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1. MCM260 5AD Index Sub Name Type Default Comment R W index value 0x2000 0 Device specifications Array 16bit 10 Number of entries R signed 1 Array 16bit 6 Baud rate MCM260 R signed 1Mbps 2 Array 16bit 0 Node ID offset R W signed multiplier 3 Array 16bit 50 Boot up time R W signed 4 Array 16bit Ox7F CANopen status R W signed Pre after boot up Operational 5 Array 16bit 0 Pre load Pixsys R W signed parameters 6 10 Reserved R W 0x4000 0 parameters Array 16bit 20 Number of entries R 0x4001 Al2 parameters signed 0x4002 1 AI3 parameters Array 16bit 0 Sensor type R W 0x4003 Al4 parameters signed 2 Array 16bit 0 Lower range limit R W signed only for linear input 3 Array 16bit Ox7FFF Upper range limit R W signed only for linear input 4 Array 16bit 0 Offset calibration R W signed 5 Array 16bit 0 Gain calibration R W signed 6 Array 16bit 5 Filter R W signed 7 Array 16bit 0 Degree type R W signed 8 20 Reserved R W 0x4100 0 Input parameters Array 16bit 10 Number of entries R signed 1 Array 16bit 7 Frequency of R W signed sampling for Al1 and Al2 2 Array 16bit 7 Frequency of R W signed sampling for 3 and 3 10 Reserved R W 0x5000 0 AO1 parameters Array 16bit 10 Number of entries R 0x5001 AO2 parameters signed 34 1 Array 16bit 0 Analogue output R W signed type 2 Array 16bit 0 Lower limit
2. parameter 0x1600 Receive PDO Record 32bit O IO R W mapping unsigned parameter 0x1800 Transmit PDO Record 32bit I lO R W communication unsigned parameter 0x1A00 Transmit PDO Record 32bit IO R W mapping unsigned parameter 7 2 4 Device Type This object indicates device type profile Index Subindex Name Type Default R W 0x1000 0 Device 32bit CONST type unsigned Structure Bit 24 31 MSB Bit 16 23 Bit 8 15 Bit 0 7 LSB 0x00 00006 big biz bis 0x01 0x91 bis O no digital input is connected 1 lf atleast one digital input is connected bi 0 If no digital output is connected 1 lf atleast one digital output is connected bis 0 no Analogue input is connected 1 lf atleast one Analogue input is connected big 0 no Analogue output is connected 1 lf atleast one Analogue output is connected Example For 260 series 51 Device Name Attribute Device Type Profile MCM260 1AD 16 Digital Output 0x00020191 MCM260 2AD 16 Digital Input 2 0x00050191 Analogue Input 0 10V MCM260 3AD 8 Digital Input 0x00030191 MCM260 4AD 8 Digital Output MCM260 5AD 4 Analogue Input 0x000C0191 2 Analogue output Least significant word LSW is always 0x0191 401g CAN DS standard 7 2 2 Error Register This object contains internal errors and it s a subset of eme
3. 78 0x6005 Global Interrupt 8bit unsigned I lO R W Enable Digital 8bit 0x6006 Interrupt Mask Array 8bit unsigned I lO R W Any Change 8bit 0x6007 Interrupt Mask Array 8bit unsigned I lO R w Low to High 8bit 0x6008 Interrupt Mask Array 8bit unsigned I lO R W High to Low 8bit 0x6200 Digital Output Array 8bit unsigned O IO R W 0x6206 Digital Output Array 8bit unsigned O IO R W Error Mode 0x6207 Digital Output Array 8bit unsigned O IO R W Error Value 0x6401 Read Analogue Array 16bit IN AN R input 16bit unsigned 0x6411 Analogue output Array 16bit AN R W 16bit unsigned 0x6421 Analogue input Array 8bit unsigned IN_AN R W Trigger Selection 0x6423 Analogue input Boolean IN_AN R W Global Interrupt Selection 0x6424 Analogue input Array 16bit IN_AN R W Interrupt Upper unsigned Limit Integer 0x6425 Analogue input Array 16bit IN_AN R W Interrupt Lower unsigned Limit Integer 0x6426 Analogue input Array 16bit IN_AN R W Interrupt Delta unsigned Unsigned 0x6427 Analogue input Array 16bit IN_AN R W Negative Delta unsigned Unsigned 0x6428 Analogue input Array 16bit IN_AN R W 79 Positive Delta unsigned Unsigned 0x6443 Analogue output Array 16bit AN R W Error Mode unsigned 0x6444 Analogue output Array 16bit AN R W Error Value unsigned Ox67F Error Behaviour Array 8bit unsigned ALL R
4. Rotary switch in position 0 STOPPED LED RUN Blink 1 off 6 3 Object Dictionary The following object dictionary table is divided in 3 parts The first one is Communication Profile Area where all parameters necessary for communication like setting identifier and PDO configuration are described The second one is Manufacturer Specific Parameter Area where all special manufacturer features are described The third one is Standard Device Profile Area where digital Analogue input output transmission type is described 29 COMMUNICATION PROFILE AREA 0x1011 0 Restore default Parameter all MCM260 series Array 8bit unsigned 30 2 user setting Number of entries Index Sub Name Type Default Value Comment R W index 0x1000 0 Device type 32bit 0x00020191 MCM260 1AD CONST unsigned 0x00050191 MCM260 2AD CONST 0x00030191 MCM260 3AD CONST 0x1001 0 Error register bit Emergency R all MCM260 series unsigned messages 0x1003 0 Pre defined Error Field Array 8bit Number of R W all MCM260 series unsigned entries 1 Array 32bit Standard error R unsigned field always last error 10 Array 32bit Standard error R unsigned field always first error 0x1005 0 COB ID SYNC 32bit 0x00000080 COB ID for R message unsigned SYNC all MCM260 series message 0x1006 0 Communication Cycle 32bit 0 Time between R W Period unsigned 2 SYNC all MCM260
5. PDO Mapping Parameter it contains a list of entries of object dictionary mapped in PDO It s configurable using SDO messages if variable PDO mapping is supported by devices There are 2 types of PDO transmission 1 Synchronous its regulated by receipt of a SYNC object acyclic means not periodically or cyclic means that transmission is periodically triggered every 1 2 240 by SYNC messages 2 Asynchronous transmission is triggered by a remote transmission request from another device or it s triggered by configuration of an object specific event specified in the device profile input change of value or a timer event 42 Inhibit time for a PDO defines minimum time between two consecutive PDO transmission It s a part of PDO Communication Parameter and it s defined as an unsigned 16bit integer unit is 100 sec Event time period for a PDO defines where PDO transmission is periodically triggered when a specific time has elapsed It s defined as an unsigned 16bit integer unit is millisecond PDO transmit data without overhead and messages aren t confirmed one PDO requires one CAN identifier no more than 8 bytes can be transferred with 1 PDO Predefined Messages or Special Function Objects It s a list of pre defined and important messages Synchronization SYNC it regulates input output transmission and update through PDO synchronization It is in the highest priority COB ID and no data bytes are transfe
6. 14 RS485 15 C GND for CANbus and Modbus 16 Output automatic addressing 17 Input automatic addressing Automatic addressing pins Modbus RTU only 2 3 Wiring connection to network Following diagram shows connection of MCM260s to RS485 serial line or to a CAN network RS485 RS485 REF X Termination Line TL RS485 2200 CANbus 1200 3 LED FUNCTIONS LED RUN green it indicates device is on and all operative states LED COM amber it indicates MCM260 is communicating with other devices MCM260 1AD 1 16 indicate output 13 9 10 11 12 13 14 15 16 status of Out1 Out16 MCM260 2AD 1 16 indicate input status of In1 In16 MCM260 3AD MCM260 4AD 1 8 indicate input status of In1 In8 Bi us 16 indicate output status of Out1 Out8 4 MCM260 SETUP To enter SET UP mode device has to be powered on when rotary switch is in position 0 MCM260 will be allowed to work as a node of a network Modbus or CANopen if it has been powered on in any rotary switch position not equal to 0 O pica sts 3905 For both selectable protocols Modbus or CANopen rotary switch positions between 1 and 8 are address offset multiplier while positions between 9 and F are baud rate No
7. 2 thermocouple S 40 1760 C 3 thermocouple R 40 1760 C 4 thermocouple J 200 1200 C 5 PT100 200 600 C 6 PT100 200 140 C 7 NI100 60 180 C 8 NTC 10K 3435K 40 125 C 9 PTC 1K 50 1509 10 PTC500 100 600 C 11 PTC1000 100 600 C 12 Input 0 10V 13 Input 0 20mA 14 Input 4 20mA 74 15 Input 0 40mV 16 Potentiometer max 6KOhm 17 Potentiometer max 150KOhm Specifications for lower limit of linear signals this object defines the minimum value of input if it is selected for linear signals Index Subindex Name Type Range 0x4000 2 Lower Array 32768 32767 unit 0x4001 limit for 16bit 0x4002 linear signed 0x4003 signals Specifications for upper limit of linear signals this object defines the maximum value of input if it is selected for linear signals Index Subindex Name Type Range 0x4000 3 Upper Array 32768 32767 unit 0x4001 limit for 16bit 0x4002 linear signed 0x4003 signals Offset calibration of input this number is added or deducted to from value of input reading process value Index Subindex Name Type Range 0x4000 4 Offset Array 1000 1000 unit 0x4001 calibration 16bit 0x4002 signed 0x4003 Gain calibration of input this number is multiplied for value of input reading proce
8. Communication Profile Area Index 0x1000 0x1FFF this profile contains all parameters relevant for CANopen communication and it is common for all CANopen devices Manufacturer Specific Profile Area Index 0x2000 0x5FFF in this profile each manufacturer can implement its own company specific objects Standardized Device Profile Area Index 0x6000 0x9FFF this profile contains all objects which are assisted by a certain device profile The bus coupler assists the device profile DS 401 Device Profile for Generic I O Modules In the object dictionary a logical addressing scheme is used for the access to communication and device parameters data and functions Each entry into the dictionary is identified by a 16 bit index which indicates the row address of the table A maximum of 65536 entries are 40 permitted If an object is composed of several components the components are identified by means of an 8 bit sub index The sub index indicates the individual column address of the table allowing a maximum of 256 entries If index only consists of simple variables 8bit unsigned 16bit unsigned ecc sub index is always zero For more objects as array records ecc sub index 0 indicates the maximum number of the following sub indexes Data is coded in the following sub indexes object name describing the object function adata type attribute access attribute read only write only or read write CANop
9. Subindex Name Type Default R W 0x6207 0 Number of Array 8bit R entries unsigned 1 1 output block Array 8bit 0 R W unsigned 2 2 output block Array 8bit 0 R W unsigned bi 0 Output channel change to 0 in case of an error 1 Output channel change to 1 in case of an error 83 Example if 0x6206 Subindex 0 001110012 0x62607 Subindex 0 1 Subindex 1 1 Subindex 1 57 0x41 OxB 11 0000101125 means that channels 1 and 4 are set to 1 channels 5 and 6 are set to 0 while all other output doesn t change in an event of an error 7 5 9 Analogue Input 16bit This object contains process data of Analogue input channels MCM260 2AD MCM260 5AD Index Subindex Name Type Default R W 0x6401 0 Number of Array 8bit 2 2AD R Analogue input unsigned 4 5AD channels 1 1 channel Array 16bit R unsigned 2 278 channel Array 16bit R unsigned 3 3 channel Array 16bit R unsigned 4 4 channel Array 16bit R unsigned 7 5 10 Analogue Output 16bit This object contains the value of Analogue 16 bit output channels MCM260 5AD Index Subindex Name Type Default R W 0x6401 0 Number of Array 8bit 2 R Analogue output unsigned channels 1 1 channel Array 16bit 0 R W unsigned 2 2 channel Array 16bit 0 R W unsigned 84 7 5 11 Analogue Input Interrupt Trigger Selection This object defines c
10. Fahrenheit Modbus Description Meaning Address 3201 Frequency of sampling for and Al2 3202 Frequency of sampling for and Al4 0 242 Hz R W 1 123 Hz 2 62 Hz 50 Hz 4 39 Hz 5 33 2 Hz 6 19 6 Hz 7 16 7 Hz Default 8 12 5 Hz 9 10 Hz 10 2 8 33 Hz 11 2 6 25 Hz 22 12 4 17 Hz 4001 Analogue output configuration AO1 4002 Analogue output configuration AO2 Type of anaolg output 0 output 0 10V Default 1 output 4 20mA R W 4003 Lower limit range AO1 4004 Lower limit range AO2 Lower limit analog output Range 32768 32767 Default 0 R W 4005 Upper limit range AO1 4006 Upper limit range AO2 Upper limit analog output Range 32768 32767 Default 32767 R W 4101 Error Mode AO1 Action on analog output 1 in case of error 0 output does not change 1 output assumes the value selected on word 4102 Default R W Modbus Address Description Meaning 4102 Error Value AO1 Value assumed by analog output AO1 in case of error if 1 is selected on word 4101 Range 32768 32767 Default 0 R W 4103 Error Mode AO2 Action on analog output AO2 in case of error 0 output does not change 1 output assumes the value selected on word 4104 Default R W 4104 Error Value AO2 Value assumed by a
11. RS485 optoisolated available in pins 13 485 14 485 and 15 GND Baud rate Selectable by rotary switch 57600 bits s 9600 bits s 38400 bits s 4800 bits s 28800 bits s 2400 bits s 19200 bits s Format 8 N 1 8bit no parity 1 stop Supported functions WORD READING max 20 word 0x03 0x04 SINGLE WORD WRITING 0x06 MULTIPLE WORD WRITING 20 word 0x10 5 4 Modbus RTU communication area MCM260 1AD MCM260 2AD MCM260 3AD MCM260 4AD Modbus Description Read Reset address Write value 0 Device type R 160 1 Software version R EEPR 2 4 Reserved R 5 Address slave R Switch 6 Reserved R 998 Analogue input 1 0 10 999 Analogue input 2 0 10 1000 Digital inputs status 1001 Counts encoder R 1002 Counts encoder L R 1003 Counts proximity 1 H R W 1004 Counts proximity 1 L R W 1005 Counts proximity 2 H R W 1006 Counts proximity 2 L R W 1007 Speed encoder 100ms 1008 Speed encoder 1s 1009 Time input On 0 5ms proximity 1 1010 Speed proximity 1 100ms 1012 Time input On 0 5ms proximity 2 1013 Speed proximity 2 100ms 1014 Speed proximity 2 1s R R R R 1011 Speed proximity 1 1s R R R R R ONIS 1015 l ID input status and terminator 110
12. ii ea 39 GANOPENIN DETAIL 39 Fo Object Dictionary REE 40 Le Communication Profile Af a ea 49 cel UBERIUS sonet aan 51 e Pedoli leleine 52 723 Predefined Error Field ee ete 53 T24 COBID SYNC Rt tini iat 53 725 Communication Cycle eese ete e e a rns 53 7 2 6 Manufacturer Device 54 7 2 7 Manufacturer Hardware 54 7 2 8 Manufacturer Software Version 54 Too CEOs 54 7 2 10 Guard 54 he Lite Time 54 7 2 12 Store ParamMeters iii 55 PEAS Restore Default Parameters 55 7 2 14 COB ID Emergency Object nnns 55 7 215 Inhibit Time Emergency Object 56 7 2 16 Producer Heartbeat TIME eee 56 Identity Object 7 218 Error Behaviour 7 2 19 Receive PDO Communication Parameter 57 2 7 2 20 Receive PDO Mapping 7 2 21 Transmit PDO Communication Paramete
13. no SYNC monitoring is realized 53 Index Subindex Name Type Default R W 0x1006 0 Communicatio 32bit 0 R W n Cycle unsigned Period 7 2 6 Manufacturer Device Name Index Subindex Name Type Default R W 0x1008 0 Manufacturer String M260 CONST Device Name 7 2 7 Manufacturer Hardware Version Index Subindex Name Type Default R W 0x1009 0 Manufacturer String Actual CONST Hardware hardware Version version 7 2 8 Manufacturer Software Version Index Subindex Name Type Default R W 0x100A 0 Manufacturer String Actual CONST Software software Version version 7 2 9 Node ID Index Subindex Name Type Default R W 0x100B 0 Node ID 8bit unsigned 0 R 7 2 10 Guard Time This object defines Guarding Time time between 2 interrogation in msec Index Subindex Name Type Default R W 0x100C 0 Guard Time 16bit 0 R W unsigned 7 2 11 Life Time Factor This object is a part of Node Guarding Protocol If it s equal to 0 no 54 monitoring is realized Index Subindex Name Type Default R W 0x100D 0 Life Time 8bit 0 R W Factor unsigned 7 2 12 Store Parameters This object stores user s setting parameters permanently if signature save ASCII 0x65766173 is written into subindex 1 Index Subindex Name Type D
14. unsigned ID 2 Record 32bit 260 Device R unsigned description 3 Record 32bit Revision R unsigned number 4 Record 32bit Serial number R unsigned 31 0x1029 0 Error Behaviour Array 8bit 1 Number of R all MCM260 series unsigned entries 1 Array 8bit 0 Communicatio R W unsigned n error 0x1400 0 Receive PDO Record 8bit 2 Number of R communication unsigned entries 1 parameter Record 32bit 0x1400 0x200 COB ID used R W except MCM260 2AD unsigned module ID by PDO 2 Record 32bit 255 Transmission R W unsigned type 0x1600 0 Receive PDO mapping Record 8bit Number of R W parameter unsigned entries 1 except MCM260 2AD Record 32bit PDO mapping R W unsigned object 2 Record 32bit PDO mapping R W unsigned object 0x1800 0 Transmit PDO Record 8bit 5 Number of R communication unsigned entries 1 parameter Record 32bit 0x1800 0x180 COB ID used R W except MCM260 1AD unsigned module ID by PDO 2 3 5 Record 8bit 255 Transmission R W unsigned type Record 16bit 0 Inhibit time R W unsigned Record 16bit 0 Event timer R W unsigned 0x2101 0x2102 0x2103 0 1 0 Preset encoder MCM260 2AD MCM260 3AD Encoder command preset MCM260 2AD MCM260 3AD Encoder type MCM260 2AD MCM260 3AD 0x1A00 0 Transmit PDO Record 8bit Number o
15. 00 Pre defined Error Field Ox1003 Subindex0 set to 0 or all error are cleared 0x5000 0x81 00 01 00 00 00 Changed hardware configuration after power on or reset node communication 0x5000 0x81 00 02 00 00 00 Flash errors An error has occurred when configuration has been saved in flash memory 0x5000 0x81 00 03 AA BB CC Programmed configuration doesn t coincide with actual one AA physical module where error has occurred BB logic module where error has occurred CC Cause of error 0x5000 0x81 00 09 00 00 00 Queue overflow for emergency messages 92 0x8100 0x81 00 04 00 00 00 Time between two SYNC is longer than Communication Cycle Period 0x8110 0x11 00 01 00 00 00 Internal receive buffer overflow Status changes as defined in object 0x67FE 0x8110 0x11 00 02 00 00 00 Internal transmit buffer overflow Status changes as define din object 0x67FE 0x8120 0x11 00 03 00 00 00 CAN Controller in Error Passive Mode 0x8130 0x11 00 04 00 00 00 Time between two Node Guarding telegrams is greater than Guard Time x Life Time Factor 0x8130 0x11 00 05 DD 00 00 Time between two Heartbeat telegrams is greater than configured one DD node has tripped time overflow 0x8210 0x81 00 05 EE FF GG PDO was sent with a number of bytes smaller than configured one in communication profile P
16. 2 R entries 8bit signed 1 Proximity 1 Record 0 R W counter 32bit unsigned 2 Proximity 2 Record 0 R W counter 32bit unsigned 7 3 8 Preset proximity This object contains preset value of proximities eventually connected to MCM260 This is the value which has to be loaded to proximity counter object 0x2200 Sub index 1 and 2 in the event of a preset command see paragraph 7 3 7 Index Subindex Name Type Default R W 0x2201 0 Number of Record 8bit 2 R entries signed 1 Preset Record 32bit 0 R W Proximity 1 unsigned 2 Preset Record 32bit 0 R W Proximity 2 unsigned 7 3 9 Proximity command preset This object contains command to load preset value 0x2201 Subindex1 and 2 into proximity counter objects 0x2200 Sub index 1 and 2 Preset value is loaded on proximity counter objects when value 1 is written on 0x2202 Sub index 1 or 2 at the same time This object is always reset to O after preset value has been loaded into proximity 68 counter object Index Subindex Name Type Default R W 0x2202 0 Number of Array 8bit 2 R entries signed 1 Proximity 1 Array 8bit 0 R W command preset unsigned 2 Proximity 2 Array 8bit 0 R W command preset unsigned 7 3 10 Timer ON proximity This object shows last active time of proximities time ON unit is 500 sec It s a read only object Index Subindex Name Type Default
17. 3 Index 46 60 4 Offset 4 Index 61 75 5 Offset 5 Index 76 90 6 Offset 6 Index 91 105 7 Offset 7 Index 106 120 Boot up time specifications this object defines how long is boot up time unit is 10msec Index Subindex Name Type Values Time 0x2000 3 Boot up Array 10 100 100msec 1sec Time 16bit signed CANopen state after boot up specifications CANopen standard defines that once boot up is finished device changes automatically into Pre Operational status This is default configuration Ox7F but it s possible to change into other status Index Subindex Name Type Values Status 0x2000 4 CANopen Array 0 Boot up state 16bit after signed 4 Stopped boot up 64 5 Operational Ox7F Pre Operational Filter digital input specifications this object defines average number of circular filter for digital input Filter is timed its unit is 500 sec Index Subindex Name Type Values Comment 0x2000 5 Filter digital Array 1 20 1 20 averages inputs 16bit signed Pre load Pixsys parameters specifications this object defines if device has to pre load default CANopen parameters 0x2000 Subindex6 0 or default Pixsys parameters 0x2000 Subindex6 100 Index Subindex Name Type Values Coment 0x2000 6 Pre load Array 0 Pre load Pixsys 16bit CAN
18. 6 and 7 Thermoresistances Terminals 5 7 Linear signals Terminals 5 6 Linear sensor power supply is available on terminal 4 Potentiometers Terminals 5 7 Analogue input Al2 Thermocouples S J Terminals 8 9 Pt100 Ni100 Terminals 8 9 10 for the two wire connection short circuit terminals 9 and 10 Thermoresistances Terminals 8 10 11 Linear signals Terminals 8 9 Linear sensor power supply is available on terminal 4 Potentiometers Terminals 8 10 ilo input Thermocouples K S R J Terminals 18 19 Pt100 Ni100 Terminals 18 19 20 for the two wire connection short circuit terminals 19 and 20 Thermoresistances Terminals 18 20 Linear signals Terminals 18 19 Linear sensor power supply is available on terminal 4 Potentiometers Terminals 18 20 idis s input AI3 Thermocouples K S R J Terminals 21 22 Pt100 Ni100 Terminals 21 22 23 for the two wire connection short circuit terminals 22 and 23 Thermoresistances Terminals 21 23 Linear signals Terminals 21 22 Linear sensor power supply is available on terminal 4 Potentiometers Terminals 21 23 Analogue output AO1 4 20mA remove jumper 53 0 10V insert jumper S3 Analogue output AO2 4 20mA remove jumper 54 0 10 insert jumper 54 12 Field bus 13 CANH RS485
19. R W 0x2203 0 Number of Record 8bit 2 R entries signed 1 Timer ON Record 16bit 0 R Proximity 1 unsigned 2 Timer ON Record 16bit 0 R Proximity 2 unsigned 7 3 11 Proximity speed These two objects 0x2204 and 0x2205 give information about proximity speed The first one 0x2104 contains speed proximity in 100 sec units the second one 0x2105 in second units Index Subindex Name Type Default R W 0x2104 0 Number of Record 1 R entries 8bit signed 69 1 Proximity 1 Record 0 R speed 100 sec 16bit unsigned 2 Proximity 2 Record 0 R speed 100 sec 16bit unsigned Index Subindex Name Type Default R W 0x2105 0 Number of Record 1 R entries 8bit signed 1 Proximity 1 Record 0 R speed 1sec 16bit unsigned 2 Proximity 2 Record 0 R speed 1sec 16bit unsigned 7 4 Manufacturer Specific Parameter Area MCM260 5AD The following table shows all Pixsys specific parameters objects supported Index Nome Tipo R W 0x2000 Device specification Array 16bit signed R W 0x4000 Al1 parameters Array 16bit signed R W 0x4001 Al2 parameters Array 16bit signed R W 0x4002 AI3 parameters Array 16bit signed R W 0x4003 Al4 parameters Array 16bit signed R W 0x4100 Analogue inputs parameters Array 16bit signed R W 0x5000 AO1 parameters Array 16bit signed R W 0x5001 AO2 parameters Array 16bit signed
20. W E 7 5 1 Digital Input This object contains data of digital input modules Subindex 1 the first 8 digital input channels subindex 2 the second block Index Subindex Name Type Default R W 0x6000 0 Number of Array 8bit R entries unsigned 1 1 input block Array 8bit R unsigned 2 2 input block Array 8bit R unsigned 7 5 2 Global Interrupt Enable Digital 8bit This object allows digital input transmission by PDO If value is 1 transmission is generally released and it s regulated by objects 0x6006 0x6007 0x6008 and type of PDO transmission If value is O digital input isn t transmitted Index Subindex Name Type Default R W 0x6005 0 Global Interrupt 8bit unsigned 1 R W Enable Digital bit 80 7 5 3 Interrupt Mask Any Change 8bit This object is used to define digital input channel which will send its data in a event of a change Global Interrupt has to be enabled 0x6005 1 Index Subindex Name Type Default R W 0x6006 0 Number of entries Array 8bit 2 R unsigned 1 1 input block Array 8bit 255 R W unsigned 2 2 input block Array 8bit 255 R W unsigned bi 0 Transmission channel blocked in a event of a change 1 Transmission channel released in a event of a change Example if Subindex 0 1 Subindex 1 57 0x41 00111001 means that channel 1 4 5 and 6 wil
21. dip switch as shown in figure below 26 DL1 DL2 RAG o 9 81 ees BE RI 20 18 0117 DL16 0115 0113 0112 0111 DLIA x 00001 Ld ooo an Boo mmm 0000 0000 000 000 R36 000 0088 7 1 0000 Be aaa BE BEB Bees Hc nn E 5 o S2R35 M N ID a 5 jo 0 k 0000 0000 0000 Noden Subsequently procedure shown in the following page has to be done to configure address offset multiplier and baud rate Once time procedure is ended device is not still ready to work it will already be in SET UP mode until it won t be powered off This isn t a standard CANopen DS401 status this is specific device configuration 6 2 Operation as CANopen slave node If dip switch is configured as shown in figure in page 16 when MCM will be powered on with rotary switch in position not equal to O 1 F it will be ready to work as a CANopen slave node Its baud rate was selected during SET UP its address is calculated by actual rotary switch position added to offset selected during SET UP After b
22. series messages 0x1008 0 Manufacturer Device String M260 CONST Name all MCM260 series 0x1009 0 Manufacturer String Actual CONST Hardware Version hardware all MCM260 series version 0x100A 0 Manufacturer String Actual CONST Software Version software all MCM260 series version 0x100B 0 Node ID 8bit 0 Node address R all MCM260 series unsigned 0x100C 0 Guard Time 16bit 0 Time between R W all MCM260 series unsigned 2 Guard time interrogation 0x100D 0 Life Time Factor 8bit 0 If its value is 0 R W all MCM260 series unsigned no Node Guarding is monitored 0x1010 0 Store Parameters Array 8bit 1 Number of R all MCM260 series unsigned entries 1 Array 32bit 1 Write string R W unsigned save to store arameters R Array 32bit 1 Write string R W unsigned load to restore default setting parameters Array 32bit 1 Write string unsigned load to restore default Pixsys arameters 0x1014 0 COB ID Emergency 32bit 0x80 R Object unsigned module ID all MCM260 series 0x1015 0 Inhibit time 16bit 0 Time have to R W Emergency Object unsigned be elapsed all MCM260 series before sending another Emergency 0x1017 0 Producer Heartbeat 16bit 0 Time between R W Time unsigned two heartbeat all MCM260 series messages 0x1018 0 Identity Object Record 8bit 4 Number of R all MCM260 series unsigned entries 1 Record 32bit PIX Manufacturer R
23. switch in O position from Pre Operational or Operational status 7 1 5 Communication Profile Initialisation In the most common cases a default configuration is assigned to Object dictionary if there aren t other configuration saved by user All object are initialised with default 05301 values CANopen Application Layer and Communication Profile Rx Tx PDO have default values Rx PDO it contains the first 2x8 digital outputs If there aren t digital outputs subindex O is O default value and PDO isn t used with its default Index Subindex Description Default value 0x1600 0 Number of objects 0 no digital output block 1 2 1 2 digital output blocks 1 mapped digital output block 0x6200 01 08 2 2 mapped digital output block 0x6200 02 08 value 48 Tx PDO it contains the first 2x8 digital inputs and 2 Analogue inputs If there aren t digital inputs subindex 0 is 0 default value and PDO isn t used with its default value Index Subindex Description Default value 0x1A00 0 Number of objects 0 no digital input block 1 8 1 8 digital input blocks 1 1 mapped digital input block 0x6000 01 08 2 2 mapped digital input block 0x6000 02 08 3 1 mapped Analogue input 0x6401 01 10 4 2 mapped Analogue input 0x6401 02 10 5 8 7 2 Communication Profile Area The following table shows all the supported communication prof
24. 0 Digital outputs status R W 1101 Pre load command encoder R W 1102 Pre load command proximity 1 2 output Q ID R W 1103 Pre loaded value encoder H R W EEPR 1104 Pre loaded value encoder L R W EEPR 1105 Pre loaded value proximity 1 H R W EEPR 1106 Pre loaded value proximity 1 L R W EEPR 1107 Pre loaded value proximity 2 H R W EEPR 1108 Pre loaded value proximity 2 L R W EEPR 1201 1320 Array output slave status on bus R W 0 2000 Starting digital inputs status R W EEPR 2001 Encoder mono bi directional selection R W EEPR 2002 Off line time R W EEPR 2003 Filter digital inputs R W EEPR It s also digital outputs value if a communication error with Master node occurs After off line time word Modbus 2002 outputs will change to value written on word Modbus 2000 Default configuration provides no output changes in a event of communication error 18 2004 Delay Modbus answer R W EEPR 2005 Baud rate Modbus R W EEPR 2006 Address slave multiplier R W EEPR 2007 Boot up time R W EEPR 2008 Reserved R W EEPR 2009 Reserved R W EEPR 2010 Reserved R W EEPR 2011 Reserved R W EEPR 2102 _ Access to automatic addressing function R 2103 Address Slave assignment R MCM260 5AD Modbus Description Read Reset address Write value 0 Device type R 165 1 Software version R Flash 5 Address slave R Switch 6 Reserved R 900 Cold junction tem
25. 1 This pin allows to switch on logic part of device only If Vdc is connected to pin and not to pint outputs won t be active Common pin for digital inputs 12 24Vdc 7 MCM260 2AD MCM260 3AD Piga inputs PNP 24Vdc 5 Input 1 2 4 5 7 8 6 Input2 7 Input 3 8 Input 4 9 Input 5 10 Input 6 9 11 Input 7 2 12 Input 8 MCM260 1AD Static outputs 24Vdc 5 Output 1 6 Output 2 7 Output 8 Output 4 9 Output 5 10 Output 6 11 Output 7 12 Output 8 MCM260 2AD inputs PNP 24Vdc 0x8 RUN 9 10 11 12 13 14 15 16 00000000 18 Input 9 19 Input 10 20 Input 11 241 Input 12 22 Input 13 23 Input 14 24 Input 15 2 25 Input 16 MCM260 1AD Qxg RUN COM 9 10 11 12 13 14 15 16 60000060080 Static outputs 24Vdc 18 Output 9 19 Output 10 20 Output 11 21 Output 12 22 Output 13 23 Output 14 24 Output 15 25 Output 16 wy yyy yn 02 MCM260 3AD Static outputs 24Vdc 18 Output 1 19 Output 2 20 Output 3 21 Output 4 22 Output 5 23 Output 6 24 Output 7 25 Output 8 wy Analogue input 0 10V 10bit MCM260 2AD only 6 Input 1 7 Input 2 2 Common inputs N 3 EI il 2 counter inputs for proximity max 2KHz 9 Proximity 1 10 Proximity 2 Encoder i
26. DO data is discarded EE configured value FF actual value number of bytes sent GG number of PDO 0x8220 0x81 00 06 HH Il JJ PDO was sent with a number of bytes larger than configured one in communication profile Only the first n data is used n total length configured in object dictionary HH configured value Il actual value number of bytes sent JJ number of PDO OxFF00 0x81 00 06 KK 00 00 Module bus error Status is changed to Stopped PP Module position 93 00 0x81 LL 07 MM NN Diagnosis message PP LL diagnosis byte MM Module position NN Error status and channel number PP Number of actual module error 8 NOTE UPDATES PIXSYS Via Tagliamento 18 30030 Mellaredo di Pianiga VE WWW pixsys net e mail sales pixsys net support pixsys net Software Rev 1 1 95 2300 10 078 RevC 031108 1300 1 070 C
27. Input Global Interrupt 5 13 Analogue Input Interrupt Upper Limit Integer 7 5 14 Analogue Input Interrupt Lower Limit Integer 7 5 15 Analogue Input Interrupt Delta Unsigned A gt o Analogue Input Interrupt Negative Delta Unsigned Analogue Input Interrupt Positive Delta Unsigned e m M 7 5 18 Analogue Output Error Mode 7 5 19 Analogue Output Error Value Integer 7 5 20 Emor 7 6 POO Transmission ee eee 7 7 SYNC MONINA 7 8 Mode e eret 7 9 Heartbeat 7 10 eed de etii 8 NOTE UPDATES snas aaa ne eee 1 INTRODUCTION Thank you for choosing a Pixsys instrument MCM260 are digital expansion modules for PLC communication with other devices is provided by Modbus or CANopen protocol MCM260 series includes 5 models as described in the table below 11 Model identification MCM260 25 Power supply 1AD 12 24Vdc 15 Inputs Outputs 16 Static outputs 24Vdc 700mA Power supply 2AD 12 24Vac dc 15 50 60Hz Inputs Outputs 16 Digital inputs PNP 24Vdc 2 Analog inputs O 10V Po
28. Module ID 2 Transmission Record 8bit 255 R W type unsigned COB ID Structure Bit 31 Bit 30 Bit 29 11 Bit 0 10 O valid 1 invalid O RTR allowed 0 Reserved COB ID 1 RTR not allowed Digital and Analogue inputs are transmitted as Change Of Value COV Type of transmission depending upon set transmission type and it s explained in the following table RTR Remote Transmission Request received Trans PDO transmission mission 57 type cyclic acyclic synchro asynchro RTR only TxPDO RxPDO nous nous inputs outputs 0 X X If COV is Set outputs transmitted after each with each SYNC as SYNC requested by last PDO received 1 240 X X Transmissio Set outputs n with each i after each SYNC SYNC as 1 1 240 requested by last received 241 251 Reserved 252 X X Data is read Not again with a supported SYNC but not sent request via RTR 253 X X Request via COV RTR 254 X COV COV 255 X COV COV 7 2 20 Receive PDO Mapping Parameter This object defines data transmitted by PDO Subindex 0 contains number of objects valid for PDO Index Subindex Name Type Default R W 0x1600 0 Number of Record 8bit R W entries unsigned 1 2 PDO mapping Record 32bit R W objecti 1 2 unsigned Object structure Bit 16 31 Bit 8 15 Bit 0 7 Index Subindex Object siz
29. NC as i 1 240 requested by last PDO received 241 251 Reserved 252 X X Data is read Not again with a supported SYNC but not sent request via RTR 253 X X Request via COV RTR 254 X 255 X Inhibit Time is minimum time between two consecutive PDOs with same COB ID unit time 100 sec Event Timer defines time after the elapsed of a sent PDO even if no change of data has occured millisecond It can be used only for transmission types 254 and 255 7 2 22 Transmit PDO Mapping This object defines data transmitted by PDO Subindex 0 contains number of objects valid for PDO 60 Index Subindex Name Type Default R W 0x1A00 0 Number of Record 8bit R W entries unsigned 1 8 PDO mapping Record 32bit R W object i 1 8 unsigned Object structure Bit 16 31 Bit 8 15 Bit 0 7 Index Subindex Object size Index object index to be transmitted Subindex object subindex to be transmitted Object size object size in bits no more than 8 bytes can be transmitted in a PDO so sum of valid object lengths have not to exceed 64 7 3 Manufacturer Specific Parameter Area MCM260 1 2 3 4AD The following table shows all supported ALL All devices Pixsys specific parameters objects I lO Input devices MCM260 2AD Input Output devices MCM260 3AD Index Name Type Device R W Typ
30. PIXSYS elettronica bh gt PIXSYS sos NN EXPANSION MODULE MODBUS CANOPEN MCM260 Manuale User manual TABLE OF CONTENTS T icc vsscsdsnoseesdccecescasccuncssscesezddcvecncidscsasdaswscersdscusnsddeuetnetdseasneceseesads 5 41 Nedelidentificati t LG AAA ara aaa 5 2 CHARAGTERISTICS iui 6 2 1 Mechanical dimensions and installation 7 2 2 Electrical 7 2a Wiring connection to network 13 S LED FUNCTIONS 13 4 MGM260 SETUP certe ruine eadera zu e tuna paren zu an uu rana eoru 14 EN MODBUS PR En 15 5 1 SET UP as Modbus slave node 15 5 2 Operation as Modbus RTU slave node 17 53 Modbus RTU protocol characteristics 17 5 4 Modbus communication eres 17 24 6 1 SET UP as CANopen slave eren 25 6 2 Operation as CANopen slave 27 6 3 Object Feet quiu qa eai qued 29 6 4 EDO
31. R W 741 Device Specification This object defines most important device configuration parameters baud rate node ID offset multiplier read only boot up time device status 70 after boot up filters of digital inputs and Pixsys pre load parameters Index Subindex Name Type Default R W 0x2000 0 Number of Array 16bit 10 R entries signed 1 Baud rate Array 16bit 6 1Mbps R MCM260 signed 2 Node ID offset Array 16bit 0 R W multiplier signed 3 Boot up time Array 16bit 50 R W signed 1 10msec 4 CANopen state Array 16bit Ox7F Pre R W after boot up signed Operational 5 Pre load Pixsys Array 16bit 0 R W parameters signed 6 10 Reserved R W Baud rate specifications this is a read only object It can be only modified by rotary switch in start up mode when device is powered on with rotary switch in position 0 Index Subindex Name Type Values Baud rate 0x2000 1 Baud rate Array 0 50 Kbit sec MCM260 16bit 1 62 5 Kbit sec signed 2 100 Kbit sec 3 125 Kbit sec 4 250 Kbit sec 5 500 Kbit sec 6 1 Mbit sec Node ID offset multiplier specifications this object defines node ID offset multiplier of device If Index 0x2000 Subindex1 3 node ID offset of device will be 3x15 45 This value has to be added to number specified by rotary switch position when device has be powered on in a position not equal to 0 If
32. alogue input transmission If it s configured in object 0x6423 transmission will take place if input value is threshold value when a trigger condition is set Index Subindex Name Type Default R W 0x6424 0 Number of Array 8bit 2 2AD Analogue input unsigned 4 5AD channels 1 Upper limit 1 _ Array 16bit 0 R W channel unsigned 2 Upper limit 2 Array 16bit 0 R W channel unsigned 3 Upper limit 3 Array 16bit 0 R W channel unsigned 4 Upper limit 4 _ Array 16bit 0 R W channel unsigned 7 5 14 Analogue Input Interrupt Lower Limit Integer This object allows a threshold value monitoring for Analogue input transmission If it s configured in object 0x6423 transmission will take place if input value is threshold value when a trigger condition is set Index Subindex Name Type Default R W 0x6425 0 Number of Array 8bit 2 2AD Analogue input unsigned 4 5AD channels 86 1 Lower limit 1 Array 16bit 0 R W channel unsigned 2 Lower limit 2 Array 16bit 0 R W channel unsigned 3 Lower limit 35 Array 16bit 0 R W channel unsigned 4 Lower limit 4 Array 16bit 0 R W channel unsigned 7 5 15 Analogue Input Interrupt Delta Unsigned If this object is allowed it conditions actual Analogue input transmission with previously sent value New value is transmitted only if it s larger than previous
33. ange LEDs return to their normal operating status only after new SYNC message receipt in Operational status and another emergency message is sent to show SYNC monitoring works correctly again Error Code 0x0000 Error Register 0x81 Additional Code 00 04 00 00 00 90 7 8 Node Guarding Node Guarding starts when the first remote transmit request message RTR is received on the COB ID for Node Guarding 0x700 Module ID If device doesn t receive corresponding message Node Guarding isn t monitored Default configuration provides Node Guarding is deactivated Guard Time 0x100C 0 Life Time Factor 0x100D 0 NMT master polls other devices at regular intervals triggered by Guard Time 0x100C and reply message contains device internal status In a event of an RTR request with Guard Time not set Node Guarding isn t monitored anyway device replies with its internal status Status codes CODE STATUS 127 Pre Operational 5 Operational 4 Stopped If Node Guarding message isn t received within Life Time a blink code is provided An emergency message Error Code 0x8130 Error Register 0x11 Additional Code 00 04 00 00 00 is sent and device changes to pre defined status according to object Ox67FE As soon as Node Guarding is restored another emergency message is sent Error Code 0x0000 Error Register 0x11 Additional Code 00 04 00 00 00 and device status doesn t change N B It S only possible to use Node G
34. ce is still not ready to work it will already be in SET UP mode until it won t be powered off SET UP procedure for Modbus RTU Power on in position 0 Wait boot up time Max 2s Waiting rotary switch changing LED RUN Blink 1 off Rotary switch changing Rotary switch in spinning LED RUN Blink fast Rotary switch steady after 1 5 seconds Rotary switch LED RUN Blink 3 ON in position 1 8 Address offset multiplier saved LED RUN LED ON Baud rate saved 16 5 2 Operation as Modbus RTU slave node If dip switch is configured as shown in figure on page 10 when will be powered on with rotary switch in position not equal to O 1 F it will be ready to work as a Modbus RTU node Its baud rate was selected during SET UP its address is calculated by actual rotary switch position added to offset selected during SET UP NORMAL OPERATION MODE Rotary switch position 0 0x00 If powered on with rotary switch in position not equal to 0 its changing involves device in STOPPED status node not active 1 15 Defines node address offset selected during SET UP 0x00 0x0F has to be added to this value Example if in SET UP it was set to position 5 and in normal operation mode actual switch position is 1 node address will be 60 offset 15x 5 1 5 3 Modbus RTU protocol characteristics Electrical cable provided for Modbus RTU configuration is serial line
35. d R signed 100 sec 0x2105 0 Encoder speed Record 8bit 1 Number of entries R MCM260 2AD signed 1 MCM260 3AD Record 16bit 0 Encoder speed 1sec signed 0x2200 0 Proximity counter Record 8bit 2 Number of entries R MCM260 2AD signed 1 MCM260 3AD Record 32bit 0 Proximity counter 1 R W signed 2 Record 32bit 0 Proximity counter 2 R W signed 0x2201 0 Preset proximity Record 8bit 2 Number of entries R MCM260 2AD signed 1 MCM260 3AD Record 32bit 0 Preset proximity 1 R W signed 2 Record 32bit 0 Preset proximity 2 R W signed 0x2202 0 Proximity command Array 8bit 2 Number of entries R preset signed 1 MCM260 2AD Array 8bit 0 Proximity 1 command R W MCM260 3AD unsigned preset 2 Array 8bit 0 Proximity 2 command R W unsigned preset 0x2203 0 Timer ON proximity Record 8bit 2 Number of entries R MCM260 2AD signed 1 MCM260 3AD Record 16bit 0 Proximity 1 Timer ON R unsigned 2 Record 16bit 0 Proximity 2 Timer ON R unsigned 0x2204 0 Proximity speed Record 8bit 1 Number of entries R MCM260 2AD signed 1 MCM260 3AD Record 16bit 0 Proximity 1 speed R unsigned 100 sec 2 Record 16bit 0 Proximity 2 speed R unsigned 100 sec 0x2205 0 Proximity speed Record 8bit 1 Number of entries R MCM260 2AD signed 1 MCM260 3AD Record 16bit 0 Proximity 1 speed R unsigned 1sec 2 Record 16bit 0 Proximity 2 speed R unsigned 1sec R 33 MANUFACTURER SPECIFIC PARAMETER AREA
36. de address will be Node ID N 1 x 15 M where switch position saved during SET UP 1 8 M actual switch position if device has been powered on in a position not equal to 0 0 0x00 Waitingarotary switch change 5 MODBUS RTU CANopen Mods Each LED RUN blinking type indicates a particular Modbus RTU status Blinking name LED RUN Blinking type Blink_fast Fast blinking 50msec Blink medium Blinking 200msec Blink slow Blinking 600msec LED on LED always on Blink 3 on LED on for 1sec 3 blink 150msec Blink 1 off Slow blink 40msec every 1 2sec Blink 3 off LED off for 1sec 3 blink 150msec STATUS LED RUN BLINKING Blink fast Blink fast Rotary switch in moving during set up Waiting for selection Blink 1 off Address offset multiplier saved Blink 3 on Baud ratesaved sd Baud rate saved MCM260 in normal operation mode Off line Signalling occurred Blink_medium 5 1 SET UP as Modbus RTU slave node 15 To configure MCM260 as a node of Modbus RTU network dip switch has to be set as shown in the figure of the following page HD HD HD 18 00 17 OL16 OLIS DL 3 DL 2 OLII 01180 29 __ rv T Subsequently procedure shown in the following page has to be done to configure address offset multiplier and baud rate Once time procedure is ended devi
37. defines if device has to pre load default CANopen parameters 0x2000 Subindex6 0 or default Pixsys parameters 0x2000 Subindex6 0x100 Index Subindex Name Type Values Comment 0x2000 5 Pre load Array 0 Pre load Pixsys 16bit CANopen parameters signed standard parameters 0x100 Pre load Pixsys parameters 7 4 2 AM Al2 AI3 AI4 parameters This object contains the parameters for each analog input Index 0x4000 for Index 0x4001 for Al2 Index 4002 for Index 4003 for 141 Index Subindex Name Type Default R W 0x4000 0 Number of Array 16 20 R W 0x4001 Sub index bit signed 0x4002 1 Selection of Array 16 0 R W 0x4003 sensor bit signed 2 Lower limit for Array 16 0 R W linear signals bit signed 3 Upper limit for Array 16 Ox7FFF R W linear signals bit signed 4 Offset calibration Array 16 0 R W bit signed 5 Gain calibration Array 16 0 R W bit signed 6 Software filter Array 16 5 R W bit signed 73 7 Select type of Array 16 0 R W degrees bit signed 8 20 Reserved Array 16 0 R W bit signed Specifiche selezione sensore Questo oggetto definisce il tipo di sensore da collegare all ingresso Index Subindex Name Type Value Baud rate 0x4000 1 Selection Array 0 Desabled 0x4001 of sensor 16bit 1 0 4002 signed pe 0x4003 260 1360
38. ducer Heartbeat Time This object contains time between two Heartbeat messages milliseconds If it s equal to 0 no Heartbeat is sent Index Subindex Name Type Default R W 0x1017 0 Producer 16bit 0 R W Heartbeat Time _ unsigned 7 2 17 Identity Object This object specifies device and manufacturer Index Subindex Name Type Default R W 0x1018 0 Number of Record 8bit 4 R entries unsigned 1 Manufacturer ID Record 32bit PIX R unsigned 2 Device Record 32bit 260 R description unsigned 3 Revision number Record 32bit R unsigned 4 Serial number Record 32bit R unsigned 7 2 18 Error Behaviour 56 This object specifies into which states modules changes in case of communication error Index Subindex Name Type Default R W 0x1029 0 Number of entries Array 8bit 1 R 1 unsigned 1 Communication Array 8bit 0 R W error unsigned Structure Communication error Action 0 Change into status PRE OPERATIONAL only if actual status were OPERATIONAL 1 No status change 2 Change into status STOPPED 7 2 19 Receive PDO Communication Parameter This object set communication parameters of Rx PDO supported Default COB ID of PDO is set by DS301 standard Index Subindex Name Type Default R W 0x1400 0 Number of Record 8bit 2 R entries unsigned 1 COB ID used by Record 32bit 0x1400 R W PDO1 unsigned 0x200
39. e 58 Index object index to be transmitted Subindex object subindex to be transmitted Object size object size in bits no more than 2 bytes can be transmitted in a PDO so sum of valid object lengths have not to exceed 16 7 2 21 Transmit PDO Communication Parameter This object set communication parameters of Tx PDO supported Default COB ID of PDO is set by DS301 standard Index Subindex Name Type Default R W 0x1800 0 Number of Record 8bit 5 R entries unsigned 1 COB ID used by Record 32bit 0x1800 R W PDO1 unsigned 0x180 Module ID 2 Transmission Record 8bit 255 R W type unsigned 3 Inhibit Time Record 16bit 0 R W unsigned 5 Event Timer Record 16bit 0 R W unsigned COB ID Structure Bit 31 Bit 30 Bit 29 11 Bit 0 10 O valid 1 invalid O RTR allowed 0 Reserved COB ID 1 RTR not allowed Digital and Analogue inputs are transmitted as Change Of Value COV Type of transmission depending upon set transmission type and it s explained in the following table Trans mission type PDO transmission 59 cyclic acyclic synchro asynchro RTR only TxPDO RxPDO nous nous inputs outputs 0 X X If COV is Set outputs transmitted after each with each SYNC as SYNC requested by last PDO received 1 240 X X Transmissio Set outputs n with each i after each SYNC SY
40. e 0x2000 Device Array 16bit signed ALL R W specification 0x2100 Encoder counter Array 32bit signed I lO R W 0x2101 Preset encoder Record 32bit signed I lO R W 0x2102 Encoder Array 8bit unsigned I lO R W Command Preset 0x2103 Encoder type Array 8bit unsigned R W 61 0x2104 Encoder speed Record 16bit signed I lO R 0 1msec 0x2105 Encoder speed Record 16bit signed I lO R 1sec 0x2200 Proximity counter Record 32bit I lO R W unsigned 0x2201 Preset proximity Array 32bit I lO R W unsigned 0x2202 Proximity Array 8bit unsigned I lO R W Command Preset 0x2203 Timer ON Record 16bit I lO R proximity unsigned 0x2204 Proximity speed Record 16bit I lO R 0 1msec unsigned 0x2205 Proximity speed Record 16bit I lO R 1sec unsigned 7 3 1 Device Specification This object defines most important device configuration parameters baud rate node ID offset multiplier read only boot up time device status after boot up filters of digital inputs and Pixsys pre load parameters Index Subindex Name Type Default R W 0x2000 0 Number of Array 10 R entries 16bit signed 1 Baud rate Array 6 1Mbps R MCM260 16bit signed 2 Node ID offset Array 0 R W multiplier 16bit signed 3 Boot up time Array 50 R W 16bit 1 10msec signed 62 4 CANopen state Array Ox7F Pre R W after boo
41. e Type Default R W 0x2102 0 Number of Array 8bit 1 R entries unsigned 1 Encoder Array 8bit 0 R W command preset unsigned Structure Index Subindex Name Type Values Comment 0x2102 1 Encoder Array 8bit 0 No preset is command unsigned loaded preset 1 Preset value loaded simultaneously 66 2 Preset value loaded when DI1 1 zero impulse 7 3 5 Encoder type This object defines which type of encoder is connected 1 means bi directional encoder 2 means mono directional encoder Index Subindex Name Type Default R W 0x2103 0 Number of Array 8bit 1 R entries signed 1 Encoder type Array 8bit 0 R W signed 7 3 6 Encoder speed These two objects 0x2104 and 0x2105 give information about encoder speed The first one 0x2104 contains speed encoder in 100 sec untis the second one 0x2105 in second units Index Subindex Name Type Default R W 0x2104 0 Number of Record 1 R entries 8bit signed 1 Encoder speed Record 0 R 100 sec 16bit signed Index Subindex Name Type Default R W 0x2105 0 Number of Record 1 R entries 8bit signed 1 Encoder speed Record 0 R 1sec 16bit signed 67 7 3 7 Proximity counter This object contains countings number of proximities eventually connected to MCM260 proximity 1 to DI5 proximity 2 to DI6 Index Subindex Name Type Default R W 0x2200 0 Number of Record
42. ed in a event of a negative transition 2 Array 8bit 0 Transmission R W unsigned channels 9 16 released in a event of a negative transition MCM260 1AD only 0x6200 0 Digital Output Array 8bit Number of entries R MCM260 1AD unsigned 1 MCM260 3AD Array 8bit 0 1 output block R W unsigned 2 Array 8bit 0 2 output block R W unsigned MCM260 1AD only 0x6206 0 Error Mode Output Array 8bit Number of entries R bit unsigned 1 260 1 Array 8bit 255 1 output block R W MCM260 3AD unsigned Output channels 1 8 change to a pre defined error status in a event of an error 2 Array 8bit 255 2 output block R W unsigned MCM260 1AD only 0x6207 0 Error Value Output Array 8bit Number of entries R bit unsigned 1 260 1 Array 8bit 0 1 output block R W MCM260 3AD unsigned Pre defined error status in a event of an error 2 Array 8bit 0 2 output block R W unsigned MCM260 1AD only 0x6401 0 Analogue Input 16bit Array 8bit 2 2AD Number of Analogue R MCM260 2AD unsigned 4 5AD input channels 1 MCM260 5AD Array 16bit 1 channel R unsigned 2 Array 16bit 2 channel R unsigned 3 Array 16bit 3 channel R unsigned 4 Array 16bit 4 channel R unsigned 0x6411 0 Analogue Output 16bit Array 8bit 2 Number of Analogue R MCM260 5AD unsigned output channels 1 Array 16bit 1 channel R W unsigned 2 Ar
43. efault R W 0x1010 0 Number of Array 8bit 1 R entries 1 unsigned 1 Store all Array 32bit 1 string RW parameters unsigned save to store 7 2 13 Restore Default Parameters This object allows to reset user stored parameters and load default values If signature load ASCII 0x64616F6C is written on Sub index 1 standard default parameters are loaded each power on until next save command is written This is the same behaviour for Pixsys default parameters on Sub index 2 Index Subindex Name Type Default R W 0x1011 0 Number of Array 8bit 2 R entries 1 unsigned 1 Load standard Array 32bit 1 string RW default unsigned load for parameters standard default 2 Load Pixsys Array 32bit 1 string RW default unsigned load for parameters Pixsys default 7 2 14 COB ID Emergency Object Index Subindex Name Type Default R W 55 0x1014 0 COB ID 32bit 0x80 module EMCY unsigned ID Structure Bit 31 Bit 11 30 Bit 0 10 O valid 1 invalid 0 Reserved COB ID 7 2 15 Inhibit Time Emergency Object This object indicates time have to be elapsed before sending another Emergency minutes Index Subindex Name Type Default R W 0x1015 0 Inhibit Time 16bit 0 R W EMCY unsigned 7 2 16 Pro
44. en object dictionary structure Index Exadecimal Object 0x0000 Not used 0x0001 0x001F Static data types 0x0020 0x003F Complex data types 0x0040 0x005F Manufacturer specific data types 0x0060 0x007F Profile specific static data types 0x0080 0x009F Profile specific complex data types 0x00A0 OxOFFF Reserved 0x1000 0x1FFF Communication Profile DS 301 0x2000 0x5FFF Manufacturer specific parameters 0x6000 OX9FFF Parameters from standardized device profiles 0xA000 OxFFFF Reserved 41 7 1 1 CANopen communication model CANopen defines 4 message types 1 Administrative message Layer management network management and identifier distribution services initialisation configuration and supervision network Services and protocols are according to LMT NMT and DBT elements Service Data Object SDO it provides client access to objects of object dictionary of the device server using index and subindex A replay is generated for every CAN message one SDO requires 2 CAN identifiers SDO request and reply message always contains 8 bytes Process Data Object PDO it provides transfer real time data Data transfer is limited from 1 to 8 bytes and it s content is defined by its CAN identifier only Each PDO is described by 2 object in the object dictionary PDO Communication Parameter it contains COB ID used transmission type inhibit time and time period
45. f R W mapping parameter unsigned entries 1 8 except MCM260 1AD Record 32bit PDO mapping R W unsigned object MANUFACTURER SPECIFIC PARAMETER AREA MCM260 1AD MCM260 2AD MCM260 3AD MCM260 4AD Index Sub Name Type Default Comment R W index Value 0x2000 0 Device specifications Array 16bit 10 Number of entries R all MCM260 series signed 1 Array 16bit 6 Baud rate MCM260 R signed 1Mbps 2 Array 16bit 0 Node ID offset R W signed multiplier 3 Array 16bit 50 Boot up time R W signed 4 Array 16bit Ox7F CANopen status R W signed Pre after boot up Operational 5 Array 16bit 1 Filter digital inputs R W signed 6 Array 16bit 0 Pre load Pixsys R W signed parameters 7 10 Reserved R W 0x2100 0 Encoder counter Array 8bit 1 Number of entries R MCM260 2AD signed 1 MCM260 3AD Array 32bit 0 Encoder counter R signed Record 8bit 1 Number of entries R signed Record 32bit 0 Preset encoder R W signed Array 8bit 1 Number of entries R unsigned Array 8bit 0 0 No preset is loaded R W unsigned 1 Preset value loaded Array 8bit signed 32 1 simultaneously 2 Preset value loaded when DI 1 zero Number of entries inpulse R 1 Array 8bit 0 1 Mono directional R W signed 2 Bi directional 0x2104 0 Encoder speed Record 8bit 1 Number of entries R MCM260 2AD signed 1 MCM260 3AD Record 16bit 0 Encoder spee
46. gned 1 Communication Array 8bit 0 R W error unsigned Structure Communication error Action 0 Change into status PRE OPERATIONAL only if actual status was OPERATIONAL 1 No status change 2 Change into status STOPPED 89 7 6 PDO Transmission Data transmission with PDO is only allowed in Operational status When device changes its status into Operational TX PDO is transmitted once with transmission type 254 and 255 In order to prevent CAN bus overflow default value for object 0x6423 is false so Analogue changes aren t transmitted To prevent overflow with 0x6423 true a long Inhibit Time can be selected or properly values for Threshold and Delta 0x6421 0x6428 can be set 7 6 1 PDO Mapping If stored customer specific configuration isn t used object dictionary is assigned with default configuration according to standard device profile DS401 see paragraph 6 1 5 If device is in Pre Operational status its mapping can be modified via SDO 7 7 SYNC Monitoring In Operational status if communication cycle period isn t equal to 0 monitoring is released with the first SYNC message If SYNC message isn t received within monitoring time communication cycle period a blink code is provided and status doesn t change An emergency message Error Code 0x8100 Error Register 0x81 Additional Code 00 04 00 00 00 is sent Failure of SYNC message will be displayed even if master provides a status ch
47. ile objects ALL All devices O IO Output devices MCM260 1AD Input Output devices MCM260 3AD MCM260 4AD analogue device MCM260 5AD I lO Input devices MCM260 2AD Input Output devices MCM260 3AD MCM260 4AD analogue device MCM260 5AD Index Name Type Device Type R W 0x1000 Device type 32bit unsigned ALL CONST 0x1001 Error register 8bit unsigned ALL R 0x1003 Pre defined Error Array 32bit ALL R W Field unsigned 49 0x1005 COB ID SYNC 32bit unsigned ALL R message 0x1006 Communication 32bit unsigned ALL R W Cycle Period 0x1008 Manufacturer String ALL CONST Device Name 0x1009 Manufacturer String ALL CONST Hardware Version 0x100A Manufacturer String ALL CONST Software Version 0x100 Node ID 8bit unsigned ALL R B 0x100 Guard Time 16bit unsigned ALL R W C 0x100 Life Time Factor 8bit unsigned ALL R W D 0x1010 Store Array 32bit ALL R W Parameters unsigned 0x1011 Restore default Array 32bit ALL R W Parameter unsigned 0x1014 COB ID 32bit unsigned ALL R Emergency Object 0x1015 Inhibit time 16bit unsigned ALL R W Emergency Object 0x1017 Producer 16bit unsigned ALL R W Heartbeat Time 0x1018 Identity Object Record 32bit ALL R unsigned 0x1029 Error Behaviour Array 8bit ALL R W unsigned 50 0x1400 Receive PDO Record 32bit communication unsigned O IO R W
48. imit 3 R W unsigned channel 4 Array 16bit 0 Lower limit 47 R W unsigned channel 0x6426 0 Analogue Input Array 8bit 2 2AD Number of Analogue R Interrupt Delta unsigned 4 5AD input channels 1 Unsigned MCM260 Array 16bit 0 Delta 1 channel R W 2AD MCM260 5AD unsigned actual transmission conditioned by previously sent value Delta 2 Array 16bit 0 Delta 2 channel R W unsigned 37 Array 16bit 3 channel R W unsigned Array 16bit Delta 4 channel R W unsigned 0x6427 Analogue Input Array 8bit 2 2AD Number of Analogue R Interrupt Negative unsigned 4 5AD input channels Delta Unsigned Array 16bit 0 Delta 1 channel R W MCM260 2AD unsigned actual transmission MCM260 5AD conditioned by previously sent value Delta Array 16bit Delta 2 channel R W unsigned Array 16bit Delta 3 channel R W unsigned Array 16bit Delta 4 channel R W unsigned 0x6428 Analogue Input Array 8bit 2 2AD Number of Analogue R Interrupt Positive unsigned 4 5AD input channels Delta Unsigned Array 16bit 0 Delta 1 channel R W MCM260 2AD unsigned actual transmission MCM260 5AD conditioned by previously sent value Delta Array 16bit 0 Delta 2 channel R W unsigned Array 16bit Delta 3 channel R W unsigned Array 16bit Delta 4 channel R W unsigned 0
49. inear input 3007 Lower range limit AI3 only for linear input 3008 Lower range limit Al4 only for linear input Minimum value of input if selected as linear R W Range 32768 32767 Default 0 3009 Upper range limit only for linear input 3010 Upper range limit Al2 only for linear input 3011 Upper range limit AI3 only for linear input 3012 Upper range limit Al4 only for linear input Maximum value of input if selected as linear R W Range 32768 32767 Default 32767 Modbus Description meaning Address 3013 Offset Calibration for 3014 Offset Calibration for Al2 3015 Offset Calibration for AI3 3016 Offset Calibration for Value of offset calibration for relevant input R W Range 1000 1000 Default 0 3017 Gain Calibration for 3018 _ Gain Calibration for Al2 3019 Gain Calibration for AI3 3020 Gain Calibration for Al4 Value of gain calibration for relevant input R W Range 1000 1000 Default 0 3021 Filter for AI 3022 Filter for Al2 21 3023 Filter for 3024 Filter for Value of filter R W number of averages for the relevant input Range 1 10 Default 5 3025 Selection F for 3026 Selection C F for Al2 3027 Selection C F for AI3 3028 Selection C F for Type of degree when input is configured for R W temperature sensor 0 Celsius default 1
50. l transmit their data in the event of a change 7 5 4 Interrupt Mask Low to High 8bit This object defines which digital input channel will send its data in a event of a positive transition Global Interrupt has to be enabled 0x6005 1 Index Subindex Name Type Default R W 0x6007 0 Number of entries Array 8bit R unsigned 1 1 input block Array 8bit 0 R W unsigned 2 2 input block Array 8bit 0 R W unsigned b 0 Transmission channel blocked with a positive transition 1 Transmission channel released with a positive transition Example if 0x6006 Subindex 0 1 Subindex 1 57 0x41 81 0011100120x6007 Subindex 0 1 Subindex 1 11 0000101 1 means that channel 1 4 5 and 6 will transmit their data in the event of a change while channel 2 will only transmit with a positive transition 7 5 5 Interrupt Mask High to Low 8bit This object defines which digital input channel will send its data in a event of a negative transition Global Interrupt has to be enabled 0x6005 1 Index Subindex Name Type Default R W 0x6008 0 Number of entries Array 8bit R unsigned 1 1 input block Array 8bit 0 R W unsigned 2 2 input block Array 8bit 0 R W unsigned b O Transmission channel blocked with a negative transition 1 Transmission channel released with a negative transition Example if 0
51. lave concept network as initialisation start and stop node detection of failures 3 DBT Distributor it defines a dynamic distribution of CAN identifiers to the nodes of the network called COB ID Communication Object Identifier 4 LMT Layer Management it offers the possibility to change parameters as NMT address of a node bit timing and baud rate of CAN interface CMS defines 8 priority levels 220 COB ID each Others identifiers are reserved for NMT DBT and LMT CAN Application Layer CAL COB ID Description 0 NMT start stop services 1 220 CMS object priority O 221 440 CMS object priority 1 39 441 660 CMS object priority 2 661 880 CMS object priority 3 881 1100 CMS object priority 4 1101 1320 CMS object priority 5 1321 1540 CMS object priority 6 1541 1760 CMS object priority 7 1761 2015 NMT Node Guarding 2016 2031 NMT LMT DBT services CAL doesn t define contents of the CMS objects it defines how but not what CANopen provides an implementation of a distributed control system using CAL services and protocols 7 1 Object Dictionary The object dictionary is the most important point of a CANopen device where all configuration information and data are stored It is an ordered group of objects where each one is addressed using a 16bit index Organization of dictionary is based on tables and contains three areas of CANopen objects
52. lete CAN identifier scheme is shown below Broadcast objects of CANopen Pre defined Connection Set Object Function Code COB ID Communication bit 7 10 parameters NMT Module 0000 0x000 Control SYNC 0001 0x080 0x1005 0x1006 0x1007 Time Stamp 0010 0x100 0x1012 0 1013 Peer to Peer objects of CANopen Pre defined Connection Set Object Function Code COB ID Communication bit 7 10 parameters Emergency 0000 0x81 OxFF 0x1024 0x1015 PDO transmit 0011 0x181 Ox1FF 0x1800 PDO1 receive 0100 0x201 0x27F 0x1400 PDO2 transmit 0101 0x281 Ox2FF 0x1801 MCM260 series has only 1 TX PDO and 1 RX PDO 44 PDO2 receive 0110 0x301 0x37F 0x1401 PDOS transmit 0111 0x381 Ox3FF 0x1802 PDOS receive 1000 0x401 Ox47F 0x1402 PDO4 transmit 1001 0x481 Ox4FF 0x1803 PDOA receive 1010 0x501 0x57F 0x1403 SDO transmit receive 1011 0x581 Ox5FF 0x1200 SDO receive client 1100 0x601 0x67F 0x1200 NMT Error Control 1110 0x701 0x77F 0x1016 0x1017 All peer to peer identifiers are different so only one master device can communicate to each slave node up to 127 nodes Two slaves aren t able to communicate because they don t know each other s node ID master only knows them 7 1 3 CANopen identifier distribution COB ID s allocation can be made in 3 ways Pre defined Connection Set i
53. ly sent value Delta or if it s smaller than previously sent value Delta Index Subindex Name Type Default R W 0x6426 0 Number of Array 8bit 2 2AD R Analogue input unsigned 4 5AD channels 1 Delta 1 channel Array 16bit 0 R W unsigned 2 Delta 2 channel Array 16bit 0 R W unsigned 3 Delta 3 channel Array 16bit 0 R W unsigned 4 Delta 4 channel Array 16bit 0 R W unsigned 7 5 16 Analogue Input Interrupt Negative Delta Unsigned If this object is allowed it conditions actual Analogue input transmission with previously sent value New value is transmitted only it s smaller than previously sent value Delta Index Subindex Name Type Default R W 87 0x6427 0 Number of Array 8bit 2 2AD R Analogue input unsigned 4 5AD channels 1 Delta 1 channel Array 16bit 0 R W unsigned 2 Delta 2 channel Array 16bit 0 R W unsigned 3 Delta 3 channel Array 16bit 0 R W unsigned 4 Delta 4 channel Array 16bit 0 R W unsigned 7 5 17 Analogue Input Interrupt Positive Delta Unsigned If this object is allowed it conditions actual Analogue input transmission with previously sent value New value is transmitted only if it s larger than previously sent value Delta Index Subindex Name Type Default R W 0x6428 0 Number of Array 8bit 2 2AD R Analogue i
54. nal status 0x80 4 Reset Node 0x81 5 Reset Communication 0x82 6 Device initialisation is finished device changes to Pre Operational status automatically and boot up message is send MCM260 series only provides Minimum boot up 46 Power on INITIALISING F PRE OPERATIONAL A B C D LE 5 OPERATIONAL 4 A B C D E 5 STOPPED 4 os A B NMT services allow changing status nodes at any time NMT message consists of CAN header COB ID 0 and 2 data bytes One byte contains the requested service NMT command specifier and other byte contains Node ID 0 for broadcasting mode A CANopen network can only have one NMT master which brings NMT messages and controls initialisation process 47 CANopen device supporting only minimum boot up enter Pre Operational status automatically after ending device initialisation In this status setting device parameters and COB ID allocation are possible by SDO only A distinction is needed between device configuration CANopen device initialisation boot up MCM260 configuration is allowed when device is powered on with rotary switch in position O Node ID offset multiplier baud rate MCM260 CANopen initialisation boot up is always provided by itself when it is powered on for each position of rotary switch 260 enter Pre Operational status after having finished its initialisation It s possible to force Stopped status by changing rotary
55. nalog output AO2 in case of error if 1is selected on word 4103 Range 32768 32767 Default 0 R W 23 6 CANOPEN Each LED RUN blinking type indicates a specific CANopen status Blinking name LED RUN Blinking type Blink fast Fast blinking 50msec Blink_medium Blinking 200msec Blink_slow Blinking 600msec LED on LED always on Blink 3 on LED on for 1sec 3 blink 150msec 24 Blink 1 off Slow blink 40msec every 1 2sec Blink 3 off LED off for 1sec 3 blink 150msec Operational Stopped 6 1 SET UP as CANopen slave node To configure MCM260 as a node of a CANopen network dip switch has to be set as shown in the figure below They are not standard CANopen 05401 status but particular phases of device configuration 2 For more details see chapter 7 25 HE HD HH HD HD HH HB cos CANopen network must have a 120 terminal line resistance If more devices have to be connected in cascade that resistance has to be connected to the last MCM260 of network at the end of the line only REF e Node Node i42 Node n If no terminal line resistance has to be connected set last dip switch as shown in figure below line resistance has to be connected if MCM260 is the last device of the network set last
56. nput unsigned 4 5AD channels 1 Delta 1 channel Array 16bit 0 R W unsigned 2 Delta 2 channel Array 16bit 0 R W unsigned 3 Delta 3 channel Array 16bit 0 R W unsigned 4 Delta 4 channel Array 16bit 0 R W unsigned 7 5 18 Analogue Output Error Mode This object defines if the output must assume a pre selected state in case of error see object 0x6444 If error is solved the outputs will keep the pre selected state Index Subindex Name Type Default R W 88 0x6443 0 Number of Array 8bit 2 R analogue output unsigned 1 Error Mode 1 Array 8bit 1 R W output unsigned 2 Error Mode 2 Array 8bit 1 R W output unsigned bi Output state remains unchanged 1 Output state changes in case of error 7 5 19 Analogue Output Error Value Integer Value assumed by analog output in case of error For this purpose the object 0x6443 must be set to 1 Index Subindex Name Type Default R W 0x6444 0 Number of Array 8bit 2 R analogue output unsigned 1 Error Value 1 Array 16bit 0 R W output signed 2 Error Value 2 Array 16bit 0 R W output signed 7 5 20 Error Behaviour This object has the same functionality of Error Behaviour 0x1029 Index Subindex Name Type Default R W 0x67FE 0 Number of entries Array 1 R 1 unsi
57. nput max 10KHz 12 A phase 11 phase Field bus 13 CANH RS485 5 14 RS485 15 C GND for CANbus and Modbus Automatic addressing pins Modbus RTU only Analogue input linearization is fixed and not changeable from 0 to 10000 OV 0 10V 10000 9 16 Output automatic addressing 17 Input automatic addressing 2 2 2 MCM260 4AD Power supply 12 24Vac dc 15 1 Vdc 2 gt Common for digital inputs 12 24Vdc Relay outputs 4 output 1 5 output 2 6 output 3 7 output 4 8 output 5 9 output 6 10 output 7 11 output 8 12 Common relays Digital inputs PNP 24Vdc 18 input 1 19 input 2 20 input 3 21 input 4 22 input 5 23 input 6 24 input 7 25 input 8 wy yyy 02 C02 Field bus 13 CANH RS485 10 14 RS485 15 C GND for CANbus Modbus Automatic addressing pins Modbus RTU only 16 Output automatic addressing 17 Input automatic addressing Power supply 12 24Vac dc 15 1 Vdc 2 Reference of common for digital inputs 24 Common pin for digital inputs 12Vdc Analogue input Thermocouples S J Terminals 5 6 Pt100 Ni100 Terminals 5 6 7 for the two wire connection short circuit terminals
58. ondition of transmission when 1 is entered in object 0x6423 then transmission is released Index Subindex Name Type Default R W 0x6421 0 Number of Array 8bit 2 2AD R Analogue input unsigned 4 5AD channels 1 Trigger 1 channel Array 8bit 7 R W unsigned 2 Trigger 2 Array 8bit 7 R W channel unsigned 3 Trigger 3 channel Array 8bit 7 R W unsigned 4 Trigger 4 channel Array 8bit 7 R W unsigned Sub index structure Bit Transmission conditions Subindex configuration 0 Threshold value exceeded 0x6424 1 Threshold value fallen short 0x6425 2 Change of input value exceeding 0x6426 delta value for last transmission 3 Reduction of input value by more 0x6427 than delta value for last transmission 4 Increase of input value by more than 0x6428 delta value for last transmission 5 7 Reserved 7 5 12 Analogue Input Global Interrupt Enable This object is used to control Analogue input transmission by PDO If its value is 1 transmission is released and it only depends on object 0x6421 and PDO transmission type If value is 0 Analogue input transmission is not allowed Index Subindex Name Type Default R W 85 0x6423 0 Global Interrupt Boolean 0 R W Enable Analogue input 16bit 7 5 13 Analogue Input Interrupt Upper Limit Integer This object allows a threshold value monitoring for An
59. oot up device will be in Pre Operational status automatically LED RUN Blink_slow blinking PDO transmission reception aren t allowed SDO transmission reception are only allowed To change into Operational status an NMT messages from a master is needed Its possible to change into Stopped status from Pre Operational Operational status by rounding rotary switch in position 0 Replacing switch in other positions device will change into Pre Operational status anyway For more details about CANopen see chapter 7 27 SET UP procedure for CANopen Power on in position 0 Wait boot up time Max 2s Waiting rotary switch changing LED RUN Blink 1 off Rotary switch changing Rotary switch in spinning LED RUN Blink fast Rotary switch steady after 1 5 seconds LED RUN Blink 3 ON Rotary switch LED RUN LED ON Address offset in position 1 8 Baud rate saved multiplier saved 28 Rotary switch in CANopen Power on in position 0 Power on in position not equal to 0 BOOT UP LED RUN Blink fast BOOT UP LED RUN Blink fast Rotary switch in position not equal to 0 Power off Wait boot up time Wait boot up time PRE OPERATIONAL LED RUN Blink slow SET UP Rotary switch in position 0 Rotary switch in position 0 Master NMT command specifier START REMOTE NODE 0x01 OPERATIONAL LED RUN LED ON
60. open parameters signed standard parameters 0x100 Pre load Pixsys parameters 7 3 2 Encoder counter This object contains countings number of mono bidirectional encoder eventually connected to MCM260 phase A connected to DI8 phase B connected to DI7 Index Subindex Name Type Default R W 0x2100 0 Number of Array 8bit 1 R entries signed 1 Encoder counter Array 0 R 32bit signed 65 7 3 3 Preset encoder This object contains preset value of encoder eventually connected to MCM260 This is the value which has to be loaded to encoder counter object 0x2100 Subindex1 in the event of a preset command see paragraph 7 3 4 Index Subindex Name Type Default R W 0x2101 0 Number of Record 8bit 1 R entries signed 1 Preset encoder Record 32bit 0 R W signed 7 3 4 Encoder command preset This object contains command to load preset value 0x2101 Subindex1 into encoder counter object 0x2100 Subindex1 There are two way to load preset encoder value Preset value is loaded on encoder counter object when value 1 is written on 0x2102 Subindex1 at the same time Preset value is loaded on encoder counter object when zero impulse 011 is active if value 1 is written on 0x2102 Subindex1 In both cases 0x2102 is reset to 0 after preset value has been loaded into encoder counter object Index Subindex Nam
61. perature for Al1 and Al2 R 901 Cold junction temperature for AI3 and Al4 R 1000 Process value Al1 H 1001 Process value 2 H 1002 Process value H 1003 Process value Al4 H 1100 AO1 value R W 0 1101 AO value R W 0 1102 Output Q ID bit 2 R W 0 2002 Off line time R W EEPR 2003 Reserved R W EEPR 2004 Delay Modbus answer R W EEPR To use automatic addressing function Q ID pin of a node has to be connected to l ID pin of the following one In the first device l ID pin in the last device Q ID pin won t be connected To able disable automatic addressing function to all connected device value 1 0 has to be written on word 2102 in broadcast mode Once address is assigned see note below to exit procedure write value 0 on this word with slave address just saved of course To assign address write on this word password 1234 used address will be the one that slave will assign to itself 19 2005 Baud rate Modbus R W EEPR 2006 Address slave multiplier R W EEPR 2007 Boot up time R W EEPR 2008 Reserved R W EEPR 2009 Reserved R W EEPR 2010 Reserved R W EEPR 2102 Access to automatic addressing function R 2103 Address Slave assignment R Modbus Description Address 3001 Analogue input configuration 3002 Analogue input configuration AI2 3003 Analogue input configuration AI3 3004 Analogue input configuration Al4 These
62. r 7 2 22 Transmit PDO T Manufacturer Specific Parameter Area MCM260 1 2 3 4AD Lad Device Specification 7 3 2 Encoder GOUNEGN ia Fd Bi 9051 4181916 NOT CLR LT 7 3 4 Encoder command 735 EncoderlyDe esses ene 736 Endoderspesd cesse eee eres f 238 Presebbroxmi ssec 24 Proximity command preset Timer ON proximity e o ASTI Proximity 7 4 Manufacturer Specific Parameter Area MCM260 5AD 7 4 1 Device Specification nm 12 Al3 AI4 parameters Analogue Inputs Parameters on nm w TAA AO1AO2 Parameters sce emet 7 5 Standard Device Profile 751 Digital inputs eerte dete 7 5 2 Global Interrupt Enable Digital 8bit 7 5 3 Interrupt Mask Any Change 8bit 7 5 4 Interrupt Mask Low to High 8bit 7 5 5 Interrupt Mask High to Low 8 786 Digital DUI cs 7 5 7 Error Mode Output 75 8 Error Value Output 258 Analogue Input eee 7 5 10 Analogue Output 1666 iii 7 59 11 Analogue Input Interrupt Trigger Selection 5 12 Analogue
63. r each analog output Index 0x5000 for AO1 Index 0x5001 for AO2 Index Subindex Name Type Default R W 0x5000 0 Number of Array 16 10 R W 0x5001 Sub index bit signed 1 Select type of Array 16 0 R W output bit signed 2 Lower limit Array 16 0 R W bit signed 3 Upper limit Array 16 Ox7FFF R W bit signed 4 10 Reserved Array 16 0 R W bit signed 77 Specifications for type of analog output Index Subindex Name Type Values Comments 0x5000 1 Type of Array 0 0 10V 0x5001 output 16bit 1 4 20mA signed Lower limit analog output Index Subindex Name Type Range 0x5000 2 Lower Array 32768 32767 unit 0x5001 limit 16bit signed Upper limit analog output Index Subindex Name Type Range 0x5000 3 Uper limit Array 32768 32767 unit 0x5001 16bit signed 7 5 Standard Device Profile Area The following table shows all the supported standard device profile objects N B ALL All devices O IO Output devices MCM260 1AD Input Output devices MCM260 3AD MCM260 4AD 1 lO Input devices MCM260 2AD Input Output devices MCM260 3AD MCM260 4AD IN_AN Input devices MCM260 2AD Analogue Input Output devices MCM260 5AD AN Analogue Input Output devices MCM260 5AD Index Name Type Device R W Type 0x6000 Digital Input Array 8bit unsigned I lO R
64. range R W signed of analogue output 3 Array 16bit Ox7FFF Upper limit range R W signed of analogue output 4 10 Reserved R W STANDARD DEVICE PROFILE AREA Index Sub Name Type Default Comment R W index Value 0x6000 0 Digital input Array 8bit Number of entries R MCM260 2AD unsigned 1 MCM260 3AD Array 8bit 1 input block R unsigned 2 Array 8bit 2 input block R unsigned MCM260 2AD only 0x6005 0 Global Interrupt 8bit signed 1 Allows digital input R W Enable Digital 8bit transmission by MCM260 2AD PDO MCM260 3AD 0x6006 0 Interrupt Mask Any Array 8bit Number of entries R Change 8bit unsigned 1 MCM260 2AD Array 8bit 255 Transmission R W MCM260 3AD unsigned channels 1 8 released in a event of a change 2 Array 8bit 255 Transmission R W unsigned channels 9 16 released in a event of a change MCM260 2AD onl 0x6007 0 Interrupt Mask Low to Array 8bit Number of entries R High 8bit unsigned 1 260 1 Array 8bit 0 Transmission R W MCM260 3AD unsigned channels 1 8 released in a event of a positive transition 2 Array 8bit 0 Transmission R W unsigned channels 9 16 released in a event of a positive transition MCM260 1AD only 0x6008 0 Interrupt Mask High Array 8bit Number of entries R to Low 8bit unsigned 260 1 MCM260 3AD 35 1 Array 8bit 0 Transmission R W unsigned channels 1 8 releas
65. ray 16bit 2 channel R W unsigned 36 0x6421 0 Analogue Input Array 8bit 2 2AD Number of Analogue R Interrupt Trigger unsigned 4 5AD input channels 1 Selection Array 8bit 7 Trigger 1 channel R W MCM260 2AD unsigned transmission MCM260 5AD disabled 2 Array 8bit 7 Trigger 2 channel R W unsigned tx disabled 3 Array 8bit 7 Trigger 3 channel R W unsigned tx disabled 4 Array 8bit 7 Trigger 4 channel R W unsigned tx disabled 0x6423 0 Analogue Input Global Boolean 0 Enable Disable R W Interrupt Enable Analogue input MCM260 2AD transmission MCM260 5AD 0x6424 0 Analogue Input Array 8bit 2 2AD Number of Analogue R Interrupt Upper Limit unsigned 4 5AD input channels 1 Integer MCM260 2AD Array 16bit 0 Upper limit 1 ch R W only unsigned Analogue input transmission monitored by threshold value 2 Array 16bit 0 Upper limit 2 ch R W unsigned 3 Array 16bit Upper limit 37 ch R W unsigned 4 Array 16bit 0 Upper limit ch R W unsigned 0x6425 0 Analogue Input Array 8bit 2 2AD Number of Analogue R Interrupt Lower Limit unsigned 4 5AD input channels 1 Integer MCM260 2AD Array 16bit 0 Lower limit 1 R W MCM260 5AD unsigned channel Analogue input transmission monitored by threshold value 2 Array 16bit 0 Lower limit 2 R W unsigned channel 3 Array 16bit 0 Lower l
66. rgency message Index Subindex Name Type Default R W 0x1001 0 Error bit R register unsigned Structure Bit number Meaning 0 General error 1 Current 2 Voltage 3 Temperature 4 Communication 5 Device profile specific 6 Reserved 7 Manufacturer specific If an error occurs bit O is always set 1 52 7 2 3 Pre defined Error Field This object contains information about last 10 errors occurred New errors will be entered in subindex 1 and error in subindex 10 will be lost Index Subindex Name Type Default R W 0x1003 0 Number of Array 8bit R W entries unsigned 1 Standard Array 32bit R error field unsigned always last error 10 Standard Array 32bit R error field unsigned first error Structure Bit 16 31 MSW Bit 0 15 LSW Additional info Error code Additional info are first 2 bytes of additional code of Emergency telegram Error code is error code in the Emergency telegram 7 2 4 COB ID SYNC message This object contains COB ID for synchronization message Index Subindex Name Type Default R W 0x1005 0 COB ID 32bit 0 00000080 R SYNC unsigned Structure Bit 11 31 MSW Bit 0 10 0 reserved COB ID 7 2 5 Communication Cycle Period This object contains maximum time sec between 2 SYNC messages resolution 2msec If value is 0
67. rotary switch position in Operational mode is 8 total node ID CANopen address will be 45 48 53 Its possible to connect up to 120 modules in MCM260 CANopen network offset multiplier up to 105 rotary switch up to OxF 15 105415 71 120 Node ID N 1 x 15 M where 0x2000 Subindex 2 M rotary switch position 0 Index Subindex Name Type Values Offset 0x2000 2 Node ID Array 0 Offset 0 offset 16bit Index 1 15 multiplier signed 1 Offset 1 Index 16 30 2 Offset 2 Index 31 45 3 Offset 3 Index 46 60 4 Offset 4 Index 61 75 5 Offset 5 Index 76 90 6 Offset 6 Index 91 105 7 Offset 7 Index 106 120 Boot up time specifications this object defines how long is boot up time unit is 10msec Index Subindex Name Type Values Time 0x2000 3 Boot up 10 100 100msec 1sec Time 16bit signed CANopen state after boot up specifications CANopen standard defines that once boot up is finished device changes automatically into Pre Operational status This is default configuration Ox7F but it s possible to change into other status Index Subindex Name Type Values Status 0x2000 4 CANopen Array 0 Boot up state 16bit after signed boot up 12 4 Stopped 5 Operational Ox7F Pre Operational Pre load Pixsys parameters specifications this object
68. rred to ensure message as short as possible Time Stamp It provides application devices a common time frame reference Emergency The event is triggered by device internal errors Node Life Guarding NMT master monitors nodes status node guarding Nodes optionally monitor NMT master status life guarding it starts on the NMT slave after it has received the first node guarding message from NMT master It detects errors in the network interfaces of devices a remote transmission request from NMT master to a particular node triggers a reply containing node status Boot up NMT slave send this message when it has transitioned from Initialising to Pre Operational status Finally SDO is typically used for device configuration in a CANopen network while PDO is used for fast data transfer All CANopen devices should have at least one PDO all other communication objects are optional 7 1 2 CANopen Pre defined Connection Set When a device has to reply a master request a default CAN identifier 43 scheme is used It s based on a 11bit frame where the first 7bit LSB are used for Node ID range 1 127 defined by specific manufacturer configuration and the last 4bit MSB are used for Function Code Pre defined connection set defines 4 Rx PDOs 4 TX PDOs 1 SDO 1 Emergency Object and 1 Node Error Control Identifier It also support broadcasting of non confirmed NMT Module Control Services SYNC and Time Stamp objects Comp
69. ss value Index Subindex Name Type Range 0x4000 5 Offset Array 1000 1000 unit calibration 16bit 75 0x4001 0x4002 0x4003 signed Software filter Number of means to calculate the value of input to stabilize the value Index Subindex Name Type Range 0x4000 6 Software Array 1 10 means 0x4001 filter 16bit 0x4002 signed 0x4003 Type of degrees type of degrees for temperature sensors Index Subindex Name Type Values Comments 0x4000 7 Select type Array 0 Celsius 0x4001 of degrees 16bit 1 Fahrenheit 0x4002 signed 0x4003 7 4 8 Analogue Inputs Parameters This object contains the parameters which are common to analog inputs Index Subindex Name Type Default R W 0x4100 0 Numer of Sub Array 16bit 2 R index signed 1 Sampling Array 16bit 7 R W frequency Al1 signed and Al2 2 Sampling Array 16bit 7 R W frequency AI3 signed and Al4 Sampling frequency for analog inputs subindex 1 for Al1 and Al2 subindex 2 for AI3 and Al4 76 Index Subindex Name Type Value Baud rate 0x4100 1 Sampling Array 0 242 HZ 2 frequency 16bit 1 123 HZ signed 2 62 2 3 50 HZ 4 39 HZ 5 33 2 HZ 6 19 6 HZ 7 16 7 HZ 8 12 5 HZ 9 10 HZ 10 8 33 HZ 11 6 25 HZ 12 4 17 HZ 744 AO1 AO2 Parameters Configuration parameters fo
70. t s mode shown in the previous section Allocation is default setting no configuration is needed PDO identifiers COB IDs can be modified after powering up device when it s in Pre Operational status see next section In this status it s possible to write new values to Object Dictionary allocation by SDO Using DBT Distributor a CAL service nodes are initially identified by their configured node ID Node ID of slave nodes may be configured by internal dip switches or LMT Layer Management a CAL service When network initialises and boots master provides a connection with each connected slave with telegram NMT service Once this connection has been established DBT provides allocation of CAN identifiers for communication of SDOs and PDOs to the node 7 1 4 CANopen boot up process Networks initialisation supports two boot up process Minimum boot up and Extended boot up The first one is a pre required process for a 45 CANopen device the second one is optional but necessary if COB IDs have to be allocated by DBT services State transition diagram in next page shows a CANopen minimum boot up node Letters in brackets show which communication object types are allowed in the different status A NMT B Node Guard SDO D Emergency E PDO F Boot up Numbers show Status transitions and NMT command specifier 1 Start Remote Node 0x01 2 Stop Remote Node 0x02 3 Enter Pre Operatio
71. t up 16bit Operational signed 5 Filter digital Array 1 R W inputs 16bit signed 6 Pre load Pixsys Array 0 R W parameters 16bit signed 7 10 Reserved R W Baud rate specifications this is a read only object It can be only modified by rotary switch in start up mode when device is powered on with rotary switch in position 0 Index Subindex Name Type Values Baud rate 0x2000 1 Baud rate Array 0 50 Kbit sec MEMES cd 1 62 5 Kbit sec 100 Kbit sec 125 Kbit sec 250 Kbit sec 500 Kbit sec 1 Mbit sec A oc N Node ID offset multiplier specifications this object defines node ID offset multiplier of device If Index 0x2000 Subindex1 3 node ID offset of device will be 3x15 45 This value has to be added to number specified by rotary switch position when device has be powered on in a position not equal to 0 If rotary switch position in Operational mode is 8 total node ID CANopen address will be 4548 53 Its possible to connect up to 120 modules in MCM260 CANopen network offset multiplier up to 105 rotary switch up to OxF 15 105415 120 Node ID 1 x 15 M 63 where 0x2000 Subindex 2 M rotary switch position not 0 Index Subindex Name Type Values Offset 0x2000 2 Node ID Array 0 Offset 0 offset 16bit Index 1 15 multiplier signed 1 Offset 1 Index 16 30 2 Offset 2 Index 31 45 3 Offset
72. uarding protocol or Heartbeat protocol 7 9 Heartbeat Monitoring Heartbeat generator cyclically provides a message triggered by object 0x1017 During this time it transmits device status Monitoring start when the first Heartbeat message occurs If corresponding Heartbeat message isn t received within time configured in object 0x1016 a blink code is provided An emergency message Error 91 Code 0x8130 Error Register 0x11 Additional Code 00 05 JJ 00 00 where JJ is the node number which has triggered EMCY is sent and device changes to pre defined status according to object 0x67FE As soon as Heartbeat protocol is restored another emergency message is sent Error Code 0x0000 Error Register 0x11 Additional Code 00 05 JJ 00 00 to display Heartbeat works correctly again and device status doesn t change Heartbeat protocol is always used if and only if producer time is configured 0x1017 7 10 Emergency There are four type of event which provides emergency messages Critical error situation occurred overcome in the device Important information has to be communicated to other devices Restore from an error Power on with loaded settings equal to default settings when setting haven t yet been saved or when saved settings were discarded by device Structure of emergency object are shown in the table below Error Code Error Register Additional Code Meaning 0x0000 0x00 00 00 00 00
73. wer supply 12 24Vdc 15 Inputs Outputs 8 Digital inputs PNP 24Vdc 8 Static outputs 24Vdc 700mA MAX Power supply AAD 12 24Vac dc 15 Inputs Outputs 8 Digital inputs PNP 24Vdc 8 relay outputs 5A 250V resistive load Power supply 12 24Vac dc 15 Inputs Outputs 4 Analog inputs 2 Analog outputs 0 10 or 4 20mA 2 CHARACTERISTICS 0 40 C humidity 35 95uR Digital inputs PNP 24Vdc MCM260 5AD Tolerance 25 C Inputs Configurable via software 0 2 1 unit Thermocouples type K S R J automatic compensation of cold junction from 0 C to 50 C Thermoresistance PT100 PT500 PT1000 NI100 PTC1K NTC10K 8 3435K Linear 0 10V 0 20 or 4 20mA 0 40mV Potentiometers 6K 1506K Outputs MCM260 1AD MCM260 3AD Static outputs 24Vdc 700mA Each output can give 700mA max consumption 4 5A MCM260 4AD 8 relays contacts 5A 250V resistive load MCM260 5AD 2 linear 0 10V or 4 20mA 0 10V resolution 7680 points 4 20mA resolution 6500 points Software characteristics Modbus RTU CANopen 2 4 Mechanical dimensions and installation 0x8 RUN 9 11 12 13 14 15 16 0 eo0000090 rp psp op 7o 0 2 o2 75 22 5 90mm 70mm DIN rail EN 50022 2 2 Electrical connections 2 2 4 MCM260 1 2 3AD Ep E Power supply 12 24Vdc Vac for MCM260 2AD 15
74. words define the type of sensor connected to analog R W inputs Al1 Al3 0 Disabled default 1 Thermocouples range 260 1360 C 2 Thermocouples 5 range 40 1760 C Thermocouples range 40 1760 C 4 Thermocouples J range 200 1200 C 5 2 PT100 range 200 600 C 6 PT100 range 200 140 C 7 NI100 range 60 180 C 8 NTC 10K 2 3435K range 40 125 C 9 range 50 150 C 5 To use automatic addressing function Q ID pin of a node has to be connected to l ID pin of the following one In the first device l ID pin in the last device Q ID pin won t be connected 5 To able disable automatic addressing function to all connected device value 1 0 has to be written on word 2102 in broadcast mode Once address is assigned see note below to exit procedure write value 0 on this word with slave address just saved of course 7 assign address write on this word password 1234 used address will be the one that slave will assign to itself 20 10 PT500 range 100 600 C 11 PT1000 range 100 600 C 12 Input 0 10V 13 Input 0 20mA 14 Input 4 20mA 15 Input 0 40mV 16 2 Potentiometer max 6Kohm 17 Potentiometer max 150Kohm 3005 Lower range limit only for linear input 3006 Lower range limit Al2 only for l
75. x6006 Subindex 0 1 Subindex 1 57 0x41 0011100120x6007 Subindex 0 1 Subindex 1 11 OxB 00001011 means that channel 1 4 5 and 6 will transmit their data in the event of a change while channel 2 will only transmit with a negative transition 7 5 6 Digital Output This object contains data of digital output modules Subindex 1 contains the first 8 digital output channels subindex 2 the second block Index Subindex Name Type Default R W 0x6200 0 Number of Array 8bit R entries unsigned 1 1 output block Array 8bit 0 R W unsigned 2 2 output block Array 8bit 0 R W unsigned 82 7 5 7 Error Mode Output 8bit This object defines if output change to a pre defined error status in a event of an error or not If error is eliminated outputs are maintained in their pre defined error status Index Subindex Name Type Default R W 0x6206 0 Number of Array 8bit R entries unsigned 1 1 output block Array 8bit 255 R W unsigned 2 2 output block Array 8bit 255 R W unsigned bi 0 Output channel doesn t change in a event of an error 1 Output channel change to a pre defined error 7 5 8 Error Value Output 8bit This objects defines values outputs have to change to in a event of an error corresponding bit Error Mode Output has to be enabled 0x6206 Index
76. x6443 Analogue Output Error Array 8bit 2 Number of Analogue R Mode unsigned output channels MCM260 5AD Array 16bit 1 Error Mode 1 R W unsigned channel Array 16bit 1 Error Mode 2 R W unsigned channel 0x6444 Analogue Output Error Array 8bit 2 Number of Analogue R Value Integer unsigned output channels MCM260 5AD Array 16bit 1 Error Value 1 R W unsigned channel Array 16bit 1 Error Value 2 R W unsigned channel 0x67FE Error Behaviour all Array 8bit 1 Number of entries R MCM260 series unsigned 38 1 Array 8bit 0 Communication error R W unsigned see object 0x1029 6 4 EDS files EDS files of the various models are available for download at http download pixsys com 7 CANOPEN IN DETAILS CAN Controller Area Network is a Multimaster bus system Messages are sent to the bus with a certain priority defined by COB ID Communication Object Identifier CANopen is a networking concept defined as an application layer by DS 301 CIA specification CAN in automation CANopen is built on top of CAL CAN Application Layer an high layer communication protocol for CAN based network CAL defines 4 application layer service elements 1 CMS CAN based Message Specification it defines a set of objects Variable Event Domain to specify how CAN interface can access to the network node features 2 Network Management it defines all typical services of a master s

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