Download User manual - Efes otomasyon

ISO9001 Certified
mod.
IO-CB/DI-16LV-00
M . U . I O - C B / D I - 1 6 LV- 1 / 0 4 . 1 0
C o d . J 3 0 - 6 5 8 - 1 A D I - 1 6 LV E
User
manual
Contents
- Characteristics
- Functional Block Diagram
- PDOs used by the module
- Hardware Set-up
- Parameter configuration
- Commands
- Emergency messages
- Parameter Store/Restore
- Object Dictionary
ASCON spa
20021 Bollate (Italy)
Tel. +39 02 333 371
Fax +39 02 350 4243
www.ascon.it
[email protected]
E
CANopen I/O module
16 Isolated
Digital Inputs
mod. IO-CB/DI-16LV-00
16 optoisolated digital inputs with
special functions
- Latched inputs
- Monostable inputs
- Edge detect and interrupt
APPLICABLE STANDARDS
A WARNING
The DI-16LV module is suited for the CiA DS301 protocol [1] and implements the
CiA DS401 standard Device Profile [2].
The product described in this manual should only be installed, operated and maintained by
qualified application programmers and software engineers who are familiar with automation
safety concepts and applicable national standards.
Characteristics
Functional Block Diagram
Technical data
Number of channels
Polarity (EN 61131-2 type 2)
UL (state 0)
UT (transition)
UH (state 1)
Input impedance
ON/OFF delay
Max. monostable time
Polarity
16
Sink (PNP)
-3...+11/5 Vdc
5...11 Vdc
11... 30 Vdc
5 kΩ
5 ms
65 s
Filter
Change
polarity
Transmit
Interrupt enable
Any change
High to low
=1 OR
Close if TRUE
Low to high
PDOs used by the module
General
3 way isolation
Power supply
Power consuption
Overvoltage protection
Dimensions
Weight
Safety regulations
EN61010-1
CE marking
Channel to Channel
No
Channel to Logic
800 Vp
Logic to Serial Bus
800 Vp
Power Supply to Logic
800 Vp
24 Vdc; -15...+25%
3W
40 Vdc
L: 76; H: 110; W: 65
220 g
Isolation class II (50Vrms),
Installation cathegory II,
Pollution degree 2
EN61131-2
3 way isolation diagram
Fieldbus
Logic
Input
channels
1 - 16
Power supply
800Vp
Environment
Temperature
Relative
Humidity
Mounting
Protection
Vibrations
(3 axes)
Shock (3 axes)
Operating
-10...+65°C
5...95% non condensing
Appropriate measures must
be taken against humidity
>85%
Vertical, free air
IP20
10...57Hz 0.0375mm
57...150Hz 0.5g
15g, 11ms half sine
Storage
-40...+85°C
5...95% non condensing
For a short period, slight
condensation may appear
on the housing
TPDO
TPDO 1
TPDO 2
Properties
COBID: 180h+ NodeID
Transmission Type: FFh
COBID: 280h+ NodeID
Transmission Type: FFh
Mapped objects
Read digital input (1-8)
Read digital input (9-16)
Read Input Latch 1-8
Read Input Latch 9-16
Read Input Wait 1-8
Read Input Wait 9-16
Index
6000h
6000h
2011h
2011h
2012h
2012h
Note: The transmission type is configurable; FFh is the default value.
Sub-index
01h
02h
01h
02h
01h
02h
Index 6008h – Interrupt Mask High-to-Low 8-bit
detection of a High-to-Low edge
Hardware Set-up
Hexadecimal rotary switches, service and I/O LEDs
Negative screw-driver
0.4 x 2.5 mm
Top view
•
Hi
•
Lo
ide
nt s
Fro
Service Status
LEDs
ON
RUN Blinking
Single flash
OFF
ON
Single flash
ERR Double flash
Triple flash
OFF
ON
ST Blinking
Single flash
OFF
PWR ON
OFF
•
•
Meaning
Operational
Pre-operational (CANopen)
STOPPED
Device in RESET state
BUS OFF
Warning limit reached
Error Control Event
Sync Error (CANopen)
No error. Device working
DIAG Error
INIT and DIAG running
Baud rate setting
Module OK and ready
Module Power Supply ON
Module Power Supply OFF
I/O LEDs
Status Meaning
IN 1... 16 ON
Input active
OFF input inactive
•
Index 6005h – Global Interrupt Enable
the actual PDO transmission is performed if two initial conditions are met: the variable
in Index 6005h should be “TRUE” and the PDO transmission type should be 255.
In addition to the expected functions, the module provides a number of proprietary input function options. Below is an explanation of the added functions.
• Input Latch: Available for all inputs
Index 2011h – Read Input Latch contains the value of the staticised inputs.
Index 200Eh – Reset Latch commands the resetting of a single latched input
on a bit basis: writing 1 to the n-th bit resets the n-th input channel. The latching function acts after the filtering and polarity settings.
• Input monostable: Available for all inputs
The input active value is maintained for a duration of time configurable with the
Index 2010h – Time Value (16 element ARRAY, time base 5ms). The state of
the inputs are kept in
Index 2012h – Read Input Wait.
Module specific parameters
Index 3000h – Node Address
Current Module Node ID
Index 3001h – Baudrate
Current Module Bit rate
Commands
Bit Rate and Node ID configuration
Bit rate
Node ID
Baud rate
Lo switch
kbps
1
20
2
50
3
100
4
125
5
250
6
500
7
800
8
1000
Bus length
m
2500
1000
500
500
250
100
50
25
Hi
Lo
switch switch
0
1
0
2
7
F
Index 200Ch – Operating mode
Valid ID Node
The device has its own internal state machine. It is possible to move through this by
sending appropriate values to the Index 200Ch, following the table below.
01h (address 1)
02h (address 2)
7Fh (address 127D)
Procedure for Node ID and Bit Rate configuration
The HI and LO hexadecimal rotary swithches set the module’s Bit Rate and CAN Node ID.
During the configuration, the module must be off line and the CAN bus must be physically
disconnected.
To configure the module, follow the procedure:
1 Turn the Power OFF
2 Set the HI switch to “F”
3 Select the desired Bit Rate value by setting the LO switch following the table
(e.g. “8” for 1 Mbps)
4 Turn the Power ON
5 Shift the HI switch to “E” (all the module service LEDs should flash)
6 Turn the Power OFF. Now configure Node ID
7 Set the HI and LO switches to the desired valid Node ID following the table
8 Turn the Power ON.
Alternatively, at step 7 set the value 00h. Then, at the next Power ON, the last valid stored
value will be resumed as Node ID.
The default values are: Bit Rate = 20 kbps, Node ID = 127D
Ready
1
4
2
Run
5
Error
4
Transition Operating
Behaviour
mode value
Init
At Power-Up, the Device is in the “ready” state.
Transition 1 is also executed if Index 200Ch Operating Mode contains the default value 1
1
01h
Operating mode “RUN” is activated
Return to the initialisation “ready” state.
The transition is performed:
2
00h
• following an operator’s command
• after assigning a configuration parameter (2004h, 2010h)
The “error” state is automatically assigned by the devi4
FFh
ce (and the operating mode value is read only) when:
• an attempt is made to execute an unexpected command
This value causes an exit from the “error” state, after
5
00h
the error condition is acknowledged. The only transition
is to the “ready” state
Parameter configuration
Emergency messages
Configuring the Input Channels
The module automatically sends emergency messages including error codes. The
communication errors are descrided in CiA DS301 [1]. The error codes are expressed as a DEVICE SPECIFIC ERROR type of code. The codes indicating a specific condition are also inserted, following the table below:
Error code Error
0000000000 No error –This code is generated when exiting an error contidion, to notify the end of one of the error states
0000000007 Error Wrong Command – An attempt to execute a command from an
illegal state
The functional block diagram for the Inputs is consistent with the standard profile CiA
DS401 [2].
The digital signal is first filtered (Index 6003h – Filter Constant Input 8-bit and Index
2004 - Filter Constant), then polarised (Index 6002 – Polarity Input 8-bit) and finally
assigned to the variable that contains its value (Index 6000h – Read Input 8-bit). The
information is now ready to be transmitted on the CAN network via the TPDO1.
Other entries determine the trigger condition:
Index 6006h – Interrupt Mask Any Change 8-bit:
detection of any input level change.
Index 6007h – Interrupt Mask Low-to-High 8-bit:
detection of a Low-to-High edge.
0
Emergency 01h
Message
1
FFh
2
3
4
5
21h
00h
00h
00h
COB – ID = [entry 1014h] + NodeID
Error code
6
00h
7
0yh
Parameter Store/Restore
Reference documents
This module allows parameters to be saved in a non volatile memory. In order to
avoid storing parameters by mistake, storage is only executed when a specific
signature is written to the appropriate subindex. The signature is “save”.
Similarly, the default values of parameters, according to the communication or
device profile, are restored. On receipt of the correct signature in the appropriate
subindex, the device restores the default parameters and then confirms the SDO
transmission. The signature is “load”.
The new configuration becomes active after a reset, i.e. after a “Power
OFF/Power ON cycle” or an NMT “Reset Node” message.
Byte
0
1
2
3
4
5
6
7
22h
10h
10h
73h
61h
76h
65h
01h
Store
Parameter
s
a
v
e
COB – ID = 600h + NodeID
22h
11h
10h
6Ch
6Fh
61h
64h
01h
Restore
Parameter
l
o
a
d
COB – ID = 600h + NodeID
SDO Messages
The entries of a device Object Dictionary are accessed trough SDO (Service
Data Object) messages. The basic SDO messages are as follows, as based on
the Client – Server request and response model:
Byte
Read Request
Read Response
Write Request
Write Response
0
40h
4Fh
22h
60h
1
2
3
4
5
6
Sub-Index
Reserved
COB – ID = 600h + NodeID
Index
Sub-Index
Data
COB – ID = 580h + NodeID
Index
Sub-Index
Data
COB – ID = 600h + NodeID
Index
Sub-Index
Reserved
COB – ID = 580h + NodeID
Index
7
List of CiA documents to which the user should refer
[1] CiA DS301 - CANopen Application Layer and Communication Profile
[2] CiA DS401 - CANopen Device Profile: for generic I/O modules
Accessories, Spare Parts and Warranty
Power Supply 45W 24Vdc 2A
Power Supply 120W 24Vdc 5A
Additional Terminal Block 2x11
Female Plug 11 Screw clamp
Female Plug 11 Spring clamp
RJ45 terminated cable 14cm
RJ45 terminated cable 22cm
CAN Bus termination Adapter
AP-S2/AL-DR45-24
AP-S2/AL-DR120-24
AP-S2/TB-211-1
AP-S2/SPINA-V11
AP-S2/SPINA-M11
AP-S2/LOCAL-BUS76
AP-S2/LOCAL-BUS152
AP-S2/TERM-CAN
Warranty: 3 years excluding defects due to improper use
Object Dictionary (with default values)
A
In order to configure the module, it is necessary to connect it to a PC with the CAN interface and the superivisory software installed. The configuration can be obtained by
writing the desired values to the module’s variables listed in the Object Dictionary.
Object Dictionary structure
Index Sub
(hex) Index
1000
1001
1003
1005
1006
1007
1008
1009
100A
100C
100D
1010
00h
01h
1011
Object
Name
VAR
VAR
ARRAY
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
ARRAY
VAR
VAR
ARRAY
Device Type
Error Register
Predefined error field
COB-ID SYNC
Communication cycle period
Synchrounous window length
Manufacturer Device Name
Manufacturer Hardware Version
Manufacturer Software Version
Guard Time
Life Time Factor
Store Parameters
Largest subindex supported
Save all parameters
Restore Default Parameters
VAR
VAR
VAR
VAR
VAR
RECORD
VAR
VAR
RECORD
VAR
VAR
VAR
RECORD
VAR
VAR
VAR
VAR
VAR
VAR
RECORD
VAR
VAR
VAR
VAR
VAR
VAR
RECORD
Largest subindex supported
Restore all default parameters
COB-ID EMCY
Inhibit Time EMCY
Producer heartbeat time
Identity Object
Number of entries
Vendor ID
Server SDO Param
Number of entries
COB-ID Client -> Server
COB-ID Server -> Client
1st Transmit PDO Comm Param
Largest subindex supported
COB-ID used
Transmission type
Inhibit time
Reseved
Event timer
2nd Transmit PDO Comm Param
Largest subindex supported
COB-ID used
Transmission type
Inhibit time
Reseved
Event timer
1st Transmit PDO Mapping
01
01
80+NodeID
0000
0000
VAR
VAR
VAR
1A01
RECORD
00h VAR
01h VAR
02h VAR
03h VAR
04h VAR
2004
ARRAY
00h VAR
01h VAR
02h VAR
03h VAR
04h VAR
05h VAR
06h VAR
07h VAR
08h VAR
09h VAR
0Ah VAR
0Bh VAR
0Ch VAR
0Dh VAR
N° of mapped application obj
DigInput8_1
DigInput8_2
2nd Transmit PDO Mapping
N° of mapped application obj
Read Input Latch 1 – 8
Read Input Latch 9 – 16
Read Input Wait 1 – 8
Read Input Wait 9 – 16
Filter Constant
N° of entries
Filter Constant 1
Filter Constant 2
Filter Constant 3
Filter Constant 4
Filter Constant 5
Filter Constant 6
Filter Constant 7
Filter Constant 8
Filter Constant 9
Filter Constant 10
Filter Constant 11
Filter Constant 12
Filter Constant 13
02
60000108
60000208
00h
01h
1014
1015
1017
1018
00h
01h
1200
00h
01h
02h
1800
00H
01h
02h
03h
04h
05h
1801
00h
01h
02h
03h
04h
05h
1A00
00h
01h
02h
Default
[hex]
00010194
00
00000000
00000080
00000000
00000000
“16LV”
“1.00”
“1.00”
0000
00
01
03
01
000000E9
Type
UNSIGNED32
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
Vis-String
Vis-String
Vis-String
UNSIGNED16
UNSIGNED8
UNSIGNED32
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED16
UNSIGNED16
Identity (23h)
UNSIGNED8
UNSIGNED32
02
UNSIGNED8
600+NodeID UNSIGNED32
580+NodeID UNSIGNED32
PDO CommPar (20h)
05
UNSIGNED8
180+NodeID UNSIGNED32
FF
UNSIGNED8
0000
UNSIGNED16
UNSIGNED8
0000
UNSIGNED16
PDO CommPar (20h)
05
UNSIGNED8
280+NodeID UNSIGNED32
FF
UNSIGNED8
0000
UNSIGNED16
UNSIGNED8
0000
UNSIGNED16
PDO Mapping (21h)
04
20110108
20110208
20120108
20120208
10
00
00
00
00
00
00
00
00
00
00
00
00
00
UNSIGNED8
UNSIGNED32
UNSIGNED32
PDO Mapping (21h)
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
Acc. MO
Attr.
RO
M
RO
M
RO
O
RW
O
RW
O
RW
O
const O
const O
const O
RW
O
RW
O
O
RO
RW
RW
O
RO
RW
RW
RW
RW
Index Sub
(hex) Index
0Eh
0Fh
10h
200C
200E
00h
01h
02h
2010
00h
01h
02h
03h
04h
05h
06h
07h
08h
09h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
10h
O
O
O
M
RO
RO
RO
RO
RO
O
2011
M
RO
RW
RW
RW
RW
RW
00h
01h
02h
2012
00h
01h
02h
M
RO
RW
RW
RW
RW
RW
3000
3001
6000
00h
01h
02h
6002
M
RO
RO
RO
00h
01h
02h
6003
M
RO
RO
RO
RO
RO
00h
01h
02h
6005
6006
00h
01h
02h
O
RO
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
6007
00h
01h
02h
6008
00h
01h
02h
Object Name
VAR
VAR
VAR
VAR
ARRAY
VAR
VAR
VAR
ARRAY
VAR
VAR
VAR
VAR
VAR
VAR
Filter Constant 14
Filter Constant 15
Filter Constant 16
Operating Mode
Reset Input Latch
N° of entries
Reset Input Latch 1 – 8
Reset Input Latch 9 – 16
Value Time
N° of entries
Value Time 1
Value Time 2
Value Time 3
Value Time 4
Value Time 5
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
ARRAY
VAR
VAR
VAR
ARRAY
VAR
VAR
VAR
VAR
VAR
ARRAY
VAR
VAR
VAR
ARRAY
VAR
Value Time 6
Value Time 7
Value Time 8
Value Time 9
Value Time10
Value Time 11
Value Time 12
Value Time 13
Value Time 14
Value Time 15
Value Time 16
Read Input Latch
N° of entries
Read Input Latch 1 – 8
Read Input Latch 9 – 16
Read Input Wait
N° of entries
Read Input Wait 1 – 8
Read Input Wait 9 – 16
Node Address
Node Baudrate
Read Input 8 – bit
N° of entries
DigInput 8_1
DigInput 8_2
Polarity Input 8 – bit
N° of entries
VAR
VAR
ARRAY
VAR
VAR
VAR
VAR
ARRAY
VAR
VAR
VAR
ARRAY
VAR
VAR
VAR
ARRAY
VAR
VAR
VAR
Polarity 8_1
Polarity 8_2
Filter Constant Input 8 – bit
N° of entries
FilterConst8_1
FilterConst8_2
Global Interrupt Enable Digital
Interrupt Mask Any Change 8 - bit
N° of entries
InterruptAnyChange 8_1
InterruptAnyChange 8_2
Interrupt Mask Low to High 8 - bit
N° of entries
InterruptLowToHigh 8_1
InterruptLowToHigh 8_2
Interrupt Mask High to Low 8 - bit
N° of entries
InterruptHighToLow8_1
InterruptHighToLow8_2
Default
[hex]
00
00
00
01
02
00
00
10
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
0000
02
00
00
02
00
00
7F
01
02
00
00
02
00
00
02
00
00
TRUE
02
FF
FF
02
00
00
02
00
00
Type
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED16
UNSIGNED8
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED16
Acc. MO
Attr.
RW
RW
RW
RW O
O
RO
RW
RW
O
RO
RW
RW
RW
RW
RW
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
BOOLEAN
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
RW
RW
O
RO
RO
RO
O
RO
RO
RO
RO
RO
O
O
M
RO
RO
RO
O
RO
O
RO
RW
RW
RW
O
O
RO
RW
RW
O
RO
RW
RW
O
RO
RW
RW