User`s Manual - ICP DAS USA`s I
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1. Type Code Output Type Output Range Output Data Hex 0x30 Current 0 20 mA 0x0000 Ox7FFF 0x31 Current 4 20 mA 0x0000 Ox7FFF 0x32 Voltage 0 10 Voc 0x0000 0x7 FFF 0x33 default Voltage 10 10 Voc Ox8000 Ox7FFF 0x34 Voltage 0 5 Vpc 0x0000 0x7 FFF 0x35 Voltage 5 5 Vic 0x8000 0x7 FFF Node Different type code can be used for each AO channel CAN 2024D User s Manual v1 00 March 2011 252. Node ID Rotary Switch 1200 Terminator Resistor LED Top View Baud rate Rotary Switch CAN VS CAN H CAN Shield CAN L CAN GND 1200 Terminal Resister Switch Ex Enable Bottom View CAN 2024D User s Manual v1 00 March 2011 2 2 Node ID amp Baud Rate Rotary Switch The rotary switches of node ID configure the node ID of CAN 2024D module These two switches are numbers in base ten for the node ID The node ID value of the following picture is 32 Node ID rotary switch The rotary switch about baud rate configuration handles the CAN baud rate of CAN 2024D 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 kbps 0 125 1 250 2 500 CAN 2024D User s Manual v1 00 March 2011 7 2 3 LED Description PWR LED The CAN 2024D needs the power of 10 30 Vpc 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 NET LED The NET LED indicates the current status of the DeviceNet communication link Condition status Indicates Init Off Off line Device is not online Off Connection timeout I O connection timeout Flashing On line Device is on line but not communicating Init solid Link failed Critical Device has detected an error that has rende
3. 16 3 5 Application Object1 Class ID 0x64 19 3 6 Application Object2 Class ID 0x65 21 4 Application iese Gade AR ee de dk ee N de Aa ak Ged ve ad set 22 Appendix A DIMenSION es sesse Ke KA Ke KKNK de Ke Ke KA Ke de Ki Ke 24 Appendix B Type Code Definition ee EE EER EER RE EE EE 25 CAN 2024D User s Manual v1 00 March 2011 2 1 Introduction 1 1 Overview DeviceNet is one kind of the network protocols based on the CAN bus and mainly used for the embedded network of the 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 The CAN 2024D follows DeviceNet specification Volume VII Release 2 0 You can access the analog output status and set the configuration via DeviceNet EDS file This module has 4 channel 14 bit voltage or current output It can be applied to various applications By the DeviceNet masters of ICP DAS you can quickly build a DeviceNet network to approach your requirements G y gt b s gt S d CAN 2024D User s Manual v1 00 March 2011 3 1 2 Hardware Specifications Analog Output Output Channels 4 Output Type 0 5 V 5 V O 10 V 10 V 0 20 mA 4 20 mA Resolution 14 bit Accuracy Voltage 0 1 FSR Current 0 2 FSR
4. Zero Drift Voltage 30uV C Current 0 2uV C Span Drift 20ppm C Voltage Output Capability 10V 5mA Max Current Load Resistance External 24 V 1050 Ohms Power on and Safe Value Yes 4KV ESD Protection Yes Contact for each terminal Intra module Isolation Field to Logic 3000 Vpc Others DeviceNet Status 3 LEDs for PWR NET MOD Terminator Resister 1 LED as terminator resister indicators AO LED 8 LEDs as analog output indicators Power Supply Unregulated 10 30 Voc Power Consumption 1 5 W Operating Temperature 25 75 C Storage Temperature 30 80 C Humidity 10 to 90 RH Non condensing Dimensions 32 3 mm x 99 mm x 77 5 mm W x L x H Detail CAN 2024D User s Manual v1 00 March 2011 4 1 3 Features DeviceNet general I O slave devices Comply with DeviceNet specification Volume Release 2 0 amp Volume Il Release 2 0 Errata 5 Group 2 Only Server non UCMM capable Support Predefined Master Slave Connection Set Connection supported 1 connection for Explicit Messaging 1 connection for Polled VO 1 connection for Bit Strobe I O connection Support DeviceNet heartbeat and shutdown messages Provide EDS file for standard DeviceNet master interface NET MOD and PWR Led indictors 1 4 Application CAN Z a ON CAN card DeviceNet Protocol Meters eee CAN 2024D User s Manual v1 00 March 2011 5 2 Hardware 2 1 Structure CAN 2024D
5. the network s point of view An input will produce data on the network and an output will consume data from the network Class attribute Instance ID 0 Moe es Data Type Method Value name 0x01 Revision UINT Get 1 0x02 Max Instance UINT Get 0x05 Class service Service Code Service name Support OXOE Get Attribute Single Yes Instance ID Instance ID OUTPUT INPUT 0x64 Output values of all AO Get values of all AO channels channels 0x65 Type codes of all AO channel The mask of safe values of all 0x66 3 AO channels The safe values of all AO 0x67 channel Power on values of all AO 0x68 channels Get type code of all AO channels Get the mask of the safe values of all AO channels Get the safe values of all AO channels Get the power on values of all AO channels Node About the definition of the type codes please refer to the appendix B for details CAN 2024D User s Manual v1 00 March 2011 16 Contents of Each Assembly Object Instance Instance EE Default D Description Type Method le UINT Get Set 0x0000 0x64 Channel 0 3 AO output values ty es UINT 0x0000 USINT Get Set 0x33 0x65 Channel 0 3 AO type codes 8 Be USINT 0x33 Channel 0 3 AO mask values of es lala ve the safe values es a USINT 0x00 UINT Get Set 0x0000 0x67 Channel 0 3 AO safe values ui By UINT 0x0000 UINT Get Set 0x0000 0x6
6. 15 6 7 1101010000 1101111 0 2 0A 90 Slave CAN 2024D Set the value Ox7FFF to the Application Object1 with Instance ID 0x01 and Attribute ID 0x01 After sending the Set Attribute Single the slave device will response 0x90 to mean that the setting is OK Then the Vout0 will output 10Vpc and the VoutO LED will turn on Via changing the Attribute ID of the Application Object you can set other parameters of this device CAN 2024D User s Manual v1 00 March 2011 22 Example2 Get channel1 AO type code data Class ID 0x64 Instance ID 0x02 Attribute ID 0x02 If the node ID of the CAN 2024D is 1 and the master ID Ox0A has completed Explicit connection with the device By getting the value of the object with attribute ID 0x02 you can get the channel 1 of the AO type code IDENTIFIER BITS 6 8 byte Data byte ata Destination MAC ID RTR HEX Length 10 9 8 7 6 5 4 3 2 11 0 0111213 41516 7 11010 010100 1111010 0 5 OA OE 64 02 02 Master Slave CAN 2024D IDENTIFIER BITS Dai 8 byte Data byte ata Source MAC ID RTR HEX Length 10 918 7 6 15 41312 1 l0 0111213 41516 7 110101001010 1101111 0 3 OA 8E 33 Slave M A T CAN 2024D Get the value of Application Object1
7. 8 Channel 0 3 AO power on values ats UINT 0x0000 Parameter description of Assembly Object Instance Instance aa D Data Range Parameter Description Refer to Appendix B for the 0x64 Channel 0 3 output values corresponding output values Refer to Appendix B for the 0x65 AA Channel 0 3 AO type codes type code definition Channel 0 3 AO mask values of the safe 0x66 0x00 or 0x01 wane x x00 or 0x value 0x01 gt apply the safe value setting value 0x00 gt apply AO output value Refer to A dix B for th Ox67 ET to Appendix B tor e Channel 0 3 AO safe values corresponding output values 0x68 Refer to Appendix B for the Channel 0 3 AO power on values x corresponding output values CAN 2024D User s Manual v1 00 March 2011 17 Instance attribute Instance ID 0x64 0x68 ome DeviceNet Attribute ID Description Method Value Data Type OUTPUT Dependent 0x03 Data Get Set hrc ease a INPUT instance ID Instance service Service Code Service name Support OXOE Get Attribute Single Yes 0x10 Set_Attribute_Single Yes CAN 2024D User s Manual v1 00 March 2011 18 3 5 Application Object1 Class ID 0x64 Application objects are the interfaces between an application and the DeviceNet Layer The attributes of application Objects contain the data for the application which are accessed and exchanged via DeviceNet DeviceNet acc
8. DeviceNet Slave Device CAN 2024D 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 2011 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 2024D User s Manual v1 00 March 2011 1 Contents TD eie IE ei Le RE OE EE OE 3 Me EE EO EE Er ee d 1 2 Hardware Specifications is 4 1 3 PO ALUNGS an nn einen de EE N Ge see EE EE ani nds 5 1 4 Application iss ies ed KG Ke KW We Ki de Ke WE We Ke 5 2 HardWare EE EE EE Ea 6 2 1 die EE EE EE EE EE NN 6 2 2 Node ID amp Baud Rate Rotary Switch 7 2 3 LED DesEripUOM is cerner ar ecrit de dinee Einde ein dd Ede ed Ede 8 24 PIN AssidrimE nss se esse Ee eN eonia eeano en naei 10 2 5 Wire Connection nes ste Re REDE ee 11 2 6 Internal VO Structure ses 12 3 DeviceNet Profile Area uk reeds Re RR KAN EER DE GE ER EK KAN ee SEDES EES KRANE Ee 13 3 1 DeviceNet Statement of Compliance 13 3 2 Identity Object Class ID 0X01 eeee ese ee EE RR RE RE EER E Ee 14 3 3 Connection Object Class ID 0X05 ee RR RR RR RR RR RR RR RR 15 34 Assembly Object Class ID OXO4 ee RR EE ER EER ERGE
9. alues Channelx AO mask value for the safe 0x03 0x00 or 0x01 EE value 0x01 gt apply safe value setting value 0x00 gt apply AO output value Refer to Appendix B for 0x04 the corresponding output Channelx AO safe value values Refer to Appendix B for Channelx AO power on value 0x05 the corresponding output values Note Channelx is channel number of module which is selected by Instance ID Instance service Service Code Service name Support OXOE Get Attribute Single Yes 0x10 Set_Attribute_Single Yes CAN 2024D User s Manual v1 00 March 2011 20 3 6 Application Object2 Class ID 0x65 Application Object2 defines parameters for saving configurations into EEPROM or loading factory default setting Class attribute Instance ID 0 Attribute ID Attribute name Data Type Method Value 0x01 Revision UINT Get 1 0x02 Max Instance UINT Get 0x01 Class service Service Code Service name Support OXOE Get Attribute Single Yes Instance attribute Instance ID 1 gute Description Method Data Type poet ipti ID P yp Value Save all configurations into 0x01 EEPROM or using factory Set USINT default configuration setting Parameter description of Application Object2 attributes Attribute ID Data Range Parameter Description 0x01 After restarting the device all 0x01 Use default ieee configu
10. atus Get WORD 6 Serial number Get UDINT 1 7 Product name Get Short_String CAN 2024D 10 Heartbeat Interval Get Set USINT O default Instance Service Service Code Service name Support OXOE Get Attribute Single Yes 0x10 Set_Attribute_Single Yes 0x05 Reset Yes Note Use the Instance Service 0x05 will reboot the device CAN 2024D User s Manual v1 00 March 2011 14 3 3 Connection Object Class ID 0x05 This section presents the externally visible characteristics of the Connection Objects associated with the Predefined Master Slave Connection Set within slave devices The default IO connection path is as follow Connection Path Class ID Instance ID Attribute ID Poll Produced 0x04 0x64 0x03 Poll Consumed 0x04 0x64 0x03 Bit Strobe Produced 0x04 0x64 0x03 Bit Strobe Consumed 0x04 0x64 0x03 Connection mi Description Instance ID 1 References the Explicit Messaging Connection into the Server 2 References the Poll VO Connection 3 References the Bit Strobe I O Connection CAN 2024D User s Manual v1 00 March 2011 15 3 4 Assembly Object Class ID 0x04 The Assembly Object binds attributes of multiple objects which allows data to or from each object to be sent or received over a single connection Assembly objects can be used to bind input data or output data The terms of input and output are defined from
11. esses application data by invoking read and write functions These functions need to be provided by an Application Object DeviceNet provides Get_Attribute_Single and Set_Attribute_Single to read and write the single AO channel configuration of the CAN 2024D module Class attribute Instance ID 0 tree Cue as Data Type Method Value name 0x01 Revision UINT Get 1 0x02 Max Instance UINT Get 0x04 Class service Service Code Service name Support OXOE Get Attribute Single Yes Instance ID Instance ID Description 0x01 For accessing channel 0 AO configuration 0x02 For accessing channel 1 AO configuration 0x03 For accessing channel 2 AO configuration 0x04 For accessing channel 3 AO configuration Instance attribute Instance ID 0x01 0x04 Aus Description Method Data Type DEA ID Value 0x01 JAO value Get Set UINT 0x0000 0x02 JAO type code Get Set USINT 0x33 0x03 AO mask value for safe value Get Set USINT 0x00 0x04 JAO safe value Get Set UINT 0x0000 0x05 AO power on value Get Set UINT 0x0000 CAN 2024D User s Manual v1 00 March 2011 19 Parameter description of Application Object1 attributes Attribute ID Data Range Parameter Description Refer to Appendix B for 0x01 the corresponding output Channelx AO output value values Refer to Appendix B for 0x02 the corresponding output Channelx AO type code v
12. is section describes the detailed functions for each object class that is implemented in the CAN 2024D DeviceNet network 3 1 DeviceNet Statement of Compliance General Device Data Device Information Description Version Description of DeviceNet Specification Volume Release 2 0 amp Volume II Release 2 0 Vendor Name ICP DAS Device Profile Name CAN 2024D Production Revision 1 1 DeviceNet Physical Conformance Data Item LED Support Description Yes MAC ID Setting Switch 0 63 Default MAC ID 1 Communication Baud Rate Setting Switch 125 250 500 kbps Default Baud Rate 125 kbps Predefined Master Slave Connection Set Group 2 Only Server CAN 2024D User s Manual v1 00 March 2011 13 3 2 Identity Object Class ID 0x01 This object provides the identification and general information about the device Class Attribute Instance ID 0 Attribute ID Attribute name Data Type Method Value 0x01 Revision UINT Get 0001 0x02 Max Instance UINT Get 1 Class Service Service Code Service name Support OXOE Get Attribute Single Yes Instance Attribute Instance ID 1 Attribute ie DeviceNet Data Description Method Value ID Type 1 Vendor Get UINT 803 2 Product type Get UINT 0x00 3 Product code Get UINT 0x400 4 Major Minor of firmware Get Struct of 1 1 version USINT USINT 5 St
13. rations will become default configuration 0x01 setting 0x02 Save all 0x02 S Il channel configurations to EEPROM a cnannes configuration into EEPROM Instance service Service Code Service name Support 0x10 Set_Attribute_Single Yes CAN 2024D User s Manual v1 00 March 2011 21 4 Application Application Object1 Class ID 0x64 lists all the parameters of the module Each Instance ID is corresponding to the different channel By using Set Get Attribute Single service you can read write the parameters of each channel Example Set channelO AO output value Class ID 0x64 Instance ID 0x01 Attribute ID 0x01 If the node ID of the CAN 2024D is 1 and the master ID Ox0A has completed Explicit connection with the device The default type code of all channels are 0x33 10V 10V By setting the value of Attribute ID 0x01 to Ox7FFF you can set the channelO AO output data to 10Vpc IDENTIFIER BITS 8 byte Data byte Data Destination MAC ID RTR HEX Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 11010100 0 0 1111010 0 6 OA 10 64 01 01 FF 7F Slave CAN 2024D IDENTIFIER BITS 5 8 byte Data byte ata Source MAC ID RTR HEX Length 1019 8 716151413 2 110 01121314
14. red it incapable of communicating on the link for example detected a duplicate node address or network configuration error Solid On line communicating Device is online and communicating MOD LED This LED provides the devices status It indicates whether or not the device is operating properly Condition status Indicates Off Normal Solid Critical fault Device has unrecoverable fault Flashing Non_critical fault Device has recoverable fault to recover If users want to fix the problem reconfiguring device s MAC ID or resetting device may work CAN 2024D User s Manual v1 00 March 2011 8 Terminal Resistor LED When enable the 1200 terminator resistor the LED will be turned on lout LED If the lout LED is turned on it means that the current is outputting on corresponding output channel Vout LED If the Vout LED is turned on it means that the voltage is outputting on corresponding output channel CAN 2024D User s Manual v1 00 March 2011 9 2 4 PIN Assignment T E E E E E E A AE SERRE 3232325272727272 10 CAN 2024D User s Manual v1 00 March 2011 2 5 Wire Connection Current Output Wiring CAN 2024D User s Manual v1 00 March 2011 11 2 6 Internal I O Structure Vout 0 lout 0 AGND CAN H BA Control CAN_L Circuit Vout 3 lout 3 10V 30V GND AGND Internal VO Structure CAN 2024D User s Manual v1 00 March 2011 12 3 DeviceNet Profile Area Th
15. with Instance ID 0x02 and Attribute ID 0x02 After sending the Get Attribute Single the slave device responds the AO type code 0x33 at byte 2 The value 0x33 means that the channel1 is using 10V 10V output range About the type code refer to the appendix B for the type code definition By changing the Instance ID and Attribute ID of the Application Object you can get and set other channel parameters of this device Attribute 0x03 and 0x04 of Application Object1 are used for safe value configuration when Explicit Message Timeout error occurs When setting the Attribute ID 0x03 to 0x1 the safe value of this channel will be activated If the Instance ID is set to 0x1 it means that the safe value of the channel 0 is active Afterwards you can configure the output safe value of this channel by setting the value of Attribute ID 0x04 When setting the Attribute ID 0x02 to 0x33 Attribute ID 0x03 to 0x1 and Attribute ID 0x04 to Ox7FFF the Vout0 channel 0 will output 10Vpc while the error occurs The Attribute 0x05 of Application Object1 can control the AO power on value of each channel After setting this attribute this AO channel will output AO power on value while booting up CAN 2024D User s Manual v1 00 March 2011 23 Appendix A Dimension Unit mm CAN 2024D User s Manual v1 00 March 2011 24 Appendix B Type Code Definition
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