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Description of functions

(under [COPlink])

Flow control on CAN

On / off

ByteStreamExtension
(under [COPlink])

Table 4-2

CANlink II is an CANopen slave in the COPlink mode. The nearly all parameters
may be configured over object dictionary using SDO.
Table 4-3 shows the Object Dictionary of the CANlink II in the RS232-CANopen
gateway mode.

Idx

Sidx Name

(Reference)

At-

trib

Ma-

pable

Obj Type DataType

Default Value,

Range

1000 00 device type

ro n

VAR

Unsigned32 0x00000000

1001 00 error register

ro y

VAR

Unsigned8 0x00

1003

pre-defined error field

ARRAY Unsigned32

number of entries

rw n

Unsigned8

0x00

standard error field

Unsigned32 0x00

standard error field

Unsigned32 0x00

standard error field

Unsigned32 0x00

standard error field

Unsigned32 0x00

1005 00 COB-ID SYNC message rw n

VAR

Unsigned32 0x00000080

1008 00 manufacturer device

name

ro n VAR

Vis-String “IXXAT COP-

link”

1009 00 manufacturer hardware

version

ro n VAR

Vis-String “01.01”

100A 00

manufacturer software
version

ro n VAR

Vis-String “1.1.2.0”

100C 00 Guard time

rw n

VAR

Unsigned16 0

100D 00

Life time factor

rw n

VAR

Unsigned8

1010

store parameters

ARRAY Unsigned32

largest Sidx supported

ARRAY

Unsigned8

0x04

save all parameters

rw n

VAR

Unsigned32

1011

restore parameters

ARRAY Unsigned32

largest Sidx supported

Unsigned8

0x04

restore all default pa-
rameters

rw n

Unsigned32 0x00

1014 00 COB-ID Emergency

rw n

VAR

Unsigned32 0x80+Node-

1016

Consumer Heartbeat Time

ARRAY

Unsigned32

Number

entries

Unsigned8

0x05

Consumer Heartbeat Time rw n

Unsigned32 0x00

Consumer Heartbeat Time rw n

VAR

Unsigned32

Consumer Heartbeat Time rw n

VAR

Unsigned32

Copyright IXXAT Automation GmbH

CANlink II - Manual, V1.3

Содержание CANlink II

Страница 1: ...The expert for industrial and automotive communication Hardware Manual CANlink II RS232 CAN Converter...

Страница 2: ...ms with this product or other IXXAT products please contact IXXAT in written form by Fax 49 0 7 51 5 61 46 29 e Mail support ixxat de Copyright Duplication copying printing microfilm or other forms an...

Страница 3: ...X2 15 3 1 3 CAN X3 16 3 2 Ground connections 16 4 Description of functions 17 4 1 Introduction 17 4 2 RS232 CAN gateway 17 4 3 RS232 CANopen gateway 18 4 4 Data structure of the configuration files 22...

Страница 4: ...5 8 Byte stream flow control ByteStreamExtension 26 4 5 Default configuration 27 5 Download tool 29 5 1 Configuration with Windows console program 29 5 1 1 Creating a configuration file 30 5 1 2 Downl...

Страница 5: ...tion mode 39 7 3 Error state 39 8 Notes on EMC 40 8 1 Aluminum version 40 8 2 Industrial DIN rail version shield concept 40 Appendix 41 Technical specifications 41 Sources of data sheets 41 EC conform...

Страница 6: ......

Страница 7: ...to CAN telegrams and transmitted One configurable identifier each is available for transmission and reception In the CANopen operation mode COPlink the CANlink operates as a CANopen node where the ser...

Страница 8: ...bit microcontroller Two housing versions available 1 3 Versions The following versions of the CANlink II are available Industrial DIN rail Industrial aluminum Housing Plastic Aluminum Supply voltage 9...

Страница 9: ...ory CAN Bus Interface High Speed internal RS232 Adapter TxD RxD CAN High CAN Low CAN Industrial Range 9V 36V RS232 Lines A 0 17 D 0 15 Power Supply Full RS232 transceiver optional RS485 Fig 1 1 Block...

Страница 10: ...work and enable a fast response please provide precise in formation on the individual points and describe your question or problem in de tail If you would prefer to contact our support department by...

Страница 11: ...is included in the scope of delivery The connection allocation is shown in Table 2 1 The CANlink II is protected against polarity reversal under voltage and over voltage In the event of polarity reve...

Страница 12: ...no X2 Signal 1 DCD 2 RX 3 TX 4 DTR 5 GND 6 DSR 7 RTS 8 CTS 9 RI Table 2 2 Pin allocation RS232 2 1 3 CAN X3 CAN is available on connector X3 with a bus interface according to ISO 11898 2 The signals...

Страница 13: ...is connected to the GND of the power supply X1 In the version without galvanic isolation all GND connections X1 X2 X3 are connected with each other The shield connections of CAN X3 serial port X2 and...

Страница 14: ...llocation The pin allocation for the Industrial DIN rail version is shown in Fig 3 1 1 2 3 4 5 6 Power CAN Status RS232 CAN PWR RS232 X1 X3 X2 LED CANlink II Fig 3 1 Connector arrangement Industrial D...

Страница 15: ...rity reversal or under voltage it is switched off with over voltage an internal fuse is triggered Terminal Signal 1 PE 2 PWR 3 GND Table 3 1 Terminal allocation Power 3 1 2 Serial interface RS232 X2 T...

Страница 16: ...of CAN X3 is isolated from the rest of the circuit the GND of the serial port X2 is connected to the GND of the power supply X1 In the version without galvanic isolation all GND connections X1 X2 X3...

Страница 17: ...DO are passed on to the serial port On the CANopen side the Byte Stream Protocol is used as the communication protocol The CANlink II can be configured via the serial port with the aid of a download t...

Страница 18: ...4 2 shows the functions and the associated key words relevant for the COPlink mode Function Possible settings Key words Operation mode COPlink OperationMode under General Timeout 0 6 5 s Timeout under...

Страница 19: ...0x00 1005 00 COB ID SYNC message rw n VAR Unsigned32 0x00000080 1008 00 manufacturer device name ro n VAR Vis String IXXAT COP link 1009 00 manufacturer hardware version ro n VAR Vis String 01 01 100A...

Страница 20: ...mPar 00 number of entries ro n Unsigned8 0x02 01 COB ID used by PDO rw n Unsigned32 200h Node ID 02 transmission type rw n Unsigned8 0xff 1600 receive PDO 1 mapping parameter RECORD PDO Mapping 00 num...

Страница 21: ...r Mark rw n Unsigned8 65 0 100 2003 RS232 parameters RECORD 00 number of elements ro n Unsigned8 4 01 RS232 baudrate rw n Unsigned8 4 0 600 1 1200 2 2400 3 4800 4 9600 5 19200 6 38400 7 57600 8 115200...

Страница 22: ...ion 1 0 Do not change this OperationMode COPlink CANlink and COPlink are possible Timeout 100 0 65000 0 6500 ms User ConfigAlias IXXAT default RS232 Parameters of serial communication RS232baudrate 96...

Страница 23: ...ta of the serial port are transmitted on the CAN bus in blocks of 8 data bytes each If fewer than 8 databytes but at least 1 databyte are received via the serial port and no new databyte is received u...

Страница 24: ...s 100 kbit s 125 kbit s 250 kbit s 800 kbit s and 1000 kbit s can be set e g CANbaudrate 1000 2 Setting via bit timing register The baudrate can be set via the bit timing registers BTR0 and BTR1 of th...

Страница 25: ...s 1 800kbit s 0 1000kbit s e g CANopenBaudrate 4 4 4 5 2 CANopen node number CANopenNode This parameter defines the CANopen node number of the device e g CANopenNode 0x04 4 4 5 3 Heartbeat time HBTime...

Страница 26: ...am protocol e g TxPDO 0x181 4 4 5 7 Transmit PDO type TxPDOtype The parameter TxPDOtype defines how the PDO is sent The serial communication via RS232 is generally asynchronous i e as soon as sufficie...

Страница 27: ...Parameters of serial communication RS232baudrate 9600 600 1200 2400 4800 9600 19200 38400 57600 115200 bit s Databits 8 7 8 Parity no no odd even Handshake no no software hardware CANlink CAN bus baud...

Страница 28: ...125 5 reserved 100 6 50 7 20 8 10 CANopenBaudrate 4 CANopenNode 0x1 HBTime 10000 if 0 then heartbeat producer is disabled RxPDO 0x201 RxPDOtype 0xFF TxPDO 0x181 TxPDOtype 0xFF ByteStreamExtension yes...

Страница 29: ...ers The following possibilities are avail able to run the program In Windows you can change to the path of the program CANL2cfg exe via Start Run Browse Select by clicking and add the required paramet...

Страница 30: ...of a configuration To save a configuration the serial port of the switched off CANlink II and the se rial port of the PC must be connected with the cable supplied Then the configu ration program CANL2...

Страница 31: ...switched off briefly and then switched on again to enter the configura tion mode The file name of the configuration file and the current settings are displayed If a file name is entered after the para...

Страница 32: ...CANL2cfg s myconfig cfg If no file name is entered the program uses the configuration file name stored in the CANlink II After the message Waiting for CANlink II appears on the screen the device must...

Страница 33: ...s Each page lists parameters of the relevant range General configuration name active operation mode timeout RS232 parameters for serial port baudrate data flow control etc CANlink parameters for CAN o...

Страница 34: ...e same file with File Save If the configuration should be saved in a different file use File Save as 6 1 3 Setting up a connection In order to configure the device the serial port of the switched off...

Страница 35: ...After selecting the serial port the device can be supplied with power As soon as there is voltage on the CANlink II the device is detected and checked for com patibility The hardware version and firm...

Страница 36: ...nfiguration tool 6 1 4 Reading the current configuration The current configuration of the device can be read out via Device Read con figuration Copyright IXXAT Automation GmbH CANlink II Manual V1 3 3...

Страница 37: ...n mode a connection cable with Sub D9 sock ets at both ends is required for the serial port The connection of the two Sub D9 sockets is listed in table 6 1 The connector allocation corresponds to that...

Страница 38: ...re lost on the CAN interface the CAN LED flashes red in stand by mode with each message received or transmitted without errors the CAN LED is briefly lit green in be tween 7 1 3 Status LED In the oper...

Страница 39: ...e RS232 LED flickers green during transmission of the configuration data 7 3 Error state With incorrect parameter values in the flash all LEDs except the Power LED flash red In this case the configura...

Страница 40: ...ted with one another in the device 8 2 Industrial DIN rail version shield concept The highest interference immunity is achieved when the shield of the CAN bus is grounded on the assembly plate and the...

Страница 41: ...age buffer 100 messages per CAN segment RS232 message buffer 100 bytes PDO performance In the COPlink operation mode the performance of the device is restricted to 500 PDO per second This corresponds...

Страница 42: ...the standards DIN EN 55022 05 1999 class B DIN EN 61000 6 2 03 2000 according to the following test report IX227_01 DOC IX216_01 DOC The product thus complies with the EC directive 89 336 EEC This de...

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