User manual
Contents
1. M U 10 CB D0O 04TX 2 07 07 Cod J30 478 1AD0 04TX E User ANT manual Contents ASCON spa Characteristics 20021 Baranzate Italy Functional Block Diagram Fax 39 02 350 4243 PDOs used by the module www ascon it Hardware Set up sales ascon it Parameter configuration Commands P GEMS 55 Emergency messages E E EES SENN parameter Store Restore Object Dictionary APPLICABLE STANDARDS The DO 04TX module is suited for the CiA DS301 protocol 1 and implements the CiA DS 401 standard Device Profile 2 Characteristics Technical data 1S09001 Certified mod 10 CB DO 04TX 00 Number of channels 4 Polarity high side Source PNP Output voltage nominal 24 Vdc Output current 6A Total continuous output current 24 A max ON OFF delay lt 5 ms Output single pulse width Min 5 ms Max 65s General 3 way isolation 800 Vp Power supply 24 Vdc 15 25 Power consuption 3 5 W Dimensions L 76 H 110 W 65 Weight 220 g Safety regulations Isolation class Il 250 Vrms EN61010 1 Installation cathegory II Pollution degree 2 CE marking EN61131 2 n js wall 3 way isolation diagram Fiekibus age putt 1 4 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 s2. The only transition is to the ready state 1 Oth 2 00h 3 FFh 4 00h The module automatically sends emergency messages including error codes The communication errors are descrided in CiA DS301 1 The error codes are expressed as a DEVICE SPECIFIC ERROR type of code 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 0000000007 Error Wrong Command An attempt to execute a command from an illegal state 0 1 2 3 4 5 6 7 Emergency Oth FFh 21h ooh ooh Ooh 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 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 appropria te 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 OFF Power ON cycle or an NMT Reset Node message Byte
3. 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 00020191 UNSIGNED32 RO M 2003 VAR Output Option 00 UNSIGNED8 RW O 1001 VAR Error Register 00 UNSIGNED8 RO M 200B ARRAY Output Pulse Value UNSIGNED16 0 1003 ARRAY Predefined error field 00000000 UNSIGNED32 RO 0 00h VAR Number of Entries 04 UNSIGNED8 RO 1005 VAR COB ID SYNC 00000080 UNSIGNED32 RW 0 Oth VAR Output Pulse 1 Value 0000 UNSIGNED16 RW 1006 VAR Communication cycle period 00000000 UNSIGNED32 RW 0 02h VAR Output Pulse 2 Value 0000 UNSIGNED16 RW 1007 VAR Synchrounous window length 00000000 UNSIGNED32 RW 0 03h VAR Output Pulse 3 Value 0000 UNSIGNED16 RW 1008 VAR Manufacturer Device Name O4TX Vis String const O 04h VAR Output Pulse 4 Value 0000 UNSIGNED16 RW 1009 VAR Manufacturer Hardware Version 1 00 Vis String const O 200C VAR Operating Mode 01 UNSIGNED8 RW O 100A VAR Manufacturer Software Version 1 00 Vis String const 0 200D VAR Start Stop Mode 00 UNSIGNED8 RW O 100C VAR Guard Time 0000 UNSIGNED16 RW 0 3000 VAR Node Address 7F UNSIGNED8 RO O 100D VAR Life Time Factor 00 UNSIGNED8 RW 0 3001 VAR Node Baudrate 06 UNSIGNED8 RO O 1010 ARRAY Store Parameters UNSIGNED32 0 6200 ARRAY Write Output 8 bit UNSIGNED8 M 00h VAR Largest subindex supported 01 UNSIGNED8 RO 00h VAR Number of e
4. 0 1 2 3 4 5 6 7 Store 22h 10h 10h Oth 73h 6th 76h 65h Parameter s a v e COB ID 600h NodelD Restore 22h 11h 10h oth 6Ch 6Fh 61h 64h Parameter 0 a d 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 Al em 7 Read request 40h Index COB SA noan ees Read ganse pre e AEE Write request 4 EDES ENDT T Write response 60h Index COB SN aaa cect This code is type dependant Please refer to the CIA DS301 Profile for more details List of CiA documents to which the user should refer 1 CiA DS301 CANopen Application Layer and Communication Profile 2 CiA DS401 CANopen Device Profile for generic 1 0 Modules Power Supply 45W 24Vdc 2A Power Supply 120W 24Vdc 5A Additional Terminal Block 2x11 Female Plug 11 Screw clamp Female Plug 11 Spring clamp RJ45 terminated cable 14cm RJ45 terminated cable 22cm CAN termination Adapter AP S2 AL DR45 24 AP S2 AL DR120 24 AP S2 TB 211 1 AP S2 SPINA V11 AP S2 SPINA M11 AP S2 LOCAL BUS76 AP S2 LOCAL BUS152 AP S2 TERM CAN 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 The configuration can be obtained by writing the desired values to the module s
5. UNSIGNED8 RW 1401 RECORD 2 Receive PDO Comm Param PDO CommPar 20h M 00h VAR Largest subindex supported 02 UNSIGNED8 RO Oth VAR COB ID used 300 NodelD UNSIGNED32 RW 02h VAR Transmission type FE UNSIGNED8 RW 1600 RECORD 1st Receive PDO Mapping PDO Mapping 21h M 00h VAR No of mapped application obj 01 UNSIGNED8 RO Oth VAR DigOutput8_1 62000108 UNSIGNED32 RO 1601 RECORD 2 Receive PDO Mapping PDO Mapping 21h M 00h VAR No of mapped application obj 01 UNSIGNED8 RO Oth VAR Start Stop Mode 200D0010 UNSIGNED32 RO The factory set value present in the modules when new for the transmission type is O1h
6. hannel and the old output value is kept If the object is not supported the device behaves according to the default value Error mode In error mode the outputs behave according to the following two entries Index 6206h Error Mode Output 8 bit This object indicates whether an output is set to a pre defined error value see 6207h object in the event of an internal device failure or of a Stop Remote Node status 1 output value takes the pre defined condition specified in object 6207h 0 output value is kept if an error occurs Index 6207h Error Value Output 8 bit On condition that the corresponding Error Mode is active device failures set the outputs to the value configured by this object 0 Output is set to 0 in case of fault if object 6206h is enabled 1 Output is set to 1 in case of fault if object 6206h is enabled Proprietary output functions In addition to the expected functions the module provides a proprietary output function option Output option combinations are fixed and determined by the value of the entry in the table below Index 2003h Output options Value Allowed options No option Pulse on channel 1 Pulse on channel 2 Pulse on channel 3 Pulse on channel 4 Aolo e Generation of a single pulse of programmable width Index 200Bh Output Pulse Value Assigns the value of the duration of the pulse within a range from 5ms to 65535ms in 5ms steps Please no
7. light be taken against humidity condensation may appear 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 CANopen 1 0 module 4 High Power 6A ej Digital Outputs mod I0 CB DO 04TX Each of the Output terminals can be programmed as either a standard optoisolated Output or performing Single pulse output 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 Functional Block Diagram Block filter Device I I failure 1 a TE PDOs used by the module RPDO Properties RPDO 1 COBID 200h NodelD Transmission Type 01h RPDO 2 COBID 300h NodelD Start Stop mode ees ie Transmission Type 01h Index Sub index 6200h 01h Mapped objects Write digital output 1 8 Note The Transmission Type is configurable Oth is the factory set value present in the modules when come fro
8. m the factory FFh is the default value _ Hardware Set up Hexadecimal rotary switches service and I O LEDs Negative screw driver E 04x25mm Parameter configuration Configuring the Output Channels The Output functional block diagram is consistent with the standard profile CiA DS401 2 Index 6200h Write Output 8 bit This object writes a group of 4 outputs 1 output active 1 output not active The output signalling from a CAN message is processed first Two preproces items are performed e Polarisation Index 6202h Polarity Output 8 bit This object defines the polarity of 4 output lines Output polarity can be inverted individually 1 output inverted 0 output not inverted If the object is not supported the device behaves according to the default value e Masking Index 6208h Filter Mask Output 8 bit This object defines an additional output filter mask configurable for 4 outputs 1 output is set to the received output value 0 do not care the received output value is neglected for the correspon Service Status Meaning LEDs ON Operational RUN Blinking Pre operational CANopen Single flash STOPPED OFF Device in RESET state ON BUS OFF Single flash Warning limit reached ERR Double flash Error Control Event e Triple flash_ Sync Error CANopen OFF No error Device working ON DIAG Error ST Blinking _ INIT and DIAG runni
9. ng Single flash Baud rate setting OFF Module OK and ready PWR ON Module Power Supply ON OF Module Power Supply OFF VOLEDs Status Meaning OUT1 4 ON Output active e OFF Output inactive Bit Rate and Node ID configuration Node ID Bit rate Baud rate Bus length Lo switch kbps m 20 2500 50 1000 100 500 4 125 500 250 250 6 500 100 800 50 8 1000 25 Hi switch Vv Lo switch Valid ID Node Oth address 1 02h address 2 v DN 7Fh address 127D Notes Default value 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 Turn the Power ON On oa Turn the Power ON Shift the HI switch to E all the module service LEDs should flash Turn the Power OFF Now configure Node ID Set the HI and LO switches to the desired valid Node ID following the table Alternatively at step 7 set the value 00h Then 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 ding output c
10. ntries 01 UNSIGNED8 RO Olh VAR Save all parameters 03 UNSIGNED32 RW Olh VAR DigOutput 8_1 00 UNSIGNED8 RW 1011 ARRAY Restore Default Parameters UNSIGNED32 RW 0 6202 ARRAY Polarity Output 8 bit UNSIGNED8 0 00h VAR Largest subindex supported 01 UNSIGNED8 RO 00h VAR Number of entries 01 UNSIGNED8 RO Oth VAR Restore all default parameters 01 UNSIGNED32 RW Oth VAR Polarity 8_1 00 UNSIGNED8 RW 1014 VAR COB ID EMCY 80 NodelD UNSIGNED32 RW 0 6206 ARRAY Error Mode Output 8 bit UNSIGNED8 0 1015 VAR Inhibit Time EMCY 0000 UNSIGNED16 RW 0 00h VAR Number of entries 01 UNSIGNED8 RO 1017 VAR Producer heartbeat time 0000 UNSIGNED16 RW 0 Oth VAR ErrorMode 8_1 FF UNSIGNED8 RW 1018 RECORD Identity Object identity 23h M 6207 ARRAY Error Value Output 8 bit UNSIGNED8 0 00h VAR Number of entries 01 UNSIGNED8 RO 00h VAR Number of entries 01 UNSIGNED8 RO Oth VAR Vendor ID 000000E9 UNSIGNED32 RO Oth VAR ErrorValue 8_1 00 UNSIGNED8 RW 1200 RECORD Server SDO Parameters 6208 ARRAY Filter Mask Output 8 bit UNSIGNED8 0 00h VAR Number of entries 02 UNSIGNED8 RO 0 00h VAR Number of entries 01 UNSIGNED8 RO Oth VAR COB ID Client gt Server 600 NodelD UNSIGNED32 RO Oth VAR FilterMask 8_1 FE UNSIGNED8 RW 02h VAR COB ID Server gt Client 580 NodelD UNSIGNED32 RO 1400 RECORD 1st Receive PDO Comm Param PDO CommPar 20h M 00H VAR Largest subindex supported 02 UNSIGNED8 RO Oth VAR COB ID used 200 NodelD UNSIGNED32 RW 02h VAR Transmission type FF
11. te that the Output Pulse Value unit is 1 ms Index 200Dh Start Stop Mode In RUN mode this entry determines the trigger of the pulse It should be noted that the pulse function is not subject to polarity and filter mask The generated pulse consists of a Low to High edge and at the end of programmed width of an High to Low edge bit 0 gt Start 1 ch 1 bit 3 gt Start 1 ch 4 Please note that bits 0 3 are automatically reset by the device i e they are ready for any subsequent pulse Unused bits all SY bit 7 Ich ach 3fcn 2fcn 1 0 Stop 1 Start Index 200Ch Operating mode 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 Behaviour Operating mode value Init At Power Up the Device is in the ready state Transition 1 is also executed if Index 200Ch Operating Mode contains the default value 1 Operating mode RUN is activated Return to the initialisation ready state The transition is performed e following an operator s command e after assigning a configuration parameter 2003h The error state is automatically assigned by the device and the operating mode value is read only when an attempt is made to execute an unexpected command This value causes an exit from the error state after the error condition is acknowledged
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