CANopen IO X1 Fact sheet

Transcription

1 CANopen IO X Fact sheet Overview The CANopen IO X is a very compact and cost effective CANopen IO module featuring a high-density of industrial proven I/O's. The module includes a CPU-core including the pre-programmed firmware for CANopen communication and peripherals for the industrial inputs and outputs. Extensive diagnostic routines are implemented to ensure a most reliable and safe operation. All inputs and outputs as well as configuration parameters are accessible via the CANopen protocol. The CANopen IO X is a CANopen slave device according CANopen device profile CiA 40 DS V. and CANopen communication profile CiA 30 DS V4.0. Two LED indicate the device state according to CiA DR V.0. IO configuration: Digital outputs: 8 channels, 4VDC / 500mA high side switches with short circuit protection and monitoring, overheat protection Digital inputs: 6 channels, 4VDC galvanic isolated 4 channels share same ground CANopen features: Communication profile CiA 30 DS V4.0 Device profile CiA 40 DS V. State indicator profile CiA DR V.0 Layer Setting Service (LSS) CiA 305 DS V. TPDO and RPDO Dynamic PDO-Linking and Mapping SDO-Server Life guarding, Node guarding, Heartbeat Producer 5 Heartbeat Consumers Emergency Producer Minimum Boot-up capability (Slave) Minimum NMT boot-up master function (Manufacturer extension) Communication and device configuration: Galvanic decoupled CAN-bus driver supports up to 0 CAN-nodes on one bus Jumper for CAN-bus termination 0Ω Hex-encoding switches for setting node ID and baud rate CAN-bus baud rate: 0kBit/s to Mbit/s High-quality connector included in scope of delivery: Power-Supply: -pin plug connector CAN-bus: 5-pin plug connector I/O: single 30-pin plug connector, lockable Non-volatile memory for storage of configuration data Internal monitoring and diagnostics of: onboard temperature, power supply, memory and other controller internals Emergency Messages sent out in case of failure Power Supply, Environmental Conditions: Operating voltage: 4V ±0% Current consumption: < 70mA Operating temperature: -0 C to +70 C Storage temperature: -0 C to +90 C Dimensions (LxWxH in mm): 95x70x58 Installation method: DIN-rail mounting Enclosure protection class: IP0 Weight: ca. 30g Delivery contents / order number Assembled and tested module, Manual and corresponding EDS-file. Order number: CANopen IO-X, standard version CANopen IO-X, pulsed output Page of 5

2 Device pinout L+ DO 0G 4 L+ 0 Power Digital Input 5 Digital Input Digital Output 4V DC 4V RST L+ 0G 6 Run Error G 4 G 0 Node-ID High Low Baudrate 4G 34 5 DI 3G CANterm-0R CAN Hex-encoding Switches: Node ID: Allows for configuration of node ID from 0x... 0x7F (..7 dec). When node-id is set to value 0xFF, the device is reset to factory settings after power-on or reset. The node-id is also configurable via LSS. Baud rate: Selectable via Hex-switch: 0 = Mbit/s = 800 kbit/s = 500 kbit/s 3 = 50 kbit/s 4 = 5 kbit/s 5 = 00 kbit/s 6 = 50 kbit/s 7 = 0 kbit/s 8 = 0 kbit/s The baud rate is also configurable via LSS. Connector pinout: Pin Name Description Power Connector * L+ +4VDC ±0% 0G Ground 0 CAN Connector * CAN ground CAN low 3 n.c. 4 CAN high 5 +4VDC (optional used) IO Connector * L+ +4VDC ( connected to L+ ) 0G Ground 0 for digital outputs 3 0 digital output 0 4V/500mA 4 4 digital output 4 4V/500mA 5 digital output 4V/500mA 6 5 digital output 5 4V/500mA 7 digital output 4V/500mA 8 6 digital output 6 4V/500mA 9 3 digital output 3 4V/500mA 0 7 digital output 7 4V/500mA G Ground 3 0 digital input 0 4V to G 5 digital input 4V to G 7 digital input 4V to G 9 3 digital input 3 4V to G G Ground 4 4 digital input 4 4V to G 6 5 digital input 5 4V to G 8 6 digital input 6 4V to G 0 7 digital input 7 4V to G 3G Ground digital input 8 4V to 3G 5 9 digital input 9 4V to 3G 7 0 digital input 0 4V to 3G 9 digital input 4V to 3G 4G Ground 4 4 digital input 4V to 4G 6 3 digital input 3 4V to 4G 8 4 digital input 4 4V to 4G 30 5 digital input 5 4V to 4G * in picture pin is marked with slash PDO Mapping In standard configuration (factory settings) the digital output DO0..7 and the digital inputs DI0..5 are mapped to the following PDO's. ID Length BYTE 0 BYTE. RPDO 00H DO0_7 +Node ID 600H/. TPDO 80H DI0_7 DI8_5 +Node ID 6000H/ 6000H/ The PDO-mapping and linking can be changed dynamically by use of a standard CANopen configuration tool. By doing so, the nd TPDO and nd RPDO become available. The configuration can be saved to non-volatile memory and thus is available after restart. Page of 5

3 Object Dictionary Index Object Name Data type Object is mappable Object gets saved via 00H Object gets Restored via 0H 000H Var Device type Unsigned H Var Error register Unsigned H Array Pre-defined error field Unsigned H Var COB-ID SYNC message Unsigned3 - x x 007H Var Synchronous window length Unsigned3 - x x 008H Var Manufacturer device name String H Var Manufacturer hardware version String AH Var Manufacturer software version String CH Var Guard Time Unsigned6 - x x 00DH Var Life Time Factor Unsigned8 - x x 00H Array Store parameters Unsigned H Array Restore default parameters Unsigned H Var COB-ID EMCY Unsigned3 - x x 06H Array Consumer Heartbeat Time Unsigned3 - x x 07H Var Producer Heartbeat Time Unsigned6 - x x 08H Record Identity object Identity H Array Error behavior object Unsigned8 - x x 00H Record st SDO Server Parameter SDO Parameter H Record RPDO Communication parameter PDOComPar - x x 40H Record RPDO Communication parameter PDOComPar - x x 600H Record RPDO Mapping parameter PDOMapPar - x x 60H Record RPDO Mapping parameter PDOMapPar - x x 800H Record TPDO Communication parameter PDOComPar - x x 80H Record TPDO Communication parameter PDOComPar - x x A00H Record TPDO Mapping parameter PDOMapPar - x x A0H Record TPDO Mapping parameter PDOMapPar - x x F5H Var ProgramControl Unsigned H Var NMT Boot Configuration Unsigned H Var Power Fail Configuration Unsigned8 - x x 00H Array Device Features Integer H Array Disable digital input 8 bit Unsigned8 - x x 0H Array Enable pulsed digital output Unsigned8 - x x 0H Array Enable retrigger pulsed digital output Unsigned8 - x x 03H Array Enable active off pulsed digital output Unsigned8 - x x 04H Array Pulslength pulsed digital output Unsigned6 - x x 500H Record for Production only Production H Array Read Digital Input 8Bit Unsigned8 x H Array Filter Constant Input 8Bit Unsigned8 - x x 6005H Var Global Interrupt Enable 8Bit Boolean H Array Interrupt Mask Any Change 8Bit Unsigned8 - x x 6007H Array Interrupt Mask Low to High 8Bit Unsigned8 - x x 6008H Array Interrupt Mask High to Low8Bit Unsigned8 - x x 600H Array Write Output 8Bit Unsigned8 x H Array Error Mode Output 8Bit Unsigned8 - x x 607H Array Error Value Output 8Bit Unsigned8 - x x 608H Array Filter Mask Output 8Bit Unsigned8 - x x Page 3 of 5

4 IO circuitry Page 4 of 5

5 Device dimensions Release V.08e Page 5 of 5