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AXIOMATIC UMAXDIO128CO User Manual

12 digital input, 8 relay output controller with canopen
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USER MANUAL UMAXDIO128CO
12 DIGITAL INPUT,
8 RELAY OUTPUT
CONTROLLER
With CANopen®
USER MANUAL
P/N: AXDIO128CO

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Summary of Contents for AXIOMATIC UMAXDIO128CO

  • Page 1 USER MANUAL UMAXDIO128CO 12 DIGITAL INPUT, 8 RELAY OUTPUT CONTROLLER With CANopen® USER MANUAL P/N: AXDIO128CO...
  • Page 2 VERSION HISTORY Version Date Author Modifications 1.0.0 June 27, 2011 Anna Murray Initial Draft 2.0.0 Dec. 21, 2011 A. Wilkins Updated for new hardware and 2A@277VAC 2.0.1 Sept. 10, 2015 A. Wikins Added compliance information Oct. 22, 2015 A. Wilkins Upgraded to IP67 based on testing ACRONYMS Controller Area Network...

  • Page 3: Table Of Contents

    TABLE OF CONTENTS 1. OVERVIEW OF CONTROLLER………………...…………………………………..……………………….. 5 1.1. Description of 12 Input, 8 Output Controller………………….…………………………………….. 5 1.2. LED Indicator………………...………………………………………………………………………… 6 1.3. Error Detection and Reaction………………………………………………………………………… 7 1.4. Digital Input Function Block…………………………………………………………………………... 8 1.5. Digital Output Function Block………….……………………………………………………………... 10 1.6. Miscellaneous Function Block……………………………………………………..………………….
  • Page 4 3.4. MANUFACTURER OBJECTS……..………………………………..………………………..……… 45 3.4.1. Object 2002h: DI Latched 8-bit……….……...………………………………..………………… 45 3.4.2. Object 2003h: DI Debounce Time…….……….……...………………..……………………..46 3.4.3. Object 2200h: DO Read Output 8-bit……...….………………………………………………… 46 3.4.4. Object 2210h: DO Control Source 8-bit……...….……………………………………………… 47 3.4.5. Object 2211h: DO Discrete Control Number………...….…………………………..…………. 48 3.4.6.

  • Page 5: Overview Of Controller

    1. OVERVIEW OF CONTROLLER 1.1. Description of 12 Input, 8 Output Controller The Discrete 12 Input, 8 Relay Output Module (DIO128) is designed to provide a simple interface between a CiA CANopen ® network and discrete electronic devices in a power generator set control system or industrial environment.

  • Page 6: Led Indicator

    The DIO128 is a versatile controller compliant with the CiA standard DS-401. It supports many objects from that device profile as well as some manufacturer objects to provide expanded functionality. All objects are user configurable using standard commercially available tools that can interact with a CANopen ®...

  • Page 7: Error Detection And Reaction

    1.3. Error Detection and Reaction As shown in the last columns of Table 1, there are three types of errors that the DIO128 can detect and react to: 1 = CAN Bus Error Unit automatically enters BUSOFF state and stays there until reconnection to the network is established 2 = Lost Heartbeat When object 1016h, Consumer Heartbeat Time sub-index 1, has a non-...

  • Page 8: Digital Input Function Block

    1.4. Digital Input Function Block Figure 2 – Digital Input Objects For the digital inputs (DI), all associated objects (except 2003h) are an 8-bit type. The table below shows the relationship between each bit and the corresponding input. Subindex Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DI12 DI11 DI10 Table 2 –...
  • Page 9 Next, the controller looks at object 2002h, DI Latched (default 0), and if TRUE the “Input State” of the input will toggle only on the rising edge of the input, as shown in Figure 4. This type of input could be used with a momentary push-button. Note: When 2002h is true, object 6002h is ignored. Figure 4 –...

  • Page 10: Digital Output Function Block

    1.5. Digital Output Function Block Figure 5 – Digital Output Objects For the digital outputs (DO), all associated objects (except 2211h and 2221h) are an 8-bit type. The table below shows the relationship between each bit and the corresponding relay output. Subindex Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Table 3 –...

  • Page 11: Miscellaneous Function Block

    When 2210h is set (1) the output is controlled by the data in object 6200h, DO Write Output (default 0) which is mapped to RPDO1 by default. Since PDOs do not exist in PRE- OPERATIONAL mode, the “Logic State” is always set OFF in this case. In OPERATIONAL mode, however, the “Logic State”...

  • Page 12: Installation Instructions

    2. INSTALLATION INSTRUCTIONS 2.1. Dimensions and Pinout NB. The AXDIO128 is shown here. The model AXDIO128CO has the same packaging, connectors, pin out and dimensions. Figure 6 – Housing Dimensions Figure 7 – 8-Pin Connections UMDIO128CO V2.0.1 Preliminary Documentation – May be Subject to Change 12-53...

  • Page 13: Pin Connections

    Connections – I/O INPUT LOAD LOAD OUTPUT Figure 8 – 40-Pin Connections UMDIO128CO V2.0.1 Preliminary Documentation – May be Subject to Change 13-53...

  • Page 14: Installation Instructions

    2.2. Installation Instructions NOTES & WARNINGS  Do not install near high-voltage or high-current devices.  Ground the chassis for safety purposes and proper EMI shielding.  Note the operating temperature range. All field wiring must be suitable for that temperature range.
  • Page 15 All chassis grounding should go to a single ground point designated for the machine and all related equipment. Axiomatic recommends that the ground strap that provides a low impedance path for EMI should be a ½ inch wide, flat, hollow braid, no more than 12 inches long .
  • Page 16 CAN NETWORK CONSTRUCTION Axiomatic recommends that multi-drop networks be constructed using a “daisy chain” or “backbone” configuration with short drop lines. CAN TERMINATION It is necessary to terminate the network; therefore an external CAN termination is required. No more than two network terminators should be used on any one single network. A terminator is a 121Ω, 0.25 W, 1% metal film resistor placed between CAN_H and CAN_L terminals at the end two...

  • Page 17: Canopen ® Object Dictionary

    3. CANOPEN ® OBJECT DICTIONARY The CANopen object dictionary of the DIO128 Controller is based on CiA device profile DS-401 V3.0 (device profile for generic I/O modules). The object dictionary includes Communication Objects beyond the minimum requirements in the profile, as well as several manufacturer-specific objects for extended functionality.
  • Page 18  Save the configuration by sending the following message: Item Value COB-ID 0x7E5 Length Data 0 0x17 (cs=23 for store configuration)  The module will send the following response (any other response is a failure): Item Value COB-ID 0x7E4 Length Data 0 0x17 (cs=23 for store configuration)
  • Page 19 Index Bit Rate 1 Mbit/s 800 kbit/s 500 kbit/s 250 kbit/s 125 kbit/s (default) reserved (100 kbit/s) 50 kbit/s 20 kbit/s 10 kbit/s Table 32 – LSS Baudrate Indexes  The module will send the following response (any other response is a failure): Item Value COB-ID...
  • Page 20  The module will send the following response (any other response is a failure): Item Value COB-ID 0x7E4 Length Data 0 0x17 (cs=23 for store configuration) Data 1 0x00 Data 2 0x00  Set the module state to LSS-operation by sending the following message: (Note, the module will reset itself back to the pre-operational state) Item Value...

  • Page 21: Communication Objects (Ds-301 And Ds-401)

    3.2. COMMUNICATION OBJECTS (DS-301 and DS-401) The communication objects supported by the DIO128 Controller are listed in the following table. A more detailed description of some of the objects is given in the following subchapters. Only those objects that have device-profile specific information are described. For more information on the other objects, refer to the generic CANopen protocol specification DS-301.

  • Page 22: Object 1000H: Device Type

    3.2.1. Object 1000h: Device Type This object contains information about the device type as per device profile DS-401. The 32-bit parameter is divided into two 16-bit values, showing General and Additional information as shown below. Additional Information = 0x0003 General Information = 0x0191 (401) DS-401 defines the Additional Information field in the following manner: 0000h = invalid, not allowed 0001h = digital input(s) implemented...

  • Page 23: Object 1001H: Error Register

    3.2.2. Object 1001h: Error Register This object is an error register for the device. Any time there is an error detected by the DIO128 Controller, the Generic Error Bit (bit 0) is set. Only if there is no errors in the module will this bit will be cleared.

  • Page 24: Object 100Ch And 100Dh: Guard Time And Lifetime Factor

    Object Description Index 1003h Name Pre-Defined Error Field Object Type ARRAY Data Type UNSIGNED32 Entry Description Sub-Index Description Number of entries Access PDO Mapping Value Range 0 to 3 Default Value Sub-Index 1h to 3h Description Standard error field Access PDO Mapping Value Range UNSIGNED32...

  • Page 25: Object 1010H: Store Parameters

    3.2.5. Object 1010h: Store Parameters This object supports the saving of parameters in non-volatile memory. In order to avoid storage of parameters by mistake, storage is only executed when a specific signature is written to the appropriate sub-index. The signature is “save”. The signature is a 32-bit unsigned number, composed of the ASCII codes of the signature characters, according to the following table: On reception of the correct signature to an appropriate sub-index, the DIO128 Controller will store...

  • Page 26: Object 1011H: Restore Parameters

    Sub-Index Description Save communication parameters Access PDO Mapping Value Range 0x65766173 (write access) (read access) Default Value Sub-Index Description Save application parameters Access PDO Mapping Value Range 0x65766173 (write access) (read access) Default Value Sub-Index Description Save manufacturer parameters Access PDO Mapping Value Range 0x65766173 (write access)
  • Page 27 Object Description Index 1011h Name Restore Default Parameters Object Type ARRAY Data Type UNSIGNED32 Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index Description Restore all default parameters Access PDO Mapping Value Range 0x64616F6C (write access), 1h (read access) Default Value Sub-Index Description...

  • Page 28: Object 1016H: Consumer Heartbeat Time

    3.2.7. Object 1016h: Consumer Heartbeat Time The DIO128 Controller can be a consumer of heartbeat objects for up to one module. This object defines the expected heartbeat cycle time for that module, and if set to zero, it is not used. When non-zero, the time is a multiple of 1ms, and monitoring will start after the reception of the first heartbeat from the module.

  • Page 29: Object 1017H: Producer Heartbeat Time

    Identity Record Entry Description Sub-Index Description Number of entries Access PDO Mapping Value Range Default Value Sub-Index Description Vendor ID Access PDO Mapping Value Range 0x00000055 Default Value 0x00000055 (Axiomatic) UMDIO128CO V2.0.1 Preliminary Documentation – May be Subject to Change 29-53...

  • Page 30: Object 1020H: Verify Configuration

    Sub-Index Description Product Code Access PDO Mapping Value Range 0x00011102 Default Value 0x00011102 Sub-Index Description Revision Number Access PDO Mapping Value Range UNSIGNED32 Default Value 0x00010101 Sub-Index Description Serial Number Access PDO Mapping Value Range UNSIGNED32 Default Value 3.2.10. Object 1020h: Verify Configuration This object can be read to see what date the software (version identified in object 1018h) was compiled.

  • Page 31: Object 1029H: Error Behaviour

    Sub-Index Description Configuration date Access PDO Mapping Value Range UNSIGNED32 Default Value Sub-Index Description Configuration time Access PDO Mapping Value Range UNSIGNED32 Default Value 3.2.11. Object 1029h: Error Behaviour This object controls the node state that the DIO128 Controller will be set into in case of an error of the type associated with the sub-index.

  • Page 32: Rpdo Behaviour

    Sub-Index Description Busoff Recovery (EMCY 8140h) Access PDO Mapping Value Range See above Default Value 0 (Pre-operational) Sub-Index Description Lost Heartbeat (EMCY 8130h) Access PDO Mapping Value Range See above Default Value 1 (No State Change) Sub-Index Description Lost RPDO1 (EMCY 8110h) Access PDO Mapping...
  • Page 33 The DIO128 Controller supports up to four RPDO messages for compatibility with DS-301, but only the first RPDO is useable. RPDO1 is set according to the pre-defined connection set described in DS-401. The other three RPDOs do not exist and are defined as read-only objects so they are not changeable.
  • Page 34 Sub-Index Description COB-ID used by RPDO Access RPDOx ID PDO Mapping 0200h Value Range See value definition in DS-301 0300h Default Value 40000000h + RPDO1 + Node ID 0400h C0000000h + RPDOx + Node-ID 0500h Node-ID = Node-ID of the module. The RPDO COB-IDs are automatically updated if the Node-ID is changed by LSS protocol.

  • Page 35: Tpdo Behaviour

    3.2.13. TPDO Behaviour The DIO128 Controller supports up to four TPDO messages for compatibility with DS-301, but only the first TPDO is useable. TPDO1 is set according to the pre-defined connection set described in DS-401. The other three TPDOs do not exist and are defined as read-only objects so they are not changeable.
  • Page 36 Sub-Index Description COB-ID used by TPDO Access TPDOx ID PDO Mapping 0180h Value Range See value definition in DS-301 0280h Default Value 40000000h + TPDO1 + Node-ID 0380h C0000000h + TPDOx + Node-ID 0480h Node-ID = Node-ID of the module. The TPDO COB-IDs are automatically updated if the Node-ID is changed by LSS protocol.

  • Page 37: Application Objects (Ds-401)

    3.3. APPLICATION OBJECTS (DS-401) Index Object Object Data Type Access (hex) Type Mapping 6000h DI Read Input 8-bit ARRAY UNSIGNED8 6002h DI Polarity 8-bit ARRAY UNSIGNED8 6003h DI Filter Input 8-bit ARRAY UNSIGNED8 6005h DI Global Interrupt Enable 8-bit ARRAY UNSIGNED8 6006h DI Interrupt Mask Any Change 8-bit ARRAY UNSIGNED8...

  • Page 38: Object 6002H: Di Polarity 8-Bit

    3.3.2. Object 6002h: DI Polarity 8-bit This object defines the polarity of a group of 8 input lines. Input polarity can be inverted individually. 1 = input inverted 0 = input not inverted Object Description Index 6002h Name DI Polarity 8-bit Object Type ARRAY Data Type...

  • Page 39: Object 6005H: Di Global Interrupt Enable 8-Bit

    Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index Description DI1 to DI8 Debounce Enabled Access PDO Mapping Value Range (255) [1111 1111b] Default Value (255) [1111 1111b] Sub-Index Description DI9 to DI12 Debounce Enabled Access PDO Mapping Value Range...

  • Page 40: Object 6006H: Di Interrupt Mask Any Change 8-Bit

    Sub-Index Description DI1 to DI8 Interrupt Enabled Access PDO Mapping Value Range (255) [1111 1111b] Default Value (255) [1111 1111b] Sub-Index Description DI9 to DI12 Interrupt Enabled Access PDO Mapping Value Range (15) [0000 1111b] Default Value (15) [0000 1111b] 3.3.5.

  • Page 41: Object 6007H: Di Interrupt Mask Low-To-High 8-Bit

    3.3.6. Object 6007h: DI Interrupt Mask Low-to-High 8-bit This object determines if the input activates an interrupt by positive edge detection (logical 0 to 1) on a group of 8 input lines. The values shall be in an ”OR” connection to the values of 6006h object (interrupt mask any change 8-bit).
  • Page 42 3.3.7. Object 6007h: DI Interrupt Mask High-to-Low 8-bit This object determines if the input activates an interrupt by negative edge detection (logical 1 to 0) on a group of 8 input lines. The values shall be in an ”OR”connection to the values of 6006h object (interrupt mask any change 8-bit).

  • Page 43: Object 6200H: Do Write Output 8-Bit

    3.3.8. Object 6200h: DO Write Output 8-bit This object shall set a group of 8 output lines as a byte of information. Each output can be turned ON/OFF individually. See Table 3 in Section 1.5 for bit order within the bytes. This object is mapped to RPDO1 by default.

  • Page 44: Object 6206H: Do Error Mode 8-Bit

    Sub-Index Description DO1 to DO8 Polarity Access PDO Mapping Value Range (255) [1111 1111b] Default Value [0000 0000b] 3.3.10. Object 6206h: DO Error Mode 8-bit This object indicates, whether an output is set to a pre-defined error value (see 6207h object) in case of an internal device failure or a 'Stop Remote Node' indication, for a group of 8 output lines.

  • Page 45: Object 6207H: Do Error Value 8-Bit

    3.3.11. Object 6207h: DO Error Value 8-bit On condition that the corresponding Error Mode bit is active, device failures (see Section 1.3 and 1.5) shall set the outputs to the value configured by this object for a group of 8 output lines 1 = output ON in error mode (relay engaged) 0 = output OFF in error mode Object Description...

  • Page 46: Manufacturer Objects

    3.4. MANUFACTURER OBJECTS Index Object Object Data Type Access (hex) Type Mapping 2002 DI Latched 8-bit ARRAY UNSIGNED8 2003 DI Debounce Time ARRAY UNSIGNED16 2200 DO Read Output 8-bit ARRAY UNSIGNED8 2210 DO Control Source 8-bit ARRAY UNSIGNED8 2211 DO Discrete Control Number ARRAY UNSIGNED8 2220...

  • Page 47: Object 2003H: Di Debounce Time

    3.4.2. Object 2003h: DI Debounce Time When enabled by object 6003h, DI Filter Input, this object determines the time, in milliseconds, that the input will used for a debouncing filter. For more information about debouncing, see Figure 3 in Section 1.4. Object Description Index 2003h...

  • Page 48: Object 2210H: Do Control Source 8-Bit

    Sub-Index Description DO1 to DO8 Read Output Access PDO Mapping Value Range (255) [1111 1111b] Default Value [0000 0000b] 3.4.4. Object 2210h: DO Control Source 8-bit This object selects the source of the control signal which determines the logic for controlling an output in a group of 8 output lines.

  • Page 49: Object 2211H: Do Discrete Control Number

    3.4.5. Object 2211h: DO Discrete Control Number When object 2210h selects a discrete input as the source of the control logic for an output, this object is used to define which input (1 to 12) is used. Object Description Index 2210h Name DO Discrete Control Number...
  • Page 50 Sub-Index Description DO5 Discrete Control Number Access PDO Mapping Value Range 1 to 12 Default Value 5 (DI5) Sub-Index Description DO6 Discrete Control Number Access PDO Mapping Value Range 1 to 12 Default Value 6 (DI6) Sub-Index Description DO7 Discrete Control Number Access PDO Mapping Value Range...

  • Page 51: Object 2221H: Do Discrete Enable Number

    Entry Description Sub-Index Description Largest sub-index supported Access PDO Mapping Value Range Default Value Sub-Index Description DO1 to DO8 Enable Used Access PDO Mapping Value Range (255) [1111 1111b] Default Value [0000 0000b] 3.4.7. Object 2221h: DO Discrete Enable Number When object 2220h selects a discrete input as an enable input to the control logic for an output, this object is used to define which input (1 to 12) is used.

  • Page 52: Object 3000H: Can Slew Rate

    3.4.8. Object 3000h: CAN Slew Rate This object selects the slew rate applied to the CAN bits sent to the network. 1 = fast slew rate 0 = slow slew rate Object Description Index 3000h Name CAN Slew Rate Object Type VARIABLE Data Type UNSIGNED8...

  • Page 53: Appendix A - Technical Specifications

    APPENDIX A – Technical Specifications Power Supply Power Supply Input 12 or 24VDC nominal (8…32VDC power supply range) Quiescent Current 75 mA at 12V Typical, 40 mA at 24V Typical Maximum Current 400 mA +/- 50mA at 12V with all relay outputs energized Protection Reverse polarity protection is provided.
  • Page 54 DC/DC Power Converters Axiomatic is an ISO 9001:2008 registered facility. DC Voltage/Current Signal SERVICE Converters All products to be returned to Axiomatic require a Return Materials Engine Temperature Authorization Number (RMA#). Scanners Please provide the following information when requesting an RMA number: •...

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