User manual
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1. RW RW RW RW RW RW RW RW RO RW RW RW MO G o gg o Notes The factory set value present in the modules when new for the trans mission type is O1h A0 08DP ENHANCED ANALOGUE OUTPUTS CONFIGURATION When the AO 08DP is configured as Enhanced analogue module Index 3010h set to 00h Enhanced mode see page 2 each output can be configured as 10V The enhanced configuration enables the use of two special functions e Ramp and Saw Tooth generation e Linearisation tables 641th 64t2h h 43h gt PDO 77 2044h PDO 2040h F 2041h 2042h 2043h 2045h 2046h 2047h 2050h 2051h 2052h 2053h a Received value p Enhanced Mode Functional Block Diagram 2020h 2021h 2022h 2023h gt gt from bus wl Input selection ry s generator Normal condition Channel 6446h esin 7 gt Oft 6447h gt Ls Scaling 6442h factor Data Linearised data 200Ch state Error 6444n 6445h gt Error value condition Axxd value 6443h Error mode Last value E 2010n F Rescale Calibration value The analogue output function block describes for each output channel how received values are converted into field values An error mode value is provided as well The signal con ditioning blocks perform the linearisa2. The configuration can be obtained by writing the desired values to the module s variables listed in the Object Dictionary Object Dictionary structure Index Sub Object Name Default Type Acc MO Index Sub Object Name Default Type Acc MO hex Index hex Attr hex Index hex Attr 1000 VAR Device Type 00080191 UNSIGNED32 RO M 1A00 RECORD 1st Transmit PDO Mapping PDO Mapping 21h M 1001 VAR Error Register 00 UNSIGNED8 RO M 00h VAR No of mapped application obj 02 UNSIGNED8 RO 1003 ARRAY Predefined error field 00000000 UNSIGNED32 RO O Oth VAR Copy of 2044 Ramp Start Stop Ch1 22000108 UNSIGNED32 RO 1005 VAR COB ID SYNC 00000080 UNSIGNED32 RW 0 VAR sak ace UNSIGNED32 RO 1006 VAR Communication cycle period 00000000 UNSIGNED32 RW 0 08h VAR Copy of 2044 Ramp Start Stop Ch8 22000808 UNSIGNED32 RO 1007 VAR Synchrounous window length 00000000 UNSIGNED32 RW 0 200C ARRAY Analog Output channel status UNSIGNED8 0 1008 VAR Manufacturer Device Name 08DP Vis String const 0 00h VAR Number of entries 08 UNSIGNED8 RO 1009 VAR Manufacturer Hardware Version 1 00 Vis String const O Oth VAR Analog Output channel status Chi 01 UNSIGNED8 RW 100A VAR Manufacturer Software Version 1 00 Vis String const 0 VAR a 01 UNSIGNED8 RW 100C VAR Guard Time 0000 UNSIGNED16 RW 0 08h VAR Analog Output channel status Ch8 01 UNSIGNED8 RW 100D VAR Life Time Factor 00 UNSIGNED8 RW 0 2010 ARRAY
3. 15 25 Power consuption 6W Dimensions L 76 H 110 W 65 Weight 220 g Safety regulations Isolation class II 50 Vrms EN61010 1 Installation cathegory II Pollution degree 2 CE marking EN61131 2 3 way isolation diagram Al Fieldbus loge cama Power supply 800Vp Environment Operating Storage Temperature 10 65 C 40 85 C Relative 5 95 non condensing 5 95 non condensing Humidity Appropriate measures must For a short period slight be taken against condensation may appear humidity gt 85 on the housing Mounting Vertical free air Protection IP20 Vibrations 3 axes 10 57Hz 0 0375mm 57 150Hz 0 5g Shock 3 axes 15g 11ms half sine A WARNING A 1 The product described in this manual should only be installed operated and maintained by qualified application programmers and software engineers who are familiar with automation safety concepts and applicable national standards 2 This product supports the Parameter defaults indicated by CiA standards in addition some para meters have a factory set value present in the module when comes from the factory The default values can be loaded with the restore command but after the restore factory set values are lost Hardware Set up Hexadecimal rotary switches service and I O LEDs LED Status Meaning ON Operational RUN Blinking Pre operational CANopen Single flash STOP
4. Analog Output channel type UNSIGNED8 0 1010 ARRAY Store Parameters UNSIGNED32 0 00h VAR Number of entries 08 UNSIGNED8 RO 00h VAR Largest subindex supported 01 UNSIGNED8 RO Oth VAR Analog Output channel type Ch1 00 UNSIGNED8 RW Oth VAR Save all parameters 03 UNSIGNED32 RW VAR Le 00 UNSIGNED8 RW 1011 ARRAY Restore Default Parameters UNSIGNED32 RW 0 08h VAR Analog Output channel type Ch8 00 UNSIGNED8 RW 00h VAR Largest subindex supported 01 UNSIGNED8 RO 2020 ARRAY Analog Output high limit FLOAT 0 Oth VAR Restore all default Parameters 01 UNSIGNED32 RW 00h VAR Number of entries 08 UNSIGNED8 RO 1014 VAR COB ID EMCY 80 NodelD UNSIGNED32 RW 0 Oth VAR Analog Output high limit Ch1 65535 FLOAT RW 1015 VAR Inhibit Time EMCY 0000 UNSIGNED16 RW 0 VAR a 65535 FLOAT RW 1017 VAR Producer heartbeat time 07D0 UNSIGNED16 RW 0 08h VAR Analog Output high limit Ch8 65535 FLOAT RW 1018 RECORD Identity Object identity 23h M 2021 ARRAY Analog Output low limit FLOAT 0 00h VAR Number of entries 01 UNSIGNED8 RO 00h VAR Number of entries 08 UNSIGNED8 RO Oth VAR Vendor ID 000000E9 UNSIGNED32 RO Oth VAR Analog Output low limit Ch1 0 FLOAT RW 1400 RECORD 1st Receive PDO Comm Param PDO CommPar 20h M VAR ae 0 FLOAT RW OOH VAR Largest subindex supported 05 UNSIGNED8 RO 08h VAR Analog Output low limit Ch8 0 FLOAT RW Oth VAR COB ID used 200 NodelD UNSIGNED32 RW 2022 ARRAY Analog Output high limit integer 32 INTEGER32 0 02h VAR Transmission type FF UNSIGNED8 RW 00h
5. Output 16_bi Analog Output 16_bi Analog Output 16_bit Ch7 Analog Output 16_bit Ch8 Analog Output error mode Cht Ch2 Ch3 Ch4 Ch Ch6 Number oi Anal Anal Anal Anal Anal Anal Anal Anal Anal Number oi Anal Anal Anal Anal Anal Anal Anal Anal entries log Output error mode Ch1 log Output error mode Ch2 log Output error mode Ch3 log Output error mode Ch4 log Output error mode Ch5 log Output error mode Ch6 log Output error mode Ch7 log Output error mode Ch8 log Error Output 32_bit entries log Error Output 32_bit Ch1 og Error Output 32_bit Ch2 og Error Output 32_bit Ch3 og Error Output 32_bit Ch4 og Error Output 32_bit Ch5 og Error Output 32_bit Ch6 og Error Output 32_bit Ch7 og Error Output 32_bit Ch8 Default hex co co be ee Ee ee Type UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 INTEGER16 UNSIGNED8 INTEGER16 NTEGER16 INTEGER16 INTEGER16 INTEGER16 NTEGER16 INTEGER16 NTEGER16 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED8 INTEGER32 UNSIGNED8 INTEGER32 INTEGERS2 INTEGER32 INTEGERS2 INTEGER32 INTEGERS2 INTEGER3S2 INTEGERS2 RW RW RW RW RW RO RW RO
6. VAR Number of entries 08 UNSIGNED8 RO 03h VAR Inhibit time 0000 UNSIGNED16 RW Oth VAR Analog Output high limit Ch1 65535 INTEGER32 RW 04h VAR Reseved UNSIGNED8 RW VAR i 65535 NTEGER32 RW 05h VAR Event timer 0000 UNSIGNED16 RW 08h VAR Analog Output high limit Ch8 65535 INTEGER32 RW 1401 RECORD 2nd Receive PDO Comm Param PDO CommPar 20h M 2023 ARRAY Analog Output low limit integer 32 NTEGER32 0 00h VAR Largest subindex supported 05 UNSIGNED8 RO 00h VAR Number of entries 08 UNSIGNED8 RO Oth VAR COB ID used 300 NodelD UNSIGNED32 RW Oth VAR Analog Output low limit Ch1 0 NTEGER32 RW 02h VAR Transmission type Filmes UNSIGNED8 RW VAR TE 0 NTEGER32 RW 03h VAR Inhibit time 0000 UNSIGNED16 RW 08h VAR Analog Output low limit Ch8 0 NTEGER32 RW 04h VAR Reseved UNSIGNED8 RW 05h VAR Event timer 0000 UNSIGNED16 RW 1402 RECORD 3 Receive PDO Comm Param PDO CommPar 20h M 00h VAR Largest subindex supported 05 UNSIGNED8 RO Oth VAR COB ID used 400 NodelD UNSIGNED32 RW 02h VAR Transmission type FE UNSIGNED8 RW 03h VAR Inhibit time 0000 UNSIGNED16 RW 04h VAR Reseved UNSIGNED8 RW 05h VAR Event timer 0000 UNSIGNED16 RW 1600 RECORD 1st Receive PDO Mapping PDO Mapping 21h M 00h VAR No of mapped application obj 08 UNSIGNED8 RO Oth VAR Ramp Start Stop Ch1 20440108 UNSIGNED32 RO VAR o ve UNSIGNED32 RO 08h VAR Ramp Start Stop Ch8 20440808 UNSIGNED32 RO 1601 RECORD 2nd Receive PDO Mapping PDO Mapping 21h M 00h VAR No of mapped application
7. at the next Power ON the last valid stored value will be resumed as Node ID Default values Bit Rate 500 kbps Node ID 127D The AO O8DP module comes configured as Fast analogue module The user can change the module configuration from FAST to ENHANCED modifying the status of an entry of the Object dictionary Index 3010h Fast Enhanced mode set 01h Fast mode default 00h Enhanced mode The new mode will be active after a Power OFF Power ON cycle When the AO 08DP is configured as Fast analogue module each output is con figured as 10V Index 200Ch Analogue Output channel status The device has its own internal state machine It is possible to move through this by sending appropriate values to the Index 200Ch following the table below DAC 4 The analogue output function block describes for each output channel how received values are actuated An error mode value is provided as well The signal conditioning block only traduces a 16 bit integer into linear physical values i e e 8000h min value 10V e 0000h half value OV e 7FFFh max value 10V mode value RPDO Properties Mapped objects Index Sub index Init At Power Up the Device is in the ready state Write Output 16 bit ch 1 6411h Oth Transition 1 is also executed if Index 200Ch Analog COBID 300h NodelD Write Output 16 bit ch 2 6411h 02h Ou
8. mistake storage is only executed when a specific signature is written to the appropriate subindex The signature is save Similarly the default values of parameters according to the communication or device profile are restored On receipt of the correct signature in the appropriate subindex the device restores the default parameters and then confirms the SDO transmission The signature is load The new configuration becomes active after a reset i e after a Power Down or an NMT Reset Node message Byte 0 1 2 3 4 5 6 7 22h 10h 10h Oth 73h 61h 76h 65h Store Parameter a ul COB ID 600h NodelD 22h 11h 10h Oth 6Ch 6Fh 61h 64h Restore 0 a d Parameter COB ID 600h NodelD The entries of a device Object Dictionary are accessed trough SDO Service Data Object messages The basic SDO messages are as follows as based on the Client Server request and response model Byte 0 i 2 3 a ee ee Read 40h Index Sub Index Reserved request COB ID 600h NodelD Read 4xh Index Sub Index Data response COB ID 580h NodelD Write 22h Index Sub Index Data request COB ID 600h NodelD Write 60h Index Sub Index Reserved response COB ID 580h NodelD This code is type dependant Please refer to the CIA DS301 Profile for more details A In order to configure the module it is necessary t
9. 0 0x0 0x0 0x0 10 0x0 0x0 0x0 10 0x0 0x0 0x0 08 0x0 0x0 0x0 Type FLOAT UNSIGNED8 FLOAT FLOAT FLOA FLOAT UNSIGNED8 FLOAT FLOAT FLOAT FLOAT UNSIGNED8 FLOAT FLOAT FLOA FLOAT UNSIGNED8 FLOAT FLOAT FLOAT UNSIGNED8 UNSIGNED8 NSIGNED8 NSIGNED8 NSIGNEDS NSIGNED8 e BB ooo 2 cod aN ep gt NSIGN F n ep NSIGN d n ep gt Scec SecececSceE 2 D e mm mmn m m m m m m m m m o co ra BB GG 2 32 32 32 32 INTEGER32 NTEGER32 FLOAT UNSIGNED8 FLOAT FLOAT FLOAT NTEGER32 UNSIGNED8 NTEGER32 INTEGER32 NTEGER32 Acc Attr MO Index Sub hex Index 2074 2080 2090 2200 3000 3001 3010 6411 6412 6413 6441 6442 6443 6444 6445 6446 6447 00h Oth 10h 00h 01h 08h 00h Oth 08h 00h Oth 08h 00h Oth 08h 00h Oth 08h 00h Oth 08h 00h Oth 08h 00h Oth O8h 00h Oth 08h 00h Oth 08h 00h Oth 08h 00h Oth 08h 00h Oth 08h Object Name Number of entries Y values in table 2 point 1 Y values in table 2 point 16 x Number of entries linearisation on Ch1 Ch8 ion table linearisation o Select linearis Number of en Select linearis Do5 D n SESSSSESSSSESSSSZ zZ Eq Number of entries VAI Copy of 2044h ramp start stop Ch1 VAI sd VAI Copy of 2044h ramp start stop Ch8 VAI Nod
10. 0h 00h Oth 10h RAY z z lt lt ce lh z z Z z S z x e re Name Analog Output ramp start value float Number oi Analog Ou Analog Ou Analog Ou Number oi Analog Ou entries tput ramp start value Ch1 tput ramp start value Ch8 tput ramp stop value float entries tout ramp stop value Ch1 Analog Output ramp stop value Ch8 Analog Output ramp slope value float Number oi entries Analog Output ramp slope value Ch1 Anal log Output ramp slope value Ch8 Analog Output ramp time value float Number oi entries Analog Output ramp time value Ch1 Analog Output ramp time value Ch8 Analog Output ramp start execute Number oi entries Analog Output ramp start Ch1 Ana log Output ramp start Ch8 Analog Output continuous ramp exec Number oi entries Analog Output continuous ramp Ch1 Anal log Out Analog Outp Number oi Triangular Triangular Analog Ou Number oi ramp by s ramp by sl tout continuous ramp Ch8 ut triangular or saw tooth entries or saw tooth Ch1 or saw tooth Ch8 entries lope or by time Ch1 lope or by time Ch8 Analog Output ramp start value long Number oi entries Analog Output ramp start value Ch1 Analog Output ramp start value Ch8 Analog Output ramp stop value long Number oi entries Analog Output ramp stop value Ch1 Analog Output ramp stop value Ch8 Analog Output Number of entries Analo
11. 0h 10h Oth 73h 61h 76h 65h Store s a v e Parameter COB ID 600h NodelD 22h 1th 10h Oth 6Ch 6Fh 61h 64h 0 a d COB ID 600h NodelD Restore Parameter The entries of a device Object Dictionary are accessed trough SDO Service Data Object List of CiA documents to which the user should refer messages The basic SDO messages are as follows as based on the Client Server 1 CIA DS301 CANopen Application Layer and Communication Profile 9 i 2 CiA DS401 CANopen Device Profile for Generic 1 0 Modules request and response model Byte 0 t 2 3 Als e 7y 40h Index Sub Index Reserved aaa oe tel NEE Power Supply 120W ZAVO SA AP S2 ALDRI20 24 Axh Index Sub Index Data ower supply c SA z Read response COB ID 580h NodelD Additional Terminal Block 2x11 AP S2 TB 211 1 22h Index Sub Index Data Female Plug 11 Screw clamp AP S2 SPINA V11 Write request COB ID 600h NodelD Female Plug 11 Spring clamp AP S2 SPINA M11 7 nd m page z RJ45 terminated cable 14cm AP S2 LOCAL BUS76 Write response 2 ndex ao D nex cele RJ45 terminated cable 22cm AP S2 LOCAL BUS152 COB ID 580h NodelD CAN termination Adapter AP S2 TERM CAN This code is type dependant Please refer to the CIA DS301 Profile for more details A In order to configure the module it is necessary to connect it to a PC with the CAN interface and the superivisory software installed
12. 1h 05h pie Sat ape Write Output 16 bit ch 6 641th 06h 4 ype Write Output 16 bit ch 7 6411h 07h 1 Write Output 16 bit ch 8 6411h 08h Notes 1 The Transmission Type is configurable Oth is the factory set value present in the modules when come from the factory FFh is the default value Parameter configuration Module specific parametres Index 3000h Node Address Current Module Node ID Read only access Index 3001h Baudrate Current Module Bit rate Read only access Parameters setting Index 2010h Analogue Output Type The n th subindex from 1 to 8 contains the configuration parameter of the n th Analogue Output Value Output type 0x00 0 10 V Condition Default fixed Standard parameters Index 6411h Write Analogue Output 16 Bit This object shall write an Integer16 value to the output channel n The value shall be always left adjusted Index 6412h Write Analogue Output 32 Bit This object shall write an Integer32 value to the output channel n The value shall be always left adjusted Index 6413h Write Analogue Output Float This object shall write the Integer value to the output channel n Integer value Float value Output offset Output scale Index 6441h Analogue Output Offset Float This object shall set the offset in Float format for output data Object 6413h Index 6442h Analogue Output Scaling Float This object shall set the scaling in Float format for output dat
13. 2010 3000 3001 3010 6411 6443 6444 04h 05h 06h 07h 08h 00h Oth 02h 03h 04h 05h 06h 07h 08h 00h Oth 02h 03h 04h 05h 06h 07h 08h 00h Oth 02h 03h 04h 05h 07h 08h Object ARRAY Analog Output channel status VAR VAR VAR VAR VAR VAR VAR VAR VAR AR RAY VAR VAR VAR VAR VAI VAI VAI VAI VAI VAI VAI VAI ARI VAI VAI VAI VAI VAI VAI VAI VAI VAI ARI VAI VAI VAI VAI VAI VAI VAI VAI VAI ARI VAI VAI VAI VAI VAI VAI VAI VAI VAI R R R R R R R R RAY R R R R R R R R R RAY R R R R Y E a a a G u ao Name Number of entries Analog Output channel status Ch1 Analog Output channel status Ch2 Analog Output channel status Ch3 Analog Output channel status Ch4 Analog Output channel status Ch5 Analog Output channel status Ch6 Analog Output channel status Ch7 Analog Output channel status Ch8 Anal log Output channel type Number of entries Anal Anal Anal Anal Anal Anal Anal Anal log Output channel type Ch1 log Output channel type Ch2 log Output channel type Ch3 log Output channel type Ch4 log Output channel type Ch5 log Output channel type Ch6 log Output channel type Ch7 log Output channel type Ch8 Node Address Node Baurate Fasi Enhanced mode Analog Output 16_bi Number of entries Analog Output 16_bi Analog Output 16_bi Analog Output 16_bi Analog Output 16_bi Analog
14. ASCON TECNOLOGIC IS09001 Certified Ascon Tecnologic S r l via Indipendenza 56 27029 Vigevano PV Italia Tel 39 0381 69871 Fax 39 0381 698730 www ascontecnologic com mod 10 CB A0 08DP 00 M U 10 CB AO 08DP 2 07 07 Cod J30 478 1AA0 08DP E User manual Contents Characteristics Functional Block Diagram PDOs used by the module Hardware Set up Parameter configuration Commands P SE Emergency messages E E IS 688M parameter Store Restore FETS Object Dictionary CANopen 1 0 Module 8 Ch 10V Fast Enhanced Analogue Outputs mod 0 CB A0 08DP Through a software command each AO 08DP can be configured to opera te in fast or in enhanced mode The first part of this manual contains those informations that are module specific then each configuration will be separately described COMMON CHARACTERISTICS APPLICABLE STANDARDS The AO 08DP module is suited for the CIA DS301 protocol 1 and implements the CiA DS 401 standard Device Profile as far as the Analogue Output Function Block is concerned 2 Characteristics Technical data Accuracy at 25 C 0 1 FS Temperature coefficient 0 005 FS K Load impedance V gt 600Q Digital resolution 16 bit Output range 10V ian i Fast mode 5 ms Conversion time 4 channels Enhanced mode 20 ms Overvoltage protection 30V General 3 way isolation 800 Vp Power supply 24 Vdc
15. PED OFF Device in RESET state ON BUS OFF Single flash Warning limit reached Double flash Error Control Event Triple flash_ Sync Error CANopen OFF No error Device working Negative ON DIAG Error SOURIS ST Blinking _ INIT and DIAG running ix Single flash Baud rate setting OFF Module OK and ready PWR ON Module Power Supply ON OFF Module Power Supply OFF Bit Rate and Node ID configuration Bit rate Node ID wann aee aeg re Valid ID Node kbps m mo switch 1 20 2500 Oth address 1 2 50 1000 02h faadress 2 3 100 500 4 125 500 H 7Fh ma 127D 5 250 250 6 500 100 Notes Default value 7 800 50 8 1000 25 Procedure for Node ID and Bit Rate configuration The HI and LO hexadecimal rotary swithches set the module s Bit Rate and CAN Node ID During the configuration the module must be off line and the CAN bus must be physically disconnected To configure the module follow the procedure 1 Turn the Power OFF 2 Set the HI switch to F 3 Select the desired Bit Rate value by setting the LO switch following the table e g 8 for 1 Mbps 4 Turn the Power ON 5 Shift the HI switch to E all the module service LEDs should flash 6 Turn the Power OFF Now configure Node ID 7 Set the HI and LO switches to the desired valid Node ID following the table 8 Turn the Power ON Alternatively at step 7 set the value 00h Then
16. RO es oc oO oogdo oe ooog ooog co o co co eo aodo oe UNSIGNED8 UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED INTEGER16 UNSIGNED INTEGER16 INTEGER16 INTEGER16 INTEGER32 UNSIGNED8 INTEGER32 INTEGER32 INTEGER32 LOAT NSIGNED8 LOAT tes rA rasare rS S 3 UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS UNSIGNED8 INTEGER32 UNSIGNED8 INTEGER32 NTEGER32 INTEGER32 FLOAT UNSIGNED8 FLOAT FLOAT FLOAT INTEGER32 UNSIGNED8 INTEGER32 NTEGER32 INTEGER32 NTEGER32 UNSIGNEDS NTEGER32 INTEGER32 NTEGER32 MO oo oo Notes The factory set value present in the modules when new for the trans mission type is Oth
17. Receive PDO Mapping VAR No of mapped application obj VAR Write Output 16 bit ch1 VAR Write Output 16 bit ch2 VAR Write Output 16 bit ch3 VAR Write Output 16 bit ch4 RECORD 3rd Receive PDO Mapping VAR No of mapped application obj VAR Write Output 16 bit ch5 VAR Write Output 16 bit ch6 VAR Write Output 16 bit ch7 VAR Write Output 16 bit ch8 Default Type Acc fhexl Attr 00080191 UNSIGNED32 RO 00 UNSIGNED8 RO 00000000 UNSIGNED32 RO 00000080 UNSIGNED32 RW 00000000 UNSIGNED32 RW 00000000 UNSIGNED32 RW O8DP Vis String const 1 00 Vis String const KOO Vis String const 0000 UNSIGNED16 RW 00 UNSIGNED8 RW UNSIGNED32 01 UNSIGNED8 RO 03 UNSIGNED32 RW UNSIGNED32 RW 01 UNSIGNED8 RO 01 UNSIGNED32 RW 80 NodelD UNSIGNED32 RW 0000 UNSIGNED16 RW 07D0 UNSIGNED16 RW Identity 23h 01 UNSIGNED8 RO 000000E9 UNSIGNED32 RO PDO CommPar 20h 05 UNSIGNED8 RO 300 NodelD UNSIGNED32 RW FF UNSIGNED8 RW 0000 UNSIGNED16 RW UNSIGNED8 RW 0000 UNSIGNED16 RW PDO CommPar 20h 05 UNSIGNED8 RO 400 NodelD UNSIGNED32 RW HESS UNSIGNED8 RW 0000 UNSIGNED16 RW UNSIGNED8 RW 0000 UNSIGNED16 RW PDO Mapping 21h 04 UNSIGNED8 RO 64110110 UNSIGNED32 RO 64110210 UNSIGNED32 RO 64110310 UNSIGNED32 RO 64110410 UNSIGNED32 RO PDO Mapping 21h 04 UNSIGNED8 RO 64110510 UNSIGNED32 RO 64110610 UNSIGNED32 RO 64110710 UNSIGNED32 RO 64110810 UNSIGNED32 RO MO OoOBcoBosescoesece e zog Index Sub hex Index 200C
18. a Object 641 3h Index 6446h Analogue Output Offset Integer This object shall set the offset in Integer format for output data Object 641 3h Index 6447h Analogue Output Scaling Integer This object shall set the scaling in Integer format for output data Object 641 3h Index 6443h Analogue Output Error Mode This object defines whether an output is set to a pre defined error value see 6444h object in case of an internal device failure or a Stop remote node indication Oh actual value rest 1h reverts to error value integer 6444h others reserved Index 6444h Analogue Output Error Value Integer On condition that the corresponding Error Mode is active device failures shall set the outputs to the value configured by this object Index 6445h Analogue Output Error Value Float On condition that the corresponding Error Mode is active device failures shall set the outputs to the value configured by this object Note In error mode or STOPPED NMT state the outputs behave according to the entries 6443h 6444h 6445h as above mentioned Special Function Parameters In addition to the expected functions the module provides a number of proprietary output function options e Output Cutoff Set of the limit values for the outputs Not valid for the ramp generation function In the case of out of limit values an error state is entered Object 2020h Analog Output high limit float Object 2021h Analog Output low l
19. alues in table 1 type long This object contains one for each subindex in Integer32 format the 16 Y points of the first XY linearisation table Object 2064h Y values in table 1 type float This object contains one for each subindex in Float format the 16 Y points of the first XY linearisation table Object 2070h Number of used points in linearisation table 2 This object sets the number of linearising points used by the second linearisation table Object 2071h X values in table 2 type long This object contains one for each subindex in Integer32 format the 16 X points of the second XY linearisation table Object 2072h X values in table 2 type float This object contains one for each subindex in Float format the 16 X points of the second XY linearisation table Object 2073h Y values in table 2 type long This object contains one for each subindex in Integer32 format the 16 Y points of the second XY linearisation table Object 2074h Y values in table 2 type float This object contains one for each subindex in Float format the 16 Y points of the second XY linearisation table Object 2080h Linearisation on By this object the linearisation option is assigned to each channel one for each subindex Value 0 Assigned Value 1 Not assigned Object 2090h Select linearisation table By this object the desired linearisation table is assigned to each channel one for each subindex Value 0 Assign Table 1 Value 1 Ass
20. e Address Node Baurate Fast Enhanced mode Analog Output 16_bit Number of entries Analog Output 16_bit Ch1 xe Analog Output 16_bit Ch8 Analog Output bit Number of entri Analog Output 30 bit Cht x Analog Output 32_bit Ch8 Analog Output float Number of entries Analog Output float Ch1 xe Analog Output float Ch8 Analog a Offset float Number of entries ee re Analog ouput al float Number oi ee Analog Output error mode VAI Number of entries VAI Analog Output error mode Ch1 VAI ae VAI Analog Output error mode Ch8 x Analog Error Output 32_bit Number of entries zZ Analog Error Output float Number of entries x Number of entries Y Analog Output Scaling 32_bit VAI Number of entries VAI Analog Output Scaling 32_bit Ch1 VAI VAI Analog Output Scaling 32_bit Ch8 Y values in table 2 type float Analog Output linearisation on ion table Ch1 Select linearisation table Ch8 Copy of 2044h ramp start stop Analog Output offset float Ch1 Analog Output offset float Ch8 Analog aman Saing float Ch1 Analog Output scaling float Ch8 Analog Error Output 32_bit Ch1 Analog Error Output 32_bit Ch8 Analog Error Output float Ch1 Analog Error Output float Ch8 Analog Output Offset 32_bit Analog Output Offset 32_bit Ch1 Analog Output Offset 32_bit Ch8 Default Type hex 10 0x0 0x0 0x0 fe a Soseoscoseose Scoaca om co co ooog oe o on O
21. g Output ramp slope value Ch1 Analog Output ramp slope value Ch8 Analog Output ramp time value unsigned long Number of entries Analog Output ramp time value Ch1 Analog Output ramp time value Ch8 No of used points in linearisation table 1 X values in table 1 type long Number oi entries X values in table 1 point 1 X values in table 1 point 16 X values in table 1 type float Number oi entries X values in table 1 point 1 X values in table 1 point 16 Y values in able 1 type long Number oi entries Y values in table 1 point 1 Y values in table 1 point 16 Y values in table 1 type long Number of entries Y values in table 1 point 1 Y va ues in table 1 point 16 No of used X values in table 2 type long Number oi entries X values in table 2 point 1 X values in table 2 point 16 X values in table 2 type float Number oi entries X values in table 2 point 1 X values in table 2 point 16 Y values in table 2 type long Number oi entries Y values in table 2 point 1 Y values in table 2 point 16 put ramp by slope or by time ramp slope value integer 32 points in linearisation table 2 Default hex 08 0 0 0 08 OxFFFF OxFFFF OxFFFF 08 OxFFFF OxFFFF OxFFFF 08 1 1 F 08 co co co a bed ooog ooog ooog ooo 08 OxFFFF OxFFFF OxFFFF OxFFFF 0 OxFFFF 10 0x0 0x0 0x0 10 0x0 0x0 0x0 10 0x0 0x0 0x0 1
22. hannel n The codes indicating a specific condition are also inserted following the table below Error code Error 0000000000 No error This code is generated when exiting an error contidion to notify the end of one of the error states 0000000006 Error No Command Invalid command received 0000000007 Error Wrong Command An attempt to execute a command from an illegal state 0000000008 Error Wrong Assignment An attempt to assign a parameter from an illegal state 0000000009 Error Wave Generation The parameters calculated for ramp generation are not consistent 0 1 2 3 4 5 6 7 Onh FFh 21h 00h OOh 00h OOh Oyh COB ID entry 1014h NodelD Emergency message Error code Parameter Store Restore This module allows parameters to be saved in a non volatile memory In order to avoid storing parameters by mistake storage is only executed when a specific signature is written to the appro priate subindex The signature is save Similarly the default values of parameters according to the communication or device profile are restored On receipt of the correct signature in the appropriate subindex the device restores the default parameters and then confirms the SDO transmission The signature is load The new configuration becomes active after a reset i e after a Power Down or an NMT Reset Node message Byte 0 1 2 3 4 5 6 7 22h 1
23. ign Table 2 Commands Index 200Ch Analogue Output channel status The device has its own internal state machine It is possible to move through this by sending appropriate values to the Index 200Ch following the table below Transition Operating Behaviour mode value Init At Power Up the Device is in the ready state Transition 1 is also executed if Index 200Ch Analog Output channel status contains the default value 1 1 Oth Operating mode RUN is activated To make running the selected channel send 01h to the corresponding subindex of object 200Ch Return to the initialisation ready state The transition is performed 2 00h e following an operator s command e after assigning a configuration parameter The error state is automatically assigned by the device and the 3 FFh operating mode value is Read Only when e an attempt is made to execute an unexpected command 4 00h This value Causes an exit from the error State after the error con dition is acknowledged The only transition is to the ready state 5 OAh Enter linearisation table set state 6 00h Exit linearisation table set AOh Reserved Emergency messages The module automatically sends emergency messages including error codes The communica tion errors are descrided in CiA DS301 1 The error codes are expressed as a DEVICE SPECI FIC ERROR type of code one for each channel OxFFOn for c
24. imit float Object 2022h Analog Output high limit integer32 Object 2023h Analog Output low limit integer32 e Ramp generation Each channel can be configured to serve as ramp saw tooth or triangular wave form generator The following objects are used to perform this function Object 2040h AO Analog Output ramp start value float This object defines the starting value of the ramp output in Float format Object 2050h AO Analog Output ramp start value long This object defines the starting value of the ramp output in Integer32 format Object 2041h Analog Output ramp stop value float This object defines the final value of the ramp output in Float format Object 2051h Analog Output ramp stop value long This object defines the final value of the ramp output in Integer32 format Object 2042h AO Analog Output ramp slope float This object defines the slope of the ramp expressed in digital steps per second i e 0 65535 in Float format Object 2052h AO Analog Output ramp slope long This object defines the slope of the ramp expressed in digital steps per second i e 0 65535 in Integer32 format Object 2043h AO Analog Output ramp time value float This object defines the duration time of the ramp expressed in seconds in Float format Object 2053h AO Analog Output ramp time value unsigned long This object defines the duration time of the ramp expressed in seconds in Unsigned32 format Object 2044h AO Analog Output ramp
25. o connect it to a PC with the CAN interface and the superivisory software installed The configuration can be obtained by writing the desired values to the module s variables listed in the Object Dictionary Object Dictionary structure Index Sub Object hex Index 1000 VAR 1001 1003 1005 1006 1007 1008 1009 100A 100C 100D 1010 1011 1014 1015 1017 1018 1401 1402 1601 1602 00h Oth 00h Oth 00h Oth 00h Oth 02h 03h 04h 05h 00h Oth 02h 03h 04h 05h 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h Name Device Type VAR Error Register ARRAY Predefined error field VAR COB ID SYNC VAR Communication cycle period VAR Synchrounous window length VAR Manufacturer Device Name VAR Manufacturer Hardware Version VAR Manufacturer Software Version VAR Guard Time VAR Life Time Factor ARRAY Store Parameters VAR Largest subindex supported VAR Save all parameters ARRAY Restore Default Parameters VAR Largest subindex supported VAR Restore all default parameters VAR COB ID EMCY VAR Inhibit Time EMCY VAR Producer heartbeat time RECORD Identity Object VAR Number of entries VAR Vendor ID RECORD 2 Receive PDO Comm Param VAR Largest subindex supported VAR COB ID used VAR Transmission type VAR Inhibit time VAR Reseved VAR Event timer RECORD 3 Receive PDO Comm Param VAR Largest subindex supported VAR COB ID used VAR Transmission type VAR Inhibit time VAR Reseved VAR Event timer RECORD 24
26. obj 4 UNSIGNED8 RO Oth VAR Write Output 16 bit ch1 64110110 UNSIGNED32 RO 02h VAR Write Output 16 bit ch2 64110210 UNSIGNED32 RO 03h VAR Write Output 16 bit ch3 64110310 UNSIGNED32 RO 04h VAR Write Output 16 bit ch4 64110410 UNSIGNED32 RO 1602 RECORD 3rd Receive PDO Mapping PDO Mapping 21h M 00h VAR No of mapped application obj 04 UNSIGNED8 RO Oth VAR Write Output 16 bit ch5 64110510 UNSIGNED32 RO 02h VAR Write Output 16 bit ch6 64110610 UNSIGNED32 RO 03h VAR Write Output 16 bit ch7 64110710 UNSIGNED32 RO 04h VAR Write Output 16 bit ch8 64110810 UNSIGNED32 RO 1800 RECORD 1st Transmit PDO Comm Param PDO CommPar 20h M OOH VAR Largest subindex supported 05 UNSIGNED8 RO Oth VAR COB ID used 180 NodelD UNSIGNED32 RW 02h VAR Transmission type Fit UNSIGNED8 RW 03h VAR Inhibit time 0000 UNSIGNED16 RW Notes The factory set value present in the modules when new for the trans 04h VAR Reseved UNSIGNED8 RW mission type is Oth 05h VAR Event timer 0000 UNSIGNED16 RW Index Sub Obj hex Index 2040 2041 2042 2043 2044 2045 2046 2047 2050 2051 2052 2053 2060 2061 2062 2063 2064 2070 2071 2072 2073 00h Oth 08h Ooh Oth 08h 00h Oth 08h 00h oth 08h 00h oth Osh 00h Oth 08h 00h Oth 08h 00h Oth 08h 00h Oth 08h 00h Oth Osh 00h Oth 08h 00h Oth 08h 00h Oth 10h Ooh oth 10h 00h Oth 10h 00h Oth 10h 00h Oth 10h Ooh Oth 1
27. start execute By this object the ramp start value 1 and stop value 0 commands are given In stop condition the output holds the last value When the ramp ends by slope or by time the object 2044h is automatically reset Object 2045h AO Analog Output continuous ramp execute This object selects the ramp generation mode Value 0 Single ramp Value 1 Continuous ramp Object 2046h AO Analog Output triangular or saw thoot In the case of continuous ramp by this object the shape of the ramp is selected Value 0 Triangle Value 1 Saw tooth Object 2047h AO Analog Output ramp by slope or by time This object selects how the ramp duration is computed using the slope parameter or the time parameter directly Value 0 Time Value 1 Slope e Output linearisation option The module is able to store up to two linearisation tables each of which can be assi gned to the selected output channel The objects with the aim of performing this option are as follows Object 2060h Number of used points in linearisation table 1 This object sets the number of linearising points used by the first linearisation table Object 2061h X values in table 1 type long This object contains one for each subindex in Integer32 format the 16 X points of the first XY linearisation table Object 2062h X values in table 1 type float This object contains one for each subindex in Float format the 16 X points of the first XY linearisation table Object 2063h Y v
28. tion and scaling operations on the received values TPDO TPDO 1 2 PDOs used by the module Properties Mapped objects Index Sub index Copy of 2044h Ramp Start Stop Ch 1_ 2200h Oth Copy of 2044h Ramp Start Stop Ch 2 2200h 02h Copy of 2044h Ramp Start Stop Ch 3 2200h 03h COBID 180h NodelD Copy of 2044h Ramp Start Stop Ch 4 2200h 04h Transmission Type 01h Copy of 2044h Ramp Start Stop Ch 5 2200h 05h 1 Copy of 2044h Ramp Start Stop Ch 6 2200h 06h Copy of 2044h Ramp Start Stop Ch 7 2200h 07h Copy of 2044h Ramp Start Stop Ch 8 2200h 08h Notes 1 The Transmission Type is configurable Oth is the factory set value present in the modules when come from the factory FFh is the default value 2 Useful to be advised of an end of ramp with the appropriate transmission type RPDO Properties Mapped objects Index Sub index Ramp Start Stop Ch 1 2440h Oth Ramp Start Stop Ch 2 2440h 02h Ramp Start Stop Ch 3 2440h 03h Rppo 1 COBID 200h NodelD Ramp Start Stop Ch 4 2440h 04h Transmission Type 01h Ramp Start Stop Ch 5 2440h 05h 1 Ramp Start Stop Ch 6 2440h 06h Ramp Start Stop Ch 7 2440h 07h Ramp Start Stop Ch 8 2440h 08h j Write Output 16 bit ch 1 6411h 01h Geen a ees Modeli Write Output 16 bit ch 2 6411h 02h A ype Write Output 16 bit ch 3 6411h 03h n Write Output 16 bit ch 4 6411h 04h Write Output 16 bit ch 5 641
29. tput channel status contains the default value 1_ RPDO 2 Transmission Type 01h Write Output 16 bitch3 16411 O3h 1 Oh Operating mode RUN is activated To make running Write Output 16 bit ch 4 6411h 04h the selected channel send O1h to the corresponding Write Output 16 bit ch 5 6411h 05h subindex of object 200Cn__ a COBID 400h NodelD Write Output 16 bit ch 6 6411h O6h Return to the initialisation Ready state The transition RPDO 3 Transmission Type 01h Write Output 16 bit ch7 _ 6411h_ O7h 2 oon _ S Performed Write Output 16 bit ch 8 641th 08h e following an operator s command T 7 ae F The Error state is automatically assigned by the device Note The Transmission m is FN ee h is leas r value present in the 3 FFh and the operating mode value is Read Only when modules when come from the factory FFh is the default value e an attempt is made to execute an unexpected command This value causes an exit from the Error state after the 4 00h error condition is acknowledged The only transition is to Bee the Ready state t Module specific parametres s AOh Reseved Index 3000h Node Address Current Module Node ID Read only access Index 3001h Baudrate Current Module Bit rate Read only access Standard parameters Index 6411h Write Analogue Output 16 Bit This object shall write an Integer16 value to the output channel n The value shall be always left adjusted Inde
30. x 6443h Analogue Output Error Mode The module automatically sends emergency messages including error codes The com munication errors are descrided in CiA DS301 1 The error codes are expressed as a DEVICE SPECIFIC ERROR type of code one for each channel OxFFOn for channel n The codes indicating a specific condition are also inserted following the table below Pye S eae Error code Error us CECI Whether an ouiput is set to a pre defined ee value pee DEAT DIES in 0000000000 No error This code is generated when exiting an error contidion to case of an internal device failure or a Stop remote node indication notify the end of one of the error states Oh actual value rest 0000000006 Error No Command Invalid command received 1h reverts to error value integer 6444h 0000000007 Error Wrong Command An attempt to execute a command from an others reserved illegal state Index 6444h Analogue Output Error Value Integer 0000000008 Error Wrong Assignment An attempt to assign a parameter from an On condition that the corresponding Error Mode is active device failures shall set the outputs illegal state to the value configured by this object 0 E Ez Eg a es ea Emergency Onh FFh 21h 00h 00h 00h 00h Oyh message COB ID entry 1014h NodelD Error code This module allows parameters to be saved in a non volatile memory In order to avoid storing parameters by
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