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Implemented CANopen Objects

CAN-CBX-AI420

Manual • Doc.-No.: C.3030.21 / Rev. 1.4

Page 77 of 103

7.9.24 Object Transmit PDO Communication Parameter 1801

1802

This objects define the parameters of the transmit-PDOs.

INDEX

1801

1802

Name

transmit PDO parameter

Data Type

PDOCommPar

Index

Sub-

index

Description

Value range

Default

Data type

Access

mode

1801

number_of_entries

0...FF

unsigned 8

COB-ID used by PDO

1...800007FF

280

+Node-ID

unsigned 32

transmission type

0...FF

unsigned 8

inhibit time

0...FFFF

unsigned 16

reserved

0..FF

unsigned 8

const

event timer

0...FFFF

unsigned 16

1802

number_of_entries

0...FF

unsigned 8

COB-ID used by PDO

1...800007FF

380

+Node-ID

unsigned 32

transmission type

0...FF

unsigned 8

inhibit time

0...FFFF

unsigned 16

reserved

0..FF

unsigned 8

const

event timer

0...FFFF

unsigned 16

The transmission types 0, 1...240 and 252...255 are supported.

Содержание C.3030.02

Страница 1: ...Rev 1 4 Page 1 of 103 esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany http www esd eu Phone 49 0 511 3 72 98 0 Fax 49 0 511 3 72 98 68 CAN CBX AI420 4 A D Converter Inpu...

Страница 2: ...ges without notice to this or any of its products to improve reliability performance or design All rights to this documentation are reserved by esd Distribution to third parties and reproduction of th...

Страница 3: ...serted 5 Chapter moved and updated 6 Chapter moved and updated 7 Chapter Software renamed to CANopen Firmware general part chapter 7 1 7 4 updated and restructured 7 6 Parameter description inserted 7...

Страница 4: ...onal in control and automation engineering The installation and commissioning of the product may only be carried out by qualified personal which is authorized to put devices systems and electric circu...

Страница 5: ...signment of Coding Switch Labelling to Name in Schematic Diagram 19 3 4 Installation of the Module Using InRailBus Connector 20 3 4 1 Connecting Power Supply and CAN Signals to CBX InRailBus 21 3 4 2...

Страница 6: ...ssages of the Analog Inputs 47 7 7 2 Supported Transmission Types Based on DS 301 47 7 8 Communication Profile Area 48 7 8 1 Used Names and Abbreviations 48 7 9 Implemented CANopen Objects 49 7 9 1 Ov...

Страница 7: ...6421h 83 7 10 6 Global Interrupt Enable 6423h 84 7 10 7 Interrupt Upper Limit 6424h 85 7 10 8 Interrupt Lower Limit 6425h 86 7 10 9 Analog Input Interrupt Delta 6426h 87 7 11 Manufacturer Specific Pro...

Страница 8: ...constants NULL Programming data types uint32_t Variable names Count The following indicators are used to highlight noticeable descriptions Attention Warnings or cautions to tell you about operations w...

Страница 9: ...converters The gh converters offer a resolution of up to 24 bit The resolution achieved during the operation depends essentially on the sample time chosen and on the external circuit The input voltage...

Страница 10: ...nnector with spring cage connection X500 analog inputs CAN 5 pin connector with spring cage connection X400 CAN interface Only for test and programming purposes X200 6 pin connector the connector is p...

Страница 11: ...CANopen software supports only 11 bit CAN identifier Electrical isolation of CAN interfaces against other units via dual digital isolator ADUM120BR and DC DC converters Physical layer CAN physical la...

Страница 12: ...version time programmable Electrical isolation against other units via magnetic data coupler Protective circuit Resistance against overvoltage of the converter inputs up to 16 5 V without influence on...

Страница 13: ...21 Rev 1 4 Page 13 of 103 3 Hardware Installation 3 1 Connecting Diagram Fig 2 Connections of the CAN CBX AI420 module Note The connector pin assignment can be found on page 24 and following For cond...

Страница 14: ...s are described in the following chapters 3 2 1 Indicator States In principle there are 8 indicator states distinguished Indicator state Display on LED constantly on off LED constantly off blinking LE...

Страница 15: ...ed off no error 1 flash CAN controller is in Error Active state on CAN controller state is Bus Off or coding switch position ID node 7Fh when switching on see Special Indicator States on page 16 2 fla...

Страница 16: ...of at least one channel n 10V Table 8 Indicator state of the Error LED 3 2 5 Operation of the Power LED LED indication Display function Label Name Colour Indicator state Description P Power green off...

Страница 17: ...3030 21 Rev 1 4 Page 17 of 103 3 2 7 Assignment of LED Labelling to Name in Schematic Diagram Labelling on CAN CBX AI420 Name of the LED in Schematic Diagram 1 E LED200A S LED200B M LED200C P LED200D...

Страница 18: ...er a reset e g NMT reset the settings are read again 3 3 1 Setting the Node ID via Coding Switch The address range of the CAN CBX module can be set decimal from 1 to 127 or hexadecimal from 01h to 7Fh...

Страница 19: ...aken from the following table Setting Hex Bit rate Kbit s 0 1000 1 666 6 2 500 3 333 3 4 250 5 166 6 125 7 100 8 66 6 9 50 A 33 3 B 20 C 12 5 D 10 E 800 F 2 83 3 2 implemented since firmware version 2...

Страница 20: ...it onto the mounting rail using slight pressure Plug the bus connectors together to contact the communication and power signals in parallel with one The bus connectors can be plugged together before...

Страница 21: ...7 Mounted CAN CBX module 3 4 1 Connecting Power Supply and CAN Signals to CBX InRailBus To connect the power supply and the CAN signals via the InRailBus a terminal plug is needed The terminal plugis...

Страница 22: ...re internally connected and must not be supplied by two independent power sources at the same time Fig 9 Connecting the power supply voltage to the CAN CBX station Earthing of the Mounting Rail Note T...

Страница 23: ...nds of the CAN CBX station must not be connected to the CAN bus because this would cause incorrect branching A bus termination must be connected to the CAN connector of the CAN CBX module at the end o...

Страница 24: ...ntact order no 19 21 90 0 included in the scope of delivery For conductor connection and conductor cross section see page 30 Pin Position Pin Assignment Labelling on Housing 24V M P Labelling on conne...

Страница 25: ...hysical layer is designed according to ISO 11898 2 The CAN bus signals are electrically isolated from the other signals via a digital isolator and a DC DC converter Fig 11 CAN Interface The CAN interf...

Страница 26: ...page 30 Pin Position Pin Assignment device connector with labelling Labelling Signal Pin G CAN_GND 1 L CAN_L 2 Sh Shield 3 H CAN_H 4 5 Signal description CAN_L CAN_H CAN signals CAN_GND reference pot...

Страница 27: ...CAN CBX TBUS Phoenix Contact ME 22 5 TBUS 1 5 5 ST 3 81 KMGY Pin Position Pin Assignment Pin Signal 5 M24 GND 4 P24 24 V 3 CAN_GND 2 CAN_L 1 CAN_H S FE PE_GND Signal Description CAN_L CAN_H CAN signal...

Страница 28: ...23 converter see figure below and the wiring of the sensor signal cause a gain error at the measuring This fault is the smaller the lower the resistance of the sensor is chosen Furthermore theresisto...

Страница 29: ...nt view of device connector Pin Signal 1 1G 2 1P 3 1M 4 2G 5 2P 6 2M 7 3G 8 3P 9 3M 10 4G 11 4P 12 4M Signal description xP positive input pin of the differential analog input x 1 2 3 4 xM negative in...

Страница 30: ...e without plastic sleeve max 2 5 mm 1 5 mm Conductor cross section stranded with ferrule with plastic sleeve min 0 25 mm 0 25 mm Conductor cross section stranded with ferrule with plastic sleeve max 2...

Страница 31: ...elded single twisted pair cable must be followed 1 A cable type with a wave impedance of about 120 4 10 with an adequate wire cross section 0 22 mm has to be used The voltage drop over the wire has to...

Страница 32: ...1 2 Cabling for devices which have only one CAN connector per net use T connectors and cable stubs shorter than 0 3 m available as accessory Figure 15 Example for proper wiring with single shielded s...

Страница 33: ...voltage drop over the wire has to be considered 2 For heavy industrial environment use a four wire CAN cable Connect the two twisted wires to the data signals CAN_H CAN_L and the cable shield to the...

Страница 34: ...ommended for single shielded double twisted pair cables because the shield potential of the conductive DSUB housing is not looped through this T connector type Furthermore mixed use of single twisted...

Страница 35: ...he CAN signals By using fast digital isolators and testing each board at 1 Mbit s esd modules typically reach a wire length of 37 m at 1 Mbit s within a closed net without impedance disturbances like...

Страница 36: ...e e g BUS PVC C 1x 2x 0 22 mm Part No 93 022 016 UL appr BUS Schleppflex PUR C 1x 2x 0 25 mm Part No 94 025 016 UL appr 5 5 2 Cable for Heavy Industrial Environment Applications Four Wire Manufacturer...

Страница 37: ...ions are eliminated This test measures the series resistance of the CAN data pair conductors and the attached terminating resistors To test it please 1 Turn off all power supplies of the attached CAN...

Страница 38: ...nal grounding of the CAN GND wires 6 3 Short Circuit in CAN Wiring A CAN bus might possibly still be able to transmit data if there is a short circuit between CAN_GND and CAN_L but the error rate will...

Страница 39: ...one circuit that controls CAN_H and another circuit that controls CAN_L Experience has shown that electrical damage to one or both of the circuits may increase the leakage current in these circuits T...

Страница 40: ...nication Object Emergency Id Emergency Data Object NMT Network Management Master SDO Service Data Object Sync Sync frame Telegram PDOs Process Data Objects PDOs are used to transmit process data In th...

Страница 41: ...directory is basically a sorted group of objects which can be accessed via the CAN network Each object in this directory is addressed with a 16 bit index The index in the object directories is repres...

Страница 42: ...vice Access via this channel is possible in operational and pre operational status The SDOs Service Data Objects are transmitted on ID 600h Node ID request The server acknowledges the parameters on ID...

Страница 43: ...s on the syntax and further command codes can be found in 1 Command Number of data bytes Command code Write Request Initiate Domain Download 1 2 3 4 2Fh 2Bh 27h 23h Write Response Initiate Domain Down...

Страница 44: ...mapped to PDO 06060000h access failed due to an hardware error 06070010h wrong number of data bytes 06070012h service parameter too long 06070013h service parameter too small 06090011h wrong sub inde...

Страница 45: ...802h Client SDO 580h Node ID SDO from CAN CBX AI420 Tx Server SDO 600h Node ID SDO from CAN CBX AI420 Rx Node Guarding 700h NodeID configurable via object 100Eh NodeID CANopen address 1h 7Fh 7 5 1 Set...

Страница 46: ...from CAN CBX AI420 Transmit PDO A D values channel 1 to 2 as 32 bit values TPDO3 380h Node ID 8 byte from CAN CBX AI420 Transmit PDO A D values channel 3 to 4 as 32 bit values TPDO2 CAN CBX AI420 CAN...

Страница 47: ...synchronous remote request The state of the inputs is latched with each SYNC message and is transmitted after the reception of an RTR frame PDO transmission type 252 asynchronous remote request After...

Страница 48: ...the local EEPROM if the command save is called see page 61 Data type data type e g unsigned 8 unsigned 32 Access mode allowed access modes to this parameter ro read_only This parameter can only be re...

Страница 49: ...1009h Manufacturer Hardware Version visible string ro x yy depending on version 100Ah Manufacturer Software Version visible string ro x yy depending on version 100Ch Guard Time unsigned 16 rw 0000h 1...

Страница 50: ...r 20h rw 1802h 5 3 Transmit PDO Parameter PDO CommPar 20h rw 1A01h 2 2 Transmit PDO Mapping PDO Mappping 21h rw 1A02h 2 3 Transmit PDO Mapping PDO Mappping 21h rw Index Sub index Description Data type...

Страница 51: ...6 7 8 603h 0h 8h 40h 00h 10h 00h 00h 00h 00h 00h Read Request Index 1000h Sub Index The CAN CBX module no 3 responds to the client by means of read response with identifier 583h 580h Node ID with the...

Страница 52: ...Access type ro Default value 0 The following bits of the error register are being supported at present Bit Meaning 0 generic 1 current 2 voltage 3 temperature 4 communication error overrun error stat...

Страница 53: ...full the oldest entry is deleted for the latest entry This module supports a maximum of 10 error entries When the 11th error occurs the oldest error entry is deleted In order to delete the entire err...

Страница 54: ...d error heartbeat error 8140h Recovered from Bus Off 8240h Unexpected SYNC data length 6000h Software error EEPROM checksum error no transmission of this error message as emergency message 6110h Inter...

Страница 55: ...e unsigned 32 Access mode rw Default value see chapter 7 9 1 page 49 Structure of the parameter Bit No Value Meaning 31 MSB do not care 30 0 1 0 Device does not generate SYNC message 1 Device generate...

Страница 56: ...0 Page 56 of 103 7 9 6 Communication Cycle Period 1006h INDEX 1006h Name Communication Cylcle Period Data type unsigned 32 Access mode rw Default value 0 s Value range of the parameter Value Meaning 0...

Страница 57: ...l Doc No C 3030 21 Rev 1 4 Page 57 of 103 7 9 7 Manufacturer Device Name 1008h INDEX 1008h Name manufacturer device name Data type visible string Default value see chapter 7 9 1 page 49 For detailed d...

Страница 58: ...ad similarly to reading the manufacturer s device name via the domain upload protocol Please refer to 1 for a detailed description of the upload 7 9 9 Manufacturer Software Version 100Ah INDEX 100Ah N...

Страница 59: ...sed preferentially Use the node guarding only for existing systems and not for new developments Guard time and life time factors are evaluated together Multiplying both values will give you the life t...

Страница 60: ...bit identifiers INDEX 100Eh Name node guarding identifier Data type unsigned 32 Access mode rw Default value 700h Node ID Structure of the parameter node guarding identifier Bit No Meaning 31 MSB 30 r...

Страница 61: ...to 1 for more information INDEX 1010h Name store parameters Data type unsigned 32 Index Sub index Description Value range Data type Access mode 1010h 0 number_of_entries 4 unsigned 8 ro 1 save_all_par...

Страница 62: ...he character string save 73h 61h 76h 65h order from CAN telegram to object 1010h sub index 1 4 On read access to the appropriate sub index the CAN CBX module provides information about its storage fun...

Страница 63: ...ue range Data type Access mode 1011h 0 number_of_entries 4 unsigned 8 ro 1 restore_all_default_parameters objects 1000h 9FFFh no default write 64 61 6F 6Ch ASCII d a o l unsigned 32 rw 2 restore_commu...

Страница 64: ...ure load 64h 61h 6Fh 6Ch sequence in CAN telegram in object 1011h sub index 1 4 On readaccesstotheappropriatesub index theCANopen deviceprovides information about its default parameter restoring capab...

Страница 65: ...ue 80h Node ID This object defines the COB ID of the emergency object EMCY The structure of this object is shown in the following table Bit No Value Meaning 31 MSB 0 1 0 EMCY exists is valid 1 EMCY do...

Страница 66: ...Page 66 of 103 7 9 15 Inhibit Time EMCY 1015h INDEX 1015h Name inhibit_time_emergency Data type unsigned 16 Access mode rw Value range 0 FFFFh Default value 0 The Inhibit Time for the EMCY message can...

Страница 67: ...smits a heartbeat message on the CAN bus on the node guarding identifier see object 100Eh One or more heartbeat consumers receive the message It has to be received within the heartbeat time stored on...

Страница 68: ...d 16 Node ID Node Id of the heartbeat producer to be monitored heartbeat_time Within this time ms the heartbeat producer has to transmit the heartbeat on the node guarding ID to avoid the transmission...

Страница 69: ...is higher than 0 it is active and stops the node life guarding see page 59 If the value of the producer heartbeat time is set to 0 transmitting heartbeats by this module is stopped Index Sub index De...

Страница 70: ...h 0 unsigned 32 ro 4 serial_number 0 FFFFFFFFh unsigned 32 ro Description of the variables vendor_id This variable contains the esd vendor ID This is always 0000 0017h product_code Here the esd articl...

Страница 71: ...first two characters of the serial number are letters which designate the manufacturing lot The following characters represent the actual serial number In the two MSB of serial_no the letters of the...

Страница 72: ...ject defines whether a counter is mapped into the SYNC message or not and further the highest value the counter can reach The value range of the object is described in the following table Value Descri...

Страница 73: ...he expected configuration or not The content of the parameters is not evaluated by the firmware Index Sub index Description Value range Default Data type Access mode 1020h 0 no_of_entries 2 2 unsigned...

Страница 74: ...communication_error or output_error Index Sub index Description Value range Default Data type Access mode 1029h 0 no_of_error_classes 1 1 unsigned 8 ro 1 communication_error 0 2 0 unsigned 8 rw Meanin...

Страница 75: ...ented to be able to start CANopen nodes in environments without NMT master Via NMT startup the auto startup of a CANopen node can be switched on or off Further features of the parameters NMT startup a...

Страница 76: ...ameters Data type unsigned 16 Index Sub index Description Value range Default Data type Access mode 1F91h 0 number_of_entries 1 1 unsigned 8 ro 1 NMT master detection timeout 0 FFFFh 64h unsigned 16 r...

Страница 77: ...s 0 FFh 5 unsigned 8 ro 1 COB ID used by PDO 1 800007FFh 280h Node ID unsigned 32 rw 2 transmission type 0 FFh FFh unsigned 8 rw 3 inhibit time 0 FFFFh 0 unsigned 16 rw 4 reserved 0 FFh 0 unsigned 8 c...

Страница 78: ...Index Subindex Description Value range Default Data type Access mode 1A01h 0 number of entries 0 FFh 2h unsigned 8 rw 1 Read_Analog_Input_32_1 0 FFFF FFFFh 6402 0120h unsigned 32 rw 2 Read_Analog_Inp...

Страница 79: ...16 6402h Read Analog Inputs 32 Bit integer 32 6421h Analog Interrupt Trigger Selection unsigned 8 6423h Analog Input Global Interrupt Enable boolean 6424h Analog Input Interrupt Upper Limit integer 32...

Страница 80: ...the A D converters are used in two s complement representation The values of the variables result from the measured values corrected by averaging offset and gain and if necessary addition Value of the...

Страница 81: ...nd if necessary addition and then shifted left aligned in two s complement representation in the 32 bit variable Calculation of the voltage value Value of the variable Read_Analog_Input_32_x Voltage B...

Страница 82: ...ects Gain_x Gain factor object 2405h see page 97 default Gain 1 Offset_x Offset value object 2404h see page 96 default Offset 0 n Number of additions object 2402h see page 94 default n 1 no additions...

Страница 83: ...nalog_Input_IRQ_Trigger_4 0 7 7 unsigned 8 rw This object defines when an interrupt is triggered Assignment of the variable Analog_Input_IRQ_Trigger_x x 1 4 Bit 7 6 5 4 3 2 1 0 Meaning reserved for fu...

Страница 84: ...Global Interrupt Enable the interrupt function of the module is enabled or disabled The values in object 6421h and 6426h remain unaffected of this In the default setting the interrupts are disabled V...

Страница 85: ...4 unsigned 8 ro 1 Analog_Input_Interrupt_Upper_Limit_1 80000000h 7FFFFFFFh 0 integer 32 rw 2 Analog_Input_Interrupt_Upper_Limit_2 80000000h 7FFFFFFFh 0 integer 32 rw 3 Analog_Input_Interrupt_Upper_Li...

Страница 86: ...4 unsigned 8 ro 1 Analog_Input_Interrupt_Lower_Limit_1 80000000h 7FFFFFFFh 0 integer 32 rw 2 Analog_Input_Interrupt_Lower_Limit_2 80000000h 7FFFFFFFh 0 integer 32 rw 3 Analog_Input_Interrupt_Lower_Lim...

Страница 87: ...terrupt function is enabled via object 6423h Positive and negative changes of the voltage are evaluated The value Analog_Input_IRQ_Delta_x is always the absolute value of the difference between the cu...

Страница 88: ...of the Manufacturer Specifc Objects 2310h 2405h Index Name Data Type 2310h Sampling Rate Set Point unsigned 16 2311h Chopping Mode unsigned 8 2312h Sampling Rate Actual Value unsigned 16 2401h Channel...

Страница 89: ...e measured values reached Assignment of the variable Sample_Time_Set_Point The setpoint of the sample time can be set in 0 5 s steps Examples Examples for variable values of Sample_Time_Set_Point _x S...

Страница 90: ...um value Maximum value Sample time Entry in object 2310h DEC Sample time per channel Entry in object 2310h DEC inactive 65 s 130 1357 s 2714 active 82 s 164 2686 s 5372 Note The number of analog outpu...

Страница 91: ...0 1 1 boolean rw 4 Chop_Mode_4 0 1 1 boolean rw If the chopping mode is activated for the A D converter the offset of the measured value is reduced But the chopping mode reduces also the conversion ra...

Страница 92: ...2 0 FFFFh unsigned 16 ro 3 Sample_Time_Actual _3 0 FFFFh unsigned 16 ro 4 Sample_Time_Actual _4 0 FFFFh unsigned 16 ro Via this object the actual value of the preset sample time can be read refer to n...

Страница 93: ...nel has been assigned to a TPDO in the PDO mapping the firmware decides if an A D channel is converted or not Channels which are not mapped are not converted consequently The data of the objects 6401h...

Страница 94: ...Accu_Count_3 0 8 0 unsigned 8 rw 4 Accu_Count_4 0 8 0 unsigned 8 rw This object defines how many analog values are to be added up By the appropriate pre processing of the output value of the A D conv...

Страница 95: ...er every conversion a new average is available because the A D values are buffered in a ring buffer The number of the averaged values is calculated as number of averaged values m m 2 Average_Count_x I...

Страница 96: ...80000000h 7FFFFFFFh OffsetFactory_2 integer 32 rw 3 Calibration_Offset_3 80000000h 7FFFFFFFh OffsetFactory_3 integer 32 rw 4 Calibration_Offset_4 80000000h 7FFFFFFFh OffsetFactory_4 integer 32 rw The...

Страница 97: ...ain_3 8000h 7FFFh GainFactory_3 integer 16 rw 4 Calibration_Gain_4 8000h 7FFFh GainFactory_4 integer 16 rw With this object the gain of the A D converter channels can be corrected The gain value with...

Страница 98: ...oss of the firmware The module then can not be operated further Note esd offers the program CANfirmdown for a firmware update Please contact our support for this In normal DS 301 mode the object 1F50h...

Страница 99: ...about object 1F51h and the firmware update please refer to 5 7 12 2 Verify Application Software 1F52h Index Sub index Description Value range Default Data type Access mode 1F52h 0 Number of entries 2...

Страница 100: ...302 V4 1 04 2010 Additional Application Layer functions Part 3 Configuration and program download 6 Linear Technology Data sheet LTC 2600 LTC2610 LTC2620 Octal 16 14 12 Bit Rail to Rail DACs in Lead...

Страница 101: ...CAN CBX AI420 Manual Doc No C 3030 21 Rev 1 4 Page 101 of 103 9 EU Declaration of Conformity...

Страница 102: ...01 CAN CBX TBUS Connector Terminal plug of the CBX InRailBus for the connection of the 24 V power supply voltage and the CAN interface Female type C 3000 02 CAN CBX TBUS Connection adapter Terminal p...

Страница 103: ...rder No CAN CBX AI420 ME Manual in English C 3030 21 CAN CBX AI420 MD Manual in German C 3030 20 Table 14 Available manuals Printed Manuals If you need a printout of the manual additionally please con...

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