ICP DAS CAN-2057C CAN Open Slave Device User Manual

: May 15, 2024
: ICP DAS

Table of Contents

CAN-2057C CAN Open Slave Device
Specifications
Product Usage Instructions
1. Installation
2. Configuration
3. Operation
- Frequently Asked Questions (FAQ)
Q: What is the warranty period for the CAN-2057C module?
Q: How can I update the firmware of the CAN-2057C module?
- Read User Manual Online (PDF format)
- Download This Manual (PDF format)

CAN-2057C CAN Open Slave Device

Specifications

Digital Output:
- Output Channels: 16 (Sink)
- Output Type: Open-collector
- Max Load Current: 100 mA per channel
- Load Voltage: +5 VDC ~ +30 VDC
- Intra-module Isolation, Field to Logic: 3750 Vrms
- Reaction Time:
- DO Message to rising edge: 50 us
- DO Message to falling edge: 100 us
- ESD Protection: 4 kV Contact for each channel
Others:
- CANopen Status: 3 LEDs for PWR / RUN / ERR
- Terminal Resister: 1 LED as terminator resistor indicators
- DO LED: 16 LEDs as digital output indicators
- Power Requirement: +10 ~ +30 VDC, 1.0 W
- Operating Temperature: -25 ~ +75 °C
- Storage Temperature: -30 ~ +80 °C
- Humidity: 10 to 90% RH, Non-condensing
- Dimensions: 32.3 mm x 99 mm x 77.5 mm (W x L x H)

Product Usage Instructions

1. Installation

Follow these steps to install the CAN-2057C module:

Ensure power is disconnected before installation.
Mount the module securely in a suitable location.
Connect the power supply within the specified voltage
range.
Check the LED indicators to verify power, run status, and
errors.

2. Configuration

To configure the CAN-2057C module:

Set the Node-ID according to your system requirements.
Use the provided firmware update tools for any updates.
Adjust the CANopen transfer rate based on your application
needs.

3. Operation

Once installed and configured, the module is ready for
operation:

Monitor the digital output indicators for status
information.
Ensure proper communication with the CANopen master
interface.
Observe reaction times for message transmissions.

Frequently Asked Questions (FAQ)

Q: What is the warranty period for the CAN-2057C module?

A: The warranty period for all products manufactured by ICP DAS,
including the CAN-2057C, is one year from the date of delivery to
customers, provided there is no contrived damage.

Q: How can I update the firmware of the CAN-2057C module?

A: Firmware updates for the CAN-2057C module can be performed
using tools such as I-7530 series, I-7540D series, I-7565 series,
PISO-CM100 series, and PISO-CAN series. Set Node-ID 0 for firmware
update after version 1.40-20111227.

CANopen Slave Device
CAN-2057C
Application User’s Manual
Warranty
Without contrived damage, all products manufactured by ICP DAS are warranted in one year from the date of delivery to customers.
Warning
ICP DAS revises the manual at any time without notice. However, no responsibility is taken by ICP DAS unless infringement act imperils to patents of the third parties.
Copyright
Copyright © 2010 is reserved by ICP DAS.
Trademark
The brand name ICP DAS as a trademark is registered, and can be used by other authorized companies.

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Contents
1 Introduction…………………………………………………………………………………3 1.1 Overview……………………………………………………………………………..3 1.2 Hardware Specifications ………………………………………………………4 1.3 Features………………………………………………………………………………5 1.4 Application ………………………………………………………………………….6
2 Hardware …………………………………………………………………………………….7 2.1 Structure …………………………………………………………………………….. 7 2.2 Node ID & Baud Rate Rotary Switch ……………………………………..8 2.3 I/O Pair-connection Mode……………………………………………………..9 2.4 LED Description ………………………………………………………………… 11 2.5 PIN Assignment ………………………………………………………………… 12 2.6 Wire Connection ……………………………………………………………….. 13
3 Object Dictionary ………………………………………………………………………. 14 3.1 Object List ………………………………………………………………………… 14 3.2 Store and Restore Object …………………………………………………… 19 3.3 Application Object …………………………………………………………….. 20 3.4 Default PDO Mapping ………………………………………………………… 24

Note about version differences
CAN-2057C

CAN-2057C V2

Exterior

Firmware Support

CAN_2053C_08.fw and before version

CAN_2053C_09.fw and later version

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1 Introduction
1.1 Overview
CAN-2057C is a CANopen slave module and it has 16 Digital output channels with open-collector output type. It can be used to develop powerful and cost effective digital control system.

Figure 1-1 CAN-2057C

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1.2 Hardware Specifications
Digital Output: Output Channels: 16 (Sink) Output Type: Open-collector. Max Load Current: 100 mA per channel. Load Voltage: +5 VDC ~ +30 VDC. Intra-module Isolation, Field to Logic: 3750 Vrms. Reaction Time:
DO Message to rising edge: 50 us. DO Message to falling edge: 100 us. ESD Protection: 4 kV Contact for each channel.
Others: CANopen Status: 3 LEDs for PWR / RUN / ERR. Terminal Resister: 1 LED as terminator resister indicators DO LED: 16 LEDs as digital output indicators. Power Requirement: +10 ~ +30 VDC, 1.0 W. Operating Temperature: -25 ~ +75 . Storage Temperature: -30 ~ +80 . Humidity: 10 to 90% RH, Non- condensing. Dimensions: 32.3 mm x 99 mm x 77.5 mm (W x L x H) Detail.

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1.3 Features
Standard CANopen general I/O slave devices. CANopen Version: DS-301, v4.02. Device Profile: DSP-401, v2.1 Support I/O pair-connection mechanism. Provide normal/polarity 16 DO channels CANopen transfer rate: 10 kbps, 20 kbps, 50 kbps, 125 kbps, 250
kbps, 500 kbps, 800 kbps, 1000 kbps. Support maximum CANopen slave devices Node-ID up to 99. Set Node-ID 0 for firmware update (after version 1.40-20111227).
Firmware updates tools: I-7530 series, I-7540D series, I-7565 series, PISO- CM100 series, and PISO-CAN series.
Support NMT, PDO, SDO, EMCY, SYNC, Guarding, and Heartbeat protocol.
Pass the validation of CANopen conformance test Provide EDS file for CANopen master interface

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1.4 Application
Figure 1-2 Application Structure

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2 Hardware
2.1 Structure

(Top View)

(Bottom View)

Figure 2-1 CAN-2057C layout of LED, connect, and switch

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2.2 Node ID & Baud Rate Rotary Switch
The rotary switches of node ID configure the node ID of CAN-2057C 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.

Figure 2-2 Node ID rotary switch
The rotary switch of baud rate handles the CAN baud rate of CAN-2057C module. The value of baud rate switch from 0 ~ 7 are normal CANopen mode, and 8 ~ F are I/O pair-connection mode. About the I/O pair-connection mode please refer to section 2.3. The relationship between the rotary switch value and the practical baud rate is presented in the following table.

Figure 2-3 Baud rate rotary switch

Rotary Switch Value
0 1 2 3 4 5 6 7
Table 2-1

Rotary Switch Value of Baud Rate (k bps)
I/O Pair-connection

8

10

9

20

A

50

B

125

C

250

D

500

E

800

F

1000

Baud rate and rotary switch

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2.3 I/O Pair-connection Mode
The CAN-2057C module provides the I/O pair-connection function. Before using this function, you need to prepare one CAN-2057C module and a 16-bit DI CAN-2000 series module (such as CAN-2053C). When applying this function, the DI channels of the CAN-2053C and the DO channels of the CAN-2057C are mapping with each other. That is to say that when the DI channels of the CAN-2053C get the ON signal, the corresponding DO channels of the CAN-2057C will be turned on.
When you completed the connection of the CAN-2053C and CAN2057C by CAN bus, you need to set the baud rate rotary switch of these two modules to 0x8 ~ 0xF, and configure the node ID of them by the special rule. Set the node ID to be odd for one module, and set the node ID of another module to be the value which is equal to the node ID increased one of the former. Therefore, they are the couple as the following figure.

Figure 2-4 I/O pair-connection group structure
For example, user uses a CAN-2057C and a CAN-2053C to do I/O pair-connection. The connection structure is as follows.

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Figure 2-5 I/O pair-connection wire connect
The node ID of CAN-2057C is 1, and the node ID of CAN-2053C is 2. Both of these two module’s baud rate switch are selected to “D”, 500 kbps CANopen baud rate with I/O pair-connection mode, and these two modules will into Operational state automatically. When the DI module, CAN-2053C, receives a DI ON-signal, the DO module, CAN-2057C, will output the ON-signal at the corresponding DO channels.

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2.4 LED Description
Power LED CAN-2057C allows 10 VDC ~ 30 VDC for working voltage. The
power consumption is 1.5 W. Under the connection of a proper power connection, 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 LED state is show below. About the detail, please refer

to the section 2.3.1 of the CAN-2000C user manual.

LED Signal

State

Description

No Light

Non-operation Power Supply is not ready

Single Flash

Stopped

The device is in Stopped state

Blinking

Pre-operational Device is in Pre-operational state

Continuing Light Operational Device is in Operational state

Table 2-2 Run LED state description

Error LED

The Error LED indicates the CANopen error state. The

description of LED state is show below. About the detail please refer

to the section 2.3.2 of the CAN-2000C user manual.

LED Signal

State

Description

No Light

No error

Device is working well.

Single Flash

Error Warning At least one CANopen error

happened.

Double Flash Guarding Fail Guarding fail event happened.

Continuing Light Bus Off

The bus off state happened.

Table 2-3 Err LED state description

Terminal Resistor LED When enable the 120terminator resistor, the LED will turn on.

DO LED If the DO LED turns on, it means that the corresponding DO
channel sends an ON voltage-level digital signal no matter what the DO channel polarity is. (User can configure the 0x6202 object to change the polarity of the DO channel. More detail in section 3.3.)

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2.5 PIN Assignment

Figure 2-6 CAN-2057C pin assignment

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2.6 Wire Connection
Figure 2-7 CAN-2057C Wire connection

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3 Object Dictionary

3.1 Object List

General Communication Entries

Idx Sidx

Description

Type

1000h 0h device type

UNSIGNED 32

1001h 0h error register

UNSIGNED 8

1003h 0h largest sub-index supported for UNSIGNED 8

“predefine error field”

1h actual error (the newest one) UNSIGNED 32

… …

…

5h actual error (the oldest one)

UNSIGNED 32

1005h 0h COB-ID of Sync message

UNSIGNED 32

1008h 0h manufacturer device name

VISIBLE_STRING

1009h 0h manufacturer hardware version VISIBLE_STRING

100Ah 0h manufacturer software version VISIBLE_STRING

100Ch 0h guard time

UNSIGNED 16

100Dh 0h life time factor

UNSIGNED 8

1010h 0h largest sub-index supported for UNSIGNED 8

“store parameters”

1010h 1h save all hardware parameter

UNSIGNED 32

1011h 0h largest sub-index supported for UNSIGNED 8

“restore default parameters”

1011h 1h restore all default parameters UNSIGNED 32

1014h 0h COB-ID of EMCY

UNSIGNED 32

1017h 0h producer heartbeat time

UNSIGNED 16

1018h 0h largest sub-index supported for UNSIGNED 8

“identity object”

1h vender ID

UNSIGNED 32

2h product code

UNSIGNED 32

3h revision number

UNSIGNED 32

4h serial number

UNSIGNED 32

Table 3-1 General object dictionary

Note: x is Node-ID of the module

Attr Default

RO 00020191h

RO

0h

RO

0h

RO

—

…

—

RO

—

RW

80h

RO CAN-2057C

RO

1.3

RO 1.40-20111227

RW

0h

RW

0h

RO

1h

RW

—

RO

1h

RW

—

RW 80h+x

RW

0

RO

4

RO

—

RO

—

RO

—

RO

—

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SDO Communication Entries

Idx Sidx

Description

Type

Attr Default

1200h 0h largest sub-index supported for UNSIGNED 8 RO 2

“server SDO parameter”

1h COB-ID form client to server UNSIGNED 32 RO 600h+x

(RxSDO)

2h COB-ID form server to client UNSIGNED 32 RO 580h+x

(TxSDO)

Table 3-2 SDO communication object dictionary

Note: x is Node-ID of the module

RxPDO Communication Entry

Idx Sidx

Description

Type

Attr Default

1400h 0h Number of entries

UNSIGNED 8 RO

2

1h COB-ID used by RxPDO UNSIGNED 32 RW 200h+x

2h Transmission type

UNSIGNED 8 RW

FFh

1401h 0h Number of entries

UNSIGNED 8 RO

2

1h COB-ID used by RxPDO UNSIGNED 32 RW 300h+x

2h Transmission type

UNSIGNED 8 RW

FFh

1402h 0h Number of entries

UNSIGNED 8 RO

2

1h COB-ID used by RxPDO UNSIGNED 32 RW 400h+x

2h Transmission type

UNSIGNED 8 RW

FFh

1403h 0h Number of entries

UNSIGNED 8 RO

2

1h COB-ID used by RxPDO UNSIGNED 32 RW 500h+x

2h Transmission type

UNSIGNED 8 RW

FFh

1404h 0h Number of entries

UNSIGNED 8 RO

2

1h COB-ID used by RxPDO UNSIGNED 32 RW C000 0000h

2h Transmission type

UNSIGNED 8 RW

—

… …

…

1409h 0h Number of entries

UNSIGNED 8 RO

2

1h COB-ID used by RxPDO UNSIGNED 32 RW C000 0000h

2h Transmission type

UNSIGNED 8 RW

—

Table 3-3 RxPDO communication object dictionary

Note: x is Node-ID of the module

RxPDO Mapping Communication Entry

Idx Sidx

Description

Type

Attr Default

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1600h
1601h …
1609h

0h Number of entries

UNSIGNED 8 RW

1h DO channel 0 ~ 7

UNSIGNED 32 RW

2h DO channel 8 ~15

UNSIGNED 32 RW

0h Number of entries

UNSIGNED 8 RW

… …

…

0h Number of entries

UNSIGNED 8 RW

Table 3-4 RxPDO mapping object dictionary

2 6200 0108h 6200 0208h
0 … 0

TxPDO Communication Entry

Idx Sidx

Description

1800h 0h Number of entries

1h COB-ID used by TxPDO

2h Transmission type

3h Inhibit time

4h reversed

5h Event timer

1801h 0h Number of entries

1h COB-ID used by TxPDO

2h Transmission type

3h Inhibit time

4h reversed

5h Event timer

1802h 0h Number of entries

1h COB-ID used by TxPDO

2h Transmission type

3h Inhibit time

4h reversed

5h Event timer

1803h 0h Number of entries

1h COB-ID used by TxPDO

2h Transmission type

3h Inhibit time

4h reversed

5h Event timer

1804h 0h Number of entries

1h COB-ID used by TxPDO

2h Transmission type

Type

Attr Default

UNSIGNED 8 RO

5

UNSIGNED 32 RW 180h+x

UNSIGNED 8 RW

FFh

UNSIGNED 16

0

—

UNSIGNED 16

0

UNSIGNED 8 RO

5

UNSIGNED 32 RW 280h+x

UNSIGNED 8 RW

FFh

UNSIGNED 16

0

—

UNSIGNED 16

0

UNSIGNED 8 RO

5

UNSIGNED 32 RW 380h+x

UNSIGNED 8 RW

FFh

UNSIGNED 16

0

—

UNSIGNED 16

0

UNSIGNED 8 RO

5

UNSIGNED 32 RW 480h+x

UNSIGNED 8 RW

FFh

UNSIGNED 16

0

—

UNSIGNED 16

0

UNSIGNED 8 RO

5

UNSIGNED 32 RW 8000 0000h

UNSIGNED 8 RW

—

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3h Inhibit time

UNSIGNED 16

0

4h reversed

—

5h Event timer

UNSIGNED 16

0

… …

…

1809h 0h Number of entries

UNSIGNED 8 RO

5

1h COB-ID used by TxPDO UNSIGNED 32 RW 8000 0000h

2h Transmission type

UNSIGNED 8 RW

—

3h Inhibit time

UNSIGNED 16

0

4h reversed

—

5h Event timer

UNSIGNED 16

0

Table 3-5 TxPDO communication object dictionary

Note: x is Node-ID of the module

The unit of Inhibit time is 100us.

TxPDO Mapping Communication Entry

Idx Sidx

Description

Type

Attr Default

1A00h 0h Number of entries

UNSIGNED 8 RW

0

… …

…

1A09h 0h Number of entries

UNSIGNED 8 RW

0

Table 3-6 RxPDO mapping object dictionary

Power On Value Function

Idx Sidx

Description

Type

Attr Default

2010h 0h Number of Output 8-Bit

UNSIGNED 8 RO 2

1h Set DO power on value of ch0 ~

RW 0

UNSIGNED 8

ch7

2h Set DO power on value of ch8 ~

RW 0

UNSIGNED 8

ch15

Table 3-7 Manufacturer object dictionary

Digital Output Function

Idx Sidx

Description

Type

Attr Default

6200h 0h Number of Output 8-Bit

UNSIGNED 8 RO 2

1h DO value of ch0 ~ ch7

UNSIGNED 8 RW 0

2h DO value of ch8 ~ ch15

UNSIGNED 8 RW 0

6202h 0h Number of Output 8-Bit

UNSIGNED 8 RO 2

1h Change polarity DO ch0 ~ ch7 UNSIGNED 8 RW 0

2h Change polarity DO ch8 ~ ch15 UNSIGNED 8 RW 0

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6206h 0h Number of Output 8-Bit

UNSIGNED 8 RO

1h Error mode DO ch0 ~ ch7

UNSIGNED 8 RW

2h Error mode DO ch8 ~ ch15

UNSIGNED 8 RW

6207h 0h Number of Output 8-Bit

UNSIGNED 8 RO

1h Error value DO ch0 ~ ch7

UNSIGNED 8 RW

2h Error value DO ch8 ~ ch15

UNSIGNED 8 RW

Table 3-8 Application object dictionary

2 0xFF 0xFF
2 0 0

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3.2 Store and Restore Object
User can write the value 0x65766173 to the object index 0x1010 to save configuration setting, or write the value 0x64616F6C to object index 0x1011 to load the factory default. The following table lists the relative objects which will be stored or restored after writing these two objects. The factory default for these objects is also shown.

Store and Restore functions:

Index Subindex Function

1010 h

1

Store application and communication setting.

1010 h

2

Store communication setting only.

1010 h

3

Store application setting only.

1011 h

1

Restore application and communication setting.

1011 h

2

Restore communication setting only.

1011 h

3

Restore application setting only.

Table 3-9 Store and Restore object function

Communication Setting: Please refer to above table 3-3, 3-4, 3-5, and 3-6.

Application Setting:

Index Sub

Description

Index

2010 h 1 Set digital output power on value for channel 8 ~ 15

2010 h 2 Set digital output power on value for channel 8 ~ 15

2100 h 1

Set Module to Operation Mode when powering on

6202 h 1

Change polarity digital output for channel 0 ~ 7

6202 h 2

Change polarity digital output for channel 8 ~ 15

6206 h 1

Error mode digital output for channel 0 ~ 7

6206 h 2

Error mode digital output for channel 8 ~ 15

6207 h 1

Error value digital output for channel 0 ~ 7

6207 h 2

Error value digital output for channel 8 ~ 15

Table 3-10 Store and Restore the object list

Factory Default
0x00 0x00 0x00 0xFF 0xFF 0xFF 0xFF 0x00 0x00

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3.3 Application Object

Digital Output module (0x6200) User can set a group of 8 output lines as a byte of information and sent it

into the object index 0x6200 with subindex 1 and 2 of CAN-2057C. For

example, if the node id of CAN-2057C is 1, the commands are as below:

11-bit COB-ID (bit)

Data

8-byte Data (byte)

Func Code

Node ID

RTR

Length

10 9 8 7 6 5 4 3 2 1 0

0 1 2 3 4 5 6 7

1 1000000001 0

8 2F 00 62 01 37 00 00 00

SDO client

SDO server (CAN-2057C)

11-bit COB-ID (bit)

Data

8-byte Data (byte)

Func Code

Node ID

RTR

Length

10 9 8 7 6 5 4 3 2 1 0

0 1 2 3 4 5 6 7

1 0110000001 0

4 60 00 62 01 — — — —

SDO client

SDO server (CAN-2057C)

Write the 0x0F of digital output value into the object index 0x6200 with subindex

1, and its response success by CAN-2057C. The DO channels of DO5, DO4,

DO2, DO1 and DO0 turn on and others are turn off.

Change Output Polarity (0x6202) This object 0x6202 with subindex 1 and 2 define the polarity of a group of 8
output lines. Output polarity can be inverted individually. 1 = output inverted. 0 = output not inverted.

For example, if the node id of CAN-2057C is 1, the commands are as below:

11-bit COB-ID (bit)

Data

8-byte Data (byte)

Func Code

Node ID

RTR

Length

10 9 8 7 6 5 4 3 2 1 0

0 1 2 3 4 5 6 7

1 1000000001 0

8 2F 02 62 01 F0 00 00 00

SDO client

SDO server (CAN-2057C)

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11-bit COB-ID (bit)

Data

8-byte Data (byte)

Func Code

Node ID

RTR

Length

10 9 8 7 6 5 4 3 2 1 0

0 1 2 3 4 5 6 7

1 0110000001 0

4 60 02 62 01 — — — —

SDO client

SDO server (CAN-2057C)

Write object index 0x6202 with subindex 1 to 0xF0 means that set the Ch0 ~ Ch3

of DO channels to be inverted, and set the Ch4 ~ Ch7 to normal.

Error Mode and Error Value (0x6206, 0x6207) The object 0x6206 and 0x6207 are used to control the safe value when
error happens. When some error event of this module happens such as node guarding failure, the module will check the value of the object 0x6206. If some bits of this value are set to 1, the corresponding DO channels will be into the error mode output. The error mode output values are concerned to the object 0x6207. For example, if the subindex 01 in the object with 0x6206 and 0x6207 are 0x31 and 0xF8 respectively, when some error event occurs, only the DO5, DO4, DO0 will be changed to error mode output because the bit 5, bit 4, and bit 0 of the value 0x31 is 1. The others channels keeps the status as the error event is not happened. The bit 5, bit 4, and bit 0 of the value 0xF8 are 1, 1 and 0, therefore the error mode output value of DO5, DO4 and DO0 are active, active, and inactive respectively.

11-bit COB-ID (bit)

Data

8-byte Data (byte)

Func Code

Node ID

RTR

Length

10 9 8 7 6 5 4 3 2 1 0

0 1 2 3 4 5 6 7

1 1000000001 0

8 2F 06 62 01 31 00 00 00

SDO client

SDO server (CAN-2057C)

11-bit COB-ID (bit)

Data

8-byte Data (byte)

Func Code

Node ID

RTR

Length

10 9 8 7 6 5 4 3 2 1 0

0 1 2 3 4 5 6 7

1 0110000001 0

8 60 06 62 01 — — — —

SDO client

SDO server (CAN-2057C)

Write object index 0x6206 and subindex 1 to 0x31 means set the error mode to

0x31 for enabling the error mode output of DO 0, DO 4 and DO5.

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11-bit COB-ID (bit)

Data

8-byte Data (byte)

Func Code

Node ID

RTR

Length

10 9 8 7 6 5 4 3 2 1 0

0 1 2 3 4 5 6 7

1 1000000001 0

8 2F 07 62 01 F8 00 00 00

SDO client

SDO server (CAN-2057C)

11-bit COB-ID (bit)

Data

8-byte Data (byte)

Func Code

Node ID

RTR

Length

10 9 8 7 6 5 4 3 2 1 0

0 1 2 3 4 5 6 7

1 0110000001 0

8 60 07 62 01 — — — —

SDO client

SDO server (CAN-2057C)

Write object index 0x6207 and subindex 1 to 0xF8 means set the error value to

0xF8 for activating the error mode output value of DO 3 ~ DO 7. If the error event

in this module, the module will output the safe value 0x30 (0x31 & 0xF8 = 0x30)

corresponding the object 0x6206 and 0x6207.

Set Power On Value (0x2010) This object 0x2010 with subindex 1 and 2 define the power on value of a
group of 8 output lines. Power on value can be set individually.

For example, if the node id of CAN-2057C is 1, the commands are as below:

11-bit COB-ID (bit)

Data

8-byte Data (byte)

Func Code

Node ID

RTR

Length

10 9 8 7 6 5 4 3 2 1 0

0 1 2 3 4 5 6 7

1 1000000001 0

8 2F 10 20 01 F0 00 00 00

SDO client

SDO server (CAN-2057C)

11-bit COB-ID (bit)

Data

8-byte Data (byte)

Func Code

Node ID

RTR

Length

10 9 8 7 6 5 4 3 2 1 0

0 1 2 3 4 5 6 7

1 0110000001 0

4 60 10 20 01 — — — —

SDO client

SDO server (CAN-2057C)

Write object index 0x2010 with subindex 1 to 0xF0 means that set the Ch0 ~ Ch3

of DO channels to 0, and set the Ch4 ~ Ch7 to 1 when the CAN-2057C power on.

CAN-2057C user’s manual (Revision 1.50, Dec/22/2021) ——

22

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-2057C is 1, the commands are as below:

11-bit COB-ID (bit)

Data

8-byte Data (byte)

Func Code

Node ID

RTR

Length

10 9 8 7 6 5 4 3 2 1 0

0 1 2 3 4 5 6 7

1 1000000001 0

8 2F 00 21 01 01 00 00 00

SDO client