Ascon corporation 2 Channel Universal Analog Input
Contents
1. Index 9148h Al Span start Index 9149h Al Span end These two variables take into account the validity of the span values indicating possible overloads and limiting the measure in correspondence of the extreme points of the span Span programmed values C Input Span Span Input LO HI Span Span Start End Range Range Start End TCJ 210 C 1200 C PT100 200 C 600 C TCK 200 C 1372 C PT1000 200 C 600 C TCL 200 C 600 C 0 10V 0 10 5 OV 10V TCN 0 C 1300 C 0 150mV_ 0 155 OmV 150mV TCR 0 C 1600 C 4 20MA_ 0 21 4mA 20mA TCS 0 C 1760 C 0 20MmA_ 0 21 OmA 20mA TCT 200 C 400 C POT 0 100 0 100 Index 6150h Al Status bit 7 3 2 Reserved Negative overload Index 9138h Tare Zero Tare value to be subtracted from PV Index 6114h Al ADC Sample Rate ADC acquisition time Index 6F20h Life Counter A counter that increments at each new generated sample Index 9143h Al Interrupt Delta NetPV Index 9144h Al Interrupt Lower Limit Net PV Index 9145h Al Interrupt Upper Limit Net PV The last the variables relate to the asynchronous mode of transmission of a PDO transmission type 255 A comparison is made with the mapped Net PV value and a transmission is initiated asynchronously when any of the limits is reached 1 Positive overload 0 Not valid e g sensor break Index 6112h Al Operating Mode Determi2. 1S09001 Certified M U 10 CB AI 02UI 1 04 10 Cod J30 478 1AAI 02UI E User manual ASCON spa Contents 20021 Bollate Italy Characteristics Tel 39 02 333 371 Functional Block Diagram Fax 39 02 350 4243 PDOs used by the module www ascon it sales ascon it Hardware Set up Parameter configuration Commands P SEAE Emergency messages aE 1 Parameter Store Restore D 4B Object Dictionary APPLICABLE STANDARDS The Al 02UI module is suited for the CIA DS301 protocol 1 and implements the CIA DS 404 standard Device Accuracy at 25 C Profile as far as the Analogue Input Function Block is concerned 2 Characteristics Technical data 0 1 FS RTD 0 05 FS mod 10 CB Al 02UI 00 Temperature coefficient 0 005 FS K Cold junction compensation accuracy 0 5 K between 0 50 C Input impedance mA lt 3009 mV gt 100MQ V gt 10kQ Digital resolution 16 bit Input types TC J K L N R S T Pt100 Pt1000 mA mV V Potentiometer and other SW downloadable TCs Conversion time 20 ms RTD 120 ms Overvoltage protection 30V NMR 50 60Hz gt 80 dB CMRR gt 100 dB General 3 way isolation 2 5 kVp Power supply 24 Vdc 15 25 Power consuption 2 5 W Dimensions L 65 H 110 W 66 Weight 220 g Safety regulations Isolation class II 50Vrms EN61010 1 Installation cath
3. ADC Sample Rate ch2 00004E20 UNSIGNED32 RO 00h VAR N of entries 02 UNSIGNED8 RO 6125 ARRAY Al Autozero UNSIGNED32 0 Oth VAR AlSpan End ch1 0001D4C0 INTEGER32 RW 00h VAR Number of entries 02 UNSIGNED8 RO 02h VAR Al Span End ch2 0001D4CO INTEGER32 RW
4. ED32 RW 007 VAR Synchrounous window length 00000000 UNSIGNED32 RW 0 02h VAR Al Physical Unit PV ch2 002D0000 UNSIGNED32 RW 1008 VAR Manufacturer Device Name 0600 Vis String const 0 6132 ARRAY Al Decimal Digits PV UNSIGNED8 0 009 VAR Manufacturer Hardware Version 1 00 Vis String const 0 00h VAR N of entries 02 UNSIGNED8 RO 100A VAR Manufacturer Software Version 1 00 Vis String const 0 Oth VAR Al Decimal Digits PV ch1 02 UNSIGNED8 RW 00C VAR Guard Time 0000 UNSIGNED16 RW 0 02h VAR Al Decimal Digits PV ch2 02 UNSIGNED8 RW 100D VAR Life Time Factor 00 UNSIGNED8 RW 0 6139 ARRAY Al AutoTare UNSIGNED32 0 010 ARRAY Store Parameters UNSIGNED32 0 00h VAR N of entries 02 UNSIGNED8 RO 00h VAR Largest subindex supported 01 UNSIGNED8 RO Oth VAR AlAutoTare chi UNSIGNED32 WO Olh VAR Save all parameters 03 UNSIGNED32 RW 02h VAR AlAutoTare ch2 UNSIGNED32 WO 1011 ARRAY Restore Default Parameters UNSIGNED32 RW O 6150 ARRAY Al Status UNSIGNED8 0 00h VAR Largest subindex supported 01 UNSIGNED8 RO 00h VAR N of entries 02 UNSIGNED8 RO Oih VAR Restore all default parameters 01 UNSIGNED32 RW Oih VAR AlStatus ch1 00 UNSIGNED8 RO 1014 VAR COB ID EMCY 80 NodelD UNSIGNED32 RW O 02h VAR Al Status ch2 00 UNSIGNED8 RO 1015 VAR hibit Time EMCY 0000 UNSIGNED16 RW 0 6160 ARRAY Al Control Byte UNSIGNED8 0 1017 VAR Producer heartbeat time 07D0 UNSIGNED16 RW 0 00h VAR N of entries 02 UNSIGNED8 RO 1018 RECORD Identity Object Identity 23h M Oth VAR Al Control Byte cht UNS
5. ED8 RO LO 00h VAR N of entries 02 UNSIGNED8 RO 6110 ARRAY Al Sensor Type UNSIGNED16 0 Oth VAR Allnterrupt Delta Net PV ch 00000001 INTEGER32 RW 00h VAR Number of entries 02 UNSIGNED8 RO 02h VAR Allnterrupt Delta Net PV ch2 00000001 INTEGER32 RW Oih VAR Al Sensor Type cht 01 UNSIGNED16 RW 9144 ARRAY Al Interrupt Lower Limit Net PV NTEGER32 0 02h VAR Al Sensor Type ch2 01 UNSIGNED16 RW 00h VAR N of entries 02 UNSIGNED8 RO 6111 ARRAY Al Autocalibration UNSIGNED32 0 Oth VAR Allnterrupt Lower Limit Net PVch1 FFFFB1EO INTEGER32 RW 00h VAR Number of entries 02 UNSIGNED8 02h VAR AllnterruptLower Limit NetPVch2 FFFFB1EO INTEGER32 RW Oth VAR Al Autocalibration ch1 UNSIGNED32 WO 9145 ARRAY Al Interrupt Upper Limit Net PV NTEGER32 0 02h VAR Al Autocalibration ch1 UNSIGNED32 wo 00h VAR N of entries 02 UNSIGNED8 RO 6112 ARRAY Al Operating Mode UNSIGNED8 0 Oth VAR Allntemupt Upper Limit Net PVch1 0001D4CO INTEGER32 RW 00h VAR Number of entries 02 UNSIGNED8 RO 02h VAR AllnteruptUpper Limit Net PVch2 0001D4CO INTEGER32 RW 01h VAR Al Operating Mode ch1 00 UNSIGNED8 RW 9148 ARRAY Al Span Start NTEGER32 0 02h VAR Al Operating Mode ch2 00 UNSIGNED8 RW 00h VAR N of entries 02 UNSIGNED8 RO 6114 ARRAY AI ADC Sample Rate UNSIGNED32 0 Oth VAR AlSpan Start ch1 FFFFB10 NTEGER32 RW 00h VAR Number of entries 02 UNSIGNED8 RO 02h VAR _ Al Span Start ch2 FFFFB10 INTEGER32 RW Oth VAR Al ADC Sample Rate ch1 00004E20 UNSIGNED32 RO 9149 ARRAY Al Span End NTEGER32 0 02h VAR Al
6. IGNED8 WO 00h VAR Number of entries 01 UNSIGNED8 RO 02h VAR Al Control Byte ch2 UNSIGNED8 WO Oth VAR Vendor ID 000000E9 UNSIGNED32 RO 61A0 ARRAY Al Filter Type UNSIGNED8 0 1200 RECORD Server SDO Parameters 00h VAR N of entries 02 UNSIGNED8 RO 1800 RECORD 1 Transmit PDOComm Param PDOCommPar 20h M Oth VAR Al Filter Type cht 00 UNSIGNED8 RW 00H VAR Largest subindex supported 05 UNSIGNED8 RO 02h VAR Al Filter Type ch2 00 UNSIGNED8 RW 01h VAR COB ID used 180 NodelD UNSIGNED32 RW 61A1 ARRAY Al Filter Constant UNSIGNED8 0 02h VAR Transmission type Fife UNSIGNED8 RW 00h VAR N of entries 02 UNSIGNED8 RO 03h VAR nhibit time 0000 UNSIGNED16 RW Oth VAR Al Filter Constant cht 01 UNSIGNED8 RW 04h VAR Reseved UNSIGNED8 RW 02h VAR Al Filter Constant ch2 01 UNSIGNED8 RW 05h VAR Event timer 0000 UNSIGNED16 RW 6F20 ARRAY Life Counter UNSIGNED8 0 1801 RECORD 2 Transmit PDOComm Param PDOCommPar 20h M 00h VAR N of entries 02 UNSIGNED8 RO 00h VAR Largest subindex supported 05 UNSIGNED8 RO Oih VAR Life Counter ch1 00 UNSIGNED8 RO Oih VAR COB ID used 280 NodelD UNSIGNED32 RW 02h VAR Life Counter ch2 00 UNSIGNED8 RO 02h VAR Transmission type FF UNSIGNED8 RW 9100 ARRAY Al Input FV NTEGER32 0 03h VAR nhibit time 0000 UNSIGNED16 RW 00h VAR N of entries 02 UNSIGNED8 RO 04h VAR Reseved UNSIGNED8 RW Oth VAR Allnput FV ch1 NTEGER32 RO 05h VAR Event timer 0000 UNSIGNED16 RW 02h VAR Al Input FV ch2 INTEGER32 RO 1802 RECORD 3 Transmit PDOComm Param PDOCommPar 20h M 9120 ARRA
7. OT 0x78 3 SubIndex 1 gt channel 1 SubIndex 2 gt channel 2 Index 61A0h Al Filter Type Index 61A1h Al Filter Constant Al Filter Type defines the type of filter to be applied to FV Al Filter Constant defi nes the iteration index For both entries subindex 01 refers to module channel 1 and subindex 02 refers to module channel 2 Value Description Operation 0 No filter Yai Val Input Valuey i faluey Value y 1 Moving average N N I Filter Constant N gt Inputy 2 Repeating average Value N depends on Filter Constant Module specific parameters Index 2000h Cold J unction Measure Temperature of the cold junction measured on the module s terminal block Available through TPD04 Index 3000h Node Address Current Module Node ID Read only access Index 3001h Baudrate Current Module Bit rate Read only access Scaling input variables Index 9120h Al Input Scaling 1FV Index 9121h Al Input Scaling 1PV Index 9122h Al Input Scaling 2FV Index 9123h Al Input Scaling 2PV Index 9124h Al Input Offset As regards linear inputs the above variables allow the scale of the physical input to be changed and the desired physical unit to be assigned to this input In addition an offset can be added A PV Offset PV2 Span Measure gt E PV 142 3 f4 gt Negative Positive FV1 FV2 FV overload overload
8. Y Al Input Offset INTEGER32 0 02h VAR Al Operating Mode 1 61120108 UNSIGNED32 RO 00h VAR Number of entries 02 UNSIGNED8 RO 1A01 RECORD 2nd Transmit PDOMapping PDOMapping 21h M Oih VAR Al Input Offset ch1 00000000 INTEGER32 RW 00h VAR N of mapped application obj 02 UNSIGNED8 RO 02h VAR Al Input Offset ch2 00000000 INTEGER32 RW Oth VAR Net PV2 91400220 UNSIGNED32 RO 9130 ARRAY Al input PV INTEGER32 0 02h VAR Al Operating Mode 2 61120208 UNSIGNED32 RO 00h VAR N of entries 02 UNSIGNED8 RO 1A02 RECORD 3 Transmit PDOMapping PDOMapping 21h M Oih VAR Alinput PV cht INTEGER32 RO 00h VAR N of mapped application obj 02 UNSIGNED8 RO 02h VAR Alinput PV ch2 NTEGER32 RO Oth VAR Net PV1 91400120 UNSIGNED32 RO 9138 ARRAY Al Tare Zero INTEGER32 0 1A03 RECORD 4th Transmit PDOMapping PDOMapping 21h M 00h VAR Number of entries 02 UNSIGNED8 RO 00h VAR N of mapped application ob 01 UNSIGNED8 RO Oth VAR Al Tare Zero ch1 00000000 INTEGER32 RW Oth VAR Could Junction Measure 20000110 UNSIGNED32 RO 02h VAR AI Tare Zero ch2 00000000 INTEGER32 RW 02h VAR 00000000 UNSIGNED32 RO 9140 ARRAY Al Net PV INTEGER32 0 2000 ARRAY Cold Junction Temperature INTEGER16 0 00h VAR N of entries 02 UNSIGNED8 RO 00h VAR Number of entries 01 UNSIGNED8 RO Oth VAR AINetPVch1 INTEGER32 RO Oih VAR Cold Junction Measure INTEGER16 RO 02h VAR AINet PV ch2 INTEGER32 RO 3000 VAR Node Address 7F UNSIGNED8 RO 0 9143 ARRAY Al Interrupt Delta Net PV NTEGER32 0 3001 VAR Node Baurate 01 UNSIGN
9. Y Al Input Scaling 1 FV NTEGER32 0 00h VAR Largest subindex supported 05 UNSIGNED8 RO 00h VAR N of entries 02 UNSIGNED8 RO Oth VAR COB ID used 380 NodelD UNSIGNED32 RW Oth VAR Al Input Scaling 1 FV cht 00000000 INTEGER32 RW 02h VAR Transmission type FF UNSIGNED8 RW 02h VAR Al Input Scaling 1 FV ch2 00000000 INTEGER32 RW 03h VAR Inhibit time 0000 UNSIGNED16 RW 9121 ARRAY Al Input Scaling 1 PV INTEGER32 0 04h VAR Reseved UNSIGNED8 RW 00h VAR N of entries 02 UNSIGNED8 RO 05h VAR Event timer 0000 UNSIGNED16 RW Oth VAR Allnput Scaling 1 PV ch1 00000000 INTEGER32 RW 1803 RECORD 4t Transmit PDOComm Param PDOCommPar 20h M 02h VAR Al Input Scaling 1 PV ch2 00000000 INTEGER32 RW 00h VAR Largest subindex supported 05 UNSIGNED8 RO 9122 ARRAY Al Input Scaling 2 FV INTEGER32 0 Oth VAR COB ID used 480 NodelD UNSIGNED32 RW 00h VAR N of entries 02 UNSIGNED8 RO 02h VAR Transmission type FF UNSIGNED8 RW Oih VAR Al Input Scaling 2 FV ch2 7FFFFFFF INTEGER32 RW 03h VAR Inhibit time 0000 UNSIGNED16 RW 02h VAR Al Input Scaling 2 FV ch2 7FFFFFFF INTEGER32 RW 04h VAR Reseved UNSIGNED8 RW 9123 ARRAY Al Input Scaling 2 PV INTEGER32 0 05h VAR Event timer 0000 UNSIGNED16 RW 00h VAR Number of entries 02 UNSIGNED8 RO 1A00 RECORD 1St Transmit PDOMapping PDOMapping 21h M Oih VAR Al Input Scaling 2 PV ch1 7FFFFFFF INTEGER32 RW 00h VAR N of mapped application obj 02 UNSIGNED8 RO 02h VAR Al Input Scaling 2 PV ch2 7FFFFFFF INTEGER32 RW Oth VAR Net PV1 91400120 UNSIGNED32 RO 9124 ARRA
10. ect the desired Bit Rate value by setting the LO switch following the table e g 8 for 1 Mbps 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 Turn the Power ON 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 The default values are Bit Rate 20 kbps Node ID 127D on ou Ae Parameter configuration Index 6110h Al Sensor type Index 6131h Al Physical Unit PV Index 6132h Al Decimal Digits PV The Al Physical Unit PV assigns SI units and prefixes to the process value with the follo wing structure 31 24 23 16 15 87 0 Prefix SI Numerator SI Denominator Reserved MSB LSB Physical units and prefixes are coded according to CiA standard 3 Within the DS404 pro file some additional physical units are specified Code Physical Unit Code Physical Unit 55h m s A3h mmHg 56h Nm A4h atm Aih at ABh PSI A2h mmH 0 ACh F Value Sensor Decimal Value Sensor Decimal type digits type digits TCJ default 0x01 2 PT1000 0x21 2 TCK 0x02 2 PT100 2w 0x24 2 TCL 0x03 2 PT100 4w 0x25 2 TCN 0x04 2 0 10V 0x2A 3 TCR 0x05 2 0 150mV Ox2F 3 TCS 0x06 2 4 20MA 0x33 3 TCT 0x07 2 0 20mA 0x34 3 PT100 3w 0x1E 2 P
11. egory Il Pollution degree 2 CE marking EN61131 2 3 way isolation diagram Bus gt Fieldbus N1 gt Ch 1 y2 gt Ch 2 Power supply 2500Vp Environment Operating Storage Temperature 10 465 C 40 4 85 C Relative 5 95 non condensing 5 95 non condensing Humidity Appropriate measures must For a short period slight be taken against humidity condensation may appear gt 85 on the housing Mounting Vertical free air Protection IP20 Vibrations 10 57Hz 0 0375mm 3 axes 57 150Hz 0 5g Shock 3 axes 15g 11ms half sine CANopen I O module 2 Universal Isolated j2 Analogue Inputs mod 10 CB Al 02UI 00 2 isolated inputs for Thermocouples RTD mA mV V linear inputs Potentiometers Custom sensors ZA WARNING 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 Functional Block Diagram gt ADC gt NetPV Transmit gt A A Ba Ea Scaling gt i Y sie sam saan E zi m e Hn lt E E The analogue input function block describes for each input channel how field values are converted to process values The field values are converted to the real physical dimension of the measured quantity and the result is called Pr
12. nes the operating state of the two input channels according to the follo wing values 00h Initialising Oih Operating OAh Custom linearisation table assignment Index 6160h Al Control Byte Enables 1 or disables 0 some of the commands accepted by the module bit 7 3 2 1 0 1 active Reserved Auto tare Auto zero Auto calibration Index 6111h Al Autocalibration While in initialisation mode the module can execute an autocalibration procedu re upon receipt of an SDO containing the cali signature in the data field Byte 0 1 2 3 4 5 6 7 22h idih 61h Oxht 63h 61h 6Ch 69h Write Request Cc a i COB ID 600h NodelD Note 1 x 1 for channel 1 2 for channel 2 Index 6125h Al Autozero Upon receipt of an SDO containing the zero signature in the data field the module modifies the Al Input Offset in such a way that the Al Input PV becomes zero Byte 0 1 2 3 4 5 6 7 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 OxFFO1 for channel 1 and OxFFO2 for channel 2 The codes indicating a specific condition are also inserted following the table below Code Error 0000000000 No error This code is generated when exiting an error contidion to notify the end of one of
13. ocess Value The conversion from Field Value to Process Value is generally described as a linear transformation This is defined by two pairs of field values and corresponding process values Input Scaling 1 FV Input Scaling 1 PV and Input Scaling 2 FV Input Scaling 2 PV called calibration point 1 and 2 Non linear transformation e g for thermocouples and PT100 sensors is possible and is defined within the parameter Sensor Type In this case the input scaling values are meaningless The calibration characteristic can be shifted by an additional input offset value Writing 1 on autozero will enable the zero offset value to be set so that the instantaneous measured process value becomes zero The tare zero value works like the zero offset value but results in an additional net process value Writing 1 on autotare will enable the tare zero value to be set so that the instantaneous measured net process value becomes zero The parameters Span Start and Span End define the process value validity range If the process value exceeds these limits it will be marked as overflowed PDOs used by the module TPDO Properties Mapped objects Index Sub index TPDO1 COBID 180h NodelD NetPV1 9140h Oth Transmission Type FFh __ Al Operating mode 6112h Oth TPDO 2 COBID 280h NodelD NetPV2 9140h 02h Transmission Type FFh_ Al Operating mode2 6112h 02h TPDO3 COBID 380h NodelD NetPV1 9140h Oth Tran
14. ontrollers 3 CiA DRP303 2 Representation of SI Units and Prefixes Power Supply 45W 24Vdc 2A AP S2 AL DR45 24 Power Supply 120W 24Vdc 5A AP S2 AL DR120 24 Additional Terminal Block 2x11 AP S2 TB 211 1 Female Plug 11 Screw clamp AP S2 SPINA V11 Female Plug 11 Spring clamp AP S2 SPINA M11 RJ45 terminated cable 14cm AP S2 LOCAL BUS76 RJ45 terminated cable 22cm AP S2 LOCAL BUS152 AP S2 TERM CAN CAN Bus termination Adapter 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 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 00020194 UNSIGNED32 RO M Oth VAR AlAutozero cht UNSIGNED32 WO 001 VAR Error Register 00 UNSIGNED8 RO M 02h VAR AlAutozero ch2 UNSIGNED32 WO 1003 ARRAY Predefined error field 00000000 UNSIGNED32 RO KO 6131 ARRAY Al Physical Unit PV UNSIGNED32 0 005 VAR COB ID SYNC 00000080 UNSIGNED32 RW O 00h VAR N of entries 02 UNSIGNED8 RO 1006 VAR Communication cycle period 00000000 UNSIGNED32 RW 0 Oth VAR Al Physical Unit PV ch1 002D0000 UNSIGN
15. r S a v e COB ID 600h NodelD Restore 22h 11h 10h oih 6Ch 6Fh 61h 64h Parameter o 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 1 2 3 a g 7 Reaninentieen 40h Index Sub Index Reserved g COB ID 600h NodelD Read Resnonae 4Fh Index Sub Index Data COB ID 580h NodelD 22h Index Sub Index Data Wile Reques COB ID 600h NodelD 60h Index Sub Index Reserved Wille Response COB ID 580h NodelD 22h 25h 61h Oxht 7Ah 65h 72h 6Fh Write Request Z e r 0 COB ID 600h NodelD Note 1 x 1 for channel 1 2 for channel 2 Index 6139h Al Autotare Writing a signature value of tara to this object causes the Al Tare Zero to be modi fied in such a way that the actual Al Net PV becomes zero Byte 0 1 2 3 4 5 6 7 22h 39h 61h Oxht 74h 6th 72h 6th Write Request t a r a COB ID 600h NodelD Note 1 x 1 for channel 1 2 for channel 2 List of CiA documents to which the user should refer 1 CiA DS301 CANopen Application Layer and Communication Profile 2 CiA DS404 CANopen Device Profile Measuring Devices and Closed Loop C
16. smission Type FFh NetPV2 9140h 02h TPDO 4 COBID 480h NodelD Cold Junction Measure 2000h Oth Transmission Type FFh Note The transmission type is configurable FFh is the default value Hardware Set up Hexadecimal rotary switches and service LEDs LED _ Status Meaning 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 Triple flash _ Sync Error CANopen OFF No error Device working ON DIAG Error ST Blinking INIT and DIAG running screw driver 0 4x 2 5 mm 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 Baud rate Bus length Hi Lo Valid ID Node kbps m switch switch 20 2500 ea Oth address 1 50 1000 DP 02 address 2 100 500 v 125 500 E Fh address 127D 250 250 500 100 800 50 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 Sel
17. the error states 0000000001 Error No Valid Calib An attempt to change the state of a input channel not properly calibrated to operating 0000000002 Error No Config An attempt to change the state of a input channel with a non valid Sensor Type to operating 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 0 1 2 3 4 5 6 7 Emergency oxhi FFn 2th ooh ooh ooh OEh ooh Message COB ID entry 1014h NodelD Note 1 x 1 for channel 1 2 for channel 2 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 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 OFF Power ON cycle or an NMT Reset Node message Error code Byte 0 1 2 3 4 5 6 7 Store 22h 10h 10h Oth 73h 61h 76h 65h Paramete
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