ICP DAS CAN-2019C CANopen Slave Device User Manual

ICP DAS CAN-2019C CANopen Slave Device

Warranty

All products manufactured by ICP DAS are under warranty regarding defective materials for one year from the date of delivery to the original purchaser.

Warning
ICP DAS assumes no liability for damages resulting from the use of this product. ICP DAS reserves the right to change this manual at any time without notice. The information furnished by ICP DAS is believed to be accurate and reliable. However, no responsibility is assumed by ICP DAS for its use, or any infringements of patents or other rights of third parties resulting from its use.

Copyright
Copyright @2014 is reserved by ICP DAS.
Trademark
The names used for identification only may be registered trademarks of their respective companies.

Introduction

Overview
CANopen is one kind of network protocol based on CAN bus and mainly used for embedded systems, such as industrial machine control, vehicle control systems, factory automation, medical pieces of equipment control, remote data acquisition, environment monitoring and package machine control. The CAN-2019C is a CAN-open slave that follows the CiA 301 version 4.02 and CiA 401 version 2.1. This module provides 6 analog input channels, 2 analog output channels, 2 digital input channels and 1 digital output channel. Users can obtain those data or configure the CAN-2019C via the standard CAN-open protocol. To be fully compatible with other CANopen devices, the CAN-2019C has passed the validation of the CiA CANopen Conformance Test tool. Therefore, it is very easy to integrate the CAN-2019C with the standard CANopen master by applying the EDS file. Combined with the CANopen masters of ICP DAS, you can quickly build a CANopen network to approach your requirements.

Features

• Standard CAN open general I/O slave devices.
• Provide 10 differential thermocouple input channels
• Support NMT, PDO, SDO, EMCY, SYNC, Guarding, and Heartbeat protocol.
• Pass the validation of the CANopen Conformance Test
• Provide EDS file for the CANopen master interfaces

Hardware Specifications

CANopen Interface

Connector| 5-pin screwed terminal block (CAN_GND, CAN_L, CAN_SHLD, CAN_H, CAN_V+)
Baud Rate (bps)| 10 k, 20 k, 50 k, 125 k, 250 k, 500 k, 800 k, 1 M, selected by rotary switch

Terminator Resistor

| ****

DIP switch for the 120 Ω terminator resistor

Protocol| CANopen CiA 301 ver4.02, CiA 401 ver2.1
Node ID| 1~99 selected by rotary switch
NMT| Slave
Error Control| Node Guarding Protocol / Heartbeat Producer

SDOs

| ****

1 server, 0 client

PDOs

| ****

10 RxPDO, 10 TxPDO (Supports dynamic PDO)

PDO Modes

| ****

Event-triggered, remotely-requested, synchronous (cyclic), synchronous (acyclic)

Emergency Message

| ****

Yes

EDS file

| ****

Yes

Analog Input

Channels

| ****

10 (Differential)

Input Type

| Voltage : ±15 mV, ±50 mV, ±100 mV, ±500 mV, ±1 V, ±2.5 V, ±5 V, ±10 V

Current: ±20 mA (External resistor is required) Thermocouple: J, K, T, E, R, S, B, N, C

Sampling Rate| 10 Hz (Total)
Zero Drift| +/-20 μV/°C
Span Drift| +/-25 ppm/ °C

Common Mode Rejection

| ****

86 dB Min.

Normal Mode Rejection

| ****

100 dB

Resolution

| ****

16-bit

Open Thermocouple Detection

| ****

Yes

Over-voltage protection

| ****

240 Vrms

ESD Protection

| ****

+/-4kV, Contact for each terminal.

Intra-module Isolation, Field to Logic

| ****

3000 VDC

Hardware
ESD Protection| ****

Contact 4 kV class A

LED
CANopen Status| 3 LEDs to PWR, RUN and ERR
Power
Power Supply| Unregulated +10 ~ +30 VDC
Power Consumption| 1.5 W
Mechanism

Installation

| ****

DIN-Rail

Dimensions

| ****

33 mm x 99 mm x 78 mm ( W x L x H )

Environment

Operating Temp.

| -25 ~ 75 ℃

Storage Temp.

| -30 ~ 80 ℃
Humidity| 10 ~ 90% RH, non-condensing

Application

• Measuring Temperature
• Medical technology
• Utility vehicles

Hardware

Structure

Node ID & Baud Rate Rotary Switch
The rotary switches for node ID configure the node ID of the CAN-2019C module.
These two switches are for the tens digit and the units digit of the node ID. The node ID value of this demo picture is 32.

The rotary switch for the baud rate handles the CAN baud rate of the CAN-2019C module. The relationship between the rotary switch value and the practical baud rate is presented in the following table.

Baud rate and rotary switch

LED Description

Power LED
The CAN-2019C needs a 10V~30V DC
power supply. Under a normal connection, a good power supply and a correct voltage selection, as the unit is turned on, the LED will light up in red.
Run LED
The Run LED indicates the CANopen operation state. The description of the LED state is shown below. For the details, please refer to the section 2.3.1 of the CAN-2000C user manual.

Error LED
The Error LED indicates the CANopen error state. The description of the LED state is shown below. For the details, please refer to the section 2.3.2 of the CAN-2000C user manual.

occurred
Blinking| Guarding fail| Guard event happened
Continuing Light| Bus Off| The CAN controller is bus off

Terminal Resistor LED
When the switch of the 120Ω terminal resistor is turned on, the terminal resistor LED will be lightening.

PIN Assignment

• CAN-2019C + DB-1820(transformation connector)

Wire Connection

Object Dictionary
General Communication Entries

“predefine error field”

| UNSIGNED 8| RO| 0h
| 1h| actual error (the newest one)| UNSIGNED 32| RO| —
| …| …| …| …| —
| 5h| actual error (the oldest one)| UNSIGNED 32| RO| —
1005h| 0h| COB-ID of Sync message| UNSIGNED 32| RW| 80h
1008h| 0h| manufacturer device name| VISIBLE_STRING| RO|
1009h| 0h| manufacturer hardware version| VISIBLE_STRING| RO| —
100Ah| 0h| manufacturer software version| VISIBLE_STRING| RO| —
100Ch| 0h| guard time| UNSIGNED 16| RW| 0
100Dh| 0h| lifetime factor| UNSIGNED 8| RW| 0
1010h| 0h| the largest subindex supported| UNSIGNED 8| RO| 1
1010h| 1h| save all parameters| UNSIGNED 32| RW| 0
1011h| 0h| the largest subindex supported| UNSIGNED 8| RO| 1
1011h| 1h| restore all default parameters| UNSIGNED 32| RW| 0
1014h| 0h| COB-ID of EMCY| UNSIGNED 32| RW| 80h+Node-ID
1015h| 0h| Inhibit the time of EMCY| UNSIGNED 16| RW| 0
1017h| 0h| Heartbeat time| UNSIGNED 16| RW| 0
1018h| 0h| largest sub-index supported for

“identity object”

| UNSIGNED 8| RO| 4
| 1h| vendor ID| UNSIGNED 32| RO| 0x0000013C
| 2h| Product Code| UNSIGNED 32| RO| 0x00002019
| 3h| Revision_number| UNSIGNED 32| RO| 0x00030001
| 4h| Serial_number| UNSIGNED 32| RO| 0x6cd3683c

SDO Communication Entries

for “server SDO parameter”

| UNSIGNED 8| RO| 2
| 1h| COB-ID form client to server

(RxSDO)

| UNSIGNED 32| RO| 600h+Node-ID
| 2h| COB-ID form server to client

(TxSDO)

| UNSIGNED 32| RO| 580h+Node-ID

RxPDO Communication Entries

RxPDO Mapping Communication Entries

TxPDO Communication Entries

TxPDO Mapping Communication Entries

Analog Input Range Entry

Cold Junction Compensation (CJC) Function

CJC function

(0: false, other value: true)

| 1
| 2h| Appendix| CJC temperature value (Valid when CJC Enabled)| Measured by CJC element
| 3h| Appendix| User-defined CJC temperature value| 0

Note: Users can apply the CJC temperature value from the CJC element or the constant value configured by the users. If the CJC function is on, the CJC temperature value from the CJC element will be obtained in the object with the index 2021h and the subindex 2h. In this case, the value from the object with index 2021h and subindex 3h is useless. If the CJC function is off, the users can define a CJC constant value in the object with the index 2021h and subindex 3h. No matter whether the practical applied CJC temperature value is from the subindex 2h or 3h, the CJC value will be added to the practical AI values when the users read these AI data. About the CJC value scaling, please refer to the following table.

CJC (cold junction compensation) Scaling

Analog Input DeviceEntries

Analog Input Interrupt Upper Limit Integer

Note: Please refer to “Appendix” for AI upper limit range
Analog Input Interrupt Lower Limit Integer

Note: Please refer to “Appendix” for AI lower limit range
Analog Input Interrupt Delta Unsigned

Note: These values are used to define the acceptable AI change ranges for each AI channel and may have different ranges for the physical value because of the settings of the type code. Please refer to the appendix or the type code definition.

Store and Restore the Object

The user can write the value 65766173h to the object with index 1010h and subindex 1 to save the application setting, or write the value 64616F6Ch to the object with index 1011h and subindex 1 and reboot the module to load the factory default. The following table lists the relative objects that will be stored or restored after writing these two objects. The factory default for these objects is also shown below:

Application Object
Type code of CAN-2019C module (0x2004)

The user can read the object with index 6401h and subindex 1~10 to get the AI value of channel 0~9, and the range for each AI type code is listed in the Appendix. If the user wants to change the AI input type, write the type code to the object with index 2004h and subindex 1~10. For example, if the node ID of CAN-2019C is 1, the following command would be used:

Analogue Input module (0x6401)
Writing an object with index 2004h and subindex 1 with Ah means changing the type code of the AI channel 0 with 9h.

• Reading object with index 6401h and subindex 1 means to get the value of the AI channel
• According to the type code 9h set before, the replied value of the AI channel 0 is 3FFFh.

Set Module to Operation Mode when powering on (0x2100)

• This object 0x2100 with subindex 1 defines if the module will enter operation mode automatically when powering on.
• For example, if the node id of CAN-2019C is 1, the commands are as below:

Write object index 0x2100 with subindex 1 to 0x01 then store the setting as below. The module will enter operation mode when powered on.

Default PDO Mapping
RxPDO mapping list:

TxPDO mapping list:

EMCY Communication

The data format of the emergency object data follows the structure below.

Field

Each bit on the error register is defined as follows.

The Emergency error codes and the error register are specified in the following table.

Emergency Error Code| Error Register| Manufacture Specific Error Field| Description
---|---|---|---
High Byte| Low Byte| First Byte| Last Four Bytes
00| 00| 00| 00| 00 00 00 00| Error Reset or No Error
10| 00| 81| 01| 00 00 00 00| CAN controller Error Occur
50| 00| 81| 02| 00 00 00 00| EEPROM Access Error
81| 01| 11| 04| 00 00 00 00| Soft Rx Buffer Overrun
81| 01| 11| 05| 00 00 00 00| Soft Tx Buffer Overrun
81| 01| 11| 06| 00 00 00 00| CAN controller Overrun
81| 30| 11| 07| 00 00 00 00| Lift Guarding Fail
81| 40| 11| 08| 00 00 00 00| Recover From Bus Off
82| 10| 11| 09| 00 00 00 00| PDO Data Length Error
FF| 00| 80| 0A| 00 00 00 00| Request To Reset Node or Communication
FF| 00| 2E| 0B| 00 00

Upper limit alarm

| 00 00

Lower limit alarm

| Upper/Lower limit alarm for Each channel

Appendix: Type Code Definition
Analog Input Type code Definition for CAN-2019C

CJC (cold junction compensation) Definition for CAN-2019C

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