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CANopen Firmware

CAN-CBX-COM2

Manual • Doc.-No.: C.3055.21 / Rev. 1.1

Page 47 of 125

8. CANopen Firmware

Apart from basic descriptions of CANopen, this chapter contains the most significant information about
the implemented functions.

A complete CANopen description is too extensive for the purpose of this manual.
Further information can therefore be taken from the CANopen documentation [1].

8.1 Definition of Terms

COB ...

Communication 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 the ‘Transmit’-PDO (TPDO) the CAN-CBX-module transmits data to the CANopen network.
In the ‘Receive’-PDO (RPDO) the CAN-CBX-module receives data from the CANopen network.

SDOs (Service Data Objects)

SDOs are used to transmit module internal configuration- and parameter data. In opposition to the
PDOs SDO-messages are confirmed. A write or read request on a data object is always answered by
a response telegram.

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Содержание C.3055.02

Страница 1: ...age 1 of 125 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 COM2 CAN RS 232 RS 422 RS 485 or TTY Interface Manual to Product C 3055 02 C 3055 03 ...

Страница 2: ...nges 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 this document in any form whole or in part are subject to esd s written approval 2015 esd electronics system design gmbh Hannover esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover G...

Страница 3: ...hanges in the hardware and firmware as well as changes in the description of facts only Revision Chapter Changes versus previous version 1 0 First English Version 1 1 Typographical Conventions inserted 2 Note to termination connector in step 2 deleted 3 Chapter revised notes inserted 4 5 Chapter Software Support moved 8 8 Description of Self Start Feature 1F80h 1F91h inserted 9 References revised ...

Страница 4: ...ding to EN 60950 1 complies with this conditions Qualified Personal This documentation is directed exclusively towards qualified personal 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 circuits into operation according to the applicable national standards o...

Страница 5: ... 3 Assignment of Coding Switch Labelling to Name in Schematic Diagram 18 4 Technical Data 19 4 1 General technical Data 19 4 2 CPU 20 4 3 CAN Interface 20 4 4 Serial Interface 21 4 5 Software Support 21 4 6 1 Connecting Power Supply and CAN Signals to CBX InRailBus 23 4 6 2 Connection of the Power Supply Voltage 24 4 6 3 Connection of CAN 25 4 7 Remove the CAN CBX Module from the InRailBus 25 5 Co...

Страница 6: ...ort by esd 46 8 CANopen Firmware 47 8 1 Definition of Terms 47 8 2 NMT Boot up 48 8 3 The CANopen Object Directory 48 8 4 Communication Parameters of the PDOs 49 8 4 1 Access on the Object Directory 49 8 4 2 Non volatile Storage of Parameters to EEPROM 51 8 4 3 Restoring of Default Status of the parameters 52 8 5 Overview of used CANopen Identifiers 53 8 5 1 Setting the COB ID 53 8 6 Default PDO A...

Страница 7: ...ommunication Parameter 1800h 1802h 87 8 8 27 Transmit PDO Mapping Parameter 1A00h 1A02h 89 8 9 Transmission Modes 90 8 9 1 Supported transmission modes according to CiA 301 Table 55 90 8 10 Data Transfer and PDO Assignment 91 8 10 1 Function Description of local Firmware 91 8 11 Device Profile Area 93 8 11 1 Overview of Implemented Objects 6000h 9FFFh 93 8 12 Manufacturer Specific Profile Area 94 ...

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 which might have unwanted side effects Note Notes to point out something important or useful Number Representation All numbers in this document are base 10 unless designated otherwise For hexadecimal ...

Страница 9: ...he CAN CBX COM2 can either be operated as individual module or it can be connected to the InRailBus The CAN CBX COM2 module is equipped with an ARM7 Microcontroller which operates as controller for the serial interfaces and the CAN Bus The CAN data are buffered in the local SRAM The firmware is held in the flash The parameters are saved in a serial EEPROM The CAN CBX COM2 features the possibility ...

Страница 10: ...pecial T connectors and termination connectors Additionally the CAN_GND signal has to be connected to earth at exactly one point in the CAN network A CAN node with electrical connection to earth potential acts as an earth potential 3 Set the baud rate only if it differs from the default setting The default baud rate is 1 MBit s The baud rate can be set via the coding switch BAUD as described in ch...

Страница 11: ...ransmit data CAN serial CAN Identifier Len Data 200h Node ID 8 Byte 0 8 byte user data COM A 400h Node ID 8 Byte 0 8 byte user data COM B 8 Receive data serial CAN CAN Identifier Len Data 180h Node ID 8 Byte 0 8 byte user data COM A 380h Node ID 8 Byte 0 8 byte user data COM B ...

Страница 12: ...3 Hardware Installation 3 1 Connecting Diagram 3 1 1 Power Supply and CAN Fig 2 Connections of the CAN CBX COM2 module Note Please refer to page 36 for information on conductor connection and conductor cross section The connector pin assignments can be found on page 26 and following ...

Страница 13: ...vity Tx yellow off CAN CBX COM2 does not transmit data on COM A blinking CAN CBX COM2 transmits data on COM A R COM A Activity Rx yellow off CAN CBX COM2 does not receive data on COM A blinking CAN CBX COM2 receives data on COM A B COM B Activity Tx yellow off CAN CBX COM2 does not transmit data on COM B blinking CAN CBX COM2 transmits data on COM B G COM B Activity Rx yellow off CAN CBX COM2 does...

Страница 14: ...flashes LED 3x 200 ms on 200 ms off 1x 200 ms on 1000 ms off Table 3 Flash rates Note Red and green LEDs arestrictlyswitched in phaseopposition accordingto theCANopen Specification 3 For certain indicator states viewing all LEDs together might lead to a misinterpretation of the indicator states of adjacent LEDs It is therefore recommended to look at the indicator state of an LED individually by co...

Страница 15: ...Overrun Error The data rate is set too high therefore the firmware is not able to transmit all data on the CAN bus 2 flashes Internal software error e g stored data have an invalid checksum therefore default values are loaded internal watchdog has triggered indicator state is continued until the module resets or an error occurs at the outputs blinking No transmission data Table 6 Indicator state o...

Страница 16: ...AN Error LED on and CANopen Status LED 3 flashes Invalid node ID The coding switches for the node ID are set to an invalid ID value when switching on The module will be stopped Table 8 Special Indicator States 3 2 8 Assignment of LED Labelling to the Name in the Schematic Diagram Labelling on the CAN CBX COM2 Name in the Schematic Diagram 1 E LED240A S LED240B M LED240C V LED240D A LED320A R LED32...

Страница 17: ...ter 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 The three higher order bits higher order nibble can be set with coding switch HIGH the four lower order bits can be set with coding switch LOW Note Avoid the following settings Setting the address r...

Страница 18: ... be taken from the following table Setting 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 Ah 33 3 Bh 20 Ch 12 5 Dh 10 Eh 800 Fh 2 83 3 2 from firmware version 1 02 on Table 9 Index of the baud rate 3 3 3 Assignment of Coding Switch Labelling to Name in Schematic Diagram Labelling on the CAN CBX COM2 Name in the Schematic Diagram 3 Baud SW401 Low SW400 High SW402 3...

Страница 19: ...10 Serial interface 2 CAN 5 pin PCB plug connector X400 CAN interface InRailBus 5 pin TBUS connector X101 CAN interface and power supply voltage via InRailBus Only for test and programming purposes internal X220 10 pin socket connector Temperature range 0 fC 60 fC ambient temperature Humidity max 90 non condensing Protection class IP20 Pollution degree maximum permissible according to DIN EN 61131...

Страница 20: ... with spring cage connection or via InRailBus connector CAN CBX TBUS CAN Controller integrated in LPC2119FBD64 ISO11898 1 Electrical isolation of CAN interfaces against other units Isolation voltage U 500 V withstand impulse voltage according to DIN EN 60664 1 Physical layer CAN physical layer according to ISO 11898 2 transfer rate programmable from 10 Kbit s up to 1 Mbit s Bus termination has to ...

Страница 21: ...2 CAN CBX COM2 1x RS 232 1x RS 485 esd order No C 3055 03 Options RS 422 RS 485 TTY active passive Bit rate RS 232 up to 115 2 Kbit s RS 422 up to 115 2 Kbit s RS 485 up to 115 2 Kbit s TTY up to 38 4 Kbit s Connector 7 pin PCB plug connector with spring cage connection Table 12 Data of the serial interface 4 5 Software Support The firmware of the module supports the CiA CANopen specification CiA ...

Страница 22: ...ap 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 or after mounting the CAN CBX modules 2 Place the CAN CBX module with the DIN rail guideway on the top edge of the mounting rail Figure 6 Mounting CAN CBX modules 3 Swivel theCAN CBXmoduleonto themo...

Страница 23: ...Mounted CAN CBX module 4 6 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 not included in deliveryand must be ordered separately order no C 3000 02 seeorder information Fig 8 Mounting rail with InRailBus and terminal plug Plug the terminal plug into the socket on the right of...

Страница 24: ...cted 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 The module is connected with the mounting rail via its functional earth contact This improves the stability against electromagnetic disturbances Thus the mounting rail shall be connected to an appropriate functional eart...

Страница 25: ... 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 of the CBX InRailBus see Fig 10 if the CAN bus ends there 4 7 Remove the CAN CBX Module from the InRailBus If the CAN CBX module is connected to the InRailBus please proceed as follows Release the module ...

Страница 26: ...x Contact order no 19 21 90 0 included in the scope of delivery For conductor connection and conductor cross section see page 36 Pin Position Pin Assignment Labelling on Housing 24V M P Labelling on connector free free Pin No 1 2 3 4 Signal P24 24 V M24 GND M24 GND P24 24 V Please refer also to the connecting diagram on page 12 Note The pins 1 and 4 are connected internally The pins 2 and 3 are co...

Страница 27: ...face The physical 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 interface can be connected via the CAN connector or optionally via the InRailBus Use the mounting rail bus connector of the CBX InRailBus CAN CBX TBUS see order information page 124 ...

Страница 28: ...6 Pin Position Pin Assignment line 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 potential of the local CAN physical layer Shield pin for line shield connection using hat rail mounting direct contact to the mounting rail potential not connected Recommendation of an adapter cable from5 pin Pho...

Страница 29: ...r 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 signals CAN_GND reference potential of the local CAN Physical layers P24 power supply voltage 24 V M24 reference potential FE functional earth contact EMC connected to mounting rail potential ...

Страница 30: ...e via Piggybacks In the following the wiring of the serial interfaces is shown relating to the data direction The figures explain the short terms of the signals used in the chapter Connector Assignment 5 3 1 RS 232 Interface In this example for the connector cable an adapter cable from the 7 pin PCB plug connector to the DSUB9 socket is shown This cable is designed for the direct connection of the...

Страница 31: ...qrsp tuvwsp xyz t c 5 3 2 Option RS 422 Interface Fig 13 Connection scheme for RS 422 operation optional 5 3 3 Option RS 485 Interface Fig 14 Connection scheme for RS 485 operation optional In RS 485 operation the pins 5 and 7 of the PCB plug connector are connected to a termination resistor network on the piggyback To activate the termination the signal Rx Tx has to be connected to TERM and the s...

Страница 32: ...ÊËÌÍ ÎÏ ÐÑË ÒÓÅÆÇ ÔÕÖ Å ÈØ ÙÎÇÇËÙÐÎÌ ÚÛÜÝÚ Þ ßàÝÚ áâã Þ äåæçèé äåæçèé äåæçèé êëì êëì äåæçèé íëì îïìé êëð êëñ íëð íëñ íëì îïìé ò æ ó ô ðõ ðõ öö øùúûüý þÿ ÿ ä è þ þ þ 0 5 3 4 Option TTY 20 mA Interface Fig 15 Connection scheme for TTY operation passive optional Fig 16 Connection scheme for TTY operation active optional ...

Страница 33: ... Position Serial interface COM A The serial interface COM A is configured as RS 232 interface COM B can be individually configured as RS 232 RS 422 RS 485 or TTY interface via Piggybacks The base version CAN CBX COM2 2x RS 232 esd order No C 3055 02 comes with two RS 232 drivers Further options are available on request Serial Interface COM B Pin Assignment of the basic version CAN CBX COM2 2xRS 23...

Страница 34: ...nfigured as RS 232 interface and COM B as RS 485 interface Connector Pin Signal COM A COM B RS 232 RS 485 1 GND GND 2 RxD Tx Rx 3 TxD 4 Tx Rx 5 RTS Term 6 CTS GND 7 Term Option On request the serial interface COM B can be optionally configured as RS 422 TTYp or TTYa interface via piggybacks Connector Pin Signal COM B RS 422 TTYp TTYa 1 GND GND GND 2 Tx Tx Tx 3 I1 Tx 4 Tx Tx 12 V 5 Rx Rx 12 V 6 GND...

Страница 35: ... Doc No C 3055 21 Rev 1 1 Page 35 of 125 5 4 Assignment of the Labelling on the Module Labelling on CAN CBX COM2 Name in schematic diagram 3 COM A X300 COM B X310 CAN X400 24V X100 InRailBus X101 3 The schematic diagram is not part of this manual ...

Страница 36: ...randed with ferrule without plastic sleeve max 2 5 mm 1 5 mm 1 5 mm Conductor cross section stranded with ferrule with plastic sleeve min 0 25 mm 0 25 mm 0 25 mm Conductor cross section stranded with ferrule with plastic sleeve max 2 5 mm 0 5 mm 0 5 mm Conductor cross section AWG kcmil min 24 26 26 Conductor cross section AWG kcmil max 12 16 16 2 conductors with same cross section solid min n a n ...

Страница 37: ...for CAN network design margin must be given for signal loss across the complete system and cabling parasitic loadings network imbalances ground offsets against earth potential and signal integrity Therefore the practical maximum number of nodes bus length and stub length are typically much lower esd has concentrated her recommendations concerning CAN wiring on the specifications of the ISO 11898 2...

Страница 38: ...ould be followed 1 A cable type with a wave impedance of about 120 10 with an adequate conductor cross section 0 22 mm has to be used The voltage drop over the wire has to be considered 2 For light industrial environment use at least a two wire CAN cable Connect the two twisted wires to the data signals CAN_H CAN_L and the cable shield to the reference potential CAN_GND 3 The reference potential C...

Страница 39: ...tion resistor has to be connected at both ends of the CAN bus If an integrated CAN termination resistor which is equipped at the CAN interface at the end of the bus is connected this one has to be used for termination instead of an external CAN termination plug 9 pin DSUB termination connectors with integrated termination resistor and male and female contacts gender changer are available from esd ...

Страница 40: ...ection P 0 22 mm has to be used The voltage drop over the wire has to be considered 2 For heavy industrial environment use a four wire CAN cable Connect Q two twisted wires to the data signals CAN_H CAN_L and Q other two twisted wires to the reference potential CAN_GND and Q cable shield to functional earth FE at least at one point 3 The reference potential CAN_GND has to be connected to the funct...

Страница 41: ...application of single twisted and double twisted cables is unavoidable take care that the CAN_GND line is not interrupted Fig 20 Example for proper wiring with single shielded double twisted pair cables 6 3 3 Termination R A termination resistor has to be connected at both ends of the CAN bus If an integrated CAN termination resistor which is equipped at the CAN interface at the end of the bus is ...

Страница 42: ... 01 6 5 Bus Length Bit Rate kBit s Typical values of reachable wire length with esd interface lmax m CiA recommendations 07 95 for reachable wire lengths lmin m 1000 37 25 800 59 50 666 6 80 500 130 100 333 3 180 250 270 250 166 420 125 570 500 100 710 650 83 3 850 66 6 1000 50 1400 1000 33 3 2000 20 3600 2500 12 5 5400 10 7300 5000 Table 13 Recommended cable lengths at typical bit rates with esd ...

Страница 43: ... ConCab GmbH Äußerer Eichwald 74535 Mainhardt Germany www concab de 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 6 6 2 Cable for Heavy Industrial Environment Applications Four Wire Manufacturer Cable Type U I LAPP GmbH Schulze Delitzsch Straße 25 70565 Stuttgart Germany www lappkabel de e g UNITRONIC BUS CAN UL CSA 2x 2x 0 22...

Страница 44: ...ne and load impedance are equal these reflections are avoided 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 nodes 2 Measure the DC resistance between CAN_H and CAN_L at one end of the network see figure above The measured value should be between 50 T and 70 T If the...

Страница 45: ... of the CAN_GND wires 7 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 generally the error rate will increase strongly Make sure that there is no short circuit between CAN_GND and CAN_L 7 4 CAN_H CAN_L Voltage Each node contains a CAN transceiver that outputs differential signals When the network commu...

Страница 46: ... through the CAN circuits please usearesistance measuring device and 1 Switch off the node and disconnect it from the network see figure below 2 Measure the DC resistance between CAN_H and CAN_GND see figure below 3 Measure the DC resistance between CAN_L and CAN_GND see figure below The measured resistance has to be about 500 ks for each signal If it is much lower the CAN transceiver is probably ...

Страница 47: ...B Communication 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 the Transmit PDO TPDO the CAN CBX module transmits data to the CANopen network In the Receive PDO RPDO the CAN CBX module receives data from the CANopen network SDOs Service Data Objects SDOs are...

Страница 48: ...lly 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 represented in hexadecimal format The index can be a 16 bit parameter in accordance with the CANopen specification 1 or a manufacturer specific code By means of the MSBs of the index the object class of the parameter is define...

Страница 49: ...this channel is possible in operational and pre operational status This chapter does not describe all possible but onlysome important modes of access in the CAN CBX COM2 module Definitions for the access modes can be taken from 1 An SDO CAN Frame is structured as follows Identifier Command code Index Sub index LSB Data field MSB low high Example 600h Node ID 23h 00h 14h 01h 7Fh 04h 00h 00h write I...

Страница 50: ...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 Download 60h Read Request Initiate Domain Upload 40h Read Response Initiate Domain Upload 1 2 3 4 4Fh 4Bh 47h 43h Error Response Abort Domain Transfer 80h Index Sub Index Index and sub index will bedescribe...

Страница 51: ...annot be transferred or stored in the application 08000022h data cannot be transferred or stored in the application because of the present device state 08000024h access to flash failed 8 4 2 Non volatile Storage of Parameters to EEPROM After the transfer the parameters are immediately active The non volatile storage of the parameters however is not carried out automatically It must be initiated wi...

Страница 52: ...3 Data 4 600h Node ID 4Fh 10h 10h 01h 01h 00h 00h 00h read response 1 byte Storing of the parameter only at request Command for the storage of the parameters Identifier Command code Index low Index high Sub index Data 1 Data 2 Data 3 Data 4 600h Node ID 23h 10h 10h 01h 73h s 61h a 76h v 65h e write 4 bytes Storing of the parameters 8 4 3 Restoring of Default Status of the parameters The default st...

Страница 53: ...eive PDO3 COM B TPDO3 380h NodeID PDO3 to CAN CBX COM2 object 1802h Transmit PDO3 COM B Client SDO 580h NodeID SDO to CAN CBX COM2 Tx Server SDO 600h NodeID SDO to CAN CBX COM2 Rx Node Guarding 700h NodeID not configurable NodeID CANopen address 1h 7Fh 8 5 1 Setting the COB ID The COB IDs which can be set except the one of SYNC are deduced initially from the setting of the Node ID via the coding s...

Страница 54: ... RPDOs PDO CAN Identifier Length Transmission Direction Default TPDO1 180h Node ID up to 8 bytes from CAN CBX COM2 Transmit PDO COM A data serial CAN byte 0 7 TPDO3 380h Node ID up to 8 bytes COM B data serial CAN byte 0 7 PDO CAN Identifier Length Transmission Direction Default RPDO1 200h Node ID up to 8 bytes to CAN CBX COM2 Receive PDO COM A data serial CAN byte 0 7 RPDO3 400h Node ID up to 8 b...

Страница 55: ... the local EEPROM if the command save is called see page 52 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 read Write accesses will cause an error message const constant This parameter can not be set by the user It is readable Write accesses will cause an error message rw read write This parameter can be rea...

Страница 56: ...cturer Hardware Version Visible String ro default depending on version 100Ah Manufacturer Software Version Visible String ro default depending on version 100Ch Guard Time Unsigned 16 rw default 0 100Dh Life Time Factor Unsigned 8 rw default 0 1010h Store Parameters 4 Unsigned 32 rw Parameters which can be saved or loaded 1005h 1029h All parameters of the objects 2800h 2810h 2880h 2881h 2900h 2910h...

Страница 57: ...ping rw 1602h 8 Receive PDO Mapping Parameter PDOMapping rw 1800h 6 Transmit PDO Communication Parameter PDOCommPar rw 1802h 6 Transmit PDO Communication Parameter PDOCommPar rw 1A00h 8 Transmit PDO Mapping Parameter PDOMapping rw 1A02h 8 Transmit PDO Mapping Parameter PDOMapping rw Index Sub index max Description Data type Access mode Product specific values 1F80h NMT startup unsigned 32 rw defau...

Страница 58: ... 603h 600h Node ID to the CAN CBX module with the module no 3 Node ID 3h ID RTR LEN DATA 1 2 3 4 5 6 7 8 603h 0h 8h 40h 00h 10h 00h 00h 00h 00h 00h Read Request Index 1000h Sub Index The the CAN CBX module no 3 responds to the client by means of read response with identifier 583h 580h Node ID with the value of the device type ID RTR LEN DATA 1 2 3 4 5 6 7 8 583h 0h 8h 43h 00h 10h 00h 00h 00h 80h 0...

Страница 59: ...lt value 0 The following bits of the error register are being supported at present Bit Meaning supported by CAN CBX COM2 0 generic t 1 curent 2 voltage 3 temperature 4 communication error overrun error state 5 device profile 6 reserved 7 manufacturer specific error u Bits which are not supported are always returned as 0 The following messages can occur 00h no error 81h one of the error conditions ...

Страница 60: ...1 1 CAN CBX COM2 Page 60 of 125 8 8 4 Manufacturer Status Register 1002h INDEX 1002h Name manufacturer status register Data type unsigned 32 Default value No The bits of the status register are manufacturer specific and may only be used for internal purposes ...

Страница 61: ... 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 error list sub index 0 has to be set to 0 This is the only permissible write access to the object With every new entry to the list the module transmits an Emergency Frame to report the error Index Sub in...

Страница 62: ...0h Lifeguard 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 Internal Software error e g saved data had invalid checksum and default data is loaded FF10h Data loss A D data overflow 5000h Hardware error e g A D converter defective Emergency Message The da...

Страница 63: ...ned 32 Access mode rw Default value 80h Low limit 01h High limit C000 07FFh 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 generates SYNC message 29 0 always 0 11 bit ID 28 11 0 always 0 29 bit IDs are not supported 10 0 LSB x Bit 0 10 of the SYNC COB ID The identifier can take values between 0 7FFh ...

Страница 64: ...ta type unsigned 32 Access mode rw Default value 0 ws This object contains the cycle time of the SYNC frames Index Sub index Description Value range Default value Data type Access mode 1006h 0 communication cycle period 0 0000 01F4h FFFF FFFFh 0 ws unsigned 32 rw communication cycle period Cycle time of the SYNC frame in ws If the value is 0 no SYNC messages are transmitted ...

Страница 65: ...l Doc No C 3055 21 Rev 1 1 Page 65 of 125 8 8 8 Manufacturer Device Name 1008h INDEX 1008h Name manufacturer device name Data type visible string Default value see chapter 8 8 1 page 56 For detailed description of the SDO Uploads please refer to 1 ...

Страница 66: ...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 8 8 10 Manufacturer Software Version 100Ah INDEX 100Ah Name manufacturer software version Data type visible string Default value string e g 1 2 depending on version Reading the software version is similar to reading the manufacturer s device name via the ...

Страница 67: ...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 time The guard time is represented in milliseconds INDEX 100Ch Name guard time Data type unsigned 16 Access mode rw Default value 0 ms Minimum value 0 Maximum value FFFFh 65 535 s INDEX 100Dh Name life...

Страница 68: ...dex Sub index Description Value range Data type Access mode 1010h 0 number_of_entries 4 unsigned 8 ro 1 save_all_parameters objects 1000h 9FFFh no default write 65 76 61 73h ASCII e v a s unsigned 32 rw 2 save_communication_parameter objects 1000h 1FFFh unsigned 32 rw 3 save_application_parameter objects 6000h 9FFFh unsigned 32 rw 4 save_manufacturer_parameter objects 2000h 5FFFh unsigned 32 rw As...

Страница 69: ...index 1 4 On read access to the appropriate sub index the CAN CBX module provides information about its storage functionality with the format described in the following Bit 31 2 1 0 Inhalt reserved auto cmd 0 0 1 MSB LSB Bit Value Description auto 0 CAN CBX module does not save the parameters autonomously 1 CAN CBX module saves the parameters autonomously cmd 0 CAN CBX module does not save the par...

Страница 70: ...lue 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_communication_parameter objects 1000h 1FFFh unsigned 32 rw 3 restore_application_parameter objects 6000h 9FFFh unsigned 32 rw 4 restore_manufacturer_parameter objects 2000h 5FFFh unsigned 32 rw Assignment...

Страница 71: ...64h 61h 6Fh 6Ch sequence in CAN telegram in object 1011h sub index 1 4 On read access to theappropriatesub index theCANopendeviceprovides information about its default parameter restoring capability with the following format Bit 31 1 0 Content reserved cmd 0 1 MSB LSB Bit Value Description cmd 0 The default parameters of the CAN CBX module can not be loaded 1 The default parameters of the CAN CBX ...

Страница 72: ...lue 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 does not exist EMCY is not valid 30 0 reserved always 0 29 0 always 0 11 bit ID 28 11 0 always 0 29 bit IDs are not supported 10 0 LSB x bits 0 10 of COB ID The identifier can take values between 0 7FF...

Страница 73: ...Page 73 of 125 8 8 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 be defined with this entry The time is determined as a multiple of 100 xs ...

Страница 74: ...nsmits 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 the heartbeat consumer otherwise a heartbeat event is triggered on the heartbeat consumer module A heartbeat event generates a heartbeat error on the CAN CBX module Each module can act as a heartbeat...

Страница 75: ...ed 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 of a heartbeat event The consumer heartbeat time of the monitoring module must always be higher than the producer heartbeat time of the heartbeat transmitting module Example consumer heartbeat_time ...

Страница 76: ...e is higher than 0 it is active and stops the node life guarding see page 67 If the value of the producer heartbeat time is set to 0 transmitting heartbeats by this module is stopped Index Sub index Description Value range Default Data type Access mode 1017h 0 producer heartbeat_time 0 FFFFh 0 ms unsigned 16 rw producer heartbeat_time Cycle time ms of heartbeat producer to transmit the heartbeat o...

Страница 77: ... revision_number 0 FFFF FFFFh SW Rev unsigned 32 ro 4 serial_number 0 FFFF FFFFh HW serial number 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 article number of the product is stored The nibbles of the long words have the following meaning Example 2305 5002h corresponds to article number C 3055 02...

Страница 78: ... serial number In the two MSB of serial_no the letters of the manufacturing lot are coded They each contain the ASCII code of the letter with the MSB set 1 in order to be able to differentiate between letters and numbers ASCII Code 80h read_byte The two last significant bytes contain the number of the module as BCD value Example If the value C1C2 0105h is being read this corresponds to the hardwar...

Страница 79: ...er 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 Description 0 The SYNC message shall be transmitted as a CAN message of data length 0 1 reserved 2 240 The SYNC message shall be transmitted as a CAN message of data length 1 The first data byte of the SYNC message contains ...

Страница 80: ...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 8 ro 1 configuration_date 0 FFFFFFFFh 0 unsigned 32 rw 2 configuration_time 0 FFFFFFFFh 0 unsigned 32 rw Parameter Description configuration_date Date of the last configuration of the module The valu...

Страница 81: ...Access mode 1029h 0 no_of_error_classes 4 4 unsigned 8 ro 1 communication_error 0 2 0 unsigned 8 rw 2 output_error 0 2 0 unsigned 8 rw 3 input_error 0 2 0 unsigned 8 rw 4 manufacturer_error 0 2 0 unsigned 8 rw Meaning of the variables Variable Meaning no_of_error_classes number of error classes here always 4 communication_error heartbeat lifeguard error and Bus off output_error not used here input...

Страница 82: ... on The NMT startup is implemented 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 are currently not supported The value range of the object is described in the following table Value Meaning 0000 0002h Auto startup disabled default 0000 0008h Auto startup...

Страница 83: ...6 This object is implemented from firmware version 1 02 on 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 rw Sub index 1 of this object contains the timeout in ms between the change from preoperational operational In default it is 100 ms The sub indices 2 and 3 of this object a...

Страница 84: ...ter Data type PDOCommPar PDOCommPar Index Sub Index PDO mappable Save to EEPROM Access mode Data type Default value Description 1400h 0 no no ro unsigned 8 6 number of entries 1 no yes rw unsigned 32 200h Node ID COB ID used by PDO1 2 no no ro unsigned 8 FFh transmission type 3 no no ro unsigned 16 0 inhibit time 4 no no rw usigned 8 0 compatibility entry 5 no no rw unsigned 16 0 event timer 6 no ...

Страница 85: ...with index 1400h at CAN identifier 035Ah The hexadecimal byte sequence has to be mapped on ID 600 Node ID Byte Name Value Content 0 Command 23h Write Request 1 Index Low 00h New PDO 1400h in Intel Notation 2 Index High 14h 3 Sub index 1 defines COB ID 4 Data 1 5Ah COB ID 035Ah in Intel Notation 5 Data 2 03h 6 Data 3 0 7 Data 4 0 ...

Страница 86: ...ta CAN serial byte 1 8 4 no no ro 2880 00 08h Data CAN serial byte 1 8 5 no no ro 2880 00 08h Data CAN serial byte 1 8 6 no no ro 2880 00 08h Data CAN serial byte 1 8 7 no no ro 2880 00 08h Data CAN serial byte 1 8 8 no no ro 2880 00 08h Data CAN serial byte 1 8 1602h 0 no no ro unsigned 8 8 number of entries 1 no no ro CANopen Map Struct 2980 00 08h Data CAN serial byte 1 8 2 no no ro 2980 00 08h...

Страница 87: ...iption 1800h 0 no no ro unsigned 8 6 number of entries 1 no yes rw unsigned 32 180h Node ID COB ID used by PDO1 2 no yes rw unsigned 8 FFh transmission type 3 no no rw unsigned 16 0 inhibit time 4 no no rw unsigned 8 0 reserved 5 no yes rw unsigned 16 0 event timer 6 no no rw unsigned 8 0 SYNC start value 1802h 0 no no ro unsigned 8 6 number of entries 1 no yes rw unsigned 32 380h Node ID COB ID u...

Страница 88: ... with index 1800h with CAN identifier 047Fh The hexadecimal byte sequence has to be mapped on ID 600h Node ID Byte Name Value Content 0 Command 23h Write Request 1 Index Low 00h new PDO 1800h in Intel Notation 2 Index High 18h 3 Sub index 1 define COB ID 4 Data 1 7Fh COB 047Fh in Intel Notation 5 Data 2 04h 6 Data 3 0 7 Data 4 0 ...

Страница 89: ...N Byte 0 7 4 no no ro 2881 00 08h Data serial CAN Byte 0 7 5 no no ro 2881 00 08h Data serial CAN Byte 0 7 6 no no ro 2881 00 08h Data serial CAN Byte 0 7 7 no no ro 2881 00 08h Data serial CAN Byte 0 7 8 no no ro 2881 00 08h Data serial CAN Byte 0 7 1A02h 0 no no ro unsigned 8 8 number of entries 1 no no ro CANopen Map Struct 2981 00 08h Data serial CAN Byte 0 7 2 no no ro 2981 00 08h Data serial...

Страница 90: ...ission Type PDO transmission Supported by CAN CBX COM2 cyclic acyclic synchronous asynchro nous RTR 0 X X NO 1 240 X X NO 241 251 reserved NO 252 X X NO 253 X X NO 254 X X NO 255 X X YES Table 14 Transmission modes Das CAN CBX COM2 module only supports transmission type 255 It transmits Tx frames depending on the parameters MinChar and MaxChar TxByRxTimeout and after receiving RTRs ...

Страница 91: ...mitted via the serial interface because otherwise the ring buffer might overflow The number of data received per interval depends on the number of data bytes transmitted the frequency of transmissions the bit rate of the CAN and the degree of CAN bus utilisation If data is lost during operation breaks between transmissions have to be extended and or the number of bytes transmitted has to be reduce...

Страница 92: ...capacity priority CAN bit rate the frequency of transmissions and the number of bytes transmitted The module offers possibilities to influence the last two factors via the parameters Inhibit Time MaxChar and MinChar see objects 2800h and 2900h By Inhibit Time the delay between two transmissions on the CAN bus is determined MinChar and MaxChar define the minimum and maximum number of data bytes whi...

Страница 93: ...Profile Area CAN CBX COM2 Manual Doc No C 3055 21 Rev 1 1 Page 93 of 125 8 11 Device Profile Area 8 11 1 Overview of Implemented Objects 6000h 9FFFh The module does not support objects in the range 6000h 9FFFh ...

Страница 94: ..._String COM A 0 Fh cyclically transmittable character string 2880h Dummy Rx object COM A place holder for serial data COM A 2881h Dummy Tx object COM A place holder for serial data COM A 2900h Serial communication parameter interface COM B 10h 2910h Cyclic_String COM B 0 Fh cyclically transmittable character string 2980h Dummy Rx object COM B place holder for serial data COM B 2981h Dummy Tx objec...

Страница 95: ...nsigned 8 rw yes 96 2 MaxChar_MinChar 00 FFh 11h unsigned 8 rw yes 97 3 Serial_Baudrate 00 FFh 22h 9600 Baud unsigned 8 rw yes 99 4 Serial_Mode 00 FFh 73h unsigned 8 rw yes 101 5 TxMinCharStart 00 FFh 00h unsigned 8 rw yes 105 6 Protocol 00 63h 00h unsigned 8 rw yes 106 7 Handshake_Off 00 FFh F6h unsigned 8 rw yes 108 8 Handshake_On 10 FFh 0Ah unsigned 8 rw yes 108 9 TxByRxTimeout 00 FFh 00h unsig...

Страница 96: ...COM B Access mode rw Data type unsigned 8 Value range 00 FFh Unit ms Default value 14h 20 ms Description The Parameter Inhibit Time defines the waiting period between two transmission cycles of serial data on the CAN bus The parameter Inhibit Time defines how long the CAN controller waits after the last successful transmission of CAN data before another transmission is triggered The value is speci...

Страница 97: ...axChar_MinChar Bit 7 4 3 0 Parameter MaxChar MinChar Table 19 Structure of parameter MaxChar_MinChar Transmission command MinChar is only evaluated as described above if values between 1 and 8 are specified If values between 9h and Fh are specified the functionality of the parameter changes In this case the local software evaluates the entry of characters which have been specified via user paramet...

Страница 98: ...har_1 and without Char_2 The end of the message can have Char_1 and Char_2 The data is transmitted after Char_1 has been received Neither Char_1 nor Char_2 are transmitted as well Eh End_Char_2 without Char_1 and without Char_2 As under D but with Char_2 Fh reserved Table 20 Selection of the transmission condition via parameter MinChar Examples The examples below are representative for the CAN CBM...

Страница 99: ...he serial interface can be set via in 14 steps Serial_Baudrate Bit 7 4 3 0 Parameter Rx Baudrate Tx Baudrate Table 21 Structure of the parameters Serial_Baudrate The baud rate determines the speed at which data are transmitted Tx or received Rx on the serial interfaces The default setting for Rx and Tx baud rates is 9600 kbit s The physically attainable baud rate is limited by the hardware see pag...

Страница 100: ... 100 of 125 Parameter Rx Tx Baudrate Standard baud rate bit s 00h 01h 02h 03h 04h 05h 06h 07h 08h 38400 19200 9600 4800 2400 1200 600 300 09h 0Ah 0Bh 0Ch 0Dh 0Eh 7200 14400 28800 57600 115200 Special_ Baudrate 0Fh 76800 Table 22 Setting the baud rate of the serial interface in 14 steps ...

Страница 101: ...0 1 1 1 0 0 1 1 Table 23 Assignment of the parameter Serial_Mode The serial interface can only handle 8 bits per character Furthermore the maximum number of serial bits is limited to 11 by the controller of the serial interface Therefore for the bits 4 0 the following permissible combinations result Bit Function 7 6 5 4 3 2 1 0 RTS CTS Stop see following tables Parity Mode Parity Type Bits per Cha...

Страница 102: ...the RTS mode is set to 0 Via this bit the CTS function of the serial controller is enabled If the bit is 0 the CTS signal is not evaluated and the controller transmits the available data immediately if the transmitter is not blocked byothercommands such as suspended Xoff received number of data MinChar CTS enable bit CTS evaluation 0 CTS input is ignored 1 CTS input is evaluated hardware handshake...

Страница 103: ... is only transmitted 1 0 no parity evaluation no parity transmission default setting 1 1 value of the parity bit to be transmitted is specified in bit Parity Type forced parity Table 28 Parity evaluation Parity Type The polarity of the parity bit is specified by parameter bit Parity Type Parity Type Polarity 0 even default setting 1 odd Table 29 Setting the polarity Bits per Character The number o...

Страница 104: ...ssignment RTS Mode CTS enable Stop Bit Parity Mode Parity Type Bits per Character Default 1 1 0 1 1 1 Table 30 Assignment of the parameter Serial_Mode for the multidrop mode The multidrop mode can be used for RS 485 networks with multipoint structure In this network there is one master and several slaves on a serial bus Fig 26 Structure of a multipoint bus An addressing is necessary for the distin...

Страница 105: ...tart Object index Sub index 2800h 05h COM A 2900h 05h COM B Access mode rw Data type unsigned 8 Value range 00 FFh Unit n a Default value 0 Description This parameter specifies the minimum number of data bytes which have to be stored in the serial Tx buffer before the transmission of data on the serial interface is started data CAN serial This function is required if strings of more than 8 bytes a...

Страница 106: ...FF handshake enabled 2 4 reserved always set to 0 5 Rx_Break 0 usage of Rx_Break disabled 1 usage of Rx_Break enabled 6 Tx_Break 0 usage of Tx_Break disabled 1 usage of Tx_Break enabled 7 reserved Table 31 Bits of the parameter Protocol Bit 0 RTR_HS RTR Handshake InthishandshakemodetheCAN CBM COM2 moduleresponds with an RTR frame to the Rx data received by a CAN master data CAN serial if capacity ...

Страница 107: ...atively to the hardware handshake this mode can be selected for the serial interface if the handshake is enabled by parameter Handshake_On Off Bit 5 Rx_Break This bit can enable or disable the usage of Rx_Break The Break is a zero signal of at least one byte length so that the start and the stop bit have the same level Bit 6 Tx_Break This bit can enable or disable the usage of Tx_Break The Break i...

Страница 108: ...ransmission until the buffer has capacity for new data again In parameter Handshake_On the number of bytes received in the Rx buffer is entered from which the serial data flow is to be suspended In default setting this value is F6h i e if 250 bytes are in the Rx buffer the RTS signal of the serial interface will be activated If XON XOFF_EN is enabled by parameter Tx_Start Protocol the software han...

Страница 109: ... of 125 Note Parameter Handshake_On Off does not have an effect on the handshake performance in the opposite data direction i e CAN serial The transmitter of the serial interface is enabled if the bit CTS Mode 1 and the CTS signal is inactive or if XON XOFF_EN 1 and Xoff has been received ...

Страница 110: ...CAN frame as possible It is possible however that less bytes than specified in MinChar are stored in the buffer of the CAN CBM COM2 with the last transmission This data would then only be transmitted when transmissions will be resumed again In order to prevent these data from remaining in the buffer for an unspecified period parameter TxByRxTimeout Transfer_by_Rx Timeout has been introduced If at ...

Страница 111: ... type unsigned 8 unsigned 8 Value range 00 FFh 00 FFh Unit n a n a Default value 0Dh 0Ah Description By means of parameter MinChar described above the transmission of serial data received on CAN can be initiated after the end commands End_Char_1 or End_Char_2 have been received The characters whose reception is evaluated as end command can be defined by means of parameter End_Char_1 and End_Char_2...

Страница 112: ...0034h Description The baud rate of the serial interface can be set in 14 steps by means of parameter Serial_Baudrate Furtherbaudratescanbeset with theparameterSpecial_Baudrates if Serial Baudrate is set to EEh In Special_Baudrates an integer value N is specified with a value range between N 1 07FFh i e 1 2047d The baud rates that can be set are determined by means of the following equation Baud ra...

Страница 113: ...CAN CBM COM2 module runs in RTR handshake mode The bit RTR in parameter Protocol see page 106 enables the RTR handshake mode TheCAN CBM COM2 modulerespondsintheRTR handshakemodewith an RTR frame to the Rx data data CAN serial received by a CAN master if there is still enough space left in the buffer for at least one further CAN frame The RTR frame is transmitted via the same identifier on which th...

Страница 114: ...mission orders with the same content as e g used for the initialization of gauges on the serial bus the CAN CBM COM2 module offers a function for cyclic transmission of a programmable character string The function relieves the CAN bus because the character string must be sent to the CAN CBM COM2 module only once The time for cyclic transmissions of the character string on the serial bus is set via...

Страница 115: ...ommunication parameters 2800h and 2900h is shown on page 95 Parameter name Break_Code Object index Sub index 2800h 0Fh COM A 2900h 0Fh COM B Access mode rw Data type unsigned 16 Value range 0000 FFFFh Default value 0 Description The parameter Break_Code contains the coding of Break Break_Code Tx_Break_Code 15 8 Rx_Break_Code 7 0 MSB LSB ...

Страница 116: ...900h is shown on page 95 Parameter name Break_Time_Factor Object index Sub index 2800h 10h COM A 2900h 10h COM B Access mode rw Data type unsigned 8 Value range 00 FFh Unit bit times Default value 11 Description The parameter Break_Time_Factor defines the duration of the Break signal in bit times Example baud rate 9600 Baud Break_Time_Factor 11 Break Time 11 1 9600 1146 Baud ms ...

Страница 117: ...re used for interface COM A and the Tx_Cycle_String parameters of object 2910h are used for the interface COM B Index Sub index Description Value range Default value Data type Access mode Save to EEPROM 2810h 2910h 0 Length of string 0 Fh unsigned 8 rw yes 1 string_1 0 FFh 00 unsigned 8 rw yes Fh string_15 0 FFh 00 unsigned 8 rw yes In this parameter character strings can be programmed which can b...

Страница 118: ...e COM B Index Sub index Description Value range Default value Data Typ Access mode Save to EEPROM 2880h 2980h 0 dummy_rx_object unsigned 8 rw yes 8 12 5 Dummy_Tx_Object 2881h 2981h An overview of the communication parameters 2800h and 2900h is shown on page 95 The parameters of object 2880h and object 2980h are described together in this chapter because they are identically structured The dummy tx...

Страница 119: ...ng of the memory and loss 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 operation mode the objects 1F50h and 1F52h can not be accessed The object 1F51h is also available in normal operation mode For further information about the objects and the firmware update please refer to 2...

Страница 120: ... Index Sub index Description Value range Default value Data type Access mode 1F51h 0 number of programs 1 1 unsigned 8 ro 1 program_number_1 0 2 1 unsigned 8 rw Note The value range of this object in the implementation for the CAN CBX COM2 differs from the value range specified in CiA 302 2 For further information about object 1F51h and the firmware update please refer to 2 ...

Страница 121: ... Index Sub index Description Value range Default Value Data type Access mode 1F52h 0 number of entries 2 2 unsigned 8 ro 1 application_software_date 0 FFFF FFFFh unsigned 32 ro 2 application_software_time 0 FFFF FFFFh unsigned 32 ro Meaning of the variables application_software_date Date of the last application software of the module specified in days since 01 01 1984 Example 0000 196Dh 26 10 2001...

Страница 122: ...mation CiA e V 4 Phoenix Contact GmbH Co KG Blomberg Technical data is taken from the Phoenix Contact website https www phoenixcontact com online portal de PCB plug connector FKCT 2 5 4 ST KMGY 1921900 downloaded 2013 05 30 5 Phoenix Contact GmbH Co KG Blomberg Technical data is taken from the Phoenix Contact website https www phoenixcontact com online portal de PCB plug connector FK MCP 1 5 5 STF...

Страница 123: ...CAN CBX COM2 Manual Doc No C 3055 21 Rev 1 1 Page 123 of 125 10 Declaration of Conformity ...

Страница 124: ... CBX modules one bus connector is included in delivery of the CAN CBX module C 3000 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 plug of the CBX InRailBus for the connection of the 24 V power supply voltage and the CAN interface Male type C 3000 0...

Страница 125: ...Order No CAN CBX COM2 ME Manual in English C 3055 21 CAN CBX COM2 MD Manual in German C 3055 20 Table 33 Available manuals Printed Manuals If you need a printout of the manual additionally please contact our sales team sales esd eu for a quotation Printed manuals may be ordered for a fee ...

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