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ICP DAS USA CAN-2054C User Manual

Canopen slave device
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CANopen Slave Device
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 © 2009 is reserved by ICP DAS.
Trademark
The brand name ICP DAS as a trademark is registered, and can be used
by other authorized companies.
CAN-2054C user's manual (Revision 1.30, Nov/05/2014) ------
CAN-2054C
Application User's Manual
1

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Summary of Contents for ICP DAS USA CAN-2054C

  • Page 1 ICP DAS unless infringement act imperils to patents of the third parties. Copyright Copyright © 2009 is reserved by ICP DAS. Trademark The brand name ICP DAS as a trademark is registered, and can be used by other authorized companies. CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...

  • Page 2: Table Of Contents

    Node ID & Baud Rate Rotary Switch ..........7 I/O Pair-connection Mode..............8 LED Description................10 PIN Assignment ................12 Wire Connection ................13 Object Dictionary ..................14 Object List ..................14 Store and Restore Object............17 Application Object ...............18 Default PDO Mapping ..............22 CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...

  • Page 3: Introduction

    CAN-2054C module follows the CiA DS-301 version 4.02 and DSP-401 version 2.1. It is easy to access the digital I/O status and set the configuration by using standard CANopen protocol. CAN-2054C has passed the validation of the CiA CANopen Conformance Test tool.

  • Page 4: Hardware Specifications

    Operating Temperature: -25 ~ 75 ℃. Storage Temperature: -35 ~ 80 ℃. Humidity: 10 to 90% RH, Non-condensing. Dimensions: 32.5 mm x 110 mm x 102 mm (W x L x H) Detail. CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...

  • Page 5: Features

    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 1.4 Application Figure 1-2 Application Structure CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...

  • Page 6: Hardware

    2 Hardware 2.1 Structure Figure 2-1 (Top View) Figure 2-2 (Bottom View) CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...

  • Page 7: Node Id & Baud Rate Rotary Switch

    ID. The node ID value of this demo picture is 32. Figure 2-3 Node ID rotary switch The rotary switch of baud rate handles the CAN baud rate of CAN-2054C module. The value of baud rate switch from 0 ~ 7 are normal CANopen mode, and 8 ~ F are I/O pair-connection mode.

  • Page 8: I/O Pair-Connection Mode

    2.3 I/O Pair-connection Mode The CAN-2054C module provides the I/O pair-connection function. Before using this function, you need to prepare one CAN-2054C module and a 8-bit DO and 8-bit DI CAN-2000 series module (such as CAN-2054C). When applying this function, the DI channels of one CAN-2054C and the DO channels of another CAN-2054C are mapping with each other.
  • Page 9 I/O pair-connection mode, and these two modules will into Operational state automatically. When the DI channel of one CAN-2054C receives a DI ON-signal, another CAN-2054C will output the ON-signal at the corresponding DO channel. CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...

  • Page 10: Led Description

    DO channel polarity is. (User can configure the 0x6202 object to change the polarity of the DO channel. Please refer to section 3.3 for detail.) DI LED CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...
  • Page 11 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 DO channel. Please refer to section 3.3 for detail.) CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...

  • Page 12: Pin Assignment

    2.5 PIN Assignment Figure 2-7 CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...

  • Page 13: Wire Connection

    2.6 Wire Connection Figure 2-8 CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...

  • Page 14: Object Dictionary

    UNSIGNED 8 “identity object” vender ID UNSIGNED 32 product code UNSIGNED 32 revision number UNSIGNED 32 serial number UNSIGNED 32 Table 3-1 Note: x is Node-ID of the module CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...
  • Page 15 Number of entries UNSIGNED 8 COB-ID used by TxPDO 180h+x UNSIGNED 32 Transmission type UNSIGNED 8 Inhibit time UNSIGNED 16 reversed Event timer UNSIGNED 16 Table 3-5 Note: x is Node-ID of the module CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...
  • Page 16 Error value DO ch0 ~ ch7 UNSIGNED 8 Table 3-8 Power On Value Function Sidx Description Type Attr Default 2010h Number of Output 8-Bit UNSIGNED 8 Set DO power on value of ch0 ~ UNSIGNED 8 Table 3-9 CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...

  • Page 17: Store And Restore Object

    Change polarity digital output for channel 0 ~ 7 0x00 6206 h Error mode digital output for channel 0 ~ 7 0xFF 6207 h Error value digital output for channel 0 ~ 7 0x00 Table 3-11 CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...

  • Page 18: Application Object

    Digital Input module (0x6000) User can use the object index 0x6000 with subindex 1 to read a group of 8-bit information. For example, if the node id of CAN-2054C is 1, the commands are as below: 11-bit COB-ID (bit) 8-byte Data (byte)
  • Page 19 This object 0x6202 with subindex 1 defines 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-2054C is 1, the commands are as below: CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...
  • Page 20 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 Length SDO server SDO client (CAN-2054C) CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...
  • Page 21 0x6206 and 0x6207. Set Power On Value (0x2010) This object 0x2010 with subindex 1 defines the power on value of a group of 8 output lines. Power on value can be set individually. CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------...

  • Page 22: Default Pdo Mapping

    (CAN-2054C) 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-2054C power on. 3.4 Default PDO Mapping RxPDO mapping list:...

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