User Manual
Contents
1. Parameter 6 Data Type PDO_MAPPING PROCON ELECTRONICS 45 CANopen Data Tvpe UNSIGNED32 7 1 27 Object 1A06h Transmit PDO Mapping Parameter 7 Contains the mapping for the PDOs the device is able to transmit The type of the PDO mapping parameter is at index 21h The subindex Oh contains the number of valid entires within the mapping record This number of entries is also the number of the application variables which shall be transmitted with the corresponding PDO The subindices from 1h to number of entries contain the information about the mapped application variables These entries describe the PDO contents by their index subindex and length All three values are hexa decimal coded The length entry contains the length of the object in bits 1 40h This parameter can be used to verify the overall mapping length It is mandatory Transmit PDO Mapping Parameter 7 PROCON ELECTRONICS 46 CANopen Default Value 0x22020520 7 1 28 Object 1A07h Transmit PDO Mapping Parameter 8 Contains the mapping for the PDOs the device is able to transmit The type of the PDO mapping parameter is at index 21h The subindex Oh contains the number of valid entries within the mapping record This number of entries is also the number of the application variables which shall be transmitted with the corresponding PDO The subindices from 1h to number of entries contain the information about the mapped application variables The2. SW4 SW3 SW2 SW1 Software Off Off Off Off Off 1 Off Off Off Off On 2 Off Off Off On Off 3 Off Off Off On On 4 Off Off On Off Off 4 Off Off On Off On 6 Off Off On On Off 31 On On On On On 4 3 Setting the Baud Rate using the DIP switches The following table assists with the setting up of DIP switches for the required Baud Rate BAUD SWITCH SETTING RATE kbits s SW8 SW7 SW6 SW5 SW4 SW3 SW2 SW1 Software Off Off Off 20 Off Off On 50 Off On Off 125 Off On On 250 On Off Off 500 On Off On 800 On On Off 1000 On On On 4 4 Setting the Node ID using software In order to use the node ID from memory ensure that all of the node ID dip switches are in the OFF position Before the internal node id is selected the user must first write the correct id value to the Module ID object in the manufacturer segment The object address is 2001h The node id can be configured from 1 to 127 PROCON ELECTRONICS 11 CANopen 4 5 Setting the baud rate using software In order to use the baud rate from memorv ensure that all of the baud rate dip switches are in the OFF position Before the internal baud rate is selected the user must first write the correct baud rate value to the Module Baud Rate object in the manufacturer
3. 1 10 Object 1010h Store Parameter Field i 714 11 Object 1011h Restore Default Parameters 7 1 12 Object 1014h COB ID EMCY rsnrrrononnvnnnnanvrnnennrnrsnnnnnnssssvnrnnnnnrnessnnnnser 7 1 13 Object 1015h Inhibit Time Emergency sse ii 7 1 14 Object 1016h Heartbeat Consumer EntrieS i 7 1 15 Object 1017h Producer Heartbeat TIME 7 1 16 Object 1018h Identity Object nono nccona nono nn anna 7 1 17 Object 1029h Error Behaviour iii 7 1 18 Object 1200h Server SDO Parameter 1 irmas 7 1 19 Object 1800h Transmit PDO Communication Parameter 1 7 1 20 Object 1804h Transmit PDO Communication Parameter 5 7 1 21 Object 1805h Transmit PDO Communication Parameter 6 PROCON ELECTRONICS 3 CANopen 7 1 22 Object 1806h Transmit PDO Communication Parameter 7 39 7 1 23 Object 1807h Transmit PDO Communication Parameter 8 i 41 7 1 24 Object 1A00h Transmit PDO Mapping Parameter 1 ii 42 7 1 25 Object 1A04h Transmit PDO Mapping Parameter 5 i 44 7 1 26 Object 1A05h Transmit PDO Mapping Parameter 6 nono nononnncnonoss 45 7 1 27 Object 1A06h Transmit PDO Mapping Parameter 7 ii 46 7 1 28 Object 1A07h Transmit PDO Mapping Parameter 8 i 47 72 MANUFACTURER SEGMENT ai ie Aa 49 7 2 1 Object 2001h 7 2 2 Object 2002h 7 2 3 Obj
4. OPTIONAL CHANGE ino TRANSMIT INPUT FILTER POLARITY 6000h TPDO1 6007h High to Low 9 eo Y Interrupt Mask 6008h gt 4 Low to High pj 7 1 Communication Segment 7 1 1 Object 1000h Device Type Interrupt Enable The device type specifies the kind of device The lower 16 bit contain the device profile number and the upper 16 bit an additional information INDEX 1000 PROCON ELECTRONICS 17 CANopen 7 1 2 Object 1001h Error Register The error register is a field of 8 bits each for a certain error type If an error occurs the bit has to be set ies Meaning generic error communication error overrun error state ND BW NIH O INDEX 1001 WE PROCON ELECTRONICS 18 CANopen 7 1 3 Object 1003h Pre defined Error Field This object holds errors that have occurred on the device and have been signalled via Emergency Object It is an error history Writing to sub index 0 deletes the entire error history ERROR Communications Error CAN Overrun Error CAN in error passive Heart Beat or life guard error CAN recovered from bus off PDO not processed due the length PDO length exceeded e ei PROCON ELECTRONICS 19 CODE 0x8100 0x8110 0x8120 0x8130 0x8140 0x8210 0x8220 CANopen e mm PROCON ELECTRONICS 20 CANopen Default Value 0x00000000 PROCON ELECTRONICS 21 CANopen 7 1 4 Object 1005h COB ID SVNC COB ID of the Svnchronization object The device generat
5. be turned off before the modules are plugged into the base 16 DIGITAL Y PROCON ELECTRONICS 8 CANopen 3 4 Removing the module from the DIN rail To remove the module from the DIN Rail use a flat blade screwdriver to pry the spring loaded clasp away from the DIN rail in the manner shown in the picture below Next pivot the module up and away from the DIN rail and remove 3 5 Grounding Shielding In most cases the modules will be installed in an enclosure along with other devices which generate electromagnetic radiation Examples of these devices are relays and contactors transformers motor controllers etc This electromagnetic radiation can induce electrical noise into both power and signal lines as well as direct radiation into the module causing negative effects on the system Appropriate grounding shielding and other protective steps should be taken at the installation stage to prevent these effects These protective steps include control cabinet grounding module grounding cable shield grounding protective elements for electromagnetic switching devices correct wiring as well as consideration of cable types and their cross sections 3 6 Network Termination Transmission line effects often present a problem on data communication networks These problems include reflections and signal attenuation To eliminate the presence of reflections from the end of the cable the cable must be terminated at both ends wi
6. network Power Flashes to indicate the CPU is running CAN R Indicates the CANopen run state CAN T Indicates a CANopen error Input Status OFF when the input is off ON when the input is on R CANopen RUN state T CANopen Error Input Status 1 16 13 14 15 N w B a D mt PROCON ELECTRONICS 15 CANopen 6 2 Run indicator R RUN LED State Description Single flash STOPPED The device is in STOPPED state Blinking PRE OPERATIONAL The device is in PRE OPERATIONAL state On RUN The device is in RUN state 6 3 Error indicator T ERROR LED State Description Off no error The device is in working condition Single flash warning limit reached At least one of the error counters of the CAN controller has reached or exceeded the warning limit Double flash Error Control Event A guard event NMT Slave or NMT Master or a Heartbeat event has occurred On Bus Off The CAN controller is bus off PROCON ELECTRONICS 16 CANopen 7 Implemented CANopen Objects CAN TRANSMISSION Counter Filter Counter Mapping Communication Enable Preload Parameter Parameter 2101h 2201h 1A04h 1A07h 1804h 1807h Counters a TRANSMIT if 2101h 0 JPDOSR 2200h Counter Enable Default Default Mapping Communication Filter Value Polarity Input Parameter Parameter 2100h 6002h 1A00h 1800h II ENTRY DIGITAL
7. AND BAUD RATE 4 1 CHANGING THE DIP SWITCH TO SET THE NODE ID AND BAUD RATE 4 2 SETTING THE NODE ID USING THE DIP SWITCHES i 4 3 SETTING THE BAUD RATE USING THE DIP SWITCHES i 4 4 SETTING THE NODE ID USING SOFTWARE nennnnnnnnnnninnn nn nr an nnsnrma mnn mnn n tn 4 5 SETTING THE BAUD RATE USING SOFTWARE ccceeeeeeeeseceececececeesseaeeeeeeeseeseaaeeeeeeeens 5 WIRING iii diese ea 5 1 POWER SUPPLY AND COMMUNICATIONS WIRING cccc ici 5 2 WIRING THE DIGITAL INPUTS 0 6 INDICATORS eeonenennnnevennnvenenvennnevennnenenennnnnnnnnnnunnennuvneneveennnenen 6 1 FRONT PANEL INDICATORS Jasper 6 2 RUNINDICATOR Roi ala Shoe e ere A odie A A 6 3 ERRORINDICATOR Tann 7 IMPLEMENTED CANOPEN OBJECTS cscscccssseeccssceccseceeeeees 7 1 COMMUNICATION SEGMENT cc ici 7 1 1 Object 1000h Device Type i 7 1 2 Object 1001h Error Register ii 7 1 3 Object 1003h Pre defined Error Field ii 7 1 4 Object 1005h COB ID SYNC ieereereerereareeacerenaos Object 1008h Manufacturer Device Name Object 1009h Manufacturer Hardware Version Object 100Ah Manufacturer Software Version Object TOOCH Guard Time ae aaa aa 7 1 7 1 7 1 7 1 7 1 9 Object 100Dh Life Time Factor 00 Y O q 7
8. CS 58 CANopen Data Tvpe UNSIGNED8 e 7 3 2 Object 6002h Polarity 8 Input Lines Defines the polarity of a group of 8 input lines me PROCON ELECTRONICS 59 CANopen 7 3 3 Object 6003h Filter Constant 8 Input Lines Filter constant for input modules This defines that an additional configurable filter constant can be enabled or disabled PS Filter for digital Inputs 1 LR Filter for digital Inputs 9 Data Type UNSIGNED8 PROCON ELECTRONICS 60 CANopen Default Value 0x0 7 3 4 Object 6005h Enable Digital Input Interrupts Globally enable or disable input interrupts INDEX 6005 Enable Digital Input Interrupts PROCON ELECTRONICS 61 CANopen 7 3 5 Object 6007h Input Interrupt Mask 8 low to high Determines which input port lines activate an interrupt Done for Groups of 8 lines and for a change from low to high of a digital input line The values are in OR connection to the values of object 6006H INDEX 6007 00000 linputinterruptMask 8 lowto high Data Type UNSIGNED8 less ui ak Input Interrupt Mask low to high Data Type UNSIGNED8 fit Input Interrupt Mask low to high Data Type UNSIGNED8 PROCON ELECTRONICS 62 CANopen Description Counter Overflow Interrupt p Mask for counters 1 8 7 3 6 Object 6008h Input Interrupt Mask 8 high to low Determines which input port lines activate an interrupt Done for groups of 8 lines and for a change from high to low of a digital input lin
9. Heartbeat Consumer Entries 1016h Producer Heartbeat Time 1017h PDO length exceeded 1029h Manufacturer Specific Parameter Object Module ID 2001h Module Baud Rate 2002h Input Filter Value 2100h Counter Filter Enable 2101h Application Parameter Object Polaritv 8 Input Lines 6002h Filter Constant 8 Input Lines 6003h Enable Digital Input Interrupts 6005h Input Interrupt Mask 8 low to high 6007h Input Interrupt Mask 8 high to low 6008h e ei PROCON ELECTRONICS 25 CANopen Default Value 0x4 arameters EN Save Manufacturers Description Parameters Data Type UNSIGNED32 Default Value 0x00000000 PROCON ELECTRONICS 26 CANopen 7 1 11 Object 1011h Restore Default Parameters This entrv supports restoring of default parameters With a read access the device provides information about its capabilities to restore these values Several parameter groups are distinguished Sub index 1 all parameters Sub index2 communication parameters Sub index3 application parameters Sub index 4 127 manufacturer defined parameters For restoring the signature load 0x64616f6c must be written Restore Communication Default Parameters Data Type UNSIGNED32 PROCON ELECTRONICS 27 CANopen Description Default Value 0x00000000 Default Value 0x00000000 PESCIRION Parameters Default Value 0x00000000 7 1 12 Object 1014h COB ID EMCY COB ID used for emergency message Emergency Producer Le Li Default Valu
10. PC16DI CANopen IO Module R 10 11 1 14 15 16 16DI x gt gt u yer ON User Manual p R O C O N P O Box 164 61 2 96248376 Seven Hills 1730 61 2 9620 8709 ELECTRONICS NSW proconelOproconel com AUSTRALIA www proconel com 05 08 2014 V1 0 Procon Electronics makes no representations or warranties with respect to the contents hereof In addition information contained herein are subject to change without notice Everv precaution has been taken in the preparation of this manual Nevertheless Procon Electronics assumes no responsibilitv express or implied for errors or omissions or anv damages resulting from the use of the information contained in this publication All trademarks belong to their respective owners PROCON ELECTRONICS 2 CANopen TABLE OF CONTENTS 1 INTRODUCTION cscssccccssccccsecccseecceseecceseesceseeccnscecceseeoeeees 2 TECHNICAL SPECIFICATION ccccsseccceseecceseeccssceccsscecceseeeees 3 PHYSICAL INFORMATION sccccsssecceseecceseeccessecssceccsseeeceses 3 1 PHYSICAL DIMENSIONS uken 3 2 DIN RAIL BUS ADAPTOR ss Licei FRANE RA AREA ceder sea kai SALE AREA a geada tata En sas ak 3 3 INSTALLING THE MODULE ONTO THE DIN RAIL 3 4 REMOVING THE MODULE FROM THE DIN RAIL 3 5 GROUNDING SHIELDING cirie 3 6 NETWORK TERMINATION LL LL La aa rece cinici nere ne rene ne rene nenene nine nine nine ne nenenene 4 SETTING THE NODE ID
11. d an event time for asynchron pdos INDEX 1804 Parameter 5 PROCON ELECTRONICS 37 CANopen Data Tvpe UNSIGNED16 7 1 21 Object 1805h Transmit PDO Communication Parameter 6 It contains the communication parameters of the current PDO the device is able to transmit Sub index 0 contains the number of PDO parameters implemented Sub index 1 describes the COB ID If bit 31 is set the PDO is disabled The transmission mode is defined bv sub index 2 An inhibit time can be defined on sub index 3 in 100 us At the 5th sub index can be defined an event time for asvnchron pdos INDEX 1805 Parameter 6 PROCON ELECTRONICS 38 CANopen 7 1 22 Object 1806h Transmit PDO Communication Parameter 7 It contains the communication parameters of the current PDO the device is able to transmit Sub index 0 contains the number of PDO parameters implemented Sub index 1 describes the COB ID If bit 31 is set the PDO is disabled The transmission mode is defined bv sub index 2 An inhibit time can be defined on sub index 3 in 100 us At the 5th sub index can be defined an event time for asvnchron pdos INDEX 1806 Parameter 7 PROCON ELECTRONICS 39 CANopen PROCON ELECTRONICS 40 CANopen 7 1 23 Object 1807h Transmit PDO Communication Parameter 8 It contains the communication parameters of the current PDO the device is able to transmit Sub index 0 contains the number of PDO parameters implemented Sub index 1 describes t
12. e The values are in an OR connection to the values of object 6006H INDEX 6008 Input Interrupt Mask 8 high to low Data Type UNSIGNED8 PROCON ELECTRONICS 63 CANopen Lul Input Interrupt Mask high to low 7 3 7 Object 6020h Read State 1 Input Line 1 16 Reads a single input line information A maximum of 128 bit inputs are addressable at one index PROCON ELECTRONICS 64 CANopen Z PROCON ELECTRONICS 65 CANopen PROCON ELECTRONICS 66 CANopen PROCON ELECTRONICS 67 CANopen 0 PROCON ELECTRONICS 68 CANopen 8 SAFETY GUIDELINES 8 1 Introduction The IO Modules have been designed developed or manufactured for conventional use in industry They were not designed developed and manufactured for any use involving serious risks or hazards that without the implementation of exceptionally stringent safety precautions could lead to death injury serious physical damage or loss of any other kind Such risks and hazards include in particular the use of these devices to monitor nuclear reactions in nuclear power plants as well as flight control systems flight safety the control of mass transportation systems medical life support systems and the control of weapons systems When using IO Modules with programmable logic controllers and when using operating and monitoring devices as control systems in conjunction with a Soft PLC the safety precautions applying to industrial control systems e g the
13. e 0x00000080 PROCON ELECTRONICS 28 CANopen 7 1 13 Object 1015h Inhibit Time Emergency Inhibit Time used for emergency message Emergency Producer The time has to be a multiple of 100 us 7 1 14 Object 1016h Heartbeat Consumer Entries The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time configured on the device producing this heartbeat The bits 31 24 of each sub index has to be 0 The bits 23 16 contain the node id The lower 16 bits contain the heartbeat time PROCON ELECTRONICS 29 CANopen 7 1 15 Object 1017h Producer Heartbeat Time The producer heartbeat time defines the cycle time of the heartbeat If the time is 0 it is not used The time has to be a multiple of 1 msec INDEX 1017 PROCON ELECTRONICS 30 CANopen 7 1 16 Object 1018h Identitv Object This object contains general information about the device Sub Index 1 contains a unique value allocated each manufacturer Sub Index 2 identifies the manufacturer specific product code device version Sub Index 3 contains the revision number Bit 31 16 is the major revision number and Bit 15 0 the minor revision number Sub Index 4 identified a manufacturer specific serial number PROCON ELECTRONICS 31 CANopen PROCON ELECTRONICS 32 CANopen 7 1 17 Object 1029h Error Behaviour Sub index 000 contains the number of error classes Sub index 001 conta
14. ect 2003h 7 2 4 Object 2100h 7 2 5 Object 2101h 7 2 6 Object 2150h 7 2 7 Object 2200h 7 2 8 Object 2201h 7 2 9 Object 2202h Module ID vcs i in Sesion canbe i A dee 49 Module Bald Rate viii alesh 49 Module DIP Switch iii 50 OPUS 50 Counter Filter Enable ii 51 Counter Commands servicio iii tarado ainda dede ad ara gnal brie 51 Counter Enable E wi i a Ta A 52 Counter Prelatura ariete 52 Counter Value i iii ferra o LI ina ERC caia 55 7 3 DEVICE PROFILE SEGMENT jessica O na 58 7 3 1 Object 6000h 7 3 2 Object 6002h 7 3 3 Object 6003h 7 3 4 Object 6005h 7 3 5 Object 6007h 7 3 6 Object 6008h Read State 8 Input Lines saresti es alinea bei 58 Polarity 8 Input LinEeS iii 59 Filter Constant 8 Input Lines ii 60 Enable Digital Input INterruptSs i 61 Input Interrupt Mask 8 low to high ii 62 Input Interrupt Mask 8 high to IOW iii 63 7 3 7 Object 6020h Read State 1 Input Line 1 16 ssseemennennnezznnenezznnnnnzzzennezzznnerenzana 64 8 SAFETY GUIDELINES seieren trese teriris ii alan 69 8 1 MA O 69 8 2 INTENDED U SE Aus 69 8 3 TRANSPORTANDO STORAGE dana 69 8 4 SA CN 69 PROCON ELECTRONICS 4 CANopen 1 Introduction The PC16DI module is a 16 channel digital input module The first 8 inputs can also be used as 32 bit counters The inputs are isolated from the logic bv opto coup
15. es a SYNC message if bit 30 is set The meaning of other bits is equal to the other communication objects 7 1 5 Object 1008h Manufacturer Device Name Contains the device name Default Value PC16DI PROCON ELECTRONICS 22 CANopen 7 1 6 Object 1009h Manufacturer Hardware Version Contains the device hardware version Default Value V01 00 7 1 7 Object 100Ah Manufacturer Software Version Contains the device software version Default Value V01 00 PROCON ELECTRONICS 23 CANopen 7 1 8 Object 100Ch Guard Time This entrv contains the guard time in milli seconds It is 0 if not used 7 1 9 Object 100Dh Life Time Factor The life time factor multiplied with the guard time gives the life time for the device It is 0 if not used Default Value 0x00000000 PROCON ELECTRONICS 24 CANopen 7 1 10 Object 1010h Store Parameter Field This entrv supports saving of parameters in non volatile memorv With a read access the device provides information about its saving capabilities Several parameter groups are distinguished Sub index 1 all parameters Sub index 2 communication parameters Sub index3 application parameters Sub index 4 127 manufacturer defined parameters For saving the signature save 0x65766173 must be written The following parameters can be saved or loaded Communication Parameter Object COB ID SVNC 1005h Guard Time 100Ch Life Time Factor 100Dh COB ID EMCV 1014h
16. he COB ID If bit 31 is set the PDO is disabled The transmission mode is defined by sub index 2 An inhibit time can be defined on sub index 3 in 100 us At the 5th sub index can be defined an event time for asynchron pdos INDEX 1807 Parameter 8 PROCON ELECTRONICS 41 CANopen Data Tvpe UNSIGNED16 7 1 24 Object 1A00h Transmit PDO Mapping Parameter 1 Contains the mapping for the PDOs the device is able to transmit The type of the PDO mapping parameter is at index 21h The subindex Oh contains the number of valid entries within the mapping record This number of entries is also the number of the application variables which shall be transmitted with the corresponding PDO The subindices from 1h to number of entries contain the information about the mapped application variables These entries describe the PDO contents by their index subindex and length All three values are hexa decimal coded The length entry contains the length of the object in bits 1 40h This parameter can be used to verify the overall mapping length It is mandatory Transmit PDO Mapping Parameter 1 8 PROCON ELECTRONICS 42 CANopen Default Value 0x60000208 PROCON ELECTRONICS 43 CANopen 7 1 25 Object 1A04h Transmit PDO Mapping Parameter 5 Contains the mapping for the PDOs the device is able to transmit The tvpe of the PDO mapping parameter is at index 21h The subindex Oh contains the number of valid entires within the mapp
17. idelines must be observed Electrical installation must be carried out according to the relevant guidelines e g line cross section fuse protective ground connection PROCON ELECTRONICS 69 CANopen
18. ing record This number of entries is also the number of the application variables which shall be transmitted with the corresponding PDO The subindices from 1h to number of entries contain the information about the mapped application variables These entries describe the PDO contents by their index subindex and length All three values are hexa decimal coded The length entry contains the length of the object in bits 1 40h This parameter can be used to verify the overall mapping length It is mandatory INDEX 1A04 Transmit PDO Mapping Parameter 5 Data Type PDO_MAPPING E IN PROCON ELECTRONICS 44 CANopen Default Value 0x22020220 7 1 26 Object 1A05h Transmit PDO Mapping Parameter 6 Contains the mapping for the PDOs the device is able to transmit The type of the PDO mapping parameter is at index 21h The subindex Oh contains the number of valid entries within the mapping record This number of entries is also the number of the application variables which shall be transmitted with the corresponding PDO The subindices from 1h to number of entries contain the information about the mapped application variables These entries describe the PDO contents by their index subindex and length All three values are hexa decimal coded The length entry contains the length of the object in bits 1 40h This parameter can be used to verify the overall mapping length It is mandatory INDEX 1A05 Transmit PDO Mapping
19. ins the error class for a communication error Sub indices 001 to 254 contain device profile or manufacturer specific error classes The value of an error class can be 0 pre operational 1 no state change 2 stopped 3 127 reserved Te MINA PROCON ELECTRONICS 33 CANopen 7 1 18 Object 1200h Server SDO Parameter 1 The object contains the parameters for the SDOs for which the device is the server e PROCON ELECTRONICS 34 CANopen 7 1 19 Object 1800h Transmit PDO Communication Parameter 1 It contains the communication parameters of the current PDO the device is able to transmit Sub index 0 contains the number of PDO parameters implemented Sub index 1 describes the COB ID If bit 31 is set the PDO is disabled The transmission mode is defined by sub index 2 An inhibit time can be defined on sub index 3 in 100 us At the 5th sub index can be defined an event time for asynchronous pdos INDEX 1800 Parameter 1 PROCON ELECTRONICS 35 CANopen PROCON ELECTRONICS 36 CANopen 7 1 20 Object 1804h Transmit PDO Communication Parameter 5 It contains the communication parameters of the current PDO the device is able to transmit Sub index 0 contains the number of PDO parameters implemented Sub index 1 describes the COB ID If bit 31 is set the PDO is disabled The transmission mode is defined by sub index 2 An inhibit time can be defined on sub index 3 in 100 us At the 5th sub index can be define
20. led every 100uS If the Counter filter enable object is set to 1 then the counters are connected to the inputs after the filter The inputs are sampled every 200uS 7 2 6 Object 2150h Counter Commands The following commands can be written to the module relating to the input counters Preset Counter 0x110n Preset the counter with the Counter Preload value in object 2201h The variable n represents the counters to be preset Bit0 counterl Bit1 counter2 etc Clear Counter Overflow 0x120n Clear the counter overflow bit in object 6000h3 The variable n represents the counters overflow bits to be cleared BitO overflow1 Bit1 overflow2 etc PROCON ELECTRONICS 51 CANopen 7 2 7 Object 2200h Counter Enable This object is used to select which counters are enabled BitO counterl Bit1 counter2 etc 7 2 8 Object 2201h Counter Preload i VOI PROCON ELECTRONICS 52 CANopen ere E PROCON ELECTRONICS 53 CANopen PROCON ELECTRONICS 54 CANopen 7 2 9 Object 2202h Counter Value PROCON ELECTRONICS 55 CANopen PROCON ELECTRONICS 56 CANopen Data Tvpe UNSIGNED32 PROCON ELECTRONICS 57 CANopen 7 3 Device Profile Segment 7 3 1 Object 6000h Read State 8 Input Lines Reads a group of 8 input lines as a byte of information A maximum of 255 8 bit input blocks are addressable 2040 inputs In a bvte group it is possible to address 2040 inputs per module e PROCON ELECTRONI
21. lers The inputs are divided into 2 isolated groups of 8 inputs each The first group is designed to be switched to positive common negative The second group can be connected to common positive or connected to common negative The module plugs into a special bus connector which fits inside the DIN rail The power supplv voltage and the CAN bus signals are connected via this bus connector The CAN interface is electricallv isolated and is compliant with ISO 11898 The module has been equipped with status led s which are used to indicate the status of the Inputs and communications This visual indication assists with fault finding and diagnostics The CANopen node ID and bit rate can be setup bv DIP switches or software PROCON ELECTRONICS 5 CANopen 2 Technical Specification Power Supplv Logic Supply Voltage i 12 24 Vdc Digital Inputs Input Points Input Voltage Range Input Current per input 9 16 5mA O 12Vdc 11mA O 24Vdc Counters 5KHz max Frequency Error Control Node Guarding Consumer Heartbeat Event Controlled Asynchronous q Event Timer Asvnchronous i Sync Acyclic Sync Cyclic PDO Modes PDO Linking Error Message Operating Temperature 20 C to 70 C Connectors 5 way connector that clips onto DIN rail l 6 x 3 Way screw connector on top and bottom Logic Power and Comms Note In
22. provision of safety devices such as emergency stop circuits etc in accordance with applicable national and international regulations must be observed The same applies for all other devices connected to the system suchas drives All tasks such as installation commissioning and service may only be carried out by qualified personnel Qualified personnel are persons who are familiar with the transport mounting installation commissioning and operation of the product and have the appropriate qualifications National accident prevention guidelines must be followed The safety guidelines connection descriptions and limit values listed in the technical data must be read carefully before installation and commissioning and must be observed 8 2 Intended Use Electronic devices are generally not fail safe In the event of a failure on the IO Modules operating or monitoring device or uninterruptible power supply the user is responsible for ensuring that other devices that may be connected such as motors are made safe 8 3 Transport and Storage During transport and storage devices must be protected from excessive stress mechanical load temperature humidity aggressive atmosphere 8 4 Installation e The installation must take place according to the documentation e The IO Modules are only allowed to be installed witout voltage applied and by qualified personnel e General safety regulations and nationally applicable accident prevention gu
23. puts 1 to 8 are used as both digital inputs and counter inputs PROCON ELECTRONICS 6 CANopen 3 Phvsical Information 3 1 Phvsical Dimensions The PC16DI enclosure is shown below The module clips directly onto an industry standard DIN rail Field wiring is on the top and bottom of the module via 6 plug in connectors The module power and CAN communications wiring is on a separate connector which clips onto the DIN rail on the back of the housing Allow at least 25mm on top and below the module to accommodate the wiring Ensure that enough space is kept above and below the module for good ventilation 113 0mm 17 6mm WUWIG O LL PROCON ELECTRONICS 7 CANopen 3 2 DIN rail Bus adaptor The BUS connector allows side bv side installation of the Modules The picture below shows multiple BUS connectors installed on a DIN rail First install the BUS connector onto the DIN rail then slide into the adjacent BUS connector 3 3 Installing the module onto the DIN rail The modules are designed to be installed on a standard 35 mm DIN rail Snap the BUS connector first into the rail as shown above Next clip the top of the module onto the DIN rail and pivot the Module onto the DIN rail The spring loaded clasp will latch around onto the DIN resulting in a firmly seated product Do not force the module onto the connector otherwise the module or connector may be damaged Note The modules are not designed for hot plug in The power must
24. se entries describe the PDO contents by their index subindex and length All three values are hexa decimal coded The length entry contains the length of the object in bits 1 40h This parameter can be used to verify the overall mapping length It is mandatory INDEX 1A07 Transmit PDO Mapping Parameter 8 Data Type PDO_MAPPING PROCON ELECTRONICS 47 CANopen PROCON ELECTRONICS 48 CANopen 7 2 Manufacturer Segment 7 2 1 Object 2001h Module ID 7 2 2 Object 2002h Module Baud Rate PROCON ELECTRONICS 49 CANopen 7 2 3 Object 2003h Module DIP Switch INDEX 2003 7 2 4 Object 2100h Input Filter Value This parameter is configured to set the filter value for the inputs Each input has a filter counter The input is sampled every 200uS When the input goes from a low level to a high level the counter increments When the counter reaches the Filter Value threshold the input state changes from Oto 1 When the input goes from a high level to a low level the counter decrements When the counter reaches the ZERO threshold the input state changes from 1 to 0 INDEX 2100 PROCON ELECTRONICS 50 CANopen 7 2 5 Object 2101h Counter Filter Enable The Counter filter enable object is used to determine is the counters for inputs 1 8 are connected to the input before or after the filter If the Counter filter enable object is set to 0 then the counters are connected directly to the inputs The inputs are samp
25. segment The object address is 2002h The following baud rates are supported BAUD RATE OBJECT VALUE 2002h kbits s 20 50 100 125 250 500 800 1000 INIAN BR Wy NM e PROCON ELECTRONICS 12 CANopen 5 Wiring 5 1 Power supplv and Communications Wiring The following diagram shows the wiring for the power and CAN communications REO SP ON E PROC ELECTRONICS www proconel com CE dE Y ey JP Gres 50550 TAX JON Terminal Description CAN GND The CAN circuit is isolated from the DC power supply for the module The CAN GND connection is not connected to the DC power supply GND Use a separate ground wire to connect all of the CAN GND terminals on the modules together This ensures that all of the modules are at the same potential The ground wire must be earthed at one end oniv PROCON ELECTRONICS 13 CANopen 5 2 Wiring the digital inputs The following diagram shows how the digital inputs are connected to potential free switches The common can be connected to positive or negative as indicated Ip1 Ip2 Ip3 Ip4 Ip5 Ip6 Ip7 Ip8 Ip9 Ip10 Ip11 Ip12 Ip13 Ip14 Ip15 Ip16 12 24V PROCON ELECTRONICS 14 CANopen 6 Indicators 6 1 Front panel indicators The CAN communications uses an error LED T and a run LED R The run LED indicates the CANopen state The error LED is shows errors of the
26. th a resistor across the line equal to its characteristic impedance Both ends must be terminated since the direction of propagation is bi directional This termination is typically 120 ohms PROCON ELECTRONICS 9 CANopen 4 Setting the Node ID and baud rate The DIP switches are provided to manuallv configure the module node ID and baud rate Switches 1 through 5 set the node ID sequentially starting at 1 and ending at 31 Switches 6 7 amp 8 set the baud rate When the ID switches are all set to zero the ID is taken from internal memorv When the baud rate switches are all set to zero the baud rate is taken from the internal memorv The user must first configure the module by writing the correct values to the module 4 1 Changing the DIP switch to set the Node ID and baud rate The software in the module samples the dip switches on a reset when the power is cycled Once sampled the software writes the settings to the CAN port The user is welcome to change the dip switches while the module is powered however a reset must be initiated afterward The DIP switch can be toggled using a small flat blade screwdriver or equivalent tool as shown in the picture below PROCON ELECTRONICS 10 CANopen 4 2 Setting the Node ID using the DIP switches The following table assists with the setting up of DIP switches for the required NODE ID NODE ID SWITCH SETTING SW8 SW7 SW6 SW5
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