CANOpen IO Module User's Manual
Contents
1. C 22 10 OBIECT DHOTIONAR rora E err ere et rn 23 10 1 23 10 1 1 Object 1000h 00 1 1 0 nennen nnn nnne nnn nnn n nnns innu nnn nn 23 TOA 2 DISCE TOU IB Error REg TO asp ORE ODER EROR dS EE eee 23 10 1 3 Object 1003h Pre defined Error 1 23 10 1 4 Object 1008h M anufacturer Device ame 24 10 1 5 Object 1009h Manufacturer H ardware Version seseeeeeeemnme menn 24 10 1 6 Object 100Ah Manufacturer Software Version 1 1 1 10 24 10 1 7 Object 1017h Producer eartbeat time 200220 24 I0 T0 EBnis Identity OD CCT acera dac i ce neto pn cedi 24 10 2 NNC OBIECT c 26 10 2 1 Object 1005m CO Bel D 26 10 2 2 Object 1006h Communication Cycle Period 26 10 2 3 Object 1007h Synchronous Windows Length eseeeeemn mns 26 10 3 EMERGENCY OBJECT Sz cumst2. 52 10 6 27 Object 67FFh Device for multi profile s 53 11 ACCE 8 2 e 54 11 1 Sid Q 54 11 2 POET SU PE INN P crc 54 iu suede ue iM mts 54 EA GSI C 54 0 0 54 11 3 c 55 Lisbon BIOL Ta HOD O 55 2 Olgo caD E A 55 m m 55 11 4 cm 55 45 m 55 CANopen IO Module User s Manual INFRANOR GROUP COMPANY 55 LI 3 SES 55 11 5 ENCODER INPUT PLUG 56 TE FOE DE T E E 56 11 6 CGC gt TEE E E 56 11 6 1 General Information rfr doa a x CER ica 56 Oraa O 56 111 TOR RECEN 56 12 NOTE c E A E A E 57 C CYBELEC INFRANOR GROUP COMPANY CANopen IO Module User s Manual 1 REFERENCE CiA DS 301 Application Layer and Commu
3. 27 10 3 1 0 bject 1014h COB ID EMCY 55 ETETA 27 10 3 2 Object 1015h Inhibit Time EMergency ccccsecscccccssseeeeeseeeeeeeeseeeeeeeeeeeeeesesaeeseeeesaeeeeeesseaeseeteaas 27 10 4 POO OBIECT arera 28 10 4 1 Object 1400h Receive PDO Communication Parameter 1 0 010 00 28 10 4 2 Object 1401h Receive PDO Communication Parameter 000 nnn 28 INFRANOR GROUP COMPANY CANopen IO Module User s Manual 10 4 3 Object 1404h Receive Communication Parameter 9 00 29 10 4 4 Object 1600h Receive PDO Mapping Parameter 29 10 4 5 Object 1601h Receive PDO Mapping Parameter 0 emn 30 10 4 6 Object 1604h Receive PDO Mapping Parameter 1 2522 61 0 01 0 30 10 4 7 Object 1800h Transmit PDO Communication Parameter 000 0 nns 31 10 4 8 Object 1801h Transmit PDO Communication Parameter 2 11 ns 31 10 4 9 Object 1802h Transmit PDO Communication Parameter 200 0 00 nne 32 10 4 10 Obje
4. Data Type Unsigned8 Access HW PDO Mapping to No INFRANOR GROUP COMPANY SUB INDEX CANopen IO Module User s Manual 4 NAME Fault Mode Analog Output 4 Data Type Unsigned8 Access HW PDO Mapping Value meaning NO Bit Number Description 0 actual value rest 1 reverts to default value unconverted 2 reverts to default value converted 10 6 25 Object 6444h Default Analog Output Fault State Unconverted Default output fault value unconverted If the fault mode flag is set the output will revert to the value defined here on detection of a fault INDEX 6444h NAME Default Analog Output Fault State Unconverted Object Code ARRAY Number of Elements SUB INDEX 4 0 NAME Number of elements Data Type Integer32 Access PDO Mapping SUB INDEX NO 1 NAME Default Analog Output 1 Data Type Integer32 Access HW PDO Mapping SUB INDEX NO 4 NAME Default Analog Output 4 Data Type Integer32 Access HW PDO Mapping NO 10 6 26 Object 67FEh Error Behavior This object determines the state changing in the case of a communication or IO error INDEX 67FEh NAME Error Behavior Object Code ARRAY Number of Elements SUB INDEX 3 0 NAME Number of ele
5. and baud rate EET Fig CANOPEN 16DI 16DO 6AIx 4AOIx 2E T he device is comprised of 24VDC Supply connector e Display elements LEDs for status display of the operation the bus communication as well as for fault messages and diagnosis CAN bus and RS232 bus connector switch for 10 and baud rate C CYBELEC INFRANOR GROUP COMPANY CANopen IO Module User s Manual 42 IOMODULE INTERFACES In the following section a description is given for all interfaces and plugs which an 1O Module can have 4 2 1 Power Supply Input voltage 24 1590 supply voltage is internally protected so that the device cannot be damaged if there is overload or if the voltage supply is connected incorrectly Supply Voltage Description 24VDC Accessorie 1690420000 Weidm ller Connector BLZF 3 5 2 Fig Supply Voltage Connection 4 2 2 Field Bus Connection Field Bus Connection Description RS232 In 5232 TX Out p Fig Field bus connector 4 2 3 Display Elements The operating condition of the field bus device is signaled via LEDs Display Elements LED Description CAN ERR RUN RUN Device state Pre operational Blinking Operational On Stop OVEREL TX OVEHFL transmitter buffer is full RX RX OVERFL receiver buffer is full Fig Display elements
6. reset when SET is reset NDERFLOW NDERFLOW 1 with a counter overflow of 0x00000000 to OxFFFFFFFF NDERFLOWZ O if counter lt OXAAAAAAAA _ UNDERFLOW 0 if positive edge on ResetUnderflow C1 3 p OVERFLOW reload Mode reload et O c NDERFLOW 0 if OVERFLOW 1 VERFLOW 1 with a counter overflow of OXFFFFFFFF to 0x00000000 VERFLOW O if counter lt 0x55555555 VERFLOW O if positive edge on ResetOverflow C1 4 VERFLOW O0 if UNDERFLOW 1 OVERFLOW __ l a ot used ot used 2 o E o a INFRANOR GROUP COMPANY CANopen IO Module User s Manual Control Byte for Axis 1 C1 Index 0x2000 Sub Index 0x2 Function N LATC VAL Ji transferredtothe latch register Object index 0 2010 Sub index 1 02 with the set value Object index 0 2010 Sub index 1 N LATC EXT A Jis transferred to the latch register Object index 0 2010 Sub index 1 with the set value Object index 0 2010 Sub index 1 NT SET With a positive edge the counter is initialized on the set value Object index 0x2010 Sub index 1 ESET UNDERFLOW ESET OVERFLOW ot used pu H O PMODE ot used E o oo Description 0 ENLATC VAL EE 1 NE NENNEN Ep 1 p fo 6 JOPMODE o atus Byte for Ax
7. E enabled D disabled 2 CYBELEC CANopen IO Module User s Manual INFRANOR GROUP COMPANY 9 3 Analogue Input Module There are different access methods defined The following table lists the objects for 16 bit access Index ObjectCode Name Type The Figure shows the relationship between the analogue input objects for a 16 bit access Default Default Mapping Communication Offset Scaling Parameter Parameter 6431h 6432h 1A01 3h 1801 3h 2 2 _ Signal Conver Condition ter in SE g Transmission CAN Single V A Analo i 2 6424h T F 22 gt amp Us CLOSE 1 Upper Limit XOR AND IF T F TRUE 2 6425h _ rA Lower Limit E D Value Difference 6426h Interrupt 6423h Enable 3 3 3 i Positive Value T true 1 up to 16 bit ee oe 6427h 6428h Difference F false 2 Integer32 E enabled 3 Unsigned32 D disabled 4 Integer16 left adjusted cm C CYBELEC INFRANOR GROUP COMPANY CANopen IO Module User s Manual 9 4 Analogue Output Module There are different access methods defined The following table lists the objects for 16 bit access Index ObjectCode Data 6411h Write Analog Output 12 Bits Integer16 6443h Analog Output Fault Mode Unsigned8 6444h Default Analog Output Fault State unconverted Intgerer32 The Figure shows the relationship
8. Number of Elements SUB INDEX 16 0 NAME Number of elements Data Type Unsigned8 Access PDO Mapping SUB INDEX NO 1 NAME Digital Input 1 Data Type Unsigned8 Access HO PDO Mapping SUB INDEX Yes 16 NAME Digital Input 16 Data Type Unsigned8 Access PDO Mapping Yes INFRANOR GROUP COMPANY CANopen IO Module User s Manual 10 6 8 Object 6030h Polarity 1 Input Line 1 16 Sets the polarity of a single input line A maximum of 16 bit inputs are addressable at one index INDEX 6030h NAME Polarity 1 Input Line 1 16 Object Code ARRAY Number of Elements SUB INDEX 16 0 NAME Number of elements Data Type Unsigned8 Access PDO Mapping SUB INDEX NO 1 NAME Polarity Digital Input 1 Data Type Unsigned8 Access RW PDO Mapping SUB INDEX Yes 16 NAME Polarity Digital Input 16 Data Type Unsigned8 Access HW PDO Mapping Yes 10 6 9 Object 6050h Interrupt Mask 1 Input Line 1 16 any change Sets the interrupt mask for any change for a single input line A maximum of 16 bit inputs are addressable at one index INDEX 6050h NAME Interrupt Mask 1 Input Line 1 16 any change Object Code ARRAY Number of Element
9. SUB INDEX 2 1 NAME Preset Latch Value Axis 1 Data Type Unsigned32 Access HW PDO Mapping SUB INDEX Yes 2 NAME Preset Latch Value Axis 2 Data Type Unsigned32 Access PDO Mapping 10 5 4 Object 2020h Position for Multi Sensor Devices 32Bits This object contains the Output Position value for Axis 1 amp Axis 2 The Data width is 32Bits INDEX 2020h NAME Position for Multi Sensor Devices 32Bits Object Code ARRAY Number of Elements SUB INDEX 2 1 NAME Position Value Axis 1 Data Type Unsigned32 Access Mapping SUB INDEX Yes 2 NAME Position Value Axis 2 Data Type Unsigned32 Access PDO Mapping 39 INFRANOR GROUP COMPANY CANopen IO Module User s Manual 10 5 5 Object 2030h Speed Value 16Bits This object contains the Output speed value for Axis 1 amp Axis 2 The Data width is 16Bits INDEX 2030h NAME Speed Value 16Bits Object Code ARRAY Number of Elements 2 SUB INDEX 1 NAME Speed Value Axis 1 Data Type Integer16 Access R PDO Mapping Yes SUB INDEX 2 NAME Speed Value Axis 2 Data Type Integer16 Access RO PDO Mapping Yes CANopen IO Module User s Manual INFRANOR GROUP COMPANY 10 6 DEVICE PROFILE FOR GENERIC IO MODULE 10 6 1 Object 6000h
10. 3 NAME Inhibit Time Data Type Unsigned16 Access HW PDO Mapping NO Default Value 0x0000 10 4 8 Object 1801h Transmit PDO Communication Parameter It contains the communication parameters of the second 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 INDEX 1801h NAME 2 Transmit PDO Communication Parameter Object Code ARRAY Number of Elements SUB INDEX 3 1 NAME COB ID Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x280h Node ID 2 NAME Transmission Type Data Type Unsigned8 Access HW PDO Mapping NO Default Value SUB INDEX 0x01 3 NAME Inhibit Time Data Type Unsigned16 Access HW PDO Mapping NO gt INFRANOR GROUP COMPANY CANopen IO Module User s Manual 10 4 9 Object 1802h Transmit PDO Communication Parameter It contains the communication parameters of the actual 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 disab
11. Default Value SUB INDEX 0x01 3 NAME Inhibit Time Data Type Unsigned16 Access HW PDO Mapping NO CANopen IO Module User s Manual 2 CYBELEC INFRANOR GROUP COMPANY 10 4 11 Object 1805h Transmit PDO Communication Parameter It contains the communication parameters of the actual 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 INDEX first 4 pdo have predefined cob 1805h NAME 6 Transmit PDO Communication Parameter TPDO6 Object Code ARRAY Number of Elements SUB INDEX 3 1 NAME COB ID Data Type Unsigned32 Access HW PDO Mapping SUB INDEX NO 2 NAME Transmission Type Data Type Unsigned8 Access HW PDO Mapping NO Default Value SUB INDEX 0 01 3 NAME Inhibit Time Data Type Unsigned16 Access HW PDO Mapping NO 10 4 12 Object 1A00h Transmit PDO Mapping Parameter It contains the mapping parameter for the PDOsthe device is able to transmit Sub index 0 contains the number of the mapped data objects All further entries define the data by its index sub index and length The struc
12. PDO Mapping NO Default Value 0x00 10 6 4 Object 6006h Input Interrupt Mask 8 any change Determines which input port lines activate an interrupt Done for groups of 8 lines and for any change of a digital input line By default every input activates an interrupt INDEX 6006h NAME Input Interrupt Mask 8 any change Object Code ARRAY Number of Elements SUB INDEX 2 0 NAME Number of elements Data Type Unsigned8 Access PDO Mapping SUB INDEX NO 1 NAME Input Interrupt Mask 8 any change for Digital Inputs 1 8 Data Type Unsigned8 Access HW PDO Mapping SUB INDEX NO 2 NAME Input Interrupt Mask 8 any change for Digital Inputs 9 16 Data Type Unsigned8 Access HW PDO Mapping NO 10 6 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 6007h NAME Input Interrupt Mask 8 low to high Object Code ARRAY Number of Elements SUB INDEX 2 0 NAME Number of elements Data Type Unsigned8 Access HO PDO Mapping SUB INDEX NO 1 NAME Input Interrupt Mask 8 low to high
13. C CYBELEC CANopen IO Module User s Manual INFRANOR GROUP COMPANY 4 2 4 Setting the IO Module Address Module ID The DIP switches are used both for setting the baud rate of the field bus device and for setting the module ID This module ID is necessary for calculating the COB IDs DIP Switch Configurator Fig Setting the device node address T he binary significance of the individual DIP switches increases according to the switch number i e the module ID 1 isset by DIPIZ ON the module ID 8 by DIPA etc T he nodes of the Cybelec I O System can have module I Ds from 1 to 127 4 2 5 Setting the Baud Rate T he device supports 9 different Baud rates DIP Switches are used to set the baud rate T he device changes to the configuration mode using set module ID 0 all DIP switches off with subsequent power On The current set baud rate is displayed in this status The baud rate display is shown by the LED group CAN ERR RUN TX OVERFL RX OVERFL whereby CAN ERR Switchl RUN Switch2 TX OVERFL Switch3 RX OVERFL Switch4 The current set baud rate is displayed by the corresponding LEDs N ow the new baud rate can be set using the DIP switch by turning the corresponding DIP switches to ON T he set configuration is saved by turning DIP8 to ON Following saving all four LEDs are turned On DIP Switch Configurator is displayed Function by LED Baud rate CAN ERR Baud rate RUN Baud rate TX OVERF
14. Read State 8 Input Lines Reads a group of 8 inputs lines as a byte of information INDEX 6000h NAME Read State 8 Input Lines Object Code ARRAY Number of Elements SUB INDEX 2 0 NAME Number of elements Data Type Unsigned8 Access RO PDO Mapping SUB INDEX No 1 NAME Digital Inputs 1 8 Data Type Unsigned8 Access PDO Mapping SUB INDEX Yes 2 NAME Digital Inputs 9 16 Data Type Unsigned8 Access HO PDO Mapping Yes 10 6 2 Object 6002h Polarity 8 Input Lines Defines the polarity of a group of 8 input lines INDEX 6002h NAME Polarity 8 Input Lines Object Code ARRAY Number of Elements SUB INDEX 2 0 NAME Number of elements Data Type Unsigned8 Access PDO Mapping SUB INDEX NO 1 NAME Polarity for Digital Inputs 1 8 Data Type Unsigned8 Access HW PDO Mapping SUB INDEX NO 2 NAME Polarity for Digital Inputs 9 16 Data Type Unsigned8 Access HW PDO Mapping NO INFRANOR GROUP COMPANY 10 6 3 Object 6005h Enable Digital input Interrupts Globally enable or disable input interrupts INDEX 6005h NAME Enable Digital Input Interrupts Object Code VAR Data Type Unsigned8 Access HW
15. Address 11 4 2 5 Setting the Baud ud VERDE Edu 11 4 2 6 Digital Input and Output CODEPIGCEOFS CR dcn Cr D deer 12 4 2 7 Analog Input DER Ita Eb Y db Eau ER ka 12 duo Encoder Conner S 12 5 1601 1600 4 2 2 13 5 1 equBB cmM 14 5 2 Bic eee 15 6 e 16 6 1 MOUNTING INSTRUCTION cc 16 6 2 cQ ej rm 16 7 SUIS GANG TOP C 17 8 NETWORK INITIALISATION AND SYSTEM 18 8 1 NMT STATE MACHINE 18 8 2 1 15 1 18 9 OBIECT DESCRIPTION 19 9 1 UE 19 9 2 0 colt M eee 20 9 3 Analogue Input Kos 21 9 4 PTV USO des sens
16. HW PDO Mapping NO Default Value SUB INDEX 0x64010310 Analog Input 3 4 NAME 4 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value 0x64010410 Analog Input 4 10 4 14 Object 1A02h Transmit PDO Mapping Parameter It contains the mapping parameter for the PDOsthe device is able to transmit Sub index 0 contains the number of the mapped data objects All further entries define the data by it s index sub index and length T he structure of a mapping entry is INDEX NAME Object Code Number of Elements 1A02h 3 Transmit PDO Mapping Parameter TPDO3 ARRAY 1 2 SUB INDEX 1 NAME 1 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value 0x64010510 Analog Input 5 SUB INDEX 2 NAME 279 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO CANopen IO Module User s Manual INFRANOR GROUP COMPANY Default Value 0x64010610 Analog Input 6 10 4 15 Object 1A04h Transmit PDO Mapping Parameter It contains the mapping parameter for the PDOsthe device is able to transmit Sub index 0 contains the number of the mapped data objects All further entries define the data by its index sub index and length The structure of a mapping entry is INDEX 1A04h NAME 5 Transmit Mapping Parameter 5 Object Code ARRAY Number of E
17. HW PDO Mapping NO Default Value 0x20300210 Speed Axis 2 a CANopen IO Module User s Manual INFRANOR GROUP COMPANY 10 5 MANUFACTURER DEVICE PROFILE 10 5 1 Object 2000h Operating Parameters Axis T his object contains the Status and Control Byte of Axis 1 2 INDEX 2000h NAME Operating Parameters Axis Object Code ARRAY Number of Elements 4 SUB INDEX 1 NAME Status Byte Axis 1 Data Type Unsigned8 Access HW PDO Mapping Yes SUB INDEX 2 NAME Control Byte Axis 1 Data Type Unsigned8 Access PDO Mapping SUB INDEX NAME Status Byte Axis 2 Data Type Unsigned8 Access HW PDO Mapping Yes SUB INDEX 4 NAME Control Byte Axis 2 Data Type Unsigned8 Access HW PDO Mapping Yes o atus Byte for Axis 1 S1 Index 0x2000 Sub Index 0x1 cknowledge bit for EN LATC C1 0 atch Mode his bit is set with a positive edge at input Encoder Index Pulse is reset when EN is reset his bit is set with a positive edge at input Encoder Index Pulse p _ 6 is reset when LATC is reset ATC EXT VAL cknowledge bit for EN LATC EXT C1 1 Latch Mode his bit is set with a positive edge at input 11 Input Connector B1 is reset when LATC is reset 7 his bit is set with positive edge at input 11 Input Connector B1 2 is reset when LATC is reset cknowledge bit for CNT SET C1 2
18. Manual HO PDO Mapping NO 10 6 21 Object 6423h Global Analog Interrupt Enable Globally enable disable analogue input interrupts By default no analogue input activates an interrupt INDEX 6423h NAME Global Analog Interrupt Enable Object Code VAR Data Type Unsigned8 Access HW PDO Mapping NO Default Value 0x00 10 6 22 Object 6424h Analog Input Interrupt Upper Limit When enabled interrupt triggered when analogue input rises above this value INDEX 6424h NAME Analog Input Interrupt Upper Limit Object Code ARRAY Number of Elements SUB INDEX 6 0 NAME Number of elements Data Type Integer32 Access PDO Mapping SUB INDEX NO 1 NAME Upper Limit for Analog Input 1 Data Type Integer32 Access HW PDO Mapping SUB INDEX NO 6 NAME Upper Limit for Analog Input 6 Data Type Integer32 Access HW PDO Mapping NO Object 6425h Analog Input Interrupt Lower Limit When enabled interrupt triggered when analogue input falls below this value INDEX 6425h NAME Analog Input Interrupt Lower Limit Object Code ARRAY Number of Elements SUB INDEX 6 0 NAME Number of elements Data Type Integer32 Access PDO Mapping SUB INDEX NO 1 NAME Lower Lim
19. between the analogue input objects for a 16 bit access Default Default Communication Mapping Parameter Parameter 1401 3h 1601 3h RECEIVE Signal D A RPDO2 4 RPDO2 4 Condition Converter CAN m Reception de nalog Output Error Mode SWITCH IF Oh 6443h m Switchif 0 1 Device i Failure Error Value 1 E enabled 1 6444h HM D disabled 1 Integer32 2 Integer16 left adjusted with default value of 0 a CANopen IO Module User s Manual INFRANOR GROUP COMPANY 10 OBJECT DICTIONARY 10 1 GENRAL INFORMATION OBJECTS 10 1 1 Object 1000h Device The device type specifies the kind of device The lower 16 bit contains the device profile number and the upper 16 bit additional information INDEX 1000h NAME Device Type Object Code VAR Data Type Unsigned32 Access PDO Mapping NO Default Value 0x000F0191 10 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 INDEX 1001h NAME Error Register Object Code VAR Data Type Unsigned8 Access PDO Mapping Default Value Bit Number Description 0 Generic Error 1 2 3 4 Communication error overrun error state 5 device profile specific 6 Reserved 7 manufacturer specifi
20. 0x00000000 4 NAME Serial Number Data Type Unsigned32 Access PDO Mapping NO Default Value 0x00000000 25 INFRANOR GROUP COMPANY CANopen IO Module User s Manual 10 2 SYNC OBJECTS 10 2 1 Object 1005h COB ID SYNC COB ID of the Synchronization object If bit 31 is set the device consumes SYNC message and if bit 30 is set the device produce SYNC message The meaning of other bits is equal to the other communication objects INDEX 10058h NAME COB ID SYNC Object Code VAR Data Type Unsigned32 Access HW PDO Mapping NO Default Value 0x80000080 10 2 2 Object 1006h Communication Cycle Period This entry defines the communication cycle period in us It is 0 if not used INDEX 1006h NAME Communication Cycle Period Object Code VAR Data Type Unsigned32 Access HW PDO Mapping NO Default Value 0x00000000 10 2 3 Object 1007h Synchronous Windows Length It contains the length of the time window for synchronous messages in us It is O if not used INDEX 1007h NAME Synchronous Windows Length Object Code VAR Data Type Visible String Access HW PDO Mapping NO Default Value 0x00000000 26 CANopen IO Module User s Manual INFRANOR GROUP COMPANY 10 3 EMERGENCY OBJECTS
21. 10 3 1 Object 1014h COB ID COB ID used for emergency message Emergency Server INDEX 1014h NAME COB ID EMCY Object Code VAR Data Type Unsigned32 Access RW PDO Mapping No Default Value 80h Node ID 10 3 2 Object 1015h Inhibit Time Emergency Inhibit Time used for emergency message Emergency Server The time has to be a multiple of 100 msec INDEX 1015h NAME Inhibit Time Emergency Object Code VAR Data Type Unsigned16 Access HW PDO Mapping Default Value 0x0000 INFRANOR GROUP COMPANY CANopen IO Module User s Manual 10 4 PDO OBJECTS 10 4 1 Object 1400h Receive PDO Communication Parameter It contains the communication parameters of the first PDO the device is able to receive 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 INDEX 1400h NAME 1 Receive PDO Communication Parameter RPDO1 Object Code ARRAY Number of Elements SUB INDEX 3 1 NAME COB ID Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x200h Node ID 2 NAME Transmission Type Data Type Unsigned8 Access HW PDO Mapping NO Default V
22. 6DO 6AIx 4AOx 2E Front view Fig CANOPEN 16DI 16DO 6AIx 4AOx 2E Rear view INFRANOR GROUP COMPANY CANopen IO Module User s Manual 5 1 Technical Data Description CANOPEN 16DI 16DO 6Alx A4AOx 2E 6 inputs 4 outputs 2 encoder inputs CAN IO Slave Input Filter Additional Functions Digital Outputs Rated Voltage 24VDC Nominal Output Current 3A per Output Total Current Max 10A per Connector B2L 3 5 20 Output Circuit Output Protection Thermal cutoff for over current or short circuit Integrated protection for switching inductances Additional Functions Pulse width modulation Overload current controlled by software Analog Inputs 0 10 amp 10V 1 Digital Converter Resolution 12 Bit Conversion Time 1ms for all channels Output Format DWORD Basic Accuracy 0 25 at 25 Input Protection Analog Outputs 0 10V 10 25 60 1 12Bit lt 1ms for all channels 0 25 at 25 C Output Protection No Basic Accuracy Encoder Inputs AANBBVIN Sensor supply voltage 5 VDC Max 100mA per Encoder Bit width 32 Bit Maximum frequency 75 Mhz Encoder connections Additional Functions Latch Preload cf Manufacturer Device Profile Interface CAN IO Slave RJ45 S STP Cat 5 1 Mbit s Field bus interface Wiring Maximum Baud Rate General Information Certification CE Status Display IO function for each channel status Diagnostics IO Function Yes with LEDs CAN Interface Yes with LE
23. B 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 first 4 pdo have predefined cob INDEX 1404h NAME 5 Receive PDO Communication Parameter 5 Object Code ARRAY Number of Elements SUB INDEX 3 1 NAME COB ID Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x500h Node ID 2 NAME Transmission Type Data Type Unsigned8 Access HW PDO Mapping NO Default Value SUB INDEX 0x01 3 NAME Inhibit Time Data Type Unsigned16 Access HW PDO Mapping NO Default Value 0x0000 10 4 4 Object 1600h Receive PDO Mapping Parameter It contains the mapping parameters of the first PDO the device is able to receive Sub index 0 contains the number of the mapped data objects further entries define the data by its index sub index and length INDEX 1600h NAME 15 Receive PDO Mapping Parameter RPDO1 Object Code ARRAY Number of Elements SUB INDEX 1 2 1 NAME 1 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x62000108 Digital Output 1 8 2 NAME 274 mapped Object Data Type Unsigned32 Access HW PD
24. C CYBELEC INFRANOR GROUP COMPANY CANopen IO Module User s Manual CANOPEN 16DI 16DO 6AIx 4AOx 2E INFRANOR GROUP COMPANY CANopen IO Module User s Manual Warning C ybelec reserves the right to change any information contained in this manual without notice April 2005 Issue 1 0 CANopen IO Module User s Manual INFRANOR GROUP COMPANY Content PAGE 1 REFERENCE 6 2 6 3 7 3 1 HISTOR dem P 7 3 2 SAPETI TE TIN ES saan 7 CMM ere one ce mace eee ss ee nie sea enclose 7 EALE Se RUE m 7 SPECE GO ETE E E A A EN E I E A 7 93 2 E EE EE 7 3 3 IO MODULE CONFIGURATION hdi ad iae YR ORO Mehl 8 4 TA 9 4 1 GENERAL ITNFORMATIO cc 9 E EE oS T 9 4 2 O MODULE INTERFACE c 10 P A A S E A E E 10 2 2 2 FEBUS CONG 10 42 3 Display Element eevee eee eT Ee er er en E 10 4 2 4 Setting the 1O Module
25. Code VAR Data Type Visible String Access PDO Mapping NO 10 1 7 Object 1017h Producer Heartbeat time The producer heartbeat time defines the cycle time of the heartbeat If the time is O it is not used The time has to be a multiple of 1 msec INDEX 1017h NAME Producer Heartbeat time Object Code VAR Data Type Unsigned16 Access RW PDO Mapping No Default Value 0x0000 10 1 8 Object 1018h Identity Object This object contains general information about the device Sub Index 1 contains a unique value allocated to 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 INDEX 1018h NAME Identity Object Object Code ARRAY Number of Elements 4 SUB INDEX 1 NAME Vendor ID Data Type Unsigned32 24 CANopen IO Module User s Manual Access HO 2 CYBELEC INFRANOR GROUP COMPANY PDO Mapping NO Default Value SUB INDEX 0x00000000 2 NAME Product Code Data Type Unsigned32 Access PDO Mapping Default Value SUB INDEX 0x00000000 NAME Revision Number Data Type Unsigned32 Access HO PDO Mapping NO Default Value SUB INDEX
26. Ds 14 CANopen IO Module User s Manual INFRANOR GROUP COMPANY Mechanical Characteristics Dimensions in mm WxHxD 112x116x26 1 Weight XXX 0 IP 40 Operating Storage Temperature 0 to 50 C 20 to 70 Humidity 5 95 non condensing Table CANOPEN 16DI 16DO 6AIx 4AOx 2E 1 Cf to the IO Module Configuration table to order the corresponding device 5 2 Dimensions Fig CANOPEN 16DI 16DO 6Ab 4AOx 2E Dimensions in mm C CYBELEC INFRANOR GROUP COMPANY CANopen IO Module User s Manual 6 MOUNTING 6 1 MOUNTING INSTRUCTIONS ThelO Module can be snapped directly onto a carrier rail in accordance with the European standard EN 50022 DIN 35 Carrier rails have different mechanical and electrical properties For the optimal system setup on a carrier rail certain marginal terms must be observed The material must be non corrosive Most components have a contact to the carrier rail to ground electro magnetic disturbances n order to avoid corrosion this tin plated carrier rail contact must not form a galvanic cell with the material of the carrier rail which generates a differential voltage above 0 5V e The carrier rail must optimally support the EM C measures integrated into the system and the shielding of the 1O Module connections lt A sufficiently stable carrier rail should be selected and if necessary several assembly points every 20 cm should be used in order to prevent b
27. L Baud rate RX OVERFL Acceptance off gt Accepting the configuration settings CAN Bus Termination On gt Add a terminal resistor of 120 O to the CAN bus Once the baud rate setting is completed switch off the operating voltage Caution Only the last IO module of a CANopen network need to set the CAN Bus Termination trough the DIP Switch 9 cf Network Topology cm INFRANOR GROUP COMPANY CANopen IO Module User s Manual 4 2 6 Digital Input and Output Connectors Input 1 11 and respectively Input 2 12 are connected to fast interrupt inputs T hose fast interrupts may be used for latching or preloading positions with Encoder Inputs cf Manufacturer Device Profile Digital Input and Output Connectors B1 9 Description B2 BDescripion Fig Digital Input and Output Connectors 4 2 7 Analog Input and Output Connector Analog Input and Output Connector B3 Bescripion Fig Analog Input and Output Connector 1 Cf to the IO Module Configuration table 4 2 8 Encoder Input Connectors Encoder Input Connectors E1 E2 9 Description GND Fig Encoder Input Connectors CANopen IO Module User s Manual INFRANOR GROUP COMPANY 5 CANOPEN 16DI 16DO 6Alx A4AOx 2E CAN ERR ET re CCYBELEC Pree Fig CANOPEN 16DI 1
28. O Mapping NO Default Value 0x62000208 Digital Output 9 16 INFRANOR GROUP COMPANY CANopen IO Module User s Manual 10 4 5 Object 1601h Receive PDO Mapping Parameter It contains the mapping parameters of the first PDO the device is able to receive Sub index 0 contains the number of the mapped data objects All further entries define the data by its index sub index and length INDEX 1601h NAME 279 Receive PDO Mapping Parameter RPDO2 Object Code ARRAY Number of Elements SUB INDEX 1 4 1 15 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x64110110 Analog Output 1 2 NAME 2 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x64110210 Analog Output 2 3 NAME 3 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x64110310 Analog Output 3 4 NAME 4 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value 0x64110410 Analog Output 4 10 4 6 Object 1604h Receive PDO Mapping Parameter It contains the mapping parameters of the first PDO the device is able to receive Sub index 0 contains the number of the mapped data objects All further entries
29. Output Lines Object Code ARRAY Number of Elements SUB INDEX 2 0 NAME Number of elements Data Type Unsigned8 Access PDO Mapping SUB INDEX NO 1 NAME Polarity for Digital Outputs 1 8 Data Type Unsigned8 Access HW PDO Mapping SUB INDEX NO 2 NAME Polarity for Digital Outputs 9 16 Data Type Unsigned8 Access HW PDO Mapping NO 10 6 14 Object 6206h Fault Mode 8 Output Lines Output line fault mode This defines the default output mode on detecting a fault condition Defined for groups of 8 lines 1 bit per line This equals 1 if the output must revert to a predefined output state on fault detection Default mode is that the outputs do revert to a predefined output state INDEX 6206h NAME Fault Mode 8 Output Lines Object Code ARRAY Number of Elements 2 CANopen IO Module User s Manual SUB INDEX 2 CYBELEC INFRANOR GROUP COMPANY 0 NAME Number of elements Data Type Unsigned8 Access HO PDO Mapping SUB INDEX NO 1 NAME Fault Mode for Digital Outputs 1 8 Data Type Unsigned8 Access HW PDO Mapping SUB INDEX NO 2 NAME Fault Mode for Digital Outputs 9 16 Data Type Unsigned8 Access HW PDO Mapping NO 10 6 15 Object 6207h Fault State 8
30. Output Lines Output line fault state T his defines the default output state on detecting a fault condition Defined for groups of 8 outputs T he corresponding bit must be set in the default output line mode INDEX 6207h NAME Fault State 8 Output Lines Object Code ARRAY Number of Elements SUB INDEX 2 0 NAME Number of elements Data Type Unsigned8 Access PDO Mapping SUB INDEX NO 1 NAME Fault State for Digital Outputs 1 8 Data Type Unsigned8 Access HW PDO Mapping SUB INDEX NO 2 NAME Fault State for Digital Outputs 9 16 Data Type Unsigned8 Access HW PDO Mapping NO 10 6 16 Object 6220h Write State 1 Output Line 1 16 Sets single output line information A maximum of 16 bit outputs are addressable at one index INDEX 6220h NAME Write State 1 Output Line 1 16 Object Code ARRAY Number of Elements SUB INDEX 16 0 NAME Number of elements Data Type Unsigned8 Access PDO Mapping SUB INDEX NO 1 NAME Digital Output 1 Data Type Unsigned8 Access HW C CYBELEC INFRANOR GROUP COMPANY CANopen IO Module User s Manual PDO Mapping to SUB INDEX 16 NAME Digital Output 16 Data Type Unsigned8 Access HW PDO Mapping Yes 10 6 17 Objec
31. afe 3 2 3 Transport and Storage During transport and storage devices must be protected from excessive stress mechanical load temperature humidity aggressive atmosphere 3 2 4 Installation Theinstallation must take place according to the documentation ThelO Modulesare only allowed to be installed without voltage applied and by qualified personnel General safety regulations and nationally applicable accident prevention guidelines must be observed Electrical installation must be carried out according to the relevant guidelines e g line cross section fuse protective ground connection INFRANOR GROUP COMPANY CANopen IO Module User s Manual 3 3 MODULE CONFIGURATION TABLE Table IO Module Configuration table CANopen IO Module User s Manual INFRANOR GROUP COMPANY 4 TECHNICAL DATA 41 GENERAL INFORMATION The IO Module from Cybelec offers the flexibility of a modular IO system and provides a solution for a wide range of applications Thanks to the flat structure with a height of just 40mm the module can also be used in particularly low terminal boxes ThelO Modules is more than a remote IO system it is a complete control solution The main characteristics of the Cybelec IO Module are the followings Low cost Adaptable Flexible Powerful 4 1 1 Features 24VDC Supply gt Status indication gt Field bus connection 7 DIP switch for node
32. alue SUB INDEX 0 01 3 NAME Inhibit Time Data Type Unsigned16 Access HW PDO Mapping NO Default Value 0x0000 10 4 2 Object 1401h Receive PDO Communication Parameter It contains the communication parameters of the first PDO the device is able to receive 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 INDEX 1401h NAME 2 Receive PDO Communication Parameter RPDO2 Object Code ARRAY Number of Elements SUB INDEX 3 NAME 1 COB ID Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0 300 Node ID 2 Transmission Data Unsigned8 Access HW PDO Mapping NO Default Value SUB INDEX 0 01 3 NAME Inhibit Time Data Type Unsigned16 Access HW CANopen IO Module User s Manual PDO Mapping 2 CYBELEC INFRANOR GROUP COMPANY NO Default Value 0x0000 10 4 3 Object 1404h Receive PDO Communication Parameter It contains the communication parameters of the first PDO the device is able to receive Sub index 0 contains the number of PDO parameters implemented Sub index 1 describes the CO
33. ault Mode 8 10 101010 0 11 enne nnns 46 10 6 15 Object 6207h Fault State 8 1 4 1 1 4 47 10 6 16 Object 6220h Write State 1 1 1 16 0 47 10 6 17 Object 6401h Read Analog Input 12 Bits ce ecccccsssseecceseeeeeeeeseeeeeeeeseeseeeeeseeeseeeseaneeeeeessaeneeess 48 10 6 18 Object 6411h Write Analog Output 12 48 10 6 19 Object 6421h Analog Input Interrupt T rigger 1 1 49 10 6 20 Object 6422h Analog Interrupt Source eeeeeeeeeenn nennen nnne nnn nnne nnn nnn nnns 49 10 6 21 Object 6423h Global Analog Interrupt 1 1 n 50 10 6 22 Object 6424h Analog Input Interrupt U pper L imit seeeeennHen 50 Object 6425h Analog Input Interrupt Lower 1 memes 50 10 6 23 Object 6426h Analog Input Interrupt 51 10 6 24 Object 6443h Analog Output Fault M ode ssseeeennennnmmnnnnnnnn nennen 51 10 6 25 Object 6444h Default Analog Output Fault State U nconverted 52 67 FEN Error Ben SVIO
34. c 10 1 3 Object 1003h Pre defined Error Field This object holds errors that have occurred on the device and have been signaled via Emergency Object It is an error history Writing to sub index 0 deletes the entire error history INDEX 1003h NAME Pre defined Error Field Object Code ARRAY Number of Elements SUB INDEX 9 0 NAME Number of Errors Data Type Unsigned32 Access RW PDO Mapping No Default Value SUB INDEX 0x00000000 1 8 NAME Standard Error Field 1 8 Data Type Unsigned32 Access RO PDO Mapping No Default Value 0x00000000 gt INFRANOR GROUP COMPANY CANopen IO Module User s Manual 10 1 4 Object 1008h Manufacturer Device Name Contains the device name INDEX 1008h NAME Manufacturer Device Name Object Code VAR Data Type Visible String Access PDO Mapping NO Default Value CANOPEN 16DI 16DO 6Alx A4AOx 2E 1 1 Cf to the IO Module Configuration table 10 1 5 Object 1009h Manufacturer Hardware Version Contains the device hardware version INDEX 1009h NAME Manufacturer Hardware version Object Code VAR Data Type Visible String Access PDO Mapping NO 10 1 6 Object 100Ah Manufacturer Software Version Contains the device software version INDEX 100Ah NAME Manufacturer Software version Object
35. ct 1804h Transmit PDO Communication Parameter 0 0100 1 ne 32 10 4 11 Object 1805h Transmit PDO Communication Parameter 00 1 Hn 33 10 4 12 Object 1A00h Transmit PDO Mapping Parameter 33 10 4 13 Object 1AO1h Transmit PDO Mapping Parameter 0 00000 nnns 34 10 4 14 Object 1 02 Transmit PDO Mapping Parameter 34 10 4 15 Object 1A04h Transmit PDO Mapping Parameter 2002 02 000 000001100 nnns 35 10 4 16 Object 1A05h Transmit PDO Mapping Parameter 2020 010 1 11 Henne 35 10 5 MANUFACTURER DEVICE PROFILE 37 10 5 1 Object 2000h Operating Parameters 37 10 5 2 Object 2001h Overflow Counter eeeseeeeseeennnnnnnnn nnne nnne nnn nnn nnn nnns 39 10 5 3 Object 2010h Preset Value for Multi Sensor Device 32 1 5 39 10 5 4 Object 2020h Position for Multi Sensor Devices 32Bits sssseeennm nn 39 10 5 5 Object 2030h Speed Value 16Bits sssseeseeeeeeeeeennnnennennnnn nnne nennen nnn 40 10 6 DEVICE PROFILE FOR GENERIC IO MODULE eene 41 10 6 1 Object 6000h Read State 8 Inpu
36. define the data by it s index sub index and length INDEX 1604h NAME 5 Receive PDO Mapping Parameter RPDO5 Object Code ARRAY Number of Elements SUB INDEX 1 2 1 1 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x20000208 Control Axis 1 Byte 2 NAME 274 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value 0x20000408 Control Axis 2 Byte 30 CANopen IO Module User s Manual 2 CYBELEC INFRANOR GROUP COMPANY 10 4 7 Object 1800h Transmit PDO Communication Parameter It contains the communication parameters of the first 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 INDEX 1800h NAME 1 Transmit PDO Communication Parameter TPDO1 Object Code ARRAY Number of Elements SUB INDEX 3 1 NAME COB ID Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x180h Node ID 2 NAME Transmission Type Data Type Unsigned8 Access HW PDO Mapping NO Default Value SUB INDEX 0x01
37. ending and twisting torsion e The geometry of the carrier rail must not be altered in order to secure the safe hold of the components In particular when shortening or mounting the carrier rail it must not be crushed or bent 6 2 SPACING The spacing between adjacent components cable conduits casing and frame sides must be maintained for each Module I Lg e m 1 ps t 1 i L1 Wi 4 r GCTBELEC Fig Spacing in mm C CYBELEC CANopen IO Module User s Manual INFRANOR GROUP COMPANY 7 NETWORK TOPOLOGY T o build a simple CAN open network you need a master for example ELITE device and connection cables RJ45 S STP Cat 5 in addition to CANOPEN IO Modules The CANopen Network is constructed as a line structure with matching resistors 120 Ohm In systems having more than two stations all subscribers are wired in parallel net subscribers communicate at the same baud rate the network all O Modules nodes operate as slaves The master operation is taken over by a central control system such asthe ELITE device CAN Network are terminated with a 120 Ohm resitor inside the ELITE device RJ45 S STP 5 Cable The CAN Network must be terminated with a 120 Ohm resistor trough the DIP switch 9 ON on the last IO module
38. for Digital Inputs 1 8 Data Type Unsigned8 Access HW PDO Mapping NO 42 CANopen IO Module User s Manual CANopen IO Module User s Manual SUB INDEX 2 CYBELEC INFRANOR GROUP COMPANY 2 NAME Input Interrupt Mask 8 low to high for Digital Inputs 9 16 Data Type Unsigned8 Access HW PDO Mapping NO 10 6 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 line The values are in an OR connection to the values of object 6006h INDEX 6008h NAME Input Interrupt Mask 8 high to low Object Code ARRAY Number of Elements SUB INDEX 2 0 NAME Number of elements Data Type Unsigned8 Access PDO Mapping SUB INDEX NO 1 NAME Input Interrupt Mask 8 high to low for Digital Inputs 1 8 Data Type Unsigned8 Access HW PDO Mapping SUB INDEX NO 2 NAME Input Interrupt Mask 8 high to low for Digital Inputs 9 16 Data Type Unsigned8 Access HW PDO Mapping NO 10 6 7 Object 6020h Read State 1 Input Line 1 16 Reads single input line information A maximum of 16 bit inputs are addressable at one index INDEX 6020h NAME Read State 1 Input Line 1 16 Object Code ARRAY
39. is 2 S2 Index 0x2000 Sub Index 0x3 Function LATCisreset O tisresetwhen EN LATCisreset ATC EXT VAL Jlisresetwhen EN LATCisreset EN LATCisreset cknowledge bit for CNT SET C2 2 is reset when CNT SET is reset NDERFLOW OVERFLOW VERFLOW O if positive edge on ResetOverflow C2 4 VERFLOWS 0 if UNDERFLOW 1 gt gt gt Cio D o O 5 5 O NT_SET_ACK O O O A e O ontrol Byte for Axis 2 C2 Index 0x2000 Sub Index 0x4 EN LATC VAL The Encoder zero mark is released Latch Mode With a positive edge at input Encoder Index Pulse the counter reading istransferred to the latch register Object index 0x2010 Sub index 2 LSS O With a positive edge at input Encoder Index Pulse the counter is __ OO ME S S S S with the set value Object index 0x2010 Sub index 2 The confirmation is de selected for the negative edge of EN LATC N LATC EXT The external latch input is released I Latch Mode With a positive edge at input I2 Input Connector B1 the counter reading 6 transferred to the latch register Object index 0x2010 Sub index 2 Mode With a positive edge at input 12 Input Connector B1 the counter is 565 O loaded with the set value Ob
40. it for Analog Input 1 Data Type Integer32 Access HW PDO Mapping NO CANopen IO Module User s Manual to SUB INDEX 2 CYBELEC INFRANOR GROUP COMPANY 6 NAME Lower Limit for Analog Input 6 Data Type Integer32 Access HW PDO Mapping NO 10 6 23 Object 6426h Analog Input Interrupt Delta When enabled interrupt triggered when analogue input changes by more than this value from previous reading rising or falling INDEX 6426h NAME Analog Input Interrupt Upper Delta Object Code ARRAY Number of Elements SUB INDEX 6 0 NAME Number of elements Data Type Integer32 Access PDO Mapping SUB INDEX NO 1 NAME Delta Limit for Analog Input 1 Data Type Integer32 Access HW PDO Mapping SUB INDEX NO 6 NAME Delta Limit for Analog Input 6 Data Type Integer32 Access HW PDO Mapping NO 10 6 24 Object 6443h Analog Output Fault Mode Analog output fault mode Defines whether an output reverts to a default output value on event of a fault INDEX 6443h NAME Analog Output Fault Mode Object Code ARRAY Number of Elements SUB INDEX 4 0 NAME Number of elements Data Type Unsigned8 Access HO PDO Mapping SUB INDEX NO 1 NAME Fault Mode Analog Output 1
41. ject index 0x2010 Sub index 2 he confirmation is de selected for the negative edge of EN LATC EXT ith a positive edge the counter is initialized on the set value Object index 0x2010 Sub index 2 ith a positive edge the status bit UNDERFLOW 52 4 is reset ith a positive edge the status bit OVERFLOW 52 5 is reset NT SET ESET UNDERFLOW ESET OVERFLOW PMODE O Latch Mode he counter is latched by a trigger signal Mode The counter is loaded with the set value by a trigger signal 2 15 o E m m o 2 38 CANopen IO Module User s Manual 2 CYBELEC INFRANOR GROUP COMPANY 10 5 2 Object 2001h Overflow Counter T his parameter is the internal INDEX overflow counter 16 gt 32bits overflow counter 2001h NAME Overflow Counter Object Code ARRAY Number of Elements SUB INDEX 2 1 NAME Overflow Counter Axis 1 Data Type Integer32 Access PDO Mapping SUB INDEX NO 2 NAME Overflow Counter Axis 2 Data Type Integer32 Access HO PDO Mapping NO 10 5 3 Object 2010h Preset Value for Multi Sensor Device 32Bits T his object contains the Preset position value for Axis 1 amp Axis 2 The Data width is 32Bits INDEX 2010h NAME Preset Value for Multi Sensor Device 32Bits Object Code ARRAY Number of Elements
42. led The transmission mode is defined by sub index 2 An inhibit time can be defined on sub index 3 in 100 us INDEX 1802h NAME 3 Transmit PDO Communication Parameter Object Code ARRAY Number of Elements 3 SUB INDEX 1 NAME COB ID Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x380h Node ID 2 NAME Transmission Type Data Type Unsigned8 Access HW PDO Mapping NO Default Value SUB INDEX 0x01 3 NAME Inhibit Time Data Type Unsigned16 Access HW PDO Mapping NO 10 4 10 Object 1804h Transmit PDO Communication Parameter It contains the communication parameters of the actual 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 first 4 pdo have predefined cob INDEX 1804h NAME 5 Transmit PDO Communication Parameter 5 Object Code ARRAY Number of Elements 3 SUB INDEX 1 NAME COB ID Data Type Unsigned32 Access HW PDO Mapping SUB INDEX NO 2 NAME Transmission Type Data Type Unsigned8 Access HW PDO Mapping NO
43. lements 1 3 SUB INDEX 1 NAME 1 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x20000108 Status Axis 1 NAME 2 2 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x20200120 Position Axis 1 3 NAME 3 mapped Object Data Type Unsigned32 Access PDO Mapping Default Value 0x203001 10 Speed Axis 1 10 4 16 Object 1 05 Transmit PDO Mapping Parameter It contains the mapping parameter for the PDOsthe device is able to transmit Sub index 0 contains the number of the mapped data objects All further entries define the data by its index sub index and length The structure of a mapping entry is INDEX 1A05h NAME 6 Transmit PDO Mapping Parameter TPDO6 Object Code ARRAY Number of Elements SUB INDEX 1 3 1 NAME 1 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x20000308 Status Axis 2 2 NAME 27 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x20200220 Position Axis 2 3 NAME 3 mapped Object Data Type Unsigned32 INFRANOR GROUP COMPANY CANopen IO Module User s Manual Access
44. ments Data Type Unsigned8 Access RO PDO Mapping SUB INDEX No 1 NAME Communication Error Data Type Unsigned8 Access HW PDO Mapping NO 52 CANopen IO Module User s Manual SUB INDEX 2 CYBELEC INFRANOR GROUP COMPANY 2 NAME Output Error Data Type Unsigned8 Access HW PDO Mapping SUB INDEX NO 3 NAME Input Error Data Type Unsigned8 Access HW PDO Mapping NO Bit Number Description 0 TO PRE OPERATIONAL 1 NO STATE CHANGING 2 TO STOPPED 10 6 27 Object 67FFh Device Type for multi profile devices Normally in 05401 this entry is reserved If the profile is used in multi profile devices like defined in 05402 this entry contains the device type defined as Index 0x1000 in DS301 INDEX 67FFh NAME Device Type for multi profile devices Object Code VAR Data Type Unsigned32 Access PDO Mapping NO Default Value 0x00040196 c INFRANOR GROUP COMPANY CANopen IO Module User s Manual 11 ACCESSORIES 11 1 OVERVIEW xxxxxxx S S O xxx Digital Plug 1 O xxx Analog Plug xxxxxxx Encoder Input Plug 4 XXXXXXX 7 5 0 3 S STPCat 5 02 xxxxxxx 5 0 6 S STPCat 5 0 10 02 xxxxxxx 8945 CAN Cable imS STPCat 5 O xx
45. 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 provision of safety devices such as emergency stop circuits etc in accordance with applicable national and international regulations must be observed same applies for all other devices connected to the system such as 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 3 2 2 Intended Use Electronic devices are generally not fail safe the event of a failure the lO 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 s
46. nication Profile Version 4 01 CiA DS 401 Device Profile for Generic 1O Modules Version 2 1 CiA DS 406 Device Profile for Encoder Version 2 0 2 DEFINITIONS CAN Controller Area N etwork CiA CAN in Automation e V CAN Bus international manufacturer and user organization CAL CAN Application Layer The Application layer for CAN as specified by COB Communication Object is a CAN message Data must be sent across a CAN network inside a COB COB ID COB Identifier Each CAN message has a single identifier There are 2032 different identifiers in a CAN network NMT N etwork M anagement One of the services of the application layer It performs initialization configuration and error handling in a CAN network PDO Process Data bject SDO Service Data O bject CANopen IO Module User s Manual INFRANOR GROUP COMPANY 3 GENERAL INFORMATION 3 1 MANUAL HISTORY Revision Date Comments 14 03 2005 Preliminary revision DBu 3 2 SAFETY GUIDELINES 3 2 1 Introduction IO Modules devices 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
47. of the CAN Network Fig Network Topology Caution Take care that you have set correctly all node ID and baud rate for each IO Module on the CANopen Network cmm INFRANOR GROUP COMPANY CANopen IO Module User s Manual 8 NETWORK INITIALISATION AND SYSTEM BOOT UP 8 1 NMT STATE MACHINE Power on or Hardware Reset initialisation 2 Pre Operational Operational Table 31 Trigger for State Transition AL Power on the initialisation state is entered autonomously initialisation finished enter PRE OPERATIONAL automatically Start Remote Node indication 45 07 Enter PRE OPERATIONAL State indication Remole Mode indication 8 2 INITIALISATION PROCEDURE Configuration of all device parameters including communication parameters via Default SOO Optional Start transmission of SYNC wait for synchronisation of all devices Optional Start of Node Guarding Setting of all modes to the operational state CANopen IO Module User s Manual INFRANOR GROUP COMPANY 9 OBJECT DESCRIPTION 9 1 Digital Input Module T here are different access methods defined The following table lists the objects for 8 bit access Index ObjectCode Name ata Type 60h 6004h Reserved Input Interrupt Mask 8 low to high Input Interrupt Mask 8 high to low TheFigure shows the relationship between the digital inpu
48. re addressable at one index INDEX 6070h NAME Interrupt Mask 1 Input Line 1 16 high to low Object Code ARRAY Number of Elements SUB INDEX 16 0 NAME Number of elements Data Type Unsigned8 Access PDO Mapping SUB INDEX NO 1 NAME Interrupt Mask 1 Input Line 1 16 high to low for Digital Input 1 Data Type Unsigned8 Access HW PDO Mapping SUB INDEX Yes 16 NAME Interrupt Mask 1 Input Line 1 16 high to low for Digital Input 16 Data Type Unsigned8 Access HW PDO Mapping Yes INFRANOR GROUP COMPANY 10 6 12 Object 6200h Write State 8 Output Lines Sets a group of 8 output lines as a byte of information INDEX 6200h CANopen IO Module User s Manual NAME Write State 8 Output Lines Object Code ARRAY Number of Elements SUB INDEX 2 0 NAME Number of elements Data Type Unsigned8 Access PDO Mapping SUB INDEX NO 1 NAME Digital Outputs 1 8 Data Type Unsigned8 Access HW PDO Mapping SUB INDEX Yes 2 NAME Digital Outputs 9 16 Data Type Unsigned8 Access HW PDO Mapping Yes 10 6 13 Object 6202h Polarity 8 Output Lines Defines the polarity of a group of 8 output lines INDEX 6202h NAME Polarity 8
49. rrupt Trigger Selection Object Code ARRAY Number of Elements SUB INDEX 6 0 NAME Number of elements Data Type Unsigned8 Access PDO Mapping SUB INDEX NO 1 NAME Trigger Selection for Analog Input 1 Data Type Unsigned8 Access HW PDO Mapping SUB INDEX NO 6 NAME Trigger Selection for Analog Input 6 Data Type Unsigned8 Access HW PDO Mapping NO Bits set in the list below refer to ways in which interrupts may be triggered Bit Number Description 0 upper limit exceeded 1 input below lower limit 2 input changed by more than delta 3 input reduced by more than negative delta 4 input increased by more than positive delta 5 Reserved 6 Reserved 7 Reserved not supported yet 10 6 20 Object 6422h Analog Interrupt Source Determines which channel has produced an interrupt Bits set relate to the number of any channels that have produced interrupts INDEX 6422h NAME Analog Interrupt Source Object Code ARRAY Number of Elements SUB INDEX 2 0 NAME Number of elements Data Type Unsigned32 Access HO PDO Mapping SUB INDEX NO 1 NAME Analog Interrupt Source Channels 1 6 Data Type Unsigned32 INFRANOR GROUP COMPANY Access CANopen IO Module User s
50. s SUB INDEX 16 0 NAME Number of elements Data Type Unsigned8 Access RO PDO Mapping SUB INDEX No 1 NAME Interrupt Mask 1 Input Line 1 16 any change for Digital Input 1 Data Type Unsigned8 Access HW PDO Mapping SUB INDEX Yes 16 NAME Interrupt Mask 1 Input Line 1 16 any change for Digital Input 16 Data Type Unsigned8 Access PDO Mapping CANopen IO Module User s Manual 2 CYBELEC INFRANOR GROUP COMPANY 10 6 10 Object 6060h Interrupt Mask 1 Input Line 1 16 low to high Sets interrupt mask for a single input line A maximum of 16 bit inputs are addressable at one index INDEX 6060h NAME Interrupt Mask 1 Input Line 1 16 low to high Object Code ARRAY Number of Elements SUB INDEX 16 0 NAME Number of elements Data Type Unsigned8 Access PDO Mapping SUB INDEX NO 1 NAME Interrupt Mask 1 Input Line 1 16 low to high for Digital Input 1 Data Type Unsigned8 Access HW PDO Mapping SUB INDEX Yes 16 NAME Interrupt Mask 1 Input Line 1 16 low to high for Digital Input 16 Data Type Unsigned8 Access PDO Mapping 10 6 11 Object 6070h Interrupt Mask 1 Input Line 1 16 high to low Sets interrupt mask for a single input line A maximum of 16 bit inputs a
51. t 666 41 10 6 2 Object 6002h Polarity 8 Input CCP POR ERN REN HIE a OC 41 10 6 3 Object 6005h Enable Digital input I nterrupts seeeseeennnnmmmmnnnnnnnnns 42 10 6 4 Object 6006h Input Interrupt M ask 8 any change 002 1 m 42 10 6 5 Object 6007h Input Interrupt M ask 8 low to 00 4 0 0006 42 10 6 6 Object 6008h Input Interrupt M ask 8 high to 1 11 1 m 43 10 6 7 Object 6020h Read State 1 1 1 16 22000 1110111 rennen nnns 43 10 6 8 Object 6030h Polarity 1 Input Line 1 16 vraie nce e ene ron Ex Ob a e celo eiae 44 10 6 9 Object 6050h Interrupt Mask 1 Input Line 1 16 any 44 10 6 10 Object 6060h Interrupt Mask 1 Input Line 1 16 lowto high 2 20 000 45 10 6 11 Object 6070h Interrupt Mask 1 Input Line 1 16 high to low emmm 45 10 6 12 Object 6200h Write State 8 Output 0 1 nennen nnn nnns 46 10 6 13 Object 6202h Polarity 8 Output 020 1 46 10 6 14 Object 6206h F
52. t 6401h Read Analog Input 12 Bits Reads the value of the input channel n unconverted Value is 12 bits wide value is always left adjusted INDEX 6401h NAME Read Analog Input 12 Bits Object Code ARRAY Number of Elements SUB INDEX 6 0 NAME Number of elements Data Type Integer16 Access PDO Mapping SUB INDEX NO 1 NAME Analog Input 1 Data Type Integer16 Access PDO Mapping SUB INDEX NAME Analog Input 6 Data Type Integer16 Access PDO Mapping 10 6 18 Object 6411h Write Analog Output 12 Bits Writes the value to the output channel n unconverted Value is 12 bits wide The value is always left adjusted INDEX 6411h NAME Write Analog Output 12 Bits Object Code ARRAY Number of Elements 4 SUB INDEX 0 NAME Number of elements Data Type Integer16 Access HO PDO Mapping NO SUB INDEX 1 NAME Analog Output 1 Data Type Integer16 Access HW PDO Mapping Yes to SUB INDEX 4 NAME Analog Output 4 48 CANopen IO Module User s Manual Data Type 2 CYBELEC INFRANOR GROUP COMPANY Integer16 Access HW PDO Mapping Yes 10 6 19 Object 6421h Analog Input Interrupt Trigger Selection Determines which events cause an interrupt for a specific analog channel INDEX 6421h NAME Analog Input Inte
53. t objects for an 8 bit access Single Filter Default Default picis OPTIO Constant Mapping Communication npu Parameter 6003h Parameter 1 0 1A00h 1800h 1 0 CHANGE 1 0 MAP POLAR into ITY TPDO1 E D a Unsigned8 lt 8 Byte gt lt TPDO1 gt Transmission lt E D gt 6002h 6006h Polarity Input Any Change E 1 lt gt 1 E enabled D disabled uus T true false mcd lt E D gt 6008h Interrupt ELI 6005h High to Low c INFRANOR GROUP COMPANY CANopen IO Module User s Manual 9 2 Digital Output Module There are different access methods defined The following table lists the objects for 8 bit access Index ObjectCode Name Type 620 Reserved 4 2 6203h Reserved pu Reseved 000000 6204h X Reseved 6205h JjReseved 4004 Fault Mode 8 Output Lines Fault State 8 Output Lines Filter Constant 8 Output Lines Not Implemented The Figure shows the relationship between the digital output objects for an 8 bit access pene d Filter Parameter Parameter Polarity Mask 20h 8 Byte RECEIVE CHANGE BLOCK 0 1 RPDO1 POLARITY FILTER 9 1 RPDO1 CAN Single Reception Digital Output Error Mode SWITCH IF Oh 6206h 0 1 Switch if Device Error Value 0 1 Failure 6207h a
54. ture of a mapping entry is INDEX 1A00h NAME 1 Transmit PDO Mapping Parameter TPDO1 Object Code ARRAY Number of Elements SUB INDEX 152 1 NAME 1 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x60000108 Digital Input 1 8 2 NAME 2 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value 0x60000208 Digital Input 9 16 a INFRANOR GROUP COMPANY CANopen IO Module User s Manual 10 4 13 Object 1A01h Transmit PDO Mapping Parameter It contains the mapping parameter for the PDOsthe device is able to transmit Sub index 0 contains the number of the mapped data objects All further entries define the data by its index sub index and length The structure of a mapping entry is INDEX 1A01h NAME 279 Transmit PDO Mapping Parameter TPDO2 Object Code ARRAY Number of Elements SUB INDEX 1 4 NAME 1 1 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x64010110 Analog Input 1 2 NAME 2 mapped Object Data Type Unsigned32 Access HW PDO Mapping NO Default Value SUB INDEX 0x64010210 Analog Input 2 3 NAME 3 mapped Object Data Type Unsigned32 Access
55. w 16 pins terminal is used by analogs inputs and outputs 11 4 2 Order Data Model number Description Weidm ller B2L 3 5 16 R f 1727690000 Table Analog Plug 11 4 3 Technical Data Description Xxx O Table Technical Data for the Analog Plug INFRANOR GROUP COMPANY CANopen IO Module User s Manual 11 5 ENCODER INPUT PLUG 11 5 1 Order Data Model number Description 71 DSUB9 Male Table Encoder Input Plug 11 6 RJ45 CABLES 11 6 1 General Information RJ 45 Cables are used between ELITE device and alls CAN OPEN IO MODULES 11 6 2 Order Data ee Eh Table RJ45 Cables 11 6 3 Technical Data Zescription Uninet 5502 4P Ciega Class 4 x 2 x ANG24 S STP Table Technical Data for RJ45 Cables CANopen IO Module User s Manual 12 NOTES 2 CYBELEC INFRANOR GROUP COMPANY co
56. xxxxx RJ45CANCable2m S STPCatL 5 12 poooxx 5 5 S STPCat 5 010000 O xxxxxxx 7 5 10m S STPCaL5 poooxx 5 20m S STPCat 5 0100 O xxxxxxx 8 45 CAN Cable 50m S STPCat 5 Table Model numbers for accessories 11 2 POWER SUPPLY PLUG 11 2 1 General Information The single row 2 pins terminal is used to connect the supply voltage for Module IO 11 2 2 Order Data Model number Description xxxxxxx Weidm ller BLZF 3 5 2 R f 1690420000 Table Power Supply Plug 11 2 3 Technical Data Description Number of pins 2 Type of terminal Cage clamps Distance between contacts 3 5mm Resistance between contacts 4 5bmO Nominal Voltage 300V Current Load Max 10A contact Connection Cross Section 0 08mme 1 5mm Table Technical Data for the Power Supply Plug j CANopen IO Module User s Manual INFRANOR GROUP COMPANY 11 3 DIGITAL PLUG 11 3 1 General Information The double row 20 pins terminal is used by digital inputs and outputs 11 3 2 Order Data Model number Description Weidm ller B2L 3 5 20 R f 1727710000 Table Digital Plug 11 3 3 Technical Data Description IH Number of pins 20 Table Technical Data for the Digital Plug 11 4 ANALOG PLUG 11 4 1 General Information The double ro
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