User manual
Contents
1. 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 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 Index 6131h AI Physical Unit PV Index 6132h AI Decimal Digits PV The Al Physical Unit PV assigns SI units and prefixes to the process value with the following structure 31 24 23 MSB Prefix 16 15 87 0 SI Denominator SI Numerator Reserved LSB Physical units and prefixes are coded according to CiA standard 3 DS404 profile Module specific parameters Index 2010h Filter config Settting this parameter is possible to configure the characteritics of the converter 25 Double flash Error Control Event Triple flash Sync Error CANopen OFF No error Device working Negative ON DIAG Error UAM ST Blinking INIT and DIAG Tunning Single flash Baud rate setting OFF Module OK and ready PWR ON Module Power Supply ON e OFF Module Power Supply OFF Bit Rate and Node ID configuration Bit rate Node ID losic Baud rate Bus length Hi Lo Valid ID Node kbps m switch switch 20 2500 01h address 1 50 1000 DE O2h address 2 100 500 Vy 122. to notify the end of one of the error states 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 0000000009 Error Wavegeneration The parameters calculated for the ramp generation are not valid 0 1 2 3 4 5 A 7 Onh FFh 2th OOh O0h OOh OOh Oyh COB ID entry 1014h NodelD Error code Emergency message 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 Generic 1 0 Modules Power Supply 45W 24Vdc 2A Power Supply 120W 24Vdc 5A AP S2 AL DR45 24 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 M1 1 RJ45 terminated cable 14cm AP S2 LOCAL BUS76 RJ45 terminated cable 22cm AP S2 LOCAL BUS152 CAN termination Adapter AP S2 TERM CAN A 001 1003 005 1006 007 1008 009 100A 00C 100D 010 1011 1014 1015 1017 1018 1200 1800 1801 1802 1803 A00 A01 A02 A03 2010 3000 3001 3500 5100 6110 6112 Ohjet S Dictionary str
3. CE marking EN61131 2 3 way isolation diagram Al Fieldbus ames CANopen 1 0 Module 8 Thermocouple Analogue Inputs mod I0 CB AI 08TC 8 analogue inputs configurable for Thermocouple mV linear inputs 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 gt ADC J Scaling gt Hil HH aum gt Transmit gt A A e gt E gt _ gt lt gt gt gt p 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 Process 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
4. 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 sensors is possible and is defined within the parameter Sensor Type In this case the input scaling values are meaningless 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 Power supply 800Vp Environment PDOs used by the module Operating Storage TPDO Properties Mapped objects Index Sub index Temperature 10 65 C 40 85 C TPDO1 COBID 180h NodelD Al Input PV Chi 9130h 01h Relative 5 95 non condensing 5 95 non condensing Transmission Type 01h Al Input PV Ch2 9130h 02h Humidity Appropriate measures must For a short period slight TPDO 2 COBID 280h NodelD Al Input PV Ch3 9130h 03h be taken against condensation may appear Transmission Type 01h Al Input PV Ch4 9130h 04h humidity gt 85 on the housing TPDO 3 COBID 380h NodelD Al Input PV Ch5 9130h 05h Mounting Vertical free air Transmission Type 01h Al Input PV Ch6 9130h 06h Protection IP20 TPDO 4 COBID 480h NodelD Al Input PV Ch7 9130h 07h Vibrations 3 axes 10 57Hz 0 0375mm Transmission Type 01h Al Input PV Ch8 9130h 08h 57 150Hz 0 5g Shock 3 axes 15g 11ms half sine Note The Transmission Type is configurable
5. Transmission type nhibit time Reseved Event timer 2nd Transmit PDOComm Param Largest subindex supported COB ID used Transmission type nhibit time Reseved Event timer 3rd Transmit PDOComm Param Largest subindex supported COB ID used Transmission type Inhibit time Reseved Event timer 4th Transmit PDOComm Param Largest subindex supported COB ID used Transmission type Inhibit time Reseved Event timer 1st Transmit PDO Mapping No of mapped application obj Analogue Input PV ch1 Analogue Input PV ch2 2nd Transmit PDO Mapping No of mapped application obj Analogue Input PV ch3 Analogue Input PV ch4 3rd Transmit PDO Mapping No of mapped application obj Analogue Input PV ch5 Analogue Input PV ch6 4th Transmit PDO Mapping Vo of mapped application obj Analogue Input PV ch7 Analogue Input PV ch8 Filter Config Node Address Node Baurate Out of Range mode Number of entries Ch1 Out of Range mode Ch2 Out of Range mode Ch3 Out of Range mode Ch4 Out of Range mode Ch5 Out of Range mode Ch6 Out of Range mode Ch7 Out of Range mode Ch8 Out of Range mode Junction Temperature Al Sensor Type Number of entries Al Sensor Type Ch1 Al Sensor Type Ch8 Al Operating Mode Number of entries Al Operating Mode Ch1 Al Operating Mode Ch8 1st Transmit PDOComm Param O8TC 7 00 7 00 ope oo a 80 NodelD 0 07D0 4 0 00E 00 0 1 5 180 NodelD
6. e after a Power Down or an NMT Reset Node message Byte 0 1 2 3 4 D 6 7 Store 22h 10h 10h Oih 73h 61h 76h 65h Parameter S a V e COB ID 600h NodelD Restore 22h 11h 10h Oth 6Ch 6Fh_ 6th 64h Parameter 0 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 3 ajl sl 6 7 Value Meaning 40h Index Sub Index Reserved 0x00 Channel OFF READY gael COB ID 600h NodelD 0X01 RUN status 4Fh Index Sub Index Data OXOA Insert linearisation status Reed response COB ID 580h NodelD 0XAO0 Calibration status Writ t 22h Index Sub Index Data OXFF Error status reregues COB ID 600h NodelD Index 6114h Al ADC sample rate 60h Index Sub Index Reserved ADC acquisition time icons COB ID 580h NodelD 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 OxFFOn for channel n 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 conti dion
7. 5 500 7Fh address 127D 250 250 500 100 800 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 4 Turn the Power ON 5 Shift the HI switch to E all the module service LEDs should flash 6 Turn the Power OFF Now configure Node ID 7 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 Parameter configuration Index 6110h Al Sensor type Setting in decimal form Thermocouple Range value to be inserted at address 6110h type th Type J 210 C 1200 C 2h Type K 200 C 1372 C 3h Type L 200 C 600 C 4h Type N 0 C 1300 C 5h Type R 0 C 1600 C 6h Type S 0 C 1760 C 7h Type T 200 C 400 C 2Bh 1V HV 2Ch 0v 1V 2Dh 100 mV 100 mV 2Eh OV 100 mV Value Time Setting ms Attenuatio
8. ASCON TECNOLOGIC 1809001 Certified Ascon Tecnologic S r l via Indipendenza 56 27029 Vigevano PV Italia Tel 39 0381 69871 Fax 39 0381 698730 www ascontecnologic com ga T T E E MSS B 485 mod I0 CB AI 08TC 00 M U I0 CB AI 08TC 3 11 05 Cod J30 478 1AAI 08TC E User manual Contents Characteristics Functional Block Diagram PDOs used by the module Hardware Set up Parameter configuration Commands Emergency messages Parameter Store Restore Object Dictionary APPLICABLE STANDARDS The AI 08TC module is suited for the CiA DS301 protocol 1 and implements the CiA DS 404 standard Device Profile as far as the Analogue Input Function Block is concerned 2 Characteristics Technical data Accuracy at 25 C x 0 196 FS Temperature coefficient 0 005 FS K Cold junction compensation accuracy 0 25 C Input impedance mV gt 100MQ Digital resolution 16 bit Input ranges 0 100 mV 0 1000 mV 100 100 mV 1000 1000 mV Type of TC J K L N R S T Conversion time Better than 60 ms x 2 or 4 channels Overvoltage protection 30V CMRR gt 100 dB General 3 way isolation 800 Vp Power supply 24 Vdc 15 25 Power consuption 3W Dimensions L 76 H 110 W 65 Weight 220 g Safety regulations Isolation class II 500 Vrms EN61010 1 Installation cathegory II Pollution degree 2
9. FF 0 0 5 280 NodelD FF 0 0 5 380 NodelD FF 0 0 5 480 NodelD FF 0 0 4 91300120 91300220 4 91300320 91300420 4 91300520 91300620 4 91300720 91300820 co C5 C C c c c coco ONA omn Ow Type c co S S S S S S S S S S S S a D AARAHRHS ARH au c e UN p C E C CES CE CE ZUOZZz z O22 E C t co Co Co Co CO CO Co C0 CO CO CO CO coco UN UN EC EE c Co coco cic zo On UN UN Tec ee D222 C C C2 Co Co CO CO cCESCEECIECHECEC E EE Fa mE Co Co Co CO C0 C0 C C Co CO Co C2 C2 ce INTE GNED32 GNED8 GNED32 GNED32 GNED32 GNED32 String String String GNED16 GNED8 GNED32 GNED8 GNED32 GNED32 GNED8 GNED32 GNED32 GNED16 GNED16 ity 23h GNED8 GNED32 GNED32 GNED32 GNED32 CommPar 20h GNED8 GNED32 GNED8 GNED16 GNED8 GNED16 CommPar 20h GNED8 GNED32 GNED8 GNED16 GNED8 GNED16 CommPar 20h GNED8 GNED32 GNED8 GNED16 GNED8 GNED16 CommpPar 20h GNED8 GNED32 GNED8 GNED16 GNED8 GNED16 Mapping GNED8 GNED32 GNED32 Mapping GNED8 GNED32 GNED32 Mapping GNED8 GNED32 GNED32 Mapping GNED8 GNED32 GNED32 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GER16 GNED16 GNED8 GNED16 GNED16 GNED8 GNED8 GNED8 GNED8 21h 21h 21h MO e e e
10. RO RW RW RO RW RW RO RO RO RO RW RW RO RW RW RO RW RW RO RW RW RO RW RW RO RW RW RO RW RW RO RW RW RO RW RW RO RW RW RO RW RW RO RW RW 0
11. ber of entries 8 UNSIGNED8 Oth VAR Alinput Scaling 2FV Ch1 INTEGER32 08h VAR AllInput Scaling 2FV Ch8 INTEGER32 9123 ARRAY Al Input Scaling 2PV NTEGER32 00h VAR Number of entries 8 UNSIGNED8 Oth VAR Alinput Scaling 2PV Ch1 NTEGER32 O8h VAR Al Input Scaling 2PV Ch8 INTEGER32 9130 ARRAY Al Input PV INTEGER32 00h VAR Number of entries 8 UNSIGNED8 Oth VAR Allnput PV Ch1 INTEGER32 08h VAR Al Input PV Ch8 NTEGER32 9133 ARRAY Al Interrupt Delta Input PV NTEGER32 00h VAR Number of entries 8 UNSIGNED8 Oth VAR Allnterrupt Delta Input PV Ch1 NTEGER32 08h VAR Al Interrupt Delta Input PV Ch8 u INTEGER32 9134 ARRAY Al Interrupt Lower Limit Input PV INTEGER32 00h VAR Number of entries 8 UNSIGNED8 Oth VAR Al Interrupt Lower Limit Input PV Ch1 INTEGER32 O8h VAR Allnterrupt Lower Limit Input PV Ch8 INTEGER32 9135 ARRAY Al Interrupt Upper Limit Input PV NTEGER32 00h VAR Number of entries 8 UNSIGNED8 Oth VAR AlInterrupt Upper Limit Input PV Ch1 NTEGER32 08h VAR Al Interrupt Upper Limit Input PV Ch8 INTEGER32 9148 ARRAY Al Span Start PV INTEGER32 00h VAR Number of entries 8 UNSIGNED8 Oth VAR Al Span Start PV Ch1 INTEGER32 08h VAR Al Span Start PV Ch8 B INTEGER32 9149 ARRAY Al Span Stop PV NTEGER32 00h VAR Number of entries 8 UNSIGNED8 Oth VAR AlSpan Stop PV Ch1 NTEGER32 O8h VAR Al Span Stop PV Ch8 INTEGER32 The factory set value present in the modules when new for the transmission type is Oth Acc MO Attr RO RO RO
12. f4 e oOooo eoo oo Index Sub Object Name Default Type hex Index hex 6114 ARRAY Al ADC Sample Rate UNSIGNED8 00h VAR Number of entries 8 UNSIGNED8 Oth VAR AIADC Sample Rate Ch1 0 UNSIGNED32 08h VAR AADC Sample Rate Ch8 0 UNSIGNEDB 6131 ARRAY Al Physical Unit PV UNSIGNED32 00h VAR Number of entries 8 UNSIGNED8 Oth VAR Al Physical Unit Ch1 UNSIGNED32 08h VAR Al Physical Unit Ch8 i UNSIGNED32 6132 ARRAY Al Decimal Digit PV UNSIGNED8 00h VAR Number of entries 8 UNSIGNED8 Oth VAR Al Decimal Digit PV Ch1 2 UNSIGNED8 O8h VAR Al Decimal Digit PV Ch8 D UNSIGNEDS 6150 ARRAY Al Status UNSIGNED8 00h VAR Number of entries 8 UNSIGNED8 Oth VAR AlStatus Ch1 0 UNSIGNED8 08h VAR Al Status Ch8 0 UNSIGNED8 6F20 ARRAY Life Counter UNSIGNED8 00h VAR Number of entries 8 UNSIGNED8 Oth VAR Life Counter Ch1 0 UNSIGNED8 08h VAR Life Counter Ch8 O UNSIGNED8 9100 ARRAY Al input Field Value NTEGER32 00h VAR Number of entries 8 UNSIGNED8 Oth VAR Alinput Field Value Ch1 NTEGER32 O8h VAR Al input Field Value Ch8 INTEGER32 9120 ARRAY Al Input Scaling 1FV INTEGER32 00h VAR Number of entries 8 UNSIGNED8 Oth VAR Alinput Scaling 1FV Ch1 INTEGER32 O8h VAR Al Input Scaling 1FV Ch8 NTEGER32 9121 ARRAY Al Input Scaling 1PV NTEGER32 00h VAR Number of entries 8 UNSIGNED8 Oth VAR Alinput Scaling 1PV Ch1 NTEGER32 08h VAR Al Input Scaling 1PV Ch8 INTEGER32 9122 ARRAY Al Input Scaling 2FV INTEGER32 00h VAR Num
13. n at 50Hz dB Attenuation at 60Hz dB 0 9 52 14 1 57 1 19 77 4 83 7 08 2 30 03 11 78 17 84 Value Time Setting ms Attenuation at 50Hz dB Attenuation at 60Hz dB 3 39 55 gt 20 235 4 49 8 gt 40 gt 80 5 54 61 gt 60 gt 60 6 60 06 gt 80 gt 40 Index 3000h Node Address Current Module Node ID Read only access Index 3001h Baudrate Current Module Bit rate Read only accessl Index 5100h Cold Junction Measure Temperature of the cold junction measured on the module s terminal block 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 For thermocouple inputs all settings are made using the Sensor Type parameter for analog inputs 1V 0 1V x 100mV and 0 100mV is possible to scale the values read setting two points of the scaling line PV PV2 PV1 gt FV1 FV2 FV Index 9148h Al Span start Index 9149h AI 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 Span gt i i Start End TCJ 210 C 1200 C Measure gt i 1 TCK 200 C 1372 C 1 2 3 lis TCL 200 C 600 C TCN 0 C 1300 C Negative Positive TCR 0 C 1600 C overload overl
14. oad TCS 0 C 1760 C TCT 200 C 400 C Index 6150h Al Status read only parameter bit 7 3 2 1 0 Reserved Negative overload Positive overload Not valid e g sensor break Index 6F20h Life counter A counter that increments at each new generated sample Index 9133h Al Interrupt Delta Input PV Index 9134h Al Interrupt Lower Limit Input PV Index 9134h Al Interrupt Upper Limit Input 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 Input PV value and a transmission is initiated asynchronously when any of the limits is reached Index 6112h Al Operating Mode Defines the status of a specific channel of the module In the table that follows is described each status and related to the value of the object or the value to be inserted in the object 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
15. ucture with default values 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 00h Oth 00h Oth 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h 05h 00h Oth 02h 03h 04h 05h 00h Oth 02h 03h 04h 05h 00h Oth 02h 03h 04h 05h 00h Oth 02h 00h Oth 02h 00h Oth 02h 00h Oth 02h 00h Oth 02h 03h 04h 05h 06h 07h 08h 00h Oth 08h 00h Oth 08h Index Sub Object hex Index 1000 VAR VAR ARRAY VAR VAR VAR VAR VAR VAR VAR VAR ARRAY VAR VAR ARRAY VAR DDD RECORD RECORD RECORD RECORD RECORD Name Device Type Error Register Predefined error field COB ID SYNC Communication cycle period Default hex 80191 0 0 80 0 Synchrounous window length 0 Manufacturer Device Name Manufacturer Hardware Version Manufacturer Software Version Guard Time Life Time Factor Store Parameters Largest subindex supported Save all parameters Restore Default Parameters Largest subindex supported Restore all default parameters COB ID EMCY nhibit Time EMCY Producer heartbeat time dentity Object Number of entries Vendor ID Product code Revision number Serial Number Server SDO Parameters Largest subindex supported COB ID used
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