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L-1062e_9 © SYS TEC electronic GmbH 2010

5.4.1

Default Mapping CANopen ChipF40

In the default mapping, the 4

Tx PDO and the 2

Rx PDO and the 4

Rx PDO are invalid. This results in the following arrangement of I/Os
and PDOs:

Config

Tx PDO

Rx PDO

DI 0...DI 7

DI 8...DI 13

AI 0...AI 1

invalid

DO 0...DO7 duty cycle

PWM 0 ... PWM 3

DI 0...DI 7

AI 0...AI 3

AI 4...AI 7

DO 0...DO7 duty cycle

PWM 0 ... PWM 3

DI 0...DI 7

DI 8...DI 15

invalid

DO 0...DO7 duty cycle

PWM 0 ... PWM 3

DI 0...DI 7

invalid

DO 0...DO7

DO 8...DO15

duty cycle
PWM 0 ... PWM 3

DI 0...DI 7

DI 8...DI 15

AI 0...AI 3

AI 4...AI 7

invalid

duty cycle
PWM 0 ... PWM 3

DI 0...DI 7

DI 8...DI 15

DI 16...DI 23

invalid invalid invalid

duty

cycle

PWM 0 ... PWM 3

DI 0...DI 7

DI 8...DI 15

AI 0...AI 3

invalid

DO 0...DO3 duty cycle

PWM 0 ... PWM 3

Table 11:

PDO Mapping for I/O‘s F40

5.4.2

Default Mapping CANopen ChipF40 V3

In the default mapping, the 4

Tx PDO and the 2

Rx PDO are

invalid. This results in the following arrangement of I/Os and PDOs:

I/O Config

Tx PDO

Rx PDO

DI 0...DI 7

DI 8...DI 13

AI 0...AI 1

invalid

DO 0...DO7

DI 0...DI 7

AI 0...AI 3

AI 4...AI 7

DO 0...DO7

DI 0...DI 7

DI 8...DI 15

invalid invalid

0...DO7

DI 0...DI 7

invalid

DO 0...DO7

DO 8...DO15

DI 0...DI 7

DI 8...DI 15

AI 0...AI 3

AI 4...AI 7

invalid

DI 0...DI 7

DI 8...DI 15

DI 16...DI 23

invalid invalid invalid

DI 0...DI 7

DI 8...DI 15

AI 0...AI 3

invalid

DO 0...DO3

Table 12:

PDO Mapping for I/O‘s F40 V3

Содержание CANopen ChipF40

Страница 1: ...CANopen ChipF40 System Manual Edition June 2012 System House for Distributed Automation...

Страница 2: ...SYS TEC electronic GmbH 2010 L 1062e_9 This side was left blank intentionally...

Страница 3: ...ditionally SYS TEC electronic GmbH offers no guarantee nor accepts any liability for damages arising from the improper usage or improper installation of the hardware or software SYS TEC electronic Gmb...

Страница 4: ...SYS TEC electronic GmbH 2010 L 1062e_9 This side was left blank intentionally...

Страница 5: ...p the CANopen ChipF40 19 4 1 Power Supply 19 4 2 CAN Interface 19 5 QuickStart 21 5 1 Start Up of the CANopen ChipF40 21 5 2 Shut Down of the CANopen ChipF40 21 5 3 CAN Message and Identifier 22 5 4 P...

Страница 6: ...ng the Analog Input Value 53 8 8 3 Selecting the Interrupt Trigger 54 8 8 4 Interrupt Source 55 8 8 5 Interrupt Enable 55 8 8 6 Interrupt Upper and Lower Limit 55 8 8 7 Delta Function 56 8 8 8 Example...

Страница 7: ...Table of Content L 1062e_9 SYS TEC electronic GmbH 2010 Index 73...

Страница 8: ...SYS TEC electronic GmbH 2010 L 1062e_9 This side was left blank intentionally...

Страница 9: ...of Figures Figure 1 Pin Layout 5 Figure 2 DIP switch Pinout and Functions 7 Figure 3 DIP switch Pinout and Functions version 3301002 only 8 Figure 4 structure of RESIN Line 8 Figure 5 State Diagram o...

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Страница 11: ...Mapping for I O s F40 23 Table 12 PDO Mapping for I O s F40 V3 23 Table 13 COB Identifier Communication Target Object Identifier 37 Table 14 Emergency Message Contents 39 Table 15 Heartbeat Message S...

Страница 12: ...ble 29 Error Led States 61 Table 30 Example for Error Handling digital outputs 64 Table 31 Example for Error Handling PWM outputs 64 Table 32 Object Dictionary of the CANopen ChipF40 68 Table 33 Objec...

Страница 13: ...operated in environments in which sufficient precautionary measures have been taken in respect to ESD dangers It is also necessary that only appropriately trained personnel such as electricians techn...

Страница 14: ...figurations SYS TEC supports all common 8 and 16 bit controllers in two ways 1 as the basis for Development Kits in which user designed hardware can be implemented on a wrap field around the controlle...

Страница 15: ...WM outputs Using the various on board configuration options the module is adaptable to different applications All applicable controller signals extend to standard width 2 54 mm pin header rows alignin...

Страница 16: ...ted with Fujitsu MB90F352 16 bit microcontroller controller signals and ports extending to standard width 2 54 mm pin rows lining the edges of the board CAN signals CANH CANL in CAN 2 0B passive mode...

Страница 17: ...gh connected peripherals All controller signal extend to the pin header connector without any additional protection circuitry External circuitry in which the CANopen ChipF40 is implemented must follow...

Страница 18: ...6 P6 7 I Port Pin P6 0 P6 7 of the microcontroller 19 RESIN I Reset input of the module 0 1 transition triggers the RESET signal 20 GND Ground 0V 21 22 P5 0 P5 1 I O Port Pin P5 0 P5 1 of the microcon...

Страница 19: ...ide of the CANopen ChipF40 Four of these switches enable configuration of the Node ID for CANopen two set the CAN baud rate CAN bus and the remaining two switches are used to enable I O configuration...

Страница 20: ...ipF40 Pins 37 and 38 for use of the on board or pins 36 and 39 for use of an external optically isolated CAN transceiver device 3 4 Reset A 1 F capacitor is connected to the microcontroller s RESET in...

Страница 21: ...d position ON and DIPx 0 if the switch is open position OFF Example If both DIP switches DIP1 and DIP4 are closed the following Node ID will be configured Node ID 40H 1 20 0 21 0 22 1 23 Node ID 40H 1...

Страница 22: ...DIP7 24 DIP8 25 with DIPx 1 if the corresponding switch is closed position ON and DIPx 0 if the switch is open position OFF Therefore you could select different Node ID s from 40H 64dez to 07EH 126de...

Страница 23: ...Bit s ON OFF 20 OFF OFF 125 OFF ON 500 ON ON 1000 Table 3 Configuration of CAN Bit Rate Bit Rate Configuration via CANopen Layer Setting Services LSS implemented in the CANopen protocol can be used to...

Страница 24: ...iguration 1 by default To change the I O configuration a SDO access to the object dictionary index 2000H is necessary I O Configuration via CANopen The desired I O configuration on the CANopen ChipF40...

Страница 25: ...in the following factory default settings Node ID 40hex bit rate 125 kBit s configuration I O configuration 0 3 7 Pin Assignments for Selected I O Configurations F40 Configuration Digital Inputs Digi...

Страница 26: ...AI 6 DI 6 DI 4 18 DI 13 AI 7 DI 7 DI 7 AI 7 DI 7 DI 5 19 20 21 DI 12 DO 4 DO 4 DO 4 DI 8 DI 16 DI 14 22 DI 11 DO 5 DO 5 DO 5 DI 9 DI 17 DI 15 23 DI 10 DI 0 DI 8 DO 8 DI 0 DI 8 DI 6 24 DI 9 DI 1 DI 9 D...

Страница 27: ...uirements of the specific I O signal type In appropriate signal connection could damage or destroy the CANopen ChipF40 We recommend to disconnect the I O pins when changing the I O configuration 3 8 P...

Страница 28: ...DI 5 AI 5 DI 5 DI 3 17 DI 4 AI 6 DI 6 DI 6 AI 6 DI 6 DI 4 18 DI 13 AI 7 DI 7 DI 7 AI 7 DI 7 DI 5 19 20 21 DI 12 DO 4 DO 4 DO 4 DI 8 DI 16 DI 14 22 DI 11 DO 5 DO 5 DO 5 DI 9 DI 17 DI 15 23 DI 10 DI 0...

Страница 29: ...I O configuration 3 9 Technical Data Electrical Parameters Operating Voltage 5V DC 10 Power consumption typ 65 mA 24 MHz CPU clock 25 C max 140mA depends on circuitry of I Os and CAN Clock generation...

Страница 30: ...sceiver Maximum bit rate 1000 kBit s Number of nodes 100 Environmental Conditions Operational temperature 40 C to 85 C Storage temperature 40 C Mechanical Specifications Dimensions 24 0 mm 58 7 mm 0 3...

Страница 31: ...is populated with the Fujitsu MB90F352 microcontroller featuring Full 2 0B on chip CAN and an on board CAN transceiver P82C251 The following CAN signals are available at header pins aligning two edges...

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Страница 33: ...Boot Up Following reset and internal initialization the board is in PRE OPERATIONAL state refer to section 8 3 PRE OPERATIONAL Upon receipt of a single message Start_Remote_Node the board switches to...

Страница 34: ...a Object PDO The CAN identifier for input and output data is derived from the node address CAN Identifier hex Data Type 180h node address 1st Tx PDO 280h node address 2nd Tx PDO 380h node address 3rd...

Страница 35: ...lid duty cycle PWM 0 PWM 3 5 DI 0 DI 7 DI 8 DI 15 DI 16 DI 23 invalid invalid invalid duty cycle PWM 0 PWM 3 6 DI 0 DI 7 DI 8 DI 15 AI 0 AI 3 invalid DO 0 DO3 duty cycle PWM 0 PWM 3 Table 11 PDO Mappi...

Страница 36: ...message from the slave nodes This status request is initiated with a Remote frame message that contains only the status data The RTR Bit Remote Transmit Request Bit is set for this reason 11 bit CAN...

Страница 37: ...gured within the Object 100D and is multiplied by the Guard Time 100C This results in the Life Time of the Nodeguarding Protocol The time base of these cycles is 1 ms The Guard Time specifies how much...

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Страница 39: ...s a higher layer network protocol based on the CAN serial bus system specifically it is a software level protocol standard for industrial communication between automated devices CANopen is authorized...

Страница 40: ...le communication for process data without protocol overhead a modular configurable structure that can be tailored to the needs of the user and his or her networked application Interbus S Profibus and...

Страница 41: ...ata packages larger than the maximum eight bytes of a standard CAN message CMS further regulates the communication structure between the object targets Network Management NMT NMT implements network ma...

Страница 42: ...transmitted via a Process Data Object PDO The CANopen communication profile determines how a PDO functions within CAL communication objects as well as which protocol is used for transmission of data...

Страница 43: ...ng two primary components Functional Description Operational Description The Functional Description of a device is represented by functional blocks and data flows Descriptive parameters are stored in...

Страница 44: ...g for up to date information of available device profiles All device profiles correspond to the DRIVECOM Profile with CAN specific modifications to enable multi master capability Software for CANopen...

Страница 45: ...rofile family which is available and maintained by CAN in Automation e V CiA consists of the Application layer and communication profile CiA 301 various frameworks and recommendations CiA 30x and vari...

Страница 46: ...All entries are summarized within groups For example the Communication profile is located at index 1000h to 1FFFh Certain types of object entries are mandatory others are optional or manufacturer spe...

Страница 47: ...ous data transfer cycle 7 4 Service Data Objects Network management controls communication and device profiles of all networked devices For this type of access service data objects SDO are used In CAN...

Страница 48: ...pically used for high speed high priority data exchange Data size in a PDO message is limited to 8 bytes or less PDOs can be transmitted directly from any device on the network simultaneously to any n...

Страница 49: ...sted input value has changed Values between 1 and 240 indicate that the PDO is transmitted upon arrival of a corresponding number of SYNC messages The values 241 to 251 are reserved The values 252 and...

Страница 50: ...For example digital outputs at index 6200h and digital inputs at index 6000h can be mapped These values can also be set and read out via SDO However in order to use the benefits of the CAN bus the va...

Страница 51: ...error The Emergency message consists of 8 bytes whereby the first and second bytes contain additional information that is found in the device profiles The third byte contains the contents of the error...

Страница 52: ...is an additional network supervisory service But unlike the Lifeguarding the Heartbeat does not require a NMT Master Only CANopen Slaves are able to function as Heartbeat Producer and Consumer becaus...

Страница 53: ...ere is a corresponding sub entry that has the following contents MSB LSB Bit 31 24 23 16 15 0 Value 00h Node ID Consumer Heartbeat Time Table 16 Structure of a Consumer Heartbeat Time Entry The Consum...

Страница 54: ...lting COB ID hex Resulting COB ID decimal Communication Parameter at Index EMERGENCY 80h Device ID 129 255 PDO1 tx 180h Device ID 385 511 1800h PDO1 rx 200h Device ID 513 639 1400h PDO2 tx 280h Device...

Страница 55: ...Hardware Reset 4 3 Figure 5 State Diagram of a CANopen Device State transition Action required 1 following Power On automatically switches into Initialization state 2 Initialization finished automati...

Страница 56: ...ch information as the device type at index 1000 the error register at index 1001 the Pre Defined Error Field at 1003 the identifier of the SYNC message at 1005 the device name at 1008 the hardware and...

Страница 57: ...of entries to the Object Dictionary occurs by means of Service Data Objects SDO which are used to configure the network by means of a special configuration tool This process is illustrated below in Ta...

Страница 58: ...3 Table 20 PDO Mapping Example Transmit and receive PDOs utilize the same CAN identifier 501 Thus device B automatically receives the PDO transmitted by device A The recipient device B interprets the...

Страница 59: ...nfiguration of Object Dictionary Input Output entries for the CANopen ChipF40 and CANopen ChipF40 V3 according to data type is shown in Table 21and Table 22 Data Type Index Subindex Size Digital Input...

Страница 60: ...6401h 3 WORD AI3 6401h 4 WORD AI4 6401h 5 WORD AI5 6401h 6 WORD AI6 6401h 7 WORD AI7 6401h 8 WORD Table 22 Object Dictionary Input Output Entries F40 V3 Note After boot up of the CANopen ChipF40 obje...

Страница 61: ...cs Description Function State after Execution 1 01h Start_Remote_ Node Starts the CANopen device and PDO transmission activates outputs OPERATIONAL 2 02h Stop_Remote_ Node Stops PDO transmission rend...

Страница 62: ...ATIONAL All Process Data Objects PDOs can be exchanged in Operational state Access via SDO is also possible 8 5 STOPPED Network communication is suspended in state STOPPED This does not affect the Nod...

Страница 63: ...modifications are only active as of the next RESTART if Save is written to object 1010 in subindex 1 This means that only the stored values are valid after the Reset Power On of the CANopen ChipF40 T...

Страница 64: ...s max 65s The entries for NMT Boot Configuration are saved into EEPROM when they are written They are not used at save and recover the OD see also section 8 6 So the entry has to written directly with...

Страница 65: ...transmitted on the CAN bus as shown in Table 25 Byte 2 Byte 1 Sign 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 0 0 Table 25 Storage of Analog...

Страница 66: ...errupt_Enable 6423 is activated the release of an interrupt transmits the TX PDO for analog inputs A specific subindex is available for each analog input channel This allows precise configuration of t...

Страница 67: ...og_Input_Global_Interrupt_Enable The default value is 0 indicating interrupt execution is disabled To enable the interrupt execution the value 1 must be written to the object entry also refer to secti...

Страница 68: ...nce the most recent transmission Only if the fluctuation on the analog input exceeds the value specified in the delta function transmission of the corresponding PDO on the CAN bus is initiated This co...

Страница 69: ...Trigger Conditions The value U1 was entered at index 6424H Lower Limit and U2 at index 6425H Upper Limit in OD Furthermore the value Delta was entered at index 6426H Delta The shown voltage trace is l...

Страница 70: ...Hz The default value for all PWM Outputs is 1000 The lowest adjustable value is 43 CAN bus baud rate different to 10kBit or 86 CAN bus baud rate equal 10 kBit 8 10 Emergency Message In the event of an...

Страница 71: ...or Software reset was detected 6101H Software Error Watchdog reset was detected 6102H Software Error Stack overrun of microcontroller 8110H CAN Message lost busload too high 8120H Device is in Error p...

Страница 72: ...eir meaning RUN LED state meaning On OPERATIONAL CANopen ChipF40 is in state OPERATIONAL Blinking relation 50 50 PREOPERATIONAL CANopen ChipF40 is in state PREOPERATIONAL Single Flash STOPPED CANopen...

Страница 73: ...it in CAN Controller was reached too much Error Frames on CAN Bus Blinking by turns with Run LED access with LSS A LSS service is running Double Flash Error Control Event An error at Lifeguarding Node...

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Страница 75: ...or subindex 2 and Input Error subindex 3 are not supported The error code 6102H sets the outputs into error state This error is critical and it can leave only by reset 9 2 Output Handling in the Event...

Страница 76: ...nged 9 2 2 PWM Outputs On PWM outputs error handling can be pre defined via the objects 6543 PWM_Output_Error_Mode and 6544 PWM_Output_Error_Value These entries can be configured by means of a network...

Страница 77: ...l Operation In the event of an error the outputs retain their active values until overwritten by means of PDO SDO by new output values This requires that the error such as Bus Off or Life Guarding err...

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Страница 79: ...1017 Var Producer Heartbeat Time Unsigned16 1018 Record Identity Object Identity 1029 Array Error Behavior Unsigned8 1200 Record 1st Server SDO Parameter SDO Parameter 1201 Record 2nd Server SDO Param...

Страница 80: ...l Output Unsigned8 6207 Array Error State Digital Output Unsigned8 6401 Record PDO Analog Input Integer16 x 6421 Array Interrupt Trigger Selection Unsigned8 6422 Array Interrupt Source Unsigned32 x 64...

Страница 81: ...d Identity Object Identity 1200 Record 1st Server SDO Parameter SDO Parameter 1201 Record 2nd Server SDO Parameter SDO Parameter 1400 Record RxPDO1 Communication parameter PDOComPar 1401 Record RxPDO2...

Страница 82: ...errupt Trigger Selection Unsigned8 x 6422 Array Interrupt Source Unsigned32 x 6423 Var Global Interrupt Enable Boolean 6424 Array Interrupt upper Limit Integer32 x 6425 Array Interrupt lower Limit Int...

Страница 83: ...22 04 2005 L 1062e_2 Error code for stack overrun and display on the LEDs included 10 02 2006 L 1062e_3 QA Revision reformatting 12 03 2007 L 1062e_4 description for Error Led changed 23 01 2008 L 106...

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Страница 85: ...29 COB 29 Communication Parameters 9 Communication Profile 35 DBT 29 DBT Master 44 Defstruct 34 Deftyp 34 Delta Function 56 Device Name 44 Device Profiles 34 Device Type 44 Digital Input 14 17 Digital...

Страница 86: ...g Entry 38 Mechanical Specifications 18 Message Identifier 37 Minimum Boot Up 21 Multiplexed Domain Protocol 35 Network Management 39 NMT 29 39 NMT Master 29 39 40 NMT Slave 29 Node Address 9 10 22 42...

Страница 87: ...Identifier 42 Priority Group 37 Process Data Object 30 Process Data Objects 36 47 PWM Output 14 QuickStart 21 Receipt Objects 36 Record 34 Reset 24 Reset_Communication 42 RESTART 51 RTR Bit 24 Run LE...

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Страница 89: ...en ChipF40 Document number L 1062e_9 Edition June 2012 How would you improve this manual Did you find any mistakes in this manual page Submitted by Customer number Name Company Address Return to SYS T...

Страница 90: ...Published by SYS TEC electronic GmbH 2010 Ordering No L 1062e_9 Printed in Germany...

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