User manual
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1. Read digital input 9 16 6000h 02h TPDO 2 COBID 280h NodelD Read Input Latch 1 8 2011h Oth Transmission Type 01h Read Input Latch 9 16 2011h 02h Read Input Wait 1 8 2012h Oth Read Input Wait 9 16 2012h 02h 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 Hardware Set up Hexadecimal rotary switches service and I O LEDs 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 running Negative Single flash Baud rate setting screwdriver OFF Module OK and ready 0 4x 2 5 mm PWR ON Module Power Supply ON OFF Module Power Supply OFF 1 0 LEDs Status Meaning IN1 46 ON Input active e OFF _ Input inactive Bit Rate and Node ID configuration Bit rate Node ID h Baud rate Bus length Lo Valid ID Node psw kbps m Ei switch 20 2500 Oth address 1 50 1000 02h aes 2 100 500 4 125 500 aes 7Fh ak 127D 250 250 6 500 100 800 50 Notes Default value 8 1000 25 Procedure for Node ID and2. _ 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 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 7 Store 22h 10h 10h Oih 73h 61h 76h 65h Parameter S a V e COB ID 600h NodelD Restore 22h 1th 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 6 a ls ee Read 40h Index Sub Index Reserved request COB ID 600h NodelD Read 4XFh Index Sub Index Data response COB ID 580h NodelD Write 22h Index Sub Index Data request COB ID 600h NodelD Write 60h Index Sub Index Reserved response COB ID 580h NodelD
3. 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 variables listed in the Object Dictionary Object Dictionary structure Index Sub Object hex Index 1000 1001 1003 1005 1006 1007 1008 1009 100A 100C 100D 1010 1011 1014 1015 1017 1018 1200 1800 1801 1A00 1A01 2004 00h Oth 00h Oth oO N 6 e fey D o Sa G Name Default hex VAR Device Type 00010194 VAR Error Register 00 ARRAY Predefined error field 00000000 VAR COB ID SYNC 00000080 VAR Communication cycle period 00000000 VAR Synchrounous window length 00000000 VAR Manufacturer Device Name 16LV VAR Manufacturer Hardware V
4. 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 500 kbps Node ID 127D Noo Parameter configuration Configuring the Input Channels The functional block diagram for the Inputs is consistent with the standard profile CiA DS401 2 The ga signal is first filtered Index 6003h Filter Constant Input 8 bit and Index 2004 Filter Constant then polarised Index 6002 Polarity Input 8 bit and finally assigned to the variable that contains its value Index 6000h Read Input 8 bit The information is now ready to be transmitted on the CAN network via the TPDO1 Other entries determine the trigger condition Index 6006h Interrupt Mask Any Change 8 bit detection of
5. 2010 ARRAY Value Time 00h VAR Number of entries Oth VAR Value Time 1 02h VAR Value Time 2 03h VAR Value Time 3 04h VAR Value Time 4 05h VAR Value Time 5 06h VAR Value Time 6 07h VAR Value Time 7 08h VAR Value Time 8 09h VAR Value Time 9 OAh VAR Value Time10 OBh VAR Value Time 11 OCh VAR Value Time 12 ODh VAR Value Time 13 OEh VAR Value Time 14 OFh VAR Value Time 15 10h VAR Value Time 16 2011 ARRAY Read Input Latch 00h VAR Number of entries Oth VAR Read Input Latch 1 8 02h VAR Read Input Latch 9 16 2012 ARRAY Read Input Wait 00h VAR Number of entries Oth VAR Read Input Wait 1 8 02h VAR Read Input Wait 9 16 3000 VAR Node Address 3001 VAR Node Baudrate 6000 ARRAY Read Input 8 bit 00h VAR Number of entries Oth VAR _ DigInput8_1 02h VAR _ Diginput8_2 6002 ARRAY Polarity Input 8 bit 00h VAR Number of entries Oth VAR Polarity8_1 02h VAR Polarity8_2 6003 ARRAY Filter Constant Input 8 bit 00h VAR Number of entries Oth VAR FilterConst8_1 02h VAR _ FilterConst8_2 6005 VAR Global Interrupt Enable Digital 6006 ARRAY Interrupt Mask Any Change 8 bit 00h VAR Number of entries Oth VAR _ InterruptAnyChange8_1 02h VAR _ InterruptAnyChange8_2 6007 ARRAY Interrupt Mask Low to High 8 bit 00h VAR Number of entries Oth VAR _ InterruptLowToHigh8_1 02h VAR _ InterruptLowToHigh8_2 6008 ARRAY Interrupt Mask High to Low 8 bit 00h VAR Number of entries Oth VAR _ InterruptHighToLow8_1 02h VAR _ InterruptHighToLow8_2 D
6. Ascon mod 10 CB DI 16LV 00_ M U 10 CB DI 16LV 2 07 07 TECNOLOGIC Cod J30 658 1ADI 16LV E 1S09001 Certified User manual Ascon Tecnologic S r l Contents via Indipendenza 56 Characteristics 27029 Vigevano PV Italia Tel 39 0381 69871 Functional Block Diagram Fax 39 0381 698730 PDOs used by the module www ascontecnologic com Hardware Set up Parameter configuration Commands Emergency messages Parameter Store Restore Object Dictionary APPLICABLE STANDARDS The DI 16LV module is suited for the CiA DS301 protocol 1 and implements the CiA DS401 standard Device Profile 2 Characteristics Technical data Number of channels 16 Polarity EN 61131 2 type 1 Sink UL state 0 3 11 5 Vdc UT transition 5 11 Vdc UH state 1 11 30 Vdc Input impedance 5 kQ ON OFF delay 5 ms Max monostable time 65s 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 3 W Overvoltage protection 40 Vdc Dimensions L 76 H 110 W 65 Weight 220 g Safety regulations Isolation class II 50Vrms EN61010 1 Installation cathegory Il Pollution degree 2 CE marking EN61131 2 3 way isolation diagram toge Input Fieldbus channels 1 16 Power supply 800Vp Environment Operating Storage Temp
7. any input level change Index 6007h Interrupt Mask Low to High 8 bit detection of a Low to High edge Index 6008h Interrupt Mask High to Low 8 bit detection of a High to Low edge Index 6005h Global Interrupt Enable the actual PDO transmission is performed if two initial conditions are met the variable in Index 6005h should be TRUE and the PDO transmission type should be 255 In addition to the expected functions the module provides a number of proprietary input function options Below is an explanation of the added functions e Input Latch Available for all inputs Index 2011h Read Input Latch contains the value of the staticised inputs Index 200Eh Reset Latch commands the resetting of a single latched input on a bit basis writing 1 to the n th bit resets the n th input channel The latching function acts after the filtering and polarity settings e Input monostable Available for all inputs The input active value is maintained for a duration of time configurable with the Index 2010h Time Value 16 element ARRAY time base 5ms The state of the inputs are kept in Index 2012h Read Input Wait Module specific parameters Index 3000h Node Address Current Module Node ID Index 3001h Baudrate Current Module Bit rate Commands 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 fo
8. efault hex 01 02 TRUE FF 00 00 00 00 Type UNSIGNED8 u U U U U U U U U U U U U U NSIGNED8 UNSIGNED8 UNSIGNED8 UNSIGNED8 NSIGNED16 UNSIGNEDS NSIGNED16 UNSIGNED16 NSIGNED16 UNSIGNED16 NSIGNED16 UNSIGNED16 NSIGNED16 UNSIGNED16 INSIGNED16 NSIGNED16 INSIGNED16 NSIGNED16 INSIGNED16 NSIGNED16 INSIGNED16 NSIGNED16 INSIGNED8 NSIGNED8 UNSIGNEDS INSIGNED8 INSIGNED8 UNSIGNED8 UNSIGNEDS UNSIGNED8 UNSIGNEDS INSIGNED8 INSIGNED8 UNSIGNED8 UNSIGNEDS NSIGNED8 NSIGNED8 NSIGNED8 NSIGNED8 NSIGNED8 NSIGNED8 NSIGNED8 UNSIGNED8 UNSIGNED8 BOOLEAN NSIGNED8 NSIGNED8 UNSIGNEDS NSIGNED8 NSIGNED8 NSIGNED8 NSIGNED8 NSIGNED8 UNSIGNED8 NSIGNED8 NSIGNED8 UNSIGNED8 oo oo The factory set value present in the modules when new for the transmission type is O1h
9. er Constant 6 00 VAR Filter Constant 7 00 VAR Filter Constant 8 00 VAR Filter Constant 9 00 VAR Filter Constant 10 00 VAR Filter Constant 11 00 VAR Filter Constant 12 00 VAR Filter Constant 13 00 VAR Filter Constant 14 00 VAR Filter Constant 15 00 VAR Filter Constant 16 00 eC Cea lt SCecec te u U U U Cec aCcece ce 7mecoeicec SececececBecececeaca vec ecBc amp Type INSIGNE NSIGNE NSIGNEI NSIGNE INSIGNE NSIGNE NSIGNE INSIGNE NSIGNE INSIGNE NSIGNE INSIGNE NSIGNEI NSIGNE INSIGNE NSIGNE INSIGNE NSIGNEI NSIGNE NSIGNE NSIGNEI NSIGNE NSIGNE NSIGNEI NSIGNE INSIGNE NSIGNE INSIGNE DO Com NSIGNEI NSIGNE INSIGNE NSIGNE NSIGNEI NSIGNE INSIGNE NSIGNEI NSIGNEI DO Map NSIGNEI NSIGNEI NSIGNEI NSIGNEI NSIGNEI NSIGNE NSIGNEI NSIGNE NSIGNEI NSIGNE NSIGNEI NSIGNE NSIGNEI NSIGNE NSIGNEI NSIGNE NSIGNEI NSIGNE NSIGNEI NSIGNE NSIGNEI NSIGNE NSIGNEI is String is String is String D32 D8 D32 D32 D32 D32 D16 D8 D32 D8 D32 D32 D8 D32 D32 D16 D16 dentity 23h D8 D32 D8 D32 D32 DO CommPar 20h DO Mapping 21h D8 D32 D32 ping 21h D8 D32 D32 ogofoco ocodo0z S oooO Index Sub Object Name hex Index 200C VAR Operating Mode 200E ARRAY Reset Input Latch 00h VAR Number of entries Oih VAR Reset Input Latch 1 8 02h VAR Reset Input Latch 9 16
10. erature 10 465 C 40 485 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 16 Isolated Digital Inputs mod I0 CB DI 16LV 16 optoisolated digital inputs with special functions Latched inputs Monostable inputs Edge detect and interrupt 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 i Transmit ___ interrupt enable fi gt Any change High to low 4 gt 10R Close if TRUE Low to high A PDOs used by the module TPDO Properties Mapped objects Index Sub index TPDO 1 COBID 180h NodelD Read digital input 1 8 6000h O1h Transmission Type 01h
11. ersion 1 00 VAR Manufacturer Software Version 1 00 VAR Guard Time 0000 VAR Life Time Factor 00 ARRAY Store parameters VAR Largest subindex supported 01 VAR Save all parameters 03 ARRAY Restore default parameters VAR Largest subindex supported 01 VAR Restore all default parameters 01 VAR COB ID EMCY 80 NodelD VAR Inhibit Time EMCY 0000 VAR Producer heartbeat time 0000 RECORD Identity Object VAR Number of entries 04 VAR Vendor ID 000000E9 RECORD Server SDO Param VAR Number of entries 02 VAR COB ID Client gt Server 600 NodelD VAR COB ID Server gt Client 580 NodelD RECORD 1st Transmit PDO Comm Param VAR Largest subindex supported 05 VAR COB ID used 180 NodelD VAR Transmission type Fee VAR Inhibit time 0000 VAR Reseved VAR Event timer 0000 RECORD 2 Transmit PDO Comm Param VAR Largest subindex supported 05 VAR COB ID used 280 NodelD VAR Transmission type ERA VAR Inhibit time 0000 VAR Reseved VAR Event timer 0000 RECORD 1t Transmit PDO Mapping VAR No of mapped application obj 02 VAR DigInput8_1 60000108 VAR DigInput8_2 60000208 RECORD 2nd Transmit PDO Mapping VAR No of mapped application obj 04 VAR Read Input Latch 1 8 20110108 VAR Read Input Latch 9 16 20110208 VAR Read Input Wait 1 8 20120108 VAR Read Input Wait 9 16 20120208 ARRAY Filter Constan VAR Number of entries 10 VAR Filter Constant 1 00 VAR Filter Constant 2 00 VAR Filter Constant 3 00 VAR Filter Constant 4 00 VAR Filter Constant 5 00 VAR Filt
12. llowing the table below DN Transition Operating Behaviour 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 2 00h Return to the initialisation ready state The transition is performed e following an operator s command e after assigning a configuration parameter 2004h 2010h 3 FFh The error state is automatically assigned by the devi ce and the operating mode value is read only when e an attempt is made to execute an unexpected command 4 00h This value causes an exit from the error state after the error condition is acknowledged The only transition is to the ready state Emergency messages 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 Emergency qin FFn 21h ooh ooh OOh 00h oyh Message COB ID entry 1014h NodelD
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