User`s Manual - ICP DAS USA`s I
Contents
1. Type Code Input Range Data Format Max Value Min Value Engineer Unit 15 15 00h 15 to 15 mV 2 s Complement HEX 7FFFh 8000h Engineer Unit 50 50 01h 50 to 50 mV 2 s Complement HEX 7FFFh 8000h Engi Unit 100 100 02h 100 to 100 mV Ee 2 s Complement HEX 7FFFh 8000h Engineer Unit 500 500 03h 500 to 500 mV 3 2 s Complement HEX 7FFFh 8000h 04h za Engineer Unit 1 1 2 s Complement HEX 7FFFh 8000h Engineer Unit 25 2 5 05h 2 5 to 2 5 V 2 s Complement HEX 7FFFh 8000h 06h 20 to 20 mA Engineer Unit 20 20 with 1250 resistor 2 s Complement HEX 7FFFh 8000h 7 Engineer Unit 1200 210 OEh J Type C 25 7FFFh E99Ah Engineer Unit 1372 270 2 2 s Complement HEX 7FFFh E6DOh 5 Engineer Unit 400 270 10h T Type C gt 2 s Complement HEX 7FFFh A99Ah Engineer Unit 1000 270 11h E Type C 2 2 s Complement HEX 7FFFh DD71h Engineer Unit 1765 50 12h R Type C 2 s Complement 7FFFh FC60h Engineer Unit 1765 50 13h 5 9 2 s Complement 7FFFh FC60h Engineer Unit 1820 0 14h B Type C 5 2 s Complement HEX 7FFFh 0000h Engineer 1300 270 15h N Type C 2 s Complement HEX 7FFFh E56Bh Engineer Unit 2320 0 16h C Type C 2 s Complement HEX 7FFFh 0000h CAN 2018C user s manual Revision 1 0 Oct 2011 25 Note Getting the 7FFFh value in all of the th2. 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Lengt 10 19876543210 h 012345167 0 4 4 01 64 01 FF SDO server 2018 Reading object with index 6401h and subindex 1 means to the value of the Al channel 0 According to the type code 05h set before the replied value of the Al CAN 2018C user s manual Revision 1 0 Oct 2011 20 channel 0 1 3FFFh 1 25V 3 4 Default PDO Mapping RxPDO mapping list ID Len DO D 1 D 2 D 3 D 4 D 5 D 6 D 7 200h x 0 Reserved 300h x 0 Reserved 400h x 0 Reserved 500h x 0 Reserved TxPDO mapping list ID Len DO D1 Den EY dt RDS GU 1801 x 0 Reserved 280h x 8 AI chO Al ch1 AI ch2 AI ch3 380h x 8 Al ch4 AI ch5 AI ch6 AI ch7 480h x 0 Reserved CAN 2018C user s manual Revision 1 0 Oct 2011 21 3 5 EMCY Communication The data format of the emergency object data follows the structure bellows Byte 0 1 2 3 4 5 6 7 Content Emergency Error Code Error register Manufacturer specific Error Field Each bit on the error register is defined as follows Bit Meaning generic error current voltage temperature communication error overrun erro
3. RO 580h x TxSDO 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 RxPDO UNSIGNED 32 RW 200h x 2h Transmission type UNSIGNED 8 RW FFh 1401h Oh Number of entries UNSIGNED 8 RO 2 1h COB ID used by RXPDO UNSIGNED 32 RW 300h x 2h Transmission type UNSIGNED 8 RW FFh 1402h Oh Number of entries UNSIGNED 8 RO 2 1h COB ID used by RxPDO UNSIGNED 32 RW 400h x 2h Transmission type UNSIGNED 8 RW FFh 1403h Oh Number of entries UNSIGNED 8 RO 2 1h COB ID used by RxPDO UNSIGNED 32 RW 500h x 2h Transmission type UNSIGNED 8 RW FFh 1404h Oh Number of entries UNSIGNED 8 RO 2 1h COB ID used by RxPDO UNSIGNED 32 RW C000 0000h 2h Transmission type UNSIGNED 8 RW 1409h Oh Number of entries UNSIGNED 8 RO 2 1h COB ID used by RxPDO UNSIGNED 32 RW C000 0000h 2h Transmission type UNSIGNED 8 RW Note x is Node ID of the module CAN 2018C user s manual Revision 1 0 Oct 2011 RxPDO Mapping Communication Entry Idx Sidx Description Type Attr Default 1600h Oh Number of entries UNSIGNED 8 RW 0 1601h Oh Number of entries UNSIGNED 8 RW 0 1602h Oh Number of entries UNSIGNED 8 RW 0 1609h Oh Number
4. B for the type code definition CAN 2018C user s manual Revision 1 0 Oct 2011 3 2 Store and Restore Object The users can write the value 65766173h to object with index 1010h and subindex 1 to save the application setting or write the value 64616F6Ch to object with index 1011h and subindex 1 and reboot the module 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 below Index Sub Description Factory Index Default 2004h 1 8 Al type codes for channel 0 7 OEh 2020h 1 8 Al offsets for channel 0 7 0 2021h 1 CJC Enable Disable 1h 2 CJC Value 3 user defined CJC offset value 0 6421 1 8 Al interrupt trigger selections for channel 0 7 07h 6423 0 AI global interrupt enable 0 6424 1 8 Al interrupt upper limits for channel 0 7 7FFFh 6425 1 8 Al interrupt lower limits for channel 0 7 E99Ah 6426 1 8 Al interrupt delta vlues for channel 0 7 3E8h 1400h 1 2 RxPDO1 parameter 1409h 1 2 RxPDO10 parameter 1600h 0 8 RxPDO1 mapping information 1609h 0 8 RxPDO10 mapping information 1800h 1 5 TxPDO1 parameter 1809h 1 5 TxPDO10 parameter 1A00h 0 8 TxPDO mapping information 1A09h 0 8 TxPDO10 mapping information CAN 2018C user s manual Revision 1 0 Oct 20
5. Detection Yes Over voltage Protection 240 Vrms 4 ESD Protection Yes Contact for each terminal Intra module Isolation Field to Logic 3000 Others Power LED PWR red CANopen Status LED RUN green ERR orange Power Supply Unregulated 10 30 Voc Power Consumption 1 5 W Storage Temperature 30 80 Humidity 10 to 90 RH Non condensing Dimensions 32 3 mm x 99 mm x 78 mm W x x H Detail CAN 2018C user s manual Revision 1 0 Oct 2011 1 3 Features Standard CANopen general I O slave devices CANopen Version DS 301 v4 02 Device Profile DSP 401 v2 1 Provide 8 differential thermocouple input channels CANopen transfer rate 10 kbps 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 800 kbps 1000 kbps Maximum CANopen slave Node ID up to 99 Support NMT PDO SDO EMCY SYNC Guarding and Heartbeat protocol Pass the validation of the CANopen Conformance Test Provide EDS file for the CANopen master interfaces 1 4 Application CAN 2018C CAN Protocol Thermocouple sensors Witches Pressure SV CAN 2018C user s manual Revision 1 0 Oct 2011 5 2 Hardware 2 1 Structure Baud rate Rotary Switch CAN_VS CAN_H CAN Shield CAN_L CAN_GND 1200 Terminal Resister Switch Ex Enable Top View Bottom View CAN 2018C user s manu
6. device name VISIBLE STRING RO CAN 2018C 1009h Oh manufacturer hardware version VISIBLE STRING RO 03 100Ah Oh manufacturer software version VISIBLE STRING RO 1 00 20110930 100Ch Oh guard time UNSIGNED 16 RW Oh 100Dh Oh life time factor UNSIGNED 8 RW Oh 1010h Oh largest subindex supported fon UNSIGNED 8 RO 1h store parameters 1010h 1h save all hardware parameter UNSIGNED 32 RW 1011h Oh largest subindex supported fon UNSIGNED 8 RO 1h restore default parameters 1011h 1h restore all default parameters UNSIGNED 32 RW 1014h Oh COB ID of EMCY UNSIGNED 32 RW 80h x 1015h Oh Inhibit time of EMCY UNSIGNED 16 RW Oh 1017h Oh producer heartbeat time UNSIGNED 16 RW Oh 1018h Oh largest subindex supported fon UNSIGNED 8 RO 4h identity object 1h vender ID UNSIGNED 32 RO 0000013Ch 2h product code UNSIGNED 32 RO 00002018h 3h revision number UNSIGNED 32 RO 4h Serial number UNSIGNED 32 RO Note x is Node ID of the module CAN 2018C user s manual Revision 1 0 Oct 2011 11 SDO Communication Entries Idx Sidx Description Type Attr Default 1200h Oh largest subindex 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
7. 11 3 3 Application Object The users can read the object with index 6401h and subindex 1 8 to get the thermocouple or analog value of the channel 0 7 and the range for each Al type codes are listed in Appendix B If the users wants to change the analog input type write the type code to the object with index 2004h and subindex 1 8 For example if the node ID of CAN 2018C is 1 the following command would be used 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Lengt 10 1987615143210 h 0 112 314 516 7 1111010100 01010011 0 8 2F 04 20 01 05 00 00 00 SDO server 2018 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 19876543210 010234567 0 4 160 041201011 SDO server DO cli SDO client CAN 2018C Writing object with index 2004h and subindex 1 to 05h means to change the type code of the Al channel 0 to 05h the Al measurement range is 2 5V 2 5V 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Lengt 1019876543210 h 0 1123451617 0 8 40 01 64 01 00 00 00 00 SDO server bi CAN 2018C
8. 6 0 1809h Oh Number of entries UNSIGNED 8 RO 5 1h COB ID used by TxPDO UNSIGNED 32 RW 8000 0000h 2h Transmission type UNSIGNED 8 RW 3h Inhibit time UNSIGNED 16 0 4h reversed 5h Event timer UNSIGNED 16 0 Note x is Node ID of the module TxPDO Communication Entry Idx Sidx Description Type Attr Default 1A00h Oh Number of entries UNSIGNED 8 RO 0 1A01h Oh Number of entries UNSIGNED 8 RO 4 1h Al value of channel 0 UNSIGNED 32 RW 6401 0110h 2h Al value of channel 1 UNSIGNED 32 RW 6401 0210h 3h Al value of channel 2 UNSIGNED 32 RW 6401 0310h 4h Al value of channel UNSIGNED 32 RW 6401 0410h 1A02h Number of entries UNSIGNED 8 RO 4 1h Al value of channel 4 UNSIGNED 32 RW 6401 0510h 2h Al value of channel 5 UNSIGNED 32 RW 6401 0610h 3h Al value of channel 6 UNSIGNED 32 RW 6401 0710h 4h Al value of channel 7 UNSIGNED 32 RW 6401 0810h 1A03h Oh Number of entries UNSIGNED 8 RO 0 1A04h Oh Number of entries UNSIGNED 8 RO 0 1A05h Oh Number of entries UNSIGNED 8 RO 0 1A09h Oh Number of entries UNSIGNED 8 RO 0 CAN 2018C user s manual Revision 1 0 Oct 2011 AI Channel Type Code Function Idx Sidx Description Type Attr Default 2004h Oh Number of entries UNSIGNED 8 RO 8 1h Al type code for channel 0 UNSIGNED 8
9. CANopen Slave Device CAN 2018C 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 2018C user s manual Revision 1 0 Oct 2011 1 Contents T PR Ie 3 T HOVER LE 3 1 2 Hardware Specifications is 4 19 FealUF8S tres 5 1 4 Applicatioli iaia 5 2 Hardware sam aan 6 2 1 nahan 6 2 2 Node ID amp Baud Rate Rotary Switch 7 2 3 LED Description aaa 8 24 PIN ASSIONMENEE incidid re as pen anbau 9 2 5 Wire Connection crecer ava cuia ning 10 3 Application caca xta gb dd rex LEAVE VERI EM CEDAR EE de ERES baik Kaka 11 3 1 Object Dictionary nk kaan anakan 11 3 2 Store and Restore Object oom 19 3 3 Application Object mao rere ine 20 3 4 Default PDO Mapping nama 21 3 5 EMCY Communication Kesan 22 Appendix A DIMENSION ea aman aka an nes 23 Appendix B Type Code Definition oooo oom 25 CAN 2018C user s manual Revisio
10. RW OEh 8h Al type code for channel 7 UNSIGNED 8 RW OEh Note Please refer to Appendix for all supported Al type code AI Channel offset Function Idx Sidx Description Type Attr Default 2020h Oh Number of entries UNSIGNED 8 RO 8 1h Al offset for channel 0 INTEGER 16 RO 0 8h Al offset for channel 7 INTEGER 16 RO 0 When the users apply the 2018 the replied value of the channels may have the constant error due to the wire material environment and so forth In order to solve this problem the CAN 2018C provides the offset value for each Al channel It can be used to compensate the error of each Al channel to the practical value The following table shows the representation for the Al offset value Object Range Parameter Description 2020h 0000h FFFFh Channelx Al offset value 0000h 7FFFh gt 0 32767 FFFFh 8000h gt 1 32768 Note Channelx is channel number of module CAN 2018C user s manual Revision 1 0 Oct 2011 Cold Junction Compensation CJC Function Idx Sidx Description Type Attr Default 2021h Oh Number of entries UNSIGNED 8 RO 3 1h CJC Enable Disable Boolean RW 0 2h CJC Value INTEGER 16 RO 3h User defined CJC Offset Value INTEGER 16 RW 0 Object Sidx Range Parameter Description Default 2021h 1h False Disable CJC Enable or disable CJC 1 True En
11. able CJC function 0 false other value true 2h Appendix B CJC temperature value Measured Valid when CJC Enabled by CJC element 3h Appendix B User defined CJC 0 temperature value Note Users can apply the CJC temperature value from CJC element or the constant value configured by the users If the CJC function is on the temperature value from the CJC element will be obtained in the object with the index 2021h and the subindex 2h In this case the value from the object with index 2021h and subindex 3h is useless If the CJC function is off the users can define a CJC constant value in the object with the index 2021h and subindex 3h No matter the practical applied CJC temperature value is from the subindex 2h or 3h the CJC value will be added into the practical Al values when the users read these Al data About the CJC value scaling please refer to the following table Input Range Data Format Max Value Min Value 30 to 100 Engineer Unit 100 30 2 s Complement HEX 03E8h FED4h CJC cold junction compensation Scaling CAN 2018C user s manual Revision 1 0 Oct 2011 Analog Input Function Idx Sidx Description Type Attr Default 6401h Oh Number of entries UNSIGNED 8 RO 8 1h The Al value of channel 0 INTEGER 16 RO 0 8h The Al value of channel 7 INTEGER 16 RO 0 Note Please refer to Appendix B fo
12. al Revision 1 0 Oct 2011 6 2 2 Node ID amp Baud Rate Rotary Switch The rotary switches for node ID configure the node ID of the CAN 2018C module These two switches are for the tens digit and the units digit of node ID The node ID value of this demo picture is 32 x10 x1 Node ID rotary switch The rotary switch for baud rate handles the CAN baud rate of the CAN 2018C module The relationship between the rotary switch value and the practical baud rate is presented in the following table Baud rate rotary switch Rotary Switch Value Baud rate BPS 0 10 20 50 125 250 500 800 7 1000 Baud rate and rotary switch 2 05 gt CAN 2018C user s manual Revision 1 0 Oct 2011 7 2 3 LED Description Power LED The CAN 2018C needs 10 30 Vpc power supply Under a normal connection a good power supply and a correct voltage selection 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 the LED state is shown below About the details please refer to the section 2 3 1 of the CAN 2000C user manual LED Signal State Description OFF No power Power Supply is not ready Single Flash Stopped The device is in Stopped state Blinking Pre operation Device is in pre operational state Always ON Operation Device is in operational state Er
13. ermocouple type codes it means that the thermocouple wires are broken CJC cold junction compensation Definition for CAN 2018C Input Range Data Format Max Value Min Value Engi it 1 30 to 100 ngineer Uni 00 30 2 s Complement HEX 03E8h FED4h CAN 2018C user s manual Revision 1 0 Oct 2011 26
14. n 1 0 Oct 2011 2 1 Introduction 1 1 Overview CANopen is one kind of the network protocols based on the CAN bus and mainly used for embedded network system such as industrial machine control vehicle control system factory automation medical equipments control remote data acquisition environmental monitoring and packaging machines control etc The CAN 2018C module follows the CiA DS 301 version 4 02 and DSP 401 version 2 1 It is easy to access the thermocouple status and set the configuration by using the standard CANopen protocol The CAN 2018C has passed the validation of the CiA CANopen Conformance Test tool Therefore the provided EDS file is standard for any other standard CANopen masters By using the 8 channel thermocouple input and the CANopen masters of ICP DAS you can quickly build a CANopen network to approach your requirements CAN 2018C user s manual Revision 1 0 Oct 2011 3 1 2 Hardware Specifications Analog Input Input Channels 8 Input Type 15mV 50mV 100mV 500mV 1V 2 5V 20mA 20mA Requires Optional External 1250 Resistor Thermocouple J K T E R S B N C Resolution 16 bit Accuracy 0 1 FSR Sampling Rate 10 Samples sec Total Zero Drift 100V C Span Drift 25 ppm C Common Mode Rejection 86 dB Normal Mode Rejection 100 dB Input Impedance gt 400 Individual Channel Configuration Yes Open Thermocouple
15. of entries UNSIGNED 8 RW 0 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 type UNSIGNED 8 RW FFh 3h Inhibit time UNSIGNED 16 0 4h reversed 5h Event timer UNSIGNED 16 0 1801h Oh Number of entries UNSIGNED 8 RO 5 1h COB ID used by TxPDO UNSIGNED 32 RW 280h x 2h Transmission type UNSIGNED 8 RW FFh 3h Inhibit time UNSIGNED 16 0 4h reversed 5h Event timer UNSIGNED 16 0 1802h Oh Number of entries UNSIGNED 8 RO 5 1h COB ID used by TxPDO UNSIGNED 32 RW 380h x 2h Transmission type UNSIGNED 8 RW FFh 3h Inhibit time UNSIGNED 16 0 4h reversed 5h Event timer UNSIGNED 16 0 1803h Oh Number of entries UNSIGNED 8 RO 5 1h COB ID used by TxPDO UNSIGNED 32 RW 480h x 2h Transmission type UNSIGNED 8 RW FFh 3h Inhibit time UNSIGNED 16 0 4h reversed 5h Event timer UNSIGNED 16 0 1804h Oh Number of entries UNSIGNED 8 RO 5 1h COB ID used by TxPDO UNSIGNED 32 RW 8000 0000h 2h Transmission type UNSIGNED 8 RW CAN 2018C user s manual Revision 1 0 Oct 2011 Inhibit time UNSIGNED 16 0 4h reversed 5h Event timer UNSIGNED 1
16. r Al value range Analog Input Interrupt Trigger Selection Idx Sidx Description Type Attr Default 6421h Oh Number of entries UNSIGNED 8 RO 8 1h The configurations for UNSIGNED 8 RW 7h channel 0 8h The configurations for UNSIGNED 8 RW 7h channel 7 The meanings of the configuration of the interrupt trigger are shown below Users can configure the upper limit lower limit and the delta for each Al channel by writing the value into the object with index 6424h 6426h When the interrupt trigger enables configured by the object with index 6423h the CAN 2018C feedbacks the TxPDO with the Al value which reaches the condition configured by the interrupt trigger selection For example if the users set the bit 0 of the interrupt trigger selection to 1 the CAN 2018C feedbacks the Al value automatically while this Al value exceeds the upper limit In some case the CAN 2018C may send lot of TxPDOs because of the trigger of the Al upper limit or lower limit Users can control the minimum time period between the two CAN messages to the Al value by configuring the Inhibit time of the TxPDO The bigger Inhibit time value you set the longer time period between the two TxPDOs you get Bit no Interrupt trigger selection 0 The Al value exceeds the upper limit 1 The Al value is less than the lower limit 2 The change of the Al value is more than the delta 3to7 Reve
17. r state device profile specific reserved always 0 NOIR manufacturer specific The emergency error codes and the error register are specified in the following table Emergency Error Manufacturer Specific Error Field Description Error Code Register High Low First Last Four Bytes Byte Byte Byte 00 00 00 00 00 00 00 00 Error Reset or No Error 10 00 81 01 00 00 00 00 CAN Controller Error Occur 50 00 81 02 00 00 00 00 Access Error 81 10 11 04 00 00 00 00 Soft Rx Buffer Overrun 81 10 11 05 00 00 00 00 Soft Tx Buffer Overrun 81 10 11 06 00 00 00 00 CAN Controller Overrun 81 30 11 07 00 00 00 00 Lift Guarding Fail 81 40 11 08 00 00 00 00 Recover From Bus Off 82 10 11 09 00 00 00 00 PDO Data Length Error FF 00 80 00 00 00 00 Request To Reset Node Communication FF 00 2E 0B 00 00 00 00 Upper Low Limit Alarm For Upper limit Low limit Each Channel alarm alarm CAN 2018C user s manual Revision 1 0 Oct 2011 22 Appendix A Dimension CAN 2018C dimension Back View Bottom View Front View CN 1824 dimension Right Side View Rear View Unit mm CAN 2018C user s manual Revision 1 0 Oct 2011 24 Appendix B Type Code Definition Type Code Definition for CAN 2018C
18. ror LED The Error LED indicates the CANopen error state The description of the LED state is shown below About the details please refer to the section 2 3 2 of the CAN 2000C user manual LED Signal State Description OFF No error Device is in working condition Single Flash Error Warning At least one error of the CAN controller has occurred Double Flash Guarding fail Guard event happened Always ON Bus Off The CAN controller is bus off CAN 2018C user s manual Revision 1 0 Oct 2011 8 2 4 PIN Assignment CAN 2018C CN 1824 transformation connector PWR RUN ERR 000000000000 OOOOOOOOOOOOO OOOOOOOOOOOO CAN 2018C 25 pin Female D Sub Connector CAN 2018C user s manual Revision 1 0 Oct 2011 9 2 5 Wire Connection CAN 2018C user s manual Revision 1 0 Oct 2011 10 3 Application 3 1 Object Dictionary General Communication Entries Idx Sidx Description Type Attr Default 1000h Oh device type UNSIGNED 32 RO 00040191h 1001h Oh error register UNSIGNED 8 RO Oh 1003h Oh largest subindex supported fon UNSIGNED 8 RO Oh 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
19. rse CAN 2018C user s manual Revision 1 0 Oct 2011 17 Analog Input Global Interrupt Trigger Enable Idx Sidx Description Type Attr Default 6423h Oh Analog Input Global Interrupt Boolean RW 0 Trigger Enable Analog Input Interrupt Upper Limit Integer Idx Sidx Description Type Attr Default 6424h Oh Number of entries UNSIGNED 8 RO 8 1h Al upper limit of channel 0 INTEGER 32 RW 8h Al upper limit of channel 7 INTEGER 32 RW Note Please refer to Appendix for Al upper limit range Analog Input Interrupt Lower Limit Integer Idx Sidx Description Type Attr Default 6425h Oh Number of entries UNSIGNED 8 RO 8 1h Al lower limit of channel 0 INTEGER 32 RW 8h Al lower limit of channel 7 INTEGER 32 RW Note Please refer to Appendix for Al lower limit range Analog Input Interrupt Delta Unsigned Idx Sidx Description Type Attr Default 6426h Oh Number of entries UNSIGNED8 RO 8 1h Al delta value of channel 0 UNSIGNED 32 RW 3E8h 8h Al delta value of channel 7 UNSIGNED 32 RW 3E8h Note These values are used to define the acceptable AI change ranges for each Al channels The default for these values is 1000 and may have different range for the physical value because of the settings of the type code Please refer to the appendix
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