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CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------

5 CANopen Communication Set

In the following section, several CANopen communication protocols are

described. Each protocol description has one corresponding example.

Because the communication methods in the CAN-8123/CAN-8223/CAN-8823

are similar to the one in CAN-8423, only the example for CAN-8423 is given.

Before the example, users must have one CAN interface to send out the CAN

command. Therefore, the PISO-CAN200/400 CAN interface card with a 2/4

CAN port PCI will be requested. It provides an easy-to-use utility tool to

sending the CAN 2.0A or 2.0B command. The relationship between the

software and the hardware is shown as follows.

Please refer to the PISO-CAN200/400 user manual to know how to use its

Utility Tool.

Содержание CAN-8823

Страница 1: ...are warranted in one year from the date of delivery to customers Warning ICP DAS revises the manual at any time without notice However no responsibility is taken by ICP DAS unless infringement act imp...

Страница 2: ...Mode 20 2 10 Module Support 21 3 CANopen Application 22 3 1 CANopen Introduction 22 3 2 SDO Introduction 29 3 3 PDO Introduction 31 3 4 EMCY Introduction 43 3 5 NMT Introduction 44 3 5 1 Module Contro...

Страница 3: ...COB ID Parameter 143 5 3 2 EMCY Communication 144 5 4 NMT Communication Set 152 5 4 1 Module Control Protocol 152 5 4 2 Error Control Protocol 155 5 5 Special Functions for CAN 8x23 160 6 Object Dict...

Страница 4: ...n protocols In order to expand the I O channel and make it more flexible the CAN 8x23 supports up to 8 expansion slots for users to increase applications by adding I O channels Users can choose either...

Страница 5: ...CAN 8x23 user s manual Revision 3 20 Mar 08 2012 5...

Страница 6: ...6 bit Timer Power LED RUN LED and ERR LED Support 1 2 4 expansion I O slots 2500 Vrms isolation at CAN side 120 terminal resister selected by jumper s CAN bus interface ISO IS 11898 2 5 pin screw term...

Страница 7: ...pping variable No of SDOs 1 server 0 client Emergency Message Yes CANopen Version DS 301 v4 02 Device Profile DS 401 v2 1 Produce EDS file dynamically Baud Rate Selection 10K 20K 50K 125K 250K 500K 80...

Страница 8: ...on 3 20 Mar 08 2012 8 1 4 Utility Features Support parameter configuration on the I 8000 and I 87K modules Provide to show Application and Device Object information Provide to show Rx and Tx PDO mappi...

Страница 9: ...Hardware Structure CAN 8123 CAN 8223 CAN Bus Connector CANopen Status LED Power LED 1 I O Expansion Slot Node ID and Baud rate rotary switch CAN Bus Connector CANopen Status LED Power LED Node ID and...

Страница 10: ...n Status LED CANopen Error LED RS 232 Port connect to PC 4 I O Expansion Slots Power Pin Node ID and Baud rate rotary switch Power LED 8 I O Expansion Slots CAN Bus Connector RS 232 Port connect to PC...

Страница 11: ...CAN 8x23 user s manual Revision 3 20 Mar 08 2012 11 2 2 Layout Structure CAN 8123 CAN 8223 CAN 8423 CAN 8823...

Страница 12: ...120 120 CAN_H CAN_L Device N Device 2 Device 1 Moreover to minimize the voltage drop value of the terminal resistance must be higher than the one defined in the ISO 11898 2 The following table is for...

Страница 13: ...00 250 K 250 125 K 500 50 K 1000 20 K 2500 10 K 5000 Note When the bus length is greater than 1000m the bridge or repeater devices may be needed 2 4 CAN Connector The pin descriptions of the CAN bus c...

Страница 14: ...tion 1 N A N A 2 CAN_L CAN_L bus line dominant low 3 CAN_SHLD Optional CAN Shield 4 CAN_H CAN_H bus line dominant high 5 N A N A CAN 8823 Pin No Signal Description 2 CAN_L CAN_L bus line dominant low...

Страница 15: ...in the off line mode takes the place to get the EDS file Following shows the initial switch of CAN 8423 and CAN 8823 CAN 8123 CAN 8223 not support the initial function Device Switch Initial Mode Run M...

Страница 16: ...icators are being triggered 2 7 1 The RUN LED The RUN LED relates to the physical mechanism on the CANopen that will be discussed later The data state and the signal state description are respectively...

Страница 17: ...7 2 The ERR LED The ERR LED relates to the state of missing messages at the CAN physical layer These missing messages might be SYNC or Guard messages The data state and the signal state description ar...

Страница 18: ...when Events happen A guard event NMT Slave or NMT master or a heartbeat event Medical Application has occurred 4 Triple Flash SYNC Error The SYNC message has not been received within the specific comm...

Страница 19: ...F I O Pair connection CANopen ID The last rotary switch BAUD handles the CAN 8x23 baud rate The relationship between the rotary switch value and the practical baud rate is presented in the following t...

Страница 20: ...N 8x23 get the ON signal the corresponding DO channels of the other one will be turned on When you completed the connection of these two CAN 8x23s by CAN bus you need to set the ID rotary switch of th...

Страница 21: ...atically search them and apply the corresponding CANopen objects The following table shows the information of the IO types and module names which can be supported by the CAN 8x23 IO Type Module Name I...

Страница 22: ...dcasting function but also the peer to peer data exchange function between every CANopen node The network management function instructed in the CANopen simplifies the program design In addition users...

Страница 23: ...evice object dictionary is SDO using the Client Server structure as its communication model section 3 2 Real time data or I O values can be accessed quickly without any protocol by means of PDO commun...

Страница 24: ...COB ID structure is displayed below Function Code Node ID bit 10 bit 0 The COB IDs are used for recognizing where the message comes from or where the message is sent to as well deciding the priority...

Страница 25: ...nication object Name 0000 0000000 NMT 0001 0000000 SYNC 0010 0000000 TIME STAMP 0001 Node ID EMERGENCY 0011 0101 0111 1001 Node ID TxPDO1 2 3 4 0100 0110 1000 1010 Node ID RxPDO1 2 3 4 1011 Node ID SD...

Страница 26: ...Types 0x0020 0x003F Complex Data Types 0x0040 0x005F Manufacturer Specific Complex Data Types 0x0060 0x007F Device Profile Specific Static Data Types 0x0080 0x009F Device Profile Specific Complex Data...

Страница 27: ...ractical AO Channel 0 Hardware Standardized Device Profile Area Take the CAN 8423 as an example There are some I 8000 or I 87K series modules inserted in the CAN 8423 I O expansion slots The related i...

Страница 28: ...hannel will be stored in 2 bytes The values of digital channels of one module which can t be divided by 8 will be stored in 1 byte After using the rule described above the result of the object format...

Страница 29: ...client starts to transmit a SDO it is necessary to choose a proper protocol If the SDO client has to get the information from the device object dictionary and from the SDO server the segment upload pr...

Страница 30: ...ll be given and the SDO transmission will also be stopped The CAN 8x23 only supports the SDO server Therefore it can be passive and wait for requests from clients The general concept figure of the upl...

Страница 31: ...er and non device or more than one device to play the role of PDO consumer The PDO producer sends out the PDO message after it reached the CAN bus arbitration Afterwards each PDO consumer will receive...

Страница 32: ...quest conditions All of them are described below Event Driven PDO transmission can be triggered by a specific driven event including the following conditions Under the cyclic synchronous transmission...

Страница 33: ...e are two kinds of PDO transmission modes synchronous and asynchronous For the PDO in a synchronous mode it must be triggered by the reception of a SYNC message The synchronous mode can be further dis...

Страница 34: ...e CAN 8x23 will respond with a pre defined TxPDO message to the PDO consumers For the RxPDO object the CAN 8x23 needs to receive the SYNC objects to actuate the RxPDO object which is received before t...

Страница 35: ...f SYNC objects and the max number of expected SYNC objects can be 240 For example if the TxPDO is set to response when receiving 3 SYNC objects the CAN 8x23 will feed back the TxPDO object according t...

Страница 36: ...remote transmit request message i e SYNC objects This transmission type is only useful for TxPDO In this situation the CAN 8x23 will update the DI AI value when receiving any SYNC object And if the RT...

Страница 37: ...the SYNC object This mode can also be divided into two parts There are RTR only asynchronous transmission type and asynchronous transmission type The RTR only transmission type is only for supporting...

Страница 38: ...TxPDO message can be triggered by receiving the RTR object and the device specified event mentioned in the event driven paragraph Furthermore the DO AO channels can act directly by receiving the RxPD...

Страница 39: ...be transmitted In order to avoid the occupation of the transmission privilege by the message with the lower COB ID the inhibit time parameters for each of the PDO objects are supported to define a mi...

Страница 40: ...d Furthermore one AO object entry needs 2 bytes of space Therefore the second RxPDO mapping object has been occupied by the first 4 AO object entries The following 4 AO object entries will be assigned...

Страница 41: ...g two bytes are for the analog output value After interpreting the data of the RxPDO message the device will actuate the DO and AO channels by the received RxPDO message It is worth to mention that Tx...

Страница 42: ...42 TxPDO D I 0 7 D I 8 1 5 A I 0 A I 1 TxPDO mapping objects RxPDO D O 0 7 A O 0 Object Dictionary Practical I O Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 0 Byte 1 Byte 2 Byte 3 By...

Страница 43: ...respond to the specific error fields So by checking the EMCY message users can understand what happened in the CAN 8x23 and then do something about the error event Please note that only the emergency...

Страница 44: ...ID from 1 to 127 The NMT service supplies two protocols the module control protocol and the error control protocol Through the module control protocol the nodes can be controlled to several kinds of...

Страница 45: ...anism Operational Initialization State Mechanism Diagram Stop Pre Operational Power on or Hardware reset 1 2 4 3 6 8 5 7 9 1 Under Power on or Hardware Reset the initialization state will be loaded au...

Страница 46: ...mong each NMT state and communication objects is given Installing Pre operational Operational Stopped PDO O SDO O O SYNC Object O O Time Stamp Object O O EMCY Object O O Boot Up Object O NMT O O O 3 5...

Страница 47: ...rom each NMT slave And the response of the NMT slave contains the state of that NMT slave which may be in a Stopped Operational or Pre operational state The node life time factor can also be different...

Страница 48: ...at Protocol defines an Error Control Service without need for remote frames A Heartbeat Producer transmits a Heartbeat message cyclically One or more Heartbeat Consumer receive the indication The rela...

Страница 49: ...CAN 8x23 user s manual Revision 3 20 Mar 08 2012 49 4 Configuration Getting Start 4 1 CAN 8123 CAN 8223 Configuration Flowchart...

Страница 50: ...CAN 8x23 user s manual Revision 3 20 Mar 08 2012 50 The following procedure is the general concept for the off line mode This procedure can be applied in the CAN 8x23...

Страница 51: ...open application Use the CAN Slave Utility to configure the AI AO channels of the I 8000 I 87K modules and produce an EDS file for the present state 1 Turn off the CAN 8423 2 Connect the COM1 of the C...

Страница 52: ...AN 8423 and CAN 8823 Start Power on the CAN 8423 Is the value of Baud rotary switch 9 Connect the CAN 8423 CAN port with CANopen network Apply the CAN 8423 on the CANopen network Finish Power off the...

Страница 53: ...Such as the PDO communication objects and the standardized device objects and manufacturer specific objects defined in the CAN 8x23 Because all parameters configuration of the I 8000 I 87K AI AO can...

Страница 54: ...p 1 Download the CANopen Slave Utility file from the web site http www icpdas com products Remote_IO can_bus can 8423 htm or http www icpdas com products Remote_IO can 8123 htm or CD ROM disk via the...

Страница 55: ...te 1000Kbps as an example Users have to fill in NODE ID with 123 and choose a CAN Baud rate with 1000 kbps Then select 2 Slot in the Slot Number area Step 3 Then select a specific device presented in...

Страница 56: ...the slot module in the CAN Slave Device Situation area If the configuration is successful users can see the correct module name for example 8024 on the top of the slot module Step 5 Then repeat the st...

Страница 57: ...n each slot module by moving the cursor on the slot module in order to get the module name and module information in the Module Information area Step 7 The two fields description and create by can hel...

Страница 58: ...12 58 Step 8 Users can select the PDO Information the Device Information and the Slot Module Information button for purpose to view the PDO objects device profile and slot module configuration informa...

Страница 59: ...e analog modules will be described to default value in the EDS file However the I 87K slot modules will keep the input output range parameter settings in their own EEPROM As a matter of fact it may ca...

Страница 60: ...llowing application as an example the CAN 8423 and slot modules I 87057 I 87057 I 87024 and I 87017 are inserted in the slot 0 1 2 3 respectively Step 1 To turn off the CAN 8423 is the beginning Then...

Страница 61: ...mple Click Connect button to get the information stored in the CAN 8423 Step 4 Then users can move the cursor to the slot of CAN 8423 in the CANopen Slave Device Situation area to get the information...

Страница 62: ...will be changed in the same way after users select the output range in one of the channels Step 6 After setting the proper output range users can click Set button to store the configuration If all of...

Страница 63: ...licking the buttons For more detail information please refer to the Step 7 and 8 in section 4 5 Note1 The CAN 8423 8823 can also create the EDS file by using off line mode and set the analog input ran...

Страница 64: ...re similar to the one in CAN 8423 only the example for CAN 8423 is given Before the example users must have one CAN interface to send out the CAN command Therefore the PISO CAN200 400 CAN interface ca...

Страница 65: ...at object the SDO client wants to request As well the initiate SDO upload protocol is permitted to transmit up to four bytes of data Therefore if the data length of the object which the SDO client can...

Страница 66: ...ent protocol is necessary s size indicator 0 Data set size is not indicated 1 Data set size is indicated m multiplexer It represents the index sub index of the data to be transfer by the SDO The first...

Страница 67: ...When the upload data length is over 4 bytes the upload SDO segment protocol will be needed After finishing the transmission of the initiate SDO upload protocol the SDO client will start to upload the...

Страница 68: ...the request and the response message c indicates whether there are still more segments to be uploaded 0 more segments to be uploaded 1 no more segments to be uploaded seg data It is at most 7 bytes o...

Страница 69: ...oad with expedited transfer SDO Server CAN 8123 CAN 8223 CAN 8423 In the following paragraph both expedited transfer and normal transfer are given according to the procedure described above In additio...

Страница 70: ...0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 40 00 14 00 00 00 00 00 SDO client SDO server CAN 8x23 ccs 2 m 00 14 00 According to the low byte has the higher transferred sequence the first byte 00 will...

Страница 71: ...5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 40 08 10 00 00 00 00 00 SDO client SDO server CAN 8x23 ccs 2 m 08 10 00 Step 2 The CAN 8423 will respond to the SDO message with the indication of how many bytes will b...

Страница 72: ...t 7 bytes in the index 0x1008 and sub index 00 object entries 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 00 4...

Страница 73: ...CAN 8x23 ccs 3 t 1 Step 6 Tthe rest of the data will be received from the SDO server 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 1...

Страница 74: ...2 SDO Block Upload Protocol Initiate SDO Block Upload Protocol The SDO Block Upload is usually used for the large data transmission At the beginning of the SDO Block Upload the Initiate SDO Block Upl...

Страница 75: ...erver supports generating CRC on data pst Protocol Switch Threshold in bytes to change the SDO transfer protocol pst 0 change of transfer protocol not allowed pst 0 If the size of the data in bytes th...

Страница 76: ...oad SDO Block Segment protocol Each block contains 1 segment for the minimum and 127 segments for the maximum One segment consists of 1 7 bytes And only one block can be transmitted during an Upload S...

Страница 77: ...ment 0 seqno 128 seg data It is at most 7 bytes of segment data to be uploaded ackseq sequence number of last segment that was successfully received during the last block upload If ackseq is set to 0...

Страница 78: ...CAN 8x23 user s manual Revision 3 20 Mar 08 2012 78 End SDO Block Upload Protocol The End SDO Block Upload protocol is used for finishing the SDO Block upload and is shown in the following figure...

Страница 79: ...s in the last segment of the last block that do not contain data Bytes 8 n 7 do not contain segment data crc 16 bit Cyclic Redundancy Checksum CRC for the whole data set The algorithm for generating t...

Страница 80: ...CAN 8x23 user s manual Revision 3 20 Mar 08 2012 80 SDO Block Upload Example The following figure shows the general procedure of applying the SDO Block upload...

Страница 81: ...5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 A0 08 10 00 7F 00 00 00 SDO client SDO server CAN 8x23 ccs 5 cc 0 cs 0 m 08 10 00 blksize 7F Each block contains 127 segments pst 00 Step 2 The CAN 8423 will confirm t...

Страница 82: ...7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 A3 00 00 00 00 00 00 00 SDO client SDO server CAN 8x23 ccs 5 cs 3 Step 4 The CAN 8423 will responds to the first 7 bytes of data by using the...

Страница 83: ...s segment is the last one not all of the data in the seg data filed is useful The valid data length will be indicated when the CAN 8423 send a message to finish the Block Upload protocol Please refer...

Страница 84: ...0 0 0 0 0 0 1 0 8 D5 00 00 00 00 00 00 00 SDO client SDO server CAN 8x23 scs 6 n 5 This value means the invalid data in the last segment are from 8 5 to 7 i e only the first 3 bytes are valid ss 1 crc...

Страница 85: ...similar to the upload modes but different in some parameters of the SDO messages They are also separated into two steps If the download data length is less than 4 bytes the download action will finis...

Страница 86: ...rotocol is needed If e 0 the download SDO protocol is necessary s size indicator 0 data set size is not indicated 1 data set size is indicated m multiplexer It represents the index sub index of the da...

Страница 87: ...e number of bytes in segment data that do not contain segment data Bytes 8 n 7 do not contain segment data n 0 if no segment size is indicated c It indicates whether there are still more segments to b...

Страница 88: ...When the SDO download example has been applied the procedure in the below figure may be applied Since all of those object entries which can be written in the CAN 8123 CAN 8223 CAN 8423 are equal or l...

Страница 89: ...ode Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 00 14 02 05 00 00 00 SDO client SDO server CAN 8x23 ccs 1 n 3 e 1 s 1 m 00 14 02 d 05 00 00 00 Because the n 3 only the...

Страница 90: ...ing protocol for SDO Block Download In this protocol the SDO server and SDO client will mutually communicate Afterwards the SDO Block Download protocol will also be used And data will be sent to SDO s...

Страница 91: ...port generating CRC on data cc 1 Client supports generating CRC on data sc server CRC support sc 0 Server does not support generating CRC on data sc 1 Server supports generating CRC on data m multiple...

Страница 92: ...uence number of segment 0 seqno 128 seg data It is at most 7 bytes of segment data to be downloaded ackseq sequence number of last segment that was received successfully during the last block download...

Страница 93: ...the number of bytes in the last segment of the last block that do not contain data Bytes 8 n 7 do not contain segment data crc 16 bit Cyclic Redundancy Checksum CRC for the whole data set The algorit...

Страница 94: ...O Block Download Example In this example the value of the object entry with index 0x1400 and sub index 0x02 will be changed to 5 by using the SDO Block Download communication method When the SDO Block...

Страница 95: ...0 0 0 1 0 8 C0 00 14 02 00 00 00 00 SDO client SDO server CAN 8x23 ccs 6 cc 0 s 0 cs 0 m 00 14 02 size 00 00 00 00 Because the value of s is 0 the size is not used Step 2 The CAN 8423 will reply to t...

Страница 96: ...c 1 seqno 1 seg data 05 00 00 00 00 00 00 Because this segment is the last one not all of the data in the seg data filed is useful The valid data length will be indicated when the users send a message...

Страница 97: ...0 00 00 00 00 00 SDO client SDO server CAN 8x23 ccs 6 n 6 This value means the useless data in the last segment are from 8 6 to 7 i e only the first 2 bytes are valid cs 1 crc 00 00 Step 6 The CAN 842...

Страница 98: ...s read only even users wouldn t continue the uncompleted SDO protocol under some special situations When these conditions occur both the client and the server can be activated to send the Abort SDO Tr...

Страница 99: ...device 0606 0000h Access failed due to an hardware error 0607 0010h Data type does not match length of service parameter does not match 0607 0012h Data type does not match length of service parameter...

Страница 100: ...OB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 40 08 10 01 00 00 00 00 SDO client SDO server CAN 8x23 ccs 2 m 08 10 01 St...

Страница 101: ...31 MSB 0 PDO exits PDO is valid 1 PDO does not exist PDO is not valid 30 0 RTR allowed on this PDO 1 No RTR allowed on this PDO 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B 28 11 0 If bit 29 0 x If bi...

Страница 102: ...OB ID by themselves Actually all COB ID can be defined by users except the reserved COB ID described in the table of the section 3 1 It is important to avoid the conflict with the defined COB ID used...

Страница 103: ...yclic synchronous asynchronous RTR only 0 O O 1 240 O O 241 251 reversed 252 O O 253 O O 254 O 255 O Note 1 The transmission type 1 240 indicates how many SYNC objects the TxPDO will be triggered The...

Страница 104: ...rules The first TxPDO communication object is stored in the entry with 0x1800 and the corresponding mapping object is in the 0x1A00 entry and so on Therefore before users access the practical I O chan...

Страница 105: ...O msg the real time data or the data which can be mapped into the PDO mapping objects Read PDO Protocol PDO Consumer PDO Producer request 8 byte Data byte Len L 0 RTR 11 bit COB ID bit 10 0 COB ID 0 7...

Страница 106: ...8423 rotary switch to set the node ID to 1 and CAN bus baud rate to 125Kbps Moreover use CAN Slave Utility to set the I 8024 and I 87017 input output range to 10V 10V When using the CAN Slave Utility...

Страница 107: ...ion of accessing digital I O analog I O with asynchronous PDO The function by using Event Timer to obtain the input value The function of the acyclic and synchronous RxPDO The function of the acyclic...

Страница 108: ...ng used Step0 The following message must be sent in order to change the NMT state of the CAN 8423 first because only the PDO communication can run under the NMT Operational state 11 bit COB ID bit RTR...

Страница 109: ...de ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 1 0 0 0 0 0 0 0 0 1 0 8 34 12 00 00 00 00 00 00 PDO producer PDO consumer CAN 8x23 COB ID 0x201 L 8 PDO msg 34 12 00 00 00 00 Only the first two bytes ar...

Страница 110: ...nc Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 0 1 1 0 0 0 0 0 0 1 0 2 34 12 00 00 00 00 00 00 PDO consumer PDO consumer CAN 8x23 COB ID 0x181 L 2 PDO msg 34 12 00 00 00 00 00 00 Because the...

Страница 111: ...to transfer the float value to hex format because only the CAN 8123 CAN 8223 CAN 8423 supports the hex format The output range of the I 8024 is 10V 10V According to the transformation table stored in...

Страница 112: ...ue for AI is 5V 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 1 0 1 0 0 0 0 0 0 1 0 8 00 40 FD FF FD FF FD FF PDO consumer PDO consumer...

Страница 113: ...Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2B 00 18 05 E8 03 00 00 SDO client SDO server CAN 8x23 ccs 1 n 2 e 1 s 1 m 00 18 05 d E8 03 00 00 The value 0x03E8 is equal to...

Страница 114: ...0 0 1 0 8 00 40 FD FF FF FF FF FF PDO consumer PDO producer CAN 8x23 COB ID 0x281 L 8 PDO msg 00 40 FD FF FF FF FF FF Step 9 The following example shows that at the second time the 2nd TxPDO message i...

Страница 115: ...DO msg 00 40 FF FF FD FF FF FF Step 11 Users can set the event timer to 0 to finish the event timer test 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1...

Страница 116: ...e Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 60 00 14 02 00 00 00 00 SDO client SDO server CAN 8x23 scs 3 m 00 14 02 Step 13 Change the DO value of the I 8057 to be 0x567...

Страница 117: ...ith the producer consumer relationship Step 15 After transmitting the SYNC object the 1st RxPDO is triggered The DI value is also changed at the same time Hence users can receive the 1st TxPDO from CA...

Страница 118: ...1 0 8 2F 00 14 02 FF 00 00 00 SDO client SDO server CAN 8x23 ccs 1 n 3 e 1 s 1 m 00 14 02 d FF 00 00 00 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1...

Страница 119: ...7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 00 18 02 00 00 00 00 SDO client SDO server CAN 8x23 ccs 1 n 3 e 1 s 1 m 00 18 02 d 00 00 00 00 11 bit COB ID bit RTR Data Length 8 byte Da...

Страница 120: ...e 0 In addition the SYNC message is needed to trigger the action of the first TxPDO 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 0 0 1...

Страница 121: ...3 4 5 6 7 0 0 0 1 0 0 0 0 0 0 0 0 0 00 00 00 00 00 00 00 00 SYNC producer SYNC consumer CAN 8x23 SYNC COB ID 0x80 Step 22 Nothing happened because the DI values were not changed This is the main diff...

Страница 122: ...3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 00 18 02 03 00 00 00 SDO client SDO server CAN 8x23 ccs 1 n 3 e 1 s 1 m 00 18 02 d 03 00 00 00 11 bit COB ID bit RTR Data Length 8 byte Data byte F...

Страница 123: ...11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 0 0 1 0 0 0 0 0 0 0 0 0 00 00 00 00 00 00 00 00 SYNC producer SYNC consumer CAN 8x23 COB I...

Страница 124: ...byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 00 18 02 FC 00 00 00 SDO client SDO server CAN 8x23 ccs 1 n 3 e 1 s 1 m 00 18 02 d FC 00 00 00 11 b...

Страница 125: ...0 8 34 12 00 00 00 00 00 00 PDO producer PDO consumer CAN 8x23 COB ID 0x201 L 8 PDO msg 34 12 00 00 00 00 00 00 Step 29 The fist TxPDO will not be transmitted immediately according to the transmission...

Страница 126: ...N 8x23 COB ID 0x181 L 2 PDO msg 34 12 00 00 00 00 00 00 Step 31 Transmit a SYNC message 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 0...

Страница 127: ...values will be the real DI values 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 0 1 1 0 0 0 0 0 0 1 0 2 34 12 00 00 00 00 00 00 PDO con...

Страница 128: ...s 1 m 00 18 02 d FD 00 00 00 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 60 00 18 02 00 00 00 00 SDO client S...

Страница 129: ...igital input status 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 0 1 1 0 0 0 0 0 0 1 1 0 00 00 00 00 00 00 00 00 PDO consumer PDO produ...

Страница 130: ...c Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 00 18 02 FF 00 00 00 SDO client SDO server CAN 8x23 ccs 1 n 3 e 1 s 1 m 00 18 02 d FF 00 00 00 11 bit COB ID bit RTR...

Страница 131: ...2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 23 05 18 01 82 01 00 00 SDO client SDO server CAN 8x23 ccs 1 n 0 e 1 s 1 m 05 18 01 d 82 01 00 00 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code No...

Страница 132: ...ans the mapped object is stored in the index 0x6000 with sub index 01 It is an 8 bit data unit Users can check this object in the Standardize object mapping table described above It is mapped accordin...

Страница 133: ...yte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 23 05 1A 02 08 02 00 60 SDO client SDO server CAN 8x23 ccs 1 n 0 e 1 s 1 m 05 1A 02 d 08 02 00 60 11 bit COB ID b...

Страница 134: ...the index 0x6401 with sub index 01 It is a 16 bit data unit User can check this object in the Standardize object mapping table described above It is mapped according to AI0 of the I 87017 In CAN 8123...

Страница 135: ...it RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 05 1A 00 03 00 00 00 SDO client SDO server CAN 8x23 ccs 1 n 3 e 1 s 1 m 05 1A...

Страница 136: ...11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 23 05 14 01 02 02 00 00 SDO client SDO server CAN 8x23 ccs 1 n 0 e...

Страница 137: ...6 01 d 08 01 00 62 The value 08 01 00 62 means the mapped object is stored in the index 0x6200 with sub index 01 It is an 8 bit data unit Users can check this object in the Standardize object mapping...

Страница 138: ...0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 23 05 16 02 08 02 00 62 SDO client SDO server CAN 8x23 ccs 1 n 0 e 1 s 1 m 05 16 02 d 08 02 00 62 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code...

Страница 139: ...d 10 01 11 64 The value 10 01 11 64 means the mapped object is stored in the index 0x6411 with sub index 01 It is a 16 bit data unit Users can check this object in the Standardize object mapping table...

Страница 140: ...0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 05 16 00 03 00 00 00 SDO client SDO server CAN 8x23 ccs 1 n 3 e 1 s 1 m 05 16 00 d 03 00 00 00 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code...

Страница 141: ...00 00 00 00 00 The first two bytes are assigned to the value 0x90AB of the DO0 DO15 of the I 8057 The 3rd and 4th bytes are assigned to the value 0x0000 for the AO0 of the I 8024 Total bytes of this P...

Страница 142: ...7 0 0 1 1 0 0 0 0 1 0 1 0 4 AB 90 FF FF 00 00 00 00 PDO consumer PDO producer CAN 8x23 COB ID 0x185 L 4 PDO msg AB 90 FF 3F 00 00 00 00 The first two bytes are assigned to the value 0x90AB for the DI...

Страница 143: ...ethods This COB ID is stored in the object 0x1014 and the data format is shown in the following table Before using the EMCY mechanism bit 31 of the EMCY COB ID needs to be confirmed Bit Number Value M...

Страница 144: ...MCY event and sub index 5 will record the most previous EMCY event The EMCY communication set is given below COB ID the EMCYCOB ID The EMCY COB ID can be defined by users This situation is similar to...

Страница 145: ...or Occur 50 00 81 02 00 00 00 00 EEPROM Access Error 50 00 81 03 00 00 00 00 COM Port Access Error 81 10 11 04 00 00 00 00 Soft Rx Buffer Overrun 81 10 11 05 00 00 00 00 Soft Tx Buffer Overrun 81 10 1...

Страница 146: ...1 L 1 PDO msg 00 Step 2 Then the CAN 8423 will reply to an emergency message based on the PDO data length of TxPDO1 doesn t correspond to the value defined in the PDO mapping object 11 bit COB ID bit...

Страница 147: ...he CAN 8423 will reply to the ending message 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 43 03 10 01 10 82 09...

Страница 148: ...erver CAN 8x23 scs 2 n 3 e 1 s 1 m 01 10 00 d 11 00 00 00 Step 7 Users can send the data to RxPDO1 with data length 2 Then the EMCY message containing the error reset information will be received Beca...

Страница 149: ...or now Step 9 Users have to check the index 0x1003 with sub index 01 again Then the error reset emergency code should be recorded 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 1...

Страница 150: ...DO server CAN 8x23 ccs 2 m 03 10 02 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 43 03 10 02 10 82 09 00 SDO cl...

Страница 151: ...8 2012 151 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 4F 01 10 00 00 00 00 00 SDO client SDO server CAN 8x23...

Страница 152: ...n be applied for changing the NMT slave status The following figure shows how to change the different NMT statuses for the CAN 8x23 Start Remote Node Protocol cs NMT command specified 1 start Node ID...

Страница 153: ...er Pre Operational Protocol cs NMT command specified 128 enter PRE OPERATIONAL Node ID the node ID of the NMT slave device Reset Node Protocol cs NMT command specified 129 Reset_Node Node ID the node...

Страница 154: ...423 Step2 Then turn it on After the initialization the CAN 8423 will automatically enter the Pre_Operational state Users will note the RUN LED flashing twice per second Step3 Users can send the NMT mo...

Страница 155: ...d time multiplied by the life time factor The Node Guarding timer of the CAN 8x23 will start to count after receiving the first RTR message for the guarding identifier The communication set of the Err...

Страница 156: ...lue to 250 This value will be stored in index 0x100C with sub index 00 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1...

Страница 157: ...COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 0D 10 00 04 00 00 00 SDO client SDO server CAN 8x23 ccs 1 n 3 e 1 s 1...

Страница 158: ...ife time factor 250 4 1000 users will transmit the node guarding protocol again 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 1 0 0 0...

Страница 159: ...7 0 0 0 1 0 0 0 0 1 0 1 0 8 30 81 11 07 00 00 00 00 EMCY consumer EMCY producer CAN 8x23 EMCY msg 30 81 11 07 00 00 00 00 The first two bytes 30 81 are for the emergency error code The 3rd byte 11 is...

Страница 160: ...hey have different but simply functions for example the subindex 01 records the channel 1 output range code The subindex 02 records the channel 2 output range code and so forth If users use CAN 8x23 w...

Страница 161: ...onal state on the CAN 8423 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 0 0 0 0 0 0 0 0 0 0 0 0 8 01 01 00 00 00 00 00 00 NMT master NMT...

Страница 162: ...1 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 4F 06 20 01 00 00 00 00 SDO client SDO server CAN 8x23 scs 2 n 3 e 1 s 1 m 06 20 01 d 00 00 00 00 Because of the n 3 only the 4th byte is valid Therefore...

Страница 163: ...ue is 0 the input range of the I 87017 AI channel 0 is 10V 10V 11 bit COB ID bit RTR Data Length 8 byte Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 8 4F...

Страница 164: ...stored in the appendix table the 7V is mapped to the 0x5998 by applying following equation 5998 0 22936 75 22936 32768 32768 32767 10 10 10 7 x V V V V HexValue The first two bytes of the PDO message...

Страница 165: ...80 59 FD FF FD FF FD FF PDO consumer PDO consumer CAN 8x23 COB ID 0x281 L 8 PDO msg 80 59 FD FF FD FF FD FF The feedback AI0 value is 0x5980 Users have to transfer this value to be a float one with th...

Страница 166: ...te Data byte Func Code Node ID 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 07 20 01 01 00 00 00 SDO client SDO server CAN 8x23 ccs 1 n 3 e 1 s 1 m 07 20 01 d 01 00 00 00 Step 1...

Страница 167: ...2 1 0 0 1 2 3 4 5 6 7 0 1 0 1 0 0 0 0 0 0 1 1 0 00 00 00 00 00 00 00 00 PDO consumer PDO consumer CAN 8x23 COB ID 0x281 Step 12 The feedback value for AI is 5V 11 bit COB ID bit RTR Data Length 8 byt...

Страница 168: ...e default is not defined or can be defined conditionally by the firmware built in CAN 8x23 In the table the number accompanying letter h indicates that this value is in the hex format General Communic...

Страница 169: ...er UNSIGNED 32 RO 4h Serial number UNSIGNED 32 RO Note 1 The object with index 0x1000 has the following data format Additional information General Information bit 31 bit 24 bit 23 bit16 bit 15 bit 0 S...

Страница 170: ...h index 0x100C and 0x100D please refer to the section 5 4 2 6 The object 0x1010 0x1011 supports the saving restoring of parameters in EEPROM There 3 parameter groups are distinguished Subindex 1 saves...

Страница 171: ...ndex supported for receive PDO parameter UNSIGNED 8 RO 5 1h COB ID used by PDO Rx UNSIGNED 32 RW 300h Node ID 2h transmission type UNSIGNED 8 RW FFh 1402h 0h largest sub index supported for receive PD...

Страница 172: ...h largest sub index supported for receive PDO mapping UNSIGNED 8 RO 4 1h write analog output 1h UNSIGNED 16 RW 6411 0110h 2h write analog output 2h UNSIGNED 16 RW 6411 0210h 3h write analog output 3h...

Страница 173: ...ub index supported for receive PDO parameter UNSIGNED 8 RO 5 1 COB ID used by PDO Tx UNSIGNED 32 RW 280h Node ID 2 transmission type UNSIGNED 8 RW FFh 3 inhibit time UNSIGNED 16 RW 0 4 reversed 5 even...

Страница 174: ...ping Communication Entries Idx Sidx Description Type Attr Default 1A00h 0h largest sub index supported for transmit PDO mapping UNSIGNED 8 RO 8 1h read digital input 1h to 8h UNSIGNED 8 RW 6000 0108h...

Страница 175: ...6401 0B10h 4h read analog input Ch UNSIGNED 16 RW 6401 0C10h 1A04h 0h largest sub index supported for transmit PDO mapping UNSIGNED 8 RO 1h RW RW 1A1Fh 0h largest sub index supported for transmit PDO...

Страница 176: ...NSIGNED 8 RW 200Bh 0h largest sub index supported for Analog Modules Input Output Range Control UNSIGNED 8 RO According to AI AO channel number in the slot 8 module 1h Input Output range of the AI AO...

Страница 177: ...utput Devices Entries They are as follows Digital Input Devices Entries Idx Sidx Description Type Attr Default 6000h 0h largest sub index supported for read digital input 8 bit UNSIGNED 8 RO 8 1h read...

Страница 178: ...01 in the object with index 0x6206 and 0x6207 are 0x31 and 0xF8 respectively and when the error events occurs only the DO5 DO4 DO0 will be changed to error mode output value because the bit 5 bit 4 a...

Страница 179: ...e range for hex format is from 0x7FFF 36767 to 0x8000 32768 Therefore if the value got from the AI channel of the I 87017 is 0x1234 4660 the AI value with float format will be calculated as follows V...

Страница 180: ...e The Hmax and Hmin is the maximum and minimum value of the 2 s complement hex range User can find out the Fmax Fmin Hmax and Hmin in the appendix B 2 When the bus off is detected or the node guarding...

Страница 181: ...8 RO No 1h Reset ch1 counter value UNSIGNED 8 WO Yes 3003h 0h largest sub index supported for set XorRegister with 0 or 1 UNSIGNED 8 RO No 1h XorRegister value of ch1 UNSIGNED 8 RW No 3004h 0h larges...

Страница 182: ...l counter is 1 0x80000000 8192 2147491840 If users select Frequency or Up counting there is only one situation If the object index 0x3000 with sub index 1 is 16384 and the object index 0x3001 with sub...

Страница 183: ...f output pulse 32 bit UNSIGNED 8 RO No 1h Set frequency of output pulse UNSIGNED 32 RW No 3103h 0h largest sub index supported for set pulse duty with 1 999 UNSIGNED 8 RO No 1h Set pulse duty of ch1 U...

Страница 184: ...value 100 5000000 with the base 0 1Hz that is 10Hz 500kHz to object 0x3102 Object index 0x3103 is pulse duty per mille If set the object to value 300 it means that the high duty is 300 and the low dut...

Страница 185: ...has separated into several parts according to the name of slot module They are given below I 87K module I 8K module I 87013 I 8017HS I 8017HW I 87015 I 87015P I 8024 I 8024W I 87017 I 87017R I 87017W...

Страница 186: ...a 0 00385 Input Range 200 00 000 00 2 s complement HEX 7FFF 0000 23 Platinum 100 a 0 00385 Input Range 600 00 000 00 2 s complement HEX 7FFF 0000 24 Platinum 100 a 0 003916 Input Range 100 00 100 00...

Страница 187: ...000 a 0 00421 Input Range 150 00 020 00 2 s complement HEX 7FFF EEEF 2E 2 Pt 100 a 0 00385 Input Range 200 00 200 00 2 s complement HEX 7FFF 8000 2F 2 Pt 100 a 0 003916 Input Range 200 00 200 00 2 s c...

Страница 188: ...ge 5 0000 V 5 0000 V 2 s Complement HEX 7FFF 8000 0A 1V to 1V Input Range 1 0000 V 1 0000 V 2 s Complement HEX 7FFF 8000 0B 500mV to 500mV Input Range 500 00 mV 500 00 mV 2 s Complement HEX 7FFF 8000...

Страница 189: ...4mA to 20mA Input Range 04 000 mA 20 000 mA 2 s Complement HEX 7FFF 8000 0D default 20mA to 20mA Input Range 20 000 mA 20 000 mA 2 s Complement HEX 7FFF 8000 1A 0A to 20mA Input Range 00 000 mA 20 000...

Страница 190: ...to 100mV Input Range 100 00 mV 100 00 mV 2 s Complement HEX 7FFF 8000 03 500mV to 500mV Input Range 500 00 mV 500 00 mV 2 s Complement HEX 7FFF 8000 04 1V to 1V Input Range 1 0000 V 1 0000 V 2 s Comp...

Страница 191: ...V 2 s Complement HEX 7FFF 8000 03 500mV to 500mV Input Range 500 00 mV 500 00 mV 2 s Complement HEX 7FFF 8000 04 1V to 1V Input Range 1 0000 V 1 0000 V 2 s Complement HEX 7FFF 8000 05 2 5V to 2 5V Inp...

Страница 192: ...0B 500mV to 500mV Input Range 500 00 mV 500 00 mV 2 s Complement HEX 7FFF 8000 0C 150mV to 150mV Input Range 150 00 mV 150 00 mV 2 s Complement HEX 7FFF 8000 0D 20mA to 20mA with 125 resistor Input Ra...

Страница 193: ...e Input Range 1000 0 0270 0 2 s Complement HEX 7FFF DD71 12 R Type Input Range 1768 0 0000 0 2 s Complement HEX 7FFF 0000 13 S Type Input Range 1768 0 0000 0 2 s Complement HEX 7FFF 0000 14 B Type Inp...

Страница 194: ...I 87024 Analog Output Type Definition Back to table Range Code Hex Output Range Data Format Max Value Min Value 30 0 to 20mA Output Range 20 000 mA 00 000 mA 2 s Complement HEX 0x7FFF 0 31 4 to 20mA...

Страница 195: ...0 V Hexadecimal FFFF 0000 I 87024C I 87028C Analog Output Type Definition Back to table Range Code Hex Output Range Data Format Max Value Min Value 0 default 0 to 20mA Output Range 20 000 mA 00 000 mA...

Страница 196: ...l 1FFF 2000 4 20 mA to 20 mA Input Range 20 000 mA 20 000 mA Hexadecimal 1FFF 2000 I 8080 8084W Counter Input Type Definition Back to table Range Code Hex Counter Type Channel number Max Value Min Val...

Страница 197: ...s manual Revision 3 20 Mar 08 2012 197 I 8088W PWM Output Type Definition Back to table Range Code Hex Counter Type Channel number Max Value Min Value 0 Burst Counter 8 65535 1 FFFF 1 1 default Conti...

Страница 198: ...1 slot 2 and slot 3 respectively For example if the I 8050 module is plugged on the slot 0 of CAN 8423 user can set the object index 0x2004 to decide the channel type of I 8050 The object index 0x200...

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