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Elmb User Guide - Atlas

1. 4g ADC conversion rate Next the ADC conversion rate should be defined 15Hz 0 Give the keyboard command 2 write the SDO to index 2100 subindex 2 ADC rate 15Hz 0 Reply from the ELMB module should be like this The ELMB node 63 replies that index 2100 subindex 2 has been written 4h The ADC input voltage range The ADC input range is programmed e g 100mV 0 Give the keyboard command 2 write the SDO to index 2100 subindex 3 ADC range 100m V 0 write the SDO to index 2100 subindex 2 ADC range 100mV 0 Reply from the ELMB module should be like this Issue 4 3 ELMB 128 Documentation 17 02 05 Page 23 4i The ADC polarity Next the ADC input voltage polarity is given bipolar 0 Give the keyboard command 2 write the SDO to index 2100 subindex 4 bipolar 0 write the SDO to index 2100 subindex 4 ADCbipolar 0 Reply from the ELMB module should be like this 4j Start the ELMB put in operation The ELMB has to be started and put into active state For this command must be sent to the node Give the keyboard command 0 From the menu select the option 0 to start the node NMT 0 puts the ELMB in operation Issue 4 3 128 Documentation 17 02 05 Page 24 4k SYNC Readout of the ELMB To trigger the ELMB ADC to send data in this case for 4 ADC channels a sync command is necessary Give the keyboard command 1 The text displayed should be like this gt Sel
2. Bit 3 Port B 13 CS5 Bit 7 Port D CS4 Bit 6 Port D 11 CS3 Bit 5 Port D CS2 Bit 4 Port D 9 CS1 Bit 3 Port D Not used DGND DGND 5VDigital 15V Analog 5V Analog AGND me AGND Table 6 Microwire SPI Interface pin assignment CANbus connector J12 The CAN bus connector is shown below CANNON DSub 9 pin Pin CiA Motherboard LMB Top VIEW Res erved RESET CAN_L CAN_L Res CAN_GND erved CAN_GND VDG CAN_SHLD Not used reserved for CAN_SHLD GND VCG CAN_H CAN_H Res erved VDP 6 to 16V HD NN BIW CAN_V VCP 6 to 16V Table 7 CANbus connector pin assignment Issue 4 3 128 Documentation 17 02 05 Page 40 Test Port Connector J6 This connector is used for the testing of the power supply regulators on the ELMB printed circuit board TEST Pin Description 4 5 1 PSV digital 3 3 V supply VDG digital supply ground Reserved Reserved P5VEXT CAN transceiver 5V supply VCG CAN transceiver ground BR 9 4 0 7 PSVA Analog 5V supply i 8 VAG Analog supply ground 10 pin header 9 M5VA Analog 5V supply 10 VAG Analog supply ground Table 8 Test Port pin assignment Typical test voltages Voltage between P5V a
3. E Negative Input Channel 5 12 11 Positive Input Channel 5 Negative Input Channel 4 10 9 Positive Input Channel 4 ail Negative Input Channel 3 8 7 Positive Input Channel 3 n Negative Input Channel 2 6 5 Positive Input Channel 2 Negative Input Channel 1 4 3 Positive Input Channel 1 Negative Input Channel 0 2 1 Positive Input Channel 0 Table 2 ADC Input Connectors pin assignment Port A Connector J5 Port A is a bi directional digital port with eight data lines The configuration for whether the pins are input or output is made via SDO Below is the pin assignment for Port A Issue 4 3 Top View of the Motherboard of ELMB HW rev 1 1 Connector J5 Pin Assignment of the Connector J5 10 9 Bidirectional I O PORTA Updated 26 5 2000 for ELMB motherboard Signal Name PIN PIN Signal Name GND 10 9 GND 2 1 PORT A Bit 7 8 7 Bit 6 PORT A PORT A Bit 5 6 5 Bit 4 PORT A PORT A Bit 3 4 3 Bit 2 PORT A PORT A Bit 1 2 1 Bit 0 PORT A Table 3 PORT A pin assignment ELMB 128 Documentation 17 02 05 Port C Connector J9 Port C is a digital output port with eight data lines Below is the pin assignment for Port C Top View of the Connector J9 Motherboard of ELMB HW rev 1 1 Pin Assignment of the Connector J9 Output only PORT C Updated 25 5 2000 for ELMB motherboard Signal Name PIN PIN Signal Name GND 10 9 GND PORT C Bit 7 8 7 Bit 6 PORT
4. July 2001 http www nikhef nl pub departments ct po html ELMB ELMB 17 pdf 4 Vector Web site http www vector informatik de 5 PVSS Basics http humanresources web cern ch HumanResources external training tech ENS TEC P2002 Software basicpvss e asp Issue 4 3 ELMB 128 Documentation 17 02 05
5. Start Mode Configuration Window Help os sea c7 1 ee X ori per Ae e gl del ajz 4 gt a se raca EZ attr Trace 142 90 D A a fa fa a ia fa pa Em ER ER GER IE I I 0 D 0 D 0 0 D 0 D 0 0 D 0 D KI gt Bus Statistics PRISE Start of measurement 10 33 49 am Bus load CAN 1 Bus with 125000 BPS Peak load f 2 Bus with 125000 BPS Data frames s End of measurement 10 57 42 am Data total Extended frames s 0 Extended total 0 Error frames s 0 Error total Chip state L2USER D fvr canOpen Canopen ctg Figure 11 Nodes replying to a SYNC message with PDO 2 ADC counts in the CANalyzer For more information please visit the Vector Web site 4 V Software application development tools amp examples V 1 Customizing the CANopen OPC Server The CANopen OPC server imports all information needed to define its address space i e the named data available to the OPC clients from the configuration file called OPCCansServer cfg This must be placed in the same directory as the binary executable This file contains a title up to six sections as explained below CANBUS Describes all CANopen buses in the system This section is mandatory ELMB Contains records about ELMB nodes in the system giving many default items DEVICE Contains records about any other no
6. in 0 OFF CAN BUS 1 ELMB 3F do A 7 PORTA 1 ON BUS 1 ELMB 3F do C 0 Digital output W Byte where each digital line is a bit value m lines 0 OFF CAN BUS 1 ELMB 3F do C 7 connected to 1 ON PORTC CAN BUS 1 ELMB 3F di 0 Digital input R Byte where each bit value is a digital line bis lines in 0 OFF CAN BUS 1 ELMB 3F di F 7 PORTF 1 ON CAN BUS ELMB 3Faai 0 Analogue input R Value in uV for each ADC channel CAN BUS 1 ELMB 63 channels Table 1 Address space of OPC server when using the example OPC configuration file supplied in the CANopen command for the bus CANopen command for a particular node ie ELMB_3F Issue 4 3 128 Documentation download as shown in Figure 9 17 02 05 Page 18 IV 1 Diagnostic tools IV 1 1 NI Server Explorer The National Instruments Server Explorer may be used to give easy access to the OPC items specified in the OPC configuration file that are also defined in the Object Dictionary This tool is an OPC Client and can therefore be used to ensure that the OPC Server is configured properly and that the OPC configuration file is correct For a brief explanation on its usage see section IV Setup verification For an explanation of the OPC configuration file see section V 1 Customizing the CANopen OPC Server IV 1 2 canhostplus Henk Boterenbrood NIKHEF n48 nikhef nl had written a CANopen Interactive Control Tool called OPENHO
7. items CAN BUS 1 3F ai n U32 n 0 63 CAN BUS I ELMB 7n bool m 0 7 PORTF of ELMB Independently of the SYNC the digital outputs can be set at any time by modifying the values of the OPC items CAN BUS I ELMB 3F do A bool m 0 7 PORTA of the CAN BUS I ELMB do C bool m 0 7 PORTC of the ELMB It is important to remember that in case of a soft reset or a power glitch the ELMB will be in the Preoperational state All current device parameters are lost and the default values stored in the EEPROM are used The master enters back into the operational state only after a NMT Start command is sent In order to keep the new parameters set in the ELMB after a power cycle it is necessary to save them in the onboard EEPROM of the ELMB by writing the value 1702257011 to the OPC item CAN BUS I1 ELMB 3F save This value corresponds to the ASCII values for the string save written 1n reverse Issue 4 3 128 Documentation 17 02 05 Page 17 Table 1 contains a description of the different OPC items available from the configuration file provided in this distribution kit as well as their possible values For a detailed description of the mapping of the ELMB I O pins PDO messages an overview of the Object Dictionary and so on please refer to the NIKHEF web site ELMB Software Resource 2 OPC Item Description Access
8. of the example OPC configuration file contained in the zip file that is downloaded for the CANopen OPC Server B PCCanServer cfg WordPad File Edit View Insert Format Help inix oiu al 5 CANBUS CAN BUS 1 ELMB ELMB 3F For Help press F1 KVCANserver 0 125000 CAN BUS 1 3F NG Figure 9 Example OPC configuration file as supplied with the CANopen OPC Server download When an OPC client initiates a connection to the CANopen OPC server the latter is started if this is not yet running it reads the configuration file and implements its address space containing the items declared in it The OPC Client can browse this address space and create different groups of items All OPC items follow the naming convention Issue 4 3 ELMB128 Documentation 17 02 05 Page 16 lt busName gt lt deviceName gt lt item gt For example CAN_BUS_1 ELMB_3F lt item gt refers to an item of a particular device ELMB_3F in this case while if the device is not specified they affect the whole bus i e all the nodes on the bus if more than one After powering up the ELMB module enters the Initialising State It is necessary to perform a software reset by means of a Network Management NMT command The item CAN_BUS_1 ELMB_3F NMT must be set to 129 0x81 for this purpose In order to write the value to this OPC item in the right hand pane of the Server Explorer window right click on the item and selec
9. the command canhostplus NICANserver can0 125000 To run canhostplus using the Kvaser card at 125 Kbaud on port 1 enter the command canhostplus KVCANserver 1 125000 The following window shows the start up message if port canO of the NICAN card is specified Initializing COM Initializing CAN interface nicanserver can0 Bitrate 125 kBit s done this is normal start up message when the NICAN interface is installed correctly Issue 4 3 128 Documentation 17 02 05 Page 19 If this message does not appear check that the CANbus interface card is probably installed and working 4b Switch on the power supplies for the ELMB The following message should appear after a few seconds This is the normal start up message of the ELMB node ID 63 This is the normal reply from the ELMB node This is a CANopen BOOTUP message with the NodeID 63 If this message does not appear check the power and CANbus connection between the CAN interface card all connectors to the motherboard of the ELMB The internal power supplies of the ELMB can be measured on the TEST J6 connector shown in Annex D Motherboard connectors 4c Scanning of the CAN bus Give the keyboard command s This scans the CAN network and tells which are the CANopen nodes that are connected to the bus Issue 4 3 128 Documentation 17 02 05 Page 20 One node with the ID 63 has been detected 4d Default node Give the keyboard command N Th
10. the zip file download Issue 4 3 128 Documentation 17 02 05 New Project Server Explorer 2 4 1 File Servers Edit View Options Help nix My Computer 5 98 20 5 9 Wizard Group CAN_BUS_1 ELMB_3 CAN_BUS_1 ELMB_3 6 d CAN ow aa mm Ee zz e c VE EE ww I m m m g creer 5 m m 5 io z w a m m e I t eo c a mm m m CAN BUS 1 ELMB 3 CAN BUS 1 ELMB 3 BUS 1 ELMB 3 BUS 1 ELMB 3 CAN BUS 1 ELMB 3 zz ow ee aa mm CE zz ww w a m m z e w BRE iei 2 5 m E m c a m m I m m x we e m m em N_BUS_1 ELMB_3 N_BUS_1 ELMB_3 N_BUS_1 ELMB BRE N_BUS_1 ELMB_3 ec aa m m m Dr e e www m m I I me m z we e m z w c I teal m iu 5 e i a m m m a m m m o a m m e w c I RD ERO m m 5 ca CAN CAN BUS 1 ELMB 3 BUS 1 ELMB 3 CAN BUS 1 ELMB 3 CAN BUS 1 ELMB 3 Dye z e I m m z m c a m m o a m m e w ete e m e a g 2 z 5 z co c I m m m
11. version the Embedded Local Monitor Board ELMB has been designed In 2002 the ELMB s main microprocessor was changed from an AVR ATmegal03L to a newer chip compatible version the ATmegal28L and so became the ELMB128 It has many more functions as compared to the LMB and its packaging follows the subdetectors needs The main differences are that the ELMB128 comes in the form factor of a credit card sized piggy board and that it has many digital I O lines which can be Issue 4 3 128 Documentation 17 02 05 Page 7 fully programmed by the advanced user For standard application a library will be provided in order to avoid for the normal user the need of programming knowledge of the micro controller As an option the ELMB128 comprises a multiplexed 64 channel ADC with 16 bit resolution and a 7 bit dynamic range from 25mV to 5V that can be used from the SCADA system without dedicated programming The board can either be directly plugged onto the subdetector front end electronics or onto a general purpose motherboard which adapts the I O signals The environmental requirements are essentially unchanged It should be usable in USA15 outside of the calorimeter in the area of the MDTs and further out This implies tolerance with safety factors to radiation up to about 5 Gy and 3 10 neutrons cm2 for a period of 10 years and to a magnetic field up to 1 5 T II 2 Hardware installation amp configuration IL2 1 National Instrumen
12. 8 Documentation 17 02 05 Page 29 NodeGuardInterval and NMT ITEM the name of an Item described in the sections SDOItem or PDOItem or a default item given with the ELMB specification lt value gt is any suitable value for this item CAN_BUS_1 SyncInterval 1000 This line means that the Sync interval is set to one second 1000 milliseconds Below is the example OPC configuration file The CANopen system consists of one bus with a single node on the bus using a Kvaser card CANBUS CAN BUS 1 KVCANserver 0 125000 ELMB ELMB 3F CAN BUS 1 3F NG V Getting started with PVSS II The CERN Technical Training Service now runs the Standard PVSS Course As such all applications should be made via the Technical Training Service web page PVSS Basics 5 with payment via EDH Users are advised to attend the course as it is not feasible to explain the concepts and full usage of PVSS in this document The ELMB may be used with PVSS as a component of the JCOP Framework To download and install the framework please visit the JCOP web site Documentation on the framework is available at the same address Documentation for the ELMB component of the framework should be available soon Issue 4 3 128 Documentation 17 02 05 Page 30 Annex A Motherboard Specification In order to test the ELMB a motherboard is available It contains on the backside two 100 pin SMD connectors for the ELMB and sockets for adapters for the 64
13. C PORT C Bit 5 6 5 Bit 4 PORT C PORT C Bit 3 4 3 Bit 2 PORT C PORT C Bit 1 2 1 Bit 0 PORT C Port F Connector J7 Port F is a digital input port with eight data lines Below is the pin assignment for Port F Issue 4 3 Table 4 PORT C pin assignment Top View of the Connector J7 Motherboard of ELMB HW rev 1 1 Digital INPUTS PORT F Pin Assignment of the Connector J7 Updated 26 5 2000 for ELMB motherboard Signal Name PIN PIN Signal Name Not connected 20 19 Not connected GND 18 17 GND GND 16 15 Bit 7 PORT F GND 14 13 Bit 6 PORT F GND 12 11 Bit 5 PORT F GND 10 9 Bit 4 PORT F GND 8 7 Bit 3 PORT F GND 6 5 Bit 2 PORT F GND 4 3 Bit 1 PORT F GND 2 1 Bit 0 PORT Table 5 PORT F pin assignment 128 Documentation Page 38 17 02 05 Microwire Serial Port Interface SPI Connector J8 Below is the pin assignment for the Microwire SPI interface connector Page 39 Top View of the Connector J8 Motherboard of ELMB HW rev 1 1 Microwire SPI interface connector Pin Assignment of the Connector J8 Updated 21 8 2000 for ELMB motherboard Signal Name PIN PIN Signal Name CS8 Bit 6 Port E 20 19 CS9 Bit 7 Port E SCLK Bit 1 Port B 18 17 CS7 Bit 5 Port E SDIN Bit 2 Port B 16 15 CS6 Bit 4 Port E also used by the ADC on the ELMB SDOUT
14. ELMB128 Documentation Everything you wanted to know about the ELMB128 but were afraid to ask 2 7 J Cook james cook cern ch amp Thomas geraldine thomas cern ch February 2005 CONTENTS INDEX OF FIGURES ssscccsscscsssiscsesccsessssesteciecsssnasssendecsesvesessebncesensecsoscsdestessscessubensesbsscesevbuscedesinscodssbecesbesbecdesveseesoos 2 INDEX TABLES 3 ORGANISATION OF eoa eese aao keen aene eris aeo sv pars en 4 ORGANISATION OF THE MANUAL eon eV aae ep pose 4 USEFUL TANKS eseas 4 I INTRODUCTION AND QUICK START eesseoesssecescseessoceessececssecsscoeessoceesseceessesscsecssocecsseceeseecessseessoceessecee 5 II HARDWARE SETUP iecscasecstectecsscsvcassecsctivsvesvenwssdevesnssdevanceseenvevasectessevessesssvescdbuanessssestosvsocosossesdeessesscuesvense 6 1 OVERVIEW 5 534 6 2 HARDWARE INSTALLATION amp CONFIGURATION ccccccececececececececececececececececececececececececececececececececececececeeecs 7 17 2 1 National Instruments PCI CAN 2 Interface 7 1I 2 2 Kvaser PCI CAN Card Interface uote eei tee etre tereti ie Rete 7 1 2 3 317 07 12 2210 2127 8 2 4 Adapters uscite ere tue Set Gt em
15. LMB128 Cannon D sub 9 pin male and female connectors Two 120 terminators one for each end of the cable A laboratory power supply with 2 or 3 outputs with at least 9 Volts each and 1Amp e Software NI CAN drivers Version 1 6 for NICAN card and or Kvaser PCI CAN card drivers e CANopen OPC Server available from ELMB Distribution Kit 11 e Configuration file OPCCanServer cfg example supplied with CANopen OPC Server Development application Tool BridgeVIEW PVSS II etc Optional e NIServer Explorer Version 2 4 1 available from www ni com e canhostplus exe included in installation of CANopen OPC Server WINhost exe included in installation of CANopen OPC Server II Hardware Setup II 1 Overview The ATLAS DCS consists of two components the Supervisory Control And Data Acquisition SCADA system and the Front End I O FEIO system The aim is to have an as homogeneous system as possible for all subdetectors On the SCADA side this is guaranteed by using the same commercial software system throughout The connection of the SCADA to the FEIO will be achieved by a limited number of standards such as CAN fieldbus OPC software etc The FEIO is the responsibility of the subdetector group but a versatile general purpose system the Local Monitor Box LMB has been designed and built and is now widely accepted by the subdetector groups After successful tests of the LMB and feedback from the subdetector groups a new
16. STnn EXE where nn was the version number and was run in an MS DOS window The OPC Server has since been updated to use COM components to allow more than one interface card to be used with the same server Viatcheslav Filimonov updated the openhost program to use the same COM components and this program is called canhostplus exe To use the tool the DLLs must be registered see section 2 2 CANopen OPC Server registration and the interface card required must be installed in the PC and it s drivers loaded It is recommended to increase the DOS windows size buffers to 200 lines The ELMB software documentation is available from Software for the ELMB CANopen Module 3 The canhostplus program is included in the zip file containing the CANopen OPC server To run the program open a DOS window and navigate to the folder containing the canhostplus executable by default the path is C CANopenOPC Tools The program needs to be given some arguments to allow the interface card port and baud rate to be specified The command to start the program is of the form canhostplus cardspecifier portspecifier baudrate where cardspecifier NICANserver for the NICAN card KVCANserver for the Kvaser card portspecifier canO 1 etc for the NICAN card or 0 1 etc for the Kvaser card baudrate the baud rate required for the bus e g 125000 is 125 Kbaud Example to run canhostplus using the NICAN card at 125 Kbaud on port 0 enter
17. Values and comments BUS I NMT Network WwW 1 Starts all nodes in the bus management of 2 Stops all nodes in the bus the bus 129 Resets all nodes in the bus CAN_BUS_1 SYNC Synchronization W 1 Sends a SYNC message all nodes in the bus BUS I SyncInterval Periodical RW X 0 Time in ms between successive SYNC messages synchronization CAN BUS I NodeGuardInterval Node Guarding RW Y 0 Time in ms for node guarding Aliveness test Interval CAN BUS I ELMB 3F NMT Network W 1 starts node ELMB_n3F_b1 management 2 stops node ELMB_n3F_b1 129 resets node ELMB_n3F_b1 CAN_BUS_1 ELMB_3F range Value of the RW 0 100 Values in mV ADC gain 1 55 2 25 3 1000 4 5000 5 2500 CAN BUS 1 ELMB 3F mode Type of RW 0 bipolar measurement 1 unipolar CAN BUS 1 ELMB 3F rate Value of the RW 0 15 0 Values in Hz ADC conversion 1 30 0 rate 2 61 6 3 84 5 4 101 1 5 1 88 6 3 76 7 7 51 CAN BUS 1 ELMB 3F Error Error registry R 0 if no error occurs in n3F bl CAN BUS ELMB 3F save Saves ADC W Write decimal value 1702257011 settings to ASCII values for the word save written in reverse EEPROM CAN BUS 1 ELMB 3F load Loads ADC W Write decimal value 1684107116 settings from ASCII values for the word load written in reverse EEPROM CAN BUS 1 ELMB 3F channelMax Number of RW 0 chNumber x 64 analogue channels CAN BUS 1 ELMB 3F do A 0 Digital output W Byte where each digital line is a bit value m lines
18. access to the whole list of objects in the Object Dictionary of a CANopen device In the work with the ELMB this tool allows to check whether the modules are present in the bus For instance after a hardware reset of the module the ELMB sends a guard message with COB ID 0x700 Nodeld as shown in Figure 10 where three nodes with identifiers 0x3D Ox3E and Ox3F are replying It also permits to perform the configuration of the module ADC settings number of channels etc management of the bus start stop reset of nodes and sending of SYNC messages H CANalyzer Pils ES File oe Stat Mode Configuration Window Help 2 sje xl ufo EUESPZEHEBEEHEEREEIS ET a time can ident attr Trace 217 9965 1 73E 0 0167 1 73F 0 0102 1 73D Start of measurement 10 33 49 am Bus load j CAN 1 Bus with 125000 BPS Peak load j CAN 2 Bus with 125000 BPS Data frames s Data total Extended frames s 0 Extended total 0 Error frames s 0 Error total 0 Chip state Active L2USER D fyrscanOpen Canopen cfg Figure 10 ELMB Node Guarding message using the CANalyzer Figure 11 shows the CANopen frames transmitted by three ELMBs connected to the bus as reply to a SYNC COB ID 0x80 sent from the analyser Issue 4 3 ELMB128 Documentation 17 02 05 Page 26 It is possible to program the CANalyzer to convert the data bytes to physical quantities plot them or store the CAN frame into a file File View
19. channel ADC see Figure 12 J23 J24 J27 J28 J20 J18 J14 J16 Ch 24 27 Ch 16 19 Ch 32 35 Ch 36 39 Ch 0 3 Ch 4 7 Ch 56 59 48 51 eere i Petar J15 Ch 12 15 J19 J13 Ch 44 47 Ch 8 11 J17 Ch 40 43 J26 J22 J25 Ch 20 23 J21 Ch 60 63 Ch 52 55 Ch 28 31 Figure 12 Back side of the Motherboard showing the adapter connectors The motherboard may be mounted in DIN rail housing of the size 80x180 mm On the front side there are connectors for the ADC inputs digital ports a SPI interface CAN interface and power connectors see Figure 13 Port F PI 7 ADC input ADC input Port ch 16 31 ch 48 63 ADC input ADC input ch 0 15 ch 32 47 PortA Power cable CAN bus Reset J4 J10 J3 J11 Figure 13 Front side of the Motherboard showing connectors 17 02 05 ELMB128 Documentation Issue 4 3 Page 31 ports available e Four differential 16 channel ADC inputs connectors 34 pin type 3M 3431 each input can be personalized with 4 plug in DIL socket e One 8 bit bi directional digital I O PORT A capable of sinking 20mA from an external power source on a 10 pin 2 54mm header connector e One 8 bit digital output port PORT C capable of sinking 20mA from an external power source on a 10 pin 2 54mm header connector e One 8 bit input digital input port PORT F This port also serves as analog input for the ATmegal28 ADC 8 channel 10 bit The
20. connector is 20 pins 2 54mm header connector e One Serial Peripheral Interface SPI connector with SCLK DIN DUT and 10 CS lines There are also 5V and 5V power supplies available This port is compatible with the LMB ADC Pt100 modules from the previous series production e SPLinterface compatible with the LMB CAN module e Power connections with screw terminals e Optional test connector for the internal power supply of the ELMB for use in a test box Issue 4 3 128 Documentation 17 02 05 Page 32 Annex B ELMB Specification The ATmegal28 runs at a 4 MHz clock speed It has RISC architecture with 121 mostly single clock instructions The main features of the LMB board are AVR RISC architecture ATMEL Atmega128 e 128 Kbytes of on chip flash memory e Kbytes of SRAM e Kbytes of EEPROM e In System Programming via CAN bus Peripheral Features e Full CAN controller interface with PCA82C250 6 bit CAN identifier and 4 baud rates supported 3 wire SPI interface Real Time Counter with a separate 32 kHz crystal Timers e 8 channel 10 bit ADC I O lines available e 6 external interrupt inputs Port A 8 digital bi directional I O lines can alternatively be used for external SRAM Port C 8 digital output lines can alternatively be used for external SRAM Port D 5 digital bi directional I O lines Port E 5 digital bi directional I O lines Port F 8 digital input lines or 8 analog inputs for the ADC Strobe and enable lines for ex
21. croi de aoo eh rosa eo ino iG dato e n argo ro ep vede ek sbevesssdeovesessssecsesusenss 32 ANNEX C ADAPTERS SPECIFICATION pa sage to ro Fee 34 ANNEX D MOTHERBOARD CONNECTORS eee eee ee eese seen eee eene ee eaae eS 37 REFERENCES rr M 41 Issue 4 3 128 Documentation 17 02 05 Page 2 Index of Figures Figure 1 How to use this manual 5 Figure 2 Window showing the NI CAN interface card configuration 7 Figure 3 Window showing the Kvaser CAN interface card configuration 8 Figure 4 Power connection of the ELMB Motherboard 9 Figure 5 Location and function of ELMB128 DIP switches and the 10 pin Programmer RS232 adapter connector 10 Figure 6 Software Architecture View 11 Figure 7 Custom installation for installing the NICAN component 12 Figure 8 Address space of the OPC server using the NI Server Explorer 15 Figure 9 Example OPC configuration file as supplied with the CANopen OPC Server download 15 Figure 10 ELMB Node Guarding message using the CANalyzer 25 Figure 11 Nodes replying toa SYNC message with PDO 2 ADC counts in the CANalyzer 26 Figure 12 Back side of the Motherboard showing the adapter connectors 30 Figure 13 Front side of the Motherboard showing connectors 30 Figure 14 Implementation of the ELMB 33 Figure 15 Principle of the 3 wire resistance measurement 34 Figure 16 Plug in ada
22. des in the system may be used for ELMBs but all items need to be specified using this section and the three following sections SDOItem Lists all OPC items that are mapped to entries in the object dictionary and hence accessed via SDO PDO Defines all PDO messages for real time data transmission PDOItem Lists all OPC items that are mapped to bytes transmitted in the different PDO defined in the previous section INIT Defines any values for OPC items that are to be initialised Issue 4 3 ELMB128 Documentation 17 02 05 Page 27 Each section can contain several lines all having the same syntax The first word is a name followed by several parameters after the symbol CANBUS This block describes the CAN buses where each bus must have a unique name The number of buses depends on the interface The present implementation supports the interfaces of National Instruments NI CAN and NI CAN2 for both PCI and PCMCIA portable PC and the Kvaser PCIcan Q and PCIcan D and PCMCIA LAPcan portable PC The first parameter is the CAN card interface specifier followed by the name of the port of the interface used to connect to hardware and the third parameter is the baud rate of the bus The interface specifier may be either K VCANserver for Kvaser cards or NICANserver for National Instruments cards CAN BUS 1 KVCANserver 0 125000 This line means that the system has a CANopen bus called CAN BUS connec
23. e Update iiet App settings a 2 qy Copyright 2001 KVASER AB Sweden Figure 3 Window showing the Kvaser CAN interface card configuration The installation procedure for the Kvaser cards is described in the Kvaser documentation available from theKvaser web site www kvaser com The configuration for the card is available through the Control Panel under the item CAN Hardware as shown in Figure 3 for a PC with a single 4 port card installed The default configuration assigned on installation should not need to be altered It should be noted that although the dialog shows the channels ports assigned the numbers 1 to 4 the names of these ports are 0 to 3 NOTE The Kvaser 4 port PCI card PClcan Q has some switches referred to as SW 2 in the documentation that are set by default to connect all four buses to a common bus Please refer to the Kvaser documentation for more information and instructions on obtaining the required setting for your application 1 2 3 Motherboard The different power schemes of the ELMB128 are explained in Annex B ELMB Specification Different types of powering are possible a A power supply with at least one 10V output 200mA b A power supply with two outputs each 10V see Figure 4 c A power supply with three outputs each one giving 10V NOTE There should be one 120 ohm termination at each end of the CAN bus cable Although this configuration is
24. e new default Figure 1 below gives a route for how to use this manual Each chapter may be used independently of the others although some other chapters may be referenced for further information Introduction amp How to get started Chapter 1 Hardware Setup Overview amp Installation Chapter 2 SZ Software Setup Chapter 3 lt Overview and Installation Verify Setup N M Diagnostic Tools es Chapter 4 Write your Application Development tools Chapter 5 Debug your application Figure 1 How to use this manual Issue 4 3 128 Documentation 17 02 05 Page 6 What do you need to get started e Hardware e PCI based computer e NI PCI CAN 2 interface Kvaser PCIcan Q 4 ports or Kvaser PCIcan D 2 ports PCMCIA format cards are required for laptop available from both National Instruments and Kvaser e CAN CABLE The choice on the type of cable depends on both the cable length and the number of nodes that are going to be used for the application 1 To be used in experimental area FOR SHORT DISTANCES For cable length 50 m and a few nodes 0 25mm cable available at the CERN store can be used FOR LONG DISTANCES For a length from 50 m to gt 200m and over 16 nodes it is recommended to use the 0 50mm 2 For small laboratory test setup Use a flat cable 10C1 27mm AWG28 type MOTHERBOARD v3 E
25. e te epe etu er es 9 17 2 5 E G 2 8 A E EEEE tuat tet p eue tegi 9 SOFTWARE SET UD EE 11 TIT Ds SONER VIEW 11 1 1 Introduction to CANBus and CANopen protocol esee 11 2 SOFTWARE INSTALLATION amp CONFIGURATION 12 MIZA wFiesrequiredz ise e t e e e e iet e RD eves EE e 12 2 2 CANopen OPC Server registration trennen ene 13 IV SETUP VERIFICATION ioco sco eria uaa eo aeo eo o eua roo ne oo oe up eas casa sooo ep Vo S da deasa assos 13 IV 1 DIAGNOSTIG TOOLS iier eere E PEERS 18 IV 1 1 EXP Ore seo te metere er are ier eei a ce eres 18 IV 1 2 CONNOSTPIUS oasis esas Reka t RO qae Mawes 18 IV 1 3 25 V SOFTWARE APPLICATION DEVELOPMENT TOOLS amp EXAMPLES ee ee eee 26 V 1 CUSTOMIZING THE CANOPEN OPC SERVER ccccccecesesececececececececececececececececececececececececececececececececececeeececs 26 2 GETTING STARTED WITH PVSS II e ESSES ene sS Ees ene eene nenne enne 29 ANNEX MOTHERBOARD SPECIFICATION cccssssscsssssscssssccccsscsccssssscccssssccsesscccecssscccssseccccssseese 30 ANNEX B ELMB SPECIFICATIQN
26. ected Service SYNC 0x80 Noderp 63 0x3t SYNC send 41 Data from the ELMB The ELMB replies with two digital input bytes the status of the F connector on the motherboard and the A connector which may be configured as digital input and 4 ADC data messages each with 6 bytes In this example there is a 25 0025 ohms resistor with 4 wire connection connected to channel 0 and 1 Reply from the ELMB module should be like this Recvd msg 0 COB PDO1 Tx 180 NodeID 63 08 12 DLC 2 data hex 00 00 Recvd msg 0 COB PDO3 Tx 380 NodeID 63 08 12 DLC 6 00 09 91 7a 00 00 Recvd msg 0 COB PDO3 Tx 380 NodeID 63 at 08 12 DLC 6 data hex 01 09 a3 1e 00 00 Recvd msg 0 COB PDO3 Tx 380 NodeID 63 at 08 12 DLC 6 data hex 02 09 40 4b 4c 00 Recvd msg 0 COB PDO3 Tx 380 NodeID 63 at 08 12 DLC 6 data hex 03 89 40 4b 4c 00 Data hex byte 0 ch byte 1 status byte 2 5 uV value data from ADC in hex Msg 7 channel 0 status ok ADC 15Hz 5V data is hex 7a91 dec 31377 Msg 8 channel 1 status ok ADC 15Hz 5V data is hex 1ea3 dec 7843 Msg 9 channel 2 status ok ADC 15Hz 5V data is hex 4c4b40 dec 5000000 full range Msg 10 channel 3 status bad ADC 15Hz 5V data is not valid The Pt100 resistance is calculated as 100 ch1 chO 100 7843 31377 24 996 ohms true value 25 0025 4m Additional messages After one minute of not seeing a single me
27. ements Figure 18 Plug in adapter for 4 channels The equation for the 2 wire Pt sensor is the same as for the 4 wire sensor However the calculation for the resistance R t is different and is given by ch0x 2 5 where chOis the voltage measured by the channel is the value of the resistor on the adapter R t If the ELMB has been set to give ADC counts and not or is an older ELMB that does not have the ability to send values in uV then the value from the channel reading must be converted to volts by the following formula cients x Range pons volts 6 5 5 3 5 where c0 1s the result value in volts ChO counts 15 the ADC count as returned by the ELMB for the channel Rangevons is the currently set voltage range for the ELMB s ADC e g for 100mV this is 0 1 For an NTC sensor the equation is given below T 1 A B In R t CAROD The values of A B and C are given by the manufacturer of the sensor Typical values for these constants are A 9 577x10 B 2 404x107 and C 2 341 10 R t is the resistance of the sensor at the temperature being measured as calculated above for the 2 wire Pt sensor Differential attenuator The Crystal Semiconductor ADC CS5523 used in the ELMB with the input multiplexer can measure voltages up to the range from 2V to 5V The common mode range is 0 15 V to 0 95V on the three lowest voltage ranges and 2V to 5V in the other ranges With the he
28. eractive control tool PC CAN frames over CAN bus ELMB128 ELMB128 Software ELMBio Figure 6 Software Architecture View III 1 1 Introduction to CANBus and CANopen protocol The ELMB application area consists of the control of I O channels The CANbus is the fieldbus chosen to connect the ELMB to the system via the CAN card interface CANopen is the high level communication protocol that was chosen which can connect up to 127 nodes on the CAN bus Any OPC client can communicate to the ELMB by connecting to the CANopen OPC server The ELMBio node controls the I O channels by sending and receiving CANbus frames Communication Objects It contains an Object Dictionary OD which keeps all the device parameters number of channels addresses data types etc The CAN frames consist of a number of bytes of data a header and an integer number defined as Communication OBject Identifier COB ID For each type of CAN frame sent or received a COB ID is allocated There are 4 types of communication objects which are described below e PDO messages Process Data Object are used for real time data transfer with high priority Each node can send and receive messages with a different COB ID where each message can contain data from several sources e SDO messages Service Data Object are used to access the Object Dictionary of the device e Network Management COB ID 0 Administration Services are responsible fo
29. essage Bus gt Send SYNC The ELMB s should then respond with the analog input channel values Once this has been verified Server Explorer may then be used to verify the OPC Server configuration To run the diagnostic utility select Server Explorer under Start gt Programs gt National instruments gt ServerExplorer When Server Explorer is started the main panel shows a list with all OPC severs registered in the machine These servers can be installed either local or remotely The following summarizes the steps to establish a connection to the CANopen OPC server 1 Use the wizard to connect to the CANopen OPC Server OPCxxCanOpen To display the wizard right click on the required server and select Wizard where xx is the version of the OPC Server 2 Click the button labeled Next gt to connect to the OPC Server 3 In the following window create OPC Group and set its update rate e g MyGroup and 1 s 4 Click the button labeled Next gt 5 Finally include all the OPC items in the group created by clicking Finish If the Server Explorer cannot connect to the OPC Server you can check the file OPCCanServer log which is in the same folder as the executable by default this is C CANopenOPC This may give an indication as to what is wrong in the configuration file Figure 8 below shows the display of the Server Explorer after these steps when using the example OPC configuration file as contained in
30. he object with index 2100 subindex 2 of the node device called ELMB 3F This item can be read and written to and the type of data is an unsigned integer of 1 byte PDO This section is used to define the COB ID of the PDO for the different buses in the system The number of parameters depends on the Device Specification Profile DSP that the PDO belongs to The first parameter is the name of the bus and the second the DSP This server supports three profiles 401 404 and LMB The LMB DSP is essentially the 404 with the order of the bytes reversed which is used for the LMB The third parameter defines the direction of the PDO IN or OUT In the case of DSP 404 profile and DSP LMB there are two additional parameters the first one defines the zero based index of the multiplexer byte e g ADC channel 0 63 and the second how often this PDO is multiplexed i e the number of channels to be read 3BF CAN BUS 1 404 IN O 64 This line means that the system a message with COB ID Ox3BF on the bus called CAN BUS 1 The DSP is 404 and the data is an incoming multiplexed message with 64 entries with the multiplexer byte being in the first byte PDOItem This block defines the OPC items that are mapped to bytes in the PDO defined in the previous section i e the actual real time data values for the sensors and actuators The number of parameters in the definition depends on the profile A name identifier for the OPC item must be specified w
31. his does not test the application level of the installation therefore allowing the same check to be made independent of the application software Chapter V explains how to customise the CANopen Server s configuration file for user defined applications The Annexes contain detailed technical information for the motherboard ELMB128 and adapters Useful Links CANopen High level protocol for CANbus H Boterenbrood April 1999 http www nikhef nl pub departments ct po doc CANopen20 pdf Issue 4 3 128 Documentation 17 02 05 Page 5 I Introduction and quick start Important Note for people who have been using older versions of the ELMB The ELMB128 has been loaded with firmware version 4 1 or later This firmware sends the analog input values as microvolts using the so called TPDO3 CANopen message by default Previous versions of the firmware sent analog input values as ADC counts using the so called TPDO2 CANopen message If you have already been using the older versions of the ELMB and have an OPC configuration file for these messages no data will be seen by an OPC client To solve this you will either need to change the OPC configuration file see the CANopen OPC Server manual on how to do this or to set the ELMB128 to send analog input values as ADC counts This is done by setting the Object Dictionary item with index 0x1802 sub index 2 to the value Oxff 255 This value can then be saved to EEPROM as th
32. igh CAN_BUS_1 ELMB_3F lifeTime CAN_BUS_1 ELMB_3F load CAN_BUS_1 ELMB_3F mode CAN_BUS_1 ELMB_3F range CAN BUS 1 ELMB 3F rate Name Device Item Value Timestamp Quaity 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good 14 23 40 801 Value good Ready Figure 8 Address space of the OPC server using the NI Server Explorer Page 15 Figure 9 shows the contents
33. is sets the default Node ID for all commands that are directed to a specific Node Put node 63 reply from canhostplus program Warning If this command is not done most other commands will not work because when canhostplus starts up it defaults to the NodeID 16 4e Identify module type and embedded software In order to check which type of node has the node ID 63 it is possible to request from the module the index 1008 subindex 0 with the following commands using the CANopen SDO command structure Give the keyboard command 2 Reply from the module The reply is ELMB Next the embedded software version of the ELMB may be read via the index 100a and subindex 0 Give the keyboard command 2 Issue 4 3 ELMB 128 Documentation 17 02 05 Page 21 Reply from the module The embedded software in this example is MA41 4f Program the ADC a The number of channels to be read out The next commands program the 64 channel ADC via CANopen SDO commands In this example channel 0 to channel 3 has pt100 adapters connected Only 4 channels are to be read out There is one resistor with a 4 wire connection to simulate a pt100 sensor connected to channel 0 and channel 1 Give the keyboard command 2 write the SDO to index 2100 subindex 1 no channels 4 Reply from the ELMB module should be like this The ELMB node 63 replies that index 2100 subindex 1 has been written Issue 4 3 128 Documentation 17 02 05 Page 22
34. ith fast optocouplers between the CAN bus transceiver PCA82C251 and protocol chip There is a DIP switch for the baud rate and the CAN identifier Using the onboard DIP switches a node identifier must be set between 1 and 63 unique on the bus using 6 of the 8 switches and a CAN bus bit rate of 50 125 250 or 500 kbit s using the 2 remaining switches See Figure 5 below for details Issue 4 3 ELMB128 Documentation 17 02 05 Page 10 Node ID up 0 down 1 shown here 17 Bits 543 210 EH 50 kbit s LN Rs 12345678 d n 250 kbit s TEUER aM 500 kbit s Programmer RS232 adapter connector to enable In System Programming via CAN the adapter cable must be removed and 2 jumpers installed as shown Figure 5 Location and function of ELMB128 DIP switches and the 10 pin Programmer RS232 adapter connector Three low drop power regulators are used as filters and with current limitation for the different voltages needed All of these components are mounted on a PCB of the size 50x66 mm On the backside of this PCB are two high density connectors of SMD type and optionally a high performance 16 7 bit delta sigma ADC with 64 differential inputs There are also analog power regulators for the supply of the ADC Issue 4 3 ELMB128 Documentation 17 02 05 Page 11 III Software Setup III 1 Overview Application Bridge View PVSS II CANopen OPC Server CAN card specific COM component Canhost exe int
35. ith the first parameter for this item being the COB ID of the PDO and the next is the data type For an item mapped to information in a PDO belonging to DSP 404 it is necessary to indicate also the channel number It is possible to write ALL In this case the server will create items for all channels concatenating the channel number to the item name starting with index 1 The next parameter describes the byte number for the start position of the data in the PDO message If individual bits have to be unpacked the next parameter s describes the position of the bit in this byte ai ELMB 3F 3BF VT 4 ALL 2 This line means that there is a PDO item called ai that has the COB ID Ox3BF The data is an unsigned integer of size four bytes The data is multiplexed and therefore the actual items will be called ai 0 ai 1 etc The data starts from the third byte in the CANopen message index 2 INIT This block defines values that are used to initialise any output items in the OPC address space All values will be sent to the can nodes after creating the OPC address space and opening the CANbus port in the order they are written The syntax for this section is lt BUS gt lt NODE gt lt ITEM gt value where BUS is the name of bus described in the section CANBUS NODE the name of a node described in the section DEVICE ELMB Note this name is omitted for items belonging to the bus e g SyncInterval Issue 4 3 ELMB 12
36. lp of a differential attenuator the input ranges of the ADC can be extended see Figure 19 The ratios of R1 to R2 and R3 to R4 should be Issue 4 3 128 Documentation 17 02 05 Page 36 matched to the wanted range The value of the resistors should be chosen so that ground loop currents can be neglected 2100 kohms The adapter is shown in Figure 20 Typical values are 100 and 1KQ for a 1 100 divider Differential attenuator Attenuator One channel shown differential amd dz Labs 3 AGND 4 Ss TS ADC chO GND o R Sea AGND chi Figure 19 Principle of differential ADC ch2 attenuator ADC ch3 Figure 20 Plug in adapter with differential attenuators Resistor network A standard 16 pin dual in line resistor network can be used see Figure 21 This connects the external connector directly to the analog multiplexers of the ADC It should be noted that the input voltage range must be limited between 2V and 5V because the input at the ELMB is not protected against over voltages Also the common mode range is limited depending on the ADC range used To ensure that the bias leakage currents of the input multiplexer and ADC do not influence the measurements resistors of value less than 1KQ should be used The typical adapter supplied with the ELMB motherboard consists of 1KQ resistors Figure 21 Plug in adapter with resistor network Extraction Tool To re
37. move the adapters from the motherboard we recommend using the Integrated Circuit Extraction Tool from CERN stores reference 34 95 05 310 7 Issue 4 3 ELMB128 Documentation 17 02 05 Annex D Motherboard connectors ADC Input Connectors J3 J4 J10 J11 There are four connectors for the 64 ADC channels on the ELMB each connector being for 16 channels Below is the pin assignment for the connectors NOTE J3 is for channels 0 15 J4 1s for channels 16 31 J10 is for channels 48 63 J11 is for channels 32 47 Page 37 Top View of Motherboard of ELMB HW rev 1 1 the ADC Pin Assignment of the Connectors J3 J4 J10 J11 Input Updated 26 05 2000 for ELMB motherboard Connectors Signal Name PIN PIN Signal Name J 3410 11 VREF 2 5V 34 33 AGND Negative Input Channel 15 32 31 Positive Input Channel 15 m Negative Input Channel 14 30 29 Positive Input Channel 14 E Negative Input Channel 13 28 27 Positive Input Channel 13 as Negative Input Channel 12 26 25 Positive Input Channel 12 de Negative Input Channel 11 24 23 Positive Input Channel 11 Negative Input Channel 10 22 21 Positive Input Channel 10 ur Negative Input Channel 9 20 19 Positive Input Channel 9 mu Negative Input Channel 8 18 17 Positive Input Channel 8 Negative Input Channel 7 16 15 Positive Input Channel 7 d Negative Input Channel 6 14 13 Positive Input Channel 6
38. nd VDG pin 1 to pin 2 3 3V 3 2V to 3 4V Voltage between PSVEXT and VCG pin 4 to pin 6 5V 4 75V to 5 25V Voltage between 5 and VAG pin 7 to pin 8 5V 4 75V to 5 25V Voltage between MPSA and VAG pin 9 to pin 10 5V 4 75V to 5 25V J29 Connector This connector is used for jumpers Jumpers connect IC40 shutdown and digital ground IC40 output and digital power analog and digital GND analog and digital power J29 Pin Description 2 VXS IC40 shutdown VDG Digital ground VDP Digital power VXO 5 4V supply from IC40 VDG Analog ground VDG Digital ground VAP Analog power VDP Digital power 9 10 10 pin header tA Io Table 9 29 pin assignment Normally all connections should be open J30 Connector Jumper for connection of reset line to CAN reset line J30 Pin Description 1 mn 2 1 RESET signal from CAN connector pin 1 2 pin header 2 MRD signal to Atmel processors Table 10 J30 pin assignment Normally all connections should be open Issue 4 3 128 Documentation 17 02 05 Page 41 References 1 Distribution kit for test of the ELMB with Motherboard http atlas web cern ch ATLAS GROUPS DAQTRIG DCS ELMB DIST ELMBdoc html 2 ELMB Software Resource NIKHEF http www nikhef nl pub departments ct po html ELMB ELMBresources html 3 Software for the ELMB CANopen Module H Boterenbrood
39. nd requires two parameters with an optional third parameter The two required parameters are the name of the bus to which it is connected and the node identifier number The optional third parameter specifies whether to perform Node Guarding on the node ELMB 3F CAN BUS 1 3F NG This line means that the system has a node called ELMB 3F connected to the bus CAN BUS 1 with identifier Ox3F The last parameter means that the OPC server performs Node Guarding on this node If no Node Guarding is required the third argument is omitted SDOItem This section defines the OPC items that are mapped to entries in the object dictionary of a particular node and that are accessed via SDO Each line in this section must supply an OPC item name and give five parameters the name of node index and subindex of the object in the Issue 4 3 ELMB 128 Documentation 17 02 05 Page 28 dictionary its direction and the data type The direction can be input IN output OUT or both IO The possible data type and its name are defined in OPC specification e g VT UII VT UD and VT_BOOL for unsigned integer 1 byte unsigned integer 2 bytes and boolean respectively rate ELMB 3F 2100 2 IO VT UI1 range ELMB 2100 3 IO VT UI1 mode ELMB 2100 4 IO VT UI1 In these examples the first word is the itemID of the OPC item that is accessible from the server address space The parameters of the first line mean that this item is mapped to t
40. ould be scaled such that the full scale range of the ADC for the full temperature range required is below 100mV and that the input current of the ADC can be neglected 100pA Calibration has to be done by exchanging the sensor with a known stable high precision resistor The motherboard has place for four adapters of the type shown in Figure 16 per 16 channel inputs ADC chl ADC input connectors 4 wire Pt100 Motherboard wet 25V signal adapter RC 4 wire Pt100 foo 4 1 ADC chO Vref 2 5V AGND cooo A J j ADC chO AGND chi ADC ch Figure 15 Principle of the 3 wire resistance ADC ch2 measurement i ADC ch3 on o0 hh Figure 16 Plug in adapter for 2 channels The equation to be used for the sensor comes from the equation below R t 01 at bt This can be solved to give the value for the temperature t from the equation 4b 1 R Ry The values of a and b are given by the manufacturer of the sensor Typical values for these constants are a 3 9083 10 and b 5 775 10 Ro is the value of the resistor at 0 C for a Pt100 this is 100 R t is the resistance of the sensor at the temperature being measured t The equation for R t is given by chix where chl is the value read by channel 1 as shown in Figure 15 ch0 is the value read by channel 0 as shown in Figure 15 R t For the 4
41. possible it is not recommended as ground loops may occur on a long bus Issue 4 3 ELMB128 Documentation 17 02 05 Page 9 CAN Reset bus ADC Input ADC Input Ch 48 63 Ch 16 31 8 illi Port F Port A ADC Input ADC Input Ch 32 47 Ch 0 15 J10 J4 PortC J11 SPI Port Power Cable Power Supply Analog 10V 10V Digital E CAN VAP VAG VCP VCG VDP VDG Example showing ELMB connections with Analog CAN two power supplies Digital Figure 4 Power connection of the ELMB Motherboard II 2 4 Adapters On the backside of the motherboard there are spaces for 16 sockets for dual in line signal adapters each servicing 4 input channels There are presently adapters for 4 wire Pt100 sensors 2 wire resistive sensors and differential voltage attenuators 1 100 The ADC voltage reference 2 5V and the analog ground are available on each adapter Different types of adapters may be mixed however it is required that the same ADC range should be used for all of them In addition common resistor networks providing 1Kohm resisters in series may be used in the sockets for the direct connections to the onboard multiplexer and ADC For details and technical information about the adapters see Annex C Adapters specification 2 5 ELMB128 The ELMB128 is a general purpose plug in board It is based on an AVR microcontroller ATmega128L The CAN controller is based on a SAE81C91 A galvanic isolation to the CAN bus is made w
42. pter for 2 channels 34 Figure 17 Principle of the 2 wire measurements 35 Figure 18 Plug in adapter for 4 channels 35 Figure 19 Principle of the differential attenuator 36 Figure 20 Plug in adapter with differential attenuators 36 Figure 21 Plug in adapter with resistor network 36 Issue 4 3 128 Documentation 17 02 05 Page 3 Index of tables Table 1 Address space of OPC server when using the example OPC configuration file supplied in the download as shown in Figure 8 17 Table 2 ADC Input Connectors pin assignment 37 Table 3 PORT A pin assignment 37 Table 4 PORT C pin assignment 38 Table 5 PORT F pin assignment 38 Table 6 Microwire SPI Interface pin assignment 39 Table 7 CANbus connector pin assignment 39 Table 8 Test Port pin assignment 40 Table 9 J29 pin assignment 40 Table 10 J30 pin assignment 40 Issue 4 3 128 Documentation 17 02 05 Page 4 Organisation of the Manual Chapter I gives a brief overview of the equipment required for both software and hardware A guide for how to best use this manual is also given Chapter II supplies detailed information on how to set up the hardware for use with the ELMB128 its powering and the associated interface cards Chapter III contains instructions for installing the required software and some background information on the CANopen protocol and the CAN bus Chapter IV describes how to check that all required software and hardware has been installed correctly T
43. r controlling the state of the whole network and or individual nodes It has the highest priority as it is used to start and stop the CANopen network e Additional pre defined messages e SYNC Synchronization object COB ID 0x80 The OPC sends this message to synchronize data values from the nodes e NG Node Guarding is used to monitor the state of the nodes Issue 4 3 ELMB 128 Documentation 17 02 05 Page 12 EMERGENCY messages to notify internal device errors When the OPC server is started it reads a configuration file and implements its address space This address space can then be browsed by the client application to connect its device parameters to OPC items The client application can then control the I O channels of the ELMB III 2 Software installation amp configuration At this level it is assumed that the user has properly connected his hardware as described in Chapter II III 2 1 Files required Make sure that the configuration file OPCCanServer cfg is placed in the same directory as the server the file canopen25 exe that you can download from Distribution kit for the test of the ELMB Motherboard 1 When installing the OPC Server the Kvaser component is installed by default with the Typical installation If you require the NICAN component you need to select Custom installation You may then select the NICAN component from the list shown NOTE To select an option to install you mu
44. ssage on the CAN bus the ELMB sends an emergency message as shown below This is a result of a CANopen process called Lifeguarding in which the ELMB reinitializes its CAN interface after a certain period of non activity on the CAN bus to protect itself against possible corrupted CAN interface settings gt Recvd msg 11 COB EMERGENCY 80 NodeID 63 at 08 13 36 094 DLCs8 data hex 30 81 10 00 00 00 OO 00 gt Recvd msg 12 COB EMERGENCY 80 NodeID 63 at 08 14 36 002 DLC 8 data hex 30 81 10 00 00 00 00 00 Issue 4 3 128 Documentation 17 02 05 Page 25 canhostplus may be used to access any object within the data dictionary for a node The advantage of using canhostplus is that it is a low level interface to the CAN bus that does not use the OPC Server Therefore it can be used to test connections IV 1 3 CANalyser The CANalyzer software package from Vector informatik GmbH is an universal development tool for CAN bus systems which can assist in observing analysing and supplementing data traffic on the bus It can work either at byte level with bus like raw data or at the application level with the logical physical data representation It can be installed in a portable using a PCMCIA interface card and its price is about 5000 SFR The usage of this tool requires knowledge of the CAN CANopen protocols From the CANalyzer it is possible to send or visualise any CAN CANopen frame occurring in the bus as well as to
45. st click to the left of the text of that item where the tick should be as shown in Figure 7 Selecting the text does not select the item for installation Select Components Select the components you want to install clear the components you do not want to install Components Diagnostic Programs 456 tools to card 1477 Space Available 2096832 K lt Back Next gt Cancel Figure 7 Custom installation for installing the NICAN component The configuration file contains all the information about the CANopen network needed by the OPC server to define its address space The file is organized in different OPC items which belong to a group At this level only basic knowledge of OPC concepts is recommended No knowledge of CAN CANopen is needed The user can use the example configuration file provided OPCCanServer cfg For more details on the configuration file see section V 1 Customizing the CANopen OPC Server NOTE Remember that the node ID of the ELMB must be the same as the node ID specified in the OPC Server configuration file By default the ELMBs have node ID 3F hex which is 63 decimal but if this has been changed then the configuration file must also be changed Issue 4 3 ELMB128 Documentation 17 02 05 Page 13 III 2 2 CANopen OPC Server registration To allow an OPC client to connect to the CANopen OPC server it is necessary that the OPC ser
46. t co I I m m z CAN BUS 1 ELMB 3 CAN BUS 1ELMB 3 Canine a cran p BUS 1 ELMB 3 JS dE T 19909999009909090000000000000090000000000 EE CAN BUS 1 ELMB 57 CAN BUS 1 ELMB 3F ai 58 BUS 1 ELMB 3F aj 58 CAN BUS 1 ELMB 3F ai 60 CAN BUS 1 ELMB 3F ai 61 CAN BUS 1 ELMB 3F ai 62 CAN BUS 1 3F ai 63 CAN BUS 1 3F bootUpMessage CAN BUS 1 ELMB 3F channelMax CAN BUS 1 3F diDebounceTimer CAN BUS 1 3F diEventTimer CAN_BUS_1 ELMB_3F diTransmissionT ype CAN_BUS_1 ELMB_3F di_F_0 CAN_BUS_1 ELMB_3F di_F_1 CAN_BUS_1 ELMB_3F di_F_2 CAN_BUS_1 ELMB_3F di_F_3 CAN BUS 1ELMB 3F di F 4 CAN BUS 1ELMB 3F di F 5 CAN BUS 1ELMB 3F di F 6 BUS 1 ELMB 3F di F 7 CAN_BUS_1 ELMB_3F digitallnEnable CAN_BUS_1 ELMB_3F do_A_0 CAN_BUS_1 ELMB_3F do_A1 CAN_BUS_1 ELMB_3F do_A_2 CAN_BUS_1 ELMB_3F do_A 3 CAN_BUS_1 ELMB_3F do_A 4 CAN_BUS_1 ELMB_3F do_A 5 C N BUS ELMB 3F do A amp BUS 1ELMB 3F do 7 CAN_BUS_1 ELMB_3F do_C_0 CAN_BUS_1 ELMB_3F do_C_1 CAN_BUS_1 ELMB_3F do_C_2 CAN_BUS_1 ELMB_3F do_C_3 CAN_BUS_1 ELMB_3F do_C_4 CAN_BUS_1 ELMB_3F do_C_5 CAN BUS ELMB 3F do C amp CAN BUS 1 ELMB 3F do C 7 BUS 1 3F emergencyErrorCode CAN_BUS_1 ELMB_3F guardTime CAN_BUS_1 ELMB_3F hwVersion CAN_BUS_1 ELMB_3F initH
47. t Properties Click on the tab Read amp Write AsyncIO enter the value 129 into the edit box labeled Value and click on the button labeled Write Click on OK or Cancel to return to the main window The ELMB module then enters the Pre operational state where the processor is able to communicate with the Bus Master only via SDO messages This state is used to do the configuration of the module e g configuration of the ADC number of channels transmission type for the analogue and digital inputs outputs etc The Read Write access to the different parameters and their respective values are described in Table 1 Once the configuration is finished the module can enter the Operational state to allow actual communication This must be done by means of another NMT command In this case the OPC item CAN BUS 1 must be set to 1 If the transmission type for the analogue channels has been set to synchronous it is necessary to send a SYNC command to the bus A SYNC command may be sent to the bus by writing 1 to the OPC item CAN BUS LSYNC A periodic SYNC can be sent to the node by setting the OPC item CAN BUS I SyncInterval to a value different to 0 In this case the SyncInterval defines the time in milliseconds between successive SYNCs After every SYNC the ELMB transmits the values corresponding to the analogue and digital inputs if their transmission type is synchronous These are the following OPC
48. ted to port 0 working at a baud rate of 125 kbits s ELMB This section lists the ELMB nodes on each of the CANopen buses It specifies a unique name for each node and requires at least two parameters with an optional third and fourth parameter The two required parameters are the name of the bus to which it is connected and the node identifier number The optional third parameter specifies whether to perform Node Guarding on the node and the fourth indicates that the ELMB has been configured to give ADC input channel values as ADC counts and not micro volts ELMB 3F CAN BUS 1 3F NG This line means that the system has a node called connected to the bus CAN BUS 1 with identifier Ox3F The last parameter means that the OPC server performs Node Guarding on this node If no Node Guarding is required the third argument is omitted If the ELMB is configured to give ADC counts a fourth parameter counts must be given Note The sections DEVICE SDOItem PDO and PDOItem are not necessary if an ELMB has been declared in the ELMB section These sections are only required for very specific use or for other CAN or CANopen nodes which are not ELMBs The examples given are for an ELMB though as already mentioned this is not necessary but is useful for the explanation DEVICE This section lists the nodes or devices on each of the CANopen buses It specifies a unique name for each node a
49. ternal SRAM Power regulators e Separate regulator for the CAN bus transceiver and optocouplers e Regulator for the microcontrollers e Voltage converter 3 3V to 5 4V Optional Delta sigma ADC CRYSTAL CS5523 with 64 channel multiplexer e 6 bipolar or unipolar input ranges from 25mV to 5V 100 pA input current on 25mV 55mV and 100mV 10nA on 1V 2 5V and 5V ranges 8 conversion rates from 2 Hz to 100Hz 64 channel multiplexer e 5 and 5V on board power regulators Mechanical dimensions e size of the printed circuit board is 50x67mm e The board is equipped with two connectors with 100 pins The use of the I O lines is subject to the embedded software Therefore for an optimum performance please contact Henk Boterenbrood Issue 4 3 ELMB 128 Documentation 17 02 05 Page 33 Top side Bottom side 50x67mm Figure 14 Implementation of the ELMB Issue 4 3 ELMB128 Documentation 17 02 05 Page 34 Annex C Adapters specification High performance Pt100 adapter Four wire connection to the sensor eliminates the voltage drop in the wires see Figure 15 Two channels of the ADC are used The sensor resistance is given by the ratio of the ADC readings for ch1 and times value of the RS resistor Therefore the performance is essentially given by the quality of the resistor RS A high stability type is recommend Typical values are for 3 9KQ for RC and 100Q 0 1 for RS The resistor RC determines the current through the sensor It sh
50. ts PCI CAN 2 Interface Network Interface Settings 21x x PCI CAN 2 Serial Number OOCSFSB1 Network Interface Object Configuration zi Mame cane Cancel Help Figure 2 Window showing the NI CAN interface card configuration The installation procedure of the PCI CAN 2 card is described in the National Instruments documentation delivered with the card Figure 2 shows the dialog used to configure the names of each of the CAN ports available here PORT 1 is given the name CANO The National Instruments PCI CAN 2 jumpers should be set such that the board is powered externally This means that the power to the card is taken from the CAN cable to which the ELMB128s are attached It should be noted that the ports are named can0Q 1 etc which is different to the Kvaser port naming which only uses a number and does not have the can prefix 2 2 Kvaser PCI CAN Card Interface The Kvaser CAN cards are available in either 4 port or 2 port format for PCI cards and PCMCIA cards of either 1 port or 2 ports are available for laptops Issue 4 3 ELMB 128 Documentation 17 02 05 Page 8 CAN Driver Configuration Configuration Driverstatus Diagnostic Global Settings Baudrate 5 89 PClcan 1 i PClcan Channel 1 251 Highspeed 53 PClcan Channel 2 251 Highspeed 53 PClcan Channel 3 251 Highspeed 53 PClcan Channel 4 251 Highspeed Ehannel info Assign to application Delet
51. vaser card where lt Path gt is the full folder name of the location of the DLL file NOTE You may register both DLLs at the same time even if you are NOT using both CAN interface card types However the drivers for the respective card must have already been installed otherwise the registration of the component will fail The DLLs may be unregistered from you computer by adding the text u before the full path and name of the DLL For example to unregister the NICAN DLL from Start gt Run enter the text regsvr32 u lt Path gt nicanbusplus dll IV Setup verification You can use the diagnostic utility Server Explorer provided by National Instruments to check that your software and hardware installation was correctly performed This tool verifies that your devices are properly connected to the CANbus it also allows you to verify that your configuration file of the CAN resource device and items connected to the node is correct The tool is an OPC client and so may be used whether you are using a NICAN or Kvaser interface card If you have installed the diagnostic tools with the OPC Server you may also use WINhost to ensure the CAN bus and ELMB s have been properly setup This tool does not use OPC and so verifies the setup from a lower level Using WINhost you may start the ELMB s from the Bus menu Bus gt Manage gt Start and then send a Issue 4 3 ELMB 128 Documentation 17 02 05 Page 14 SYNC m
52. ver is correctly installed and registered under Windows NT 2000 XP If you are installing the OPC Server that has it s own setup exe installation program this manual registration is not necessary However this description has not been removed from this document as older versions of the OPC Server are still available on request NOTE Under Windows 2000 and Windows XP OPC Servers are only available for use by the user who first registered the server To allow other users access to any OPC Server you must configure the DCOM security settings Instructions for how to do this are available from the internet This is not a problem under Windows NT The server may be registered by running the server with the option RegServer as in the example below From Start gt Run enter the text lt Path gt CanOpen exe RegServer where lt Path gt is the full folder name of the location of the OPC Server executable The server can be unregistered from your computer in the same way with the option UnRegServer To allow the OPC Server to work with both the NICAN and Kvaser interface cards there are two Dynamic Link Libraries DLLs one for each interface card type which must also be registered To register the DLLs follow the steps below From Start gt Run enter the text regsvr32 lt Path gt nicanbusplus dll if you are using the NICAN card regsvr32 lt Path gt kvaser dll if you are using the K
53. wire sensors it is not important whether the values read are in uV or in ADC counts as the ratio of the two channels is taken Resistance Temperature Detector RTD sensors RTD sensors for example NTC 10k or Pt10000 but also other sensors like strain gauges and position sensors where the resistance changes as function of the parameter can be measured with this adapter The principle of 2 wire measurements of resistive sensors is shown in Figure 17 The Issue 4 3 ELMB128 Documentation 17 02 05 Page 35 resistance of the connection wire will influence the accuracy of the measurements but this effect can be reduced by calibration The input current of the ADC has also to be taken into account The circuit should be calibrated by replacing the sensor with a known precision resistor About 10mA per input connector 16 channels is available from the V e in Figure 17 The Vier is generated with the help of a stable precision operational amplifier from the same reference voltage as is used by the ADC The adapter is shown in Figure 18 The value of the resistors in Figure 18 for 10 kohms 25 C NTC resistors is chosen to be 1 MQ This permits measurements of temperatures in the range from 5 C to gt 100 C at a constant ADC input voltage range of 100 mV NTC and 2 wire Pt1000 Vref 2 5V d Vref 2 5V Te i two channels shown Esos 3E ADC cho DS 4 gm v AGND Figure 17 Principle of the 2 wire measur

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