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ICP DAS USA CAN-2024C 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 © 2016 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-2024C user's manual (Revision 1.10, Mar/02/2016) ------
CAN-2024C
Application User's Manual
1

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Summary of Contents for ICP DAS USA CAN-2024C

  • Page 1 ICP DAS unless infringement act imperils to patents of the third parties. Copyright Copyright © 2016 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-2024C user’s manual (Revision 1.10, Mar/02/2016) ------...

  • Page 2: Table Of Contents

    LED Description ................8 PIN Assignment ................9 Wire Connection ................10 Object Dictionary .................. 11 Object List ..................11 Store and Restore Object ............14 Application Object ............... 15 Default PDO Mapping ..............20 CAN-2024C user’s manual (Revision 1.10, Mar/02/2016) ------...

  • Page 3: Introduction

    The CAN-2024C module follows the CiA DS-301 version 4.02 and DSP-401 version 2.1. It is easy to access the analogue I/O status and set the configuration by using the standard CANopen protocol. The CAN-2024C has passed the validation of the CiA CANopen Conformance Test tool.

  • Page 4: Hardware Specifications

    Operating Temperature: -25 ~ 75 ℃.  Storage Temperature: -30 ~ 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-2024C user’s manual (Revision 1.10, Mar/02/2016) ------...

  • Page 5: Features

     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-2024C user’s manual (Revision 1.10, Mar/02/2016) ------...

  • Page 6: Hardware

    2 Hardware 2.1 Structure Figure 2-1 (Top View) Figure 2-2 (Bottom View) CAN-2024C user’s manual (Revision 1.10, Mar/02/2016) ------...

  • 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-2024C module. The value of baud rate switch from 0 ~ 7 are normal CANopen mode, The relationship between the rotary switch value and the practical baud rate is presented in the following table.

  • Page 8: Led Description

    Terminal Resistor LED When enable the 120Ω terminator resistor, the LED will turn on. Vout LED If the CAN-2024C is applied in voltage mode, the Vout LED is turned on while the corresponding channel outputs a non-zero voltage value. Iout LED...

  • Page 9: Pin Assignment

    2.4 PIN Assignment Figure 2-7 CAN-2024C user’s manual (Revision 1.10, Mar/02/2016) ------...

  • Page 10: Wire Connection

    2.5 Wire Connection Figure 2-8 CAN-2024C user’s manual (Revision 1.10, Mar/02/2016) ------...

  • Page 11: Object Dictionary

    UNSIGNED 8 “identity object” vender ID UNSIGNED 32 0x0000013C product code UNSIGNED 32 0x00002024 revision number UNSIGNED 32 0x00010001 serial number UNSIGNED 32 0x6cd3683c Table 3-1 Note: x is Node-ID of the module CAN-2024C user’s manual (Revision 1.10, Mar/02/2016) ------...
  • Page 12 AO value of channel 2 UNSIGNED 16 AO value of channel 3 UNSIGNED 16 6443h Number of Analogue Outputs UNSIGNED 8 Error Mode AO channel 0 UNSIGNED 8 Error Mode AO channel 1 UNSIGNED 8 CAN-2024C user’s manual (Revision 1.10, Mar/02/2016) ------...
  • Page 13 Type Code of AO Channel 3 UNSIGNED 8 0x33 Table 3-8 This object 0x2004 controls the output type of the CAN-2024C. There are six kinds of output ranges for choices. These ranges and corresponding values are listed below. Type Code Value...

  • Page 14: Store And Restore Object

    AO error value of channel 3 2004 h Type Code of AO Channel 0 0x33 Type Code of AO Channel 1 0x33 Type Code of AO Channel 2 0x33 Type Code of AO Channel 3 0x33 CAN-2024C user’s manual (Revision 1.10, Mar/02/2016) ------...

  • Page 15: Application Object

    SDO server SDO client (CAN-2024C) Write the 0x2FFF value into the object index 0x6411 with subindex 1 of CAN-2024C, and the AO channel 0 will output the 5V if you select the 0~10 V CAN-2024C user’s manual (Revision 1.10, Mar/02/2016) ------...
  • Page 16 (see 6444h object) in case of an internal device failure or a ‘Stop remote node’ indication. 0 = actual value rest. 1 = reverts to error value integer (6444h). others= reserved. For example, if the node ID of the CAN-2024C is 1, the commands are as follows: 11-bit COB-ID (bit) Data 8-byte Data (byte)
  • Page 17 Type Code for CAN-2024C Module (index = 0x2004) Setting the type code will decide the output ranges of the CAN-2024C. If the node ID of the CAN-2024C is 1, the commands are listed as below: 11-bit COB-ID (bit) 8-byte Data (byte)
  • Page 18 Write object index 0x6444 and subindex 1 to 0x3FFF means that setting the error value to 0x3FFF for activating the error mode output value of channel 0. If the error event occurs, the module will output the safe value 0x3FFF corresponding the object 0x6443 and 0x6444. CAN-2024C user’s manual (Revision 1.10, Mar/02/2016) ------...
  • Page 19 Set Module to Operation Mode when powering on (0x2100) This object 0x2100 with subindex 1 defines if the module will enter operation mode automatically when powering on. For example, if the node id of CAN-2024C is 1, the commands are as below: 11-bit COB-ID (bit) Data...

  • Page 20: Default Pdo Mapping

    Note: x is Node-ID of the module Note: AO is Analogue Output Note: C0, C1, C2 and C3 is channel 0, channel 1, channel 2 and channel 3. Note: The ‘L’ indicates low byte and ‘H’ indicates high byte. CAN-2024C user’s manual (Revision 1.10, Mar/02/2016) ------...

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