CAN-CBX-AI A/D-Converter-Inputs, 20 Bit. Manual. to Product C.3030.xx. CAN-CBX-AI420 Manual Rev. 1.3

Transcription

1 CAN-CBX-AI420 4 A/D-Converter-Inputs, 20 Bit Manual to Product C.3030.xx 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:

3 Document-File: I:\texte\Doku\MANUALS\CAN\CBX\AI420\Englisch\CAN-CBX-AI420_13.en9 Date of print: PCB version: from CAN-CBX-AI420 Rev. 1.0 Firmware version: from Rev. 1.8 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 - First English version Technical details are subject to change without further notice.

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5 Contents 1. Overview Description of the Module Technical Data General technical Data CPU-Unit CAN Interface Analogue Inputs Software-Support Order Information 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 Power-LED Special Indicator States Coding Switch Setting the Node-ID via Coding Switch Setting the Baud Rate Installation of the Module Using Optional In-Rail Bus Connector Connecting Power Supply and CAN-Signals to CBX-In-Rail-Bus Remove the CAN-CBX Module from the Optional In-Rail Bus Description of the Units CAN Interface Analogue Inputs Connector Assignment Power Supply Voltage X CAN-Bus X CAN and Power Supply Voltage via In-Rail Bus Connector X Analogue Inputs X Correctly Wiring Electrically Isolated CAN Networks CAN-Bus Troubleshooting Guide Termination CAN_H/CAN_L Voltage Ground CAN Transceiver Resistance Test Software Definition of Terms NMT-Boot-up

6 8.3 The CANopen-Object Directory Access on the Object Directory via SDOs Overview of used CANopen-Identifiers Setting the COB-ID Default PDO-Assignment Reading the Analogue Values Messages of the Analogue Inputs 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 of 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 ) and Life Time Factor (100D h ) Node Guarding Identifier (100E h ) Store Parameters (1010 h ) Restore Default Parameters (1011 h ) COB_ID Emergency Message (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 ) Object Transmit PDO Communication Parameter 1801 h, 1802 h Transmit PDO Mapping Parameter 1A01 h, 1A02 h Device Profile Area Overview of the Implemented Objects 6401 h h Relationship Between the Implemented Objects for the Analogue Inputs Read Input 16-Bit (6401 h ) Read Input 32-Bit (6402 h ) Analogue Input Interrupt Trigger (6421 h ) Global Interrupt Enable (6423 h ) Analogue Input Interrupt Delta (6426 h ) Manufacturer Specific Profile Area Overview of the Manufacturer Specifc Objects 2310 h h Sample Rate Set Point (2310 h ) Chopping Mode (2311 h ) Sample Rate Actual Value (2312 h ) Channel Enabled (2401 h ) Accu N (2402 h ) Average N (2403 h ) Calibration Offset Value (2404 h ) Calibration Gain Value (2405 h ) Firmware-Update via DS-302-Objects (1F50 h...1f52 h ) Download Control via Object 1F51 h

7 Overview 1. Overview 1.1 Description of the Module C A N B U S CAN Connector MC1,5/5-GF-3,81 ME-MAX Bus Connector Power Connector MSTBO 2,5/4- G1L-KMGY Electrical Isolation Physical CAN Layer Power Supply 24 V(DC) Digital Isolator +5 V= DC/DC Converter +5 V= CAN Microcontroller MB90497 DC/DC- Converter Digital Isolator IL Analog Inputs 2-Channel 24-bit -ADC AD7732BRU Coding Switches CAN Baud Rate CANopen Node-ID Electrical Isolation I/O-Connector MC1,5/12-G-3,81-AU LEDs Digital Isolator IL Channel 24-bit -ADC AD7732BRU Fig. 1: Block circuit diagram of the CAN-CBX-AI420 module The CAN-CBX-AI420 module is equipped with a MB90F497 microcontroller, which buffers the CAN data into a local SRAM. The firmware is stored in the flash. Parameters are stored in a serial EEPROM. The four differential analogue inputs are converted by two sigma-delta-converters. The -converters offer a resolution of up to 24 bit. The resolution achieved during the operation depends essentially on the sample rate chosen and on the external circuit. The input voltage range of the analogue inputs is ±10 V. The inputs are connected via a 12-pin screw-/plug connector. The analogue inputs are electrically isolated by digital isolators for the protection of the other components. The power supply voltage and the CAN-bus connection can either be fed via the In-Rail bus connector, integrated in the top-hat rail or via separate plugs. 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. 3

8 Technical Data 2. Technical Data 2.1 General technical Data Power supply voltage nominal voltage: 24 V/DC input voltage range: 24 V ±20% current consumption (24 V, 20 C): approx. 56 ma X100 (4-pin COMBICON connector 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 In-Rail bus Connectors X500 (12-pin Mini-COMBICON connector) - analogue inputs X400 (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 Temperature range Humidity Dimensions Weight -20 C C ambient temperature max. 90%, non-condensing width: 2.2 cm, height: 11.2 cm, depth: 11.3 cm (including mounting rail fitting and connector projection) approx. 125 g Table 1: General technical data of the module 2.2 CPU-Unit CPU RAM Flash EEPROM 16 bit C MB90F497 2 Kbyte integrated 64 Kbyte integrated min. 256 byte Table 2: Microcontroller 4

9 Technical Data 2.3 CAN Interface Number 1 Connection CAN Controller Electrical isolation of CAN interfaces against other units Physical layer CAN Bustermination 5-pin COMBICON with spring-cage connection or via Phoenix Contact TBUS-connector (In-Rail-Bus) MB90F497, CAN 2.0A/B, (CANopen software supports only 11-bit CAN identifier) via dual digital isolator (ADUM120BR) and DC/DCconverters physical layer according to ISO 11898, transfer rate programmable from 10 Kbit/s up to 1 Mbit/s has to be set externally Table 3: Data of the CAN interface 5

10 Technical Data 2.4 Analogue Inputs Number Converter-Type Resolution Input voltage rage Conversion time Electrical isolation against other units Protective circuit 4 differential -converter inputs AD7732BRU resolution of the converter up to 24 bit ±10 V programmable via magnetic data coupler Resistance against overvoltage of the converter inputs: - up to ±16,5 V without influence on the adjacent channel - absolute maximum ±50 V Table 4: Data of the analogue inputs 2.5 Software-Support The firmware of the module supports the CANopen standards DS-301 and DS

11 Technical Data 2.6 Order Information Type Features Order-No. CAN-CBX-AI420 Manuals CAN-CBX-AI420 4 analogue inputs, 20 bit, including 1x CAN-CBX-TBUS (C ) C CAN-CBX-AI420-ME Manual in English 1*) C CAN-CBX-AI420-ENG Accessories CAN-CBX-TBUS CAN-CBX-TBUS- Connector Engineering Manual in English 2*) Content: Circuit diagrams, PCB top overlay drawing, data sheets of significant components Mounting-rail bus connector of the CBX-In- Rail bus for CAN-CBX-modules, (a bus connector is included in delivery of the CAN-CBX module) Terminal plug of the CBX-In-Rail bus for the connection of the +24 V power supply voltage and the CAN interface C C C *) If module and manual are ordered together, the manual is free of charge. 2*) This manual is liable for costs, please contact our support. Table 5: Order information 7

12 Hardware-Installation 3. Hardware Installation 3.1 Connecting Diagram Fig. 2: Connections of the CAN-CBX-AI420 module The connector pin assignment can be found on page 20 and the following. 8

13 Hardware-Installation 3.2 LED Display Fig. 3: Position of the LEDs in the front panel The CAN-CBX-AI420 module is equipped with four status LEDs. The terms of the indicator states of the LEDs are chosen in accordance with the CANopen Standard DS303-3, V 1.2 (chapter 3.1). The indicator states of the LEDs 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! 9

14 Hardware-Installation Operation of the CAN-Error LED LED indication Display function Label Name Colour Component 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 Heartbeat or Nodeguard error occurred. The LED automatically turns 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 Component No. Indicator state Description blinking Pre-operational S CANopen Status green 200B on Operational 1 flash Stopped 3 flashes Module is in bootloader mode Table 8: Indicator states of the CANopen Status-LED 10

15 Hardware-Installation Operation of the Error-LED LED indication Label Name Colour Component No. M Error red 200C Indicator state off on 2 flashes blinking no error Display function Description CAN Overrun Error The sample rate is set so high, that the firmware is not able to transmit all data on the CAN bus. Internal software error e.g.: - stored data have an invalid checksum therefore default values are loaded - internal watchdog has triggered - indicator state is continued until the module resets or an error occurs at the outputs. error of the A/D-input voltage input voltage of at least one channel 10V Table 9: Indicator state of the Error-LED Operation of the Power-LED LED indication Label Name Colour Component No. P Power green 200D Indicator state off on Display function Description no power supply voltage power supply voltage is on Table 10: Indicator state of the Power-LED Special Indicator States The indicator states described in the following table are indicated by the four status LEDs together: - red CAN-error LED is on - all other LEDs are off LED indication Description Invalid Node-ID: The coding switches for the Node-ID are set to an invalid ID-value, the module is stopped Table 11: Special indicator states 11

16 Hardware-Installation 3.3 Coding Switch Abb. 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 CAN-CBX-module can be set decimal from 1 to 127 or hexadecimal from 01 h to 7F h. 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. 12

17 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 Bit rate [Kbit/s] A 33.3 B 20 C 12.5 D 10 E reserved F reserved Table 12: Index of the baud rate 13

18 Hardware-Installation 3.4 Installation of the Module Using Optional In-Rail Bus Connector If the CAN bus signals and the power supply voltage shall be fed via the In-Rail bus, please proceed as follows: Figure 5: Mounting rail with bus connector 1. Position the In-Rail bus 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 14

19 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 In-Rail bus via the bus connector. Connect the bus connectors and the In-Rail bus if not already done. Figure 7: Mounted CAN-CBX module 15

20 Hardware-Installation Connecting Power Supply and CAN-Signals to CBX-In-Rail-Bus To connect the power supply and the CAN-signals via the In-Rail bus, 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 In-Rail bus and terminal plug Plug the terminal plug into the socket on the right of the mounting-rail bus connector of the In-Rail bus, as described in Fig. 8. Then connect the CAN interface and the power supply voltage via the terminal plug. Fig. 9: CAN-CBX station with terminal plug A bus termination must be connected to the CAN connector of the CAN-CBX module at the end of the CBX station (see Fig. 9), if the CAN bus ends there. 16

21 Hardware-Installation 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 In-Rail bus. To lead through the CAN-signals the CAN bus connector of the last CAN-CBX module of the CAN-CBX station (see Fig. 10) 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 lead to incorrect branching. Fig. 10: Connecting the CAN signals through the CAN-CBX station Attention! A feed through of the power supply voltage is not permissible! A feed through of the +24 V power supply voltage can cause damage on the CBX modules. 3.5 Remove the CAN-CBX Module from the Optional In-Rail Bus If the CAN-CBX module is connected to the In-Rail bus please proceed as follows: Release the module from the mounting rail in moving the foot catch (see figure 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 In-Rail bus connection, because the contact chain will not be interrupted. 17

22 Descriptions 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. DC/DC RSS-0505 VCC + + VC05D150 5V 10µF GND 5V - - CAN_GND 2.2M 2.2nF/250V~ +5V X101 Bus Connector MEMAX VBB VBB_GND CAN_GND CAN_H CAN_L FE S (Connection to top hat rail) CAN_Tx CAN_Rx VCC Dual Digital Isolator ADUM1201BR I1 O2 VCC1 O1 I2 VCC2 CAN Transceiver PCA82C251 TX RX VDD BUSL BUSH X400 COMBICON MC 1,5/5-GF-3,81 CAN_L CAN_H 2 4 GND1 GND2 R/GND GND CAN_GND 1 2x 100nF Shield (FE) Shield 3 Fig. 11: CAN Interface 18

23 Description of the Units 4.2 Analogue Inputs to/from microcontroller Digital Isolator IL716 Sigma-Delta A/D-Converter AD7732BRU DOUT DIN SCLK RDY# AIN0+ AIN0-100p FE (Functional earth ground) 100p WE WE P Pin 2 1M Pin 3 G Analog_GND Pin 1 X500 Socket MC1,5/12-G-3,81-AU Electrical Isolation FE (Functional earth ground) Fig. 12: Analogue input circuit (example: channel 1) Attention: The internal circuit of the -converter (see figure below) and the wiring of the sensor signal cause a gain-error at the measuring. This fault is the smaller, the lower the resistance of the sensor is chosen. Furthermore the resistors of both measuring lines of the differential analogue inputs should be identical. Principle of internal circuit of the Sigma-Delta A/D-converter AD7732BRU Converter ca. 100k AIN+ R SOURCE Ref Fig. 13: Principle of the internal circuit of the -converter The gain-error increases with increasing resistance R SOURCE (see figure above). 19

24 Steckerbelegung 5. Connector 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 8. 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... power supply voltage +24 V M24... reference potential 20

25 Connector Assignment 5.2 CAN-Bus X400 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: (Illustration of device connector) Pin-Assignment: Pin Signal 1 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

26 Steckerbelegung 5.3 CAN and Power Supply Voltage via In-Rail Bus 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) 22

27 Connector Assignment 5.4 Analogue Inputs X500 Device connector: COMBICON MC 1,5/12-GF-3,81 Line connector: COMBICON MC 1,5/12-STF-3,81 (screw connection) (included in the scope of delivery) Pin Assignment: Signal description: xp... positive input pin of the differential analogue input (x = 1, 2, 3, 4) xm... negative input pin of the differential analogue input(x = 1, 2, 3, 4) G... reference potential analogue ground (connected to functional earth ground contact of the module) 23

28 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 ±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. n.c. n.c. n.c. CAN wire with connectors CAN_GND (at wire shield) CAN_L n.c. n.c. n.c. n.c. = not connected CAN_H 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 24

29 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) CAN-Board Net 1 e.g. PCI/405, CAN-USB, VME-CAN2, etc. Net 2 Connecting CAN_GND to Protective Conductor PE Terminator PE with PE Connector T-Connector Order-no.: C CAN_H CAN_L CAN_GND Female Connector Male Connector Male Terminator (Order-no.: C ) Female Terminator (Order-no.: C ) l < 0,3 m T-Connector C T-Connector C T-Connector C T-Connector C Terminator l < 0,3 m l < 0,3 m l < 0,3 m l < 0,3 m CAN-CBM- DIO8 CAN-Cable Order-no.: C CAN-CBM- AI4 CAN-Cable Order-no.: C CAN-CBM- COM1 CAN-Cable Order-no.: C e.g. CAN-SPS Interface CSC595/2 or CAN-PC Board 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 25

30 Wiring Wire Length Optical couplers are delaying the CAN signals. By using fast optical couplers and testing each board at 1 Mbit/s, however, esd CAN guarantee a reachable length of 37 m at 1 Mbit/s for most esd CAN modules within a closed net without impedance disturbances like e.g. longer dead-end feeders. (Exception: CAN-CBM-DIO8, -AI4 and AO4 (these modules work only up to 10 m with 1 Mbit/s)) 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 26

31 Wiring Examples for CAN Wires Manufacturer Type of wire U.I. LAPP GmbH Schulze-Delitzsch-Straße Stuttgart Germany ConCab GmbH Äußerer Eichwald Mainhardt Germany e.g. UNITRONIC -BUS CAN UL/CSA UNITRONIC -BUS-FD P CAN UL/CSA e.g. BUS-PVC-C (1 x 2 x 0.22 mm²) BUS-Schleppflex-PUR-C (1 x 2 x 0.25 mm²) (UL/CSA approved) (UL/CSA approved) Order No.: (UL appr.) Order No.: (UL appr.) SAB Bröckskes GmbH&Co. KG Grefrather Straße b Viersen Germany 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. 27

32 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 CAN_H CAN_L CAN_H CAN_L 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. The measured value should be nearly the same at each point of the network. If the value is below 50, 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, 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 each. 28

33 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 from the ground. 2. Measure the DC resistance between Shield and ground. 3. Connect Shield wire to ground. The resistance should be higher than 1 M. If it is lower, please search for additional grounding of the shield wires. 29

34 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 and 4 M or higher. If it is lower than this range, the CAN transceiver is probably faulty. CAN-node 5 6 CAN_H CAN- Transceiver CAN_L CAN_GND Power 4 Disconnect CAN! 4 Disconnect Power! Figure: Simplified diagram of a CAN node 30

35 CANopen-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 Transmit -PDO (TxPDO) the CAN-CBX-AI420 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. 31

36 CANopen-Software 8.2 NMT-Boot-up The CAN-CBX-AI420 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 to CAN-identifier 0000 h (= Start Remote Node all Devices). 8.3 The CANopen-Object Directory The object directory is basically a (sorted) group of objects which can be accessed via the CAN 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 2310 h : Sample rate FFF Standardized Device Profile Area according to Device Profile DS 40x A FFFF reserved Access on the Object Directory via SDOs The 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 CAN-CBX-AI420 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). 32

37 CANopen-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 CAN-CBX-AI420 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 CAN module reports a communication error 33

38 CANopen-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. 34

39 CANopen-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 in the application data cannot be transferred or stored in the application because of the present device state access to flash failed 35

40 CANopen-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 + NodeID configurable via object 1014 h Tx-PDO NodeID PDO2 from CAN-CBX-AI420 (Tx) (object 1801 h ) Tx-PDO NodeID PDO3 from CAN-CBX-AI420 (Tx) (object 1802 h ) Tx-SDO Node-ID SDO from CAN-CBX-AI420 (Tx) Rx-SDO Node-ID SDO from CAN-CBX-AI420 (Rx) Node Guarding NodeID configurable via object 100E h NodeID: 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 12). 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 ) 36

41 CANopen-Software 8.5 Default PDO-Assignment PDOs (Process Data Objects) are used to transmit process data. The PDO mapping can be changed. The following tables show the default mapping at delivery of the module: PDO CAN identifier Length Transmission direction Default assignment TxPDO1 n.a. n.a. n.a. TxPDO1 is not used TxPDO2 280 h + Node-ID 8 byte TxPDO3 380 h + Node-ID 8 byte from CAN-CBX-AI420 (Tx/Transmit-PDO) from CAN-CBX-AI420 (Tx/Transmit-PDO) A/D-values channel 1 to 2 as 32-bit values A/D-values channel 3 to 4 as 32 bit values Tx-PDO2 (CAN-CBX-AI420 ->) CAN-Identifier: 280 h + Node-ID Byte Parameter Read_Analogue_Input_32-Bit_1 Read_Analogue_Input_32-Bit_2 Tx-PDO3 (CAN-CBX-AI420 ->) CAN-Identifier: 380 h + Node-ID Byte Parameter Read_Analogue_Input_32-Bit_3 Read_Analogue_Input_32-Bit_4 37

42 CANopen-Software 8.6 Reading the Analogue Values Messages of the Analogue Inputs The transmission types for the analogue inputs are described in the following: 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 has 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 an RTR-frame (PDO-transmission type 252). asynchronous, remote request: After the reception of an RTR-frame the last determined 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) Supported Transmission Types Based on DS-301 Transmission Type cyclic acyclic PDO-Transmission synchronous asynchronous RTR supported by CAN-CBX-AI420 0 X X x X X x reserved X X x 253 X X x 254 X X x 255 X X x 38

43 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 unsigned32 rw 00 h COB-ID-Sync unsigned32 rw 80 h Manufacturer s Device Name visible string ro CAN-CBX-AI Manufacturer s Hardware Version visible string ro 100A - Manufacturer s 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 Restore Parameter unsigned 32 rw 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 Error Behaviour unsigned 8 ro 00 h 39

44 Implemented CANopen Objects Index Subindex (max.) [Dec] Description Data type R/W Transmit PDO-Parameter PDO CommPar (20 h ) rw Transmit PDO-Parameter PDO CommPar (20 h ) rw 1A Transmit PDO-Mapping PDO Mappping (21 h ) rw 1A Transmit PDO-Mapping PDO Mappping (21 h ) rw 40

45 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 (Analogue input: 0004 h digital profile number: 0191 h ) Example: Reading des Device Type The CANopen master transmits the read request on identifier 603 h (600 h + Node-ID) to the CAN- CBX-AI420 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 Sub Index The CAN-CBX-AI420 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 04 h 00 h Read Response Index=1000 h Sub Index dig. Profile Nr.191 Analogue Input value of device type: h The data field is always structured following the rule LSB first, MSB last (see page 34, data field). 41

46 Implemented CANopen Objects Error Register (1001 h ) The CAN-CBX-AI420 module uses the error register, to indicate error messages. 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 1-2 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 04 h voltage error 10 h communication error 42

47 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 1003 Subindex [Dec] Description Value range Default Data type R/W 0 number_of_errors_in_list 0, unsigned 8 rw 1 error-code n 0...FFFFFFFF - unsigned 32 ro 2 error-code (n-1) 0...FFFFFFFF - unsigned 32 ro : : : : : ro 10 error-code (n-9) 0...FFFFFFFF - unsigned 32 ro Meaning of the variables: number_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 number_of_errors_in_list 0, the error register (Object 1001 h ) is set 43

48 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 CAN-CBX-AI420 always 00, unless emergency-error-code = 2300 h (see below) emergency-error-code: The following error-codes are supported: 3110 h - Input voltage to high - Input voltage of at least one channel 10V 8110 h - CAN overrun error - Sample rate is set to high, thus the firmware is not able to transmit all data to the CAN bus h - CAN in error passive mode 8130 h - Lifeguard error / heartbeat error 8140 h - Recovered from Bus Off 6000 h - Software error: -EEPROM checksum error (no transmission of this error message as emergency message) 6110 h - Internal software error e.g.: - checksum of saved data is invalid and default values are loaded - internal watchdog has triggered FF10 h - Data lost (A/D-data overflow) 5000 h - Hardware error (e.g. A/D-converter defective) manufacturer-specific error field: always 00, unless emergency-error-code = 2300 h (see below) Emergency Message The data off the emergency frame transmitted by the CAN-CBX-AI420 have the following structure: Byte: Content: emergency-error-code (see above) errorregister 1001 h number_of_ errors_ in_list 1003,00 h - An emergency message is transmitted, if an error occurs. If this error occurs again, no further emergency message is generated. If the last error message disappears, again an emergency message is transmitted to indicate the error disappearance. 44

49 Implemented CANopen Objects COB-ID of 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. 45

50 Implemented CANopen Objects Manufacturer s Device Name (1008 h ) INDEX Name Data Type Default Value 1008 h manufacturer s device name visible string string: CAN-CBX-AI420 For detailed description of the domain uploads, please refer to CiA DS (CMS-Protocol Specification). 46

51 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 s 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 s device name via the domain upload protocol. Please refer to CiA DS (CMS-Protocol Specification) for a detailed description of the upload. 47

52 Implemented CANopen Objects Guard Time (100C h ) and Life Time Factor (100D h ) The CAN-CBX-AI420 module supports the node guarding or alternatively the heartbeat function (see page 56). i Note: On the recommendation of the CiA, the heartbeat-function shall be used preferentially. Use the node-guarding only for existing systems and not for new developments! Guard time and life time factors are evaluated together. The life time is the result of multiplying both values. The guard time is represented in milliseconds. INDEX Name 100C h guard time Data Type unsigned 16 Access Type Default Value rw 0 [ms] Minimum Value 0 Maximum Value FFFF h (65,535 s) INDEX Name 100D h life time factor Data Type unsigned 8 Access Type rw Default Value 0 Minimum Value 0 Maximum Value FF h 48

53 Implemented CANopen Objects Node Guarding Identifier (100E h ) The module only supports 11-bit identifiers. INDEX Name 100E h node guarding identifier Data Type unsigned 32 Access Type Default Value rw 700 h + Node-ID Structure of the parameter node guarding identifier : Bit-No. Meaning 31 (MSB) 30 reserved always 0, because 29-bit-IDs are not supported (LSB) bit of the node guarding identifier The identifier can take values between 1...7FF h. 49

54 Implemented CANopen Objects Store Parameters (1010 h ) This object supports saving of parameters to the EEPROM. In order to avoid storage of parameters by mistake, storage is only executed when the specific signature as shown below is transmitted. Reading the index returns information about the implemented storage functionalities (refer to CiA DS 301 for more information). INDEX Name 1010 h store parameters Data Type unsigned 32 Index 1010 Subindex Description Value range Data type R/W 0 number_of_entries 4 h unsigned 8 ro save_all_parameters (objects 1000 h... 9FFF h ) save_communication_parameter (objects 1000 h... 1FFF h ) save_application_parameter (objects 6000 h... 9FFF h ) save_manufacturer_parameter (objects 2000 h... 5FFF h ) no default, write: h (= ASCII: e v a s ) unsigned 32 unsigned 32 unsigned 32 unsigned 32 rw rw rw rw Parameters which can be saved or loaded: Communication parameter of the objects 1005 h h Application parameter of the objects 6421 h h Manufacturer specific parameter of the objects 2310 h, 2311 h, 2401 h h 50

55 Implemented CANopen Objects Restore Default Parameters (1011 h ) Via this command the default parameters, valid when leaving the manufacturer, are activated again. Every individual setting stored in the EEPROM will be lost. Only command Restore all Parameters is being supported. In order to avoid restoring of default parameters by mistake, restoring is only executed when a specific signature as shown below is transmitted. Reading the index provides information about its parameter restoring capability (refer to CiA DS 301 for more information). INDEX Name 1011 h restore default parameters Data Type unsigned 32 Index 1011 Subindex Description Value range Data type R/W 0 number_of_entries 4 unsigned 8 ro load_all_default_parameters (objects 1000 h... 9FFF h ) load_communication_parameter (objects 1000 h... 1FFF h ) load_application_parameter (objects 6000 h... 9FFF h ) load_manufacturer_parameter (objects 2000 h... 5FFF h ) no default, write: F 6C h (= ASCII: d a o l ) unsigned 32 unsigned 32 unsigned 32 unsigned 32 rw rw rw rw Parameters which can be saved or loaded: Communication parameter of the objects 1005 h h Application parameter of the objects 6421 h h Manufacturer specific parameter of the objects 2310 h, 2311 h, 2401 h h 51