User Manual. CANopenIA-M0. Starter Kit
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1 User Manual CANopenIA-M0 Starter Kit Edition 8 March 2017
2 Page 2 of 21 The information given in this document was compiled and checked carefully. Nevertheless ESS assumes no liability for any mistakes. ESS also assumes no liability for any damage resulting from use of this manual or products described herein. ESS reserves the right to make changes on information given in this document and on features of products described herein without prior notification. Publication and reproduction of this document or parts of it is only permitted with written agreement of ESS. COIAM0_SK_ManualEng_E8.doc
3 Page 3 of 21 Change History Release Date State 1 April 2013 first publication 2 September 2015 review, minor updates 7 January 2016 minor updates, adapt release to user manual 8 March 2017 module pinning corrections format corrections Copyright Industriestr. 15 (49) (49) info@essolutions.de COIAM0_SK_ManualEng_E8.doc
4 Page 4 of 21 Additonal Literature [CiA401] [COIA-Man] [PCAN-USB-Man] CiA401 V3.0 Device profile for generic I/O modules CANopenIA-M0 User Manual PEAK PCAN USB user manual english CANopenIA-M0-Module schematics CANopenIA-M0-EvaBoard schematics Abbreviations and Terminology COIA-M0 Node ID CANopenIA-M0 In a CANopen network each device requires a unique node ID in the range of 1 to 127 PCAN-Term PEAK CAN adapter with termination resistor PCAN-USB PEAK CAN to USB adapter COIAM0_SK_ManualEng_E8.doc
5 Page 5 of 21 Contents 1. Introduction Contents of the Package System Requirements Getting Started CANopenIA-M0 Module Evaluation Board Connectors Reset function Hardware configuration of CANopenIA-M Digital Inputs / Outputs Internal Analog Input External Analog input External Analog Output Special Function Pin Button Installing PCAN-USB driver Installing CANopen Magic Standard About CANopen Magic Installation Setup Creating and loading an example configuration Accessing CANopenIA with CANopen Magic Standard Advanced Configurations COIAM0_SK_ManualEng_E8.doc
6 Page 6 of Introduction Thank you for choosing products of our CANopenIA-M0 family. With the CANopenIA-M0 starter kit you will be able to try and validate functionality of the new generation CANopen chip. A total of seven I/O ports with each four bits are available for digital I/O. Three out of these seven ports can be configured as analog I/O to a maximum of four analog input channels with 10bit resolution, four analog input channels with 12bit resolution and four analog output channels with 12bit resolution. 2. Contents of the Package Please check carefully the contents of the package you received: 1. CANopenIA-M0 Evaluation Board (COIA-M0 EvaBoard) 2. CANopenIA-M0 Module (already inserted into evaluation board) 3. Plug power supply; output: 7,5V DC; input: V AC 4. Four plug power supply input connectors: EU, US, UK and AU 5. CANopenIA-M0 CD including: o CANopenIA-M0 manual o CANopenIA-M0 starter kit manual (this document) o CANopenIA-M0 setup utility o CANopen Magic Standard manual o CANopen Magic Standard, network monitor 6. PEAK CAN to USB adapter (PCAN-USB) 7. PEAK CD containing drivers and installation manuals 8. PEAK CAN adapter with termination resistor (PCAN-Term) 9. serial cable 3. System Requirements You will need: PC o Windows 7 or 8 o with one free USB port 4. Getting Started Please follow these steps to prepare your new equipment: 1. Install drivers for PCAN-USB according to PEAK installation manual on PEAK CD 2. Install the CANopenIA-M0 setup utility according to COIA-M0 manual 3. Install the CANopen Magic Standard software 4. Connect PCAN-USB to USB port on your PC COIAM0_SK_ManualEng_E8.doc
7 5. Connect PCAN-Term to CAN connector of PCAN-USB 6. Connect serial cable to other end of PCAN-Term CANopenIA-M0 Starter Kit User Manual Page 7 of Connect other end of serial cable to D-Sub 9 connector J4 on CANopenIA-M0 evaluation board 8. Connect power supply to connector J1 on CANopenIA-M0 evaluation board 5. CANopenIA-M0 Module The following components are integrated on the 48-pin COIA-M0 module: CANopenIA-M0 chip Clock circuitry (12 MHz) EEPROM for configuration storage connected to I²C port Image 1- CANopenIA-M0 Module, left: top view, right: pinning Pin Signal Pin Signal 1 P2_0 25 P6_1/MISO_ADC 2 P5_0 26 P6_2/MOSI_ADC 3 RESET 27 P3_3 4 ISP 28 P3_1 5 VSS 29 P6_3/SCK_ADC 6 VDD 30 CONF_DAT 7 P3_0 31 P4_0/ADC_CH0 8 P6_0/CS_ADC 32 P4_1/ADC_CH1 9 P2_1 33 P4_2/ADC_CH2 10 P2_2 34 P1_0 COIAM0_SK_ManualEng_E8.doc
8 Page 8 of 21 Pin Signal Pin Signal 6. Evaluation Board 11 P5_1/SCK_DAC 35 P1_1 12 SFP 36 P5_3/MOSI_DAC 13 VDD_CAN 37 P4_3/ADC_CH3 14 CAN_L 38 P0_0 15 CAN_H 39 VSS 16 VCC 40 P3_2 17 GND 41 P1_2 18 STB 42 VDD 19 CONF_CLK/LED_GN 43 P0_1 20 CONF_LD/LED_RD 44 P0_2 21 P2_3 45 P0_3 22 P5_2/MISO_DAC 46 P1_3 23 VDD 47 VSS 24 VDD 48 VSS Table 1 CANopenIA-M0 Module Pinning Fig. 1 - CANopenIA-M0 Evaluation Board Top View COIAM0_SK_ManualEng_E8.doc
9 Page 9 of 21 With the jumper JP1 an optional 120 Ohm termination resistor can be applied to the CAN bus. This jumper should only be closed if the termination resistance is desired in this node. 6.1 Connectors 1. Power jack J1 for power supply (7,5V unregulated) 2. CAN SUB-9 connector J4 male 3. CAN SUB-9 connector J5 female The evaluation board requires a single external power supply of 7,5V unregulated and has a 5 and 3,3 VDC voltage regulator on board. Two 9 pin Sub-D connectors J4 and J5 are provided to connect the board to the CAN bus. They are both connected to the same on-chip CAN transceiver, allowing both a male and female connector to be present on the board. 6.2 Reset function A reset push button (S1) resets the CANopenIA-M0. During reset all I/O port pins go in a high impedance state with weak on-chip pull-up resistors. 6.3 Hardware configuration of CANopenIA-M0 The configuration of the CANopen Node ID and the baud rate for the CANopen node can be set with the DIP switch S3 marked Node Baudrate connected to shift register. Seven switch positions (4 to 10) are allocated to the Node ID (1-127) and three switch positions (1 to 3) to the baud rate. The settings of these switches are sampled after Reset of CANopenIA-M0. These values are actually used or overwritten by values stored in the EEPROM depends on the configuration of the CANopenIA-M0. The CANopenIA-M0 setup utility takes care of the software configuration. If a node ID of 0 is set, CANopenIA-M0 will determine the node ID to be used from the configuration stored in the EEPROM. Table 2 shows how the baud rate can be set using positions 1-3 using DIP switch S3. Baud rate S3 Positions Value 1 Mbit/s kbit/s kbit/s kbit/s kbit/s kbit/s kbit/s kbit/s Note: 1 means switch position set to ON according to switch S3 marking, 0 is OFF Table 2 Hardware baud rate setting COIAM0_SK_ManualEng_E8.doc
10 Page 10 of 21 Table 3 shows how the CANopen node ID can be set using positions 4-10 of DIP switch S3. Node ID S3 Positions (invalid) h h E h F h Note: 1 means ON according to switch S3 marking, 0 is OFF Table 3 - Hardware Node ID setting Note that in Table 2 and Table 3 all values read using the S3 switch are binary inverted. 6.4 Digital Inputs / Outputs As described in the COIA-M0 user manual all 4-bit ports 0-6 can be configured as digital inputs / outputs using CANopenIA-M0 setup utility. The evaluation board provides for each port one group of 4-pole DIP switches to set input values, 4x signal LEDs to visualize outputs, 4-pole pin headers to allow connection of external equipment and LED jumper to enable / disable output LEDs of selected COIA-M0 port. These groups are visually marked on the evaluation board and identified with port numbers, see Fig. 2. Note that signal LEDs shows output signals inverted i.e. lighting LED means logical 0 of the related signal. Note also that signals read from DIP switches are also inverted i.e. if switch position is in state ON then the read logical value will be 0. Fig. 2 Digital Inputs / Outputs If any port is configured as digital output all positions on the related switch should be set to off and related LED jumper can be closed to be able to visualize output signals using related LEDs. For example if port 0 is configured as output all switch S4 positions should be set to off and JP5 can be closed. LED D3 then reflects then state of signal P0_0, D5 P0_1 and so on. If any port is configured as digital input the related LED jumper must be open and the DIP switch can be used to set logical state of input signal. For example if port 0 is configured as digital input then JP5 must be open and logical state signal P0_0 can be set using position 1 of the DIP switch J11, P0_1 with the position 2 and so on. COIAM0_SK_ManualEng_E8.doc
11 Page 11 of 21 Fig. 3 Single port pin schematics As the ports 4, 5 and 6 can be also used as analog ports, following additional steps must be done before these ports are used as digital inputs / outputs: Port 4: Analog connector J18 must be unconnected Port 5: Jumper JP7 must be open Port 6: Jumper JP12 must be open 6.5 Internal Analog Input To use port 4 as internal analog input (4-channel, 10-bit) following requirements must be fulfilled: port 4 must be configured as internal analog input LED jumper JP15 must be open all switch S10 positions must be set to off Analog signals from external source can be connected directly to pin header J17 or to pin header J18, pins 1, 3, 5, 7. The best way to demonstrate functionality of internal analog input is to connect potentiometers R32-R35 to this signal by bridging pin header J18 by four jumpers as described in Fig. 4. COIAM0_SK_ManualEng_E8.doc
12 Page 12 of 21 Fig. 4 Pin header J15 / J18 jumper configuration for internal analog input 6.6 External Analog input To use port 6 as external analog input (4-channel, 12-bit) following requirements must be fulfilled: port 6 must be configured as analog input with the external AD-converter AD7923BRU LED jumper JP11 must be open all DIP switch S9 positions must be set to off jumper JP12 must be closed jumper JP14 must be closed Analog signals from external source can be connected directly to pin header J15 pins 1, 3, 5 and 7. To demonstrate analog input functionality connect potentiometers R32-R35 to this signal by bridging pin header J15 and J18 with four jumpers as described in Fig. 5. Fig. 5 - Pin header J15 / J18 jumper configuration for external analog input 6.7 External Analog Output To use port 5 as external analog output (4-channel, 12-bit) following steps must be fulfilled: port 5 must be configured as analog output with the external DA-converter AD5624 LED jumper JP6 must be open all DIP switch S5 positions must be set to off jumper JP7 must be closed jumper JP9 must be closed COIAM0_SK_ManualEng_E8.doc
13 Page 13 of 21 The output analog signals can be acquired from header J15 pins 2, 4, 6 and 8. If the jumper J4 is closed then LEDs D11-D14 indicates level of voltage on all four analog channels. 6.8 Special Function Pin Button Special function button SFP S2 can be used to trigger configured special function. NOTE: the special function is currently unused. 7. Installing PCAN-USB driver First of all, note that the PCAB-USB device should only be connected after the drivers have been installed on the computer. Start by getting the necessary driver for the PCAN-USB device from PEAKs webpage at From there navigate to Products -> Hardware -> PCAN-USB and under download locate PCAN-USB package. After downloading the package unzip it and locate the PeakOemDrv application file (see Fig. 6 ), run the application. Fig. 6 Package content Follow the installation instructions given and if asked Select components, select PCAN-USB, PCAN-USB Hub (see Fig. 7 ) Fig. 7 Driver Installation After the installation is completed, run PCAN Nets as Administrator. Here users can input the necessary nets for the PCAN-USB to operate. To add a new net click on PCAN-USB -> New Net, a properties menu will open and there users can specify the name of the net and the baud rate (see Fig. 8 ). COIAM0_SK_ManualEng_E8.doc
14 Page 14 of 21 Fig. 8 PCAN Net configuration 8. Installing CANopen Magic Standard 8.1 About CANopen Magic CANopen Magic is a professional grade CANopen development tool, indispensable for assisting in the development and debugging of CANopen based networks. Using CANopen Magic, a CANopen network may be monitored, configured and analyzed and CANopen nodes can be tested and integrated. Timings of message transmissions can be observed, allowing comparison against network specifications. Nodes may be quickly and easily configured and test messages generated with a minimum of effort. New nodes may be simulated individually and as part of a network of real nodes and/or simulated nodes. Network traffic can be traced, logged and replayed. 8.2 Installation To install the software run the installer and it will guide you through the steps. In addition you will need to install the drivers supplied with your CAN interface and the Microsoft.NET Framework 4.0 or later. If you don't have the.net framework the installer will automatically download and install it for you. When prompted choose to install the PEAK professional driver. Even if you are not using PEAK CAN interfaces this driver is still required. You will need the activation code provided when you purchased the starter kit, and this is entered into the installer when prompted. 8.3 Setup When you run CANopen Magic it is not connected to any CAN interface. Before the application can send or receive it must be connected. To do this click on the connection button on the toolbar or choose Connect... from the Network menu. A connection window will open. COIAM0_SK_ManualEng_E8.doc
15 Page 15 of 21 Choose the CAN interface vendor from the drop down list and then choose the network or bus speed to use. Loopback is a simulation CAN bus that allows you to use the functionality of the software without a CAN interface. This is useful when running simulated nodes or evaluating the software. For some CAN interfaces the available networks or bus speeds can be edited. If this option is available then the Edit... button will be enabled. Click on the button to configure the CAN interface options. Choose the network you wish to use and click on Connect. If you are using a PEAK CAN interface then you can run PCAN-View, PCAN-Explorer or a custom application at the same time as CANopen Magic. Just choose the same CAN interface and network in all applications and they will be able to see each other's CAN messages. 9. Creating and loading an example configuration In this section we are going to cover the basic steps to create a configuration and uploading the newly created configuration to the CANopenIA-M0. We accomplish this by using the set-up utility CANopenIA. In this example we are going to configure the chip to use: two Analog Inputs, one Analog Output, one Digital Output and one Digital Input whose bits are inverted. COIAM0_SK_ManualEng_E8.doc
16 Page 16 of Fig. 9 CANopenIA default view Step 1. Launching the program After installation, the program can be found under Start -> All Programs -> CANopenIA. Launching the program will open the windows showed in Fig The program has two tabs, Configure Node and Access Node 2. The configuration tab has a sub-menus for different configuration options 3. Here are the options displayed after selecting a sub-menu option Step 2. Making configurations For simplicity we are not going to make any changes to the Device Information and carry on with Hardware configuration. Under Configure Node -> Hardware we can find three options: 1. CAN bus, here the user can specify the baud rate and the node ID. For this example lets choose 125kbps and the node id of 0x0A (10) 2. I/O Ports, here the user can specify the mode of the ports, inverted pins and Error outputs. For this example please refer to Fig Analog Hardware, here the user can specify the input and output hardware as required by the application. For this example we are using Input Hardware AD7923 and Output Hardware AD5624 which are present on the starter kit board. COIAM0_SK_ManualEng_E8.doc
17 Page 17 of 21 Fig. 10 I/O port configuration Under Errors and Emergencies -> Error Conditions, the user can specify a delay before reset (see Fig. 11 ). Whenever an error condition requires a reset of the device, the specified delay in milliseconds is added before executing the reset and re-starting the device. Fig. 11 Error conditions Under Heartbeat the user can specify the heartbeat time. In this example it is 800 ms. Under Preferences the user can check/uncheck the auto start checkbox. In this example it s unchecked. Step 3. Downloading the new configuration If the CANopenIA-M0 connected has a Node ID configured, the user must select the respective Node ID. If the system is in the LSS mode, the user can freely choose the Node ID and then press Assign Node ID. If any of the buttons has been pressed, the system informs that it is Not connected. Please connect to a CAN interface and try again. Then a window will appear where the user can COIAM0_SK_ManualEng_E8.doc
18 Page 18 of 21 choose between the Drivers. In this example we are using PEAK-System Technik, PCAN-USB configured with baud rate of 125kbps (Fig. 12 ) Fig. 12 Driver selection Before pressing Download Configuration button, we highly recommend that you save your project and generate EDS file so that one has matching EDS. Now press the Download Configuration button, to send the newly made configuration to the CANopenIA-M0 (Fig. 13 ) Fig. 13 Access node tab COIAM0_SK_ManualEng_E8.doc
19 Page 19 of Accessing CANopenIA with CANopen Magic Standard Once a configuration download is complete, you can use CANopen Magic Standard to monitor the CANopen communication. The trace window displays all CANopen communication with symbolic interpretation. The Network Management functions are made available via a pull-out menu on the top left side of the display and can be used to switch the operation modes of the CANopenIA-M0. Using the Add menu, read and write tabs can be added. The figure below shows a read tab reading the Manufacturer Device Name plus the trace generated along with the read access. COIAM0_SK_ManualEng_E8.doc
20 Page 20 of Advanced Configurations The setup utility described in this document supports configurations using CANopen default parameters for PDO linking and mapping parameters. If more advanced PDO configurations are required, please use CANopen Architect to generate the configuration and CANopen Magic to load the configuration into the CANopenIA-M0 module. Please refer to the CANopenIA- M0 user manual for more information about these configurations options. COIAM0_SK_ManualEng_E8.doc
21 Page 21 of 21 Disclaimer These products are not designed for use in life support appliances, devices or systems where malfunction of these products can reasonably be expected to result in personal injury. ESS Embedded Systems Solutions GmbH customers using or selling these products for use in such applications do so at their own risk and agree to fully indemnify ESS Embedded Systems Solutions GmbH for any damages resulting from such application. Right to make changes reserves the right to make changes, without notice, in the products, and/or software, described or contained herein in order to improve design and/or performance. assumes no responsibility or liability for use of any of these products, conveys no license or title under any patent, copyright, or mask work to right to these products, and makes no representations or warranties that these products are free from patent, copyright, or mask work right infringement, unless otherwise specified. Deutschland Tel.: +49 (0) Copyright All rights reserved. Printed in Germany COIAM0_SK_ManualEng_E8.doc
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