User manual
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1. E A a ad ae ARRAY VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR ARRAY VAR VAR zZ Y Y SO a SO ie ARRAY s lt D gt J IDI II IDI IDI ARRAY ae D 2 a a a a a LS gt cpg pd p kpe p pdo ej Edo Al Operating Mode Number of entries Al Operating Mode ch1 Al Operating Mode ch2 Al Operating Mode ch3 Al Operating Mode ch4 Al Operating Mode ch5 Al Operating Mode ch6 Al Operating Mode ch7 Al Operating Mode ch8 Node Address Node Baurate Num Al In Num Al In Al In Al In Al In Al In Al In Al In Al In Al In Num Al In AIG Al In Num Al In Al In Al In Al In Al In Al In Al In Al In Al In Num Al In Al In Al In Al In Al In Al In Al In Al In Al In Num Al In Al In Al In Al In Al In Al In Al In Al In az SPLELSLSLerrerb2ar gt ererere Read Anal Read Anal Read Anal Read Anal Read Anal Read Anal Read Anal Read Anal Read Anal ber oi errup ber of errup errup errup errup errup errup errup errup errup ber of errup errup ber of errup errup errup errup errup errup errup errup errup ber of errup errup errup errup errup errup errup errup errup ber of errup errup errup errup errup errup errup logue logue logue Input logue logue Input ogue ogue Input ogue ogue Input errup Interrupt Negative Del Interrupt Negative De2. 1 6401h Oth TPDO 2 COBID 280h NodelD Read Analog Input ch 2 6401h 02h Transmission Type 01h Read Analog Input ch 3 6401h 03h Read Analog Input ch 4 6401h 04h Read Analog Input ch 5 6401h 05h TPDO 3 COBID 380h NodelD Read Analog Input ch 6 6401h 06h Transmission Type 01h Read Analog Input ch 7 6401h 07h Read Analog Input ch 8 6401h 08h Note The Transmission Type is configurable Oth is the factory set value present in the modules when come from the factory the default value is FFh Hardware Set up Hexadecimal rotary switches service and I O LEDs Negative screw driver 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 Double flash Error Control Event o 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 Bit Rate and Node ID configuration 0 4x2 5 mm Bit rate Baud rate Bus length kbps m 20 2500 50 1000 100 500 125 500 250 250 500 100 800 50 1000 25 Notes Default value Node ID Parameters setting Index 2001h Analogue Input Type Th
3. every change of the analogue input data generates a new interrupt if there is no additional trigger condition e g an input interrupt delta 6426h Index 6425h Analog Input Interrupt Lower Limit Integer If enabled see 6423h object an interrupt is triggered when the analogue input is equal or rises above the given value The value shall be always left adjusted As long as the trigger condition is met every change of the analogue input data generates a new interrupt if there is no additional trigger condition e g an input interrupt delta 6426h Index 6426h Al Interrupt Delta Unsigned This object shall set the delta value rising or falling above or below the last com municated value for interrupt enabled analogue inputs see 6423h object Index 6427h Al Interrupt Negative Delta Unsigned This object shall set the negative delta value falling below the last communicated value for interrupt enabled analogue inputs see 6423h object Index 6428h Al Interrupt Positive Delta Unsigned This object shall set the positive delta value rising above the last communicated value for interrupt enabled analogue inputs see 6423h object 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 Init Transition Operating mode value Init Behaviour At Power Up the Device is in the rea
4. 8 Power supply 800Vp Environment Operating Storage Temperature 10 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 condensation may appear humidity gt 85 on the housing Mounting Vertical free air Protection IP20 Vibrations 3 axes 10 57Hz 0 0375mm 57 150Hz 0 5g Shock 3 axes 15g 11ms half sine 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 Conditioning aid Transmit ADC O gt 1X0R gt AND lt p A4 Positive Negative Delta Delta Close if TRUE The analogue input function block describes for each input channel how field values are transmitted Every time one of the limit conditions is reached an asynchronous transmission takes place PDOs used by the module TPDO Properties Mapped objects Index Sub index Read Analog Input ch
5. ASCON TECNOLOGIC IS09001 Certified M U 10 CB AI O8HL 2 07 07 Cod J30 478 1AAI O8HL E User manual Contents Characteristics Ascon Tecnologic S r l via Indipendenza 56 mod 0 CB AI O8HL 00 CANopen 1 0 Module 8 Configurable Analogue Inputs mod 10 CB AI 08HL 8 inputs configurable for mA V linear inputs 27029 Vigevano PV Italia Functional Block Diagram Tel 39 0381 69871 Fax 39 0381 698730 www ascontecnologic com PDOs used by the module Hardware Set up Parameter configuration Commands DB SMB LG8HH Emergency messages E E IS 688M parameter Store Restore r Object Dictionary APPLICABLE STANDARDS The Al O8HL module is suited for the CiA DS301 protocol 1 and implements the CiA DS 401 standard Device Profile as far as the Analogue Input Function Block is concerned 2 Characteristics Technical data Accuracy at 25 C 0 1 FS Temperature coefficient 0 01 FS K Input impedance mA lt 300Q V gt 10kQ Digital resolution 16 bit Conversion time 5 ms Overvoltage protection 30V 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 50 Vrms EN61010 1 Installation cathegory II Pollution degree 2 CE marking EN61131 2 3 way isolation diagram Fieldbus loge meee 1
6. An attempt to execute a command from an illegal state 0000000008 Error Wrong Assignment An attempt to assign a parameter from an illegal state A Emergency Onh FFh 21h 00h 00h 00h 00h Oyh message COB ID entry 1014h NodelD Error code 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 M11 RJ45 terminated cable 14cm AP S2 LOCAL BUS76 RJ45 terminated cable 22cm AP S2 LOCAL BUS152 CAN termination Adapter AP S2 TERM CAN Objec Dictionary with default v 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 000 001 003 005 006 007 008 009 00A 00C 00D 010 ooo oND A 200 800 1801 1802 1803 1A00 1A01 1A02 1A03 2000 2001 00h Oth 00h Oth 00h Oth 00h
7. D32 GNED32 The factory set value present in the modules when new for the transmission type is 01h RW RW RW RW RW RW RW RO RW RW RW RW RW RW RW RW MO
8. ID 600h NodelD e after assigning the configuration parameter 2001h Read response 4xh Index Sub Index Data The error state is automatically assigned by the device COB ID 580h NodelD 3 FFh and the operating mode value is read only when Write request 22h Index Sub Index Data e an attempt is made to execute an unexpected command COB ID 600h NodelD This value causes an exit from the error state after the Write response 60h Index Sub Index Reserved 4 00h error condition is acknowledged The only transition is to COB ID 580h NodelD the ready state 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 contidion to notify the end of one of the error states 0000000001 Error No Valid Calib An attempt to change the state of an input channel not properly calibrated to operating 0000000002 Error No Config An attempt to change the state of an input channel with a non valid Sensor Type to operating 0000000006 Error No Command Invalid command received 0000000007 7a Wrong Command
9. Oth 02h 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 00h Oth 02h 03h 04h 00h Oth 02h 03h 04h 00h 00h Oth 00h Oth 02h 03h 04h 05h 06h 07h 08h Index Sub Object hex Index R R D gt pe 2 27I III DIIDI DIDI D gt pe 2 Name Device Type Error Register Predefined error field COB ID SYNC Communication cycle period Synchrounous window length Manufacturer Device Name Manufacturer Hardware Version Manufacturer Software Version Guard Time Store Large Resto Large nhibi denti Life Time Factor Parameters st subindex supported Save all parameters re Default Parameters st subindex supported Restore all default parameters C EMCY Time EMCY Producer heartbeat time Object Number of entries Vendor ID Serve r SDO parameter Number of entries COB COB 1st Transmit PDO Comm Param Large COB Event Large Event 3th Transmit PDO Comm Param Large Event Event D Client gt Server rx D Server gt Client tx st subindex supported D used Transmission type inhibit time Reseved timer 2nd Transmit PDO Comm Param st subindex supported COB ID used Transmission type inhibit time Reseved timer st subindex supported COB ID used Transmission type inhibit time Reseved timer 4th Transmit PDO Comm Par
10. USED 00 Type UNSIGNED32 UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 Vis String Vis String Vis String UNSIGNED16 UNSIGNED8 UNSIGNED32 UNSIGNED8 UNSIGNED32 UNSIGNED32 Sl IS IS IS GNED8 GNED32 GNED32 GNED16 GNED16 f e a ee DNNN Fa nD GNED8 GNED32 Parameter 22h GNED8 GNED32 GNED32 CommPar 20h GNED8 GNED32 GNED8 GNED16 GNED8 GNED16 CommPar 20h GNED8 GNED32 GNED8 GNED16 GNED8 GNED16 CommPar 20h sgsssgs FA SBHRAHROH cece ve cece E ee o pd RNRAARHAHOHRHHAGDH gr j O GNED8 GNED32 GNED8 GNED16 GNED8 GNED16 CommPar 20h GNED8 GNED32 GNED8 GNED16 GNED8 UNSIGNED16 PDO Mapping 21h UNSIGNED8 PDO Mapping 21h UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 PDO Mapping 21h UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 ceca cecaece ZZ2Z0Z2 2 a OJLL UN a NNN PDO Mapping 21h UNSIGNED8 UNSIGNEDS INTEGER16 UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS UNSIGNEDS ooo0oo0oo0oo0oo0o000gg ooo Index Sub Object Name hex 200C 3000 3001 6401 6421 6422 6423 6424 6425 6426 6427 6428 Index Oth Oth 02h 03h 04h 05h 06h 07h 08h oO a SS Ss S oO oO fs 3 gt a a G oO Nn N Sai Si SS G Oo A a e Ea ed E O A d E Ea ea E p a e SS a
11. am Largest subindex supported COB ID used Transmission type nhibit time Reseved timer RECORD 1 Transmit PDO Mapping No of mapped application obj 00 RECORD 2 Transmit PDO Mapping No of mapped application obj 04 Read Analogue Input 16 bit ch1 64010110 Read Analogue Input 16 bit ch2 64010210 Read Analogue Input 16 bit ch3 64010310 Read Analogue Input 16 bit ch4 64010410 RECORD 3th Transmit PDO Mapping No of mapped application obj 04 Read Analogue Input 16 bit ch5 64010510 Read Analogue Input 16 bit ch6 64010610 Read Analogue Input 16 bit ch7 64010710 Read Analogue Input 16 bit ch8 64010810 VAI R R R R R R R R R R R RECORD 4th Transmit PDO Mapping VAI ARI VAI R RAY z a a a Eq No of mapped application obj Cold Junction Temperature Number of entries Cold Junction Measure Al Inp ut Type Number of entries Al Inpi Al Inp Al Inpi Al Inp Al Inp Al Inp Al Inpi Al Inp ut Typech1 ut Type ch2 ut Type ch3 ut Type ch4 ut Type ch5 ut Type ch6 ut Type ch7 ut Type ch8 Default hex 00040191 00 00000000 00000080 00000000 00000000 O8HL 1 00 1 00 0000 00 01 03 01 oO a 80 NodelD 0000 07D0 Identity 23h 01 000000E9 02 600 NodelD 580 NodelD 05 180 NodelD FE 0000 0000 05 280 NodelD FE 0000 0000 05 380 NodelD FE 0000 0000 05 480 NodelD FE 0000 0000 UNUSED UN
12. dy state Transition 1 is also executed if Index 200Ch Operating Mode contains the default value 1 1 Oth default Operating mode RUN is activated 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 Down or an NMT Reset Node message Byte 0 1 2 4 5 6 7 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_ 6th 64h Parameter l 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 Return to the initialisation ready state Byte i 1 2 se j 4 gt k Ey The transition is performed ndex HINGEX ESErve 2 mo e following an operator s command Pead readest COB
13. e n th subindex from 1 to 8 contains the configuration parameter of the n th Analogue Input Value Input type Condition 0x00 0 10 V Default 0x01 0 20 mA 0x02 4 20 MA Standard parameters Index 6421h Analog Input Interrupt Trigger Selection This object determines which events shall cause an interrupt for a specific channel Bits set in the list below shall refer to ways in which interrupts may be triggered Hi Lo Valid ID Node switch switch 01h address 1 res Em m SAW Fh address 127D 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 Set the HI and LO switches to the desired valid Node ID following the table 4 5 6 Turn the Power OFF Now configure Node ID 7 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 conf
14. iguration Module specific parameters Index 2000h Terminal Block Temperature Ambient temperature measured on the module s terminal block Not available through TPDO Index 3000h Node Address Current Module Node ID Read only access Index 3001h Baudrate Current Module Bit rate Read only access Bit number Interrupt trigger 0 Upper limit exceeded 1 Input below lower limit 02h address 2 2 Input changed by more than delta y 3 Input reduced by more than negative delta 4 Input increased by more than positive delta 5to7 reserved for future use Index 6422h Analog Input Interrupt Source This object shall determine which channel has produced an interrupt Bits set shall relate to the number of any channels that have produced interrupts The bits shall be reset automatically after read by SDO or transmitted by means of a PDO 1 interrupt produced 0 no interrupt produced Index 6423h Analog Input Global Interrupt Enable This object shall enable and disable globally the interrupt behaviour without changing the interrupt mask By default no analogue input activates an interrupt TRUE global interrupt enabled FALSE global interrupt disabled Index 6424h Analog Input Interrupt Upper Limit Integer If enabled see 6423h object an interrupt is triggered when the analogue input is equal or rises above the given value The value shall be always left adjusted As long as the trigger condition is met
15. l Interrupt Negative Del Interrupt Negative Del Interrupt Negative Del Interrupt Negative Del Interrupt Negative Del Interrupt Positive Delta Unsigned lumber of entries interrupt Positive Delta Unsigned ch1 Interrupt Positive Delta Unsigned ch2 Interrupt Positive Delta Unsigned ch3 Interrupt Positive Delta Unsigned ch4 Interrupt Positive Delta Unsigned ch5 Interrupt Positive Delta Unsigned ch6 Interrupt Positive Delta Unsigned ch7 Interrupt Positive Delta Unsigned ch8 put 16 bit entries nput 16bit ch1 6bit ch2 6bit ch3 6bit ch4 6bit ch5 6bit ch6 6bit ch7 6bit ch8 rigger Selection entries Trigger Selection cht Trigger Selection ch2 Trigger Selection ch3 Trigger Selection ch4 Trigger Selection ch5 Trigger Selection ch6 Trigger Selection ch7 Trigger Selection ch8 Source entries Source nput nput nput obal Interrupt Enable Upper Limit Integer entries Upper Limit Integer chi Upper Limit Integer ch2 Upper Limit Integer ch3 Upper Limit Integer ch4 Upper Limit Integer ch5 Upper Limit Integer ch6 Upper Limit Integer ch7 Upper Limit Integer ch8 Lower Limit Integer entries Lower Limit Lower Limit Lower Limit Lower Limit Lower Limit Lower Limit nteger chi nteger ch2 nteger ch3 nteger ch4 nteger ch5 nteger ch6 Lower Limit Integer ch7 Lower Limit Integer ch8 Delta Unsigned entries Delta Unsigned ch1 De
16. lta Unsigned ch2 Delta Unsigned ch3 Delta Unsigned ch4 Delta Unsigned ch5 Delta Unsigned ch6 Delta Unsigned ch7 Delta Unsigned ch8 Interrupt Negative Delta Unsigned umber of entries interrupt Negative Delta Unsigned ch1 Unsigned ch2 Unsigned ch3 Unsigned ch4 Unsigned ch5 Unsigned ch6 Unsigned ch7 Unsigned ch8 Seppo h amp H Default Type hex gt e S a oooo fel COOCCOCOCOCCOo oco e oo oo UN UN S SH UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI NSI UNSI j mo ANRNANRANNANMNNADN GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GER16 INTEGER16 NTEGER16 INTEGER16 NTEGER16 INTEGER16 NTEGER16 INTEGER16 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 GNED8 BOOLEAN GNED8 NTEGER32 INTEGER32 NTEGER32 INTEGER32 INTEGER32 NTE UNSI NTE NTE NTE NTE UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI UNSI NTEGER32 INTEGER32 GER32 IGNED8 INTEGER32 GER32 INTEGER32 GER32 INTEGER32 GER32 INTEGER32 GER32 GNED8 GNED32 GNED32 GNED32 GNED32 GNED32 GNED32 GNED32 GNED32 GNED8 GNED32 GNED32 GNED32 GNED32 GNED32 GNED32 GNED32 GNED32 GNED8 GNED32 GNED32 GNED32 GNED32 GNED32 GNED32 GNE
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