sub Index 3h...

Страница 35: ...lt ID 0x280 Node ID TPDO3 Mapping at Object 1A02h Default ID 0x380 Node ID TPDO4 Mapping at Object 1A03h Default ID 0x480 Node ID Sub Index Value Object 0 0 Number of mapped application objects in PDO...

Страница 36: ...B ID indicates that there is no RTR allowed on the PDO Sub Index 2h Description Transmission type Access RO PDO Mapping No Value Range 254 FEh Event Driven Timed 255 FFh Event Driven Interrupts Defaul...

Страница 37: ...arity 8 bit ARRAY UNSIGNED8 RW No 6206h DO Error Mode 8 bit ARRAY UNSIGNED8 RW No 6207h DO Error Value 8 bit ARRAY UNSIGNED8 RW No 3 3 1 Object 6000h DI Read Input 8 bit This read only object represen...

Страница 38: ...d Access RO PDO Mapping No Value Range 2 Default Value 2 Sub Index 1h Description DI1 to DI8 Polarity Access RW PDO Mapping No Value Range FFh 255 1111 1111b Default Value 00h 0 0000 0000b Sub Index 2...

Страница 39: ...Object 6005h DI Global Interrupt Enable 8 bit This object shall enable and disable globally the interrupt behavior without changing the interrupt masks for a group of 8 inputs lines In event driven m...

Страница 40: ...itive and or negative edge detection on a group of 8 input lines See Section 1 4 for more information on how the interrupts work 1 interrupt enabled 0 interrupt disabled Object Description Index 6006h...

Страница 41: ...respond to a negative physical edge See Section 1 4 for more information on how the interrupts work 1 interrupt enabled 0 interrupt disabled Object Description Index 6007h Name DI Interrupt Mask Low t...

Страница 42: ...respond to a positive physical edge See Section 1 4 for more information on how the interrupts work 1 interrupt enabled 0 interrupt disabled Object Description Index 6007h Name DI Interrupt Mask High...

Страница 43: ...D8 Entry Description Sub Index 0h Description Largest sub index supported Access RO PDO Mapping No Value Range 1 Default Value 1 Sub Index 1h Description DO1 to DO8 Write Output Access RW PDO Mapping...

Страница 44: ...l device failure or a Stop Remote Node indication for a group of 8 output lines 1 output value shall take the pre defined condition specified in 6207h object 0 output value shall be kept if an error o...

Страница 45: ...this object for a group of 8 output lines 1 output ON in error mode relay engaged 0 output OFF in error mode Object Description Index 6207h Name DO Error Value 8 bit Object Type ARRAY Data Type UNSIG...

Страница 46: ...1 Object 2002h DI Latched 8 bit This object defines the latched behaviour of a group of 8 input lines When active an input logic level will change state as per Figure 4 in Section 1 4 If an input is...

Страница 47: ...sub index supported Access RO PDO Mapping No Value Range 12 Default Value 12 Sub Index 1h to Ch Description DI1 to DI12 Debounce Time Access RW PDO Mapping No Value Range 10 to 10 000 ms Default Valu...

Страница 48: ...an output in a group of 8 output lines See Section 1 5 for more information about how this object is used in the control logic 1 CANopen Control 6200h 0 Discrete Input selected by 2211h Object Descrip...

Страница 49: ...ption Sub Index 0h Description Largest sub index supported Access RO PDO Mapping No Value Range 8 Default Value 8 Sub Index 1h Description DO1 Discrete Control Number Access RW PDO Mapping NO Value Ra...

Страница 50: ...g NO Value Range 1 to 12 Default Value 7 DI7 Sub Index 8h Description DO8 Discrete Control Number Access RW PDO Mapping NO Value Range 1 to 12 Default Value 8 DI8 3 4 6 Object 2220h DO Enable Used 8 b...

Страница 51: ...ct 2221h DO Discrete Enable Number When object 2220h selects a discrete input as an enable input to the control logic for an output this object is used to define which input 1 to 12 is used Object Des...

Страница 52: ...1 fast Default Value 1 fast 3 4 9 Object 5555h Start in Operational Mode This object allows the unit to start in Operational mode without requiring the presence of a CANopen Master on the network It i...

Страница 53: ...A CANopen Default baud rate 125 kbps default Node ID 127 By default the DIO128 Controller transmits DI Read State 8 bit 6000h and DO Read State 8 bit 2200h on TPDO1 Network Termination According to th...

Страница 54: ...up diagram application Other comments as needed When preparing the return shipping paperwork please note the following The commercial invoice for customs and packing slip should state the harmonized...

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