Summary of Contents for MicroControl µCAN.8.dio-BOX
- Page 1 Systemhaus fŸr Automatisierung µCAN.8.dio-BOX Manual Digital I/O-Module Version 2.00 MicroControl GmbH & Co. KG Junkersring 23 D-53844 Troisdorf Fon: 02241 / 25 65 9 - 0 Fax: 02241 / 25 65 9 - 11 http://www.microcontrol.net...
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Page 2: Table Of Contents
Table of contents 1. Safety Regulations ......6 General Safety Regulations ....6 2. - Page 3 Table of contents 7.1.2 Signalling of Network and CAN status ..36 Module Status ......36 Signal Status .
- Page 4 Junkersring 23 D-53844 Troisdorf Germany MicroControl reserves the right to modify this manual and/or product described herein without further notice. Nothing in this manual, nor in any of the data sheets and other supporting doc- umentation, shall be interpreted as conveying an express or im- plied warranty, representation, or guarantee regarding the suitability of the products for any particular purpose.
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Page 6: Safety Regulations
Terms of use The devices described in this manual can only be used for the mentioned applications. Other devices used in conjunction have to meet the safety regulations and EMI requirements. μCAN.8.dio-BOX Page MicroControl Version 2.00... - Page 7 If automated machines can cause damage of material or person- nel in case of a malfunction the system designer has to take care for safety precautions. Possible safety precautions might be a limit switch or locking. Page μCAN.8.dio-BOX MicroControl Version 2.00...
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Page 8: Operation Of Μcan.8.Dio-Box
All these requirements are fulfilled by the μCAN.8.dio-BOX mo- dule. The μCAN.8.dio-BOX runs on the standard fieldbus CAN. Typical applications for the μCAN.8.dio-BOX are industrial auto- mation, transportation, food industry and environmental techno- logy. μCAN.8.dio-BOX Page MicroControl Version 2.00... - Page 9 The quick and easy integration of the μCAN.8.dio-BOX in your service friendly application reduces the development effort. Costs for material and personnel are reduced. The easy installation makes mainte- nance and replacement quite simple. Seite μCAN.8.dio-BOX MicroControl Version 2.00...
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Page 10: Project Planning
6: Switch for CANbus termination 3: Bi-color LED for module status 7: Bi-color LED for signal status 4: Bi-color LED for network status 8: Terminal block for digital signals Abb. 2: Top view of the μCAN.8.dio-BOX PCB μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 11: Operation Area
Long wires for actors or sensors are not longer necessary. Influence of EMI is reduced. The μCAN.8.dio-BOX needs four wires for connection to the po- wer supply and CAN bus. Special CAN bus cables are available as accessories (refer to Ordering Information). Page μCAN.8.dio-BOX MicroControl Version 2.00... -
Page 12: Maximum System Layout
μCAN modules. The last mo- dule in the network must be terminated by a termination switch (refer to “Termination” on page 29). Network- Manager ID 2 ID 127 ID 1 Abb. 3: Maximum System Layout μCAN.8.dio-BOX Page MicroControl Version 2.00... - Page 13 Cable length in m 1000 1000 2500 5000 Tabelle 1: Dependence of baudrate from cable length Note It is recommended by the CAN in Automation not to use the baudrate 100 kBit/s in new CANopen systems. Page μCAN.8.dio-BOX MicroControl Version 2.00...
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Page 14: Case Dimensions
Please check the technical data section for detailled information about maximum environment conditions. 125mm Systemhaus für Automatisierung ON / CAN ERROR 20mm 20mm Abb. 4: Case dimensions μCAN.8.dio-BOX Page MicroControl Version 2.00... - Page 15 Project Planning Case Dimensions Page μCAN.8.dio-BOX MicroControl Version 2.00...
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Page 16: Assembly And Disassembly
EMI requirements. To ensure a trouble free and safe operation of the device please Attention ! take care of proper transport, appropriate storage, proper assem- bly as well as careful operation and maintenance. μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 17: General Information
µCAN case and may not be connected to a terminal inside the case. Abb. 5: Connection of earthed conductor Attention ! Operation of the µCAN module is only permitted with closed case. Page μCAN.8.dio-BOX MicroControl Version 2.00... -
Page 18: Assembly
Please write down the ID that is set for the module. Please make sure that the first node and the last node in the CAN Note network is terminated with a resistor (refer to “Termination” on page 29). μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 19: Disassembly
Now you can remove the cables for CAN bus and power supply from the terminals. Unlock the fixing screws and remove the module. For a safe transport remove the PG screws and close the cover again. Page μCAN.8.dio-BOX MicroControl Version 2.00... -
Page 20: Installation
The electronic of the μCAN modules is isolated from the po- wer supply. All μCAN modules have a separate power supply. All I/O signals are optically isolated from the CAN bus poten- tial. μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 21: Emc Considerations
Typical noise sources are spark plugs and electric motors. Also a radio set might be a noise source. To reduce the impact of noise sources please take care to follow the basic EMC rules. Page μCAN.8.dio-BOX MicroControl Version 2.00... -
Page 22: Grounding
The grounding on one end of the cable is necessary if there is no contact to the safety earth possible, analogue signals with only a few mV or mA are transmitted (temperature sensors). μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 23: Can Cable
Do not confuse the signal lines of the CAN bus, otherwise com- Attention ! munication between the modules is impossible. The shield of the CAN bus cable may never lead inside the µCAN case. Never connect the shield to one of the terminals inside the case. Page μCAN.8.dio-BOX MicroControl Version 2.00... -
Page 24: Power Supply
V+ and V+PWR as well as GND and V-PWR. Attention ! maximum supply voltage for the output drivers is 50V DC. The maximum supply voltage for the electronic is 60V DC. Hig- her voltages will destroy the electronic. μCAN.8.dio-BOX Page MicroControl Version 2.00... - Page 25 A cable shield may not lead into the housing or may not be con- Attention ! nected to a terminal inside the housing. Cable shields have to be connected to the terminals outside the housing. Page μCAN.8.dio-BOX MicroControl Version 2.00...
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Page 26: Can Bus
Cable shields have to be connected to the terminals outside the housing. If you use a Sub-D connector with 9 pins (according to CiA stan- Note dard), the conductor CAN_H is connected to pin 7 and the con- ductor CAN_L is connected to pin 2. μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 27: Address Selection
CAN bus) or the power supply is switched off Switch 8 must always be in OFF position. Do not put all switches Attention ! in the OFF position. In these configurations the module will not start to communicate on the bus. Page μCAN.8.dio-BOX MicroControl Version 2.00... -
Page 28: Baudrate
3 of a byte. The supported baudrates of the μCAN.8.dio-BOX module are gi- ven in the following table. The values are recommended by the CiA. Baudrate (kBit / s) 1000 Tabelle 3: Setup of baudrate μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 29: Termination
"Term Off“ to position "Term On“. Termination off Term Off/On Baud Modul ID Abb. 10: Termination of CANbus Please make sure that only the devices at both ends of a CAN bus Attention ! are terminated. Page μCAN.8.dio-BOX MicroControl Version 2.00... -
Page 30: Digital Signals
The input voltage at the terminal is compared with a reference voltage, which is set to V+PWR / 2 (level is 50% of the output stage supply voltage). V+PWR Logik Abb. 11: Schematic digital I/O terminal / High Side Version μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 31: Function Principle / Low Side Version
V+PWR / 2 (level is 50% of the output stage sup- ply voltage). Logik Abb. 12: Schematic digital I/O terminal / Low Side Version μCAN.8.dio-BOX Page MicroControl Version 2.00... - Page 32 - until thermal conditions are inside the driver´s specification again. Parameter Value V+PWR 10 .. 50 V Impedance R 33,3 kOhm 2 A maximum Switching Level 0,5 * V+PWR Tabelle 5: Electrical Parameters μCAN.8.dio-BOX Page MicroControl Version 2.00...
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Page 33: Pinning
LEDs. Term Off/On Baud Modul ID Abb. 13: Terminals for signal lines Attention ! signal lines may only be connected in power off state in order to prevent a damage of the electronic. μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 34: Diagnosis
Abb. 14: Position of LEDs on the module In normal operation all LEDs should have a green or orange color. Note red steady light or a red blinking of a LED indicates an error condition. μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 35: Network Status
The red LED is signalling the status of the CAN controler. Only in fault condition the red LED will show the status. CAN Status: Controller in "Warning" state CAN Status: Controller in "Error Passive" state CAN Status: Controller in "Bus-Off" state Page μCAN.8.dio-BOX MicroControl Version 2.00... -
Page 36: Signalling Of Network And Can Status
Modul Status: Function/Power OK ( No short circuit / overload ) Modulstatus: Wrong setting of Baudrate DIP switches Modulstatus: Wrong setting of Address DIP switches Modulstatus: Short circuit / Overload on output ( Not available in LS Version ) μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 37: Signal Status
7.3.2 Low Side Version Signal LED is To indicate Green Digital high-signal at terminal ( Input ) Orange not applicable Terminal configured as output, output has been switched on Tabelle 7: LED for Signal Status / Low Side Page μCAN.8.dio-BOX MicroControl Version 2.00... -
Page 38: Canopen Protocol
Nopen-Manager can be a PLC, a PC with a CAN interface or any other CAN-Device with NMT functionality. For more information about CANopen manager please refer to the supplied manuals of your CANopen master device. This documentation provides the actual implemented functions and services of the μCAN.8.dio-BOX. μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 39: Introduction
Heartbeat / Boot-Message 1793 - 1919 0x701 - 0x77F Tabelle 8: Identifier values according to the Pre-defined Connection Set The direction (Transmit / Receive) has to be seen from the de- vices point of view. Page μCAN.8.dio-BOX MicroControl Version 2.00... -
Page 40: Network Management
Enter Pre-Operational Node = module address, 0 = all modules By transmitting the „Enter Pre-Operational“ command the CAN- node will be set into Pre-Operational mode. In this state the node can not handle PDO messages. μCAN.8.dio-BOX Page MicroControl Version 2.00... - Page 41 By transmitting the „Reset Node“ command the CAN-node will issue a reset operation. After reset the node will send a "Boot-up Message" (refer to “Heartbeat Protocol” on page 57) and enter the Pre-operational state automatically. Page μCAN.8.dio-BOX MicroControl Version 2.00...
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Page 42: Sdo Communication
"Index" and "Data" is least significant byte first (Intel format). Attention ! minimum time delay between two succeeding SDO-com- mands must be greater than 20ms. Faster communication might lead to an unpredictible device status. μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 43: Sdo Abort Protocol
Attempt to read a "write-only" object 0601 0002h Attempt to write a "read-only" object 0602 0000h Object does not exist in the object dictionary 0609 0011h Sub-index does not exist Tabelle 9: SDO abort codes Page μCAN.8.dio-BOX MicroControl Version 2.00... -
Page 44: Object Dictionary
Object Dictionary CANopen Protocol 8.4 Object Dictionary This chapter describes the implemented objects for the digital module μCAN.8.dio-BOX. For further information please refer to the CANopen communication profile DS-301 and the device pro- file DS-401. μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 45: Communication Profile
Restore Default Parameters 1014h COB-ID Emergency-Message 1017h Heartbeat Producer Time 1018h Identity Object 1400h Receive PDO Parameter 1600h Receive PDO Mapping 1800h Transmit PDO Parameters 1A00h Transmit PDO Mapping Tabelle 10: Supported objects of the communication profile Page μCAN.8.dio-BOX MicroControl Version 2.00... - Page 46 Default Value Unsigned8 Error Register The object is read-only. Only sub-index 0 is supported. An access to other sub-indices will lead to an error message. Beispiel: read parameter, module ID = 2, Index = 1001h 602h μCAN.8.dio-BOX Page MicroControl Version 2.00...
- Page 47 Writing to sub-index 0 will clear the error history. Beispiel: read parameter, module ID = 2, Index = 1003h 602h As response the module will return the error value at position 5 in the history. Page μCAN.8.dio-BOX MicroControl Version 2.00...
- Page 48 The object at index 100Ah contains the manufacturer software version. Sub-Index Data Type Acc. Name Default Value Visible String Software version SW-1.0 The object is read-only. Only sub-index 0 is supported. An access to other sub-indices will lead to an error message. μCAN.8.dio-BOX Page MicroControl Version 2.00...
- Page 49 The signature is "save". Beispiel: save all parameters, module ID = 2, index = 1010h 602h As response the μCAN.8.dio-BOX will send: 582h Page μCAN.8.dio-BOX MicroControl Version 2.00...
- Page 50 The signature is "load". Beispiel: restore all parameters, module ID = 2, Index = 1011h 602h As response the μCAN.8.dio-BOX will send: 582h μCAN.8.dio-BOX Page MicroControl Version 2.00...
- Page 51 (lower word). The major re- vision number identifies a specific CANopen behaviour. The mi- nor revision number identifies different versions with the same CANopen behaviour. Serial Number The Serial Number identifies a specific device. Page μCAN.8.dio-BOX MicroControl Version 2.00...
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Page 52: Device Profile
Interrupt Mask Low-to-High 8-bit 6008h Interrupt Mask High-to-Low 8-bit 6200h Write Output 8-Bit 6202h Change Polarity Output 8-Bit 6206h Error Mode Output 8-Bit 6207h Error Value Output 8-Bit Tabelle 11: Supported objects of device profile DS-401 μCAN.8.dio-BOX Page MicroControl Version 2.00... - Page 53 Sub-Index Data Type Acc. Name Default Value Unsigned8 Largest Sub-Index Unsigned8 Polarity Input 8-Bit Only sub-indices 0 and 1 are supported. An access to other sub- indices will lead to an error message. Page μCAN.8.dio-BOX MicroControl Version 2.00...
- Page 54 Only sub-indices 0 and 1 are supported. An access to other sub- indices will lead to an error message. Each bit corresponds to a digital input. A value of ’0’ means the interrupt is disabled. μCAN.8.dio-BOX Page MicroControl Version 2.00...
- Page 55 Sub-Index Data Type Acc. Name Default Value Unsigned8 Largest Sub-Index Unsigned8 Polarity Output 8-Bit Only sub-indices 0 and 1 are supported. An access to other sub- indices will lead to an error message. Page μCAN.8.dio-BOX MicroControl Version 2.00...
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Page 56: Manufacturer Specific Objects
As result the μCAN.8.dio-BOX will send the following message: 581h By default all terminals are configured as digital inputs. The out- Note puts can only be set, if they have been configured properly with the object 5FF5h. μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 57: Heartbeat Protocol
Pre-Operational Tabelle 13: Status Information for Heartbeat After Power-on / Reset the module will send the "Bootup messa- ge" to signal that it finished the initialization sequence. Beispiel: Power-on of module with address 2 702h Page μCAN.8.dio-BOX MicroControl Version 2.00... - Page 58 The answer you will receive from the module is: 581h The Heartbeat Producer Time is not saved inside the non-volatile Note memory autonomously. It is necessary to store this parameter via object 1010h (refer to “Store Parameters” on page 49). μCAN.8.dio-BOX Page MicroControl Version 2.00...
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Page 59: Pdo Communication
The real-time data transfer is performed by means of "Process Data Objects" (PDO). The transfer of PDOs is performed with no protocol overhead. Note PDO communication is only possible in the network state "Ope- rational". Page μCAN.8.dio-BOX MicroControl Version 2.00... -
Page 60: Transmission Modes
Timer Driven Message transmission is either triggered by the occurrence of a device-specific event or if a specified time has elapsed without occurrence of an event. μCAN.8.dio-BOX Page MicroControl Version 2.00... -
Page 61: Receive-Pdo
Tabelle 15: Einstellung des Transmission Type The Receive-PDO processes a message with 1 byte process data. The contents is copied into object 6200h (refer to “Digital Out- puts” on page 55) and modifies the digital outputs. Page μCAN.8.dio-BOX MicroControl Version 2.00... - Page 62 Note A digital output can only be set, if the specified output termi- nal is configured properly (port direction = output). This is done via the object 5FF5h (refer to “Port Direction” on page 56). μCAN.8.dio-BOX Page MicroControl Version 2.00...
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Page 63: Transmit Pdo
The transmission type defines the transmission character of the PDO. Transmission Type Description acyclic synchronous, 01h - F0h cyclic synchronous, (1 - 240 dez) event driven, (255 dez) PDO is sent when Event Timer elapses Tabelle 17: Setup of Transmission Type Page μCAN.8.dio-BOX MicroControl Version 2.00... - Page 64 The PDO is also transmitted on change of a digital output. Trans- Note mission of the PDO is only possible in Operational Mode. By me- ans of objects 6005h to 6008h the interrupt behaviour of the PDO can be changed. μCAN.8.dio-BOX Page MicroControl Version 2.00...
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Page 65: Synchronisation Message
The default identifier is 80h in order to ensure a high priority of the SYNC-message. Note The SYNC-identifier is not saved inside the non-volatile memory autonomously. It is necessary to store this parameter via object 1010h (refer to “Store Parameters” on page 49) Page μCAN.8.dio-BOX MicroControl Version 2.00... -
Page 66: Emergency Message
Manufacturer Specific Error Field The following emergency error codes are supported: Error Code (hex) Description 0000 Error Reset or No Error 1000 Generic Error 2300 Current, Device Output 5000 Device-Hardware 6000 Device-Software Tabelle 18: Emergency Error Codes μCAN.8.dio-BOX Page MicroControl Version 2.00... - Page 67 CANopen Protocol Emergency Message Page μCAN.8.dio-BOX MicroControl Version 2.00...
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Page 68: Technical Data
EN 61000-4-2 Electromagnetic fields 10 V/m, according to ENV 50204 Burst 5 kHz, 2 kV according to EN 6100-4-4 Conducted RF-Disturbance 10 V, according to EN 61000-4-6 Electromagnetic emission according to EN 50081-2 μCAN.8.dio-BOX Page MicroControl Version 2.00... - Page 69 5 A, each output short circuit protected Module maximum current Digital Outputs / Low Side Type Lowside Power-MOSFET Maximum voltage 50 V Maximum current Short circuit protection each output is short circuit protected Module maximum current Page μCAN.8.dio-BOX MicroControl Version 2.00...
- Page 70 Reset Node 41 Start Node 40 Stop Node 40 Network Status 35 LED 34 see Network Management Object 1000h 46 1001h 46 1003h 47 1005h 65 1008h 48 1009h 48 100Ah 48 1010h 49 1011h 50 μCAN.8.dio-BOX Page MicroControl Version 2.00...
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