CAN-2054C user manual_v1.2
Contents
1. 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0112 3415 6 7 1111010100 0 0101011 O0 8 2F 02 60 01 FO 00 00 00 SDO server Se CAN 2054C CAN 2054C user s manual Revision 1 20 Jan 17 2012 18 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 716154321110 0111213 4516 7 11011110 0 01 0100 1 0 4 60102 60 01 SDO server icd CAN 2054C Write object index 0x6002 with subindex 1 to OxFO means that set the ChO Ch3 of DI channels to normal and set the Ch4 Ch7 to be inverted Digital Output module 0x6200 User can set a group of 8 output lines as a byte of information and sent it into the object index 0x6200 with subindex 1 of CAN 2054C For example if the node id of CAN 2054C is 1 the commands are as below 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR MALAM 4 Length 41 4 1019187161 541312 110 011123141516 7 11110101010101 0101011 O0 8 2F 00 62 01 OF 00 00 00 SDO server D li EE n SDO client CAN 2054C 11 bi2. 11110 0 0101010 0 0 8 2F 10 20 01 FO 00 00 00 SDO client SDO server CAN 2054C 11 bit COB ID bit Func Code Node ID 10 918 7 6151413 2 0 RTR Data Length 8 byte Data byte 0 1 2 3 4 5 6 110 1 1 0101010 0 0 1 0 4 60 10 20 01 SDO client pu I Ia IU 3 4 Default PDO Mapping RxPDO mapping list ID Len DO 200h x 1 DO0 DO7 Table 3 12 Default RxPDO list Note x is Node ID of the module TxPDO mapping list ID Len DO 180h x 1 DI 0 DI 7 Table 3 13 Default TxPDO list Note x is Node ID of the module CAN 2054C user s manual Revision 1 20 Jan 17 2012 SDO server CAN 2054C Write object index 0x2010 with subindex 1 to OxFO means that set the ChO Ch3 of DO channels to 0 and set the Ch4 Ch7 to 1 when the CAN 2054C power on 22
3. CAN L Figure 2 6 The node IDs of these two CAN 2054Cs are 1 and 2 respectively Both of these two module s baud rate switch are selected to D 500 kbps CANopen baud rate with I O pair connection mode and these two modules will into Operational state automatically When the DI channel of one CAN 2054C receives a DI ON signal another CAN 2054C will output the ON signal at the corresponding DO channel CAN 2054C user s manual Revision 1 20 Jan 17 2012 9 2 4 LED Description Power LED CAN 2054C allows 10 VDC 30 VDC for working voltage The power consumption is 1 5 W Under the connection of a proper power connection as the unit is turned on the LED will light up in red Run LED The Run LED indicates the CANopen operation state The description of LED state is shown below About the detail please refer to the section 2 3 1 of the CAN 2000C user manual LED Signal State Description No Light Non operation Power Supply is not ready Single Flash Stopped The device is in Stopped state Blinking Pre operational Device is in Pre operational state Continuing Light Operational Device is in Operational state Table 2 2 Error LED The Error LED indicates the CANopen error state The description of LED state is shown below About the detail please refer to the section 2 3 2 of the CAN 2000C user manual LED Signal State Description No Light No error Devi
4. Input Impedance 3 KO 0 3 W Intra module Isolation 3750 Vrms Response Time W Rising edge to DI response 75 us m Falling edge to DI response 180 us ESD Protection 4 kV Contact for each channel Others CANopen Status 3 LEDs for PWR RUN ERR Terminal Resister 1 LED as terminator resister indicators e DILED 8 LEDs as digital input indicators e DO LED 8 LEDs as digital output indicators Power Supply Unregulated 10 30 VDC Power Consumption 1 5 W Operating Temperature 25 75 C Storage Temperature 35 80 C Humidity 10 to 90 RH Non condensing Dimensions 32 5 mm x 110 mm x 102 mm W x L x H Detail CAN 2054C user s manual Revision 1 20 Jan 17 2012 1 3 Features Standard CANopen general I O slave devices CANopen Version DS 301 v4 02 Device Profile DSP 401 v2 1 Support UO pair connection mechanism Provide normal polarity 8 DI channels and 8 DO channels CANopen transfer rate 10 kbps 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 800 kbps 1000 kbps Support maximum CANopen slave devices Node ID up to 99 Set Node ID 0 for firmware update after version 1 50 20111227 m Firmware updates tools l 7530 series I 7540D series l 7565 series PISO CM100 series and PISO CAN series Support NMT PDO SDO EMCY SYNC Guarding and Heartbeat protocol Pass the validation of CANopen conformance test Provide EDS file for CANopen master inte
5. Write object index 0x6206 and subindex 1 to 0x31 means set the error mode to 0x31 for enabling the error mode output of DO 0 DO 4 and DOS 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918 71615141312 110 0112 3 41516 4 7 1111010100 01010011 0 8 2F 07 62 01 F8 00 00 00 SDO server SS CAN 2054C 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length EREECHEN NEEN 11 0 1 1 0 0 0 0 0 0 1 O0 8 160107162101 SDO server Re CAN 2054C Write object index 0x6207 and subindex 1 to OxF8 means set the error value to OxF8 for activating the error mode output value of DO 3 DO 7 If the error event in this module the module will output the safe value 0x30 0x31 amp OxF8 0x30 corresponding the object 0x6206 and 0x6207 Set Power On Value 0x2010 This object 0x2010 with subindex 1 defines the power on value of a group of 8 output lines Power on value can be set individually For example if the node id of CAN 2054C is 1 the commands are as below CAN 2054C user s manual Revision 1 20 Jan 17 2012 21 11 bit COB ID bit Func Code Node ID 10 918 7 6151413 2 RTR Data Length 8 byte Data byte 2 3 4 5 6
6. E I1 0 amp 3 DI COM Open Collector On Open Collector Off PNP Output uy 106 o com 6 Di com S Elke E oslo iadbac la De Resistance Figure 2 8 CAN 2054C user s manual Revision 1 20 Jan 17 2012 13 3 Object Dictionary 3 1 Object List General Communication Entries Idx Sidx Description Type Attr Default 1000h Oh device type UNSIGNED 32 RO 00300191h 1001h Oh error register UNSIGNED 8 RO Oh 1003h Oh largest sub index supported fon UNSIGNED 8 RO Oh predefine error field 1h actual error the newest one UNSIGNED 32 RO 5h actual error the oldest one UNSIGNED 32 RO 1005h Oh COB ID of Sync message UNSIGNED 32 RW 80h 1008h Oh manufacturer device name VISIBLE STRING RO CAN 2054C 1009h Oh manufacturer hardware version VISIBLE STRING RO 1 2 100Ah Oh manufacturer software version VISIBLE STRING RO 1 50 20111227 100Ch Oh guard time UNSIGNED 16 RW Oh 100Dh Oh life time factor UNSIGNED 8 RW Oh 1010h Oh largest sub index supported fon UNSIGNED 8 RO 1h store parameters 1010h 1h Save all hardware parameter UNSIGNED 32 RW 1011h Oh largest sub index supported for UNSIGNED 8 RO th restore default parameters 1011h 1h restore all default parameters UNSIGNED 32 RW 1014h Oh COB ID of EMCY UNSIGNED 32 RW 80h x 1017h Oh producer heartbeat time
7. 250 5 D 500 6 E 800 7 F 1000 Table 2 1 CAN 2054C user s manual Revision 1 20 Jan 17 2012 7 2 3 I O Pair connection Mode The CAN 2054C module provides the 1 0 pair connection function Before using this function you need to prepare one CAN 2054C module and a 8 bit DO and 8 bit DI CAN 2000 series module such as CAN 2054C When applying this function the DI channels of one CAN 2054C and the DO channels of another CAN 2054C are mapping with each other That is to say that when the DI channels of one CAN 2054C get the ON signal the corresponding DO channels of another CAN 2054C will be turned on When you completed the connection of these two CAN 2054Cs by CAN bus you need to set the baud rate rotary switch of these two modules to 0x8 OxF and configure the node ID of them by the special rule Set the node ID to be odd for one module and set the node ID of another module to be the value which is equal to the node ID increased one of the former Therefore they are the couple as the following figure Node ID Figure 2 5 For example user uses two CAN 2054Cs to do I O pair connection The connection structure is as follows CAN 2054C user s manual Revision 1 20 Jan 17 2012 8 CAN 2054C CAN 2054C Q DU EE EE g OC IDA pW Cl LA de Le NI e 0 1 2 3 4 5 6 7 DO 0 2 3 4 5 6 uu uuu 5666666 NEN 3588588 ols P amp 4 ola IYA B ol D LOS Leg n a
8. 7 2012 17 3 3 Application Object Digital Input module 0x6000 User can use the object index 0x6000 with subindex 1 to read a group of 8 bit information For example if the node id of CAN 2054C is 1 the commands are as below 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 67 1 1 0 0 0 0 0 0 0 0 1 O0 8 40 00 60 01 00 00 00 00 SDO server SEN CAN 2054C 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019187165 41312 110 01121314 5 67 110111110101 0 0101011 O0 4 4F 00 60 01 OF SDO server Se CAN 2054C Read the object index 0x6000 with subindex 1 and the digital value OxOF will be responded by CAN 2054C module The DI channels of DI3 DI2 DI1 and DIO are turn on and others are turn off Change Input Polarity 0x6002 User can configure the object index 0x6002 with subindex 1 to set the polarity of DI channels This object 0x6002 with subindex 1 defines the polarity of a group of 8 input lines Input polarity can be inverted individually 1 7 input inverted 0 input not inverted For example if the node id of CAN 2054C is 1 the commands are as below
9. AN bus and mainly used for embedded network of machine control such as industrial machine control aircraft engines monitoring factory automation medical equipments control remote data acquisition environmental monitoring and packaging machines control etc CAN 2054C module follows the CiA DS 301 version 4 02 and DSP 401 version 2 1 It is easy to access the digital I O status and set the configuration by using standard CANopen protocol CAN 2054C has passed the validation of the CiA CANopen Conformance Test tool Therefore the provided EDS file is standard for any other standard CANopen masters CAN 2054C has 8 channel isolated sink source input and 8 channel isolated sink output and it can be used to various applications such as PNP NPN TTL relay contact and so forth By owing to the CANopen masters of ICP DAS you can quickly build a CANopen network to approach your requirements Figure 1 1 CAN 2054C user s manual Revision 1 20 Jan 17 2012 3 1 2 Hardware Specifications Digital Output Output Channels 8 Sink DO Load Voltage 5 30 VDC Output Max Load Current 700 mA per channel Output Type Open Collector Intra module Isolation 3750 Vrms Reaction Time BM DO Message to rising edge 55 us BM DO Message to falling edge 170 us ESD Protection 4 kV Contact for each channel Digital Input Input Channels 8 Sink Source e DI On Level 3 5 30 VDC DI Off Level 1VDC Max
10. CANopen Slave Device CAN 2054C Application User s Manual Warranty Without contrived damage all products manufactured by ICP DAS 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 imperils to patents of the third parties Copyright Copyright 2009 is reserved by ICP DAS Trademark The brand name ICP DAS as a trademark is registered and can be used by other authorized companies CAN 2054C user s manual Revision 1 20 Jan 17 2012 1 Contents 1 IMFOUCTION e S 3 dE TEEN 3 1 2 Hardware Specifications ns 4 Dad STEEN 5 UIT EE Tdrumm 5 lee VEER 6 CNN TC 6 2 2 Node ID amp Baud Rate Rotary Switch 7 2 3 W O Pair connection Mode nes 8 24 LED Descriptio issiria enia esaa eo a eisai 10 2 5 PIN ASSIQNMENE s assrasaranasan arena aranan anan aan ang ENT an NEE Nana nenen 12 2 6 Wire Connection EN 13 Object Dictionary PT H 14 Salt Object EISE un iic an ena Ne nn D n R US adus 14 3 2 Store and Restore Object 17 3 3 Application a E EE 18 3 4 Default PDO Mapping ss scssscnncc reranaennnnuenennaenceqnennnteanans 22 CAN 2054C user s manual Revision 1 20 Jan 17 2012 2 1 Introduction 1 1 Overview CANopen is one kind of the network protocols based on the C
11. DO power on value of ch0 RW 0 ch7 UNSIGNED 8 Table 3 9 CAN 2054C user s manual Revision 1 20 Jan 17 2012 3 2 Store and Restore Object User can write the value 0x65766173 to the object index 0x1010 to save configuration setting or write the value 0x64616F6C to object index 0x1011 to load the factory default The following table lists the relative objects which will be stored or restored after writing these two objects The factory default for these objects is also shown Store and Restore functions Index Subindex Function 1010 h 1 Store application and communication setting 1010 h 2 Store communication setting only 1010 h 3 Store application setting only 1011h 1 Restore application and communication setting 1011h 2 Restore communication setting only 1011h 3 Restore application setting only Table 3 10 Communication Setting Please refer to above table 3 3 3 4 3 5 and 3 6 Application Setting Index Sub Description Factory Index Default 2010 h 1 Set digital output power on value for channel 8 15 0x00 6002 h 1 Change polarity digital input for channel 0 7 0x00 6202h 1 Change polarity digital output for channel 0 7 0x00 6206 h 1 Error mode digital output for channel 0 7 OxFF 6207 h 1 Error value digital output for channel 0 7 0x00 Table 3 11 CAN 2054C user s manual Revision 1 20 Jan 1
12. UNSIGNED 16 RW 0 1018h Oh largest sub index supported fon UNSIGNED 8 RO 4 identity object 1h vender ID UNSIGNED 32 RO 2h product code UNSIGNED 32 RO 3h revision number UNSIGNED 32 RO 4h Serial number UNSIGNED 32 RO Table 3 1 Note x is Node ID of the module CAN 2054C user s manual Revision 1 20 Jan 17 2012 SDO Communication Entries Idx Sidx Description Type Attr Default 1200h Oh largest sub index supported for UNSIGNED 8 RO 2 server SDO parameter 1h COB ID form client to server UNSIGNED 32 RO 600h x RxSDO 2h COB ID form server to client UNSIGNED 32 RO 580h x TxSDO Table 3 2 Note x is Node ID of the module RxPDO Communication Entry Idx Sidx Description Type Attr Default 1400h Oh Number of entries UNSIGNED 8 RO 2 1h COB ID used by RxPDO UNSIGNED 32 RW 200h x 2h Transmission type UNSIGNED 8 RW FFh Table 3 3 Note x is Node ID of the module RxPDO Mapping Communication Entry Idx Gids Description Type Attr Default 1600h Oh Number of entries UNSIGNED 8 RW 8 1h Write Output channel 0 UNSIGNED 32 RW 6200 0108h Table 3 4 TxPDO Communication Entry Idx Sidx Description Type Attr Default 1800h Oh Number of entries UNSIGNED 8 RO 5 1h COB ID used by TxPDO UNSIGNED 32 RW 180h x 2h Transmission typ
13. ce is working well Single Flash Error Warning At least one CANopen error happened Double Flash Guarding Fail Guarding fail event happened Continuing Light Bus Off The bus off state happened Table 2 3 Terminal Resistor LED When enable the 1200 terminator resistor the LED will turn on DO LED If the DO LED turns on it means that the corresponding DO channel is active no matter what the DO channel polarity is User can configure the 0x6202 object to change the polarity of the DO channel Please refer to section 3 3 for detail DI LED CAN 2054C user s manual Revision 1 20 Jan 17 2012 10 If the DI LED turns on it means that the corresponding DI channel receives an ON voltage level digital signal no matter what the DI channel polarity is User can configure the 0x6002 object to change the polarity of the DO channel Please refer to section 3 3 for detail CAN 2054C user s manual Revision 1 20 Jan 17 2012 11 2 5 PIN Assignment Figure 2 7 CAN 2054C user s manual Revision 1 20 Jan 17 2012 2 6 Wire Connection eadbac leadhb acK as U adhack as Relay On Relay Off Relay Contact ge D COM c n amp p cow fun Close ue DI X gt Ue DI X Voltage 3 5 V Voltage 1 V TTL CMOS i Power Logic Power Loaic O De DI COM O De DI COM g Logic Level Low Logic Level High gt Deal DIK gt D amp DI x Open Collector On Open Collector Off T mE Ho D COM
14. e UNSIGNED 8 RW FFh 3h Inhibit time UNSIGNED 16 0 4h reversed 5h Event timer UNSIGNED 16 0 Table 3 5 Note x is Node ID of the module CAN 2054C user s manual Revision 1 20 Jan 17 2012 TxPDO Mapping Communication Entry Idx Gids Description Type Attr Default 1A00h Oh Number of entries UNSIGNED 8 RO 1 1h Di channel 0 7 UNSIGNED 32 RW 6000 0108h Table 3 6 Digital Input Function Idx Sidx Description Type Attr Default 6000h Oh Number of Input 8 Bit UNSIGNED 8 RO 1 1h DI value of ch0 ch7 UNSIGNED 8 RO 0 6002h Oh Number of Input 8 Bit UNSIGNED 8 RO 1 1h Change polarity DI chO ch7 UNSIGNED 8 RW 0 Table 3 7 Digital Output Function Idx Sidx Description Type Attr Default 6200h Oh Number of Output 8 Bit UNSIGNED 8 RO 1 1h DO value of chO ch7 UNSIGNED 8 RW 0 6202h Oh Number of Output 8 Bit UNSIGNED 8 RO 1 1h Change polarity DO ch0 ch7 UNSIGNED 8 RW 0 6206h Oh Number of Output 8 Bit UNSIGNED 8 RO 2 1h Error mode DO ch0 ch7 UNSIGNED 8 RW OxFF 6207h Oh Number of Output 8 Bit UNSIGNED 8 RO 2 1h Error value DO ch0 ch7 UNSIGNED 8 RW 0 Table 3 8 Power On Value Function Idx Sidx Description Type Attr Default 2010h Oh Number of Output 8 Bit UNSIGNED 8 RO 1 1h Set
15. rface 1 4 Application CAN 2054C Figure 1 2 Application Structure CAN 2054C user s manual Revision 1 20 Jan 17 2012 5 2 Hardware 2 1 Structure CAN 2054C Baud rate Rotary Switch XA sang gama nie me pg CAN VS CAN H CAN Shield CAN L CAN GND Node ID Rotary Switch Ex 32 IDA de La FJ DA Bot D D D D D D D D DO DO DO DO DO DO DO DO 1200 Terminator Resistor LED 120Q Terminal Resister Switch Ex OFF Figure 2 1 Top View Figure 2 2 Bottom View CAN 2054C user s manual Revision 1 20 Jan 17 2012 6 2 2 Node ID amp Baud Rate Rotary Switch The rotary switches of node ID configure the node ID of CAN 2054C module These two switches are for the tens digit and the units digit of the node ID The node ID value of this demo picture is 32 x10 x1 Figure 2 3 Node ID rotary switch The rotary switch of baud rate handles the CAN baud rate of CAN 2054C module The value of baud rate switch from 0 7 are normal CANopen mode and 8 F are I O pair connection mode About the UO pair connection mode please refer to section 2 3 The relationship between the rotary switch value and the practical baud rate is presented in the following table Figure 2 4 Baud rate rotary switch Rotary Switch Value of Rotary Switch Value VO Pair connection Baud Rate k bps 0 8 10 1 9 20 2 A 50 3 B 125 4 C
16. t COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0112131415 6 7 110111110100 010 01 0 4 60 0016201 SDO server EIS CAN 2054C Write the OxOF of digital output value into the object index 0x6200 with subindex 1 and its response success by CAN 2054C Change Output Polarity 0x6202 This object 0x6202 with subindex 1 defines the polarity of a group of 8 output lines Output polarity can be inverted individually 1 output inverted 0 output not inverted For example if the node id of CAN 2054C is 1 the commands are as below CAN 2054C user s manual Revision 1 20 Jan 17 2012 19 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615 41321110 0 1 2131415 6 7 1111010100 0010101 0 8 2F 02 62 01 FO 00 00 00 SDO server CAN 2054C 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615 41321110 0 1 2131415 6 7 1101111000 010101 0 4 60 02 62 01 SDO server Error Mode and Error Value 0x6206 0x6207 CAN 2054C Write object index 0x6202 with subindex 1 to OxFO means that set the ChO Ch3 of DO channels to normal and set the Ch4 Ch7 to be inverted The object 0x6206 and 0x6207 are used to con
17. trol the safe value when error happens When some error event of this module happens such as node guarding failure the module will check the value of the object 0x6206 If some bits of this value are set to 1 the corresponding DO channels will be into the error mode output The error mode output values are concerned to the object 0x6207 For example if the subindex 01 in the object with 0x6206 and 0x6207 are 0x31 and OxF8 respectively when some error event occurs only the DO5 DO4 DOO will be changed to error mode output because the bit 5 bit 4 and bit O of the value 0x31 is 1 The others channels keeps the status as the error event is not happened The bit 5 bit 4 and bit O of the value OxF8 are 1 1 and 0 therefore the error mode output value of DO5 DO4 and DOO are active active and inactive respectively 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 101918171615 4 312 110 0 1 21314516 7 1111010100 0010101 0 8 2F 06 62 01 31 00 00 00 5 SDO server CAN 2054C user s manual Revision 1 20 Jan 17 2012 CAN 2054C 20 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 1019 81716 5141312 11 0 0112134516 7 1101111010 0010101 0 8 60 06 62 01 SDO server oe CAN 2054C
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