CAN-CBX-DIO8. Compact I/O-Module with InRailBus. Manual. to Product C CAN-CBX-DIO8 Manual Doc.-No.: C / Rev. 2.

Transcription

1 Compact I/O-Module with InRailBus Manual to Product C Manual Doc.-No.: C / Rev. 2.7 Seite 1 von 104 esd electronic system design gmbh Vahrenwalder Str Hannover Germany Fax: 0511/ Phone: 0511/ International:

2 N O T E The information in this document has been carefully checked and is believed to be entirely reliable. esd makes no warranty of any kind with regard to the material in this document, and assumes no responsibility for any errors that may appear in this document. esd reserves the right to make changes without notice to this, or any of its products, to improve reliability, performance or design. esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product of esd gmbh. esd does not convey to the purchaser of the product described herein any license under the patent rights of esd gmbh nor the rights of others. esd electronic system design gmbh Vahrenwalder Str Hannover Germany Phone: Fax: info@esd-electronics.com Internet: USA / Canada: esd electronics Inc. 525 Bernardston Road Suite 1 Greenfield, MA USA Phone: Fax: us-sales@esd-electronics.com Internet: Seite 2 von 104 Manual Doc.-No.: C / Rev. 2.7

3 Document-File: I:\Texte\Doku\MANUALS\CAN\CBX\DIO8\Englisch\CBX-DIO8_27.en9 Date of print: PCB versions: Rev. 1.0 Firmware version: 2.0 Changes in the chapters The changes in the document listed below affect changes in the hardware and firmware as well as changes in the description of facts only. Chapter Changes versus previous version Description of the LED indication corrected - Current Declaration of CE Conformity inserted. Technical details are subject to change without further notice. Manual Doc.-No.: C / Rev. 2.7 Seite 3 von 104

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5 1. Overview Technical Data General technical Data CPU Unit CAN Interface Digital In-/Outputs Hardware Installation Connecting Diagram LED Display Indicator States Operation of the CAN-Error LED Operation of the CANopen-Status LED Operation of the Error-LED Operation of the VIO-LED Special Indicator States I/O-LED Coding Switch Setting the Node-ID via Coding Switch Setting the Baud Rate Installation of the Module Using Optional InRailBus Connector Connecting Power Supply and CAN-Signals to CBX-InRailBus Connection of the Power Supply Voltage Connection of CAN Remove the CAN-CBX Module from the Optional InRailBus Description of the Units CAN Interface Digital Inputs Digital Outputs Connector Pin Assignment Power Supply Voltage X CAN-Bus X CAN and Power Supply Voltage via InRailBus Connector X Digital In/Outputs X Correctly Wiring Electrically Isolated CAN Networks CAN-Bus Troubleshooting Guide Termination CAN_H/CAN_L Voltage Ground CAN Transceiver Resistance Test Manual Doc.-No.: C / Rev. 2.7 Seite 5 von 104

6 8. Software Definition of Terms NMT Boot-up CANopen Object Directory Access on the Object Directory via SDOs Overview of Used CANopen Identifiers Setting the COB-ID PDO Assignment Setting and Reading of the Out/Inputs Status Message of the Digital Inputs Digital Outputs Supported Transmission Types Based on DS Implemented CANopen-Objects Device Type (1000 h ) Error Register (1001 h ) Pre-defined Error Field (1003 h ) COB-ID SYNC Message (1005 h ) Manufacturer s Device Name (1008 h ) Manufacturer s Hardware Version (1009 h ) Manufacturer s Software Version 100A h Guard Time (100C h ) und Life Time Factor (100D h ) Node Guarding Identifier (100E h ) Store Parameters (1010 h ) Restore Default Parameters (1011 h ) COB_ID Emergency Object (1014 h ) Inhibit Time EMCY (1015 h ) Consumer Heartbeat Time (1016 h ) Producer Heartbeat Time (1017 h ) Identity Object (1018 h ) Verify Configuration (1020 h ) Error Behaviour Object (1029 h ) Receive PDO Communication Parameter 1400 h Receive PDO Mapping Parameter 1600 h Object Transmit PDO1 Communication Parameter 1800 h Object Transmit PDO2 Communication Parameter 1801 h Transmit PDO1 Mapping Parameter 1A00 h Transmit PDO2 Mapping Parameter 1A01 h Device Profile Area Implemented Objects 6000 h h Interrelation of the Implemented Objects of the Digital Inputs Interrelation of the Implemented Objects of the Digital Outputs Read Input 8-Bit (6000 h ) Polarity Input 8-Bit (6002 h ) Filter Constant Input 8-Bit (6003 h ) Global Interrupt Enable Digital (6005 h ) Interrupt Mask Any Change 8-Bit (6006 h ) Interrupt Mask Low to High 8-Bit (6007 h ) Interrupt Mask High to Low 8-Bit (6008 h ) Write Output 8-Bit (6200 h ) Seite 6 von 104 Manual Doc.-No.: C / Rev. 2.7

7 Contents Page Change Polarity Output 8-Bit (6202 h ) Error Mode Output 8-Bit (6206 h ) Error Value Output 8-Bit (6207 h ) Manufacturer Specific Profile Area Implemented Objects 2210 h h Output Errors 8-Bit (2210 h ) Output Error Produces Emergency 8-Bit (2220 h ) I/O Mask 8-Bit (2250 h ) VIO Voltage 16-Bit (2300 h ) Sample Configuration (2310 h ) Function of the Counter Counter Enable (2400 h ) Counter Preload (2401 h ) Counter Value 32-Bit (2403h) Counter Value 16-Bit (2402h) Firmware Update via DS 302-Objects (1F50 h...1f52 h ) Download Control via Object 1F51 h Manual Doc.-No.: C / Rev. 2.7 Seite 7 von 104

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9 Overview i 1. Overview C A N B U S CAN Connector MC1,5/5-GF-3,81 ME-MAX Bus Connector Electrical Isolation Physical CAN Layer Digital Isolator +5 V= DC/DC Converter +5 V= CAN Microcontroller MB x Digital Input/Output Coding Switches CAN Baud Rate CANopen Node-ID I/O-Connector MCDN 1,5/10-G1-3,5 RNP26THR Power Connector MSTBO 2,5/4- G1L-KMGY Power Supply 24 V(DC) LEDs Figure 1: Block circuit diagram The module is equipped with eight digital in-/outputs which can be individually set as outputs or inputs. The power supply voltage and the CAN bus signals can be fed via the InRailBus or they can be fed via plugs with spring-cage connection. The module operates with a MB90F497 microcontroller which buffers CAN data into a local SRAM. The firmware is contained in the flash. Parameters are stored in a serial EEPROM. The ISO compliant CAN interface allows a maximum data transfer rate of 1 Mbit/s. The CAN interface is electrically isolated by a dual digital isolator and a DC/DC converter. The CANopen node number and the CAN bit rate can be configured via three coding switches. Manual Doc.-No.: C / Rev. 2.7 Seite 9 von 104

10 Technical Data 2. Technical Data 2.1 General technical Data Power supply voltage nominal voltage 24 V input voltage range: V/DC current consumption (24 V, 20 /C): typ.: 30 ma, (without VIO) max.: 40 ma X100 (4-pin COMBICON plug with spring-cage connection) - 24 V-power supply voltage X101 (5-pin ME-MAX-TBUS connector, Phoenix Contact) - CAN interface and power supply voltage via InRailBus Connectors Temperature range Humidity Dimensions Weight X400 (20-pin Mini-COMBICON connector) - digital input/output X600 (5-pin Mini-COMBICON connector) - CAN interface only for test- and programming purposes: X200 (6-pin COMBICON connector) the connector is placed inside the case -20 /C /C ambient temperature max. 90%, non-condensing 22 x 112 x 113 mm (W, H, D) (including mounting rail fitting and connector projection) approx. 125 g Table 1: General data of the module 2.2 CPU Unit CPU RAM Flash EEPROM 16 bit :C MB90F497 2 Kbyte integrated 64 Kbyte integrated 128 byte Table 2: Microcontroller Seite 10 von 104 Manual Doc.-No.: C / Rev. 2.7

11 Technical Data 2.3 CAN Interface Number of CAN interfaces Connection CAN controller Electrical isolation of CAN interfaces from other units Physical layer CAN 1 x CAN 5-pin Phoenix Contact Combicon with spring-cage connection or via Phoenix Contact TBUS connector (InRailBus) MB90F497, CAN 2.0A/B, (only 11-bit CAN identifier are supported by software) via dual digital isolator (ADUM120BR) and DC/DC converters physical layer according to ISO 11898, transfer rate programmable from 10 Kbit/s up to 1 Mbit/s Table 3: CAN interface data 2.4 Digital In-/Outputs Number 8 I/O channels, in- or output individually selectable, over voltage protection (max. 30 V) Digital output circuit Design Nominal voltage Nominal load current high side switch 24 V up to 1 A Digital input circuit Nominal voltage Protective circuit 24 V 20-pin Mini-Combicon Table 4: Data of digital in/outputs Manual Doc.-No.: C / Rev. 2.7 Seite 11 von 104

12 Technical Data 2.5 Order Information Type Features Order No. Manuals: 8 I/O-ports, 24 V input voltage, output current 1 A, 1x CAN-CBX-TBUS (C ) C ME Manual in English C Accessories: CAN-CBX-TBUS CAN-CBX-TBUS- Connector Mounting-rail bus connector of the CBX-InRailBus for CAN-CBX modules, (a bus connector is included in delivery of the CAN- CBX module) Terminal plug of the CBX-InRailBus for the connection of the +24V power supply voltage and the CAN interface Table 5: Order information C C Seite 12 von 104 Manual Doc.-No.: C / Rev. 2.7

13 Hardware Installation 3. Hardware Installation 3.1 Connecting Diagram Figure 2: Connections of the module The connector pin assignments can be found on page 27 and following. Manual Doc.-No.: C / Rev. 2.7 Seite 13 von 104

14 Hardware Installation 3.2 LED Display Figure 3: Position of the LEDs The module is equipped with 4 status LEDs and 8 LEDs for the I/O-channels. The terms of the indicator states of the LEDs are chosen in accordance with the CANopen Standard DS 303-3, V 1.2 (chapter 3.1). They are described in the following chapters Indicator States In principle there are 8 indicator states distinguished: Indicator state Display on LED constantly on off LED constantly off blinking LED blinking with a frequency of approx. 2.5 Hz flickering LED flickering with a frequency of approx. 10 Hz 1 flash LED 200 ms on, 1400 ms off 2 flashes LED 200 ms on, 200 ms off, 200 ms on 1000 ms off 3 flashes LED 2x (200 ms on, 200 ms off) + 1x (200 ms on 1000 ms off) 4 flashes LED 3x (200 ms on, 200 ms off) + 1x (200 ms on 1000 ms off) Table 6: Indicator states The red LED flashes opposite in phase with the green LED. Seite 14 von 104 Manual Doc.-No.: C / Rev. 2.7

15 Hardware Installation Operation of the CAN-Error LED LED indication Display function Label Name Colour Circuit no. Indicator state Description off no error 1 flash CAN controller is in Error Active state E CAN Error red 200A on 2 flashes CAN controller state is Bus Off (or coding switch position ID-node > 7F h when switching on; see page 17) Heartbeat or Nodeguard error occurred. The LED switches automatically to off, if Nodeguard/Heartbeat-messages are received again. Table 7: Indicator states of the red CAN Error-LED Operation of the CANopen-Status LED LED indication Display function Label Name Colour Circuit no. Indicator state Description blinking Pre-operational S CANopen Status green 200B on Operational 1 flash Stopped 3 flashes Module is in bootloader mode (or coding switch position ID-node > 7F h when switching on; see page 17) Table 8: Indicator states of the CANopen Status-LED Manual Doc.-No.: C / Rev. 2.7 Seite 15 von 104

16 Hardware Installation Operation of the Error-LED LED indication Label Name Colour Circuit no. M Error red 200C Indicator state off on 2 flashes no error Display function Description error occurred on one of the monitored outputs - if the module has switched to Stopped state when the error occurred, the LED remains on, even if the error does no longer exist - errors that occur after switching to Stopped state, will not be indicated EEPROM error - stored data have an invalid checksum therefore default values are loaded - indicator state lasts until the module resets or an error occurs at the outputs Table 9: Indicator state of the Error-LED Operation of the VIO-LED The display functions described in the following table are only valid if the module is in the Operational state and Output Port and Output Port Config are set. If these conditions do not apply, the LED is on. LED indication Label Name Colour Circuit no. V VIO_Sense green 200D Indicator state off blinking flickering on Display function if the module is in Operational state and Output Port and Output Port Config are set Description read value of the operating voltage of the digital outputs (object 2300 h,sub-index 1, see page 96) is lower than 5 V read value of the operating voltage of the digital outputs is lower than the value set in object 2300 h subindex 2 (see page 96) read value of the operating voltage of the digital outputs is higher than the value set in object 2300 h sub-index 3 (see page 96) read value of the operating voltage of the digital outputs is within the limits (object 2300 h, sub-index 2 and 3, see page 96) Table 10: Indicator state of the VIO-LED Seite 16 von 104 Manual Doc.-No.: C / Rev. 2.7

17 Hardware Installation Special Indicator States The following status is indicated by the CANopen-Status LED and the CAN-Error LED together: LED indication CANopen-Status LED: 3 flashes CAN-Error LED: on Description The coding switches for the Node-ID are set to an invalid ID-value, when switching on. The firmware application will not be started. Table 11: Special indicator states Manual Doc.-No.: C / Rev. 2.7 Seite 17 von 104

18 Hardware Installation I/O-LED 1-8 LED Name Indication function = I/O channel state 1 LED400D IO1 2 LED400C IO2 3 LED400B IO3 4 LED400A IO4 5 LED410D IO5 6 LED410C IO6 7 LED410B IO7 8 LED410A IO8 Table 12: Indication of LEDs 1-8 LED off on State of channels IO1...IO8 input voltage level is below the lower switching threshold, or output state is off input voltage level is higher than the upper switching threshold, or output state is on Table 13: State of channels IO1...IO8 Seite 18 von 104 Manual Doc.-No.: C / Rev. 2.7

19 Hardware Installation 3.3 Coding Switch Figure 4: Position of the coding switches! Attention! At the moment the module is switched on, the state of the coding switches is determined. Changes of the settings therefore have to be made before switching on the module, because changes of the settings are not determined during operation. After a reset (e.g. NMT reset) the settings are read again Setting the Node-ID via Coding Switch The address range of the modules can be set hexadecimal from 01 h to 7F h (decimal from 1 to 127). The four higher-order bits (higher-order nibble) can be set with coding switch HIGH, the four lowerorder bits can be set with coding switch LOW. Manual Doc.-No.: C / Rev. 2.7 Seite 19 von 104

20 Hardware Installation Setting the Baud Rate The baud rate can be set with the coding switch BAUD. Values from 0 h to F h can be set via the coding switch. The values of the baud rate can be taken from the following table: Setting Baud rate [Kbit/s] A 33.3 B 20 C 12.5 D 10 E reserved F reserved Table 14: Index of the baud rate Seite 20 von 104 Manual Doc.-No.: C / Rev. 2.7

21 Hardware Installation 3.4 Installation of the Module Using InRailBus Connector If the CAN bus signals and the power supply voltage shall be fed via the InRailBus, please proceed as follows: Figure 5: Mounting rail with bus connector 1. Position the InRailBus connector on the mounting rail and snap it onto the mounting rail using slight pressure. Plug the bus connectors together to contact the communication and power signals (in parallel with one). The bus connectors can be plugged together before or after mounting the CAN-CBX modules. 2. Place the CAN-CBX module with the DIN rail guideway on the top edge of the mounting rail. Figure 6 : Mounting CAN-CBX modules Manual Doc.-No.: C / Rev. 2.7 Seite 21 von 104

22 Hardware Installation 3. Swivel the CAN-CBX module onto the mounting rail in pressing the module downwards according to the arrow as shown in figure 6. The housing is mechanically guided by the DIN rail bus connector. 4. When mounting the CAN-CBX module the metal foot catch snaps on the bottom edge of the mounting rail. Now the module is mounted on the mounting rail and connected to the InRailBus via the bus connector. Connect the bus connectors and the InRailBus if not already done. Figure 7: Mounted CAN-CBX module Seite 22 von 104 Manual Doc.-No.: C / Rev. 2.7

23 Hardware Installation Connecting Power Supply and CAN-Signals to CBX-InRailBus To connect the power supply and the CAN-signals via the InRailBus, a terminal plug (order no.: C ) is needed. The terminal plug is not included in delivery and must be ordered separately (see order information). Fig. 8: Mounting rail with InRailBus and terminal plug Plug the terminal plug into the socket on the right of the mounting-rail bus connector of the InRailBus, as described in Fig. 8. Then connect the CAN interface and the power supply voltage via the terminal plug Connection of the Power Supply Voltage! Attention! It is not permissible to feed through the power supply voltage through the CBX station and to supply it to another CBX station via connector X100! A feed through of the +24 V power supply voltage can cause damage on the CBX modules. Fig. 9: Connecting the power supply voltage to the CAN-CBX station Manual Doc.-No.: C / Rev. 2.7 Seite 23 von 104

24 Hardware Installation Connection of CAN Fig. 10: Connecting the CAN signals to the CAN-CBX station Generally the CAN signals can be fed via the CAN connector of the first CAN-CBX module of the CBX station. The signals are then connected through the CAN-CBX station via the InRailBus. To lead through the CAN signals the CAN bus connector of the last CAN-CBX module of the CAN-CBX station has to be used. The CAN connectors of the CAN-CBX modules which are not at the ends of the CAN-CBX station must not be connected to the CAN bus, because this would cause incorrect branching. A bus termination must be connected to the CAN connector of the CAN-CBX module at the end of the CBX-InRailBus (see Fig. 10), if the CAN bus ends there. 3.5 Remove the CAN-CBX Module from the InRailBus If the CAN-CBX module is connected to the InRailBus please proceed as follows: Release the module from the mounting rail in moving the foot catch (see Fig. 7) downwards (e.g. with a screwdriver). Now the module is detached from the bottom edge of the mounting rail and can be removed. i Note: It is possible to remove entire individual devices from the whole without interrupting the InRailBus connection, because the contact chain will not be interrupted. Seite 24 von 104 Manual Doc.-No.: C / Rev. 2.7

25 Description of the Units 4. Description of the Units 4.1 CAN Interface An 82C251 is used as driver unit. The differential CAN bus signals are electrically isolated from the other signals via a dual digital converter (ADUM120BR) and a DC/DC converter. VCC GND DC/DC R05ET V 5V M 2.2nF/250V~ VC05D150 10µF CAN_GND +5V X101 Bus-Verbinder MEMAX VCC GND CAN_GND CAN_H CAN_L CAN_Tx CAN_Rx VCC Digitaler Datenkoppler IL712 I1 O2 VCC1 O1 I2 VCC2 CAN Transceiver PCA82C251 TX RX VDD BUSL BUSH X600 CAN_L CAN_H 2 4 GND1 GND2 R/GND GND CAN_GND 1 2x 100nF Figure 11: CAN interface Manual Doc.-No.: C / Rev. 2.7 Seite 25 von 104

26 Description of the Units 4.2 Digital Inputs VCC LED 1 (green) D_IN0 to Microcontroller MB90497_M09 330R 74HC K ZMM11 ZMM4V7 10K from Output Circuit 1K/0.25W 220nF IO1 M24 12 X pin MCDN 1,5/10-G1-3,81 RNP26THR 10 Figure 12: Digital input circuit (Example: IO1) 4.3 Digital Outputs D_OUT0 to Microcontroller MB90497_M09 4k7 100R ITS711 IN4 IN3 IN2 IN1 VBB OUT4 OUT3 OUT2 OUT1 to Input Circuit 22nF/ 50V L+24 IO1 1,11 12 V33MLA1206 X600 MCDN1,5/10-G1-3,5 RNP26THR LOAD Z VCC ERR00/01* ERR02/03* 4k7 4k7 100R 100R ST3/4 ST1/2 GND M , 20 Figure 13: Digital output circuit (Example: IO1) Seite 26 von 104 Manual Doc.-No.: C / Rev. 2.7

27 Connector Pin Assignment 5. Connector Pin Assignment 5.1 Power Supply Voltage X100 Device connector: COMBICON MSTBO 2,5/4-G1L-KMGY Line connector: COMBICON FKCT 2,5/4-ST, 5.0 mm pitch, spring-cage connection, PHOENIX-CONTACT order no.: (included in the scope of delivery) Pin Position: Pin Assignment: Pin Signal P24 (+ 24 V) M24 (GND) M24 (GND) P24 (+ 24 V) Please refer also to the connecting diagram on page 13. i Note: The pins 1 and 4 are connected to each other at the PCB. The pins 2 and 3 are connected to each other at the PCB. Signal Description: P24... M24... power supply voltage +24 V reference potential Manual Doc.-No.: C / Rev. 2.7 Seite 27 von 104

28 Connector Pin Assignment 5.2 CAN-Bus X600 Device Connector: Line Connector: COMBICON MC 1,5/5-GF-3,81 COMBICON FK-MCP 1,5/5-STF-3,81, spring-cage connection (included in the scope of delivery) Pin Position: Pin-Assignment: (Illustration of device connector) Pin Signal CAN_GND 2 CAN_L 3 Shield 4 CAN_H 5 - Signal description: CAN_L, CAN_H... CAN signals CAN_GND... reference potential of the local CAN physical layer Shield... pin for line shield connection (using hat rail mounting direct contact to the mounting rail potential) -... not connected Recommendation of an adapter cable from 5-pin Combicon (here line connector FK-MCP1,5/5- STF-3,81 with spring-cage-connection) to 9-pin DSUB: Figure 14: Assignment of the 9-pin DSUB-connector according to CiA DS 102. Seite 28 von 104 Manual Doc.-No.: C / Rev. 2.7

29 Connector Pin Assignment 5.3 CAN and Power Supply Voltage via InRailBus Connector X101 Connector type: Bus connector MEMAX ME 22,5 TBUS 1,5/5-ST-3,81 KMGY Pin Position: Pin Assignment: Pin Signal 5 M24 (GND) 4 P24 (+24 V) 3 CAN_GND 2 CAN_L 1 CAN_H S FE (PE_GND) Signal Description: CAN_L, CAN_H... CAN_GND... P24... M24... FE... CAN signals reference potential of the local CAN-Physical layers power supply voltage +24 V reference potential functional earth contact (EMC)(connected to mounting rail potential) Manual Doc.-No.: C / Rev. 2.7 Seite 29 von 104

30 Connector Pin Assignment 5.4 Digital In/Outputs X400 Device connector: Line connector: Phoenix Contact Combicon MCDN 1,5/10-G1-3,5 RNP26THR Phoenix Contact Combicon 2x FMC 1,5/10-ST-3,5 (spring-cage connections) (contained in the scope of supply) Connector top view: Pin Assignment: Pin Assignment: Signal Pin Pin Position: Pin Signal L + 24 V 1 11 L + 24 V M24 Pin No P M Labelling of the Module Case Pin No IO IO IO IO IO IO IO IO M24 Signal Description: L +24 V... supply voltage of the digital outputs M24... reference potential IO signals of the digital IOs 1-8! Attention! The maximum current load of the connector pins is 6A/pin. If all 8 outputs are to be operated with the maximum admissible load, the supply voltage has to be connected to pins 1 and 11. These pins are connected to each other on the PCB. Seite 30 von 104 Manual Doc.-No.: C / Rev. 2.7

31 Wiring 6. Correctly Wiring Electrically Isolated CAN Networks Generally all instructions applying for wiring regarding an electromagnetic compatible installation, wiring, cross sections of wires, material to be used, minimum distances, lightning protection, etc. have to be followed. The following general rules for the CAN wiring must be followed: A CAN net must not branch (exception: short dead-end feeders) and has to be terminated by the wave impedance of the wire (generally 120 W ±10%) at both ends (between the signals CAN_L and CAN_H and not at GND)! A CAN data wire requires two twisted wires and a wire to conduct the reference potential (CAN_GND)! For this the shield of the wire should be used! The reference potential CAN_GND has to be connected to the earth potential (PE) at one point. Exactly one connection to earth has to be established! 4. The bit rate has to be adapted to the wire length. 5. Dead-end feeders have to kept as short as possible (l < 0.3 m)! When using double shielded wires the external shield has to be connected to the earth potential (PE) at one point. There must be not more than one connection to earth. A suitable type of wire (wave impedance ca. 120 Ω ±10%) has to be used and the voltage loss in the wire has to be considered! CAN wires should not be laid directly next to disturbing sources. If this cannot be avoided, double shielded wires are preferable. Wire structure Signal assignment of wire and connection of earthing and terminator CAN_H CAN_L CAN_GND Shielded wire with transposed wires 120 Ohm DSUB9 connector (female or male) pin designation connector case n.c. CAN wire with connectors CAN_GND (at wire shield) CAN_L n.c. n.c. n.c. CAN_H n.c. n.c. n.c. n.c. = not connected n.c. n.c. n.c. n.c. n.c. n.c. n.c. DSUB9 connector (female or male) pin designation connector case 120 Ohm earth (PE) Figure: Structure and connection of wire Manual Doc.-No.: C / Rev. 2.7 Seite 31 von 104

32 Wiring Cabling for devices which have only one CAN connector per net use T-connector and dead-end feeder (shorter than 0.3 m) (available as accessory) Figure: Example for correct wiring (when using single shielded wires) Terminal Resistance use external terminator, because this can later be found again more easily! 9-pin DSUB-terminator with male and female contacts and earth terminal are available as accessories Earthing CAN_GND has to be conducted in the CAN wire, because the individual esd modules are electrically isolated from each other! CAN_GND has to be connected to the earth potential (PE) at exactly one point in the net! each CAN user without electrically isolated interface works as an earthing, therefore: do not connect more than one user without potential separation! Earthing CAN e.g. be made at a connector Seite 32 von 104 Manual Doc.-No.: C / Rev. 2.7

33 Wiring Wire Length Optical couplers are delaying the CAN signals. By using fast optical couplers and testing each board at 1 Mbit/s, esd modules typically reach a wire length of 37 m at 1 Mbit/s within a closed net without impedance disturbances like e.g. longer dead-end feeders. Bit rate [Kbit/s] Typical values of reachable wire length with esd interface l max [m] CiA recommendations (07/95) for reachable wire lengths l min [m] Table: Reachable wire lengths depending on the bit rate when using esd-can interfaces Manual Doc.-No.: C / Rev. 2.7 Seite 33 von 104

34 Wiring Examples for CAN Wires Manufacturer Type of wire U.I. LAPP GmbH Schulze-Delitzsch-Straße Stuttgart Germany e.g. UNITRONIC -BUS CAN UL/CSA UNITRONIC -BUS-FD P CAN UL/CSA (UL/CSA approved) (UL/CSA approved) ConCab GmbH Äußerer Eichwald Mainhardt Germany SAB Bröckskes GmbH&Co. KG Grefrather Straße b Viersen Germany e.g. BUS-PVC-C (1 x 2 x 0.22 mm²) Order No.: (UL appr.) BUS-Schleppflex-PUR-C (1 x 2 x 0.25 mm²) Order No.: (UL appr.) e.g. SABIX CB 620 (1 x 2 x 0.25 mm²) Order No.: CB 627 (1 x 2 x 0.25 mm²) Order No.: (UL appr.) Note: Completely configured CAN wires can be ordered from esd. Seite 34 von 104 Manual Doc.-No.: C / Rev. 2.7

35 CAN-Bus Troubleshooting Guide 7. CAN-Bus Troubleshooting Guide The CAN-Bus Troubleshooting Guide is a guide to find and eliminate the most frequent hardware-error causes in the wiring of CAN-networks. 2 3 V V 120 Ω CAN_H CAN_L CAN_H CAN_L 120 Ω Ω 1 CAN_GND CAN_GND Figure: Simplified diagram of a CAN network 7.1 Termination The termination is used to match impedance of a node to the impedance of the transmission line being used. When impedance is mismatched, the transmitted signal is not completely absorbed by the load and a portion is reflected back into the transmission line. If the source, transmission line and load impedance are equal these reflections are eliminated. This test measures the series resistance of the CAN data pair conductors and the attached terminating resistors. To test it, please 1. Turn off all power supplies of the attached CAN nodes. 2. Measure the DC resistance between CAN_H and CAN_L at the middle and ends of the network 1 (see figure above). The measured value should be between 50 and 70 at each point of the network. S. The measured value should be nearly the same If the value is below 50 S, please make sure that: - there is no short circuit between CAN_H and CAN_L wiring - there are not more than two terminating resistors - the nodes do not have faulty transceivers. If the value is higher than 70 S, please make sure that: - there are no open circuits in CAN_H or CAN_L wiring - your bus system has two terminating resistors (one at each end) and that they are 120 S each. Manual Doc.-No.: C / Rev. 2.7 Seite 35 von 104

36 CAN-Bus Troubleshooting Guide 7.2 CAN_H/CAN_L Voltage Each node contains a CAN transceiver that outputs differential signals. When the network communication is idle the CAN_H and CAN_L voltages are approximately 2.5 volts. Faulty transceivers can cause the idle voltages to vary and disrupt network communication. To test for faulty transceivers, please 1. Turn on all supplies. 2. Stop all network communication. 3. Measure the DC voltage between CAN_H and GND 2 (see figure above). 4. Measure the DC voltage between CAN_L and GND 3 (see figure above). Normally the voltage should be between 2.0 V and 4.0 V. If it is lower than 2.0 V or higher than 4.0 V, it is possible that one or more nodes have faulty transceivers. For a voltage lower than 2.0 V please check CAN_H and CAN_L conductors for continuity. For a voltage higher than 4.0 V, please check for excessive voltage. To find the node with a faulty transceiver please test the CAN transceiver resistance (see next page). 7.3 Ground The shield of the CAN network has to be grounded at only one location. This test will indicate if the shielding is grounded in several places. To test it, please 1. Disconnect the shield wire (Shield) from the ground. 2. Measure the DC resistance between Shield and ground (see picture on the right hand). 3. Connect Shield wire to ground. CAN_H CAN_L CAN_GND Ω >1MΩ Fig.: Simplified schematic diagram of ground test measurement The resistance should be higher than 1 M S. If it is lower, please search for additional grounding of the shield wires. Seite 36 von 104 Manual Doc.-No.: C / Rev. 2.7

37 CAN-Bus Troubleshooting Guide 7.4 CAN Transceiver Resistance Test CAN transceivers have one circuit that controls CAN_H and another circuit that controls CAN_L. Experience has shown that electrical damage to one or both of the circuits may increase the leakage current in these circuits. To measure the current leakage through the CAN circuits, please use an resistance measuring device and: 1. Disconnect the node from the network. Leave the node unpowered 4 (see figure below). 2. Measure the DC resistance between CAN_H and CAN_GND 5 (see figure below). 3. Measure the DC resistance between CAN_L and CAN_GND 6 (see figure below). Normally the resistance should be between 1 M S and 4 M S or higher. If it is lower than this range, the CAN transceiver is probably faulty. CAN-node 5 6 Ω Ω CAN- Transceiver CAN_H CAN_L CAN_GND Power 4 Disconnect CAN! 4 Disconnect Power! Figure: Simplified diagram of a CAN node Manual Doc.-No.: C / Rev. 2.7 Seite 37 von 104

38 Software 8. Software Apart from basic descriptions of the CANopen, this chapter contains the most significant information about the implemented functions. A complete CANopen description is too extensive for the purpose of this manual. Further information can therefore be taken from the CAL / CANopen documentation CiA Draft Standard 301, V 4.02 and CiA Draft Standard Proposal 401, V Definition of Terms COB... Emergency-Id... NMT... Rx... SDO... Sync... Tx... Communication Object Emergency Data Object Network Management (Master) receive Service Data Object Sync(frame) Telegram transmit PDOs (Process Data Objects) PDOs are used to transmit process data. In the Receive -PDO (RxPDO) process data is received by the module. In the Transmit -PDO (TxPDO) the module transmits data to the CANopen network. SDOs (Service Data Objects) SDOs are used to transmit module internal configuration- and parameter data. In opposition to the PDOs SDO-messages are confirmed. A write or read request on a data object is always answered by a response telegram with an error index. Seite 38 von 104 Manual Doc.-No.: C / Rev. 2.7

39 Software 8.2 NMT Boot-up The module can be initialized with the Minimum Capability Device boot-up as described in CiA-Draft Standard 301 in chapter 9.4. Usually a telegram to switch from Pre-Operational status to Operational status after boot-up is sufficient. For this the 2-byte telegram 01 h, 00 h, for example, has to be transmitted on CAN-identifier 0000 h (= Start Remote Node all Devices). 8.3 CANopen Object Directory The object directory is basically a (sorted) group of objects which can be accessed via the network. Each object in this directory is addressed with a 16-bit index. The index in the object directories is represented in hexadecimal format. The index can be a 16-bit parameter in accordance with the CANopen specification (CiA-Draft DS 301) or a manufacturer-specific code. By means of the MSBs of the index the object class of the parameter is defined. Part of the object directory are among others: Index Object Example F definition of data types FFF Communication Profile Area 1001 h : error register FFF Manufacturer Specific Profile Area 2200 h : Reset_Output_State FFF Standardized Device Profile Area according to application profile DS 40x A FFFF reserved Access on the Object Directory via SDOs SDOs (Service Data Objects) are used to get access to the object directory of a device. An SDO therefore represents a channel to access the parameter of the device. The access via this channel can be made in module state operational and pre-operational. The SDOs are transmitted on ID 600 h + NodeID (request). The receiver acknowledges the parameter on ID 580 h + NodeID (response). Manual Doc.-No.: C / Rev. 2.7 Seite 39 von 104

40 Software An SDO is structured as follows: Identifier Command code (low) Index (high) Sub-index LSB Data field MSB Example: 600 h + Node-ID 23 h h 01 7F h 04 h (write) (Index=1400 h ) (Receive-PDO-Comm-Para) (COB-def.) COB = 047F h Description of the SDOs: Identifier... The parameters are transmitted on ID 600 h + NodeID (request). The receiver acknowledges the parameters on ID 580 h + NodeID (response). Command code.. The command code transmitted consists among other things of the command specifier and the length. Frequently required combinations are, for instance: 40 h = 64 dec : Read Request, i.e. a parameter is to be read 23 h = 35 dec : Write Request with 32-bit data, i.e. a parameter is to be set The module responds to every received telegram with a response telegram. This can contain the following command codes: 43 h = 67 dec : Read Response with 32 bit data, this telegram contains the parameter requested 60 h = 96 dec : Write Response, i.e. a parameter has been set successfully 80 h = 128 dec : Error Response, i.e. the module reports a communication error Seite 40 von 104 Manual Doc.-No.: C / Rev. 2.7

41 Software Frequently Used Command Codes The following table summarizes frequently used command codes. The command frames must always contain 8 data bytes. Notes on the syntax and further command codes can be found in CiA DS 301, chapter Service Data Object. Command Write Request (Initiate Domain Download) Number of data bytes Command code 2F 2B Write Response (Initiate Domain Download) Read Request (Initiate Domain Upload) Read Response (Initiate Domain Upload) F 4B Error Response (Abort Domain Transfer) - 80 Index, Sub-Index. Index and sub-index will be described in the chapters Device Profile Area and Manufacturer Specific Objects of this manual. Data Field... The data field has got a size of a maximum of 4 bytes and is always structured LSB first, MSB last. The least significant byte is always in Data 1. With 16-bit values the most significant byte (bits ) is always in Data 2, and with 32-bit values the MSB (bits ) is always in Data 4. Manual Doc.-No.: C / Rev. 2.7 Seite 41 von 104

42 Software Error Codes of the SDO Domain Transfer The following error codes might occur (according to CiA DS 301, chapter Abort SDO Transfer Protocol ): Abort code 0x x x x x x x x x x x x x x Description wrong command specifier wrong write access wrong index object can not be mapped to PDO access failed due to an hardware error wrong number of data bytes service parameter too long service parameter too small wrong sub-index transmitted parameter is outside the accepted value range undefined cause of error Data cannot be transferred or stored to the application Data cannot be transferred or stored to the application because of the present device state access to flash failed Seite 42 von 104 Manual Doc.-No.: C / Rev. 2.7

43 Software 8.4 Overview of Used CANopen Identifiers Function Identifier Description Network management 0 NMT SYNC 80 Sync to all, (configurable via object 1005 h ) Emergency Message 80 + Node-ID configurable via object 1014 h Tx-PDO Node-ID PDO from (Tx) (object 1800 h ) Rx-PDO Node-ID PDO to (Rx) (object 1400 h ) Tx-SDO Node-ID SDO from (Tx) Rx-SDO Node-ID SDO to (Rx) Node Guarding Node-ID configurable via object 100E h Node-ID: CANopen address [1 h...7f h ] Setting the COB-ID The COB-IDs which can be set (except the one of SYNC), are deduced initially from the setting of the Node-ID via the coding switches (see page 19). If the COB-IDs are set via SDO, this setting is valid even if the coding switches are set to another Node-ID after that. To accept the Node-ID from the coding switches again, the Comm defaults or all defaults have to be restored (object 1011 h ) Manual Doc.-No.: C / Rev. 2.7 Seite 43 von 104

44 Software 8.5 PDO Assignment PDOs (Process Data Objects) are used to transmit process data: CAN identifier Length Transmission direction Assignment 200 h + Node-ID 1 byte 180 h + Node-ID 1 byte to (Rx/Receive-PDO) from (Tx/Transmit-PDO) Setting of the outputs Request the state of the inputs Rx-PDO1 (-> ) CAN identifier: 200 h + Node-ID Byte Parameter Write_ Output_ DO8-DO Parameter description: Name Description Data type See page Write_ Output_ DO8-DO1 Setting of the digital outputs Byte 87 Tx-PDO1 (->) CAN identifier: 180 h + Node-ID Byte Parameter Read_ Input_ DI8-DI Parameter description: Name Description Data type See page Read_ Input_ DI8-DI1 state of the digital inputs Byte 8080 Seite 44 von 104 Manual Doc.-No.: C / Rev. 2.7

45 Software 8.6 Setting and Reading of the Out/Inputs Status Message of the Digital Inputs The following transmission types are available at the : acyclic, synchronous: The transmission is initiated if a SYNC-message has been received (PDOtransmission type 0) and data has changed. cyclic, synchronous: The transmission is initiated if a defined number of SYNC-messages have been received (PDO-transmission type ). synchronous, remote request: The state of the inputs is latched with each SYNC-message and is transmitted after the reception of a RTR-frame (PDO-transmission type 252). asynchronous, remote request: After the reception of a RTR-frame the last latched state of the inputs is transmitted (PDO-transmission type 253). event controlled, asynchronous: The transmission is initiated if the state of selected inputs has changed (PDO-transmission type 254, 255) Digital Outputs The digital outputs are set, as soon as an output setting object is received by the (e.g. object 6200 h via Rx-PDO) Supported Transmission Types Based on DS 301 Transmission Type cyclic acyclic PDO-Transmission synchronous asynchronous RTR supported by 0 X X x X X x reserved X X x 253 X X x 254 X X x 255 X X x Manual Doc.-No.: C / Rev. 2.7 Seite 45 von 104

46 Implemented CANopen Objects 8.7 Implemented CANopen-Objects A detailed description of the objects can be taken from CiA DS 301. Index Sub-index (max.) [Dec] Description Data type R/W Default value Device Type unsigned 32 ro h Error Register unsigned 8 ro 00 h Pre-Defined-Error-Field unsigned 32 rw 00 h COB-ID-Sync unsigned 32 rw 80 h Manufacturer Device Name visible string ro Manufacturer Hardware Version visible string ro 100A - Manufacturer Software Version visible string ro x.yy (depending on version) x.yy (depending on version) 100C - Guard Time unsigned 16 rw 0000 h 100D - Life Time Factor unsigned 8 rw 00 h 100E - Node Guarding Identifier unsigned 32 rw Node-ID h Store Parameter unsigned 32 rw n.a Restore Parameter unsigned 32 rw n.a COB-ID Emergency Object unsigned 32 rw 80 h + Node-ID Inhibit Time EMCY unsigned 16 rw 00 h Consumer Heartbeat Time unsigned 32 rw 00 h Producer Heartbeat Time unsigned 16 rw 00 h Identity Object unsigned 32 ro Vendor Id: h Prod. Code: h Verify Configuration unsigned 32 ro n.a Error Behaviour unsigned 8 ro 00 h Seite 46 von 104 Manual Doc.-No.: C / Rev. 2.7

47 Implemented CANopen Objects Index Sub-index Description Data type R/W Receive PDO Parameter PDO CommPar (20 h ) rw Receive PDO Mapping PDO Mapping (21 h ) ro Transmit PDO Parameter PDO CommPar (20 h ) rw Transmit PDO Parameter PDO CommPar (20 h ) rw 1A Transmit PDO Mapping PDO Mapping (21 h ) ro 1A Transmit PDO Mapping PDO Mapping (21 h ) ro Manual Doc.-No.: C / Rev. 2.7 Seite 47 von 104

48 Implemented CANopen Objects Device Type (1000 h ) INDEX Name 1000 h device type Data type unsigned 32 Access type ro Default value The value of the device type is: h (Digital input output: 0003 h Digital profile number: 0191 h ) Example: Reading the Device Type The CANopen master transmits the read request on identifier 603 h (600 h + Node-ID) to the CAN- CBX-DIO8 module with the module no. 3 (Node-ID=3 h ): ID RTR LEN DATA h 0 h 8 h 40 h 00 h 10 h 00 h 00 h 00 h 00 h 00 h Read Request Index=1000 h Subindex The module no. 3 responds to the master by means of read response on identifier 583 h (580 h + Node-ID) with the value of the device type: ID RTR LEN DATA h 0 h 8 h 43 h 00 h 10 h 00 h 91 h 01 h 03 h 00 h Read Response Index=1000 h Sub-index dig. Profile No.191 Digital Output value of device type: h The data field is always structured following the rule LSB first, MSB last (see page 41, data field). Seite 48 von 104 Manual Doc.-No.: C / Rev. 2.7

49 Implemented CANopen Objects Error Register (1001 h ) This object is an error register for the. INDEX Name 1001 h error register Data type unsigned 8 Access type ro Default value 0 The following bits of the error register are being supported at present: Bit Meaning 0 generic 1 current 2 voltage 3-4 communication error (overrun, error state) Bits which are not supported (-) are always returned as 0. If an error is active, the according bit is set to 1. The following messages are possible: 00 h no errors 01 h generic error 02 h current error 04 h voltage error 10 h communication error Manual Doc.-No.: C / Rev. 2.7 Seite 49 von 104

50 Implemented CANopen Objects Pre-defined Error Field (1003 h ) INDEX Name 1003 h pre-defined error field Data type unsigned 32 Access type Default value ro No The pre-defined error field provides an error history of the errors that have occurred on the device and have been signalled via the Emergency Object. Sub-index 0 contains the current number of errors stored in the list. Under sub-index 1 the last error which occurred is stored. If a new error occurs, the previous error is stored under sub-index 2 and the new error under sub-index 1, etc. In this way a list of the error history is created. The error buffer is structured like a ring buffer. If it is full, the oldest entry is deleted for the latest entry. This module supports a maximum of 10 error entries. When the 11th error occurs the oldest error entry is deleted. In order to delete the entire error list, sub-index 0 has to be set to 0. This is the only permissible write access to the object. With every new entry to the list the module transmits an Emergency Frame to report the error. Index Sub-index [Dec] Description Value range Default Data type R/W 0 no_of_errors_in_list 0, unsigned 8 rw 1 error-code n 0...FFFF FFFF - unsigned 32 ro error-code (n-1) 0...FFFF FFFF - unsigned 32 ro Meaning of the variables: : : : : : : 10 error-code (n-9) 0...FFFF FFFF - unsigned 32 ro no_of_errors_in_list - contains the number of error codes currently on the list n = number of error which occurred last - in order to delete the error list this variable has to be set to 0 - if no_of_errors_in_list 0, the error register (Object 1001 h ) is set Seite 50 von 104 Manual Doc.-No.: C / Rev. 2.7

51 Implemented CANopen Objects error-code x The 32-bit long error code consists of the CANopen-Emergency-Error-Code described in DS 301, Table 21 and the error code defined by esd (Manufacturer-Specific Error Field). Bit: Contents: manufacturer-specific error field emergency-error-code manufacturer-specific error field: for always 00, unless emergency-error-code = 2300 h (see below) emergency-error-code: the following error codes are supported: 8120h - CAN in Error Passive Mode 8130 h - Lifeguard Error / Heartbeat Error 8140 h - Recovered from Bus Off 8210 h - PDO too short 8220 h - PDO too long 6000 h - Software error: EEPROM Checksum error (no transmission of this error as Emergency Message) 3110 h - VIO too high (configurable via object 2300 h ) 3120 h - VIO too low (configurable via object 2300 h ) 2300 h - Output Error: open load (no load detected at least at one output) 2320 h - Output Error: short circuit at outputs (at least one output shorted to GND) Emergency Frame The data of the emergency frame transmitted by the have the following structure: Byte: Contents: emergency-error-code (see above) errorregister 1001 h no_of_errors_ in_list 1003,01 h - An Emergency Message is transmitted, if the first error of an output driver occurs and the according bit in object 2220 h is set to 1. If another error occurs at another output no additional Emergency Message is generated. If the last error message disappears, again an Emergency Message is transmitted to indicate the error disappearance. Manual Doc.-No.: C / Rev. 2.7 Seite 51 von 104

52 Implemented CANopen Objects COB-ID SYNC Message (1005 h ) INDEX Name 1005 h COB-ID SYNC message Data type unsigned 32 Access type Default value rw 80 h Structure of the parameter: Bit-No. Value Meaning 31 (MSB) - do not care 30 0/1 0: Device does not generate SYNC message 1: Device generates SYNC message 29 0 always 0 (11-bit ID) always 0 (29-bit IDs are not supported) (LSB) x Bit of the SYNC-COB-ID The identifier can take values between 0...7FF h. Seite 52 von 104 Manual Doc.-No.: C / Rev. 2.7

53 Implemented CANopen Objects Manufacturer s Device Name (1008 h ) INDEX Name Data type Default value 1008 h manufacturer s device name visible string string: For detailed description of the Domain Uploads, please refer to CiA DS (CMS-Protocol Specification). Manual Doc.-No.: C / Rev. 2.7 Seite 53 von 104

54 Implemented CANopen Objects Manufacturer s Hardware Version (1009 h ) INDEX Name Data type 1009 h manufacturer s hardware version visible string Default value string: e.g. 1.0 The hardware version is read similarly to reading the manufacturer device name via the domain upload protocol. Please refer to CiA DS (CMS-Protocol Specification) for a detailed description of the upload Manufacturer s Software Version 100A h INDEX Name Data type 100A h manufacturer s software version visible string Default value string: e.g.: 1.2 Reading the software version is similar to reading the manufacturer device name via the domain upload protocol. Please refer to CiA DS (CMS-Protocol Specification) for a detailed description of the upload. Seite 54 von 104 Manual Doc.-No.: C / Rev. 2.7