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Shenyang Guangcheng Technology Co., Ltd.

CANopen bus coupler

—

GCAN-IO-8000

Product data sheet

Shenyang Guangcheng Technology CO.LTD.

4. Communication protocol

GCAN-IO-8000  implements  CANopen  communication  protocol  and  is  a  CANopen
slave device. The GCAN-IO-8000 module uses PDO (Process Data Object) to collect
or output digital signals.
When  equipped  with  GC-3804  or  GC-1008  module,  GCAN-IO-8000  will  send  out
TPDO  data,  typical  frame  ID  such  as  0x181,  0x281,  etc.  When  equipped  with
GC-2008 module, GCAN-IO-8000 will receive RPDO data, typical frame ID such as
0x203, 0x303, etc.
In  this  chapter,  Guangcheng  Technology  USBCAN-II  Pro  module  and  ECANTools
software can be used to receive and send CAN bus data. The CANopen master station
function provided with the software can help debug the CANopen slave station, which
is very convenient and practical.
Using the USBCAN bus analyzer of Guangcheng Technology can simulate the CAN
bus  communication  device  and  conduct  the  communication  test  of  the
GCAN-IO-8000  module.  The  USBCAN  bus  analyzer  is  an  intuitive  CAN  bus
debugging  and  analysis  tool.  Using  this  device  can  monitor  and  simulate  CAN  data
transmission  and  reception  through  a  computer.  It  is  an  essential  tool  for  engineers
engaged in the CAN bus industry. You are welcome to purchase through the contact
information on the last page of this manual.

4.1 NMT command

The GCAN-IO-8000 module meets the standard CANopen Cia301 protocol and is a
standard CANopen slave device.

After GCAN-IO-8000 is started, it will actively

send a frame command to the master station, the frame ID is 0x700+Node ID,
and the frame data is 0x7F.

For example:  Set  the Node  ID of GCAN-IO-8000 to  1 through the DIP switch, then
USBCAN-II  Pro  as  the  master  device  can  receive  a  start  command,  the  frame  ID  is
0x701,  and  the  frame  data  is  0x7F.  As  shown  in  Figure  4.1,  using  ECANTools
software can receive this data.

Frame

ID

（

HEX

）

DLC

Frame data (HEX)

701

1

7F

--

--

--

--

--

--

--

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Содержание GCAN-IO-8000

Страница 1: ...GCAN IO 8000 CANopen bus coupler User manual Document version V3 25 2019 03 20 ...

Страница 2: ...logy CO LTD revise history Version Date The reason V1 00 2015 10 16 Create document V2 01 2015 12 20 Correct equipment working parameters V3 01 2017 11 22 Add some parameters V3 02 2018 01 22 Add communication protocol section V3 03 2018 03 22 Correct equipment working parameters V3 25 2019 3 20 Modify selection table ...

Страница 3: ... 3 1 Baud rate and maximum bus length reference table 12 3 3 CAN bus termination resistance 12 3 4 Setting of CAN baud rate and node number 12 4 Communication protocol 15 4 1 NMT command 15 Figure 4 3 NMT command monitoring interface 17 4 2 Equipped with GC 1008 module 17 4 3 Equipped with GC 2008 module 18 4 4 Equipped with GC 3804 module 19 4 5 Equipped with multiple sets of modules at the same ...

Страница 4: ...s the user is concerned the processing of analog input output signals is no different from the processing of other types of signals The information in the process image area of the controller is displayed in byte array format According to different models the analog bus terminal module register contains the temperature range gain value and linearized characteristic curve GCAN IO 8000 bus coupler s...

Страница 5: ...ing of the interface of GCAN IO 8000 CANopen bus coupler 2 1 Module appearance and dimensions The appearance of GCAN IO 8000 is shown in Figure 2 1 GCAN IO 8000 CANopen bus coupler includes 2 communication interfaces 1 controller programming interface 1 group controller power interface 2 groups I O power interface 2 groups shielded wire interface Among them the communication interface includes a C...

Страница 6: ...ffectively prevent the device from falling As shown in Figure 2 3 you can release the self locking mechanism by pulling out the orange label GCAN IO 8000 CANopen bus coupler can connect up to 32 distributed bus terminal modules When inserting the bus terminal module be sure to follow the groove and insert it on the right side of the existing module in sequence until the latch snaps and makes a cli...

Страница 7: ...te normally 2 2 Wiring method As shown in Figure 2 4 use a flat blade screwdriver to insert into the square hole press the upper edge of the metal sheet in the square hole and press firmly in the direction of the round hole Then insert the cable into the circular hole After plugging in pull out the screwdriver and the cable can be firmly locked in the circular hole Figure 2 4 Wiring of GCAN IO 800...

Страница 8: ...ns 8 terminals and the corresponding serial numbers and meanings of each terminal are shown in Table 2 1 Please note that between terminal 3 and terminal 4 between terminal 5 and terminal 6 and between terminal 7 and terminal 8 are connected inside the module Terminal Serial number meaning 24V 1 Power 24V input 0V 2 Power GND 3 IO power supply is positive 4 IO power supply is positive 5 IO power n...

Страница 9: ...AN bus terminal of GCAN IO 8000 module Figure 2 7 GCAN IO 8000 module RS 232 interface definition The definition of RS 232 interface of GCAN IO 8000 CANopen bus coupler is shown in Figure 2 7 GCAN IO 8000 s RS 232 interface only defines three signal lines namely RXD TXD and GND 2 3 System status indicator GCAN IO 8000 CANopen bus coupler has two sets of status indicators The left area contains 6 c...

Страница 10: ...The device is initialized and enters the working state not bright Device initialization failed RUN flicker The device is operating normally not bright Device operation stopped ERR Always on system error not bright No errors in the system IO RUN flicker The internal bus is operating normally not bright Internal bus stop IO ERR Always on Internal bus operation error not bright No error occurred duri...

Страница 11: ... structure and the two furthest terminals of the bus need to install 120Ω terminal resistance if the number of nodes is greater than 2 the intermediate nodes do not need to install 120Ω terminal resistance For branch connections the length should not exceed 3 meters The connection of CAN bus bus is shown in Figure 3 1 Figure 3 1 Topology of CAN bus network Please note CAN bus cable can use ordinar...

Страница 12: ...he characteristic impedance of the transmission cable For example the characteristic impedance of the twisted pair is 120Ω then the two endpoints on the bus should also integrate 120Ω termination resistors If other nodes on the network use different transceivers the termination resistance must be calculated separately Figure 3 2 GCAN IO 8000 connected with other CAN node devices Please note The 12...

Страница 13: ...cimal display or hexadecimal transmission You can send setbaud 500000 to modify the baud rate of the GCAN IO 8000 module to 500kbps At the same time you can send getbaud to get the CAN baud rate of the machine and the unit of the reply value is bps The detailed baud rate correspondence is shown in Table 3 2 The settings when sending the request command are shown in Figure 3 3 Figure 3 3 Settings w...

Страница 14: ...hnology CO LTD You can modify the CAN bus node number of the GCAN IO 8000 module through the RS232 interface You can send setid 3 to modify the CANopen node ID of GCAN IO 8000 module to 3 At the same time you can send getid to get the CANopen node ID of this machine The node number can be set arbitrarily within 1 127 ...

Страница 15: ...N bus analyzer of Guangcheng Technology can simulate the CAN bus communication device and conduct the communication test of the GCAN IO 8000 module The USBCAN bus analyzer is an intuitive CAN bus debugging and analysis tool Using this device can monitor and simulate CAN data transmission and reception through a computer It is an essential tool for engineers engaged in the CAN bus industry You are ...

Страница 16: ... of the frame data is the command symbol and the second byte is the node number 00 is all nodes For example The node ID of GCAN IO 8000 is 1 and the command GCAN IO 8000 is to enter the operation state 01 then the NMT command frame ID is 0x000 and the frame data is 0x01 0x01 This command can also be issued by the CANopenMaster plug in of the ECANTools software For detailed instructions of NMT plea...

Страница 17: ...lt and click the NMT button below As shown in Figure 4 3 the NMT command can be viewed in the ECANTools monitoring interface after sending After receiving the NMT command GCAN IO 8000 will start broadcasting PDO data and issue a heartbeat command with frame ID 0x701 and frame data 0x05 indicating that GCAN IO 8000 has entered the operating state Figure 4 3 NMT command monitoring interface 4 2 Equi...

Страница 18: ...te data DI status Number of channels 8 7 6 5 4 3 2 1 status 1 0 0 0 1 0 0 0 Data displayed on the CAN bus 88 DI status Number of channels 8 7 6 5 4 3 2 1 status 0 1 0 1 1 0 1 0 Data displayed on the CAN bus 5A When only one GCAN 1008 module is inserted the TPDO data frame ID issued by the GCAN IO 8000 module is 0x180 node ID Node ID the data length is 8 and the first byte of the frame data is the ...

Страница 19: ...nd the first byte of the frame data is the digital output status that needs to be set 4 4 Equipped with GC 3804 module The temperature status of each channel is represented by two bytes and the four channels have a total of eight bytes Among them the two bytes representing the temperature status the first byte is the low bit the data of the byte needs to be converted to decimal and multiplied by 0...

Страница 20: ...ules at the same time If GCAN IO 8000 is equipped with multiple sets of GC 1008 modules at the same time then we will number them according to their distance from GCAN IO 8000 from near to far and the nearest one is No 1 The TPDO data sent by the GCAN IO 8000 coupler will be sent according to the following table For example when the GCAN IO 8000 node number is 3 and it is equipped with 9 GC 1008 m...

Страница 21: ...e when the GCAN IO 8000 node number is 3 and four GC 3804 modules are installed at the same time you will receive four sets of data with a frame ID of 0x183 Among them the eight data bytes with the frame ID of 0x183 correspond to the four channels of the GC 3804 module in sequence the eight data bytes with the frame ID of 0x283 correspond to the four channels of the GC 3804 module in sequence Tabl...

Страница 22: ...and GC 3804 modules when mixed with CAN data Frame ID Frame data 0x180 No de ID number 1 GC 100 8 number 2 GC 100 8 number 3 GC 380 4 first byte number 3 GC 380 4 second byte number 3 GC 380 4 third byte number 3 GC 380 4 fourth byte number 3 GC 380 4 fifth byte number 3 GC 380 4 sixth byte 0x280 No de ID number 3 GC 380 4 seventh byte number 3 GC 380 4 eighth byte number 4 GC 100 8 00 00 00 00 10...

Страница 23: ...n features Life protection node protection emergency objects variable mapping storage reset Bus interface 1 OPEN terminal interface 4 pins power supply 24V DC 15 20 Input Current 70mA total GC bus current max 2 5A Starting current 2 5 times continuous current Recommended fuse capacity 10A GC bus supply current 500mA Power supply Max 24V DC Max 10A Electrical isolation 1500 Vrms Environmental test ...

Страница 24: ... digital output expansion modules analog input expansion modules and analog output expansion modules The specific selection table is shown in the following table Species Module Characteristic Signal Channels Digital input GC 1008 Basic digital quantity 24V DC 8 channels GC 1502 Counter 100kHz max 2channels Digital output GC 2008 Basic digital quantity 24V DC 8 channels GC 2204 Relay on 4 channels ...

Страница 25: ... S type T type thermocouple Thermocoupl e 4 channels Analog output GC 4602 Voltage output 16 bits 5V 5V 2 channels GC 4622 Voltage output 16 bits 10V 10V 2 channels GC 4642 Current output 16 bits 0 20mA 2 channels GC 4652 Current output 16 bits 4 20mA 2 channels GC 4662 Voltage output 16 bits 0 5V 2 channels GC 4672 Voltage output 16 bits 0 10V 2 channels ...

Страница 26: ... data parts The first 3 bytes are the information part Byte 1 is frame information The 7th bit FF indicates the frame format In the standard frame FF 0 the 6th bit RTR indicates the frame type RTR 0 indicates the data frame and RTR 1 indicates the remote frame DLC indicates the data frame The actual data length when framing Bytes 2 and 3 are message identification codes 11 bits are valid Bytes 4 t...

Страница 27: ...roduced device sub protocols in various industries so that the CANopen protocol can be developed and promoted faster in various industries At present the CANopen protocol has been widely used in motion control vehicle industry motor drive engineering machinery marine shipping and other industries Figure A1 CANopen device structure Figure A1 shows the CANopen device structure The CANopen protocol i...

Страница 28: ...A2 Index sub index writing rules B 2 Predefined CAN identifier Object Function code CAN ID range NMT network management commands 0000b 000h Sync message 0001b 080h Time Stamp message 0010b 100h Emergency message 0001b 081h 0FFh TPDO1 send process data object 1 0011b 181h 1FFh RPDO1 Receive process data object 1 0100b 201h 27Fh TPDO2 send process data object 2 0101b 281h 2FFh RPDO2 Receive Process ...

Страница 29: ...ead and write attributes etc so as to ensure the compatibility of devices of the same type from different manufacturers The core description sub protocol of the CANopen protocol is DS301 which includes the application layer and communication structure description of the CANopen protocol Other sub protocols are supplements and extensions to the description text of the DS301 protocol The CANopen pro...

Страница 30: ...nagement and ID assignment services such as initialization configuration and network management including node protection In network management only one master node one or more slave nodes are allowed in the same network and follow the master slave model Through the NMT service we can initialize run monitor reset and stop the node All nodes are considered as NMT slaves As shown in the figure above...

Страница 31: ... Shenyang Guangcheng Technology CO LTD As shown in the figure above for example a CANopen master station sends a frame of data to the slave station the frame ID is 0x000 the frame data is 0x01 0x02 then this command can make the CANopen slave device with node number 2 enter the operating state ...

Страница 32: ... SDO server and the CANopen master node serves as the client The client can access the object dictionary on the data server through the index and sub index In this way the CANopen master node can access the parameters of any object dictionary items of the slave node and SDO can also transmit data of any length when the data length exceeds 4 bytes it is split into multiple messages for transmission...

Страница 33: ...ent of the PDO message is predefined If the PDO supports variable PDO mapping the PDO can be configured through SDO PDO can have multiple transmission methods Synchronous transmission to achieve synchronization by receiving synchronization objects synchronous transmission can be divided into aperiodic and periodic transmission Acyclic transmission is pre triggered by remote frames or pre triggered...

Страница 34: ...ng a common time reference for each node Emergency object Emergency when an error occurs in the device the object is triggered that is the device internal error code is sent Node Life Guarding the master node can obtain the status of the slave node through node protection The slave node can obtain the status of the master node through life protection Start the message object Boot up send the objec...

Страница 35: ...enyang Guangcheng Technology CO LTD Sales and Service Shenyang Guangcheng Technology Co Ltd Address No 135 21 Changqing South Street Hunnan District Shenyang City Liaoning Province Postcode 110000 Phone 8613644001762 网址 www1 gcanbox com wechat gckj777 whatsapp 8613644001762 email sygckj gmail com ...

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