ICP DAS USA CAN-8123 User Manual
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ICP DAS USA CAN-8123 User Manual

Canopen slave device
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CAN-8123/CAN-8223/CAN-8423
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 © 2007 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-8123/CAN-8223/CAN-8423 user's manual (Revision 3.00, May/22/2009) ------
User's Manual
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Summary of Contents for ICP DAS USA CAN-8123

  • Page 1 ICP DAS unless infringement act imperils to patents of the third parties. Copyright Copyright © 2007 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-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 2: Table Of Contents

    CAN-8423 Configuration (On-line mode) ........58 CANopen Communication Set.............62 SDO Communication Set ............63 5.1.1 Upload SDO Protocol............63 5.1.2 SDO Block Upload Protocol ...........72 5.1.3 Download SDO Protocol ..........83 5.1.4 SDO Block Download............88 5.1.5 Abort SDO Transfer Protocol .........96 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 3 Manufacturer Specific Profile Area ..........173 Standardized Device Profile Area ..........174 Object of Counter/Frequency Modules ........178 Object of PWM Module ..............180 Appendix A: Type Code Table..............182 Appendix B: DIO Type Define of I-8050 Modules ........195 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 4: Introduction

    CAN-8123/CAN-8223/CAN-8423 supports up to 4 expansion slots for users to increase applications by adding I/O channels. Users can choose either the I-87K or the I-8000 series DI/DO/AI/AO slot modules for their application purposes. The CAN-8123/CAN-8223 has one and two expansion slots respectively, and the CAN-8423 supports four expansion slots.
  • Page 5 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 6: Hardware Features

    CAN bus interface: ISO/IS 11898-2, 5-pin screw terminal with on-board optical isolators’ protection. Power Supply: 20W. Unregulated from +10VDC ~ +30VDC Operating Temperature:-25°C ~ +75°C Storage Temperature:-30°C ~ +85°C Humidity:5%~95% RH COM1 RS-232: TXD,RXD,RTS,CTS,GND Communication speed: 115200 bps. Configure tool connection CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 7: Can-8123/Can-8223/Can-8423 Features

    Baud Rate Selection : 10K, 20K, 50K, 125K, 250K, 500K, 800K and 1M bps Power LED, RUN LED, and ERR LED indicators Support max 4 I-8000 and I-87K series modules for CAN-8423 Provide a friendly Utility to configure the I-8000 and I-87K series modules CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 8: Utility Features

    1.4 Utility Features Support parameter configuration on the I-8000 and I-87K modules Provide to show Application and Device Object information Provide to show Rx and Tx PDO mapping Support EDS file creation CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 9: Hardware Specification

    2 Hardware Specification 2.1 CAN-8123/CAN-8223 Hardware Structure CANopen Power LED Status LED Node ID and Baud rate rotary switch CAN Bus Connector 1 I/O Expansion Slot CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 10 CANopen Power LED Status LED Node ID and Baud rate rotary switch CAN Bus Connector 2 I/O Expansion Slots CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 11: Can-8423 Hardware Structure

    2.2 CAN-8423 Hardware Structure CANopen Status LED Node ID and Baud Power LED rate rotary switch Power Pin RS-232 Port (connect to PC) CAN Bus Connector 4 I/O Expansion Slots CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 12: Wire Connection

    Cross Section (meter) Resistance (Ω) (Type) (mΩ/m) 0~40 0.25(23AWG)~ 124 (0.1%) 0.34mm (22AWG) 40~300 < 60 0.34(22AWG)~ 127 (0.1%) 0.6mm (20AWG) 300~600 < 40 0.5~0.6mm 150~300 (20AWG) 600~1K < 20 0.75~0.8mm 150~300 (18AWG) CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 13 In the CAN-8123/CAN-8223/CAN-8423, the 120Ω terminal resistance is supplied as a standard accessory. In the following figure, the position JP2 allowed to build in a terminal resistance is only for the CAN-8123/CAN-8223. In the following figure of the CAN-8423, the position JP1 is used for adjusting terminal resistance.
  • Page 14 Note: When the bus length is greater than 1000m, the bridge or repeater devices may be needed. descriptions connectors CAN-8123/CAN-8223 are shown below. CAN_GND Pin 1 Pin 2 CAN_L CAN_Shield Pin 3 CAN_H Pin 4 CAN_V+ Pin 5 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 15: Power Led

    CAN_SHLD Optional CAN Shield CAN_H CAN_H bus line (dominant high) CAN_V+ CAN external positive supply (CAN-8123/CAN-8223 power) The pin descriptions for the CAN-8123/CAN-8223 CAN bus connectors Pin No. Signal Description CAN_H CAN_H bus line (dominant high) CAN_SHLD Optional CAN Shield...

  • Page 16: Canopen Status Led

    2.5 CANopen Status LED Each one CAN-8123/CAN-8223/CAN-8423 has two LED indicators. One is the Error LED (lighting in red) and the other one is the RUN (Performing) LED (lighting in green). The Error LED and the Run (Performing) LED information are presented in the CANopen specifications. When the CANopen communication carries out, these indicators will glitter in different time.

  • Page 17: The Err Led

    The ERR LED relates to the state of missing messages at the CAN physical layer (These missing messages might be SYNC or Guard messages). The data state and the signal state description are respectively shown in the following figure and table. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 18 Note: If several errors occur at the same time, the most severe error will have high priority to show its signal first. For example, if NMT Error (No. =3) and Sync Error (No. =4) occur, the SYNC error signal will indicate. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 19: The Node Id & The Baud Rate Rotary Switch

    Before using the utility tool to configure the CAN-8423, the initial mode is needed. For more detail configuration, please refer to the cheaper 4. Since the CAN-8123/CAN-8223 doesn’t support RS-232 COM Port, the utility tool in the off-line mode takes the place to get the EDS file.

  • Page 20: Module Support

    2.7 Module Support The CAN-8123/CAN-8223/CAN-8423 supports many kinds of DI, DO, AI and AO types across the I-8000/I-87K series modules. When users want to apply these modules on the CANopen network, they only insert these modules into the CAN-8123/CAN-8223/CAN-8423 I/O expansion slots.

  • Page 21: Canopen Application

    I/O values and detect node states of other devices in the same network. Generally, a CANopen device can be modeled into three parts. Communication Object Dictionary Application program The functions and general concepts for each part are shown as follows. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 22 (section 3.5). No matter which kind of communication object is used, the transmitted message will comply with the data frame defined in the CAN 2.0A spec. Generally, it looks like the following figure. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 23 The following list shows these reversed COB-IDs. Reversed COB-ID (Hex) Used by object Reserved SYNC 81~FF EMERGENCY TIME STAMP 101~180 reversed 581~5FF Default Transmit-SDO 601~67F Default Receive-SDO reversed 701~77F NMT Error Control 780~7FF reversed CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 24 1011 Node ID SDO for transmission (TxSDO) 1100 Node ID SDO for reception (RxSDO) 1110 Node ID NMT Error Control Note: For the CAN-8123/CAN-8223/CAN-8423, all communication objects are supported except the TIME STAMP. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 25 When the CANopen device obtains the input value, these values will be stored in the 0x6000 and 0x6401 indexes. Furthermore, the values stored in the 0x6200 and 0x6411 indexes will also output to the DO and AO channels. The basic concept is presented as follows. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 26 1 byte, If the DI and DO channels, which can’t reach one byte, will be automatically regarded as one byte. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 27 The application objects control all of the device functions, related to the interaction with the process environment. It’s just like a medium between the object dictionary and practical process, such as the analog I/O, digital I/O…. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 28: Sdo Introduction

    The SDO has two kinds of the COB-IDs, RxSDOs and TxSDOs. They can be viewed in the CANopen device. For example, users send a SDO message to the CAN-8123/CAN-8223/CAN-8423 by using RxSDO. On the contrary, the devices CAN-8123/CAN-8223/CAN-8423 transmit a SDO message by using TxSDOS.
  • Page 29 SDO transfer protocol will be given, and the SDO transmission will also be stopped. The CAN-8123/CAN-8223/CAN-8423 only supports the SDO server. Therefore, it can be passive and wait for requests from clients. The general...

  • Page 30: Pdo Introduction

    CAN bus. The PDO communication structure figure is shown below. Producer Consumers request indication data indication indication Push model Producer Consumers indication request Remote Transmit Request request request response confirmation data indication indication Pull model CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 31 DI/AI channels. The COB-ID of the PDO for receiving data is RxPDO COB-ID, and it is usually applied on DO/AO channels. Take the CAN-8123/CAN-8223/CAN-8423 as an example. If a PDO producer sends a PDO message to the CAN-8123/CAN-8223/CAN-8423, it needs to use the RxPDO COB-ID of the CAN-8123/CAN-8223/CAN-8423 because it is a PDO reception action viewed from the CAN-8123/CAN-8223/CAN-8423.
  • Page 32 The synchronous mode can be further distinguished into three kinds of transmission(s), acyclic synchronous, cyclic synchronous and RTR-only synchronous. The acyclic synchronous can be triggered by both the reception of a SYNC message and the driven event mentioned above. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 33 Acyclic synchronous For the TxPDO object, after receiving an object from the SYNC producer, the CAN-8123/CAN-8223/CAN-8423 will respond with a pre-defined TxPDO message consumers. RxPDO object, CAN-8123/CAN-8223/CAN-8423 needs to receive the SYNC objects to actuate the RxPDO object, which is received before the SYNC object. The following figures indicate how the acyclic synchronous transmission type works on the RxPDO and the TxPDO.
  • Page 34 SYNC objects, and the max number of expected SYNC objects can be 240. For example, if the TxPDO is set to response when receiving 3 SYNC objects, the CAN-8123/CAN-8223/ CAN-8423 will feed back the TxPDO object according to the set. For the RxPDO, actuating the DO/AO channels by the RxPDO is independent of the number of SYNC objects.
  • Page 35 The RTR-only synchronous mode is activated when receiving a remote-transmit-request message, i.e. SYNC objects. This transmission type is only useful for TxPDO. In this situation, the CAN-8123/CAN-8223/CAN-8423 will update the DI/AI value when receiving any SYNC object. And, if the RTR object is received, the CAN-8123/CAN-8223/CAN-8423 will respond to the TxPDO object.
  • Page 36 There are RTR-only asynchronous transmission type and asynchronous transmission type. The RTR-only transmission type is only for supporting TxPDO transmissions, only triggered by receiving the RTR object from the PDO consumer. This action is depicted below. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 37 Furthermore, the DO/AO channels can act directly by receiving the RxPDO object. This transmission type default value when CAN-8123/CAN-8223/CAN-8423 boots up. The concept of the asynchronous type is shown as follows. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 38 PDO message, and may be changed by using a SDO message. All of the PDO mapping objects are arranged in the Communication Profile Area. In the CANopen spec (see DS 401), RxPDO and TxPDO default mapping objects will specify something as follows: CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 39 Take the RxPDO as an example; there are 11 DO and 13 AO object entries in the object dictionary. Generally in the CAN-8123 / CAN-8223 / CAN-8423, the first 8 DO object entries will be mapped to the first RxPDO mapping object because one DO object entry needs one byte space.
  • Page 40 AI channel. And the fifth and sixth bytes are for the value 1 of the AI channel. The relationships among the object dictionary, the PDO mapping object and the PDO message are given below. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 41 Practical I/O Object Dictionary TxPDO mapping objects RxPDO mapping objects TxPDO RxPDO CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 42: Emcy Introduction

    CAN-8123/CAN-8223/CAN-8423, and then do something about the error event. Please note that only the emergency consumers can receive the EMCY object, and only the CAN-8123/CAN-8223/CAN-8423 can support functions of the emergency producer. The general concept regarding EMCY communications is shown below.

  • Page 43: Nmt Introduction

    Through the error control protocol, users are enable to detect the remote error in the network in order to confirm whether the node still works or not. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 44: Module Control Protocols

    As the Initialization accomplished, Pre-Operational state will be entered automatically (3),(6) Indication of starting remote node (4),(7) Indication of entering Pre-Optional State (5),(8) Indication of stopping remote node Indication of the “Reset Node” or the “Reset Communication” CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 45: Error Control Protocols

    According to the CANopen spec, one device is not allowed to use the following error control mechanisms at the same time, Node Guarding Protocol and Heartbeat Protocol. In addition, the CAN-8123/CAN-8223/CAN-8423 provides the salve function of the Node Guarding Protocol for practical applications.
  • Page 46 0x6206 and 0x6443 can control the error mode value of the DO or AO channels in enabling or disabling when the “Lift Guarding Event” has been indicated. For more information about objects with index 0x6206, 0x6207, 0x6443, and 0x6444, please refers to the chapter 6. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 47: Configuration & Getting Start

    4 Configuration & Getting Start 4.1 CAN-8123/CAN-8223 Configuration Flowchart CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 48 The following procedure is the general concept for the off-line mode. This procedure can be applied in the CAN-8123/CAN-8223 and CAN-8423. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 49: Can-8423 Configuration Flowchart

    4.2 CAN-8423 Configuration Flowchart CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 50 Is the value of Baud rotary switch 9? Connect the CAN-8423 COM port to the PC available COM port Apply the CAN-8423 on the CANopen network Configure the CAN-8423 by using CANSL.exe Finish Power off the CAN-8423 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 51: Canopen Slave Utility Overview

    CAN-8123/CAN-8223/CAN-8423 can work directly without using the CANopen Slave Utility if users don’t need the CAN-8423 EDS file created under the on-line mode, i.e. users can turn on the CAN-8123/CAN-8223/CAN-8423 and directly apply it in the CANopen network. If the EDS file is requested, users can get the EDS file by using CAN Slave Utility.

  • Page 52: Configuration With The Canopen Slave Utility

    Step 1: Download the CANopen Slave Utility file from the web site http://www.icpdas.com/products/Remote_IO/can_bus/can-8423.htm or http://www.icpdas.com/products/Remote_IO/can-8123.htm or CD-ROM disk via the following path of “CD:\CANopen\Slave\CAN-8x23\Utility\”. Step 2: Execute the CANopen_SL.exe file to start the CANopen Slave Utility. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 53: Can-8123/8223 Configuration (Off-Line Mode)

    Situation” area, and choose a correct slot module inserted. For example, if the I-8024 and I-8042 modules are inserted in slot 0 and slot 1 respectively, please select 8024 in the list box, and click “Apply Module” to save the configuration. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 54 8024 on the top of the slot module. Step 5: Then, repeat the step 3~4 to configure the slot 1 to I-8042 module. Then, click “Save Setting” button to finish the off-line parameter settings. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 55 Step 7: The two fields, “description” and “create by”, can help users to do some notes in EDS files. If these two fields are empty, the “ICPDAS CANopen I/O Slave Device” and “ICPDAS” will be used as the default value when creating the EDS file. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 56 Step 8: Users can select the “PDO Information”, the “Device Information “and the “Slot Module Information” button for purpose to view the PDO objects, device profile and slot module configuration information. These information dialogs are shown below. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 57 EEPROM. As a matter of fact, it may cause the mismatch between real input/output range setting and EDS file. By the way, CAN-8123/CAN-8223 needs to configure the input/output range settings by using CANopen SDO protocol. For more detail, please refer to the section 5.5.

  • Page 58: Can-8423 Configuration (On-Line Mode)

    CAN-8423, i.e. if users want to set baud rate in 1000Kbps, they have to adjust the “Baud” rotary switch to 7. BAUD Step 3: To execute the CAN_SL.exe file, and to display the figure, users have CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 59 Situation” area, and choose the output range in the “Module Configuration” area. Here, take the selection -10.00V~+10.00V as an example. Because of the feature of I-8024 slot module, output range on each channel will be CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 60 Step 6: After setting the proper output range, users can click “Set” button to store the configuration. If all of slot module configurations are finished, select “Lock the module setting” and click “Build EDS File” button to next step. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 61 Note2: The “Lock the module setting” can lock the modules type on the CAN-8423. If users plug a module whose name is different from the configuration by utility, the CAN-8423 will not work. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 62: Canopen Communication Set

    In the following section, several CANopen communication protocols are described. Each protocol description has one corresponding example. Because the communication methods in the CAN-8123/CAN-8223 are similar to the one in CAN-8423, only the example for CAN-8423 is given. Before the example, users must have one CAN interface to send out the CAN command.

  • Page 63: Sdo Communication Set

    SDO upload protocol, i.e. if the data upload is less enough to be transmitted in the initiate SDO upload protocol, then the upload SDO segment protocol will not be used. The communication process of this protocol is shown as follows. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 64 0 reserved : reserved for further use , always 0 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 65 After finishing the transmission of the initiate SDO upload protocol, the SDO client will start to upload the data. The upload SDO segment protocol will comply with the process shown below. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 66 Bytes [8-n, 7] do not contain segment data. n = 0 if no segment size is indicated. : not used, always 0 reserved : reserved for further use , always 0 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 67 0x1400 with sub-index 00. As well, users can get the string in the object with index 0x1008 via the initiate SDO upload protocol and the upload SDO segment protocol. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 68 SDO server SDO client (CAN-8123/CAN-8223 /CAN-8423) 00 14 00 02 00 00 00 Because of the n=3, only the 4th byte is valid. Therefore, the feedback value is 02. Example for normal transfer CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 69 CAN-8423. The byte “09” is the lowest byte in the data length with a long format. Therefore, the data “09 00 00 00” means that users will upload 9 bytes data from CAN-8423. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 70 Users can check the chapter 6 to know that the object entry with index 0x1008 index data type “VISIBLE_STRING”. Therefore, users need to transform these data values into the corresponding ASCII character. After transformation, they become “CAN-842”. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 71 Because of the n=5, and only the first two bytes are valid, the value of 0x33 and 0x00 will be transferred to the corresponding ASCII character. After transformation, it became “3 ”. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 72: Sdo Block Upload Protocol

    The SDO Block Upload is usually used for the large data transmission. At the beginning of the SDO Block Upload, the Initiate SDO Block Upload protocol is needed. This protocol is described below. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 73 LSB and byte 7 is the MSB. : number of segments per block with 0 < blksize < 128 blksize : not used, always 0 reserved : reserved for further use , always 0 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 74 Upload SDO Block Segment protocol. The SDO server can send a maximum of 127 blocks by using 127 Upload SDO Block Segment protocols. The following figure is the structure for the Upload SDO Block Segment protocol. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 75 : number of segments per block that has to be used by server for blksize the following block upload with 0 < blksize < 128 : not used, always 0 reserved : reserved for further use , always 0 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 76 End SDO Block Upload Protocol The End SDO Block Upload protocol is used for finishing the SDO Block upload, and is shown in the following figure. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 77 The algorithm for generating the CRC is as follows. x^16+x^12+x^5+1 CRC is only valid if in Initiate Block Upload cc and sc are set to Otherwise CAN-8123/CAN-8223/CAN-8423, it is not support CRC check mechanism. : not used, always 0 reserved : reserved for further use , always 0...
  • Page 78 SDO Block Upload Example The following figure shows the general procedure of applying the SDO Block upload. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 79 8-byte Data (byte) Data Func Code Node ID Length SDO server SDO client (CAN-8x23) 08 10 00 09 00 00 00 size The CAN-8123 will response 9 bytes data during the SDO Block Upload. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 80 Step 4. The CAN-8423 will responds to the first 7 bytes of data by using the Upload SDO Block Segment protocol. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8x23) seqno 43 41 4E 2D 38 34 32 seg-data CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 81 Step 6. Then, users will send a message to confirm the received data transmitted from the CAN-8423. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8x23) ackseq blksize CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 82 00 00 Step 8. Users will send a message to finish the End SDO Block Upload protocol. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8x23) CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 83: Download Sdo Protocol

    If the download data length is less than 4 bytes, the download action will finish in the download initialization protocol. Otherwise, the download segment protocol will be needed. These two protocols are shown below. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 84 : not used, always 0 reserved : reserved for further use , always 0 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 85 The first segment will have the toggle-bit set to 0. The toggle bit will be equal for the request and the response message. : not used, always 0 reserved : reserved for further use , always 0 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 86 Since all of those object entries, which can be written, in the CAN-8123/CAN-8223/CAN-8423 are equal or less than 4 bytes, we can only provide the example for expedited transfer. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 87 Then, users can use the upload methods to read back the value. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 14 00 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 88: Sdo Block Download

    End SDO Block protocol to terminate the SDO Block Download. The following figures are the structures for the three protocols. Initiate SDO Block Download Protocol CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 89 4 contains the LSB and byte 7 is the MSB. : number of segments per block with 0 < blksize < 128 blksize : not used, always 0 reserved : reserved for further use , always 0 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 90 : number of segments per block that has to be used by client for blksize the following block download with 0 < blksize < 128 : not used, always 0 reserved : reserved for further use , always 0 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 91 The algorithm for generating the CRC is as follows. x^16+x^12+x^5+1 CRC is only valid if in Initiate Block Download cc and sc are set Otherwise, CAN-8123/CAN-8223/CAN-8423, it is not support CRC check mechanism. : not used, always 0 reserved : reserved for further use , always 0...
  • Page 92 In this example, the value of the object entry with index 0x1400 and sub-index 0x02 will be changed to 5 by using the SDO Block Download communication method. When the SDO Block Download is actuated, the procedure will be as follows. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 93 8-byte Data (byte) Data Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 14 02 blksize Step 3. The SDO client will transmit the data of the object entry index 0x1400 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 94 After finishing the data transmission, the Download SDO Block Segment protocol will be terminated. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) ackseq blksize CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 95 Step 6. The CAN-8423 will reply to the message, and terminate the End SDO Block Download protocol. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 96: Abort Sdo Transfer Protocol

    : command specified 4: abort transfer request : not used, always 0 : multiplexer It represents index and sub-index of the SDO : contains a 4-byte “Abort Code” about the reason for the abort CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 97 0800 0022h the present device state. Object dictionary dynamic generation fails or no object dictionary is 0800 0023h present (e.g. object dictionary is generated from file and generation fails because of an file error). CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 98 The object index 0x1008 doesn’t support the sub-index 01 entry. Therefore, if users read the object entry with index 0x1008 and sub-index 01, the CAN-8123/CAN-8223/CAN-8423 will reply the Abort SDO Transfer message. The example is figured as follows. Step 1. The Rx SDO message will be sent to the CAN-8423 in order to get the object entry with index 0x1008 and sub-index 01.

  • Page 99: Pdo Communication Set

    (Function Code) TxPDO1 0011 Node ID TxPDO2 0101 Node ID TxPDO3 0111 Node ID TxPDO4 1001 Node ID RxPDO1 0100 Node ID RxPDO2 0110 Node ID RxPDO3 1000 Node ID RxPDO4 1010 Node ID CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 100 3.1. It is important to avoid the conflict with the defined COB-ID used in the same node. 2. The PDO COB-ID parameters cannot be changed if the PDO is valid (bit 31 =0). CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 101: Transmission Type

    TxPDO. The PDO, including the DI value, will be sent when the DI value is changed. And both transmission types will directly trigger an update of the mapped data when receiving the RxPDO. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 102: Pdo Communication Rule

    Besides, only PDO communications can be used in the NMT operational state. Users can use the NMT module control protocol to change the NMT state of the CAN-8123/CAN-8223/CAN-8423. It is described in the section 5.3. Besides, during communication via the PDO messages, the data length of the PDO message must match with the PDO mapping object.
  • Page 103 : the default PDO COB-ID, or the PDO COB-ID defined by users COB-ID : the data length about how many bytes the PDO message has PDO-msg : the real-time data or the data which can be mapped into the PDO mapping objects CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 104 (Note: CAN-8123/CAN-8223 can’t be used with the on-line mode to set the channel input/output range. Therefore, users have to refer to the section 5.5 to know how to use the SDO protocol to set the channel input/output range) RxPDO Information CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 105 The function of the cyclic and synchronous TxPDO. The function of the synchronous and RTR-only TxPDO. The function of the asynchronous and RTR-only RxPDO. The function of the dynamic PDO mapping for DI/AI/DO/AO channels CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 106 CAN-8423 first, because only the PDO communication can run under the NMT Operational state. 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length NMT slave NMT master (CAN-8123/CAN-8223/ CAN-8423) Node ID CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 107 RxPDO contains only two bytes. According to the PDO mapping table shown above, the first byte is for the DO0~DO7 channel values of the I-8057. The second byte is for the DO8~DO15 channel values of the I-8057. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 108 I-8053 DI channels. Therefore, the first byte indicates that the DI2, DI4, and DI5 of the I-8053 are in ON state. The second byte shows that the DI9 and DI12 of the I-8053 are in ON state. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 109 “3F”. All the other AI channels are set to 0V. Then, the value “00 00” will be given for these channels. For more details about how to transfer the value between the hex and float, please refer to the section 6.3. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 110 0x8000 (-32768) to 0x7FFF (32767). The value 0x4000 (16384) can be transferred by using the following equation. ⎛ − − ⎞ 16384 32768 ⎜ ⎜ ∗ ⎟ ⎟ − − − FloatValue − − ⎝ ⎠ 32767 32768 ≈ CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 111 Step 7. The CAN-8423 will response the message to finish the data download. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 18 05 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 112 CAN-8423) 0x281 COB-ID 06 40 FF FF FF FF FF FF PDO-msg The value of 0x4006 is equal to 5.002V. The AI value is changed because of the noise disturbance or other factors. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 113 SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 18 05 00 00 00 00 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 18 05 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 114 Step 13. Change the DO value of the I-8057 to be 0x5678 by using the 1st RxPDO. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length PDO consumer (CAN-8123/CAN-8223/ producer CAN-8423) 0x201 COB-ID 78 56 00 00 00 00 00 00 PDO-msg CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 115 DI value is also changed at the same time. Hence, users can receive the 1st TxPDO from CAN-8423. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length PDO producer (CAN-8123/CAN-8223/ consumer CAN-8423) 0x181 COB-ID 78 56 00 00 00 00 00 00 PDO-msg CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 116 SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 14 02 FF 00 00 00 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 14 02 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 117 SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 18 02 00 00 00 00 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 18 02 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 118 1st TxPDO from CAN-8423. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length PDO producer (CAN-8123/CAN-8223/ consumer CAN-8423) 0x181 COB-ID 90 AB 00 00 00 00 00 00 PDO-msg CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 119 0 and 1. (Under the transmission type 1, the TxPDO is always transmitted no matter whether the DI values are changed or not, when the CAN-8423 receives the SYNC object.) CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 120 SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 18 02 03 00 00 00 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 18 02 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 121 TxPDO will be triggered, and users will receive the first TxPDO from CAN-8423. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length PDO producer (CAN-8123/CAN-8223/ consumer CAN-8423) 0x181 COB-ID EF CD 00 00 00 00 00 00 PDO-msg CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 122 SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 18 02 FC 00 00 00 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 18 02 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 123 252. Meanwhile, it will send the RTR message of the first TxPDO. 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length PDO producer (CAN-8123/CAN-8223/ consumer CAN-8423) 0x181 COB-ID CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 124 COB-ID Step 32. Users can send the RTR message of the first TxPDO again. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length PDO producer (CAN-8123/CAN-8223/ consumer CAN-8423) 0x181 COB-ID CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 125 Step 33. The feedback DI values will be the real DI values. 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length PDO producer (CAN-8123/CAN-8223/ consumer CAN-8423) 0x181 COB-ID 34 12 00 00 00 00 00 00 PDO-msg CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 126 Step 35. Users can change the DO value of the I-8057 to be 0x5678 by using the first RxPDO. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length PDO consumer (CAN-8123/CAN-8223/ producer CAN-8423) 0x201 COB-ID 78 56 00 00 00 00 00 00 PDO-msg CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 127 Step 37. Set the transmission type of the 1st TxPDO to 255 to finish the test. 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 18 02 FF 00 00 00 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 128 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 00 18 02 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 129 In this case, it is necessary to have the value in 0. Therefore, users have to fill the DI0~DI7 of the I-8053 into the index 0x1A05 with sub-index 01. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 130 Standardize object mapping table described above. It is mapped according to the DI0~DI7 of the I-8053. 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 05 1A 01 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 131 SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 05 1A 02 08 02 00 60 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 05 1A 02 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 132 0x6401 with sub-index 01. It is a 16-bit data unit. User can check this object in the Standardize object mapping table described above. It is mapped according to AI0 of the I-87017. In CAN-8123/ CAN-8223/CAN-8423, all analog channels are presented by 16-bit value.
  • Page 133 SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 05 1A 00 03 00 00 00 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 05 1A 00 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 134 SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 05 14 01 02 02 00 00 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 05 14 01 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 135 Standardize object mapping table described above. It is mapped to the DO0~DO7 for I-8057. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 05 16 01 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 136 SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 05 16 02 08 02 00 62 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 05 16 02 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 137 Standardize object mapping table described above. It is mapped according to the AO0 of the I-8024. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 05 16 03 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 138 SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 05 16 00 03 00 00 00 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 05 16 00 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 139 DI values have been changed. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length PDO producer (CAN-8123/CAN-8223/ consumer CAN-8423) 0x181 COB-ID AB 90 00 00 00 00 00 00 PDO-msg CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 140 The first two bytes are assigned to the value 0x90AB for the DI0~DI15 of the I-8053. The 3rd and 4th bytes are assigned to the value 0xFFFF for the AI0 of the I-87017. After transferring, the input value of the AI0 is -0.001V. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 141: Emcy Communication Set

    EMCY does not exist (EMCY is not valid) reserved (always 0) 11-bit ID (CAN 2.0A) 29-bit ID (CAN 2.0B) 28-11 If bit 29=0 If bit 29=1: 28-11 bits of 29-bit COB-ID 10-0 (LSB) 10-0 bits of COB-ID CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 142: Emcy Communication

    Byte Content Emergency Error Code Error register Manufacturer specific Error Field Each bit on the error register is defined as follows. Only the CAN-8123/CAN-8223/CAN-8423 supports bit 0, bit 4 and bit 7. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 143 0x1003, and the error register of the emergency object data will be mapped to object 0x1001. Therefore, users can use these two objects to view what happened in the CAN-8123/CAN-8223/CAN-8423 and check the error history.
  • Page 144 The last five bytes “09 00 00 00 00” are for the manufacturer specific errors. This emergency message means that the data length of TxPDO doesn’t correspond to the value defined in the PDO mapping object. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 145 Step 5. Users have to check the object 0x1001, and make sure that the communication and generic errors on the error register are indicated. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 01 10 00 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 146 Because the value of TxPDO is the same with the previous one, the DO channels will not change. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length PDO producer (CAN-8123/CAN-8223/ consumer CAN-8423) 0x201 COB-ID 00 00 00 00 00 00 00 00 PDO-msg CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 147 SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 03 10 01 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 03 10 01 00 00 00 00 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 148 Step 11. Users have to confirm the error register stored in index 0x1001. The value should be 0 now. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 01 10 00 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 149 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 01 10 00 00 00 00 00 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 150: Nmt Communication Set

    1: start : the node ID of the NMT slave device Node ID Stop Remote Node Protocol : NMT command specified 2: stop : the node ID of the NMT slave device Node ID CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 151 : the node ID of the NMT slave device Node ID Reset Node Protocol : NMT command specified 129: Reset_Node : the node ID of the NMT slave device Node ID Reset Communication Protocol CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 152 Step3. Users can send the NMT module control protocol, and control the CAN-8423 to enter the operational state. 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length NMT slave NMT master (CAN-8123/CAN-8223/ CAN-8423) Node ID CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 153: Error Control Protocol

    0x100D. The 0x100C is the guard time, and the 0x100D is the life time factor. The node life time is the guard time multiplied by the life time factor. The Node Guarding timer of the CAN-8123/CAN-8223/CAN-8423 will start to count after receiving the first RTR message for the guarding identifier. The communication set of the Error Control protocol is displayed below.
  • Page 154 FA 00 00 00 Step 3. The CAN-8423 will reply with the ending message. 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 0C 10 00 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 155 SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 0D 10 00 04 00 00 00 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 0D 10 00 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 156 Step 7. If the transmission is not available, an error event will be triggered, and an EMCY message for guarding failure will be received. Moreover, all values from the output channels will be changed according to index 0x6206, index 0x6207, index 0x6443, and index 0x6444. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 157 The first two bytes “30 81” are for the emergency error code. The 3rd byte “11” is for the error register. The last five bytes “07 00 00 00 00” are for the manufacturer specific error values. This emergency message indicates a life guard error. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 158: Special Functions For Can-8123/8223/8423

    0 to 8, and the entry is dynamic. For the entries information in the Manufacturer Specific Profile Area, it will be described as follows. If users use the CAN-8123, there is only one entry, “0x2004” provided. If users the use CAN-8423, there are 4 entries, “0x2004”, “0x2005”, “0x2006”...
  • Page 159 Step 2. Users can send the SDO message to confirm the output range value of the I-8024 AO channel 0. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 06 20 01 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 160 Step 4. Users can send the SDO message to confirm the input range value of the I-87017 AI channel 0. 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 07 20 01 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 161 Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 07 20 01 00 00 00 00 Because of the n=3, only the 4th byte is valid. Therefore, the feedback value is 00. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 162 RTR message from the 2nd TxPDO to read back the AI value. 11-bit COB-ID (bit) Data 8-byte Data (byte) Func Code Node ID Length PDO consumer (CAN-8123/CAN-8223/ consumer CAN-8423) 0x281 COB-ID CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 163 The value 0x5980 (22912) can be transferred by using the following equation. ⎛ − − ⎞ 22912 32768 ⎜ ⎜ ∗ ⎟ ⎟ − − − FloatValue − ⎝ ⎠ 32767 32768 ≈ CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 164 Then, users can use upload methods mentioned before to read back the value for confirmation. 11-bit COB-ID (bit) 8-byte Data (byte) Data Func Code Node ID Length SDO server SDO client (CAN-8123/CAN-8223/ CAN-8423) 07 20 01 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 165 The feedback AI0 value is 0x7FFF, i.e. this value is in max limit for the range. The AI0 value will still be 5V, even the input 7V is over the max input range, CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 166: Object Dictionary Of Can-8123/8223/8423

    6.1 Communication Profile Area The following tables are regarding each entry of the communication profile area is defined in CAN-8123/CAN-8223/CAN-8423. For the convenient purpose, all communication entries are divided into several tables. They are “General Communication Entries”, “RxPDO Communication Entries”, “RxPDO Mapping Communication Entries”, “TxPDO Communication Entries”, and “TxPDO Mapping...
  • Page 167 18, 19 present the DI, DO, AI, AO respectively. For example, if bit 16 is 1, it means that the CAN-8123/CAN-8223/CAN-8423 has DI channels. If both bit 16 and 17 are 1, the CAN-8123/CAN-8223/CAN-8423 will have both DI and DO channels. Bit 23 ~ bit 19 is always in 0.
  • Page 168 When interpreting these objects, the ASCII table will be needed. 5. The range of the 0x100c is from 0 to 32767 in CAN-8123/CAN-8223/CAN-8423. For more information of the object with index 0x100C and 0x100D, please refer to the section 5.4.2.
  • Page 169 2h UNSIGNED 16 6411 0210h write analog output 3h UNSIGNED 16 6411 0310h write analog output 4h UNSIGNED 16 6411 0410h 1602h largest sub-index supported for UNSIGNED 8 “receive PDO mapping” CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 170 UNSIGNED 16 reversed event timer UNSIGNED 16 1801h largest sub-index supported for UNSIGNED 8 “receive PDO parameter” COB-ID used by PDO (Tx) UNSIGNED 32 280h+Node-ID transmission type UNSIGNED 8 inhibit time UNSIGNED 16 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 171 “receive PDO parameter” COB-ID used by PDO (Tx) UNSIGNED 32 80000000h transmission type UNSIGNED 8 inhibit time UNSIGNED 16 reversed event timer UNSIGNED 16 TxPDO Mapping Communication Entries Sidx Description Type Attr Default CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 172 Bh UNSIGNED 16 6401 0B10h read analog input Ch UNSIGNED 16 6401 0C10h 1A04h largest sub-index supported for UNSIGNED 8 “transmit PDO mapping” 1A0Fh largest sub-index supported for UNSIGNED 8 “transmit PDO mapping” CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 173: Manufacturer Specific Profile Area

    6.2 Manufacturer Specific Profile Area In the following table, there is information about some special functions for the CAN-8123/CAN-8223/CAN-8423. The index from 0x2004 to 0x200B records the analog input/output range parameters. The number of these entries will be automatically confirmed when the CAN-8123/CAN-8223/CAN-8423 boot up. For example.

  • Page 174: Standardized Device Profile Area

    CAN-8123/CAN-8223/CAN-8423. These device entries will match the channel types and numbers of the slot modules inserted into the CAN-8123/CAN-8223/ CAN-8423. For the convenient purpose, these entries are divided into four tables, “Digital Input Devices Entries”, “Digital Output Devices Entries”, “Analog Input...
  • Page 175 Note: When the bus-off is detected or the node guarding fails, the CAN-8123/CAN-8223/ CAN-8423 will check the value of the object with index 0x6206. If the bit of this value is set to 1, the CAN-8123/CAN-8223/CAN-8423 will output the error mode digital output value to the corresponding DO channel.
  • Page 176 Note: 1. Because the CAN-8123/CAN-8223/CAN-8423 only supports the hex format, all AI channels have to transfer to the hex format when storing into this object. The transformation equation is shown below. − ⎛ ⎞ HexValue ∗ ⎟ − ⎜ FloatValue −...
  • Page 177 User can find out the Fmax, Fmin, Hmax, and Hmin in the appendix B. 2. When the bus-off is detected or the node guarding fails, the CAN-8123/CAN-8223/ CAN-8423 will check the value of the object with index 0x6443. If this value is set to 1, the CAN-8123/CAN-8223/CAN-8423 will output the error mode analog output value to the corresponding AO channel.

  • Page 178: Object Of Counter/Frequency Modules

    “enable/disable low pass filter” Low pass filter status of ch1 UNSIGNED 8 3007h largest sub-index supported for “set UNSIGNED 8 low pass filter time (unit - us)” Low pass filter time of ch1 UNSIGNED 16 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 179 If the pulse width of the signal is less than this value, this signal will be taken into account. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 180: Object Of Pwm Module

    Set sync channel of ch1 UNSIGNED 8 3106h largest sub-index supported for UNSIGNED 8 “start the synchronous pulse” Start the synchronous pulse of the UNSIGNED 8 first PWM module which has lower slot No. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 181 PWM module in different slot. If there are two PWM modules on the CAN-8x23, the maximum sub-index number of the object 0x3106 is 2. The sub-index 1 is for the PWM module with lower slot No. and the sub-index 2 is for the one with higher slot CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 182: Appendix A: Type Code Table

    They are given below. I-87K module I-8K module I-87013 I-8017HS/I-8017HW I-87015/I-87015P I-8024/I-8024W I-87017/I-87017R/I-87017W/I-87017RW I-8050 I-87017RC I-8080/I-8084W I-87018/I-87018RW/I-87018W/I-87018Z I-8088W I-87019RW Thermocouple of I-87018/I-87019 Series I-87022 I-87024/I-87024W I-87026 I-87024C/I-87028C CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 183 Input Range Platinum 100 2's complement a = 0.003916 7FFF 0000 +600.00℃ +000.00℃ Input Range Platinum 100 2's complement a = 0.003916 7FFF 0000 +100.00℃ -080.00℃ Input Range Nickel 120 2's complement 7FFF 999A CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 184 * 1: Type 2B, 2C and 2D are only available with I-87015. * 2: Type 2E, 2F, 80 and 81 are only available with the I-87015 firmware version A1.10 and later, I-87013 firmware version B1.3 and later. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 185 -20mA to +20mA 2's Complement HEX 7FFF 8000 Note: *1: When I-87017 and I-87017R are connecting to a current source set to OD type code, an optional external 125 Ohms resistor is required. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 186 +00.000 mA +20.000 mA +0A to +20mA 2's Complement HEX 7FFF 8000 Note: 1. I-87017RC has built-in 125 Ohms resistors for each channels. When connecting to a current source, no add any external resistors required. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 187 125Ω resistor 2's Complement HEX 7FFF 8000 Note: *1: When I-87018 and I-87018R are connecting to a current source set to 06 type code, an optional external 125 Ohms resistor is required. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 188 2's Complement HEX 7FFF 8000 Input Range +5.0000 V -5.0000 V -5V to +5V 2's Complement HEX 7FFF 8000 Input Range +1.0000 V -1.0000 V -1V to +1V 2's Complement HEX 7FFF 8000 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 189 7FFF 8000 Input Range +150.00 mV -150.00 mV -150mV to +150mV 2's Complement HEX 7FFF 8000 Input Range +20.000 mA -20.000 mA -20mA to +20mA with 125Ω resistor 2's Complement HEX 7FFF 8000 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 190 -200.00℃ Input Range L Type 2's Complement HEX 7FFF E000 +100.00℃ -200.00℃ Input Range M Type 2's Complement HEX 4000 8000 +900.00℃ -200.00℃ Input Range L Type DIN43710 2's Complement HEX 7FFF E38F CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 191 (default) 2's Complement HEX 0x7FFF 0x8000 Output Range +05.000 V +00.000 V 0 to 5V 2's Complement HEX 0x7FFF Output Range +05.000 V -05.000 V -5 to 5V 2's Complement HEX 0x7FFF 0x8000 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 192 Output Range Data Format Max Value Min Value (Hex) Output Range +10.000 V -100.000 V -10 to 10V (default) Hexadecimal 7FFF 8000 Output Range +20.000 mA +00.000 mA 0 to 20mA Hexadecimal 7FFF 8000 CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 193 Note: *1: The sub-index of all parameters and input channels are still 8, but the sub-index 1 is equal to sub-index 2, and sub-index 3 is equal to sub-index 4, and so on. CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...
  • Page 194 Back to table I-8088W PWM Output Type Definition Range Code Channel Counter Type Max Value Min Value (Hex) number 65535 Burst Counter FFFF Continue Counter (default) CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

  • Page 195: Appendix B: Dio Type Define Of I-8050 Modules

    DI. So if users set the sub-index 1 to 0x77, it means that only the ch-3 and ch-7 are DO channels and the others are DI channels. In default, all the channels of I-8050 are DI channels. Back to table CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------...

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