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CANopen Protocol

μCAN.8.dio-BOX

MicroControl Version 2.00

Page

38

8

8. CANopen Protocol

This chapter provides detailed information on how to connect
the modules of the μCAN-series to a CANopen-Manager. A CA-
Nopen-Manager can be a PLC, a PC with a CAN interface or any
other CAN-Device with NMT functionality.

For more information about CANopen manager please refer to
the supplied manuals of your CANopen master device.

This documentation provides the actual implemented functions
and services of the μCAN.8.dio-BOX.

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Содержание uCAN.8.dio-BOX

Страница 1: ...emhaus f r Automatisierung CAN 8 dio BOX Manual Digital I O Module Version 2 00 MicroControl GmbH Co KG Junkersring 23 D 53844 Troisdorf Fon 02241 25 65 9 0 Fax 02241 25 65 9 11 http www microcontrol...

Страница 2: ...ns 16 4 2 General Information 17 4 3 Assembly 18 4 4 Disassembly 19 5 Installation 20 5 1 Potential Basics 20 5 2 EMC Considerations 21 5 2 1 Grounding 22 5 2 2 Shielding of cables 22 5 2 3 CAN Cable...

Страница 3: ...uction 39 8 2 Network Management 40 8 3 SDO Communication 42 8 3 1 SDO Abort Protocol 43 8 4 Object Dictionary 44 8 4 1 Communication Profile 45 8 4 2 Device Profile 52 8 4 3 Manufacturer Specific Obj...

Страница 4: ...express or im plied warranty representation or guarantee regarding the suitability of the products for any particular purpose MicroCon trol does not assume any liability or obligation for damages ac t...

Страница 5: ...Page 5 MicroControl Version 2 00 CAN 8 dio BOX 1...

Страница 6: ...t was written for personnel which is qualified and trained on electrical devices Qualified and trained personnel are persons who fulfil at least one of the following conditions You know the safety reg...

Страница 7: ...t the select ed input voltage fits to the local mains Safety Notice If devices are supplied by 24V DC this voltage has to be isolated from other voltages The cables for power supply signal lines and s...

Страница 8: ...intelli gent systems makes the communication between these com ponents quite important Modern automated systems require the possibility to integrate components from different manufacturers The soluti...

Страница 9: ...he CAN 8 dio BOX is designed for heavy duty applications The aluminium cast ensures protection class IP65 The compact space saving case gives the freedom to mount the module in many places inexpensive...

Страница 10: ...gure shows the top view of the CAN 8 dio BOX PCB Use the figure to identify the terminal blocks LED s and DIP switches 1 Baudrate switch 2 Module address ID 3 Bi color LED for module status 4 Bi color...

Страница 11: ...via software It is not requi red to setup DIP switches or jumpers for a configuration change The module has a power supply range of 8V 60V DC The PCB is incorporated in a robust case of protection cla...

Страница 12: ...PC equipped with a CAN card Every CAN 8 dio BOX module is an active node A CANopen network manager can handle up to 127 network sla ves refer to Fig 3 Maximum System Layout Every module gets a unique...

Страница 13: ...le length recom mended by the CAN in Automation http www can cia org These distances can be realized with the CAN 8 dio BOX Tabelle 1 Dependence of baudrate from cable length Baudrate in kBit s Cable...

Страница 14: ...ction class IP65 of the module allows an as sembly at places with a harsh environment It is possible to mount the module inside a switching cabinet as well as direct on a machine Please check the tech...

Страница 15: ...Project Planning Case Dimensions Page 15 MicroControl Version 2 00 CAN 8 dio BOX 3...

Страница 16: ...nd you have been trai ned on operation modes You are familiar with the operation of devices described in this manual You are responsible for setting into operation or service and you are trained on re...

Страница 17: ...is inserted from the right side into the case where the termi nals for power supply are located However it makes sense to use a cable with four conductors in order to run the CAN bus over the same cab...

Страница 18: ...is directly fixed to the machine make sure to take the proper drill size for tapping When fixing several modules at the same place please make sure Note to leave some area for the PG screws For a qui...

Страница 19: ...to disconnect the power supply from the device first Open the cover from the module and remove the temperature sensors first Now you can remove the cables for CAN bus and power supply from the termin...

Страница 20: ...vironment of a system that is realized with CAN modules is characterized by following features The CAN bus potential is isolated from the power supply The electronic of the CAN modules is isolated fro...

Страница 21: ...motors fre quency converters switching devices in general and different potentials of cases or of the common power supply Inductance Coupling An inductance coupling is given between two current carry...

Страница 22: ...n a plastic case they have to be grounded with a metal tape 5 2 2 Shielding of cables If noise is coupled to a cable shield it is grounded to safety earth via the metal cover The cable shields have to...

Страница 23: ...20 Ohm Specific Resistance 70 mOhm Meter Specific Signal Delay 5 ns Meter The CAN bus cable is connected to the CAN 8 dio BOX module via terminals inside the case For the pinning of the terminal refer...

Страница 24: ...itive supply for the output stage is connected to the terminal V PWR The negative supply is connected to the terminal GND The ne gative supply for the output stage is connected to the terminal V PWR M...

Страница 25: ...between these terminals may not ex ceed 50mV You Note must always connect the power supply for the output stage even if the module is only used in a digital input configuration A cable shield may not...

Страница 26: ...o the terminal CAN_L Modul ID Baud Term Off On CAN_H CAN_L GND V V PWR V PWR I O_1 I O_2 I O_3 I O_4 I O_5 I O_6 I O_7 I O_8 NS MS 1 2 4 3 6 5 7 8 CAN bus Abb 7 Connection of CAN bus If you confuse th...

Страница 27: ...ts bit 0 of a byte The last pin of the switch marked with 8 repre sents bit 7 of a byte Valid module addresses are within the range from 1 127 resp 01h 7Fh Attention Each node within a CANopen network...

Страница 28: ...udrate here 1 MBit s is shown The 4 pin DIP switch sets the binary code for the module baudra te The first pin of the switch marked with 1 represents bit 0 of a byte The last pin of the switch marked...

Страница 29: ...not reflecting back power and the communication can not be disturbed For termination of the CAN 8 dio BOX the Term switch must be turned from position Term Off to position Term On Modul ID Baud Term O...

Страница 30: ...when planning the wiring Only proper wiring and EMI precautions make sure that the module runs without trouble 6 1 Function principle High Side Version Configuration of each terminal Input or Output...

Страница 31: ...load Tabelle 4 Electrical Parameters Parameter Value V PWR 10 50 V Impedance Rin 24 2 kOhm Iout 1 4 A maximal Switching Level 0 5 V PWR 6 2 Function principle Low Side Version In Digital Input mode th...

Страница 32: ...rgency Message on page 66 Although the digital outputs are protected against overload con ditions by means of thermal protection of the drivers In constant overlaod condition the driver will switch On...

Страница 33: ...l row B The ground po tential is located in terminal row C V PWR The binary control lines are connected to row A The state of each line is displayed by means of bi color LEDs Modul ID Baud Term Off On...

Страница 34: ...e Status on the PCB On the case cover the LEDs are marked as ON CAN for the net work Note status and ERROR for the module status The state of the digital I O terminals is displayed by eight bi color L...

Страница 35: ...nalling of CAN controller status The red LED is signalling the status of the CAN controler Only in fault condition the red LED will show the status Initialisation Autobaud Detection NMT Status Device...

Страница 36: ...Status on the case cover denoted as Error displays the status of the device hardware Device in Pre operational state CAN Controller in Warning state Device in Operational state Controller in Error Pas...

Страница 37: ...Signal Status High Side Signal LED is To indicate Green Digital high signal at terminal Input Orange Terminal configured as output output has been switched on Red Terminal configured as output short...

Страница 38: ...ules of the CAN series to a CANopen Manager A CA Nopen Manager can be a PLC a PC with a CAN interface or any other CAN Device with NMT functionality For more information about CANopen manager please r...

Страница 39: ...e gives an overview of the supported services Tabelle 8 Identifier values according to the Pre defined Connection Set Object COB ID dec COB ID hex Network Management 0 0x000 SYNC 128 0x080 EMERGENCY 1...

Страница 40: ...ill be set into Operational mode This means that the node can handle PDO communication Stop Node ID DLC B0 B1 0 2 02h Nod e Stop Node Node module address 0 all modules By transmitting the Stop Node co...

Страница 41: ...de ID DLC B0 B1 0 2 81h Nod e Reset Node Node module address 0 all modules By transmitting the Reset Node command the CAN node will issue a reset operation After reset the node will send a Boot up Mes...

Страница 42: ...culation of the SDO message identifier please refer to In troduction on page 39 The Command Byte CMD has the following meaning Master wants to read from Slave 40h Slave answers on the read request 42h...

Страница 43: ...In dex Abort Code The identifier as well as the index and sub index correspond to the SDO request The abort code may have the following values Tabelle 9 SDO abort codes Abort code Description 0504 000...

Страница 44: ...croControl Version 2 00 Page 44 8 8 4 Object Dictionary This chapter describes the implemented objects for the digital module CAN 8 dio BOX For further information please refer to the CANopen communic...

Страница 45: ...ame 1000h Device Profile 1001h Error Register 1003h Predefined Error Register 1005h COB ID SYNC Message 1008h Manufacturer Device Name 1009h Manufacturer Hardware Version 100Ah Manufacturer Software V...

Страница 46: ...B2 B3 B4 B5 B6 B7 602h 8 40h 00h 10h 00h 00h 00h 00h 00h As response the CAN 8 dio BOX will send ID DLC B0 B1 B2 B3 B4 B5 B6 B7 582h 8 42 00 01h 00 91h 01h 03h 00 Byte 5 Byte 6 0191h 401d Device Prof...

Страница 47: ...an error message Pre defined Error Field Index 1003 The object at index 1003h holds the errors that have occured on the device The object stores a maximum of 10 error conditions Sub Index Data Type Ac...

Страница 48: ...re Version Index 1009h The object at index 1009h contains the manufacturer hardware version Sub Index Data Type Acc Name Default Value 0 Visible String ro Hardware version HW 1 1 The object is read on...

Страница 49: ...Save all parameters 1 2 Unsigned32 rw Save communication 1 3 Unsigned32 rw Save application 1 In order to avoid storage of parameters by mistake storage is only executed when a specific signature is...

Страница 50: ...ore all param 1 2 Unsigned32 rw Restore commun 1 3 Unsigned32 rw Restore application 1 In order to avoid the restoring of default parameters by mistake restoring is only executed when a specific signa...

Страница 51: ...indices 0 to 4 are supported An access to other sub indices will lead to an error message Vendor ID The Vendor ID contains a unique value allocated to each manu facturer The numbers are managed by the...

Страница 52: ...o BOX Tabelle 11 Supported objects of device profile DS 401 Index Name 6000h Read Input 8 Bit 6002h Polarity Input 8 Bit 6005h Global Interrupt Enable Digital 6006h Interrupt Mask Any Change 8 bit 600...

Страница 53: ...ispiel read digital inputs ID DLC B0 B1 B2 B3 B4 B5 B6 B7 601h 8 40h 00h 60h 01h 00h 00h 00h 00h module address 1 As response the CAN 8 dio BOX will send ID DLC B0 B1 B2 B3 B4 B5 B6 B7 581h 8 42h 00h...

Страница 54: ...sion of a PDO for each digital input Each bit corresponds to a digital input Setting a va lue of 0 will disable the transmissions of a PDO The object is used in combination with the objects at index 6...

Страница 55: ...01h 8 22h 20h 62h 01h 80h 00h 00h 00h As response the CAN 8 dio BOX will send ID DLC B0 B1 B2 B3 B4 B5 B6 B7 581h 8 60h 20h 62h 00h 00h 00h 00h 00h A digital output can only be set if the specified ou...

Страница 56: ...a Type Acc Name Default Value 0 Unsigned8 rw Port direction 00h Only sub index 0 is supported An access to other sub indices will lead to an error message Writing a 1 will define the terminal as outpu...

Страница 57: ...er can not be changed The message repeti tion time called Heartbeat Producer Time is configured with object 1017h The Heartbeat Protocol transmits one byte of data which repre sents the network state...

Страница 58: ...Producer Time 0000h Only sub index 0 is supported An access to other sub indices will lead to an error message Beispiel Producer Time 1000 ms module address 1 ID DLC B0 B1 B2 B3 B4 B5 B6 B7 601h 8 22h...

Страница 59: ...sion 2 00 CAN 8 dio BOX 8 8 6 PDO Communication The real time data transfer is performed by means of Process Data Objects PDO The transfer of PDOs is performed with no protocol overhead Note PDO commu...

Страница 60: ...he expiration of the specified transmission period synchronised by the reception of the SYNC object For acyclically transmitted synchronous PDOs and asynchronous PDOs the triggering of a message trans...

Страница 61: ...ure Tabelle 14 Definition of COB ID for PDO Bit 31 Bit 30 Bit 29 Bit 28 0 PDO valid 0 valid 1 not valid RTR allowed 0 yes 1 no RTR Frame type 0 11 Bit 1 29 Bit Identifier In order to enable the PDO th...

Страница 62: ...utputs 1 4 module address 1 ID DLC B0 201h 1 0Fh A communication with PDOs is only possible in Operational Mo de Note A digital output can only be set if the specified output termi nal is configured p...

Страница 63: ...ed the identifier for the Transmit PDO The 32 bit value has the following structure Tabelle 16 Definition of COB ID for PDO Bit 31 Bit 30 Bit 29 Bit 28 0 PDO valid 0 valid 1 not valid RTR allowed 0 ye...

Страница 64: ...object 6000h refer to Digital Input Value on page 53 into the PDO Beispiel Input 1 was changed from 0 to 1 module address 1 ID DLC B0 181h 1 01h The PDO is also transmitted on change of a digital out...

Страница 65: ...80h Only sub index 0 is supported An access to other sub indices will lead to an error message Beispiel Set SYNC ID to 10 module address 1 ID DLC B0 B1 B2 B3 B4 B5 B6 B7 601h 8 22h 05h 10h 0Ah 00h 00...

Страница 66: ...s the access error to the object dictionary whereas an emergency display a severe hardware software failure The emergency identifier has the default value 128d module address The emergency message has...

Страница 67: ...CANopen Protocol Emergency Message Page 67 MicroControl Version 2 00 CAN 8 dio BOX 8...

Страница 68: ...CAN Bus Baudrates 10 kBit s 1 MBit s Status on the bus active node Protocol CANopen DS 401 Physical Interface Terminal Block 2 5 mm2 EMC Electromagnetic immunity according to EN 50082 2 Electrostatic...

Страница 69: ...Type Highside Power MOSFET Maximum voltage 50 V Maximum current 1 4 A Short circuit detection 5 A each output short circuit protected Module maximum current 6 A Digital Outputs Low Side Type Lowside P...

Страница 70: ...tatus 36 LED 34 N Network Management 40 Enter Pre Operational 40 Reset Node 41 Start Node 40 Stop Node 40 Network Status 35 LED 34 NMT see Network Management O Object 1000h 46 1001h 46 1003h 47 1005h...

Страница 71: ...71 CAN 8 dio BOX...

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