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Gateway XN-312-GW-CAN

06/16 MN050003-EN

www.eaton.com

7.17.2

Analog Input Interrupt Trigger Selection (Object 0x6421)............ 215

7.17.3

Analog Input Global Interrupt Enable (Object 0x6423)................. 216

7.17.4

Analog Input Interrupt Upper Limit Integer (Object 0x6424) ....... 217

7.17.5

Analog Input Interrupt Lower Limit Integer (Object 0x6425) ....... 218

7.17.6

Analog Input Interrupt Delta Unsigned (Object 0x6426) .............. 219

7.17.7

Analog Input Interrupt Negative Delta Unsigned (Object 0x6427) 220

7.17.8

Analog Input Interrupt Positive Delta Unsigned (Object 0x6428) 221

7.17.9

Module Diagnostic Messages (Object 0x30A0............................ 222

7.17.10 Input Channel x (Object 0x30A1 to 0x30A8)............................... 223
7.17.11 Reference Input Channel x (Object 0x30A9 to 0x30AA)............. 224
7.17.12 Wire Break Diagnostic Messages (Object 0x30AB)..................... 224
7.17.13 Firmware Version (Object 0x40A0) .............................................. 226
7.17.14 Channel x Sensor Type Selection (Object 0x50A0, 0x50A3) ....... 226
7.17.15 Reference Input Select (Object 0x50A4) ..................................... 228

7.18

XN-322-8AO-U2 ........................................................................... 229

7.18.1

Write Analog Output 16-Bit (Object 0x6411) ............................... 230

7.18.2

Output Channel x (Object 0x20D0 to 0x20D7) ............................ 231

7.18.3

Module Diagnostic Messages (Object 0x30D0) .......................... 232

7.18.4

Firmware Version (Object 0x40D0).............................................. 233

7.19

XN-322-4AIO-U2 .......................................................................... 234

7.19.1

Read Analog Input 16-Bit (Object 0x6401)................................... 236

7.19.2

Write Analog Output 16-Bit (Object 0x6411) ............................... 236

7.19.3

Analog Input Interrupt Trigger Selection (Object 0x6421)............ 237

7.19.4

Analog Input Global Interrupt Enable (Object 0x6423)................. 238

7.19.5

Analog Input Interrupt Upper Limit Integer (Object 0x6424) ....... 238

7.19.6

Analog Input Interrupt Lower Limit Integer (Object 0x6425) ....... 239

7.19.7

Analog Input Interrupt Delta Unsigned (Object 0x6426) .............. 240

7.19.8

Analog Input Interrupt Negative Delta Unsigned (Object 0x6427) 241

7.19.9

Analog Input Interrupt Positive Delta Unsigned (Object 0x6428) 242

7.19.10 Output Channel x (Object 0x21A0 bis 0x21A1) ........................... 243
7.19.11 Module Diagnostic Messages (Object 0x31A0)........................... 244
7.19.12 Input Channel x (Object 0x31A1 to 0x31A2)............................... 245
7.19.13 Wire Break Diagnostic Messages (Object 0x31A3) ..................... 245
7.19.14 Firmware Version (Object 0x41A0) .............................................. 246
7.19.15 Analog Input Selection (Object 0x51A0) ...................................... 248
7.19.16 Filter Configuration Channel x (Object 0x51A1 bis 0x51A2) ........ 249

7.20

XN-322-8AIO-U2 .......................................................................... 250

7.20.1

Read Analog Input 16-Bit (Object 0x6401)................................... 252

7.20.2

Write Analog Output 16-Bit (Object 0x6411) ............................... 253

7.20.3

Analog Input Interrupt Trigger Selection (Object 0x6421)............ 253

7.20.4

Analog Input Global Interrupt Enable (Object 0x6423)................. 254

7.20.5

Analog Input Interrupt Upper Limit Integer (Object 0x6424) ....... 254

7.20.6

Analog Input Interrupt Lower Limit Integer (Object 0x6425) ....... 255

7.20.7

Analog Input Interrupt Delta Unsigned (Object 0x6426) .............. 256

7.20.8

Analog Input Interrupt Negative Delta Unsigned (Object 0x6427) 257

7.20.9

Analog Input Interrupt Positive Delta Unsigned (Object 0x6428) 258

7.20.10 Output Channel x (Object 0x20B0 to 0x20B3)............................. 260
7.20.11 Module Diagnostic Messages (Object 0x30B0)........................... 260
7.20.12 Input Channel x (Object 0x30B1 to 0x30B4)............................... 262

Содержание XN-312-GW-CAN

Страница 1: ...Manual CANopen Gateway XN 312 GW CAN 06 16 MN050003 EN ...

Страница 2: ...in German language are translations of the original operating manual 1st edition 2014 publication date 12 14 2nd edition 2016 publication date 02 16 3rd edition 2016 publication date 06 16 2014 by Eaton Industries GmbH 53105 Bonn Authors Thomas Hettwer Andreas Lüngen Editor Bettina Ewoti All rights reserved also for the translation No part of this manual may be reproduced stored in a retrieval sys...

Страница 3: ...tes in the automation devices Ensure a reliable electrical isolation of the low voltage for the 24 V supply Only use power supply units complying with IEC 60364 4 41 or HD 384 4 41 S2 VDE 0100 Part 410 Deviations of the mains voltage from the nominal value must not exceed the tolerance limits given in the specifications otherwise this may result in malfunction and hazardous states Emergency stop d...

Страница 4: ...II ...

Страница 5: ... 2 1 Setting the gateway s field bus address 25 2 2 Setting the Baud rate 26 2 3 Activate the bus termination resistor for CANopen 27 2 4 mounting 28 2 4 1 Installation prerequisites 28 2 4 2 Mounting the system block on the DIN rail 28 2 5 Dismantling 31 2 6 Potential Relationship between the Components 33 2 7 Connecting the power supply 34 2 8 Connect field bus 36 2 8 1 Maximum cable length 36 2...

Страница 6: ...s manually enabling process data 59 5 2 4 Adding CANopen communication libraries 59 5 3 Configuring the system with XSOFT CODESYS 3 60 5 3 1 Starting XSOFT CODESYS 3 and creating a new project 60 5 3 2 Adding the CAN manager 61 5 3 3 Adding CANopen devices 64 5 3 4 Configuring the XN312 gateway 64 5 3 4 1 Configuring XN 322 slice modules 65 5 3 4 2 Automatic PDO mapping 66 5 3 4 3 Manual mapping 6...

Страница 7: ... 1014hex Emcy COB ID 88 6 6 Service data transmission 90 6 7 Process output data transmission 90 6 7 1 Objects 1400hex to 140Fhex Receive PDO parameter 91 6 7 2 Objects 1600hex to 160Fhex Receive PDO Mapping Parameter 93 6 8 Process input data transmission 96 6 8 1 Objects 1800hex to 180Fhex Transmit PDO Parameter 96 6 8 2 Objects 1A00hex to 1A0Fhex Transmit PDO Mapping Parameter 100 7 Product spe...

Страница 8: ...e Object 0x3050 142 7 11 XN 322 8DIO PD05 143 7 11 1 Read Digital Input 8 Bit Object 0x6000 144 7 11 2 Write Digital Output 8 bit Object 0x6200 145 7 11 3 Write Digital Output Object 0x2180 146 7 11 4 Read Digital Inputs Object 0x3180 146 7 11 5 Input Voltage State Object 0x3181 147 7 12 XN 322 16DIO PD05 148 7 12 1 Read Digital Input 8 Bit Object 0x6000 149 7 12 2 Write Digital Output 8 bit Objec...

Страница 9: ...87 7 15 5 Analog Input Interrupt Lower Limit Integer Object 0x6425 188 7 15 6 Analog Input Interrupt Delta Unsigned Object 0x6426 189 7 15 7 Analog Input Interrupt Negative Delta Unsigned Object 0x6427 190 7 15 8 Analog Input Interrupt Positive Delta Unsigned Object 0x6428 191 7 15 9 Module Diagnostic Messages Object 0x3080 192 7 15 10 Input Channel x Object 0x3081 to 0x3087 193 7 15 11 Wire Break...

Страница 10: ...Analog Input Global Interrupt Enable Object 0x6423 238 7 19 5 Analog Input Interrupt Upper Limit Integer Object 0x6424 238 7 19 6 Analog Input Interrupt Lower Limit Integer Object 0x6425 239 7 19 7 Analog Input Interrupt Delta Unsigned Object 0x6426 240 7 19 8 Analog Input Interrupt Negative Delta Unsigned Object 0x6427 241 7 19 9 Analog Input Interrupt Positive Delta Unsigned Object 0x6428 242 7 ...

Страница 11: ...Configuration Channel x Object 0x51B2 to 0x51B3 283 7 22 XN 322 8AIO I 284 7 22 1 Read Analog Input 16 Bit Object 0x6401 287 7 22 2 Write Analog Output 16 Bit Object 0x6411 287 7 22 3 Analog Input Interrupt Trigger Selection Object 0x6421 288 7 22 4 Analog Input Global Interrupt Enable Object 0x6423 289 7 22 5 Analog Input Interrupt Upper Limit Integer Object 0x6424 289 7 22 6 Analog Input Interru...

Страница 12: ...t 0x40E3 0x40E4 327 7 24 16 DC Motor I2T Value Limit Object 0x40E5 328 7 25 XN 322 1CNT 8DIO 329 7 25 1 Write Digital Outputs Object 0x20F0 330 7 25 2 Read Digital Input Object 0x30F0 331 7 25 3 Encoder Idle Time Object 0x30F1 332 7 25 4 Encoder Measuring Value Object 0x30F2 334 7 25 5 Encoder Latch Value Object 0x30F3 334 7 25 6 Encoder Status Object 0x30F4 335 7 25 7 Latch Input Configuration Ob...

Страница 13: ...the PLC 362 8 4 XN300 Assist 363 8 5 Loading new firmware onto the gateway 363 8 6 CAN objects for station variants 366 8 6 1 Activation StationVariants Mode Object 0x4005 366 8 6 2 Checksum internal Object 0x4006 366 8 6 3 Module list internal Object 0x4007 367 8 6 4 Available Modules internal Object 0x4008 368 9 What Happens If 369 10 Appendix 371 10 1 Approvals and national approvals for XN300 ...

Страница 14: ...10 Gateway XN 312 GW CAN 06 16 MN050003 EN www eaton com ...

Страница 15: ...ing to the Download Center Docu mentation page in the Customer Support area and entering IL050017ZU into the search box Information on XN 322 slice modules can be found in the following docu ments XN 300 Slice Modules manual MN050002 EN Download Center EDS files the XN 300 Assist engineering tool the XSOFT CODESYS 2 and XSOFT CODESYS 3 software described in this manual and updates for the operatin...

Страница 16: ... refitting of the devices must only be carried out by qualified persons The devices must only be used in the areas recommended and only in conjunction with third party devices and components that have been approved by us Only use is techni cally faultless condition is permitted Fault free and safe operation of the sys tem requires proper transport storage installation and commissioning as well as ...

Страница 17: ...P Dual Inline Package EDS Electronic Data Sheet PDO Process Data Objects RPDO Receive Process Data Objects SDO Service Data Objects SSI Synchronous Serial Interface TPDO Transmit Process Data Objects XN300 Device series including the XN 312 gateway and XN 322 slice modules Following designations XSOFT CODESYS 2 are used Module System bus module Station Station address Address of the field bus modu...

Страница 18: ...tions to be followed For greater clarity the name of the current chapter and the name of the cur rent section are shown at the top of each page DANGER Warns of hazardous situations that result in serious injury or death CAUTION Warns of the possibility of hazardous situations that could result in slight injury or even death NOTICE Warns about the possibility of material damage Indicates useful tip...

Страница 19: ...ystem which in addition to the gateways themselves includes several I O slice modules These slice modules include both digital and analog I O modules as well as various technology modules with counting weighing and motor drive func tionalities These modules can be joined together without the use of tools in order to form a system block All XN300 system slice modules communicate through the system ...

Страница 20: ...e resulting actual configuration with the previously stored target configura tion If the actual configuration is different from the target configuration it will not be possible for the gateway to switch to the Operational operating state Figure 1 The XN 312 GW CAN gateway can be used to establish a connection to a CANo pen field bus The connection to the field bus needs to be established by connec...

Страница 21: ...the operating sys tem 1 3 Device overview Figure 2 Front view XN 312 GW CAN a GW LED system bus 5 VDC status b LED ST status CANopen c I O LED I O slice module configuration status d LED POW e Mini USB diagnostic interface f DIP switches for configuring the address for the node IDs firmware update baud rate config check bus termination resistor g CAN_H h CAN_L i GND j CAN_H k CAN_L l GND m Power s...

Страница 22: ...ules are available Power supply modules XN 322 4PS 20 XN 322 18PD M XN 322 18PD P Digital I O modules XN 322 8DI PD XN 322 16DI PD XN 322 20DI PD XN 322 20DI PF XN 322 20DI PCNT XN 322 20DI ND XN 322 8DO P05 XN 322 12DO P17 XN 322 16DO P05 XN 322 8DIO PD05 XN 322 16DIO PD05 XN 322 16DIO PC05 Analog I O modules XN 322 4AI PTNI XN 322 7AI U2PT XN 322 8AI I XN 322 10AI TEKT XN 322 8AO U2 XN 322 4AIO ...

Страница 23: ...6 bytes meaning that a total of 4 32 128 bytes of payload data are avail able in each direction This means that there are a max of 16 TPDOs and 16 RPDOs available Another 8 TPDOs and 8 RPDOs with 8 bytes of data each are available per direction However these objects will not be mapped automatically and need to be mapped manually instead Accordingly for each of the PDOs from 17 through 24 that are ...

Страница 24: ...with each gateway Figure 3 The configuration of the terminal sockets at the gateway a LED ST red green b X1 field bus connection 1 c X2 field bus connection 2 Table 1 What the signals from the ST diagnostic LED for the CANopen field bus interface mean for a more detailed explanation of each status Table page 45 For information on the I O slice modules input and output data volumes please refer to ...

Страница 25: ...k disabled The following are possible causes XN300 Assist actively running wiring test Baud rate detection started Error on field bus Status Meaning Explanation PRE OPERATIONAL The device has been started and has checked in on the CANopen bus Outputs are not being written to PDOs are not being written to the master Inputs are not being read The device is being initialized for CANopen OPERATIONAL T...

Страница 26: ...ud rates of 100 kBaud and 800 kBaud can only be set using automatic baud rate detection i e they cannot be set using the DIP switches Cyclical CAN frames need to be sent on the field bus in order for the baud rate to be detected successfully Otherwise the gateway will not be able to detect the CAN baud rate Figure 4 DIP switches for setting the baud rate If the device is unable to automatically de...

Страница 27: ...reen Actual configuration refers to the current configuration of the I O slice mod ules on the system bus This means that the target configuration will be the I O slice module configu ration that the user has defined on the system bus at the time the system is turned on with DIP switch 9 OFF If DIP switch 9 is in the ON position instead the gateway will check whether the current actual configurati...

Страница 28: ...abling the config check function Figure 7 DIP switch for activating the bus termination resistor f S1 ON A 1 2 3 4 5 6 7 8 9 10 D D R R S T B OFF Config 9 OFF ON Config check Save config f S1 ON A 1 2 3 4 5 6 7 8 9 10 D D R R S T B OFF 120 Ω 10 OFF ON en Termination resistor de Abschlusswiderstand fr Résistance de terminaison es Resistencia de terminal it Resistenza di terminazione zh ru Нагрузочн...

Страница 29: ... Before mounting the device set the field bus address using the DIP switches DIP dual in line package at the front of the gateway Follow the example below in order to configure an address on the gateway 18 decimal is used as an example in this case 18dec 16 2 1 24 1 21 The address is to be set at the dip switches Set the CANopen address using DIP switches 1 5 refer to Section 1 5 3 Valid device fi...

Страница 30: ... the gateway is attempting to detect the baud rate the ST LED will flash red and green and the gateway will adopt the field bus master s baud rate Cyclical CAN frames need to be sent on the field bus in order for the baud rate to be detected successfully Otherwise the gateway will not be able to detect the CAN baud rate DIP Switch 1 2 3 4 5 Description 20 21 22 23 24 OFF ON OFF OFF ON Setting the ...

Страница 31: ...is the last module on the field bus the inte grated bus termination resistor must be activated using DIP switch 10 Set DIP switch 10 to the ON position Figure 9 Activated bus termination resistor 2 3 4 5 6 7 8 9 10 D D R R S T B 10 120 Ω en Termination resistor de Abschlusswiderstand fr Résistance de terminaison es Resistencia de terminal it Resistenza di terminazione zh 终端阻抗 ru Нагрузочный резист...

Страница 32: ...ng ambient temperature will not be exceeded make sure that there is enough clearance between the system block s vents and any neighboring components as well as between the vents and the control panel s back plate Figure 10 Horizontal installation only 2 4 2 Mounting the system block on the DIN rail Before mounting the device make sure that you have configured the device s field bus address and if ...

Страница 33: ... module from the right in such a way that the lock ing tabs engage the guide Figure 11 Joining the gateway and an XN300 slice module to form a system block Grab the front cover from the top and bottom and push it back towards the XN300 slice module so that the slice modules lock solidly into place Figure 12 Locking the system block in place Repeat these steps until you have added all the XN300 mod...

Страница 34: ...n inclined position Figure 14 Placing the system block against the bottom edge of the DIN rail Push the system block over the DIN rail s top edge Push the locking elements on the back of all XN300 slice modules down wards in order to secure the modules You can use a screwdriver to do this Figure 15 Locking the system block into place on the DIN rail Check to make sure that the system block is soli...

Страница 35: ...er to do this Figure 16 Disengaging the system block Tilt the system block forward then pull the block from its bottom edge away from the DIN rail Figure 17 Placing the system block against the bottom edge of the DIN rail Disengage the locking tabs between the slice modules by pulling on the front cover blue The front cover s stay put function will indicate that the locking tabs have been disengag...

Страница 36: ... MN050003 EN www eaton eu Figure 18 Disengaging the front cover Once the locking tabs have been disengaged you can separate the slice modules and the gateway from each other Figure 19 Separating the gateway and the XN300 slice modules from the system block 4 4 5 ...

Страница 37: ...ack that is used to establish a functional earth connection to the DIN rail Moreover the protective earth and the functional earth have the same potential in XN300 systems Finally the CANopen field bus and the XN300 system are galvanically isolated from each other Common 0V Figure 20 Functional diagram of XN300 system V 0 V V 0 V XN 312 CPU system XN 322 XN 322 system bus master UPOW X3 DC DC 24 V...

Страница 38: ...nto account the total power consumption and the voltage drop on your system bus and if necessary include additional XN 322 4PS 20 power sup ply modules You can use the XN300 Assist software program for assistance with the corresponding calculations In addition the program will automati cally let you know if additional power supply modules are required for your design Figure 21 Connection of power ...

Страница 39: ...way Miniature circuit breaker F1 for POW Cable protection in accordance with DIN VDE 0641 Part 11 IEC EN 60898 Miniature circuit breaker 24 V DC rated operational current 3 A trip type C or Fuse 3 A utilization category gL gG Cable protection for cable AWG 24 in accordance with UL 508 and CSA 22 2 no 14 Miniature circuit breaker 24 V DC rated operational current 3 A trip type C or Fuse 3 A ...

Страница 40: ... bus cable s wires into the push in terminals on the three pin FMC 1 5 3 ST 3 5 contact plug Connect the contact plug to the X1 field bus interface on the gateway You can use the X2 field bus interface on the gateway to connect addi tional field bus modules 2 8 1 Maximum cable length The maximum cable length for a CAN bus cable depends on the baud rate being used The following table provides an ov...

Страница 41: ...orre sponding software Use the XN300 Assist program to run real time diagnostics on the sys tem bus Updating the operating system You can use any of the following programming cables USB 2 0 cable Mini B connector Type A connector 2 10 Connection example Figure 23 Connecting example for XN 312 GW CAN gateway in XN300 system 100 650 125 500 250 250 500 100 800 50 1000 25 Baud rate kBaud Maximum cabl...

Страница 42: ...mplementation of suitable EMC measures These include EMC conformant system configuration EMC compliant cable routing Measures designed to reduce potential differences the correct installation of the field bus system cable connection of the bus connectors etc Using shielding Figure 24 Field bus shielded by using a shield The gateway features a functional earth contact point on the back Figure 25 XN...

Страница 43: ... by default If the type or number of connected modules changes and the configuration check function is enabled you will need to disable the configuration check function and start the gateway with the function disabled When you do so the gateway will read the modified target configuration after which you can re enable the configuration check function As an alternative to commissioning the station u...

Страница 44: ...nfiguration in its device memory The I O LED will flash green to indicate that the config check is disabled Switching the gateway on with a config check If you want to put the gateway into operation with a config check follow the steps below Baud rate OFF ON Yes No I O LED green continuous light Switch on the device Import target configuration from device memory DIP switch 9 Error on system bus No...

Страница 45: ...o the OFF position Switch on the device s power supply The gateway will determine which I O slice modules are currently on the sys tem bus and will store that configuration as the target configuration in its device memory The I O LED will flash green to indicate that the device is running without a config check Set DIP switch 9 to the ON position In order for the switch position change to be appli...

Страница 46: ...rt of the system block becomes disengaged on purpose or by accident Another possible cause is a module that has dropped out from the system bus Depending on whether the config check function is enabled or disabled the gateway will either start with the modified configuration config check dis abled or will stay in safe mode config check enabled check failed Yes No I O LED green continuous light Err...

Страница 47: ...300 Assist page 48 3 1 1 2 Switching on when the target configuration is stored If a target configuration is already stored on the gateway DIP switch 9 can be switched to the ON position while the gateway is being powered on The gateway will then check the connected modules when booting up Oth erwise the current actual configuration will be used to overwrite the previ ously stored target configura...

Страница 48: ...modules observe the following requirements If default mapping index 0x6401 x is used for analog modules PDO based data transmission for these I O slice modules must be enabled by setting the value of object index 0x6423 subindex 0 to TRUE Section 7 15 3 Analog Input Global Interrupt Enable Object 0x6423 page 187 Regulate the bus load on the CAN field bus The following procedure is recommended in o...

Страница 49: ...lanation of LED statuses The following table explains in detail how the LEDs will behave for each of the statuses listed NOTICE The short data refresh cycle times in the XN300 system can result in the CAN transmission path being subjected to high loads Accordingly it is recommended to limit the data being transmitted by using the various PDO properties available e g inhibit time especially in the ...

Страница 50: ...ows a continuous light Flickering Cyclical flashing 10 Hz LED on for 50 ms off for 50 ms Flashing Cyclical flashing 2 5 Hz LED on for 200 ms off for 200 ms Flashing pattern SINGLE FLASH Cyclical single flash LED on for 200 ms off for 1 000 ms Flashing pattern DOUBLE FLASH Cyclical double flash LED on for 200 ms off for 200 ms on for 200 ms off for 1 000 ms ...

Страница 51: ...L Flashing pattern SINGLE FLASH STOPPED HALT Red Continuous light red BUS OFF The field bus has been turned off due to an error e g Wiring faults Module with wrong baud rate on bus Flashing pattern SINGLE FLASH ERROR WARNING Warning Wiring faults Module with wrong baud rate on bus Flashing pattern DOUBLE FLASH Guarding error Depending on the relevant setting OD 0x1029 the gateway will internally s...

Страница 52: ...les as well as a gateway Reading device parameters for the gateway and the system bus mod ules Generating a project specific EDS file Status indication of the inputs outputs Wiring test Importing actual configurations Display of cyclical and acyclical diagnostics messages The Online Help function provides a detailed description of how to use XN300 Assist In order to open it click on the icon on th...

Страница 53: ...stored in a description file This file follows specific standards for the corresponding field bus and can be loaded into the PLC programming environment for the field bus master being used The EDS file contains all the properties of a gateway in its role as a field bus module This means that new EDS file versions need to be created whenever new I O slice modules are released Make sure that you are...

Страница 54: ...ile that will contain the description for all cur rently available XN300 system I O slice modules The first EDS file for the XN 312 GW CAN CANopen gateway is named XN 312 GW CAN_V0102 eds To download the standard EDS file please visit our Download Center Page 11 To find it quickly simply enter XN300 or EDS as a search term 4 2 Project specific EDS file In addition to the standard EDS file you can ...

Страница 55: ...eSys 2 in the same way as the standard EDS file 4 3 Installing the EDS file The procedure for installing the EDS file you want to use will depend on the configurator being used Following are examples using XSoft CoDeSys 2 and XSOFT CODESYS 3 4 3 1 XSoft CoDeSys 2 To install the EDS file follow the steps below Select and download the latest version of the EDS file Save and unzip the zip file to a p...

Страница 56: ...ation path save the project and load it again 4 3 2 XSOFT CODESYS 3 You will need to import the EDS file into the programming system you are using To install the EDS file follow the steps below Select and download the latest version of the EDS file Save and unzip the zip file to a project folder of your choice In XSOFT CODESYS 3 select the Tools Install device menu option Check the filter selectio...

Страница 57: ...n be connected to any CAN master by using the appropriate EDS file The following sections provide examples showing how to connect a gate way including the corresponding I O slice modules to a CAN master 5 1 Connecting the programming computer the PLC and the CAN XN300 station Before commissioning a Eaton PLC e g XC202 XC201 EC4P XV 152 XV300 XC 152 with the configuration software the PLC will need...

Страница 58: ...EKT 5 2 1 Starting XSOFT CODESYS 2 and creating a new project Start XSoft CoDeSys 2 and open a new project by clicking on File l New The Target Settings dialog box will appear Select the PLC model being used in your application from the options in the drop down menu Confirm the PLC information being displayed by clicking on OK The New POU dialog box will appear Click on OK to exit the New POU dial...

Страница 59: ...he CAN master Open the CAN parameters tab and check the settings there Figure 31 CAN parameters for the CAN master The master s baud rate must match the slave s baud rate the slave in this case is the XN 312 GW CAN gateway The maximum bus length must be used as the basis for determining the maximum transfer rate Section Maximum cable length m page 36 The transfer rate for the XN 312 GW CAN gateway...

Страница 60: ...lave XN 312 GW CAN in this case to your configura tion right click on the CanMaster xxx node Then select the Append Subelement option A list with all the slaves that can be configured will be shown Figure 32 Appending a CAN slave Select the appropriate CAN slave The CAN slave you selected will be added to the PLC configuration If the CAN slaves you want are not found in the list update the X SOFT ...

Страница 61: ...the entire network i e it must be a unique node ID Figure 33 CAN parameters for the CAN slave XN 312 GW CAN in this case 5 2 3 2 Configuring the XN 322 slice modules Open the CAN Module Selection tab in order to configure the station Make sure that the node ID set with the DIP switches matches the node ID shown under the CAN parameters tab Change the node ID if necessary For detailed information p...

Страница 62: ...lick on Add Disabled process data objects Certain process data objects are not enabled automatically These objects need to be manually enabled in order for them to be included in process data transfers Chapter 5 Connecting the PLC to the gateway using CODE SYS page 59 Every time a change is made to the configuration a prompt indicating that there are disabled process data objects will be shown Whe...

Страница 63: ...default PDOs manually enabling process data Certain XN300 slice modules provide additional payload data that can be manually mapped to unused PDOs The appropriate subsections in Section 7 Product specific CAN objects XN300 slice modules page 105 contain tables listing these PDOs for each XN300 slice module For example the PDOs for the XN322 20DI PD can be found in Table page 112 For a description ...

Страница 64: ... 3 and creating a new project Make sure that you are running XSOFT CODESYS 3 in standard mode If you do not you may be unable to carry out some of the steps below Start XSOFT CODESYS 3 in standard mode Click on Tools l Options Features Click on the Predefined feature sets button Select the Standard option from the drop down menu Figure 36 Options dialog box with Predefined feature sets button Crea...

Страница 65: ...the Devices pane on the left select the device you added previously e g Device XC 152 Right click on it to open the context menu and select the Add Device option The Add Device dialog box will appear You can leave the dialog box open Expand the CANbus node under the Fieldbusses node Select CAN bus and click on Add Device The field bus will be added to the configuration structure Figure 38 Configur...

Страница 66: ...e Double click on CANopen_Manager CANopen Manager Check the settings under the CANopen Manager tab The Node ID for the CAN manager must fall within a range of 1 to 127 and must only be assigned once on the entire network i e it must be a unique node ID If the Autostart CANopenManager function is enabled the CANopen manager will start automatically switch to the OPERA TIONAL state after all mandato...

Страница 67: ...e for the CANopen device XN 312 GW CAN in this case must match The maximum bus length must be used as the basis for determining the maximum transfer rate Section Maximum cable length m page 36 The transfer rate for the XN 312 GW CAN gateway needs to be set using the corresponding DIP switches Section 1 5 2 Baud rate Follow the steps below to set the transfer rate for the CANopen manager In the Dev...

Страница 68: ...the appropriate EDS file Section 4 2 Project specific EDS file page 50 You can find updates and EDS files by visiting the Download Center on our website Page 11 5 3 4 Configuring the XN312 gateway Check the settings for the CANopen device s parameters Node ID In the Devices configuration structure double click on the CANopen device you added previously e g XN_312_GW_CAN XN 312 GW CAN Open the CANo...

Страница 69: ...t open already The dialog box will show a list with all the XN300 slice modules that can be configured to Figure 44 Add Device dialog box for selecting CAN modules for the CANopen device XN 312 GW CAN in this case Select the I O slice module you want e g XN 322 20DI PCNT Then click on the Add Device button The I O slice module will be added to the Devices configuration structure A maximum of 32 I ...

Страница 70: ...rmation please refer to the corresponding tables for CANopen objects and vendor specific objects in section Chapter 7 Product specific CAN objects XN300 slice modules page 105 Figure 46 CANopen Remote Device tab automatic PDO mapping enabled Open the PDO Mapping tab and check to make sure that all of the I O slice modules process data is included in the automatic mapping Figure 47 Mapping table in...

Страница 71: ...tions in Section 7 Product specific CAN objects XN300 slice modules page 105 contain tables listing these PDOs for each XN300 slice module For example the PDOs for the XN322 20DI PD can be found in Table page 112 In this case as well as in cases in which you want to change the mapping for the PDOs you will need to map the corresponding data manually The fol lowing example shows how to add an addit...

Страница 72: ...ssary you can add a new PDO by clicking on the Add PDO but ton Do not exceed the maximum number of 16 RPDOs and 16 TPDOs The program will show an error message otherwise Double click on a PDO that has been added e g TransmitPdoParame ter and configure its properties Figure 48 Selecting a transmission type for the manually mapped PDO Defining the process data for a PDO Select the PDO you want e g T...

Страница 73: ... module XN_322_10AI_TEKT Follow the steps below to modify the parameter values used for initialization Double click on the CANopen device e g XN_312_GW_CAN XN 312 GW CAN Open the Service Data Object tab Click on the New button A list of all available SDO objects will be shown Figure 50 List of all available SDO objects Select the additional SDO object that should be transmitted when the device is ...

Страница 74: ... MN050003 EN www eaton eu 5 3 6 Adding CANopen communication libraries By default all the libraries required for CANopen communication will be auto matically added after the CAN master is added and the project is compiled for the first time For more detailed information please consult the documenta tion for the PLC you are using ...

Страница 75: ...rmation on the type and use of the listed CANopen specific entries in the object dictionary please refer to CiA301 General overview of all objects Index page Name 1000hex Page 73 Object 1000hex Device type device profile number addi tional information 1001hex Page 82 Object 1001hex Error Register 1003hex Page 83 Object 1003hex Error History 1005hex Page 87 Object 1005hex Sync COB ID 1008hex Page 7...

Страница 76: ...objects for the communication profile 1600hex to 160Fhex Page 93 Objects 1600hex to 160Fhex Receive PDO Mapping Param eter 1800hex to 180Fhex Page 96 Objects 1800hex to 180Fhex Transmit PDO Parameter 1A00hex to 1A0Fhex Page 100 Objects 1A00hex to 1A0Fhex Transmit PDO Mapping Param eter A description of the following objects can be found in the user manuals for the corresponding XN 322 slice module...

Страница 77: ...RD 2 receive PDO parameter PDOCommPar rw O 1402hex RECORD 3 receive PDO parameter PDOCommPar rw O 140Fhex RECORD 16 receive PDO parameter PDOCommPar rw O Receive PDO mapping parameter 21hex 1600hex ARRAY 1 receive PDO mapping PDOMapping rw O 1601hex ARRAY 2 receive PDO mapping PDOMapping rw O 1602hex ARRAY 3 receive PDO mapping PDOMapping rw O 160Fhex ARRAY 16 receive PDO mapping PDOMapping rw O T...

Страница 78: ...bject code VAR PDO mapping No Data type Sub index 00hex Unsigned32 Access Sub index 00hex ro Default value XN 312 GW_CAN Sub index 00hex 008F0191hex Feature Sub index Description Value Name Device Name Object code VAR PDO mapping No Data type Sub index 00hex Visible string Access Sub index 00hex ro Default value XN 312 GW_CAN Sub index 00hex Feature Sub index Description Value Name Manufacturer Ha...

Страница 79: ...r The main revision number is used to specify a specific CANopen behavior meaning that the number needs to be increased whenever the CANopen functionality is expanded Meanwhile the minor revision number is used to distinguish between differ ent versions that have the same CANopen behavior Table 8 Description of 1018hex Feature Sub index Description Value Name Manufacturer Software Version Object c...

Страница 80: ... describe the XN 322 slice modules in the order in which they are installed in the XN300 station with each sub index corresponding to one individual slice module Moreover each entry contains a number identifying the correspond ing module Function Sub index 00hex Number of entries Sub index 01hex Manufacture ID Sub index 02hex Product code here article no Sub index 03hex Revision Number Sub index 0...

Страница 81: ...pping SDO Data type UNSIGNED16 Sub index 00 Count of Module Identification Numbers 01 1Fhex Module position Access ro Default value defaultdec 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 m2 B1 B0 MSB LSB XN300 slice module Default value default decimal XN 322 20DI PD 8001dec XN 322 20DI PCNT 8002dec XN 322 20DI PF 8003dec XN 322 12DO P17 8004dec XN 322 16DO P05 800...

Страница 82: ...N 322 8DIO PD05 8024dec XN 322 8DO P05 8025dec XN 322 4AIO U2 8026dec XN 322 4AIO I 8027dec XN300 slice module Default value default decimal Feature Description Value17 EDS Name Serial number XN 312 CANopen ParameterName SerialNumber XN 312 CANopen ObjectType 0x7 DataType 0x09 AccessType const PDOMapping 0 Description SerialNumber XN 312 CANopen Object Code VAR Mapping SDO Data type Visible string...

Страница 83: ...escription User LEDs 1 16 BitMask Object Code VAR Mapping SDO Data type UNSIGNED32 Access rw Default value 0 Byte 1 Byte 0 Sub index 1 n 254 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 B3 m2 B1 B0 TN 8 TN 7 TN 6 TN 5 TN 4 TN 3 TN 2 TN 1 Bit x 1 Bit x Bit x 1 Bit x Bit x 1 Bit x Bit x 1 Bit x Bit x 1 Bit x Bit x 1 Bit x Bit x 1 Bit x Bit x 1 Bit x Byte 3 Byte 2 Sub index 1 n 254 b15 b14 b13 b12 b11 b...

Страница 84: ...tion Status LED user 17 32 BitMask Object Code VAR Mapping SDO Data type UNSIGNED32 Access rw Default value 0 Byte 1 Byte 0 Sub index 1 n 254 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 B3 m2 B1 B0 TN 34 TN 23 TN 22 TN 21 TN 20 TN 19 TN 18 TN 17 Bit x 1 Bit x Bit x 1 Bit x Bit x 1 Bit x Bit x 1 Bit x Bit x 1 Bit x Bit x 1 Bit x Bit x 1 Bit x Bit x 1 Bit x Byte 3 Byte 2 Sub index 1 n 254 b15 b14 b13 ...

Страница 85: ...eterName UserLEDControl ObjectType 0x7 DataType 0x0005 AccessType rw PDOMapping 0 Count 1 Description User LED Control Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value 0x00hex Byte 0 Sub index 1 n 254 b7 b6 b5 b4 B3 m2 B1 B0 MSB LSB Bit Meaning B1 B0 0 0 User LED off 0 1 User LED flashing 200 ms ON 1000 ms OFF 1 0 User LED flashing 1000 ms ON 200 ms OFF ...

Страница 86: ...e gateway s internal faults in a single byte as per DS301 Table 10 Description of object 1001hex Feature Description Value17 EDS Name Product name ParameterName Product name ObjectType 0x7 DataType 0x0009 AccessType ro PDOMapping 0 Description Product name Object Code VAR Mapping SDO Data type Visible string max 20 Byte Access ro Feature Description Value EDS Name Product Name MxSubExt400C Paramet...

Страница 87: ...information please refer to CiA DS301 sec 7 5 2 32 Default Switch to Pre Operational Data type Sub index 00hex Unsigned8 Access Sub index 00hex ro Default value XN300 Sub index 00hex 0x0 Error Register Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 generic Current Voltage 0 Comm 0 0 Manu Abbreviations generic Group fault Current Short circuit on output Current fault Voltage Voltage fault Comm com...

Страница 88: ...d time 0 Node guarding disabled Table 12 Description of object 100Chex 6 4 2 Object 100Dhex Life Time Factor The number of failed node guarding attempts before a CANopen node is categorized as not OK is specified with the life time factor object The length of the interval between these attempts is specified by the guard time object object 100Chex Value Description 0x00 Change to Pre operational NM...

Страница 89: ...sumer heartbeat time 0 monitoring for the corresponding CANo pen node will be disabled The interval is set as a multiple of 1 ms The heartbeat protocol should be viewed as an alternative to node life guard ing that in contrast to guarding does not use remote frames Node guarding uses one to one monitoring i e when using node guarding one CANopen node will monitor one other CANopen node In contrast...

Страница 90: ...e object s content is inter preted as a multiple of 1 ms A node cannot use the heartbeat function in combination with node guarding If the two monitoring mechanisms are enabled simultaneously the node will use the heartbeat protocol only Table 16 Description of object 1017hex Data type Sub index 00hex Unsigned8 Sub index 01hex Unsigned16 Access Sub index 00hex const Sub index 01hex rw Default valu...

Страница 91: ...n be set simultaneously and or inputs can be read simultaneously Table 17 Description of object 1005hex Table 18 Structure of SYNC COB ID entry Unsigned32 Table 19 Description of SYNC COB ID entry Feature Sub index Description Value Name SYNC COB ID Object code VAR PDO mapping No Data type Sub index 00hex Unsigned32 Access Sub index 00hex rw Default value XN 312 GW CAN Sub index 00hex 0000 0080hex...

Страница 92: ... the COB ID used by the gateway to transmit its own error messages on the bus Default COB ID 0x80 Node ID Table 20 Description of object 1014hex Bit 30 is static i e its value cannot be changed Feature Sub index Description Value Name Emcy COB ID Object code VAR PDO mapping No Data type Sub index 00hex Unsigned32 Access Sub index 00hex rw Default value XN 312 GW CAN Sub index 00hex 0000 0080hex No...

Страница 93: ...OB ID entry msb lsb bits 31 30 29 28 to 11 10 to 0 11 Bit ID 0 1 0 0 00 0000 0000 0000 0000 11 Bit Identifier 29 Bit ID 0 1 0 1 29 Bit Identifier Bit number Value Description 31 MSB 0 1 EMCY present valid EMCY not present invalid 30 0 Reserved always 0 29 0 1 11 bit ID CAN 2 0A In the case of XN 312 GW CAN 29 Bit ID CAN 2 0B 28 to 11 0 X if Bit 29 0 If bit 29 1 Bits 28 to 11 of 29 bit COB ID 10 to...

Страница 94: ...way Information defining which data should be sent with this PDO is stored in object 0x1600 Sub index 0 Size of appended data Sub index 1 8 Object index sub index length of data entry 1 8 Accordingly object 1401hex provides this information for RPDO2 together with object 1601hex etc The data s priority is defined with the identifier COB ID By default the value for object 1400hex will have already ...

Страница 95: ...0Fhex define the priority and transmission type for RPDO1 to RPDO16 The priority is defined with the identifier COB ID using sub index 01hex The most significant bit in sub index 01hex can be used to define the remaining content as invalid valid This means that the corresponding most significant hex number is 8 The transmission type is defined using sub index 02hex table 27 page 93 shows the avail...

Страница 96: ... Object 1402hex Node ID 00000500hex Object 1403hex Node ID 80000XXXhex Objects 1404hex to 140Fhex Identifiers are configured but not yet enabled 80000000hex Object 140Fhex to 141Fhex Sub index 02hex FFhex 255 msb lsb Bits 31 30 29 28 to 11 10 to 0 11 Bit ID 0 1 0 1 0 00 0000 0000 0000 0000 11 Bit Identifier 29 Bit ID 0 1 0 1 1 29 Bit Identifier Bit number Value Meaning 31 msb 0 PDO exists is valid...

Страница 97: ...61Fhex includes the object number the sub index and the length of the data content that needs to be transmitted with the corresponding RPDO An RPDO can transmit a maximum of 8 bytes 64 bits The number of sub indexes will depend on the data length and the user themselves are responsible for calculating and entering this number in the case of large projects see below A data length of 8 bits will req...

Страница 98: ...Table 29 page 95 1604hex to 161Fhex Sub index 00hex Number of entries depends on the data length Sub index 01hex 1 Mapped application object Sub index 02hex 2 Mapped application object Sub index 03hex 3 Mapped application object Sub index 40hex 64 Mapped application object Access Sub index 00hex rw Sub index 01hex to Sub index 08hex rw Default value XN300 1600hex to 1603hex Table 29 page 95 1604he...

Страница 99: ...utput 06hex 6200 0608hex 6 Mappingobject digital output 07hex 6200 0708hex 7 Mappingobject digital output 08hex 6200 0808hex 8 Mappingobject digital output 1601hex 01hex 6411 0110hex 1 Mapping object analog output RPDO2 02hex 6411 0210hex 2 Mapping object analog output 03hex 6411 0310hex 3 Mapping object analog output 04hex 6411 0410hex 4 Mapping object analog output 1602hex 01hex 6411 0510hex 1 M...

Страница 100: ... to 160F and 1A00 to 1A0F The COB ID that needs to be used is already configured for all PDOs as well 1400 1 to140F 1 and 1A00 1 to 1A0F 1 The first 4 PDOs 0 to 3 are enabled and allowed to transmit PDOs 4 to F need to be manually enabled This means that an XN300 station with a maximum of 64 digital inputs and 12 analog inputs will take care of the TPDO based transmission of process input data by ...

Страница 101: ...ary for XN 312 GW CAN gateway 6 8 Process input data transmission Gateway XN 312 GW CAN 06 16 MN050003 EN www eaton eu 97 Objects 1A00hex to 1A0Fhex define which data content should be transmitted with TPDO1 to TPDO32 ...

Страница 102: ...312 GW CAN gateway page 99 Sub index 04hex Reserved Sub index 05hex Event timer Section The maximum pause between two trans missions parameter page 99 Data type Sub index 00hex Unsigned8 Sub index 01hex Unsigned32 Sub index 02hex Unsigned8 Sub index 03hex Unsigned16 Sub index 04hex Unsigned8 Sub index 05hex Unsigned16 Access Sub index 00hex ro Sub index 01hex to 05hex rw Default value XN300 Sub in...

Страница 103: ...ld not be used The maximum pause between two transmissions parameter Sub index 05hex is used to define the time by which a TPDO must be trans mitted at the latest even if there is no other event causing a transmission When the event timer elapses this will be detected as an event However any time an event causes a transmission the event timer will be reset and restart The object s value will be in...

Страница 104: ...o objects 6000hex 6200hex etc for example For a description of these objects please refer to manual XN300 slice mod ules MN050002 EN The entry in sub indexes 01hex to 40hex of objects 1A00hex to 1A0Fhex includes the object number the sub index and the length of the data content that needs to be transmitted with the corresponding TPDO A TPDO can transmit a maximum of 8 bytes By default objects 1A00...

Страница 105: ...ng objects Page 101 1A03hex to 1A1Fhex Sub index 00hex Number of entries depends on the data length Sub index 01hex 1 Mapped application object Sub index 02hex 2 Mapped application object Sub index 03hex 3 Mapped application object Sub index 40hex 64 Mapped application object Access Sub index 00hex rw Sub index 01hex to Sub index 08hex rw Default value XN300 1A00hex to 1A03hex See note concerning ...

Страница 106: ...object digital input 07hex 6000 0708hex 7 Mappingobject digital input 08hex 6000 0808hex 8 Mappingobject digital input 1A01hex 01hex 6401 0110hex 1 Mapping object analog input TPDO2 02hex 6401 0210hex 2 Mapping object analog input 03hex 6401 0310hex 3 Mapping object analog input 04hex 6401 0410hex 4 Mapping object analog input 1A02hex 01hex 6401 0510hex 1 Mapping object analog input TPDO3 02hex 64...

Страница 107: ...t data transmission Gateway XN 312 GW CAN 06 16 MN050003 EN www eaton eu 103 The following structure applies to the parameters of sub indexes 01hex to 40hex Table 37 Structure of PDO mapping entries msb lsb Object index 16 bits Sub index 8 Bit Object length 8 bits ...

Страница 108: ...6 Object dictionary for XN 312 GW CAN gateway 6 8 Process input data transmission 104 Gateway XN 312 GW CAN 06 16 MN050003 EN www eaton eu ...

Страница 109: ...sed to list the various product specific object dic tionary entries The detailed description of the CAN objects for each XN300 module is organized as follows The Feature column provides a simple functional description of the entry The Description Value column specifies either the entry s data type or its specific value The EDS column specifies how the object is described in the EDS file ...

Страница 110: ... that the manufacturer implements for data communication purposes Figure 51 Block diagram showing the various CANopen objects for digital inputs Product specific CANopen objects Manufacturer specific objects Index range for the XN 322 8DI PD module x150 to x15F herstellerspeziﬁsch produktspeziﬁsch CAN Transmission Single Digital Input Reception ENTRY into 6000h TRANSMIT TPDO1 MAP into TPDO1 CAN Tr...

Страница 111: ...ISIBLE STRING SerialNumber Serial Number Section 6 2 8 Serial Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDCon trol User LED Control Section 6 2 11 User LED Control Object 0x4004 page 81 rw SDO 0x400C VISIBLE STRING ProductName Product Name Section 6 2 14 Product Name Object 0x400C page 82 ro SDO Index hex Data Type Name Function Mapping Access Feature Description Value EDS Name ...

Страница 112: ...ytes Feature Description Value EDS Name Input1_8 MxSubExt3150 ParameterName Input1_8 ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Description Read Digital Inputs Object Code VAR Mapping PDO Manual Data type UNSIGNED8 Sub index 01 FEhex Access ro Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 ...

Страница 113: ...that the manufacturer implements for data communication purposes Figure 52 Block diagram showing the various CANopen objects for digital inputs Product specific CANopen objects Manufacturer specific objects Index range for the XN 322 16DI PD module x150 to x15F herstellerspeziﬁsch produktspeziﬁsch CAN Transmission Single Digital Input Reception ENTRY into 6000h TRANSMIT TPDO1 MAP into TPDO1 CAN Tr...

Страница 114: ...VISIBLE STRING SerialNumber Serial Number Section 6 2 8 Serial Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDCon trol User LED Control Section 6 2 11 User LED Control Object 0x4004 page 81 rw SDO 0x400C VISIBLE STRING ProductName Product Name Section 6 2 14 Product Name Object 0x400C page 82 ro SDO Index hex Data Type Name Function Mapping Access Feature Description Value EDS Name...

Страница 115: ... Input1_16 MxSubExt3140 ParameterName Input1_16 ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description Read Digital Inputs Object Code VAR Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 B7 B6 B5 B4 B3 B2 B1 B0 DI 16 DI 15 DI 14 DI 13 DI 12 DI 11 DI 10 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 ...

Страница 116: ...e and that the manufacturer implements for data communication purposes Figure 53 Block diagram showing the various CANopen objects for digital inputs Product specific CANopen objects Manufacturer specific objects Index range for the XN 322 20DI PD module x010 to x01F Index hex Data Type Name Function Mapping Access 0x6000 UNSIGNED8 I BYTE Digital Input 8 bit Default ro PDO Section 7 1 1 Read Digit...

Страница 117: ...001 VISIBLE STRING SerialNumber Serial Number Section 6 2 8 Serial Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDControl User LED Control Section 6 2 11 User LED Control Object 0x4004 page 81 rw SDO 0x400C VISIBLE STRING ProductName Product Name Section 6 2 14 Product Name Object 0x400C page 82 ro SDO Index hex Data Type Name Function Mapping Access Feature Description Value EDS N...

Страница 118: ...07 AccessType ro PDOMapping 1 Count 1 Description Read Digital Inputs Object Code ARRAY Mapping PDO Manual Data type UNSIGNED32 Sub index 01 FEhex Access ro Default value 0000 0000hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 LSB DI1 6 D15 DI1 4 DI1 3 DI1 2 DI1 1 DI1 0 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 3 Byte Byte 2 Sub index 1 n 254 B15 B14 B13 B12 B1...

Страница 119: ...that the manufacturer implements for data communication purposes Figure 54 Block diagram showing the various CANopen objects for digital inputs Product specific CANopen objects Manufacturer specific objects Index range for the XN 322 20DI PF module x030 to x03F herstellerspeziﬁsch produktspeziﬁsch CAN Transmission Single Digital Input Reception ENTRY into 6000h TRANSMIT TPDO1 MAP into TPDO1 CAN Tr...

Страница 120: ...al Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDCon trol User LED Control Section 6 2 11 User LED Control Object 0x4004 page 81 rw SDO 0x400C VISIBLE STRING ProductName Product Name Section 6 2 14 Product Name Object 0x400C page 82 ro SDO Index hex Data Type Name Function Mapping Access Feature Description Value EDS Name I BYTE MxSubExt6000 ParameterName I BYTE ObjectType 0x7 Dat...

Страница 121: ...me Input1_20 MxSubExt3030 ParameterName Input1_20 ObjectType 0x7 DataType 0x0007 AccessType ro PDOMapping 1 Count 1 Description Read Digital Inputs Object Code VAR Mapping PDO Manual Data type UNSIGNED32 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 LSB DI1 6 D15 DI1 4 DI1 3 DI1 2 DI1 1 DI1 0 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 3...

Страница 122: ... Product specific objects that the CANopen standard requires for a prod uct group e g for analog modules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 55 Block diagram showing the various CANopen objects for digital inputs herstellerspeziﬁsch produktspeziﬁsch CAN Transmission CAN Transmission CAN Trans...

Страница 123: ...Register 1 Manual ro PDO 0x3024 UNSIGNED8 Counter2 Counter Register 2 Manual ro PDO 0x3025 UNSIGNED8 Counter3 Counter Register 3 Manual ro PDO 0x3026 UNSIGNED8 Counter4 Counter Register 4 Manual ro PDO 0x3027 UNSIGNED16 Incremental Encoder1 Incremental Encoder 1 Register Manual ro PDO 0x3028 UNSIGNED16 Incremental Encoder2 Incremental Encoder 2 Register Manual ro PDO 0x4001 VISIBLE STRING SerialNu...

Страница 124: ...gital input values Design of the data bytes Byte 0 Feature Description Value EDS Name I BYTE MxSubExt6000 ParameterName I BYTE ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 3 Description Read Digital Input 8 Bit Object Code VAR Mapping PDO Default Data type UNSIGNED8 Sub index 01 FEhex Access ro Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value ED...

Страница 125: ...ject 0x3023 to 0x3028 being reset to 0x00 7 6 5 4 3 2 1 0 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 7 6 5 4 3 2 1 0 DI16 DI15 D14 DI13 DI12 DI11 DI10 DI9 7 6 5 4 3 2 1 0 DI20 DI19 DI18 DI17 ACHTUNG NOTICE To reset the count registers write to counter mode register 0x4020 this register is used to select an operating mode Feature Description Value EDS Name Counter1 3023 MxSubExt302x ParameterName Counterx Obj...

Страница 126: ...ed to the corre sponding inputs Any writing command to counter mode register 0x4020 will result in all the count registers object 0x3023 to 0x3028 being reset to 0x00 Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Byte 2 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB 3 Byte Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB ACHTU...

Страница 127: ...s of the incremental encoder register in the XN 322 20DI PCNT module count with X4 encoding Feature Description Value EDS Name IncrementalEncoder1 3027 MxSubExt302x ParameterName IncrementalEncoderx ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 IncrementalEncoder2 3028 Description Incremental Encoder Register x Object Code VAR Mapping PDO Manual Data type UNSIGNED16 Sub index 0...

Страница 128: ... 0x3023 through 0x3028 to 0x00 Design of the data bytes Byte 0 Sub Index 1 n 254 Feature Description Value EDS Name Counter Mode Register MxSubExt4020 ParameterName CounterModeRegister ObjectType 0x7 DataType 0x0005 AccessType rw PDOMapping 0 Count 1 Description CounterModeRegister Object Code VAR Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value 0x00hex 7 6 5 4 3 2 1 0 CL...

Страница 129: ...t the manufacturer implements for data communication purposes Figure 57 Block diagram showing the various CANopen objects for digital inputs Product specific CANopen objects Manufacturer specific objects Index range for the XN 322 20DI ND module x130 to x13F herstellerspeziﬁsch produktspeziﬁsch CAN Transmission Single Digital Input Reception ENTRY into 6000h TRANSMIT TPDO1 MAP into TPDO1 CAN Trans...

Страница 130: ...ial Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDControl User LED Control Section 6 2 11 User LED Control Object 0x4004 page 81 rw SDO 0x400C VISIBLE STRING ProductName Product Name Section 6 2 14 Product Name Object 0x400C page 82 ro SDO Index hex Data Type Name Function Mapping Access Feature Description Value EDS Name I BYTE MxSubExt6000 ParameterName I BYTE ObjectType 0x7 Dat...

Страница 131: ...he data bytes Feature Description Value EDS Name Input1_20 MxSubExt3130 ParameterName Input1_20 ObjectType 0x7 DataType 0x0007 AccessType ro PDOMapping 1 Count 1 Description Read Digital Inputs Object Code VAR Mapping PDO Manual Data type UNSIGNED32 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB 3 Byte Byte 2 Sub index 1 n...

Страница 132: ...urer implements for data communication purposes Figure 58 Block diagram showing the various CANopen objects for digital outputs Product specific CANopen objects Manufacturer specific objects Index range for the XN 322 4DO RNO module x120 to x12F herstellerspeziﬁsch produktspeziﬁsch CAN Reception CAN Reception Single Digital Output ENTRY into 6200h 0 Error State Switch if device Failure Latched Out...

Страница 133: ...ct 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDControl User LED Control Section 6 2 11 User LED Control Object 0x4004 page 81 rw SDO 0x400C VISIBLE STRING ProductName Product Name Section 6 2 14 Product Name Object 0x400C page 82 ro SDO CAN Object Index hex Data Type Name Function Mapping Access Feature Description Value EDS Name Q Byte MxSubExt6200 ParameterName Q Byte ObjectType 0x7 DataTyp...

Страница 134: ...f the channels digital signal outputs in a 8 bit word Design of the data bytes Feature Description Value EDS Name Output1_4 MxSubExt2120 ParameterName Output1_4 ObjectType 0x7 DataType 0x0005 AccessType rww PDOMapping 1 Count 1 Description Write Digital Outputs Object Code VAR Mapping PDO Data type UNSIGNED8 Sub index 01 FEhex Access rww Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 DO3 DO3 DO2...

Страница 135: ...dules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 59 Block diagram showing the various CANopen objects for digital outputs Product specific CANopen objects Manufacturer specific objects Index range for the XN 322 8DO P05 module x190 to x19F herstellerspeziﬁsch produktspeziﬁsch CAN Reception CAN Recep...

Страница 136: ...GNED8 Output 1_8 Write Digital Output 1_8 Manual rww PDO 0x3190 UNSIGNED8 InputVoltageState Input Voltage State Bit 0 DC 24V Output 1 8 OK Manual ro PDO 0x4001 VISIBLE STRING SerialNumber Serial Number Section 6 2 8 Serial Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDControl User LED Control Section 6 2 11 User LED Control Object 0x4004 page 81 rw SDO 0x400C VISIBLE STRING Produc...

Страница 137: ...l signal outputs in a byte Design of the data bytes Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name Output1_8 MxSubExt2190 ParameterName Output1_8 ObjectType 0x7 DataType 0x0005 AccessType rww PDOMapping 1 Count 1 Description Write Digital Outputs Object Code VAR Mapping PDO Data type UNSIGNED8 Sub index 01 FEhex Access rww Byte 0 Sub index 1 n 254 B7 B6...

Страница 138: ...Design of the data bytes Byte 0 Sub Index 1 n 254 Feature Description Value EDS Name InputVoltageState MxSubExt3190 ParameterName InputVoltageState ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Description Status of supply voltage Object Code ARRAY Mapping PDO Manual Data type UNSIGNED8 Sub index 01 FEhex Access ro Default value 00hex Data bit Designation Meaning Notes 0 Power ...

Страница 139: ...dules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 60 Block diagram showing the various CANopen objects for digital outputs Product specific CANopen objects Manufacturer specific objects Index range for the XN 322 12DO P17 module x040 to x04F herstellerspeziﬁsch produktspeziﬁsch CAN Reception CAN Rece...

Страница 140: ...utput 1 12 Manual rww PDO 0x3040 UNSIGNED8 InputVoltageState Input Voltage State Bit 0 DC 24V Output 1 4 OK Bit 1 DC 24V Output 5 8 OK Bit 2 DC 24V Output 9 12 OK Manual ro PDO 0x4001 VISIBLE STRING SerialNumber Serial Number Section 6 2 8 Serial Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDControl User LED Control Section 6 2 11 User LED Control Object 0x4004 page 81 rw SDO 0x40...

Страница 141: ...Design of the data bytes Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name Output1_12 MxSubExt2040 ParameterName Output1_12 ObjectType 0x7 DataType 0x0006 AccessType rww PDOMapping 1 Count 1 Description Write Digital Outputs Object Code VAR Mapping PDO Data type UNSIGNED16 Sub index 01 FEhex Access rww Default value 0000hex 1 Byte Byte 0 Sub index 1 n 254 ...

Страница 142: ...tion Value EDS Name InputVoltageState MxSubExt3040 ParameterName InputVoltageState ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Description Input Voltage State Object Code ARRAY Mapping PDO Manual Data type UNSIGNED8 Sub index 01 FEhex Access ro Default value 00hex Data bit Designation Meaning Notes 0 Power supply outputs 1 4 0 No power 1 Power OK 24 V 1 Power supply outputs 5...

Страница 143: ...uires for a prod uct group e g for analog modules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 61 Block diagram showing the various CANopen objects for digital outputs Product specific CANopen objects herstellerspeziﬁsch produktspeziﬁsch CAN Reception CAN Reception CAN Transmission Single Digital Outp...

Страница 144: ...027 page 76 ro SDO 0x2050 UNSIGNED16 Output 1_16 Write Digital Output 1_16 Manual rww PDO 0x3050 UNSIGNED8 InputVoltageState Input Voltage State Bit 0 DC 24V Output 1 8 OK Bit 1 DC 24V Output 9 16 OK Manual ro PDO 0x4001 VISIBLE STRING SerialNumber Serial Number Section 6 2 8 Serial Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDControl User LED Control Section 6 2 11 User LED Cont...

Страница 145: ...Design of the data bytes Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name Output1_16 MxSubExt2050 Parameter Name Output1_16 ObjectType 0x7 DataType 0x0006 AccessType rww PDOMapping 1 Count 1 Description Write Digital Outputs Object Code VAR Mapping PDO Data type UNSIGNED16 Sub index 01 FEhex Access rww Default value 0000hex 1 Byte Byte 0 Sub index 1 n 254...

Страница 146: ... of the data bytes Byte 0 Sub Index 1 n 254 Feature Description Value EDS Name InputVoltageState MxSubExt3050 ParameterName InputVoltageState ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Description Status of supply voltage Object Code ARRAY Mapping PDO Manual Data type UNSIGNED8 Sub index 01 FEhex Access ro Default value 00hex Data bit Designation Description Notes 0 Power su...

Страница 147: ... communication purposes Figure 62 Block diagram showing the various CANopen objects for digital inputs Figure 63 Block diagram showing the various CANopen objects for digital outputs Product specific CANopen objects herstellerspeziﬁsch produktspeziﬁsch CAN Transmission Single Digital Input Reception ENTRY into 6000h TRANSMIT TPDO1 MAP into TPDO1 CAN Transmission Digital Input1_4 3180h CAN Receptio...

Страница 148: ...027 ro SDO 0x2180 UNSIGNED8 Output 1_4 Write Digital Output 1_4 Manual rww PDO 0x3180 UNSIGNED8 Input1_4 Read Digital Output 1_4 Manual ro PDO 0x3181 UNSIGNED8 InputVoltageState Input Voltage State Manual ro PDO 0x4001 VISIBLE STRING SerialNumber Serial Number Section 6 2 8 Serial Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDControl User LED Control Section 6 2 11 User LED Contro...

Страница 149: ...tomatically entered into the transmit PDOs default mapping Design of the data bytes Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name Q Byte MxSubExt6200 ParameterName Q Byte ObjectType 0x7 DataType 0x0005 AccessType rww PDOMapping 1 Count 1 Description Write Digital Output 8 Bit Object Code VAR Mapping PDO Default Data type UNSIGNED8 Sub index 01 FEhex Ac...

Страница 150: ...ature Description Value EDS Name Output1_4 MxSubExt2180 ParameterName Output1_4 ObjectType 0x7 DataType 0x0005 AccessType rww PDOMapping 1 Count 1 Description Write Digital Outputs Object Code VAR Mapping PDO Data type UNSIGNED8 Sub index 01 FEhex Access rww Default value 0000hex Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 DO4 DO3 DO2 DO1 Feature Description Value EDS Name Input1_4 MxSubExt31...

Страница 151: ... Sub Index 1 n 254 Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 DI4 DI3 DI2 DI1 Feature Description Value EDS Name InputVoltageState MxSubExt3181 ParameterName InputVoltageState ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Description Status of supply voltage Object Code ARRAY Mapping PDO Manual Data type UNSIGNED8 Sub index 01 FEhex Access ro Default value 00hex Data bit ...

Страница 152: ...iagram showing the various CANopen objects for digital inputs Figure 65 Block diagram showing the various CANopen objects for digital outputs Product specific CANopen objects herstellerspeziﬁsch produktspeziﬁsch CAN Transmission Single Digital Input Reception ENTRY into 6000h TRANSMIT TPDO1 MAP into TPDO1 CAN Transmission Digital Input1_8 3160h TRANSMIT TPDO1 MAP into TPDO1 CAN Reception CAN Recep...

Страница 153: ...1027 ro SDO 0x2160 UNSIGNED8 Output 1_8 Write Digital Output 1_8 Manual rww PDO 0x3160 UNSIGNED8 Input1_8 Read Digital Output 1_8 Manual ro PDO 0x3161 UNSIGNED8 InputVoltageState Input Voltage State Manual ro PDO 0x4001 VISIBLE STRING SerialNumber Serial Number Section 6 2 8 Serial Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDControl User LED Control Section 6 2 11 User LED Contr...

Страница 154: ...ign of the data bytes 7 12 3 Write Digital Output Object 0x2160 Object 0x2160 transmits the value of the channels digital signal outputs in a byte Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name Q Byte MxSubExt6200 ParameterName Q Byte ObjectType 0x7 DataType 0x0005 AccessType rww PDOMapping 1 Count 1 Description Write Digital Output 8 Bit Object Code VA...

Страница 155: ... AccessType rww PDOMapping 1 Count 1 Description Write Digital Outputs Object Code VAR Mapping PDO Data type UNSIGNED8 Sub index 01 FEhex Access rww Default value 00hex Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 DO8 DO7 DO6 DO5 DO4 DO3 DO2 DO1 Feature Description Value EDS Name Input1_8 MxSubExt3160 ParameterName Input1_8 ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Desc...

Страница 156: ...e Design of the data bytes Byte 0 Sub Index 1 n 254 Feature Description Value EDS Name InputVoltageState MxSubExt3161 ParameterName InputVoltageState ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Description Status of supply voltage Object Code ARRAY Mapping PDO Manual Data type UNSIGNED8 Sub index 01 FEhex Access ro Default value 00hex Data bit Designation Meaning Notes 0 O1 t...

Страница 157: ...oup e g for analog modules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 66 Block diagram showing the various CANopen objects for digital inputs herstellerspeziﬁsch produktspeziﬁsch CAN Transmission CAN Transmission CAN Transmission CAN Transmission lnkrementalEncoder1 3176h lnkrementalEncoder2 3177h C...

Страница 158: ...ital Input 8 bit Default ro PDO Section 7 1 1 Read Digital Input 8 Bit Object 0x6000 0x6200 UNSIGNED8 Q BYTE Write Digital Output 8 bit Default rww PDO Section 7 12 2 Write Digital Output 8 bit Object 0x6200 Index hex Data Type Name Function Mapping Access 0x1027 UNSIGNED16 ModuleID Module ID number Section 6 2 6 Module Iden tification Number Object 0x1027 ro SDO 0x2170 UNSIGNED8 Output 1_8 Write ...

Страница 159: ...UNSIGNED16 PWMHighTime3 PWM High Time 3 Manual ro PDO 0x317D UNSIGNED16 PWMPeriod3 PWM Period3 Manual ro PDO 0x317E UNSIGNED16 PWMHighTime4 PWM High Time 4 Manual ro PDO 0x317F UNSIGNED16 PWMPeriod4 PWM Period4 Manual ro PDO 0x4001 VISIBLE STRING SerialNumber Serial Number Section 6 2 8 Serial Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDControl User LED Control Section 6 2 11 Us...

Страница 160: ... BYTE MxSubExt6000 ParameterName I BYTE ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Description Read Digital Input 8 Bit Object Code ARRAY Mapping PDO Default Data type UNSIGNED8 Sub index 01 FEhex Access ro Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name Q Byte MxSubExt6200 ParameterName Q Byte ObjectType 0x7 DataType 0x0005 Access...

Страница 161: ...escription Value EDS Name Output1_8 MxSubExt2170 ParameterName Output1_8 ObjectType 0x7 DataType 0x0005 AccessType rww PDOMapping 1 Count 1 Description Write Digital Outputs Object Code VAR Mapping PDO Data type UNSIGNED8 Sub index 01 FEhex Access rww Default value 00hex Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 DO8 DO7 DO6 DO5 DO4 DO3 DO2 DO1 Feature Description Value EDS Name Input1_8 MxS...

Страница 162: ...4170 will result in counter registers 0x3172 through 0x3177 being reset to 0x00 Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 Feature Description Value EDS Name InputVoltageState MxSubExt3171 ParameterName InputVoltageState ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Description Status of supply voltage Object Code ARRAY Mapping PDO Manual D...

Страница 163: ...t to 0x00 IncrementalEncoder1 Input 1 and Input 2 IncrementalEncoder2 Input 3 and Input 4 The signals are evaluated with AB quadrature mode and X4 encoding Feature Description Value EDS Name Counter1 3172 MxSubExt317x ParameterName Counterx ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Counter2 3173 Counter3 3174 Counter4 3175 Description Counter Register Input x Object Code VA...

Страница 164: ...al at the digital input When a rising signal edge is detected a coun ter will start being incremented every μs Then when the corresponding fall ing signal edge is detected the counter value will be recorded in the corre sponding 16 bit PwmHighTime x count register Once the value is transferred to PwmHighTime x the counter will be reset Feature Description Value EDS Name IncrementalEncoder1 3176 Mx...

Страница 165: ...g signal edge is detected a counter will start being incremented every μs Then when the second rising signal edge is detected the counter value will be recorded in the corresponding 16 bit PwmPeriodTime x counter register Once the value is transferred to PwmPeriodTime x the counter will be reset Feature Description Value EDS Name PwmHighTime1 0x3178 MxSubExt317x ParameterName PwmHighTimex ObjectTy...

Страница 166: ...on Value EDS Name PwmPeriodTime1 0x3179 MxSubExt317x ParameterName PwmPeriodTimex ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 PwmPeriodTime2 0x317B PwmPeriodTime3 0x317D PwmPeriodTime4 0x317F Description PWM Period Time x Object Code VAR Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 ...

Страница 167: ...sign of the data bytes Byte 0 Sub Index 1 n 254 Feature Description Value EDS Name CounterModeRegister1 MxSubExt4170 ParameterName CounterModeRegister1 ObjectType 0x7 DataType 0x0005 AccessType rw PDOMapping 0 Count 1 Description Counter Mode Register 1 Object Code VAR Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value 0x00hex 7 6 5 4 3 2 1 0 Input 3 4 Input 1 2 Bit Designa...

Страница 168: ...andard does not require and that the manufacturer implements for data communication purposes Figure 71 Block diagram showing the various CANopen objects for analog inputs herstellerspeziﬁsch produktspeziﬁsch CAN Transmission CAN Transmission CAN Transmission CAN Transmission Channel Filter Conﬁguration 5075h 5078h Channel Measuring Conﬁguration 5074h Channel Range Conﬁguration 5070h 5073h Signal C...

Страница 169: ...dule Identification Number Object 0x1027 page 76 ro SDO 0x3070 UNSIGNED16 ModuleDiag Module Diagnostic Messages Manual ro PDO 0x3071 INTEGER16 InputChannel1 Input Channel 1 Manual ro PDO 0x3072 INTEGER16 InputChannel2 Input Channel 2 Manual ro PDO 0x3073 INTEGER16 InputChannel3 Input Channel 3 Manual ro PDO 0x3074 INTEGER16 InputChannel4 Input Channel 4 Manual ro PDO 0x3075 UNSIGNED8 WireBreakDiag...

Страница 170: ... 0x5073 UNSIGNED8 SensorSelectChannel4 Sensor Type Selection Channel 4 rw SDO 0x5074 UNSIGNED8 ChannelMeasuringConfig Channel Measuring Configuration two wire three wire measurement rw SDO 0x5075 UNSIGNED16 FilterConfigChannel1 Filter Configuration Channel 1 rw SDO 0x5076 UNSIGNED16 FilterConfigChannel2 Filter Configuration Channel 2 rw SDO 0x5077 UNSIGNED16 FilterConfigChannel3 Filter Configurati...

Страница 171: ...me AI_INTERRUPT_TRIGGER_SELECTION MxSubExt6421 Parameter Name AI_INTERRUPT_TRIGGER_SELECTION ObjectType 0x7 DataType 0x0005 AccessType rw DefaultValue 7 LowLimit 0 HighLimit 31 PDOMapping 0 Count 4 Description Analog Input Interrupt Trigger Selection Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value 0x07hex 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE...

Страница 172: ...per limit Upper Limit 0x6424 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes Feature Description Value EDS Name AnalogInputGlobalInterruptEnable MxFixed6423 ParameterName AnalogInputGlobalInterruptEnable ObjectType 0x7 DataType 0x0001 AccessType rw DefaultValue 0 PDOMapping 0 Description Analog Input Global Interrupt Enable O...

Страница 173: ...interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB 4 Byte 3 Byte Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not relevant Feature Description Value EDS Name AI_LOWER_LIMIT MxSubExt6425 ParameterName AI_LOWER_LIMIT ObjectType 0x...

Страница 174: ...difference between the current value ENTRY into 0x6401 and the last transmitted value is equal to or greater than the fluctuation range Value Difference 0x6426 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 4 Byte 3 Byte Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not releva...

Страница 175: ...Y into 0x6401 is less than the last transmitted value and the difference is greater than or equal to the fluctuation range Negative Value Difference 0x6427 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 3 Byte Byte 2 Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not relevant F...

Страница 176: ...tude is greater than the fluctuation range Positive Value Difference 0x6428 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE If the current value is less than the last transmitted value object 0x6401 will be transmitted If this behavior is not desired object 0x6421 must be enabled and disabled accordingly Design of the data bytes 3 Byte Byte 2 Sub ind...

Страница 177: ...yte 2 Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 MSB LSB Feature Description Value EDS Name Module Diagnostic Messages MxSubExt3070 ParameterName ModuleDiag ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description ModuleDiag Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 7 6 5 4 3 2 1 0 Data bit Des...

Страница 178: ... TYPE TYPE Data bit Desig nation Meaning 8 15 reserved Feature Description Value EDS Name Input Channel x M13SubExt307x ParameterName InputChannelx ObjectType 0x7 DataType 0x0003 AccessType ro PDOMapping 1 Count 1 Description InputChannel1 Object 0x3071 InputChannel2 Object 0x3072 InputChannel3 Object 0x3073 InputChannel4 Object 0x3074 Object Code ARRAY Mapping PDO Manual Data type INTEGER16 Sub i...

Страница 179: ... Name WireBreakDiag MxSubExt3075 ParameterName WireBreakDiag ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Description Wire Break Diagnostic Messages Object Code ARRAY Mapping PDO Manual Data type UNSIGNED8 Sub index 01 FEhex Access ro 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Desig nation Description Notes 0 0 Channel 1 OK 1 Channel 1 wire breakage 1 0 Channel ...

Страница 180: ...g ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Description RangeDiag Object Code ARRAY Mapping PDO Manual Data type UNSIGNED8 Sub index 01 FEhex Access ro Default value 0000hex 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Desig nation Meaning 0 0 Channel 1 OK 1 Channel 1 over range 1 0 Channel 2 OK 1 Channel 2 over range 2 0 Channel 3 OK 1 Channel 3 over range 3 0...

Страница 181: ...ataType 0x0003 AccessType ro PDOMapping 1 Count 1 Description NativeDataA1 Object 0x3077 NativeDataA2 Object 0x3078 NativeDataA3 Object 0x3079 NativeDataA4 Object 0x307A NativeDataA5 Object 0x307B NativeDataA6 Object 0x307C NativeDataA7 Object 0x307D NativeDataA8 Object 0x307E Object Code ARRAY Mapping PDO Manual Data type INTEGER16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 ...

Страница 182: ...Description Value EDS Name Sensor Type Configuration Channel x MxSubExt5070 ParameterName SensorSelectChannelx ObjectType 0x7 DataType 0x0005 AccessType rw PDOMapping 0 Description SensorSelectChannel1 Object 0x5070 SensorSelectChannel2 Object 0x5071 SensorSelectChannel3 Object 0x5072 SensorSelectChannel4 Object 0x5073 Object Code ARRAY Mapping SDO Manual Data type UNSIGNED8 Sub index 01 FEhex Acc...

Страница 183: ...0 6 0000 0110 200 150 C 185 2 1573 3 Ω 1 10 7 0000 0111 200 850 C 185 2 3904 8 Ω 1 10 8 0000 1000 60 150 C 69 5 198 7 Ω 1 10 9 0000 1001 60 250 C 69 5 290 1 Ω 1 10 10 0000 1010 60 150 C 743 0 1987 0 Ω 1 10 11 0000 1011 60 250 C 743 0 2800 0 Ω 1 10 12 0000 1100 0 250 1 10 13 0000 1101 0 500 1 10 14 0000 1110 0 1000 1 10 15 0000 1111 0 2500 1 10 16 0001 0000 0 5000 1 10 17 0001 0001 50 150 C 1035 9 ...

Страница 184: ...e 0x0005 AccessType rw PDOMapping 0 Count 1 Description Channel Measuring Configuration Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value 00hex 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Designa tion Description 0 Channel 1 0 channel 1 2 wire measuring method 1 channel 1 3 wire measuring method 1 Channel 2 0 channel 2 2 wire measuring metho...

Страница 185: ...eature Description Value EDS Name Filter Configuration Channel x M7SubExt5075 ParameterName FilterConfigChannelx ObjectType 0x7 DataType 0x0006 AccessType rw PDOMapping 0 Count 1 Description FilterConfigChannel1 Object 0x5075 FilterConfigChannel2 Object 0x5076 FilterConfigChannel3 Object 0x5077 FilterConfigChannel4 Object 0x5078 Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex...

Страница 186: ...xt5079 ParameterName ChannelActivation ObjectType 0x7 DataType 0x0005 AccessType rw PDOMapping 0 Count 1 Description ChannelActivation Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value 00hex 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Designation Meaning 0 Channel 1 0 channel 1 inactive 1 channel 1 active 1 Channel 2 0 channel 2inactive 1 ch...

Страница 187: ...uct group e g for analog modules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 72 Block diagram showing the various CANopen objects for analog inputs herstellerspeziﬁsch produktspeziﬁsch CAN Transmission CAN Transmission CAN Transmission CAN Transmission Channel Filter Conﬁguration 5081h 5086h Channel ...

Страница 188: ...e Delta Unsigned rw SDO Index hex Data Type Name Function Mappi ng Access 0x1027 UNSIGNED16 ModuleID Module Identification Number Section 6 2 6 Module Identification Number Object 0x1027 page 76 ro SDO 0x3080 UNSIGNED16 ModuleDiag Module Diagnostic Messages Manual ro PDO 0x3081 INTEGER16 InputChannel1 Input Channel 1 Manual ro PDO 0x3082 INTEGER16 InputChannel2 Input Channel 2 Manual ro PDO 0x3083...

Страница 189: ...ter Configuration Channel 2 rw SDO 0x5083 UNSIGNED16 FilterConfigChannel3 Filter Configuration Channel 3 rw SDO 0x5084 UNSIGNED16 FilterConfigChannel4 Filter Configuration Channel 4 rw SDO 0x5085 UNSIGNED16 FilterConfigChannel5 Filter Configuration Channel 5 rw SDO 0x5086 UNSIGNED16 FilterConfigChannel6 Filter Configuration Channel 6 rw SDO Index hex Data Type Name Function Mappi ng Access Feature...

Страница 190: ...TERRUPT_TRIGGER_SELECTION ObjectType 0x7 DataType 0x0005 AccessType rw DefaultValue 7 LowLimit 0 HighLimit 31 PDOMapping 0 Count 7 Description AI_INTERRUPT_TRIGGER_SELECTION Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value 07hex 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Desig nation Meaning Notes 0 0 Upper limit not exceeded 1 Upper limit...

Страница 191: ...he analog input value ENTRY into 0x6401 is equal to or greater than the upper limit Upper Limit 0x6424 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes Feature Description Value EDS Name AnalogInputGlobalInterruptEnable MxFixed6423 ParameterName AnalogInputGlobalInterruptEnable ObjectType 0x7 DataType 0x0001 AccessType rw Defa...

Страница 192: ...interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB 4 Byte 3 Byte Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not relevant Feature Description Value EDS Name AI_LOWER_LIMIT MxSubExt6425 ParameterName AI_LOWER_LIMIT ObjectType 0x...

Страница 193: ...difference between the current value ENTRY into 0x6401 and the last transmitted value is equal to or greater than the fluctuation range Value Difference 0x6426 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 4 Byte 3 Byte Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not releva...

Страница 194: ...Y into 0x6401 is less than the last transmitted value and the difference is greater than or equal to the fluctuation range Negative Value Difference 0x6427 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 3 Byte Byte 2 Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not relevant F...

Страница 195: ...eater than the fluctuation range Positive Value Difference 0x6428 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE If the current value is less than the last transmitted value object 0x6401 will be transmitted If this behavior is not desired object 0x6421 must be enabled and disabled accordingly Design of the data bytes 3 Byte Byte 2 Sub index 1 n 254...

Страница 196: ...B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 MSB LSB Feature Description Value EDS Name ModuleDiag MxSubExt3080 ParameterName ModuleDiag ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description Module Diagnostic Messages Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro Default value 0000hex 7 6 5 4 3 2 1 0 Data bit Desig nat...

Страница 197: ... 0 7 reserved Feature Description Value EDS Name InputChannel1 Object 0x3081 M8SubExt308x ParameterName InputChannelx ObjectType 0x7 DataType 0x0003 AccessType ro PDOMapping 1 Count 1 InputChannel2 Object 0x3082 InputChannel3 Object 0x3083 InputChannel4 Object 0x3084 InputChannel5 Object 0x3085 InputChannel6 Object 0x3086 InputChannel7 Object 0x3087 Description Input Channel x Object Code ARRAY Ma...

Страница 198: ...ssType ro PDOMapping 1 Count 1 Description Wire Break Diagnostic Messages Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Channel 2 Channel 1 Data bit Desig nation Description Notes 0 0 OK 1 channel 1 wire breakage 1 0 OK 1 channel 2 wire breakage 2 0 OK 1 channel 3 ...

Страница 199: ...n Notes 0 0 OK 1 Short circuit channel 7 when KTY PT parameterization 1 0 OK 1 Low Voltage U Reference 2 0 OK 1 Overcurrent U Reference 3 7 reserved Feature Description Value EDS Name FirmwareVersion MxSubExt4080 ParameterName FirmwareVersion ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 0 Count 1 Description Firmware Version Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 0...

Страница 200: ...NSIGNED16 Sub index 01 FEhex Access rw Default value 0000hex Word Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Data bit Designation Description Notes 0 Analog Input 1 0 Analog measurement 10V 1 Temperature measurement 1 0 KTY10 Sensor 1 PT1000 Sensor 2 0 Differential measurement 1 AI1 grounded measurement 3 Analog Input 2 0 Differential measurement 1 AI1 grounded...

Страница 201: ...eterName FilterConfigChannelx ObjectType 0x7 DataType 0x0006 AccessType rw PDOMapping 0 Count 1 FilterConfigChannel2 Object 0x5082 FilterConfigChannel3 Object 0x5083 FilterConfigChannel4 Object 0x5084 FilterConfigChannel5 Object 0x5085 FilterConfigChannel6 Object 0x5086 Description Filter Configuration Channel x Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access rw Defaul...

Страница 202: ...ct group e g for analog modules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 73 Block diagram showing the various CANopen objects for analog inputs herstellerspeziﬁsch produktspeziﬁsch CAN Transmission CAN Transmission CAN Transmission CAN Transmission Channel Filter Conﬁguration 5091h 5098h Channel M...

Страница 203: ...ss 0x1027 UNSIGNED16 ModuleD Module Identification Number Section 6 2 6 Module Identification Number Object 0x1027 page 76 ro SDO 0x3090 UNSIGNED16 ModuleDiag Module Diagnostic Messages Manual ro PDO 0x3091 INTEGER16 InputChannel1 Input Channel 1 Manual ro PDO 0x3092 INTEGER16 InputChannel2 Input Channel 2 Manual ro PDO 0x3093 INTEGER16 InputChannel3 Input Channel 3 Manual ro PDO 0x3094 INTEGER16 ...

Страница 204: ...figuration Channel 2 rw SDO 0x5093 UNSIGNED16 FilterConfigChannel3 Filter Configuration Channel 3 rw SDO 0x5094 UNSIGNED16 FilterConfigChannel4 Filter Configuration Channel 4 rw SDO 0x5095 UNSIGNED16 FilterConfigChannel5 Filter Configuration Channel 5 rw SDO 0x5096 UNSIGNED16 FilterConfigChannel6 Filter Configuration Channel 6 rw SDO 0x5097 UNSIGNED16 FilterConfigChannel7 Filter Configuration Chan...

Страница 205: ...005 AccessType rw DefaultValue 7 LowLimit 0 HighLimit 31 PDOMapping 0 Count 8 Description AI_INTERRUPT_TRIGGER_SELECTION Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value 0x07hex 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Desig nation Description 0 0 Upper limit not exceeded 1 Upper limit exceeded 1 0 Input not below lower limit 1 Input bel...

Страница 206: ...per Limit 0x6424 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes Feature Description Value EDS Name Analog Input Global Interrupt Enable MxFixed6423 ParameterName AnalogInputGlobalInterruptEnable ObjectType 0x7 DataType 0x0001 AccessType rw DefaultValue 0 PDOMapping 0 Description AnalogInputGlobalInterruptEnable Object Code V...

Страница 207: ...nterrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB 4 Byte 3 Byte Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not relevant Feature Description Value EDS Name AI_LOWER_LIMIT MxSubExt6425 ParameterName AI_LOWER_LIMIT ObjectType 0x7...

Страница 208: ... met The difference between the current value ENTRY into 0x6401 and the last transmitted value is equal to or greater than the fluctuation range Value Difference 0x6426 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 4 Byte 3 Byte Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant N...

Страница 209: ...into 0x6401 is less than the last transmitted value and the difference is greater than or equal to the fluctuation range Negative Value Difference 0x6427 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 3 Byte Byte 2 Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not relevant Fea...

Страница 210: ...ater than the fluctuation range Positive Value Difference 0x6428 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE If the current value is less than the last transmitted value object 0x6401 will be transmitted If this behavior is not desired object 0x6421 must be enabled and disabled accordingly Design of the data bytes 3 Byte Byte 2 Sub index 1 n 254 ...

Страница 211: ...Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 MSB LSB Feature Description Value EDS Name Module Diagnostic Messages MxSubExt3090 ParameterName ModuleDiag ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description ModuleDiag Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 7 6 5 4 3 2 1 0 Data bit Desig nat...

Страница 212: ... Feature Description Value EDS Name Input Channel x MxSubExt309x ParameterName InputChannelx ObjectType 0x7 DataType 0x0003 AccessType ro PDOMapping 1 Count 1 Description InputChannel1 Object 0x3091 InputChannel2 Object 0x3092 InputChannel3 Object 0x3093 InputChannel4 Object 0x3094 InputChannel5 Object 0x3095 InputChannel6 Object 0x3096 InputChannel7 Object 0x3097 InputChannel8 Object 0x3098 Objec...

Страница 213: ...ype 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description Wire Break Diagnostic Messages Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Description 0 0 Channel 1 OK 1 Channel 1 wire breakage 1 0 Channel 2 OK 1 Channel 2wire breakage 2 0 Channel 3 OK 1 Channel 3 wire breakage 3 0 Channel 4...

Страница 214: ...rsion using SDO based access Design of the data bytes Feature Description Value EDS Name Firmware Version MxSubExt4090 ParameterName FirmwareVersion ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 0 Count 1 Description FirmwareVersion Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 ...

Страница 215: ...D16 Sub index 01 FEhex Access rw Default value 0000hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Data bit Designation Description 0 Channel 1 0 measurement range 0 20mA 1 measurement range 4 20mA 1 Channel 2 0 measurement range 0 20mA 1 measurement range 4 20mA 2 Channel 3 0 measurement range 0 20mA 1 measurement range 4 20mA 3 Channel 4 0 measur...

Страница 216: ...pe 0x7 DataType 0x0006 AccessType rw PDOMapping 0 Count 1 Description FilterConfigChannel1 Object 0x5091 FilterConfigChannel2 Object 0x5092 FilterConfigChannel3 Object 0x5093 FilterConfigChannel4 Object 0x5094 FilterConfigChannel5 Object 0x5095 FilterConfigChannel6 Object 0x5096 FilterConfigChannel7 Object 0x5097 FilterConfigChannel8 Object 0x5098 Object Code ARRAY Mapping SDO Data type UNSIGNED16...

Страница 217: ...or a prod uct group e g for analog modules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 74 Block diagram showing the various CANopen objects herstellerspeziﬁsch produktspeziﬁsch CAN Transmission CAN Transmission CAN Transmission CAN Transmission Channel Range Conﬁguration 50A0h 50A3h Channel Measuring...

Страница 218: ... ModuleID Module Identification Number Section 6 2 6 Module Identification Number Object 0x1027 page 76 ro SDO 0x30A0 UNSIGNED16 ModuleDiag Module Diagnostic Messages Manual ro PDO 0x30A1 INTEGER16 InputChannel1 Input Channel 1 Manual ro PDO 0x30A2 INTEGER16 InputChannel2 Input Channel 2 Manual ro PDO 0x30A3 INTEGER16 InputChannel3 Input Channel 3 Manual ro PDO 0x30A4 INTEGER16 InputChannel4 Input...

Страница 219: ...tChannel1_2 Sensor Type Selection Channel 1_2 rw SDO 0x50A1 UNSIGNED8 SensorTypeSelectChannel3_4 Sensor Type Selection Channel 3_4 rw SDO 0x50A2 UNSIGNED8 SensorTypeSelectChannel5_6 Sensor Type Selection Channel 5_6 rw SDO 0x50A3 UNSIGNED8 SensorTypeSelectChannel7_8 Sensor Type Selection Channel 7_8 rw SDO 0x50A4 UNSIGNED8 ReferenceInputSelect Reference Input Select Cold junction compensation conf...

Страница 220: ...sType rw DefaultValue 7 LowLimit 0 HighLimit 31 PDOMapping 0 Count 10 Description Analog Input Interrupt Trigger Selection Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value 0x07hex 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Desig nation Description 0 0 Upper limit not exceeded 1 Upper limit exceeded 1 0 Input not below lower limit 1 Input b...

Страница 221: ...per limit Upper Limit 0x6424 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes Feature Description Value EDS Name AnalogInputGlobalInterruptEnable MxFixed6423 ParameterName AnalogInputGlobalInterruptEnable ObjectType 0x7 DataType 0x0001 AccessType rw DefaultValue 0 PDOMapping 0 Description Analog Input Global Interrupt Enable O...

Страница 222: ...interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB 4 Byte 3 Byte Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not relevant Feature Description Value EDS Name AI_LOWER_LIMIT MxSubExt6425 ParameterName AI_LOWER_LIMIT ObjectType 0x...

Страница 223: ...difference between the current value ENTRY into 0x6401 and the last transmitted value is equal to or greater than the fluctuation range Value Difference 0x6426 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 4 Byte 3 Byte Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not releva...

Страница 224: ...Y into 0x6401 is less than the last transmitted value and the difference is greater than or equal to the fluctuation range Negative Value Difference 0x6427 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 3 Byte Byte 2 Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not relevant F...

Страница 225: ...eater than the fluctuation range Positive Value Difference 0x6428 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE If the current value is less than the last transmitted value object 0x6401 will be transmitted If this behavior is not desired object 0x6421 must be enabled and disabled accordingly Design of the data bytes 3 Byte Byte 2 Sub index 1 n 254...

Страница 226: ...x 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 MSB LSB Feature Description Value EDS Name Module Diagnostic Messages MxSubExt30A0 ParameterName ModuleDiag ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description ModuleDiag Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 7 6 5 4 3 2 1 0 Data bit Designation Descr...

Страница 227: ... Description Value EDS Name Input Channel x MxSubExt306x ParameterName InputChannelx ObjectType 0x7 DataType 0x0003 AccessType ro PDOMapping 1 Count 1 Description InputChannel1 Object 0x30A1 InputChannel2 Object 0x30A2 InputChannel3 Object 0x30A3 InputChannel4 Object 0x30A4 InputChannel5 Object 0x30A5 InputChannel6 Object 0x30A6 InputChannel7 Object 0x30A7 InputChannel8 Object 0x30A8 Object Code A...

Страница 228: ...iption Value EDS Name Input Channel x MxSubExt30Ax ParameterName ReferenceInputx ObjectType 0x7 DataType 0x0003 AccessType ro PDOMapping 1 Count 1 Description ReferenceInput1 Object 0x30A9 ReferenceInput2 Object 0x30AA Object Code ARRAY Mapping PDO Manual Data type INTEGER16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB F...

Страница 229: ...le breakage 2 0 OK 1 Channel 3 cable breakage 3 0 OK 1 Channel 4 cable breakage 4 0 OK 1 Channel 5 cable breakage 5 0 OK 1 Channel 6 cable breakage 6 0 OK 1 Channel 7 cable breakage 7 0 OK 1 Channel 8 cable breakage 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Desig nation Description 0 0 OK 1 Channel 9 cable breakage 1 0 OK 1 Channel 10 cable breakage 2 0 OK 1 channel 9 cable short c...

Страница 230: ...Description Value EDS Name Firmware Version MxSubExt40A0 ParameterName FirmwareVersion ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 0 Count 1 Description FirmwareVersion Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name RangeConfi...

Страница 231: ...B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB AI2 AI1 AI4 AI3 AI6 AI5 AI8 AI7 Object AI Bit Description 50A0 AI1 Bit 0 3 Table 38 page 227 AI2 Bit 4 7 50A1 AI3 Bit 0 3 AI4 Bit 4 7 50A2 AI5 Bit 0 3 AI6 Bit 4 7 50A3 AI7 Bit 0 3 AI8 Bit 4 7 Hexadecimal value Part no Measuring range Bit 0 3 Bit 4 7 0hex J 0 690 C 1hex K 0 940 C 2hex T 0 400 C 3hex E 0 520 C 4hex N 0 1080 C 5hex S 0 1760 C 6hex R 0 1760 C 7hex B 0 1...

Страница 232: ... ParameterName ReferenceInputSelect ObjectType 0x7 DataType 0x0005 AccessType rw DefaultValue 0 PDOMapping 0 Count 1 Description ReferenceInputSelect Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value 00hex Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 LSB Data bit Designation Description 0 Channel 1 0 KTY 1 1 KTY 2 1 Channel 2 0 KTY 1 1 KTY 2 2 Channel...

Страница 233: ...equires for a sys tem Product specific objects that the CANopen standard requires for a prod uct group e g for analog modules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 75 Block diagram showing the various CANopen objects for analog outputs Product specific CANopen objects herstellerspeziﬁsch produk...

Страница 234: ...16 OutputChannel2 Output Channel 2 Manual rw PDO 0x20D2 INTEGER16 OutputChannel3 Output Channel 3 Manual rw PDO 0x20D3 INTEGER16 OutputChannel4 Output Channel 4 Manual rw PDO 0x20D4 INTEGER16 OutputChannel5 Output Channel 5 Manual rw PDO 0x20D5 INTEGER16 OutputChannel6 Output Channel 6 Manual rw PDO 0x20D6 INTEGER16 OutputChannel7 Output Channel 7 Manual rw PDO 0x20D7 INTEGER16 OutputChannel8 Outp...

Страница 235: ...ing PDO Default Data type INTEGER16 Sub index 01 FEhex Access rww Default value 0000hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name OutputChannel1 Object 0x20D0 MxSubExt20Dx ParameterName OutputChannelx ObjectType 0x7 DataType 0x0003 AccessType rww PDOMapping 1 Count 1 OutputChannel2 Object 0x20D1 OutputChannel3 O...

Страница 236: ... 1 n 254 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name ModuleDiag MxSubExt30D0 ParameterName ModuleDiag ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description Module Diagnostic Messages Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 7 6 5 4 3 2 1 0 Data ...

Страница 237: ... data bytes 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Description 8 15 reserved Feature Description Value EDS Name FirmwareVersion MxSubExt40D0 ParameterName FirmwareVersion ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 0 Count 1 Description Firmware Version Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15...

Страница 238: ... uct group e g for analog modules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 76 Block diagram showing the various CANopen objects for analog inputs herstellerspeziﬁsch produktspeziﬁsch CAN Transmission CAN Transmission CAN Transmission CAN Transmission Channel Filter Conﬁguration 51A2h 51A3h Channel...

Страница 239: ...utGlobalInterruptEnable Analog Input Global Interrupt Enable rw SDO 0x6424 INTEGER32 AI_UPPER_LIMIT Analog Input Interrupt Upper Limit Integer rw SDO 0x6425 INTEGER32 AI_LOWER_LIMIT Analog Input Interrupt Lower Limit Integer rw SDO 0x6426 UNSIGNED32 AI_DELTA_VALUE Analog Input Interrupt Delta Unsigned rw SDO 0x6427 UNSIGNED32 AI_NEGATIVE_DELTA_VALUE Analog Input Interrupt Negative Delta Unsigned r...

Страница 240: ...nst SDO 0x4004 UNSIGNED8 UserLEDControl User LED Control Section 6 2 11 User LED Control Object 0x4004 page 81 rw SDO 0x400C VISIBLE STRING ProductName Product Name Section 6 2 14 Product Name Object 0x400C page 82 ro SDO 0x41A0 UNSIGNED16 FirmwareVersion Firmware Version ro SDO 0x51A0 UNSIGNED16 AnalogInputSelection Analog Input Selection rw SDO 0x51A1 UNSIGNED16 FilterConfigChannel1 Filter Confi...

Страница 241: ...ectType 0x7 DataType 0x0003 AccessType rww PDOMapping 1 Count 2 Description Write Analog Output 16 Bit Object Code ARRAY Mapping PDO Default Data type INTEGER16 Sub index 01 FEhex Access rww Default value 00hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name AI_INTERRUPT_TRIGGER_SELECTION MxSubExt6421 Parameter Name A...

Страница 242: ...are met The analog input value ENTRY into 0x6401 is equal to or greater than the upper limit Upper Limit 0x6424 Object 0x6421 is set to enable Data bit Desig nation Meaning 0 0 Upper limit not exceeded 1 Upper limit exceeded 1 0 Input not below lower limit 1 Input below lower limit 2 0 Input not changed by more than delta 1 Input changed by more than delta 3 0 Input not reduced by more than negati...

Страница 243: ...nput value ENTRY into 0x6401 falls below the lower limit Lower Limit 0x6425 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Feature Description Value EDS Name AI_UPPER_LIMIT MxSubExt6424 ParameterName AI_UPPER_LIMIT ObjectType 0x7 DataType 0x0004 AccessType rw DefaultValue 0x00000000 PDOMapping 0 Count 2 Description Analog Input Interrupt Upper Limit...

Страница 244: ...following conditions are met The difference between the current value ENTRY into 0x6401 and the last transmitted value is equal to or greater than the fluctuation range Value Difference 0x6426 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Feature Description Value EDS Name AI_LOWER_LIMIT MxSubExt6425 ParameterName AI_LOWER_LIMIT ObjectType 0x7 Data...

Страница 245: ...ditions are met The current value ENTRY into 0x6401 is less than the last transmitted value and the difference is greater than or equal to the fluctuation range Negative Value Difference 0x6427 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Feature Description Value EDS Name AI_DELTA_VALUE MxSubExt6426 ParameterName AI_DELTA_VALUE ObjectType 0x7 Dat...

Страница 246: ...rence s magnitude is greater than the fluctuation range Positive Value Difference 0x6428 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE If the current value is less than the last transmitted value object 0x6401 will be transmitted If this behavior is not desired object 0x6421 must be enabled and disabled accordingly Feature Description Value EDS Nam...

Страница 247: ...Mapping 0 Count 2 Description Analog Input Interrupt Positive Delta Unsigned Object Code ARRAY Mapping SDO Data type UNSIGNED32 Sub index 01 FEhex Access rw Default value 00000000hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 LSB 3 Byte Byte 2 Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 MSB LSB Feature Description Val...

Страница 248: ...te 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name ModuleDiag MxSubExt31A0 ParameterName ModuleDiag ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description Module Diagnostic Messages Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 7 6 5 4 3 2 1 0 Data bit Desig nation D...

Страница 249: ...contains status information on the module s channels 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE Data bit Desig nation Description 8 15 reserved Feature Description Value EDS Name InputChannelx MxSubExt31Ax ParameterName InputChannelx ObjectType 0x7 DataType 0x0003 AccessType ro PDOMapping 1 Count 1 Description InputChannel1 Object 0x31A1 InputChannel2 Object 0x31A2 Object Code ARRAY Mapping PDO M...

Страница 250: ...DS Name WireBreakDiag MxSubExt31A3 ParameterName WireBreakDiag ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description Wire Break Diagnostic Messages Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Desig nation Description 0 0 Channel 1 OK 1 Channel 1 wire breakage 1 0 Channel 2 O...

Страница 251: ...ure Description Value EDS Name FirmwareVersion MxSubExt41A0 ParameterName FirmwareVersion ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 0 Count 1 Description Firmware Version Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB ...

Страница 252: ...ameterName AnalogInputSelection ObjectType 0x7 DataType 0x0006 AccessType rw PDOMapping 0 Count 1 Description Analog Input Selection Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access rw Default value 0000hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Data bit Desig nation Description 0 Channel 1 0 Differential measuremen...

Страница 253: ...owing settings are valid Feature Description Value EDS Name FilterConfigChannelx MxSubExt51Ax ParameterName FilterConfigChannelx ObjectType 0x7 DataType 0x0006 AccessType rw PDOMapping 0 Count 1 Description FilterConfigChannel1 Object 0x51A1 FilterConfigChannel2 Object 0x51A2 Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access rw 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13...

Страница 254: ... uct group e g for analog modules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 78 Block diagram showing the various CANopen objects for analog inputs herstellerspeziﬁsch produktspeziﬁsch CAN Transmission CAN Transmission CAN Transmission CAN Transmission Channel Filter Conﬁguration 50B1h 50B4h Channel...

Страница 255: ...alog Input Global Interrupt Enable rw SDO 0x6424 INTEGER32 AI_UPPER_LIMIT Analog Input Interrupt Upper Limit Integer rw SDO 0x6425 INTEGER32 AI_LOWER_LIMIT Analog Input Interrupt Lower Limit Integer rw SDO 0x6426 UNSIGNED32 AI_DELTA_VALUE Analog Input Interrupt Delta Unsigned rw SDO 0x6427 UNSIGNED32 AI_NEGATIVE_DELTA_VALUE Analog Input Interrupt Negative Delta Unsigned rw SDO 0x6428 UNSIGNED32 AI...

Страница 256: ...ntrol Object 0x4004 page 81 rw SDO 0x400C VISIBLE STRING ProductName Product Name Section 6 2 14 Product Name Object 0x400C page 82 ro SDO 0x40B0 UNSIGNED16 FirmwareVersion Firmware Version ro SDO 0x50B0 UNSIGNED16 AnalogInputSelection Analog Input Selection rw SDO 0x50B1 UNSIGNED16 FilterConfigChannel1 Filter Configuration Channel 1 rw SDO 0x50B2 UNSIGNED16 FilterConfigChannel2 Filter Configurati...

Страница 257: ...Design of the data bytes Byte 0 Sub Index 1 n 254 Feature Description Value EDS Name Write Analog Output 16 Bit MxSubExt6411 ParameterName Q WORD ObjectType 0x7 DataType 0x0003 AccessType rww PDOMapping 1 Count 4 Description Q WORD Object Code ARRAY Mapping PDO Default Data type INTEGER16 Sub index 01 FEhex Access rww Default value 00hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B...

Страница 258: ...ssion if all of the following conditions are met 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Desig nation Description 0 0 Upper limit not exceeded 1 Upper limit exceeded 1 0 Input not below lower limit 1 Input below lower limit 2 0 Input not changed by more than delta 1 Input changed by more than delta 3 0 Input not reduced by more than negative delta 1 Input reduced by more than neg...

Страница 259: ...f all of the following conditions are met The analog input value ENTRY into 0x6401 falls below the lower limit Lower Limit 0x6425 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Feature Description Value EDS Name AI_UPPER_LIMIT MxSubExt6424 ParameterName AI_UPPER_LIMIT ObjectType 0x7 DataType 0x0004 AccessType rw DefaultValue 0x00000000 PDOMapping 0 ...

Страница 260: ...following conditions are met The difference between the current value ENTRY into 0x6401 and the last transmitted value is equal to or greater than the fluctuation range Value Difference 0x6426 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Feature Description Value EDS Name AI_LOWER_LIMIT MxSubExt6425 ParameterName AI_LOWER_LIMIT ObjectType 0x7 Data...

Страница 261: ...ditions are met The current value ENTRY into 0x6401 is less than the last transmitted value and the difference is greater than or equal to the fluctuation range Negative Value Difference 0x6427 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Feature Description Value EDS Name AI_DELTA_VALUE MxSubExt6426 ParameterName AI_DELTA_VALUE ObjectType 0x7 Dat...

Страница 262: ...rence s magnitude is greater than the fluctuation range Positive Value Difference 0x6428 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE If the current value is less than the last transmitted value object 0x6401 will be transmitted If this behavior is not desired object 0x6421 must be enabled and disabled accordingly Feature Description Value EDS Nam...

Страница 263: ...jectType 0x7 DataType 0x0007 AccessType rw DefaultValue 0x00000000 HighLimit 0x0000FFFF PDOMapping 0 Count 4 Description Analog Input Interrupt Positive Delta Unsigned Object Code ARRAY Mapping SDO Data type UNSIGNED32 Sub index 01 FEhex Access rw Default value 00000000hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 LSB 3 Byte Byte 2 Sub index 1 n 254 B31 ...

Страница 264: ...0x20B0 MxSubExt20Bx ParameterName OutputChannelx ObjectType 0x7 DataType 0x0003 AccessType rww PDOMapping 0 Count 1 OutputChannel2 Object 0x20B1 OutputChannel3 Object 0x20B2 OutputChannel4 Object 0x20B3 Description Output Channel x Object Code ARRAY Mapping PDO MANUAL Data type INTEGER16 Sub index 01 FE hex Access rww Default value 0 x 0000 hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B...

Страница 265: ...ex 1 n 254 Byte 1 Sub Index 1 n 254 7 6 5 4 3 2 1 0 Data bit Desig nation Description 0 0 24VDC OK 1 24VDC not OK 1 0 sync OK 1 no sync 2 0 OK 1 FLASH Data CRC Error 3 0 OK 1 RAM Data CRC Error 4 0 OK 1 Inconsistent FLASH Data 5 7 reserved 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Desig nation Description 8 15 reserved ...

Страница 266: ...el1 Object 0x30B1 MxSubExt30Bx ParameterName InputChannelx ObjectType 0x7 DataType 0x0003 AccessType ro PDOMapping 1 Count 1 InputChannel2 Object 0x30B2 InputChannel3 Object 0x30B3 InputChannel4 Object 0x30B4 Description Input Channel x Object Code ARRAY Mapping PDO Manual Data type INTEGER16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 ...

Страница 267: ...Channel 1 wire breakage 1 0 Channel 2 OK 1 Channel 2wire breakage 2 0 Channel 3 OK 1 Channel 3 wire breakage 3 0 Channel 4 OK 1 Channel 4 wire breakage 4 0 OK 1 LowReference 5 0 OK 1 AI OverCurrent 6 7 reserved Feature Description Value EDS Name Firmware Version MxSubExt40B0 ParameterName FirmwareVersion ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 0 Count 1 Description FirmwareVersion ...

Страница 268: ...ccessType rw PDOMapping 0 Count 1 Description AnalogInputSelection Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access rw Default value 0000hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Data bit Desig nation Description 0 Channel 1 0 Differential measurement 1 AI1 grounded measurement 1 Channel 2 0 Differential measuremen...

Страница 269: ...EDS Name Filter Configuration Channel x MxSubExt50Bx ParameterName FilterConfigChannelx ObjectType 0x7 DataType 0x0006 AccessType rw PDOMapping 0 Count 1 Description FilterConfigChannel1 Object 0x50B1 FilterConfigChannel2 Object 0x50B2 FilterConfigChannel3 Object 0x50B3 FilterConfigChannel4 Object 0x50B4 Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access rw Default value ...

Страница 270: ...uct group e g for analog modules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 80 Block diagram showing the various CANopen objects for analog inputs herstellerspeziﬁsch produktspeziﬁsch CAN Transmission CAN Transmission CAN Transmission CAN Transmission Channel Filter Conﬁguration 51B2h 51B3h Channel ...

Страница 271: ... Index hex Data Type Name Function Mapping Access 0x6401 INTEGER16 I WORD Read Analog Input 16 bit Default ro PDO 0x6411 INTEGER16 Q WORD Write Analog Output 16 bit Default rww PDO 0x6421 UNSIGNED8 AI_INTERRUPT_TRIGGER_SELECTION Analog Input Interrupt Trigger Selection rw SDO 0x6423 BOOLEAN AnalogInputGlobalInterruptEnable Analog Input Global Interrupt Enable rw SDO 0x6424 INTEGER32 AI_UPPER_LIMIT...

Страница 272: ...ER16 InputChannel1 Input Channel 1 Manual ro PDO 0x31B2 INTEGER16 InputChannel2 Input Channel 2 Manual ro PDO 0x31B3 UNSIGNED8 ChannelDiag Channel Diagnostic Messages Manual ro PDO 0x31B4 UNSIGNED8 InputVoltageState Input Voltage State Manual ro PDO 0x4001 VISIBLE STRING SerialNumber Serial Number Section 6 2 8 Serial Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDControl User LED ...

Страница 273: ...jectType 0x7 DataType 0x0003 AccessType ro PDOMapping 1 Count 2 Description Read Analog Input 16 Bit Object Code ARRAY Mapping PDO Default Data type INTEGER16 Sub index 01 FE hex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name Q WORD MxSubExt6411 ParameterName Q WORD ObjectType 0x7 DataType 0x0003 AccessType...

Страница 274: ...TRIGGER_SELECTIO N ObjectType 0x7 DataType 0x0005 AccessType rw DefaultValue 7 LowLimit 0 HighLimit 31 PDOMapping 0 Count 2 Description Analog Input Interrupt Trigger Selection Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value 07hex 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Desig nation Meaning 0 0 Upper limit not exceeded 1 Upper limit ex...

Страница 275: ...e analog input value ENTRY into 0x6401 is equal to or greater than the upper limit Upper Limit 0x6424 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes Feature Description Value EDS Name AnalogInputGlobalInterruptEnable MxFixed6423 ParameterName AnalogInputGlobalInterruptEnable ObjectType 0x7 DataType 0x0001 AccessType rw Defau...

Страница 276: ...nterrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB 4 Byte 3 Byte Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not relevant Feature Description Value EDS Name AI_LOWER_LIMIT MxSubExt6425 ParameterName AI_LOWER_LIMIT ObjectType 0x7...

Страница 277: ...ifference between the current value ENTRY into 0x6401 and the last transmitted value is equal to or greater than the fluctuation range Value Difference 0x6426 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 4 Byte 3 Byte Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not relevan...

Страница 278: ... into 0x6401 is less than the last transmitted value and the difference is greater than or equal to the fluctuation range Negative Value Difference 0x6427 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 3 Byte Byte 2 Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not relevant Fe...

Страница 279: ...ater than the fluctuation range Positive Value Difference 0x6428 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE If the current value is less than the last transmitted value object 0x6401 will be transmitted If this behavior is not desired object 0x6421 must be enabled and disabled accordingly Design of the data bytes 3 Byte Byte 2 Sub index 1 n 254 ...

Страница 280: ...1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 MSB LSB Feature Description Value EDS Name OutputChannelx MxSubExt21Bx ParameterName OutputChannelx ObjectType 0x7 DataType 0x0003 AccessType rww PDOMapping 1 Count 1 Description OutputChannel1 Object 0x21B0 OutputChannel2 Object 0x21B1 Object Code ARRAY Mapping PDO MANUAL Data type INTEGER16 Sub index 01 FE hex Access rww Def...

Страница 281: ...EDS Name ModuleDiag MxSubExt31B0 ParameterName ModuleDiag ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description Module Diagnostic Messages Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 7 6 5 4 3 2 1 0 Data bit Designation Description 0 reserved 1 0 sync OK 1 no sync 2 0 OK 1 FLASH Data CRC Error 3 0 OK 1 RAM Data CRC Error 4 0 OK 1 I...

Страница 282: ...on Value EDS Name InputChannel1 Object 0x31B1 MxSubExt31Bx ParameterName InputChannelx ObjectType 0x7 DataType 0x0003 AccessType ro PDOMapping 1 Count 1 InputChannel2 Object 0x31B2 Description InputChannelx Object Code ARRAY Mapping PDO Manual Data type INTEGER16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Descr...

Страница 283: ...put channel 1 Wire breakage 1 0 Input channel 2 OK 1 Input channel 2 Wire breakage 2 reserved 3 reserved 4 0 OK 1 Input channel 1 Over Range 5 0 OK 1 Input channel 2 Over Range 6 7 reserved Feature Description Value EDS Name InputVoltageState MxSubExt31B4 ParameterName InputVoltageState ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Description Status of supply voltage Object Co...

Страница 284: ...rsion using SDO based access Design of the data bytes Feature Description Value EDS Name FirmwareVersion MxSubExt41B0 ParameterName FirmwareVersion ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 0 Count 1 Description Firmware Version Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 ...

Страница 285: ...DataType 0x0005 AccessType rw PDOMapping 0 DefaultValue 0xF0 Count 1 Description Input Channel Configuration Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value F0hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Data bit Designation Meaning Bit 1 Bit 0 0 0 Channel 1 Measurement range 0 20mA 0 1 Measurement ra...

Страница 286: ...elConfig MxSubExt51B1 ParameterName OutputChannelConfig ObjectType 0x7 DataType 0x0005 AccessType rw PDOMapping 0 DefaultValue 0xF0 Count 1 Description Output Channel Configuration Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value F0hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Data bit Designation Descr...

Страница 287: ...wing settings are valid Feature Description Value EDS Name FilterConfigChannelx MxSubExt51Bx ParameterName FilterConfigChannelx ObjectType 0x7 DataType 0x0006 AccessType rw PDOMapping 0 Count 1 Description FilterConfigChannel1 Object 0x51B2 FilterConfigChannel2 Object 0x51B3 Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access rw 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 ...

Страница 288: ...uct group e g for analog modules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 82 Block diagram showing the various CANopen objects for analog inputs herstellerspeziﬁsch produktspeziﬁsch CAN Transmission CAN Transmission CAN Transmission CAN Transmission Channel Filter Conﬁguration 50C2h 50C5h Channel ...

Страница 289: ...D8 AI_INTERRUPT_TRIGGER_SELECTION Analog Input Interrupt Trigger Selection rw SDO 0x6423 BOOLEAN AnalogInputGlobalInterruptEnable Analog Input Global Interrupt Enable rw SDO 0x6424 INTEGER32 AI_UPPER_LIMIT Analog Input Interrupt Upper Limit Integer rw SDO 0x6425 INTEGER32 AI_LOWER_LIMIT Analog Input Interrupt Lower Limit Integer rw SDO 0x6426 UNSIGNED32 AI_DELTA_VALUE Analog Input Interrupt Delta ...

Страница 290: ...Number Serial Number Section 6 2 8 Serial Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDControl User LED Control Section 6 2 11 User LED Control Object 0x4004 page 81 rw SDO 0x400C VISIBLE STRING ProductName Product Name Section 6 2 14 Product Name Object 0x400C page 82 ro SDO 0x40C0 UNSIGNED16 FirmwareVersion Firmware Version ro SDO 0x50C0 UNSIGNED8 InputChannelConfig Channel Mea...

Страница 291: ...ered into the receive PDOs default mapping Design of the data bytes Feature Description Value EDS Name I WORD MxSubExt6401 ParameterName I WORD ObjectType 0x7 DataType 0x0003 AccessType ro PDOMapping 1 Count 4 Description Read Analog Input 16 Bit Object Code ARRAY Mapping PDO Default Data type INTEGER16 Sub index 01 FE hex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 ...

Страница 292: ...ION MxSubExt6421 Parameter Name AI_INTERRUPT_TRIGGER_SELECTIO N ObjectType 0x7 DataType 0x0005 AccessType rw DefaultValue 7 LowLimit 0 HighLimit 31 PDOMapping 0 Count 4 Description Analog Input Interrupt Trigger Selection Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value 07hex 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Desig nation Descript...

Страница 293: ...e analog input value ENTRY into 0x6401 is equal to or greater than the upper limit Upper Limit 0x6424 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes Feature Description Value EDS Name AnalogInputGlobalInterruptEnable MxFixed6423 ParameterName AnalogInputGlobalInterruptEnable ObjectType 0x7 DataType 0x0001 AccessType rw Defau...

Страница 294: ...t in object 0x6423 has been enabled with TRUE Design of the data bytes 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB 4 Byte 3 Byte Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not relevant Feature Description Value EDS Name AI_LOWER_LIMIT AI_LOWER_LIMIT MxSubExt6425 ParameterName AI_LOWER_LIMIT Object...

Страница 295: ...ifference between the current value ENTRY into 0x6401 and the last transmitted value is equal to or greater than the fluctuation range Value Difference 0x6426 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 4 Byte 3 Byte Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not relevan...

Страница 296: ... into 0x6401 is less than the last transmitted value and the difference is greater than or equal to the fluctuation range Negative Value Difference 0x6427 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE Design of the data bytes 3 Byte Byte 2 Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 Not relevant Not relevant Fe...

Страница 297: ...ater than the fluctuation range Positive Value Difference 0x6428 Object 0x6421 is set to enable The global interrupt in object 0x6423 has been enabled with TRUE If the current value is less than the last transmitted value object 0x6401 will be transmitted If this behavior is not desired object 0x6421 must be enabled and disabled accordingly Design of the data bytes 3 Byte Byte 2 Sub index 1 n 254 ...

Страница 298: ... B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 MSB LSB Feature Description Value EDS Name OutputChannel1 Object 0x20C0 MxSubExt20Cx ParameterName OutputChannelx ObjectType 0x7 DataType 0x0003 AccessType rww PDOMapping 1 Count 1 OutputChannel2 Object 0x20C1 OutputChannel3 Object 0x20C2 OutputChannel4 Object 0x20C3 Description OutputChannelx Object Code ARRAY Mapping PDO MANUAL Data type I...

Страница 299: ...e EDS Name ModuleDiag MxSubExt30C0 ParameterName ModuleDiag ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description Module Diagnostic Messages Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 7 6 5 4 3 2 1 0 Data bit Designation Meaning 0 reserved 1 0 sync OK 1 no sync 2 0 OK 1 FLASH Data CRC Error 3 0 OK 1 RAM Data CRC Error 4 0 OK 1 Inc...

Страница 300: ...el x MxSubExt30Cx ParameterName InputChannelx ObjectType 0x7 DataType 0x0003 AccessType ro PDOMapping 1 Count 1 Description InputChannel1 Object 0x30C1 InputChannel2 Object 0x30C2 InputChannel3 Object 0x30C3 InputChannel4 Object 0x30C4 Object Code ARRAY Mapping PDO Manual Data type INTEGER16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B...

Страница 301: ...reakage 1 0 Input channel 2 OK 1 Input channel 2 wire breakage 2 0 Input channel 3 OK 1 Input channel 3 wire breakage 3 0 Input channel 4 OK 1 Input channel 4 wire breakage 4 0 OK 1 Input channel 1 Over Range 5 0 OK 1 Input channel 2 Over Range 6 0 OK 1 Input channel 3 Over Range 7 0 OK 1 Input channel 4 Over Range Feature Description Value EDS Name InputVoltageState MxSubExt30C6 ParameterName Inp...

Страница 302: ...1 2 3 4 analog outputs 1 2 3 4 0 No power 1 Power supply 24 VDC OK Feature Description Value EDS Name FirmwareVersion MxSubExt40C0 ParameterName FirmwareVersion ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 0 Count 1 Description Firmware Version Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7...

Страница 303: ...1 Measurement range 0 20mA 0 1 Measurement range 4 20mA 1 0 1 1 Input disabled Data bit Designation Description Bit 3 Bit 2 0 0 Channel 2 Measurement range 0 20mA 0 1 Measurement range 4 20mA 1 0 1 1 Input disabled Data bit Designation Description Bit 5 Bit 4 0 0 Channel 3 Measurement range 0 20mA 0 1 Measurement range 4 20mA 1 0 1 1 Input disabled Data bit Designation Description Bit 7 Bit 6 0 0 ...

Страница 304: ...iption Value EDS Name OutputChannelConfig MxSubExt50C1 ParameterName OutputChannelConfig ObjectType 0x7 DataType 0x0005 AccessType rw PDOMapping 0 Count 1 Description Output Channel Configuration Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FEhex Access rw Default value 0000hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Data bit ...

Страница 305: ... Gateway XN 312 GW CAN 06 16 MN050003 EN www eaton eu 301 Data bit Designation Description Bit 5 Bit 4 0 0 Channel 3 Output range 0 20mA 0 1 1 0 1 1 Output disabled Data bit Designation Description Bit 7 Bit 6 0 0 Channel 4 Output range 0 20mA 0 1 1 0 1 1 Output disabled ...

Страница 306: ...scription Value EDS Name FilterConfigChannelx MxSubExt50Cx ParameterName FilterConfigChannelx ObjectType 0x7 DataType 0x0006 AccessType rw PDOMapping 0 Count 1 Description FilterConfigChannel1 Object 0x50C2 FilterConfigChannel2 Object 0x50C3 FilterConfigChannel3 Object 0x50C4 FilterConfigChannel4 Object 0x50C5 Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access rw 1 Byte B...

Страница 307: ...standard requires for a sys tem Product specific objects that the CANopen standard requires for a prod uct group e g for analog modules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 84 Block diagram showing the various CANopen objects Product specific CANopen objects None herstellerspeziﬁsch produktspe...

Страница 308: ...UNSIGNED8 UserLEDControl User LED Control Section 6 2 11 User LED Control Object 0x4004 page 81 rw SDO 0x400C VISIBLE STRING ProductName Product Name Section 6 2 14 Product Name Object 0x400C page 82 ro SDO 0x4060 UNSIGNED16 FirmwareVersion Firmware Version ro SDO 0x5060 UNSIGNED16 MeasuringConfig Channel1 Measuring Configuration Channel 1 rw SDO 0x5061 UNSIGNED16 RangeConfig Channel1 Range Config...

Страница 309: ...it Desig nation Description 0 reserved 1 0 sync OK 1 Ino sync 2 0 OK 1 FLASH Data CRC Error 3 0 OK 1 RAM Data CRC Error 4 0 OK 1 Inconsistent FLASH Data 5 0 OK 1 Bridge 1 DC not OK 6 0 OK 1 Bridge 2DC not OK 7 0 OK 1 Offset ADC1 not valid 7 6 5 4 3 2 1 0 CLASS CLASS CLASS TYPE TYPE TYPE Data bit Desig nation Description 0 0 OK 1 Offset ADC2 not valid 1 0 OK 1 Filter ADC1 not ready 2 0 OK 1 Filter ...

Страница 310: ...Value EDS Name Channel1Input Object 0x3061 MxSubExt306x ParameterName ChannelxInput ObjectType 0x7 DataType 0x0004 AccessType ro PDOMapping 1 Count 1 Channel2Input Object 0x3062 Description Input Channel x Object Code ARRAY Mapping PDO Manual Data type INTEGER32 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 LSB 4 Byte 3 Byte Sub ...

Страница 311: ...aType 0x0006 AccessType ro PDOMapping 1 Count 1 Description Analog Digital Converter Diagnostic Messages Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Channel 2 ADC2 Channel 1 ADC1 Data bit Designation Description 0 4 reserved 5 0 OK 1 Reference Voltage Error 6 0 O...

Страница 312: ...ion MxSubExt4060 ParameterName FirmwareVersion ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 0 Count 1 Description Firmware Version Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name MeasuringConfigChannel1 Object 0x5060 MxSubExt506...

Страница 313: ...Filter depth of ADC 1 1023 Default 1 Data bit Desig nation Description 0 1 Filter depth of ADC 1 1023 Default 1 2 0 SINC4 Filter Default 1 SINC3 Filter 3 5 0 Continuous conversion mode default 1 5 reserved 6 System zero scale calibration 7 System full scale calibration 6 7 reserved Feature Description Value EDS Name RangeConfig Channelx MxSubExt506x ParameterName RangeConfigChannelx ObjectType 0x7...

Страница 314: ...B4 B3 B2 B1 B0 MSB LSB Data bit Desig nation Description 0 2 0 GAIN 1 120mV 1 2 reserved don t use 3 GAIN 8 15mV 4 GAIN 16 7 5mV 5 GAIN 32 3 75mV 6 GAIN 64 1 875mV 7 reserved don t use 3 7 reserved Data bit Desig nation Description 0 7 reserved Feature Description Value EDS Name Zero Scale Channel x MxSubExt506x ParameterName ZeroScaleChannelx ObjectType 0x7 DataType 0x0004 AccessType ro DefaultVa...

Страница 315: ...Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name Full Scale Channel x MxSubExt506x ParameterName FullScaleChannelx ObjectType 0x7 DataType 0x0004 AccessType ro DefaultValue 0 PDOMapping 0 Count 1 Description FullScaleChannel1 Object 0x5065 FullScaleChannel2 Object 0x5067 Object Code ARRAY Mapping SDO Data type INTEGER32 Sub index 01...

Страница 316: ...he CANopen standard requires for a prod uct group e g for analog modules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 85 Block diagram showing the various CANopen objects herstellerspeziﬁsch produktspeziﬁsch 12TSwitchOﬀLimit 50EOh DC Motor Controller OutSeq1 20E0 OutSeq2 20E1 OutSeq3 20E2 OutSeq4 20E3...

Страница 317: ...al ro PDO 0x30E1 UNSIGNED16 RDSeq2 Read PWM Sequence Data Seq 2 Manual ro PDO 0x30E2 UNSIGNED16 RDSeq3 Read PWM Sequence Data Seq 3 Manual ro PDO 0x30E3 UNSIGNED16 RDSeq4 Read PWM Sequence Data Seq 4 Manual ro PDO 0x30E4 UNSIGNED16 RDPeriodDurationSeq Read Period Duration of Sequence Cycle Manual ro PDO 0x30E5 UNSIGNED16 DCDTempK DC Driver Temperature in K Manual ro PDO 0x30E6 UNSIGNED16 DCMotorCu...

Страница 318: ... Function Mapping Access ACHTUNG NOTICE Select period duration tp in line with the output sequence tp tOutputSequence tOutputSequence1 tOutputSequence4 Failure to do so may result in undesired XN300 slice module states Feature Description Value EDS Name WRSeq1 Object 0x20E0 MxSubExt20Ex ParameterName WRSeq1 ObjectType 0x7 DataType 0x0006 AccessType wo PDOMapping 1 Count 1 WRSeq2 Object 0x20E1 WRSe...

Страница 319: ...er 12 0 OFF 1 left high ON 13 0 OFF 1 right high ON 14 0 OFF 1 left low ON 15 0 OFF 1 right low ON ACHTUNG NOTICE Select period duration tp in line with the output sequence tp tOutputSequence tOutputSequence1 tOutputSequence4 Failure to do so may result in undesired XN300 slice module states Period duration tP WRPeriodDurationSeq Clock frequency Feature Description Value EDS Name WRPeriodDurationS...

Страница 320: ...ned period duration A value of 0xFF corresponds to a duty cycle of 100 Design of the data bytes Byte 0 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name TonLED1 Object 0x20E5 MxSubExt20Ex ParameterName TonLEDx ObjectType 0x7 DataType 0x0005 AccessType wo PDOMapping 1 Count 1 TonLED2 Object 0x20E6 Description ON Time PWM...

Страница 321: ...feedback in object 0x30E8 Page 323 Design of the data bytes Data bit Desig nation Description Notes 0 1 SSI Shift Register Frequency Table 40 2 0 OK 1 Gray Code Decoding 3 0 Incremental Encoder Mode 1 SSI busy 1 busy read only 4 Reserved 5 0 1 Error Reset 1 clear error read write 6 0 1 Start with Sync 1 enable 7 0 1 Continuous Sensor Read Feature Description Value EDS Name MotorControl MxSubExt20E...

Страница 322: ...Activate status message High motor current I t 16 A s exceeded 4 1 Activate status message Motor current 3 5 A too high additional peripheral reset 5 1 Activate status message DC of module supply OK 6 1 Activate status message DC of motor supply OK 7 1 Activate status message LED peripheral reset 8 1 Activate status message Motor peripheral reset 9 1 Activate status message Motor induced voltage t...

Страница 323: ...cessType ro PDOMapping 1 Count 1 RDSeq2 Object 0x30E1 RDSeq3 Object 0x30E2 RDSeq4 Object 0x30E3 Description Read PWM Sequence Data Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB Time value clock frequency Data bit Desig nation Description 0 7 Time value clock frequency ...

Страница 324: ...Value EDS Name RDPeriodDurationSeq MxSubExt30E4 ParameterName RDPeriodDurationSeq ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description Read Period Duration of Sequence Cycle Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro Default value 0000hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LS...

Страница 325: ... s temperature rise will be measured Design of the data bytes Feature Description Value EDS Name DCDTempK MxSubExt30E5 ParameterName DCDTempK ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description DC Driver Temperature in K Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B...

Страница 326: ...xSubExt30E7 ParameterName DCMotorDiag ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description DC Motor Diagnosis Register Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Bit Description 0 reserved 1 1 Incorrect sequence configuration Sequence ca...

Страница 327: ...us ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description DC Motor Status Register Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Bit Description 0 1 Motor sequence output is active 1 reserved 2 reserved 3 1 High motor current I t 16 A s excee...

Страница 328: ...ed 12 1 i t error shutdown activated 13 15 reserved Bit Description Feature Description Value EDS Name DCMotorI2T MxSubExt30E9 ParameterName DCMotorI2T ObjectType 0x7 DataType 0x0007 AccessType ro PDOMapping 1 Count 1 Description DC Motor I2T Value Object Code ARRAY Mapping PDO Manual Data type UNSIGNED32 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7...

Страница 329: ... Name ModuleDiag MxSubExt30EA ParameterName ModuleDiag ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description Module Diagnostic Messages Object Code ARRAY Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 reserved Data bit Desig nation Description 0 0 OK 1 Supply Voltage ...

Страница 330: ...DS Name FirmwareVersion MxSubExt40E0 ParameterName FirmwareVersion ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 0 Count 1 Description Firmware Version Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FEhex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name PreScaleLED1 Object 0x40E1 Mx...

Страница 331: ...of the data bytes 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name PDLED1 Object 0x40E3 MxSubExt40Ex ParameterName PDLEDx ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 0 Count 1 PDLED2 Object 0x40E4 Description PWM Period Duration Register LED x Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 F...

Страница 332: ... the data bytes Feature Description Value EDS Name DCMotorI2TLimit MxSubExt40E5 ParameterName DCMotorI2TLimit ObjectType 0x7 DataType 0x0007 AccessType rw PDOMapping 1 Count 1 Description DC Motor I2T Value Limit Object Code ARRAY Mapping PDO Manual Data type UNSIGNED32 Sub index 01 FEhex Access rw Default 0000 0400hex 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2...

Страница 333: ...pen standard does not require and that the manufacturer implements for data communication purposes Figure 86 Block diagram showing the various CANopen objects for analog inputs herstellerspeziﬁsch produktspeziﬁsch Encoder Signal Conﬁguration 40F6h Encoder Status 30F4h PDO Signal Conditioning Signal Conditioning Latch Input Conﬁguration 40F0h Signal Conditioning Maximum Idle Time 40F2h ldle Clock P...

Страница 334: ...16 LatchValue Encoder Latch Value Manual ro PDO 0x30F4 UNSIGNED8 EncoderStatus Encoder Status Manual ro PDO 0x4001 VISIBLE STRING SerialNumber Serial Number Section 6 2 8 Serial Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDControl User LED Control Section 6 2 11 User LED Control Object 0x4004 page 81 rw SDO 0x400C VISIBLE STRING ProductName Product Name Section 6 2 14 Product Nam...

Страница 335: ...4 ObjectType 0x7 DataType 0x0005 AccessType rww PDOMapping 1 Count 1 Description Write Digital Outputs Object Code VAR Mapping PDO Manual Data type UNSIGNED8 Sub index 01 FEhex Access rww Default value 00hex Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 DO4 DO3 DO2 DO1 Feature Description Value EDS Name Input1_4 MxSubExt30F0 ParameterName Input1_4 ObjectType 0x7 DataType 0x0005 AccessType ro PD...

Страница 336: ...l yield the pulses per second frequency as per the for mula below fIPS Pulses per second frequency fCLK Frequency Clock If the speed increases the value in the encoder idle time register will decrease i e the time measured will be shorter If the speed decreases a larger number of pulses will be added so that the time measured will be lon ger If the register s content reaches its maximum value it m...

Страница 337: ...gram for the signals Signal A Internal counter latch and restart if there is a rising edge The inter nal IdleClock pulses are counted between two rising edges on signal A When the second edge occurs the total value is copied to the encoder idle time register and the internal counter is restarted Signal B Positive direction of rotation if there is a rising edge on B after the counter starts negativ...

Страница 338: ...ame CounterValue MxSubExt30F2 ParameterName CounterValue ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 1 Count 1 Description Encoder Count Value Object Code VAR Mapping PDO Manual Data type UNSIGNED16 Sub index 01 FE hex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name LatchValue MxSubExt30F3 Parame...

Страница 339: ...zero state which will only be present for a short time can also be read This must be taken into account if the object is being continu ously read with the PDO Byte 0 Feature Description Value EDS Name EncoderStatus MxSubExt30F4 ParameterName EncoderStatus ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Description Encoder Status Object Code VAR Mapping PDO Manual Data type UNSIGN...

Страница 340: ...e 0 Feature Description Value EDS Name LatchConfig MxSubExt40F0 ParameterName LatchConfig ObjectType 0x7 DataType 0x0005 AccessType rw PDOMapping 0 Count 1 Description Latch Input Configuration Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FE hex Access ro Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 Input 4 Input 3 Input 2 Input 1 7 6 5 4 3 2 1 0 Input Description Input 1 Bit...

Страница 341: ...d rising edges Input 4 Bit 7 Bit 6 0 0 No latch 0 1 Rising edge 1 0 Falling edge 0 0 Falling and rising edges If multiple inputs are used for the latch function their signals will be OR d Input Description Feature Description Value EDS Name EncoderConfig MxSubExt40F1 ParameterName EncoderConfig ObjectType 0x7 DataType 0x0005 AccessType rw PDOMapping 0 Count 1 Description Encoder Type Configuration...

Страница 342: ...cremented all the way to this value its count will cease to be incremented it will be copied to the encoder idle time register and counting will be restarted The value must be interpreted as a motor stop or open wire This means that the content of maximum idle time can be used to define the time after which a motor stop will be detected Design of the data bytes 7 6 5 4 3 2 1 0 Conf Data bit Design...

Страница 343: ...CLK 32000000 Hz Clock Hz is an internal module time base 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 LSB 3 Byte yte 2 Sub index 1 n 254 B31 B30 B29 B28 B27 B26 B25 B24 B23 B22 B21 B20 B19 B18 B17 B16 MS B Feature Description Value EDS Name IdleClock MxSubExt40F3 ParameterName IdleClock ObjectType 0x7 DataType 0x0005 AccessType rw PDOMapping 0 Count 1 Descr...

Страница 344: ...ystem Clock Frequency Object 0x40F4 Object 0x40F4 delivers the internal module system clock frequency in MHz Design of the data bytes Internal clock frequency 32 MHz 20 hex 7 25 12 Encoder Measuring Value SDO Object 0x40F5 Object 0x40F5 transmits the measured value the number of pulses counted like object 0x30F2 as an SDO IdleClock 32000000 Hz 125490 Hz 255 Feature Description Value EDS Name Syste...

Страница 345: ...0x7 DataType 0x0006 AccessType ro PDOMapping 0 Count 1 Description Encoder Measuring Value Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FE hex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Feature Description Value EDS Name SignalConfig MxSubExt40F6 ParameterName SignalConfig ObjectType 0x7 DataType 0x0005 AccessType rw P...

Страница 346: ...am a 1 way b 2 way c 4 way The dots represent the points at which the count changes If the signal sequence is followed in the direction the arrow is pointing towards the right this corresponds to a positive counting direction If it is followed against it this corresponds to a negative counting direction Data bit Designa tion Description 0 1 reserved 2 0 Normal evaluation 1 Inverted R zero position...

Страница 347: ...for a short time can also be read This must be taken into account if the object is being continuously read Feature Description Value EDS Name EncoderStatusSDO MxSubExt40F7 ParameterName EncoderStatusSDO ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 0 Count 1 Description Encoder Status SDO Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FE hex Access ro Byte 0 Sub index 1 n...

Страница 348: ...e the number of pulses counted after a latch event like object 0x30F3 as an SDO Design of the data bytes Feature Description Value EDS Name LatchValueSDO MxSubExt40F8 ParameterName LatchValueSDO ObjectType 0x7 DataType 0x0006 AccessType ro PDOMapping 0 Count 1 Description Encoder Latch Value SDO Object Code ARRAY Mapping SDO Data type UNSIGNED16 Sub index 01 FE hex Access ro Byte 0 Sub index 1 n 2...

Страница 349: ...ndard requires for a prod uct group e g for analog modules Vendor specific objects that the CANopen standard does not require and that the manufacturer implements for data communication purposes Figure 89 Block diagram showing the various CANopen objects for transmitting data streams herstellerspeziﬁsch produktspeziﬁsch Channel x Conﬁguration Register 4100 4102h Channel x Transmission Conﬁguration...

Страница 350: ...0x3102 UNSIGNE32 InputChannel1 Input Data Channel 1 Manual ro PDO 0x3103 UNSIGNE32 InputChannel2 Input Data Channel 2 Manual ro PDO 0x4001 VISIBLE STRING SerialNumber Serial Number Section 6 2 8 Serial Number Object 0x4001 page 78 const SDO 0x4004 UNSIGNED8 UserLEDControl User LED Control Section 6 2 11 User LED Control Object 0x4004 page 81 rw SDO 0x400C VISIBLE STRING ProductName Product Name Se...

Страница 351: ...s Byte 0 Feature Description Value EDS Name StartReadCycle MxSubExt2100 ParameterName StartReadCycle ObjectType 0x7 DataType 0x0005 AccessType wo PDOMapping 1 Count 1 Description Start Read Cycle Object Code ARRAY Mapping PDO Manual Data type UNSIGNED8 Sub index 01 FE hex Access wo Default value 0000hex Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Data bit Desig nation Description 0 0 ...

Страница 352: ... data bytes Byte 0 Feature Description Value EDS Name ReadCycleState MxSubExt3100 ParameterName ReadCycleState ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Description Read Cycle State Object Code ARRAY Mapping PDO Manual Data type UNSIGNED8 Sub index 01 FE hex Access ro Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Data bit Desig nation Description 0 0 1 Start Read...

Страница 353: ...rName ModuleDiag ObjectType 0x7 DataType 0x0005 AccessType ro PDOMapping 1 Count 1 Description Module Diagnosis Object Code ARRAY Mapping PDO Manual Data type UNSIGNED8 Sub index 01 FE hex Access ro Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Data bit Desig nation Description 0 0 1 Channel 1 started 1 0 1 Channel 1 busy 2 0 1 Channel 1 toggle 3 0 1 Channel 1 SSI Error Invalid Z Positi...

Страница 354: ...scription Value EDS Name Input Channel x MxSubExt310x ParameterName InputChannelx ObjectType 0x7 DataType 0x0007 AccessType ro PDOMapping 1 Count 1 Description InputChannel1 Object 0x3102 InputChannel2 Object 0x3103 Object Code ARRAY Mapping PDO Manual Data type UNSIGNED32 Sub index 01 FE hex Access ro 1 Byte Byte 0 Sub index 1 n 254 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 LSB 3 Byte...

Страница 355: ...me ConfigurationRegisterChannelx ObjectType 0x7 DataType 0x0005 AccessType rw PDOMapping 0 Count 1 Description ConfigurationRegist erChannel1 Object 0x4100 ConfigurationRegist erChannel2 Object 0x4102 Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FE hex Access rw Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Data bit Designation Description Notes 0 5 SSI Shift Register ...

Страница 356: ...ter Name StateRegisterChannel1 ObjectType 0x7 DataType 0x0005 AccessType rw PDOMapping 0 Count 1 Description StateRegisterChannel1 Object 0x4101 StateRegisterChannel2 Object 0x4103 Object Code ARRAY Mapping SDO Data type UNSIGNED8 Sub index 01 FE hex Access rw Byte 0 Sub index 1 n 254 B7 B6 B5 B4 B3 B2 B1 B0 MSB LSB Data bit Designation Description Notes 0 1 SSI Shift Register Frequency Table 40 2...

Страница 357: ...objects XN300 slice modules 7 26 XN 322 2SSI Gateway XN 312 GW CAN 06 16 MN050003 EN www eaton eu 353 Table 40 SSI Shift Register Frequency SSI Shift Register Frequency Bit B1 B0 125 kHz 0 0 250 kHz 0 1 500 kHz 1 0 1 MHz 1 1 ...

Страница 358: ...7 Product specific CAN objects XN300 slice modules 7 26 XN 322 2SSI 354 Gateway XN 312 GW CAN 06 16 MN050003 EN www eaton eu ...

Страница 359: ...term reduced assembly refers to a permissible subset of the full configuration In special cases a reduced assembly may actually be the same as the full configuration Actual configuration The XN300 slice modules that are physically present and currently being used with the gateway Target configuration The target configuration is the configuration for the XN300 slice modules on the system bus that i...

Страница 360: ...etermine whether the station variants mode has been selected There are two initialization phases Initialization phase 1 During initialization phase 1 the XN300 gateway s CANopen status will be PRE OPERATIONAL If you want to use the station variants functionality in the user program the PLC must set the Activation StationVariants Mode entry to TRUE during ini tialization phase 1 Initialization phas...

Страница 361: ...l not be sent to the PLC and the output data received from the PLC will not be forwarded yet to the outputs even when the OPERA TIONAL status is reached After this the PLC will need to check the full configuration list stored on the gateway The PLC can handle the list as follows Approve Edit the existing list create a new list delete If the list is approved the gateway will start the outputs will ...

Страница 362: ... address mapping used will be based on the full configuration Attempts to access variable values from missing nodes will return an undefined value Outputs written with the use of PDOs will not be set until the PLC has confirmed the selected station variant by writing the checksum back to the gateway When will the gateway exit station variants mode The gateway will exit the station variants operati...

Страница 363: ...ct 0x4005 Sub0 0x01 Information regarding the full configuration and the permitted reduced assembly variants will be passed to the StationVariants function block When the gateway starts the application will run through the following steps by calling the XN300_StationVariants function block instance 1 The gateway is started and communication via the CAN bus is enabled PRE OPERATIONAL CANopen status...

Страница 364: ...es the checksum back SDO 0x4006 0 giving the gateway the enable signal the latter needs in order to start transferring data Continue to step 11 11 Normal operation data exchange 12 ERROR_NOT_ACTIVATED error no enable signal in the application the gateway is in standard mode 13 ERROR_NO_SUBASSEMBLY error no enable signal in the application no data transfers by the gateway 8 3 3 Station Variants fun...

Страница 365: ...ry manager EA_XN300_CAN Documentation 8 3 4 Overview Figure 93 Possible gateway operating modes Switch on the gateway Yes Error No Gateway does not start running PRE OPERATIONAL Config check see Switching the gateway on with or without a Check station variants see Handling on the PLC Gateway starts running with station variant Gateway does not start running Gateway starts running with target confi...

Страница 366: ...ing with target configuration REBOOT Checksum for one of the PLC station variants Yes FB does not start running FB signals error status ERROR_NOT_ACTIVATED Function block writes checksum back to the gateway sending an enable signal for data exchange with the gateway this way Activation StationVariants TRUE Mode No Yes One of the sta tion variants in Actual configura FB does not start running FB si...

Страница 367: ...ction provides a detailed description of how to use XN300 Assist In order to open it click on the icon on the XN300 Assist menu bar or press the F1 key XN300 Assist version 1 10 and higher can show when the station variants operating mode is in use If the station variants operating mode is active all the XN300 slice modules created in the full configuration will be shown in XN300 Assist modules th...

Страница 368: ...f drivers for the mini USB cable are not installed install the drivers by using the following command sequence Windows START All Programs Eaton XN300 Assist XN 300 GW USB driver installation Start XN300 Assist Open the menu and select the Updating the Operating System option Click on the arrow next to the Operating system file button and select the new XN300_CANVxxxxxxx bin firmware file Use the d...

Страница 369: ... been entered in XSOFT CODESYS Register Power cycle the gateway by turning it off and then back on Select the gateway in the PLC configuration and in the General tab enable the Autoconfig PDO Mapping option This will enable default mapping Setting a fixed baud rate To turn off automatic baud rate detection and set a fixed baud rate instead follow the steps below Use DIP switches 6 8 to set the bau...

Страница 370: ...nal from the enable process The object s data is automatically entered into the transmit PDOs default mapping Design of the data byte 8 6 2 Checksum internal Object 0x4006 Object 0x4006 is addressed exclusively from the IEC library The returned checksum provides clear feedback indicating which reduced assembly is active on the gateway Feature Description Value EDS Type name Activation StationVaria...

Страница 371: ... order to identify physically missing nodes and sub stitute them when dealing with the field bus Subindex 0 contains the number of XN300 slice modules in the full configura tion while subindexes 1 to 32 contain the module ID for the corresponding module in the full configuration Feature Description Value EDS Type name INTERNAL_CS_MC 4006 Parameter name INTERNAL_CS_MC ObjectType 0x7 DataType 0x0007...

Страница 372: ...bjectType 0x8 SubNumber 1 4007sub0 Parameter name INTERNAL_NM_MC ObjectType 0x7 DataType 0x0005 AccessType rw 4007sub1 32 Parameter name INTERNAL_NM_MC ObjectType 0x7 DataType 0x0006 AccessType rw PDOMapping 0 Description INTERNAL_ML_MC Object Code ARRAY Mapping SDO Default Data type UNSIGNED16 Sub index 00 count of modules for full configuration 01 first module ID of full configuration 02 FEhex n...

Страница 373: ... sure that the CAN Master is connected correctly Set a fixed baud rate Section 1 5 2 Baud rate page 22 No transmission of analog values Index 0x6401 Make sure that the analog values are enabled Object Index 0x6423 Sub0 1 AnalogInputGlobalInputEnable Section 7 15 3 Analog Input Global Interrupt Enable Object 0x6423 page 187 Gateway with enabled monitoring boots continuously With enabled analog valu...

Страница 374: ...9 What Happens If 370 Gateway XN 312 GW CAN 06 16 MN050003 EN www eaton eu ...

Страница 375: ...x 10 1 Approvals and national approvals for XN300 system devices XN300 system devices are approved for use in several countries and regions Product standards IEC EN Section Standards page 373 UL 508 INDUSTRIAL CONTROL EQUIPMENT CE mark UL File No XN 312 XN 322 E135462 XN322 1DCD B35 E172143 NA Certification cULus Degree of protection IEC IP20 ...

Страница 376: ...ons XN 312 GW CAN XN 312 GW CAN Dimensions H x D x W mm 115 x 72 x 12 5 inch 4 53 X 2 83 X 0 49 Space units SU width Weight kg 0 080 lb 0 18 mounting DIN rail IEC EN 60715 35 mm Mounting position horizontal 16 8 mm 0 66 12 5 mm 0 49 72 mm 2 83 80 3 mm 3 16 97 1 mm 3 82 101 8 mm 4 01 104 2 mm 4 10 15 3 mm 0 60 4 mm 0 16 ...

Страница 377: ...f protection IEC EN 60529 IP20 Vibrations IEC EN 61131 2 2008 constant amplitude 3 5 mm Hz 5 8 4 constant acceleration 1 g Hz 8 4 150 Mechanical shock resistance IEC EN 61131 2 2008 semi sinusoidal 15 g 11 ms Impact resis tances 9 Drop to IEC EN 60068 2 31 mm 50 Free fall packaged IEC EN 60068 2 32 m 0 3 Mounting position horizontal Supply voltage Rated operating voltage Ue V 24 DC admissible rang...

Страница 378: ...atibility EMC Overvoltage category II Pollution degree 2 Electrostatic discharge IEC EN 6113 2 2008 ESD Air discharge Level 3 kV 8 Contact discharge Level 2 kV 4 Electromagnetic fields IEC EN 61131 2 2008 1 80 1000 MHz V m 10 1 4 2 GHz V m 3 2 2 7 GHz V m 1 Radio interference suppression EN 55011 Class A Burst IEC EN 61131 2 2008 Level 3 Supply cables kV 2 CANopen bus cables kV 1 Surge IEC EN 6113...

Страница 379: ... higher For up to date information on the firmware and the EDS files please visit the Download Center Page 11 Part no Description Power supply modules XN 322 4PS 20 XN 322 18PD M XN 322 18PD P Digital I O modules XN 322 8DI PD XN 322 16DI PD XN 322 20DI PD XN 322 20DI PF XN 322 20DI PCNT XN 322 20DI ND XN 322 8DO P05 XN 322 12DO P17 XN 322 16DO P05 XN 322 8DIO PD05 XN 322 16DIO PD05 XN 322 16DIO P...

Страница 380: ...e modules 10 6 Maximum number of process data objects Table 43 Maximum number of process data objects Part no Description Digital I O modules XN 322 8DI PD XN 322 16DI PD XN 322 20DI ND XN 322 8DO P05 XN 322 8DIO PD05 XN 322 16DIO PD05 XN 322 16DIO PC05 Analog I O modules XN 322 4AIO U2 XN 322 4AIO I XN 322 8AIO I Gateway RPDO TPDO XN 322 GW CAN 16 16 ...

Страница 381: ...Nopen Address 25 Commissioning 39 Config check 358 connection terminals 35 const 72 D Device connection 34 Diagnostics interface 17 37 Digital I O modules 18 DIP 25 DIP switch 26 Dismantling the system block 31 Download Center 11 E EA_XN300 library 360 EDS file Installing 51 update 51 EDS files 375 Electronic data sheet 49 Engineering 19 ESD file 50 F Field bus communication 45 Fieldbus interface ...

Страница 382: ...378 Gateway XN 312 GW CAN 06 16 MN050003 EN www eaton eu Full configuration Definition 355 I INITIALIZATION 21 L Library EA_XN300 360 M Module ID 76 Module identification code 76 367 N Node ID 23 ...

Страница 383: ...6 0x20E6 316 0x20E7 317 0x20F0 330 0x2100 347 0x2120 130 0x2160 150 0x2170 157 0x2180 146 0x2190 133 0x21A0 243 0x21A1 243 0x21B0 276 0x21B1 276 0x3020 120 0x3022 120 0x3023 121 0x3026 121 0x3027 122 0x3028 122 0x3030 117 0x3040 138 0x3050 142 0x3060 304 0x3061 306 0x3062 306 0x3063 307 0x3070 173 0x3071 174 0x3074 174 0x3076 176 0x3077 177 0x307E 177 0x3080 192 0x3081 193 0x3087 193 0x3088 194 ...

Страница 384: ...C0 295 0x30C1 296 0x30C4 296 0x30C5 296 0x30C6 297 0x30D0 232 0x30E0 318 0x30E3 318 0x30E4 319 0x30E5 321 0x30E6 321 0x30E7 322 0x30E8 323 0x30E9 324 0x30EA 325 0x30F0 331 0x30F1 332 0x30F2 334 0x30F3 334 0x30F4 335 0x3100 348 0x3101 349 0x3102 350 0x3103 350 0x3130 127 0x3150 107 110 0x3160 151 0x3161 152 0x3170 157 0x3171 158 0x3172 158 0x3175 158 0x3176 159 0x3177 159 0x3178 160 0x3179 161 0x31...

Страница 385: ...31B2 278 0x31B3 278 0x31B4 279 0x4004 81 0x4020 124 0x4060 308 0x4070 177 0x4080 195 0x4090 210 0x40A0 226 0x40B0 263 0x40C0 298 0x40D0 233 0x40E0 326 0x40E1 326 0x40E2 326 0x40E3 327 0x40E4 327 0x40E5 328 0x40F0 336 0x40F1 337 0x40F2 338 0x40F3 339 0x40F4 340 0x40F5 340 0x40F6 341 0x40F7 343 0x40F8 344 0x4100 351 0x4101 352 0x4102 351 0x4103 352 0x4170 163 0x41A0 246 0x41B0 280 0x5060 308 0x5061 ...

Страница 386: ...0C5 302 0x51A0 248 0x51A1 249 0x51A2 249 0x51B0 281 0x51B1 282 0x51B2 283 0x51B3 283 0x6000 107 110 116 120 126 144 149 155 0x6200 129 132 145 150 156 0x6401 166 185 200 215 236 252 268 0x6411 230 236 253 269 287 0x6421 167 186 200 215 237 253 270 288 0x6423 167 187 201 216 238 254 271 289 0x6424 168 187 202 217 238 254 271 289 0x6425 169 188 203 218 239 255 272 290 0x6426 170 189 204 219 240 256 ...

Страница 387: ...e ID addresses DIP switch 17 Software version 76 Station variants Definitions 355 Gateway operating modes 361 PLC handling when switching on 362 StationVariants 360 STOPPED 21 Support Center 11 T Target configuration Definition 355 Technology Modules 18 U Updating the operating system 17 37 50 W Wiring in accordance with EMC requirements 38 wo 72 X XN300 Assist 48 363 XN 322 16DIO PC05 Operating m...

Страница 388: ...384 Gateway XN 312 GW CAN 06 16 MN050003 EN www eaton eu ...

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