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weintek iR-COP User Manual

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User Manual
iR-COP
This guide walks through important information for iR-COP
V1.01

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Summary of Contents for weintek iR-COP

  • Page 1 User Manual iR-COP This guide walks through important information for iR-COP V1.01...

  • Page 2: Table Of Contents

    Table of Contents Product Overview ....................1 Specifications ......................2 LED Insicators ......................3 L.V LED ......................3 IO RUN/ERR LED ..................... 3 CAN-RUN LED ....................3 CAN-ERR LED ....................3 Configuration ......................4 Node Setting ....................4 Baud Rate Setting (DIP Switch) ..............4 CAN Bus Connect ...................
  • Page 3 6.2.2 TxPDO Communication Parameter ..........21 6.2.3 PDO Mapping Parameter ............. 23 6.2.4 Mapping Parameter ..............27 I/O Device Object Dictionay ................. 27 6.3.1 Read digital input ................. 27 6.3.2 Write digital output ..............29 6.3.3 Read Analog input ................ 30 6.3.4 Write Analog output ..............

  • Page 4: Product Overview

    英文版 1 Product Overview Top View 27mm [1.06"] 81mm [3.19"] Side View Side View Front View Bottom View Node ID rotary switch x10 Baud Rate DIP Switch Node ID rotary switch x1 Expansion Connector CAN bus Connector Power Connector...

  • Page 5: Specifications

    2 Specifications Communication Interface Specifications No. of Bus Terminals Depends on Power Consumption Digital Input Point Max. 256 Expansion I/O Digital Output Point Max. 128 Module Analog Input Channel Max. 64 Analog Output Channel Max. 64 CAN RUN (Green)

  • Page 6: Led Insicators

    3 LED Insicators 3.1 L.V LED L.V LED state Description 24V power normal Blinking Detect 24V power 24V power error 3.2 IO RUN/ERR LED RUN LED ERR LED Description Power off or no power Blinking IO initiating Blinking IO initiation error...

  • Page 7: Configuration

    4 Configuration 4.1 Node Setting The node ID is set by Rotary Switches, range from 1 to 99 (0 is not allowed). Setting Description Invalid Node ID 1~99 Valid Node ID 4.2 Baud Rate Setting (DIP Switch) Baud Rate...

  • Page 8: Communication Error Control

    5 Communication Error Control 5.1 Introduction Node Guarding protocol and Heartbeat protocol can be used to detect device failures on a CANopen network, please use one of these two protocols at a time. 5.2 Node Guarding Protocol Master CAN-ID = 1792 + Node-ID...

  • Page 9: Heartbeat Protocol

    Life Time Factor Sub Index Default Value Description Index Data Type 100Dh 00h UNSIGNED8 0:Disable The NMT-slaves also monitor whether they have received a request from the NMT-master within “Node Life Time”. If the request was absent for longer than the life time, the NMT-slaves assume that the NMT-master has failed and indicates this as a “Life Guard Event”...

  • Page 10: Error Behavior

    Consumer Heartbeat Time Sub Index Default Value Description Index Data Type 1016h 00h UNSIGNED32 Bit31-24 Bit23-16 Bit15-0 Reserved(00h) Node-ID Heartbeat Time Node ID: The heartbeat mechanism is disabled when the ID is 0 or larger than 127. Heartbeat time unit: ms Please note that Consumer Heartbeat Time should be longer than Producer Heartbeat time.

  • Page 11: Object Dictionary

    Highest sub-index supported Error Value output 01h to 08h Error Value output 09h to 10h 03h-FEh Error Value output 11h to 7F0h Index 6443：Analog output error mode Sub Index Description Default Highest sub-index supported 0：actual value Error mode analog output 01h...

  • Page 12: 1000H: Device Type

    1003h Error code (no. of sub-index) UNSIGNED32 Emergency error code (newest) UNSIGNED32 02-3Fh Emergency error code UNSIGNED32 Emergency error code (latest) UNSIGNED32 1005h SYNC COB-ID message UNSIGNED32 00000080h 1008h Manufacturer device name STRING ‘iR-COP’ 1009h Manufacturer hardware version STRING ‘1.00.0’...

  • Page 13: 1001H: Error Register

    Specific functionality: Remains 0 since iR-COP model does not have specific functionality. General information: 191h according to document DS-401 I/O functionality: When bit 16 is 1: Digital input channel exists. When bit 17 is 1: Digital output channel exists.

  • Page 14: 1003H: Predefined Error Field

    Sub Index 01: Module alarm Bit0 is 1 means that the alarm is triggered by the first module, and Bit2 is 1 means that the alarm is triggered by the second module, and so on. Sub Index 02: Module lost connection...
  • Page 15 PDO not processed due to length 8210 error 8220 PDO length exceeded 90xx External Error F0xx Additional Functions FFxx Device Specific iR-COP Error Registers: Error Register Predefined Error Field Description 3100h Low power alarm 5000h Hardware error 8100h CAN Bus off (Reserved) 8130h...

  • Page 16: 1005H: Sync Cob-Id Message

    The COB-ID used for the SUNC message. Bit0~10: SYNC COB-ID Bit11~31: iR-COP is 0 6.1.6 1008h: Manufacturer Device Name Contains the device name as a string: iR-COP 6.1.7 1009h: Manufacturer Hardware Version Contains the device hardware version as a string: 1.00.0 6.1.8 100Ah: Manufacturer Software Version Contains the device software version as a string: 1.00.0...
  • Page 17 The default values shall be set valid after the CANopen device is reset (NMT service reset node for sub-index from 01h to 7Fh, NMT service reset communication for sub-index 02h) or power cycled. Communication Parameters (1000h~1FFFh): Index Sub-index Description...
  • Page 18 1407h Transmission type of RPDO5-8 UNSIGNED8 1800h COB-ID used by TPDO1 UNSIGNED32 180h + Node-ID Transmission type of TPDO1 UNSIGNED8 Inhibit time of TPDO1 UNSIGNED16 Event timer of TPDO1 UNSIGNED16 1801h COB-ID used by TPDO2 UNSIGNED32 280h + Node-ID...
  • Page 19 3st application object UNSIGNED32 6411 03 10h 4st application object UNSIGNED32 6411 04 10h 1602h Number of mapped application UNSIGNED8 objects in RPDO3 1st application object UNSIGNED32 6411 05 10h 2st application object UNSIGNED32 6411 06 10h 3st application object...
  • Page 20 1607h Number of mapped application UNSIGNED8 objects in RPDO8 1st application object UNSIGNED32 6411 15 10h 2st application object UNSIGNED32 6411 16 10h 3st application object UNSIGNED32 6411 17 10h 4st application object UNSIGNED32 6411 18 10h 1A00h Number of mapped application...
  • Page 21 1st application object UNSIGNED32 6000 09 08h 2st application object UNSIGNED32 6000 0A 08h 3st application object UNSIGNED32 6000 0B 08h 4st application object UNSIGNED32 6000 0C 08h 5st application object UNSIGNED32 6000 0D 08h 6st application object UNSIGNED32...

  • Page 22: 1014H: Cob-Id Emcy

    6.1.12 1014h: COB-ID EMCY According to DS301, before setting COB-ID for EMCY, Bit31 should be set to 1 (Invalid), otherwise COB-ID cannot be set. Bit31 Bit30 Bit11 Bit10 Bit0 0/1 (valid/invalid) Reserved(0) COB-ID 6.1.13 1015h: Inhibit Time EMCY The interval between two EMCY messages must be longer than the Inhibit Time (unit: 100µs).

  • Page 23: Pdo Communication Parameter

    No change of the NMT state. Change to NMT state Stopped. 6.2 PDO Communication Parameter 6.2.1 RxPDO Communication Parameter ro/rw Index Sub-index Description Type Default 1400h Number of word index in RPDO1 UNSIGNED8 COB-ID used by RPDO1 UNSIGNED32 200h + Node-ID...

  • Page 24: Txpdo Communication Parameter

    Bit31 Bit30 Bit11 Bit10 Bit0 0/1 (valid/invalid) Reserved(0) COB-ID Word index 02h: Transmission Type of RPDO 00~F0: synchronous, FEh/FFh: event driven Value Description synchronous ….. ….. ….. ….. synchronous reserved ….. ….. ….. ….. reserved event-driven (manufacturer-specific) event-driven (device profile and application profile specific) 6.2.2 TxPDO Communication Parameter...
  • Page 25 COB-ID used by TPDO5 UNSIGNED32 8000000 Transmission type of TPDO5 UNSIGNED8 Inhibit time of TPDO5 UNSIGNED16 Event timer of TPDO5 UNSIGNED16 1805h Number of word index in TPDO6 UNSIGNED8 COB-ID used by TPDO6 UNSIGNED32 8000000 Transmission type of TPDO6...

  • Page 26: Pdo Mapping Parameter

    (cyclic every 4 sync) ….. ….. ….. ….. synchronous (cyclic every 240 sync) reserved ….. ….. ….. ….. reserved RTR-only (synchronous) RTR-only (event-driven) event-driven (manufacturer-specific) event-driven (device profile and application profile specific) Word index 03h: Inhibit Time When Transmission Type of PDO is set to FEh/FFh, the inhibit time specifies the minimum length of time in 100µs that must be allowed to elapse between the...
  • Page 27 3st application object UNSIGNED32 6411 03 10h 4st application object UNSIGNED32 6411 04 10h RPDO3 mapping parameter (additional analog outputs) Number of mapped application objects in UNSIGNED8 1st application object UNSIGNED32 6411 05 10h 1602h 2st application object UNSIGNED32...
  • Page 28 1st application object UNSIGNED32 6411 11 10h 2st application object UNSIGNED32 6411 12 10h 3st application object UNSIGNED32 6411 13 10h 4st application object UNSIGNED32 6411 14 10h RPDO8 mapping parameter (additional analog outputs) Number of mapped application objects in...
  • Page 29 TPDO2 mapping parameter (analog inputs) Number of mapped application objects in UNSIGNED8 1st application object UNSIGNED32 6401 01 10h 1A01h 2st application object UNSIGNED32 6401 02 10h 3st application object UNSIGNED32 6401 03 10h 4st application object UNSIGNED32 6401 04 10h...

  • Page 30: Mapping Parameter

    2st application object UNSIGNED32 6401 0E 10h 3st application object UNSIGNED32 6401 0F 10h 4st application object UNSIGNED32 6401 10 10h TPDO7 mapping parameter (additional analog outputs) Number of mapped application objects in UNSIGNED8 1st application object UNSIGNED32 6401 11 10h...
  • Page 31 6020h Read digital input (1-bit) Number of Digital inputs UNSIGNED8 01~80h Read input 001h~080h UNSIGNED8 6021h Read digital input (1-bit) Number of Digital inputs UNSIGNED8 01~80h Read input 081h~0FFh UNSIGNED8 6021h Read digital input (1-bit) Number of Digital inputs...

  • Page 32: Write Digital Output

    6.3.2 Write digital output Index Sub- Description Type Default index 6200h Write digital output (8-bit) Number of Digital outputs UNSIGNED8 Write output 001h to 008h UNSIGNED8 ---- ….. ……… Write output 1F8h to 200h UNSIGNED8 6220h Write digital output (1-bit)

  • Page 33: Read Analog Input

    6.3.3 Read Analog input Index Sub- Description Type Default index 6401h Read analog input (16-bit) Number of analog input UNSIGNED8 Value of channel 01 INTEGER16 ….. ……… Value of channel 64 INTEGER16 6.3.4 Write Analog output Index Sub- Description...

  • Page 34: 4000H~4007H: Ibus And Module Information

    Sub- Description Type Default index Number of digital inputs UNSIGNED8 Module register address 0 UNSIGNED16 Module register address 1 UNSIGNED16 Module register address 2 UNSIGNED16 Module register address 3 UNSIGNED16 …… …… …… …… …… Module register address 127 UNSIGNED16 6.4.3 4000h~4007h: iBus and Module Information...

  • Page 35: Power Consumption

    4005h Number of digital outputs of the 1 module. UNSIGNED16 Number of digital outputs of the 2 UNSIGNED16 module. …… …… …… …… Number of digital outputs of the 16 UNSIGNED16 module. 4006h Number of analog input channels of the 1 UNSIGNED16 module.

  • Page 36: Connecting Remote I/O Using Codesys

    55mA/0.275w iR-AI04-VI 70mA/0.35W Analog I/O iR-AM06-VI 70mA/0.35W iR-AI04-TR 65mA/0.325w Note: The coupler is the only power supply for the modules in this system. Please consider power requirements when connecting multiple modules. Example: Device Name Consumption Power Supply Coupler iR-COP 170mA/0.85w...

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