User manual
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1. Return to the initialisation ready state The transition is performed e following an operator s command The error state is automatically assigned by the device 3 FFh and the operating mode value is read only when e an attempt is made to execute an unexpected command This value causes an exit from the error state after 4 00h the error condition is acknowledged The only transition is to the ready state 2 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 one for each channel OxFFO1 for channel 1 and OxFFO2 for channel 2 The codes indicating a specific condition are also inser ted 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 2 3 4 5 6 7 Emergency Oth FFh 21h 00h OOh 00h 00h Oyh Message COB ID entry 1014h NodelD LS 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 d2. bit UNSIGNED8 0 Oth VAR COB ID Client gt Server 600 NodelD UNSIGNED32 RO 00h VAR Number of entries 04 UNSIGNED8 RO 02h VAR COB ID Server gt Client 580 NodelD UNSIGNED32 RO Oth VAR _ FilterMask 8_1 FF UNSIGNED8 RW 1400 RECORD 1s Receive PDO Comm Param PDO CommPar 20h M 02h VAR FilterMask 8_2 FF UNSIGNED8 RW 00H VAR Largest subindex supported 02 UNSIGNED8 RO 03h VAR FilterMask 8_3 FF UNSIGNED8 RW Oih VAR COB ID used 200 NodelD UNSIGNED32 RW 04h VAR FilterMask 8_4 FF UNSIGNED8 RW 02h VAR Transmission type FF UNSIGNED8 RW 1600 RECORD 1 Receive PDO Mapping PDO Mapping 21h M 00h VAR No of mapped application obj 04 UNSIGNED8 RO Oih VAR DigOutput8_1 62000108 UNSIGNED32 RO 02h VAR DigOutput8_2 62000208 UNSIGNED32 RO 03h VAR DigOutput8_3 62000308 UNSIGNED32 RO 04h VAR DigOutput8_4 62000408 UNSIGNED32 RO 200C VAR Operating Mode 01 UNSIGNED8 RW 0 3000 VAR Node Address TE UNSIGNED8 RO 0 3001 VAR Node Baudrate 06 UNSIGNED8 RO KO The factory set value present in the modules when new for the transmission type is 01h
3. 127D Factory set values Bit Rate 500 kbps Node ID 127D Noah 0 do not care the received output value is neglected for the correspon ding output channel 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 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 Operating Storage 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 1 Oth Operating mode RUN is activated
4. 800Vp Environment Operating Storage Temperature 10 4 65 C 40 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 1 0 module 32 Digital Outputs mod 10 CB D0 32TS 32 digital outputs Each of the output terminals can be programmed as standard optoisolated output with polarity control and filtering 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 Block iter gt Functional Block Diagram Change polarity gt Device failure 1 PDOs used by the module RPDO Properties Mapped objects Index Sub index DigOutput 8_1 6200h Oth COBID 200h NodelD DigOutput 8_2 6200h 02h Transmission Type 01
5. ASCON mod 10 CB DO 32TS 00 M U 10 CB DO 32TS 2 07 07 TECNOLOGIC Cod J30 478 1AD0 32TS E IS09001 Certified Ascon Tecnologic S r l via Indipendenza 56 27029 Vigevano PV Italia Tel 39 0381 69871 Fax 39 0381 698730 www ascontecnologic com User manual Contents Characteristics Functional Block Diagram PDOs used by the module Hardware Set up Parameter configuration Commands D UE 4 Emergency messages EE Ht mmmm Parameter Store Restore Ba 458 Object Dictionary The DO 32TS module is suited for the CIA DS301 protocol 1 and implements the CiA APPLICABLE STANDARDS DS 401 standard Device Profile 2 Characteristics Technical data Number of channels 32 Polarity high side Source PNP Output voltage 24 Vdc nominal Output current 0 5A Total continuous output current max 16 A ON OFF delay lt 5 ms General 3 way isolation Channel to Channel No Channel to Logic 800 Vp Logic to Serial Bus 800 Vp Power Supply to Logic 800 Vp Power supply 24 Vdc 15 25 Power consuption 3W Overvoltage protection 40 Vdc Dimensions L 152 H 110 W 65 Weight 350 g Safety regulations Isolation class II 50Vrms EN61010 1 Installation cathegory II Pollution degree 2 CE marking EN61131 2 i i Output 3 way isolation Fieldbus ge channels diagram 1 16 Power supply Output channels 17 32
6. efault 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 Byte 0 1 2 3 4 5 6 ii Store 22h 10h 10h Oth 73h 61h 76h 65h Parameter S a v e COB ID 600h NodelD Restore 22h 11h 10h_ oth 6Ch 6Fh Gih 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 i 2 eael sae ae es me COB eee F neS Read response D COB stb NodelD S rerequest a me COB SETO NodelD ae Write response me COB SEAD F bitte 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 I O Modules 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 P
7. h DigOutput 8_3 6200h 03h DigOutput 8_4 6200h 04h RPDO 1 Note The Transmission Type is configurable Oth is the factory set value present in the modules when come from the factory FFh is the default value Hexadecimal rotary switches service and I O LEDs 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 8 outputs 1 output active rvice Status Meanin ea tocar LEDS d ON Operational RUN Blinking Pre operational CANopen Single flash STOPPED OFF Device in RESET state ON BUS OFF Single flash Warning limit reached 1 output not active The output signalling from a CAN message is processed first Two preprocess items are performed e Polarisation Index 6202h Polarity Output 8 bit This object defines the polarity of a group of 8 output lines Output polarity can be inverted individually 1 output inverted 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 running Single flash Baud rate setting OFF Module OK and ready PWR ON Module Power Supply ON OFF Module Power Supply OFF VOLEDs Status Meaning OUT 1 32 0N Output active 0 output not inverted If the ob
8. ject 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 OFF Output inactive Bit Rate and Node ID configuration Bit rate Node ID eure Baud rate Bus length Lo a Valid ID Node kbps m pi switch 20 2500 Oth address 1 50 1000 02h os 2 100 500 4 125 500 EAA 7Fh aloes 1270 250 250 6 500 100 800 50 1000 25 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 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 8 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 Default values Bit Rate 20 kbps Node ID
9. lug 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 CAN termination Adapter 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 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 6200 ARRAY Write Output 8 bit UNSIGNED8 M 001 VAR Error Register 00 UNSIGNED8 RO M 00h VAR Number of entries 04 UNSIGNED8 RO 1003 ARRAY Predefined error field 00000000 UNSIGNED32 ROME KO Oth VAR DigOutput 8_1 00 UNSIGNED8 RW 005 VAR COB ID SYNC 00000080 UNSIGNED32 RW 0 02h VAR DigOutput 8 2 00 UNSIGNED8 RW 1006 VAR Communication cycle period 00000000 UNSIGNED32 RW 0 03h VAR DigOutput 8_3 00 UNSIGNED8 RW 007 VAR Synchrounous window length 00000000 UNSIGNED32 RW 0 04h VAR DigOutput 8 4 00 UNSIGNED8 RW 1008 VAR Manufacturer Device Name 32TS Vis String const 0O 6202 ARRAY Polarity Output 8 bit UNSIGNED8 0 009 VAR Manufacturer Hardware Version 1 00 Vis String const 0 00h VAR Number of entries 04 UNSIGNED8 RO 100A VAR Man
10. ufacturer Software Version 1 00 Vis String const O Oth VAR Polarity 8_1 00 UNSIGNED8 RW 00C VAR Guard Time 0000 UNSIGNED16 RW 0 02h VAR Polarity 8_2 00 UNSIGNED8 RW 100D VAR Life Time Factor 00 UNSIGNED8 RW 0 03h VAR Polarity 8_3 00 UNSIGNED8 RW 010 ARRAY Store Parameters UNSIGNED32 0 04h VAR Polarity 8_4 00 UNSIGNED8 RW 00h VAR Largest subindex supported 01 UNSIGNED8 RO 6206 ARRAY Error Mode Output 8 bit UNSIGNED8 0 Oih VAR Save all parameters 03 UNSIGNED32 RW 00h VAR Number of entries 04 UNSIGNED8 RO 1011 ARRAY Restore Default Parameters UNSIGNED32 RW 0 Oth VAR ErrorMode 8_1 FF UNSIGNED8 RW 00h VAR Largest subindex supported 01 UNSIGNED8 RO 02h VAR _ ErrorMode 8_2 FF UNSIGNED8 RW Olh VAR Restore all default parameters 01 UNSIGNED32 RW 03h VAR ErrorMode 8 3 FF UNSIGNED8 RW 1014 VAR COB ID EMCY 80 NodelD UNSIGNED32 RW 0 04h VAR ErrorMode 8_4 FF UNSIGNED8 RW 1015 VAR Inhibit Time EMCY 0000 UNSIGNED16 RW 0 6207 ARRAY Error Value Output 8 bit UNSIGNED8 0 1017 VAR Producer heartbeat time 0000 UNSIGNED16 RW 0 00h VAR Number of entries 04 UNSIGNED8 RO 1018 RECORD Identity Object Identity 23h M Oth VAR _ ErrorValue 8_1 00 UNSIGNED8 RW 00h VAR Number of entries 01 UNSIGNED8 RO 02h VAR ErrorValue 8_2 00 UNSIGNED8 RW Oth VAR Vendor ID 000000E9 UNSIGNED32 RO 03h VAR ErrorValue 8_3 00 UNSIGNED8 RW 1200 RECORD Server SDO Parameters 04h VAR ErrorValue 8_4 00 UNSIGNED8 RW 00h VAR Number of entries 02 UNSIGNED8 RO 0 6208 ARRAY Filter Mask Output 8
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