3 CH Analog Output module / CANopen

Transcription

1 3 CH Analog Output module / CANopen Power Supply 1..4 Vdc, Vac Isolation 1,5 kvac (5 way) Accuracy,5% A/D resolution 14 bit Channels 3 Voltage range 1 V Current range..2, 4..2 ma RPDO < 2 ms (-1% output) Supported Protocols CAN bus standard (2.A), CANopen (CiA 41 v.2.1) Dip-Switches Baud rate and ID Node configuration Operating temperature C Dimension (W*H*D) 17,5 x 1 x 112 mm For additional information please refer to

2 ORDER CODES Model Accessories Configuration ZC-3AO 3 CH Analog Output module / CANopen, 1..4 Vdc / Vac Z-PC-DINAL Terminal block for power / bus + 2 slot 17.5 mm Z-PC-DIN slot block 17.5 mm Z-PC-DIN slot block 17.5 mm PM161 Programming serial cable Jack / DB9F EDS File (Electronic Data Sheet) free on TECHNICAL FEATURES GENERAL DATA OUTPUT DATA Power Supply 1..4 Vdc; Vac Channels 3 Max consumption Isolation Input Protection Rejection Status indicators (LED) Dimension (WxHxD) Enclosure, weight, color Operating temperature Connection Protection degree Configuration Supported Protocols Max CANopen Speed Norms & Approvals 1 W 1,5 kvac (5 way) Against ESD up to 4 kv Settable 5 or 6 Hz Power Supply, communication, fault 17,5 x 1 x 112 mm PBT, 14 g, black C Screw-fit removable for wires up to 3.5 mm IDC1 Back connector for DIN rail frontal Jack RS232 (ModBUS) (COM) connection IP2 DIP switches (baud rate, ID Node) EDS IEC CAN bus standard (2.A) CANopen (profile CiA 41 v.2.1) ModBUS RTU (via RS232) 1 Mbps CE, EN , EN , EN CAN 2.A CiA 41 v.2.1 IEC EN Type Impedance Protections A/D resolution Thermal drift Accuracy Response time CANOPEN FEATURES NMT Error control Node ID Nr PDO PDO Modes PDO linking PDO mapping Nr SDO Server Emercency Messages Application layer Profile Voltage ( 1 V); Current (-2, 4-2 ma) > 1 K (voltage); < 6 (current) Isc ~ 3 ma; Vmax=12V (voltage) Vmax=24 V (current) 14 bit < 1 ppm/ C,1% Min 2 ms Slave Node guarding Software, DIP-switches RX 5 Event Triggered, Sync (cyclic), Sync (acyclic) Yes Variable 1 Yes CiA 31 v. 4.2 CiA 41 v. 2.1 ELECTRICAL CONNECTIONS Module insertion on DIN guide IDC1 Back Connector Analog outputs Backplane bus Z-PC DIN RS232 DB9F / Jack stereo Serial connections CANbus Connection Norms ZC-3AO_98EN

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4 EN ZC - 3AO CANopen I/O Module 3 Analog Voltage/Current Outputs converter User Manual Contents: Features PDOs Emergency Message Manufacturer Specific Objects Led Description Objects for Analog Data Dip Switch Configuration Interrupt Objects Functional Diagrams Object Dictionary PDOs MAPPING OBJECTS FOR DEFAULT MAPPING PDO NR COB-ID MAPPED OBJECT INDEX SUBINDEX RPDO 2 x3 + NodeId Output Value CH1 ±1 Output Value CH2 ±1 Output Value CH3 ±1 EMERGENCY MESSAGE x x x The Emergency message is composed by: 2 bytes of EEC (Emergency Error Code) 1 byte of ER (Error register) A Maximum of 4 bytes of MEF (Manufacturer Error Filed Object x12) FEATURES TECHNICAL DATA Baud rate 2, 5, 125, 25, 5, 8, 1 Kbits/s Typ Min to Max Output Time 2 ms for all 3 Outputs Channel Range in Voltage mode From -1.5 V to V Channel Range in Current mode From to 2.5 ma CANopen TECHNICAL DATA NMT SLAVE ERROR CONTROL NODE GUARDING NODE ID HW SWITCH OR SOFTWARE NUMBER OF PDO 1 RX PDO MODES Event Triggered, Sync (cyclic), Sync (acyclic) PDO MAPPING VARIABLE PDO LINKING SUPPORTED NUMBER OF SDO 1 SERVER ERROR MESSAGE YES SUPPORTED APPLICATION LAY- ER CiA 31 v4.2 SUPPORTED PROFILE CiA 41 v2.1 EEC (Emergency Error Code) CODE x No Error x1 Generic error x421 CPU Temperature over HOT STOP ERROR x422 CPU Temperature over HOT STOP x423 CPU Temperature under COLD ERROR x811 Communication Can Overrun x812 Error Passive x813 Life Guard Error x814 Recovered From Bus Off xff1 General Input Channels Error xff11 Command for Input Channels Error xff2 CPU Error ER ( Error Register) BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT1 BIT Generic Voltage Temperature Communication Manufacture Where if a bit is means no error RPDO TRANSMISSIONS TYPE SUPPORTED OBJECT VALUE x18x sub 2 TRANSMISSION TYPE Synchronous - acyclic From 1 to 24 Synchronous - cyclic 255 Asynchronous MI1651-E ENGLISH - 1

5 For EEC code xff1 the EMERGENCY MESSAGE is: EMERGENCY MESSAGE BYTE BYTE 1 BYTE 2 BYTE 3 BYTE 4 xff1 x81 MEF With this MEF: MEF (Manufacturer-specific Error Field) for EEC xff1 BIT OBJECT FOR ERROR DETAILS 15 DISABILITY CH1 x212 Subindex 1 14 DISABILITY CH2 x212 Subindex 2 13 DISABILITY CH3 x212 Subindex 3 12 NA 11 CHANNEL 1 SATURATION 1 CHANNEL 2 SATURATION 9 CHANNEL 3 SATURATION 8 NA 7 COMMUNICATION ERROR x2121 Subindex 1 6 CHANNELS GLOBAL ERROR 5.. NA For Voltage Error the Emergency Message will be: OBJECT x12: MANUFACTURER STATUS REGISTER Object x12 is the CPU status. OBJECT x12 : MANUFACTURER STATUS REGISTER BIT NA 9 Good Data Value 8 Precision Data Value 7..1 NA FLASH CRC ERROR OBJECT x16: COMMUNICATION WINDOW LENGTH OBJECT x16 : COMMUNICATION WINDOW LENGTH MIN VAL [ms] MAX VAL [ms] 1 1 OBJECT x17: SYNCHRONOUS WINDOW LENGTH OBJECT x17 : SYNCHRONOUS WINDOW LENGTH MIN VAL [ms] MAX VAL [ms] 2 2 EMERGENCY MESSAGE BYTE BYTE 1 BYTE 2 BYTE 3 BYTE 4 xff1 x85 OBJECT x21 For a Timeout command or Error Command the Emergency Message will be: EMERGENCY MESSAGE BYTE BYTE 1 BYTE 2 BYTE 3 BYTE 4 BYTE 5 xff11 x81 CHANNEL ID Object x213 Subindex CHANNELID Where the meaning of CHANNEL ID is: CHANNEL ID CHANNEL ID x1 CHANNEL 1 / 2 x2 CHANNEL 3 / 4 x3 CHANNEL 5 / 6 x4 CHANNEL 7 / 8 For CPU ERROR the Emergency Message will be: EMERGENCY MESSAGE BYTE BYTE 1 BYTE 2 BYTE 3 BYTE 4 BYTE 5 BYTE 6 xff2 X81 Object x12 MI165-E ENGLISH - 2

6 MANUFACTURE SPECIFIC PROFILE AREA OBJECT x21 NODE ADDRESS If Hardware switches are in from memory mode the node address is selectable by object x21. NODE ADDRESS (Object x21) OBJECT VALUE..127 Node Address OBJECT x21: CHANNELS STATUS Object x21 contains the channels status: CHANNELS STATUS (OBJECT x21) BIT 15 CHANNEL 1 DISABLE 14 CHANNEL 2 DISABLE 13 CHANNEL 3 DISABLE 12 NA 11 CHANNEL 1 SATURATION 1 CHANNEL 2 SATURATION 9 CHANNEL 3 SATURATION 8 NA OBJECT x22 BAUD RATE If Hardware switches are in from memory mode the baud rate is selectable by object x22. BAUD RATE (Object x22) OBJECT VALUE 1 2 Kbit/s 2 5 Kbit/s Kbit/s 4 25 Kbit/s 5 5 Kbit/s 6 8 Kbit/s 7 1 Mbit/s OBJECT x23 CPU TEMPERATURE Object can be used for monitoring the CPU temperature. The HOT STOP Temperature sends in pre-operational the station. The HOT ERROR and the COLD ERROR Temperature sends the Emergency Object. 7 CHANNELS COMMUNICATION ERROR 6 CHANNELS FAIL 5... NA OBJECT x216: CHANNELS CONFIGURATION Object x216 contains the channels configuration: CHANNELS CONFIGURATION (Object x216) SUBINDEX 1 CHANNEL 1 ENABLE ( = disabled, 1 = enabled) 2 CHANNEL 2 ENABLE ( = disabled, 1 = enabled) 3 CHANNEL 3 ENABLE ( = disabled, 1 = enabled) 4 CHANNEL 1 MODE ( = Voltage, 1 = Current) 5 CHANNEL 2 MODE ( = Voltage, 1 = Current) 6 CHANNEL 3 MODE ( = Voltage, 1 = Current) CHANNEL 1 FAULT ACTION ( = last good, 1 = load preset) CHANNEL 2 FAULT ACTION ( = last good, 1 = load preset) CHANNEL 3 FAULT ACTION ( = last good, 1 = load preset) The Object is Read Only. CPU TEMPERATURE (Object x23) SUBINDEX 1 Actual Temperature [ C/1] Temperature for HOT STOP ERROR [ C/1] 95. C Temperature for HOT ERROR [ C/1] 9. C Temperature for COLD ERROR [ C/1] -25. C MI1651-E ENGLISH - 3

7 INTEGER SCALE PROCESS Integer input objects can be scaled by a BEGIN (referred to mv or ua) for a integer value and an END (referred to 1 mv or 2 ua) for a 1 integer value. The formula is: Out = BGN + ((END-BGN)/1)*VAL OBJECT x26: BEGIN FOR INTEGER SCALE The Object sets the customization of the associated mv or ua output value to the integer value. SUBINDEX BEGIN FOR INTEGER SCALE (Object x27) LED SERVICE LED LED STATE RUN ERROR BLINKING SINGLE FLASH ON SINGLE FLASH DOUBLE FLASH TRIPLE FLASH ON OFF Pre-operational mode Stop mode Operational mode At least one error counter has reached or exceeded the warning level Guard Event The SYNC hasn t received within the configurated communication cycle time out period The Can controller is BUS OFF No error 1 BEGIN VALUE FOR CHANNEL 1 [mv] or [ua] 2 BEGIN VALUE FOR CHANNEL 2 [mv] or [ua] FAIL BLINKING Data receiving from front jack 3 BEGIN VALUE FOR CHANNEL 3 [mv] or [ua] ON At least one channel is in error mode OBJECT x261: END FOR INTEGER SCALE POWER ON Power Supply The Object sets the customization of the associated mv or ua output value to the 1 integer value. DIP SWITCH CONFIGURATION END FOR INTEGER SCALE (Object x27) SUBINDEX 1 END VALUE FOR CHANNEL 1 [mv] or [ua] 2 END VALUE FOR CHANNEL 2 [mv] or [ua] 3 END VALUE FOR CHANNEL 3 [mv] or [ua] MI1651-E ENGLISH - 4

8 OBJECTS FOR ANALOG DATA OBJECT x6411 OUTPUT VALUE Object x6411 contains the ±1 values for channels 1..3 (in agreement with objects x26, x261 and x216). (±1 for voltage mode, - 1 for current mode) OUTPUT VALUE (OBJECT x6411) SUBINDEX 1 Channel 1 ±1 Output value 2 Channel 2 ±1 Outputvalue 3 Channel 3 ±1 Output value OBJECT x6443 FAULT MODE OUTPUT Object x6443 contains the fault mode for outputs. If FAULT MODE = Hold last value If FAULT MODE = 1 Load object x6444 value. FAULT OUTPUT VALUE (OBJECT x6443) SUBINDEX 1 Channel 1 FAULT MODE 2 Channel 2 FAULT MODE 3 Channel 3 FAULT MODE OBJECT x6444 FAULT OUTPUT VALUE Object x6443 contains the ±1 values for channels 1..3 to load in case of fault (in agreement with objects x26, x261 and x216). (±1 for voltage mode, - 1 for current mode) FAULT OUTPUT VALUE (OBJECT x6443) SUBINDEX 1 Channel 1 fault Output value 2 Channel 2 fault Output value 3 Channel 3 fault Output value MI1651-E ENGLISH - 5

9 FUNCTIONAL DIAGRAM MAPPING PARAMETER COMMUNICATION PARAMETER x141 x161 RECEIVE RPDO2 ENTRY INTO x6411 ERROR CHECK ANALOG OUTPUT ERROR MODE OUTPUT x6443 MI1651-E ENGLISH - 6

10 INDEX SUB INDEX OBJECT DICTIONARY NAME TYPE ACCESS DEFAULT x1 Device Type Device Type (Profile 41 = x191) UNSIGNED 32 RO x8191 x11 Error register Error register (DS 41) UNSIGNED 8 RO x12 Manufacturer Status Register Status Register UNSIGNED 32 RO x15 SYNC COB-ID The device consumes the SYNC message UNSIGNED 32 RW x8 x16 Communication Window Length Sync interval [us] UNSIGNED 32 RW x17 Synchronous Window Length Time window [us] for the PDO transmission after the SYNC UNSIGNED 32 RW x18 x19 x1a Manufacturer Device name Manufacturer Hardware Version Manufacturer Software Version Device name VISIBLE STRING RO ZC-3AO Hardware version VISIBLE STRING RO SC Software version VISIBLE STRING RO SW115 x1c Guard Time Guard Time [ms] UNSIGNED 16 RW x1d Life Time Factor Max delay between two guarding telegrams = Guard_Time*Life_Time_Factor UNSIGNED 8 RW Store Max Subindex Number UNSIGNED 8 RO 5 1 Save All Store not volatile parameters (Write in ASCII save for store process MSB x LSB) UNSIGNED 32 RW 1 2 Save Communication Store not volatile parameters (Write in ASCII save for store process MSB x LSB) UNSIGNED 32 RW 1 x11 3 Save Application Store not volatile parameters (Write in ASCII save for store process MSB x LSB) UNSIGNED 32 RW 1 4 Save Manufacturer Store not volatile parameters (Write in ASCII save for store process MSB x LSB) UNSIGNED 32 RW 1 5 Save CH1-2-3 Store not volatile parameters (Write in ASCII save for store process MSB x LSB) UNSIGNED 32 RW 1 MI1651-E ENGLISH - 7

11 INDEX SUB INDEX NAME TYPE ACCESS DEFAULT Restore Default Max Subindex Number UNSIGNED 8 RO 5 1 Restore All Restore not volatile parameters (Write in ASCII load for load process MSB x64616f6c LSB) UNSIGNED 32 RW 2 Restore Communication Restore not volatile parameters (Write in ASCII load for load process MSB x64616f6c LSB) UNSIGNED 32 RW x111 3 Restore Application Restore not volatile parameters (Write in ASCII load for load process MSB x64616f6c LSB) UNSIGNED 32 RW 4 Save Manufacturer Restore not volatile parameters (Write in ASCII load for load process MSB x64616f6c LSB) UNSIGNED 32 RW 5 Restore CH1-2-3 Restore not volatile parameters (Write in ASCII load for load process MSB x64616f6c LSB) UNSIGNED 32 RW x114 COB-ID Emergency Object COB-ID for Emergency Object UNSIGNED 32 RO NODEID+x8 Identity Object Max Subindex Number UNSIGNED 8 RO 4 1 Vendor ID Seneca srl UNSIGNED 32 RO x249 x118 2 Product Code Machine ID Code UNSIGNED 32 RO x1e 3 Revision Number Revision UNSIGNED 32 RO 4 Serial Number Serial Number Code UNSIGNED 32 RO Server SDO Max Subindex Number UNSIGNED 8 RO 2 x12 1 Receive SDO COB-ID COB-ID of Receive SDO UNSIGNED 32 RO NODEID + x6 2 Transmit SDO COB-ID COB-ID of Transmit SDO UNSIGNED 32 RO NODEID + x58 MI1651-E ENGLISH - 8

12 INDEX SUB INDEX NAME TYPE ACCESS DEFAULT Receiver PDO2 Communication Max Subindex Number UNSIGNED 8 RO 3 1 COB-ID COB-ID of TxPDO 2 UNSIGNED 32 RW x3+nodeid x141 2 Transmission Type Transmission Type for TxPDO1 x = Synchronous - acyclic x1 to xf = Synchronouscyclic xff = Asynchronous UNSIGNED 8 RW xff 3 Inhibit Time NOT USED FOR RXPDO UNSIGNED 16 RW x Receive PDO2 Mapping Max Subindex Number UNSIGNED 8 RO 3 1 Object NR1 First Object (default: CHANNEL OUTPUT) UNSIGNED 32 RW x Object = x6411 subindex = 1 Length = 16 bit x1a1 2 Object NR2 Second Object (default: CHANNEL OUTPUT) UNSIGNED 32 RW x Object = x6411 subindex = 2 Length = 16 bit 3 Object NR3 Third Object (default: CHANNEL OUTPUT) UNSIGNED 32 RW x Object = x6411 subindex = 3 Length = 16 bit MI1651-E ENGLISH - 9

13 MANUFACTURER SPECIFIC PROFILE AREA INDEX SUB INDEX NAME TYPE ACCESS DEFAULT x21 Module Address Station Address (only if dip switch 4,5,6,7,8,9,1 are OFF) UNSIGNED 8 RW 127 x22 Buad Rate Station Baud Rate (only if dip switch 1,2,3 are OFF) 1 = 2Kbps 2 = 5Kbps 3 = 125Kbps 4 = 25Kbps 5 = 5Kbps 6 = 8Kbps 7 = 1Mbps UNSIGNED 8 RW 7 Device Temperature Max Subindex Number UNSIGNED 8 RO 4 1 Internal Temperatue Station internal Temperature [ C/1] INTEGER 16 RO x23 2 Hi Hi Temperature Critical Hot Temperature (All operations Stop ) [ C/1] INTEGER 16 RO 95 3 Hi Temperature Warning for Too Hot Temperature [ C/1] INTEGER 16 RO 9 4 Lo Temperature Critical Low Temperature (All operations Stop ) [ C/1] INTEGER 16 RO -25 Channels Configuration Max Subindex Number UNSIGNED 8 RO 6 1 Channel 1 Enable = disable 1 = enable UNSIGNED 8 RW 1 x216 2 Channel 2 Enable = disable 1 = enable UNSIGNED 8 RW 1 3 Channel 3 Enable = disable 1 = enable UNSIGNED 8 RW 1 4 Channel 1 Mode = Voltage 1 = Current UNSIGNED 8 RW 5 Channel 2 Mode = Voltage 1 = Current UNSIGNED 8 RW 6 Channel 3 Mode = Voltage 1 = Current UNSIGNED 8 RW Begin integer Scale Max Subindex Number UNSIGNED 8 RO 3 x26 1 Begin scale CH1 2 Begin scale CH2 Begin Scale Begin Scale INTEGER 16 RW INTEGER 16 RW 3 Begin scale CH3 Begin Scale INTEGER 16 RW MI1651-E ENGLISH - 1

14 INDEX SUB INDEX NAME TYPE ACCESS DEFAULT End integer Scale Max Subindex Number UNSIGNED 8 RO 3 x261 1 End scale CH1 2 End scale CH2 End Scale End Scale INTEGER 16 RW 1 INTEGER 16 RW 1 3 End scale CH3 End Scale INTEGER 16 RW 1 MI1651-E ENGLISH - 11

15 INDEX SUB INDEX STANDARD DEVICE PROFILE AREA NAME TYPE ACCESS DEFAULT Channels Outputs Values Integer Max Subindex Number UNSIGNED 8 RO 3 1 CH1 value +-1 Channel 1 Value +-1 (From to 1 for current) INTEGER 16 RW x CH2 value +-1 Channel 2 Value +-1 (From to +1 for current) INTEGER 16 RW 3 CH3 value +-1 Channel 3 Value +-1 (From to +1 for current) INTEGER 16 RW Output Channels Error Mode Max Subindex Number UNSIGNED 8 RO 3 1 CH1 Error Mode = Keep Last 1 = Load object x6444 UNSIGNED 8 RO 1 x CH2 Error Mode = Keep Last 1 = Load object x6444 UNSIGNED 8 RO 1 3 CH3 Error Mode = Keep Last 1 = Load object x6444 UNSIGNED 8 RO 1 Analog Output Error Value Max Subindex Number UNSIGNED 8 RO 3 1 CH1 Error Value Channel 1 integer analogue interrupt upper limit value INTEGER16 RW x CH2 Error Value Channel 2 integer analogue interrupt upper limit value INTEGER16 RW 3 CH3 Error Value Channel 3 integer analogue interrupt upper limit value INTEGER16 RW MI1651-E ENGLISH - 12