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1. rt CSD Ih CAN MODULE xy Manual of the Module Specific Software ee Sea a 5 ISD CSD ihi l l 7 i l N CAN Application Layer l sd Torop LMT NMT and DBT for l ile eens esd CAN Modules l i l l e e l i i t l l l I CAN Sse eee eS Eom F MODULE xy Hardware h C Manual The first manual contains the software features and the parameters which are only significant for this module The manual can be used independently from the chosen CAN protocol CAN Control I O Manual of the Module Specific Software Here for instance the functions of the type specific firmware the allocation of the COBs CAL Communication Objects and identifiers and the allocation of the user parameters are described CAN Control I O Software Rev 1 1 1 1 Overview The second manual contains general software descriptions which are valid for all esd CAN modules which are operated by means of the same protocol Two different protocols are available for the modules The esd CAN protocol and the CMS protocol The protocols are independent from each other and are used alternatively Depending on the implemented protocol one of the following two manuals is therefore valid for the module The esd CAN protocol is described in the manual esd Protocol for CAN Modules It offers the user the possibil2. 0 transmits the delay time which is to pass before the module initiates the transmission of Tx frames after a RESET The delay time is to secure that all modules operate rigidly on the bus before the module starts transmitting The changed parameter becomes only active after a save config command refer to esd protocol for CAN modules with a following RESET User parameter no Parameter Value range sub command no S0000 SFFFF 2710 00 j j Table 3 2 1 User parameter 0 CAN Control I O Software Rev 1 1 3 3 User parameter 3 2 2 Mask for Output Error and Status Message Parameter 2 By means of parameter 2 for each output group of the CAN Control I O module it can be chose if a transmission shall be initiated when the status bytes alternates L H edge or H lt L edge of at least one parameter s bit User parameter no Default Parameter Value range sub command no setting 02 outerr vccmask 0000 FFFF FFFF Table 3 2 2 User parameter 2 For the evaluation of this user parameter the two bytes are considered separately in the format xx yy The first byte xx is used for masking the general error status of the a errstat and the second byte yy is used for masking the VCC status of the groups vccerr vccstat Bits of user parameter enables an error message if the following error byte errstat vecerr vccstat alternates gt inthe output group gt 716 5 4 3 2 1 Jol7 o
3. id11 id8 id7 id4 id3 id2 idl RxId1 Setting the 32 outputs TxId1 Transmitting the status of 64 inputs Setting of A coding TxId2 Transmitting the programmed value of 32 switch outputs Transmitting the status of the supply voltage TxId3 of the output groups Table 2 1 1 Assignment of the identifiers in default position CAN Control I O Software Rev 1 1 2 1 Pt Local Software Mode of Operation The following table shows the assignment of the identifers for the coding switch settings 1 2 and 3 as Coding switch setting Default identifier values Identifier module number HEX a an example Table 2 1 2 Example for the default settings of the identifiers The identifiers are freely programmable by means of the CAN The programmed identifiers replace the set default identifiers The module transmits the level status of the 64 digital inputs on the Tx identifier TxId1 The status message of the output channels is transmitted on Tx identifier TxId2 The status message of the supply voltages for the output groups is transmitted on Tx identifier TxId3 The outputs are set by means of Rx identifier RxId1 2 1 2 Module No The module no is used to identify the module during the initialition by the esd CAN protocol In the default state of the module the value of the module no is set by the coding switch When the The module no that is used to identify the module during th configuration when it is configurated 2 2 C
4. this function is enabled for each Tx identifier 2 4 CAN Control I O Software Rev 1 1 Local Software Mode of Operation Pt 2 2 2 Transmitting the Input Status I0 164 by means of TxId1 The module transmits the status of the 64 digital inputs by means of the eight byte containing message of the identifier The length of the message is always eight bytes If a high signal applies to an input the respective bit of the transmitted bytes is set to l on The same is valid for the low level of an input bee Bites lhe sais i Bi a 2 Bites 7 6 5 4 3 2 1Jol7 o s 4 3 2 ifol7 o s s s 2 ifo 7fols 4 s 2 ol TxId1 Input I 63 62 61 60 59 58157 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 32 we Bite l aB a a eB iis 2 SAI Bing Tlelslalsl2li ol7l6lslalslelilol lelsl ll h lol7ls slal lilo Txld1 Input I 31 30 29 28 27 26 25 24 23 22 21 20hiohislizhishishiahish2jiiho o s 7 l6 5 4 3 2 l Jo Table 2 2 1 Reading the inputs IO to 164 by TxId1 The enabling of the transmission of the input status if at least one input signal alternates it s state is gt done by the user parameters i nput_change_mask_ CAN Control I O Software Rev 1 1 2 5 Pt Local Software Mode of Operation 2 2 3 Status Messages of Outputs by means of TxId2 The module can send status messages at Tx identifier TxId2 The data length is always 7 bytes The transmis
5. AN 1io6 ld aa Designation of module software module name Revision no of the CAN kernel software general firmware C e E a a a e i a a i Revision no of esd CAN protocol general firmware ee HHH HK Revision letter of the module specific implementation The above shown example is from a CAN Control I O module with the CAN kernel revision 1 d esd protocol revision a and the module specific firmware revision a Changes in the chapters The changes in the user s manual listed below may encompass changes in the firmware as well as changes in the description of the facts Firmware Manual eg eee Chapter Changes versus last manual revision First English issue CAN Control I O Software Rev 1 1 Content Page 1 Overview acos hae he ae ee BE Sa A OO ee ee ee ee eet 1 1 YES Whats fo on ee a E a E 1 1 1 2 Default Settings iieri ask Res hate eat he ail ete Ca ele e a Bde athlete hag 1 3 2 Local Software Mode of Operation 0 0 0 000 2 1 2 1 General on Setting and Reading the Digital Outputs and Inputs 2 1 PML CMO aoii ei tlveh gota edie achat Oued E A gach alk TE et 2 1 212 Mod le N Atha tle lt ie atin UM Ne eee ee 2 a aT oS 2 2 2 1 3 Count Mode of the Inputs and Outputs 004 2 3 2 2 Functions of the Tx identifiers 0244 2cca2qs bene bo erode ea dd ewe 2 4 2 2 1 Start the Transmission Of a Tx Br
6. AN Control I O Software Rev 1 1 Local Software Mode of Operation Pt The 64 inputs of the module are counted in this manual similar to the hardware manual of the module from 0 to 63 10 163 2 1 3 Count Mode of the Inputs and Outputs The 32 outputs are named QO to Q31 The 32 outputs are divided into 8 groups The outputs of each group are set by one driver circuit that has it s own supply voltage connection pins The output groups are named as follows OoOrFNWHBND Table 2 1 3 Assignment of the outputs to the output groups CAN Control I O Software Rev 1 1 2 3 Pt Local Software Mode of Operation 2 2 Functions of the Tx identifiers 2 2 1 Start the Transmission of a Tx Frame The transmission of a Tx frame can be initiated as follows 1 Cyclic The transmission can be initiated cyclically if the cycle time is set by the according parameter Tx Activate Time for TxId This parameter can be set by use of the esd CAN protocol refer to manual esd Protocol for CAN Modules The factory setting of the cycle time for TxId3 is 10 s 2 Remote Request The transmission of a Tx frames can always be requested by a RTR frame 3 Alternation of Tx Data If the data of an identifier alternate this can initiate the transmission of one or more identifiers if this function is enabled The enabling is done by the user parameters which are described in a separate chapter With the factory settings of the user parameters
7. CAN Control I O Manual of the Module Specific Software CAN Control I O Software Rev 1 1 NOTE The information in this document has been carefully checked and is believed to be entirely reliable esd makes no warranty of any kind with regard to the material in this document and assumes no responsibility for any errors that may appear in this document esd reserves the right to make changes without notice to this or any of its products to improve reliability performance or design esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product of esd gmbh esd does not convey to the purchaser of the product described herein any license under the patent rights of esd gmbh nor the rights of others esd electronic system design gmbh Vahrenwalder Str 205 D 30165 Hannover Germany Phone 49 511 372 980 FAX 49 511 633 650 E mail sales esd electronics com Internet http www esd electronics com This document shall not be duplicated nor its contents used for any purpose unless express permission has been granted Copyright by esd CAN Control I O Software Rev 1 1 Manual File I TEXTE DOKU MANUALS CAN LASCON ON LCIO 11S EN6 20 10 98 Described Software Revision CAN Kernel see manual esd Protocol for CAN Modules The designation of the firmware implemented is labelled on the EPROM within the case of the module The meaning of the characters is as follows C
8. affecting the default setting of other parameters Changes in parameters only remain active after a RESET if they have been stored in the EEPROM Default values in operation of the module with the esd CAN protocol INIT Id in all operating modes 700 3 TxIds and 1 RxId The default value of the identifiers is determined by the setting of the coding switch in the front panel The 4 identifiers are distinguished by means of the identifier bits id1 and id2 setting of the coding switch setting of the jumper J220 1 Mbits s When allocating identifiers of other modules on the CAN the user has to take care that no identifier is assigned twice Identifier Table 1 2 1 Default settings of the module in operation with the esd protocol CAN Control I O Software Rev 1 1 1 3 Overview Module name ASCII LIO64 setting of the coding switches CAN bitrate setting of jumper J220 1 Mbits s After a default RESET a configuration download to the module by means of the NMT protocol is absolutely necessary The assignment of the COBs is not yet known 10 1997 Table 1 2 2 Default adjustments of the module in operation with CAL 1 4 CAN Control I O Software Rev 1 1 Overview Default setting HEX 03E8 module transmits at the earliest 1 s first Tx activate delay 1000 ms after power on or RESET on the bus transmission of status message in outerr vccmask FFFF case of rising and falling edge of a st
9. ame c2 eck ene lee be ede oe ee ese 2 4 2 2 2 Transmitting the Input Status 10 164 by means of TxId 2 5 2 2 3 Status Messages of Outputs by means of TxId2 2 6 2 2 4 Transmission the Output Driver s Supply Voltage Values at TxId3 2 8 2 3 Setting the Outputs by RxIGN 4c c cicn a hates Gok Gates Gece neat tone mie ea yaaa 2 9 5 User Parameter a aig ai cay SESS eee Sie eRe eee oe Bee Ree eee eee hee 3 1 3 1 Overview of the User Parameters n nnua de hd be dein bw eae 3 1 3 2 Description of the User Parameters 0 0 cece eee eee 3 3 3 2 1 First Tx Activate Delay Parameter 0 2 0 cece eee eee 3 3 3 2 2 Mask for Output Error and Status Message Parameter 2 3 4 3 2 3 Setting of the Error Hold Time Parameter 3 00 3 5 3 2 4 Input Masks Parameters 4 7 2 0 2 eect eee 3 6 3 2 5 Definition of the Voltage Thresholds Parameters 8 15 3 7 A CEDDisplay nuhat ea Oh Gre She Se oe res tn Wh a eo I cs Nile et as a 4 1 4 1 Error LED at it yee ei r ha eee hale p E wea A Week 4 1 AIVOC OK LED 3233s ondee TREN R Fane ss eames ae ee ees 4 1 CAN Control I O Software Rev 1 1 i l CAN Control I O Software Rev 1 1 Overview 1 Overview 1 1 What is Where The description of the esd CAN modules is divided into three manuals which are handed out in one file
10. atus bit error hold ti me ek error hold time 16 ms input change _mask_63 48 FFFF input_change_mask_ 47 32 SFF FF transmission of all input states if at input change mask 31 16 F FF F least one input changes it s state input _change_mask_ 15 0 FFFF 8B53 8B53 8B53 8B53 8B53 8B53 8B53 8B53 switching level of the supply voltage monitor for each supply voltage is default Vun 17 8 V and Vuax 29 8 V Table 1 2 3 Default settings of the user parameters of the module The user parameters will be explained in detail in a special chapter CAN Control I O Software Rev 1 1 1 5 CAN Control I O Software Rev 1 1 Local Software Mode of Operation Pt 2 1 General on Setting and Reading the Digital Outputs and Inputs 2 Local Software Mode of Operation 2 1 1 Identifier When operating with the default parameters the digital inputs and outputs of the CAN Control I O module are read or set by means of the identifier set at the coding switches The 2 LSB distinguish the various identifiers The identifiers can be determined as follows identifier 200 coding_switch_setting 1 x 8 For the setting of the coding switch only values between 1 and F are permitted If the setting is 0 when power is switched on a default RESET is generated The default RESET sets all parameters even the parameters that are stored in the EEPROM to the factory setting Identifier bits Identifier Function
11. d no setting a eS Ce C a eT Cd C on cee Table 3 2 6 User parameters 4 7 Bits of the user parameter 15114113112111 110 7 slal3l2l i1 input_change_mask_63 48 gt mask input gt e3 s2 61 6o so ss 57 s6 s5 s4 53 52 s1 50 49 as Bits of the user parameter Bits of the user parameter 151141131121 11 10 7 slal3l2l1 input_change_mask_31 16 gt penere HA DDOOUCEO0600 l ut a mask inp t gt fis 14a fi fro 9 8 7 fo 5 4 3 2 fo Table 3 2 7 Assignment of the user parameter bits to the inputs 3 6 CAN Control I O Software Rev 1 1 User parameter ba 499 3 2 5 Definition of the Voltage Thresholds Parameters 8 15 By means of the parameters 8 to 15 the voltage thresholds of the output driver s voltage monitor can be defined There is one user parameter for each output group sub command no setting Table 3 2 8 User parameter 8 15 CAN Control I O Software Rev 1 1 3 7 User parameter Ia s1 Bits of user parameter gt Output group for user parameter vccdef_7 gt Output group for user parameter vecdef_ 6 gt Output group for user parameter vecdef_5 gt Output group for user parameter vecdef 4 gt Output group for user parameter vecdef 3 gt Output group for user parameter vecdef 2 gt Output group for user parameter vecdef 1 gt Output group for user parameter vecdef_ 0 gt is ia ia i2 irfiolo sfr o 5 4 3
12. d the level of at least one Flashing other supply voltage is not OK Evaluation only of groups that are enabled Constantly ON The level of every enabled supply voltage is OK Table 4 2 1 Luminous states of the VCC OK LED CAN Control I O Software Rev 1 1 4 1
13. ers s supply voltage in binary code There is one bit for the VCC error and one bit for the VCC status for each output group The assignment of the bits to the output groups is the same as used for the parameter errstat refer table above The two bits from the parameters vccerr and vccstat that are assigned to one output group have together the following meaning Value of the parameter bits of one channel Value of the supply Retirned status voltage OK Vun lt Veo lt Vmax Vcc is within the defined working range Vec is lower than the defined Verr lt Veo lt Vain working range but higher than Verr Voc lt Verr Vcc is too low Table 2 2 4 Coding of the supply voltages status signals Supply voltage monitor switching thresholds Verr 9 0 V fix not programmable Vu 17 8 V default value programmable by user parameter Vmax 29 8 V default value programmable by user parameter CAN Control I O Software Rev 1 1 27 Pt Local Software Mode of Operation 2 2 4 Transmission the Output Driver s Supply Voltage Values at TxId3 Via Tx identifier TxId3 the module can transmit the measured values of the output drivers supply voltages Each value of the eight supply voltages transmitted in one byte Table 2 2 5 Assignment of TxId3 with the values of the supply voltages The measured voltage is determined by the following equation code Vec 5 0V 11 0 256 The resolution of the measured valu
14. es is 1 LSB i e 0 2148 V The transmission of TxId3 can be initiated using different ways 1 Cyclic With the factory settings of the parameters the transmission of the voltage values is initiated cyclically every 10 s This time is set by the esd CAN protocol using the parameter Tx Activate Time for TxId3 2 Remote Request The transmission can be requested by a RTR frame 3 Alternation of the status bytesvccerr orvccstat Only if the transmission of TxId3 and TxId2 is enabled by the user parameter outerr vccstat a transmission is initiated if the status bytes alternate With the default setting factory setting of this user parameter the transmission is enabled for each group 2 8 CAN Control I O Software Rev 1 1 Local Software Mode of Operation Pt The CAN Control I O module receives the data for setting the outputs on Rx identifier RxId1 2 3 Setting the Outputs by RxId1 Always 4 bytes has to be transmitted To activate the desired output the according bit has to be set to Be ees Bites 5 ine ot Bid pel ee Bit b Bitten 7 6 5 4 3 2 iJol7 o s 4 3 2tifol7 6 s s 2 ifo 7fols 4 s 2 ol RxlId1 Output Q 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 s 7 Jo fslas 2 Jo Table 2 3 1 Setting the outputs QO to Q31 The status of the outputs after a RESET is 0 in operation with the default parameters CAN Control I O Software Rev 1 1 2 9 CAN Control I O Softwa
15. eter 3 The Error Hold Time is used for holding the error signal active This is necessary because the error signal is set inactive together with the output signal by the automatically internal protection circuit of the driver The output is set active again automatically after a wait time Topp even if the reason for the error is still present This would cause an alternating error output signal The following figure shows a principle timing example Output_nominal Output_actual Ton ca 12 ms Torr 64x TON Overcurrent Err_out Device a pa error_hold_time Err_out CAN TON Fig 3 2 5 Timing example of the error signal After the first error signal is activated the Error Hold Time shall prevent the deactivation of the following error signal for the duration of at least Toy Therefore the value of error hold time has always be set to values greater than Toy CAN Control I O Software Rev 1 1 3 5 User parameter 3 2 4 Input Masks Parameters 4 7 The parameters 4 to 7 define which input shall be determined for the initiation of the transmission of the status of all inputs via TxId1 At least one input has to be selected Both the rising and the falling edges of an input signal can initiate a transmission H lt L edge or L lt H edge If the parameter bit is set to 1 the module transmits the data to the CAN at an edge change of the according input z ee ee TS sub comman
16. fa fo V mn Output group 7 Vun Output group 5 V mn Output group 4 Vun Output group 3 Vin Output group 2 Vin Output group 1 Vmax Output group 0 Vmn Output group 0 Table 3 2 9 Assignment of the user parameters 4 7 to the output groups The value that must be set for a desired voltage threshold Vmax and Vy has is determined as follows V MAX MIN 256 code 5 0V 11 0 with code value that must be transmitted Vumnmax desired voltage threshold CAN Control I O Software Rev 1 1 LED Display 4 LED Display 4 1 Error LED The error LED lights if an error condition is active for at least one output and the error message is enabled The error condition is active if an output driver has activated his error signal The error message can be enabled by the user parameter out err vccmask The error message can also be transmitted in the byteerrstat via TxId2 4 2 VCC OK LED Basic condition for the illumination of the VCC OK LED is the enabling by the user parameter outerr vccmask If an output group is not enabled the status of the supply voltage is not considered for further evaluation The status of a supply voltage is OK if the voltage level is between V mn and Vmax The status of the supply voltages can also be transmitted in the bytes vccerr andvccstat via TxId2 Meaning of the luminous status Constantly OFF None of the supply voltages is OK The level of at least one supply voltage is OK an
17. ity to parameterize the esd CAN modules by means of an initialization identifier 700 By means of this protocol identifiers can be assigned to the module user parameters can be set and watchdog functions can be activated Alternatively the modules can be controlled by the CMS protocol If this protocol is implemented the manual CAN Application Layer LMT NMT and DBT in esd Modules for the CMS option is to be consulted Here the translation of CMS services of the layer management LMT the network management NMT and the identifier distributor DBT in esd CAN modules is explained The third manual contains the hardware description of the module General as well as module specific explanations about the hardware are included in the manual For instance notes on installation and plug assignments can be found here CAN Control I O Hardware Manual At the moment 10 1997 a CMS implementation for this module is not yet available 2 CAN Control I O Software Rev 1 1 Overview 1 2 Default Settings The default settings of the module are active if one or more of the following conditions apply The position of the coding switches after a RESET or a power on had been set to 00 and has then been set to another value A default RESET has been triggered on the module by means of the esd CAN protocol The data of the PC EEPROM are not OK e g EEPROM not inserted Individual parameters can be changed without
18. re Rev 1 1 User parameter I s1 3 User Parameter 3 1 Overview of the User Parameters If the module is run by the esd protocol the user parameters are transmitted by means of the command setting the user parameters 86 on byte 5 and 6 of the INIT Id 700 All user parameters have always to be transmitted as 16 bit value with byte 5 as MSB The sequence for transmitting ans receiving the user parameters is described in detail in an other manual called esd Protocol for CAN Modules In this manual only the module specific user parameters are described The variables transmitted by means of the user parameters partly become active instantly or only after the transmission of a save config command to the module and a following RESET If the CMS protocol is implemented the user parameters are set by a configuration download NMT The format of the configuration download file has not been known at the time this manual went into print 10 1997 CAN Control I O Software Rev 1 1 3 1 P User parameter J 1 Following table gives an overview of the user parameters of the module I aa 0E OF Table 3 1 1 User parameter of the module On the following pages the individual user parameters of the module will be explained in detail 3 2 CAN Control I O Software Rev 1 1 User parameter lt P Ma s1 3 2 Description of the User Parameters 3 2 1 First Tx Activate Delay Parameter 0 Parameter
19. s 4 3 2 i jo Table 3 2 3 Assignment of the output groups to the bits of the user parameter 2 Comments to the bits 15 8 Byte xx Is one of these bits set to 1 this has effects to the initiation of transmission of frames and to the LED display in the front panel 1 An alternation of the common error status errstat of the according group initiates a transmission of an error message via TxId2 2 An error in the according output group activates the signal Err LED error display is activated Comments to the bits 7 0 Byte yy Is one of these bits set to 1 this has effects to the initiation of transmission of frames and to the LED display in the front panel too 1 An alternation of the supply voltage monitor s status vccerr vccstat of the according output group initiates a transmission of an error message via TxId2 and a transmission of the voltage values via TxId3 2 Is the signalvccerr of the according output group active the signal VCC OK is deactivated VCC LED is off or flashing 3 4 CAN Control I O Software Rev 1 1 User parameter re laf s1 3 2 3 Setting of the Error Hold Time Parameter 3 By means of parameter 3 the Error Hold Time is set for the common error message er r stat for all output groups together User parameter no Default Parameter Value range sub command no setting 03 ee ie 0000 FFFF 0010 16 ms Table 3 2 4 User param
20. sion can be started by an edge change of error signals of the output drivers or a change of the supply voltage level of the drivers i e in common with TxId3 Furthermore a transmission of status messages in periodical intervals or by means of a remote request are possible The conditions for activating the transmission of the status message are transmitted by means of the user parameter outerr vccmask eee Bie aoe oe ce Bie el B een Bie alelslalal2lilol7 6lslalsl2lilol7le slal3l2lilol7l6ls 45l o Read back of the programmed desired values pr 09 OUT of output Q 31 30 29 28 27 26 25 24 23 2221 20hiohisjirhshishahisjijiholo s 76 5 4 3 2 fi Jo TxId2 TxId2 errstat vcecerr vecstat not transmitted Table 2 2 2 Status messages on TxId2 Explanation of the individual status messages prog Out programmed output value 31 0 Byte 1 to 4 return the level of the outputs set by means of the CAN desired value l lt output active on 0 lt output not active off errstat error status Byte 5 returns the error status of the 8 output groups in binary code If an error signal of a groups is active the according bit is set to 1 Bits of parameter E woes output groups Table 2 2 3 Coding of the error signals of the output groups 2 6 CAN Control I O Software Rev 1 1 Local Software Mode of Operation Pt vecerr and vecstat Byte 6 and 7 return the status of the output driv
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