ICP DAS CAN-2053C CANopen Slave Device User Manual

ICP DAS CAN-2053C CANopen Slave Device User Manual

Introduction

Overview

CAN-2053C is a Can open slave module and it has 16 Digital input channels with 4 commons type. It can be used to develop powerful and cost effective digital control system.

Hardware Specifications

Digital Input:

• Input Channels: 16 (Sink/Source)
• Input Type: 4 commons for all inputs.
• On Voltage Level: +3.5 ~ +30 VDC.
• Off Voltage Level: +1 VDC max.
• Input Impedance: 3 kΩ, 0.3 W
• Intra-module Isolation, Field to Logic: 3750 Vrms.
• 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
• DI LED: 16 LEDs as digital input indicators.
• Power Requirement: +10 ~ +30 VDC, 1.2 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.

Features

• Standard Can open 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 DI 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 1.20-20111227).
  • 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

Application

Figure 1-2 Application Structure

Hardware

Structure

**(Top View)

(Bottom View)

Figure 2-1 CAN-2053C layout of LED, connect, and switch**

Node ID & Baud Rate Rotary Switch

The rotary switches of node ID configure the node ID of CAN-2053C 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-2053C 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| Rotary Switch Value ofI/O Pair-connection| Baud Rate (k bps)
---|---|---
0| 8| 10
1| 9| 20
2| A| 50
3| B| 125
4| C| 250
5| D| 500
6| E| 800
7| F| 1000

Table 2-1 Baud rate and rotary switch

I/O Pair-connection Mode

The CAN-2053C module provides the I/O pair-connection function. Before using this function, you need to prepare one CAN-2053C module and a 16-bit DO CAN-2000 series module (such as CAN-2057C). 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.

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.

LED Description

Power LED
CAN-2053C 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 shown below. About the detail, please refer to the section 2.3.1 of the CAN-2000C user manual.

Table 2-2 Run LED state description

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

Table 2-3 Err LED state description

Terminal Resistor LED

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

DI LED
If the DI LED turns on, it means that the corresponding DI channel receives an ON voltage-level digital signal no matter what the DI channel polarity is. (User can configure the 0x6002 object to change the polarity of the DI channel. More detail in section 3.3.)

PIN Assignment

Figure 2-6 CAN-2053C pin assignment

Wire Connection

Figure 2-7 CAN-2053C Wire connection

Object Dictionary

Object List

General Communication Entries

1h
1010h| 1h| save all hardware parameter| UNSIGNED 32| RW| —
1011h| 0h| largest sub-index supported for“restore default parameters”| UNSIGNED 8| RO| 1h
1011h| 1h| restore all default parameters| UNSIGNED 32| RW| —
1014h| 0h| COB-ID of EMCY| UNSIGNED 32| RW| 80h+x
1017h| 0h| producer heartbeat time| UNSIGNED 16| RW| 0
1018h| 0h| largest sub-index supported for“identity object”| UNSIGNED 8| RO| 4
| 1h| vender ID| UNSIGNED 32| RO| —
| 2h| product code| UNSIGNED 32| RO| —
| 3h| revision number| UNSIGNED 32| RO| —
| 4h| serial number| UNSIGNED 32| RO| —

Table 3-1 General object dictionary
Note: x is Node-ID of the module

SDO Communication Entries

Table 3-2 SDO communication object dictionary
Note: x is Node-ID of the module

RxPDO Communication Entry

Table 3-3 RxPDO communication object dictionary
Note: x is Node-ID of the module

RxPDO Mapping Communication Entry

Table 3-4 RxPDO mapping object dictionary

TxPDO Communication Entry

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

Table 3-6 RxPDO mapping object dictionary
Digital Input Function

Table 3-7 Application object dictionary
Note: Object 0x2030h is used for DI noise. If there is any DI noise in your application, you can set the value larger to avoid the unexpected noise.

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:

Table 3-8

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

Application Setting:

Table 3-9 Store and Restore the object list

Application Object

Digital Input module (0x6000)
User can use the object index 0x6000 with subindex 1 to read the DI-channel information. For example, if the node ID of CAN-2053C is 1, the commands are as below:

SDO client
SDO server (CAN-2053C)

SDO client
SDO server (CAN-2053C)

Read the object index 0x6000 with subindex 1 by using SDO. The value 0x37 indicated first 8-channel DI status will be responded by CAN-2053C module. The DI channels of DI5, DI4, DI2, DI1 and DI0 turn on and others are turn off.

Change Input Polarity (0x6002)
User can configure the object index 0x6002 with subindex 1 to set the polarity of DI channels.

This object 0x6002 with subindex 1 defines the polarity of a group of 8 input lines. Input polarity can be inverted individually.
1 = input inverted.
0 = input not inverted.

For example, if the node ID of CAN-2053C is 1, the commands are as below:

SDO client
SDO server (CAN-2053C)

SDO client
SDO server (CAN-2053C)

Write object index 0x6002 with subindex 1 to 0xF0 means that set the Ch0 ~ Ch3 of DI channels to normal, and set the Ch4 ~ Ch7 to be inverted.

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-2053C is 1, the commands are as below:

SDO client
SDO server (CAN-2053C)

SDO client
SDO server (CAN-2053C)

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

SDO client
SDO server (CAN-2053C)

Default PDO Mapping **

**

TxPDO mapping list

Table 3-10 Default TxPDO list
Note: x is Node-ID of the module

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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