Manual - ICP DAS USA`s I
Contents
1. Set Attribute Single the slave device will response 0x90 to mean setting OK Then channel 0 of the DI counter will be set to zero Master By changing the Instance ID and Attribute ID of the Application Object you can set other parameters of this device CAN 2088D User s Manual v1 00 June 2010 22 Example2 Get DI data of channel 0 Class ID 0x64 Instance ID 0x01 Attribute ID 0x03 If the node ID of the CAN 2088D is 1 and the master ID Ox0A has completed Explicit connection with the device By getting the value of the object with attribute ID 0x03 you can get the DI data of channel 0 IDENTIFIER si 8 byte Data Data Destination Destination MAC ID ID Length ie a of fafs a s e z fojojojojojofrj rfojoj o 5 jomjorjerjorfos Slave CAN 2088D IDENTIFIER co 8 byte Data Data Master Source MAC ID MAC ID Length epee fl Source MAC ID eran Lt lolo olofoJo 1 o 1 1 o 3 jomjerjo0 Slave CAN 2088D Get the value of Application Object1 with Instance ID 0x01 and Attribute ID 0x03 After sending the Get Attribute Single the slave device will response the DI data of channel 0 on byte 2 Master By changing the Instance ID and Attribute ID of the Application Object you can get other parameters of this device CAN 2088D User s Manual v1 00 June 2010 23 The attribute Ox0B of Application Object1 can control the mo2. June 2010 13 3 3 Connection Object Class ID 0x05 This section presents the externally visible characteristics of the Connection Objects associated with the Predefined Master Slave Connection Set within slave devices The default IO connection path is as follow Connection Ces Description Instance ID 1 References the Explicit Messaging Connection into the Server 2 References the Poll I O Connection 3 References the Bit Strobe I O Connection CAN 2088D User s Manual v1 00 June 2010 14 3 4 Assembly Object Class ID 0x04 The Assembly Object binds attributes of multiple objects which allows data to or from each object to be sent or received over a single connection Assembly objects can be used to bind input data or output data The terms of Input and output are defined from the network s point of view An input will produce data on the network and an output will consume data from the network Class attribute Instance ID 0 Attribute Attribute ID Data Type Method Value name Class service Instance ID Instance ID OUTPUT INPUT Get 0 7 DI counter clear 0x64 Clear channel 0 7 DI counter Flag Get 0 7 Config to default 0x65 Set channel 0 7 Config to default Flag Set channel 0 7 sync mode Get channel 0 7 sync mode 0x69 Set channel 7 hardware trig Get channel 0 7 hardware mode trig mode Set channel 0 7 output type Get channel 0 7 output type Get channel 0 7
3. 00 June 2010 5 2 Hardware 2 1 Structure Top View Node ID Rotary Switch Ex 32 1200 Terminator Resistor LED Baud rate Rotary Switch CAN VS CAN H CAN Shield CANL CAN GND 120 Terminal Resister Switch Ex Enable Bottom View CAN 2088D User s Manual v1 00 June 2010 2 2 The Node ID amp Baud rate Rotary Switch The rotary switches for node ID configure the node ID of CAN 2088D module These two switches are for the tens digit and the units digit of node ID The node ID value of this demo picture is 32 Node ID rotary switch The rotary switch for baud rate handles the CAN baud rate of CAN 2088D module The relationship between the rotary switch value and the practical baud rate is presented in the following table Rotary Switch Value Baud rate kbps 125 250 CAN 2088D User s Manual v1 00 June 2010 7 2 3 LED Description PWR LED The CAN 2088D needs the power of 10 30 VDC Under a normal connection a good power supply and a correct voltage selection as the unit is turned on the LED will light up in red NET LED The NET LED indicates the current status of the DeviceNet communication link condition indicates Init Off Off line Device is not online Off Connection timeout I O connection timeout Flashing On line Device is on line but not communicating Init solid Link failed Critical Device has detected an error that h
4. PWM Ox6B Set channel 0 7 PWM period period Set channel 0 7 PWM duty Get channel 0 7 PWM duty Get channel 0 7 PWM burst Ox6D Set channel 0 7 PWM burst count count Get channel 0 7 PWM Ox6E Set channel 0 7 PWM start stop start stop CAN 2088D User s Manual v1 00 June 2010 15 Contents of Each Assembly Object Instance Instance Default Description Tvpe Method TZ Desopton Type ue DI Clear channel 0 DI counter Clear channel 7 DI counter Channel 0 Configuration to default Channel 7 Configuration to default Get channel 0 DI value Get channel 7 DI value Get channel 0 DI counter Get channel 7 DI counter Channel 0 sync mode Channel 7 sync mode Channel 0 hardware trig mode Channel 7 hardware trig mode Channel 0 output type Channel 7 output type Channel 0 PWM period Channel 7 PWM period Channel 0 PWM duty Channel 7 PWM duty Channel 0 PWM burst count Channel 7 PWM burst count Channel 0 PWM start stop Channel 0 PWM start stop USINT Get Set 0x00 USINT 0x00 USINT Get Set 0x00 USINT 0x00 USINT Get 0x00 USINT 0x00 UDINT Get 0x00000000 UDINT 0x00000000 USINT Get Set USINT USINT Get Set USINT USINT Get Set USINT UDINT Get Set 0x00000002 UDINT 0x00000002 UINT Get Set 0x01F4 UINT 0x01F4 UINT Get Set 0x00 UINT 0x00 USINT Get Set 0x00 USINT 0x00 CAN 2088D User s Manual v1 00 June 2010 16 Parameter description of Assembly Obje
5. and the DeviceNet Layer The attributes of application Objects contain the data for the application which are accessed and exchanged via DeviceNet DeviceNet accesses application data by invoking read and write functions These functions need to be provided by an Application Object DeviceNet provides Get Attribute Single and Get Attribute Single to read and write CAN 2088D module Application Object1 defines pulse output channels and digital input channels configuration Class attribute Instance ID 0 l Attribute Attribute ID Data Type Method Value name Class service Instance ID 0x05 PO amp DI channel 4 configuration 0x06 PO amp DI channel 5 configuration 0x07 PO amp DI channel 6 configuration 0x04 PO amp DI channel 3 configuration 0x08 PO amp DI channel 7 configuration CAN 2088D User s Manual v1 00 June 2010 18 Instance attribute Instance ID 0x01 0x08 Attribute na Default Description Method Data Type ID Value 0x01 Clear DI counter Get Set USINT 0x02 Set configuration to default Get Set USINT Parameter description of Application Object1 attributes Attribute Data Range Parameter Description 0x01 Clear Clear channelx DI counter Set channelx configuration to default 0x02 0x01 Set to default iva 0x00 or 0x01 Channelx DI value Channelx high speed digital input 0x04 0x00000000 OxFFFFFFFF counter value 0x05 0x00 disable sync Channelx with sync output 0x01 enable sync 0x00 disable
6. 500 Vrms e ESD Protection 4 kV Contact for each channel Others eo LED 1 as power indicator 1 as terminator resistor 2 as DeviceNet status 8 as PWM and 8 as DI indicator o Power Requirement 10 30 Vpc 3 5 W e Operating Temperature 25 75 C Storage Temperature 30 80 C e Humidity 10 to 90 RH Non condensing e Dimensions 32 3 mm x 99 mm x 77 5 mm W x L x H Detail CAN 2088D User s Manual v1 00 June 2010 1 3 Features DeviceNet general I O slave devices Comply with DeviceNet specification Volume l Release 2 0 amp Volume II Release 2 0 Group 2 Only Server non UCMM capable Support Predefined Master Slave Connection Set Connection supported 1 connection for Explicit Messaging 1 connection for Polled I O 1 connection for Bit Strobe l O connection Support DeviceNet heartbeat and shutdown messages Provide EDS file for standard DeviceNet master interface Automatic generation of PWM outputs by hardware without software intervention 0 2 Hz 500 kHz non continuous PWM output frequency with 0 1 99 9 duty cycle configuration Software and hardware trigger mode for PWM output Support individual or synchronous PWM output in software trigger mode Each digital input channel provides high speed counter functionality DI channel can be configured as simple digital input channel or hardware trigger source of the PWM output NET MOD and PWR DeviceNet status Led indictors CAN 2088D User s Manual v1
7. Channelx trigger status The DI chO is 0x01 start trigger the trig of PO chO and DI ch1 is the trig 0x02 stop trigger of PO ch1 and so on When DI value is changed the PO will be triggered 0x00 Burst Counting mode Channelx output mode rm o Game 0x00000002 0x004C4B40 Channelx frequency range 0 2 Hz 500 kHz frequency range is non continuous 0x00000001 gt 0 1 Hz 0x0001 0x03E7 Channelx high duty mille 1 0 999 0 0x0001 gt 1 o low duty mille 1000 high duty o CAN 2088D User s Manual v1 00 June 2010 19 OXOA 0x0001 OxFFFF Channelx Burst counting value only for burst counting mode OxOB 0x00 stop output Channelx start or stop to output pulse 0x01 start output Note x is channel number of module dependent on instance ID setting Instance service CAN 2088D User s Manual v1 00 June 2010 20 3 6 Application Object2 Class ID 0x65 Application Object2 defines some configuration that used for all pulse output channels and digital input channels Class attribute Instance ID 0 Attribute ID Attribute name Data Type Method Value Class service Instance attribute Instance ID 1 Attribute Fe Default Description Method Data Type ID Value 0x02 Sync channel start stop Get Set USINT 0x00000000 Save all Configuration to Set USINT EEPROM Parameter description of Application Object2 attributes Attribute eee ID Data Range Parameter Description DI value
8. DeviceNet Slave Device CAN 2088D User s Manual Warranty Without contrived damage all products manufactured by ICP DAS are warranted in one year from the date of delivery to customers Warning ICP DAS revises the manual at any time without notice However no responsibility is taken by ICP DAS unless infringement act imperils to patents of the third parties Copyright Copyright 2010 is reserved by ICP DAS Trademark The brand name ICP DAS as a trademark is registered and can be used by other authorized companies CAN 2088D User s Manual v1 00 June 2010 1 Contents Ll INTO e Te deu WEE 3 ll COVE Wide 3 1 2 Hardware Specifications ccoonccconncicocncnoncncnencncncnannnnnannnnnannenannnnns 4 AE A ia iii 5 SR de UE E 6 21 SUUCiUle N 6 2 2 The Node ID amp Baud rate Rotary SWItCch rn 7 2 3 LEED DESCHPUOM scanner 8 2 4 PIN Assignment i cia 10 2 5 Wire Gonneclioni aaa 11 3 DeviceNetProtie Area iii ai 12 3 1 DeviceNet Statement of Compliance 12 3 2 Identity Object Class ID 0Xx01 tri 13 3 3 Connection Object Class ID 0X05 ernia 14 3 4 Assembly Object Class ID 0X04 ss rss 15 3 5 Application Object1 Class ID 0x64 1 1x 1 18 3 6 Application Object2 Class ID 0xX65 1x 1 21 4 APppliCA ION 22 App
9. as rendered it incapable of communicating on the link for example detected a duplicate node address or network configuration error Solid On line communicating Device is online and communicating MOD LED This LED provides the devices status It indicates whether or not the device is operating properly condition Off Normal Solid Critical fault Device has unrecoverable fault Flashing Non_ critical fault Device has recoverable fault to recover If users want to fix the problem reconfiguring device s MAC ID or resetting device may work indicates CAN 2088D User s Manual v1 00 June 2010 8 Terminal Resistor LED When enable the 1200 terminal resistor the LED will turn on PWM LED If the PWM LED turns on it means that the channel of PWM is sending pulse DI LED If the DI LED turns on it means that the channel of DI is receiving an ON Voltage Level digital signal CAN 2088D User s Manual v1 00 June 2010 9 2 4 PIN Assignment x1 1200 ED Terminator CAN 2088D User s Manual v1 00 June 2010 2 5 Wire Connection Sharikhanl nana AUL Relay On Relay Off Drive Relay zl ISl Pox O8 PO GND Resistance Load II KAL V KK pra PAE b Te je S F aadpack siii Readback as 0 Relay On Relay Off Relay SIL T Relay Close De DI GND Relay Open 08 DI GND Voltage gt 10 V Voltage lt 4 V TTLICMOS Logic go bel Wes S us gt 08 DI GND gt D8 DI GND Open C
10. ct Instance Instance 7 ID Data Range Parameter Description 0x64 0x01 Clear Clear channelx DI counter 0x65 0x01 Set to default Set channelx configuration to default value 0x00 or 0x01 Channelx digital input value Channelx high speed digital input counter 0x67 0x00000000 OxFFFFFFFF value Ox68 0x00 disable sync Channelx with sync output 0x01 enable sync 0x00 disable Channelx trigger status The DI chO is the 0x01 start trig trig of PO ch0 and DI ch1 is the trig of PO 0x02 stop trig ch1 and so on When DI value is changed the PO will be triggered Ox6A 0x00 Burst Counting mode Channelx output mode 0x01 Continue mode 0x00000002 0x004C4B40 Channelx frequency range The frequency 0 2 Hz 500 kHz range is non continuous 0x00000001 gt 0 1 Hz 0x0001 0x03E7 Channelx high duty mille 1 0 999 o 0x0001 gt 1 o low duty mille 1000 high duty o Ox6D 0x0001 OxFFFF Channelx Burst counting value only for DT nm burst counting mode Ox6E 0x00 stop output Channelx start or stop to output pulse T oss Etnea Note x is channel number of module Instance attribute Instance ID 0x64 0x6E nee DeviceNet Attribute ID Description Method Value Data Type OUTPUT Dependent on 0x03 Data Get Set INPUT instance ID Instance service CAN 2088D User s Manual v1 00 June 2010 17 3 5 Application Object1 Class ID 0x64 Application objects are the interfaces between an application
11. dule to start or stop the pulse output of each channel Each Instance ID is mapped to each channel Attribute 0x07 can decide the PWM method of each channel If you select the Burst Counting mode the attribute OxOA must be set to decide how many pulse you want to output You can set 1 65535 to the attribute Ox0A and use attribute 0x0B to start or stop the pulse output When set the attribute Ox0B to 1 the channel will output the specific pulses with one burst cyclic and the value of attribute 0x0B becomes to 0 For example set the channel 0 Instance ID 0x01 to the Burst Counting mode and set the attribute Ox0A to 100 When user set the attribute Ox0B to 1 this channel will output 100 pulses and then stop to send If you select the Continue Counting mode the attribute Ox0A will be useless When users set the attribute Ox0B to 1 on Continue Counting mode the channel will start to output the pulse cyclically until the attribute is set to 0 If you want to change the frequency of the pulses you can set the value 2 5000000 to the attribute 0x08 The unit is 0 1 Hz therefore the pulse with 0 2 Hz 500 kHz can be applied The attribute 0x09 is the pulse duty If set the attribute to value 300 it means that the pulse width of the high duty is 300 and the one of low duty is 700 o The attribute 0x06 can set the DI channel to be the hardware trigger of the PWM output channel When set the value 1 to the object of the instance ID 0x01 with attrib
12. endix A DIMENSION uu a 25 CAN 2088D User s Manual v1 00 June 2010 2 1 Introduction 1 1 Overview PWM Pulse width modulation is a powerful technique for controlling analog circuits lt uses digital outputs to generate a waveform with variant duty cycle and frequency to control analog circuits CAN 2088D is a DeviceNet slave module and it has 8 PWM output channels and 8 digital inputs It can be used to develop powerful and cost effective analog control system d 7 ho A A A A CAN 2088D User s Manual v1 00 June 2010 3 1 2 Hardware Specifications PWM Output e Output Channels 8 Source e Scaling Resolution 16 bit 1 128 us for each step eo Frequency Range 0 2 Hz 500 kHz non continuous and the min unit of the high low level of the signal is 1 us e Duty Cycle 0 1 99 9 e PWM Mode Burst Counting Continuous mode e Burst Counter 1 65535 Trigger Mode Hardware or software trigger Oo Hardware Trigger Mode Trigger start amp trigger stop e Max Load Current 1 mA e Intra module Isolation Field to Logic 2500 Vrms e ESD Protection 4 kV Contact for each channel Digital Input e Input Channels 8 Sink e Input Type One common for all digital input e On Voltage Level 5 5 30 V Off Voltage Level lt 3 5 V e Counter Frequency 500 kHz Max e Max Counts 32 bit 0 4294967295 e Input Impedance 2 2 KQ 0 5 W e Intra module Isolation Field to Logic 2
13. ollector On Open Collector Off NPN Se DE Output HIDS DIX IH 08 DIX part l ELE 56 co Open Collector On Open Collector Off PNP se 173 e os Output mo DI X nf DI X pt ER SS evo EM bio CAN 2088D User s Manual v1 00 June 2010 11 3 DeviceNet Profile Area This section documents the detailed functions for each object class that is implemented in the CAN 2088D DeviceNet network 3 1 DeviceNet Statement of Compliance General Device Data Version Description of DeviceNet Volume I Release 2 0 amp Specification Volume ll Release 2 0 Device Profile Name CAN 2088D DeviceNet Physical Conformance Data Communication Baud Rate Setting Switch 125 250 500 kbps Default Baud Rate 125 kbps Predefined Master Slave Connection Group 2 Only Server et CAN 2088D User s Manual v1 00 June 2010 12 3 2 Identity Object Class ID 0x01 This object provides the identification of and general information about the device Class Attribute Instance ID 0 Attribute ID Attribute name Data Type Method Class Service Instance Attribute Instance ID 1 Attribute EW DeviceNet Data Description Method Value ID Type Product type UINT Product code UINT 0x600 Major Minor of firmware Get Struct of 1 1 version fa USINT NN e et 10 Heartbeat Interval Get Set USINT O default Instance Service Note Use the Instance Service 0x05 will reboot the device CAN 2088D User s Manual v1 00
14. per bit to per channel data 0x01 DI value DI channel 0 5 on gt DI vaue 0x21 0x01 start sync channels pulse 0x01 Use default 0x01 After restarting the device configuration configuration will become factory setting 0x02 Save all 0x02 Save all channels configuration into Configuration to EEPROM EEPROM 0x03 Instance service 21 CAN 2088D User s Manual v1 00 June 2010 4 Application Application Object1 Class ID 0x64 lists all the parameters of the module Each Instance ID is corresponding to the different cahnnels By using Set Get Attribute Single service user can read write the parameters of each channel Example1 Clear channel0 DI counter Class ID 0x64 Instance ID 0x01 Attribute ID 0x01 If the node ID of the CAN 2088D is 1 and the master ID Ox0A has completed Explicit connection with the device By setting the value of attribute ID 0x01 to be 0x01 the channel 0 of the DI counter becomes 0 IDENTIFIER si 8 byte Data a Data Destination Destination MAC ID ID a Length ODO Pepepe rr 1jojojojo o o i jijojoj o 6 joa io es orjor orj Slave CAN 2088D IDENTIFIER SC 8 byte Data ball Data Master Source MAC ID MAC ID Mer Length epes ei Source MAC ID ODIO jofofojofojo 1joj fs o 2 letzt Slave CAN 2088D Set the value 0x01 to the Application Object1 with Instance ID 0x01 and Attribute ID 0x01 After sending the
15. ute 0x06 it means that the DI channel 0 will loss the DI functions and become a hardware trigger of PWM output channel 0 In this case if the value of DI channel 0 is changed the channel 0 of PWM output will start to output pulse The attribute 0x05 of Application Object1 and the attribute 0x02 of Application Object2 can control the channel of the PWM module to output synchronous If user wish channel 0 3 of the PWM module output the pulse synchronously set the value 1 to the Application Object1 Instance 0x01 0x04 with attribute 0x05 Then set the value 1 to the Application Object2 with Instance 0x01 and attribute 0x02 These 4 channels channel 0 3 will start to output pulse at the same time their first low to high edge will be triggered at the same time but the period may be different because of different pulse width CAN 2088D User s Manual v1 00 June 2010 24 Appendix A Dimension Unit mm CAN 2088D User s Manual v1 00 June 2010
Download Pdf Manuals
Related Search