Page 1 CAN-CBX-COM2 Page 1 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1 esd electronic system design gmbh Vahrenwalder Str. 207 • 30165 Hannover • Germany http://www.esd.eu Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68...
Page 2 The information in this document has been carefully checked and is believed to be entirely reliable. esd makes no warranty of any kind with regard to the material in this document, and assumes no responsibility for any errors that may appear in this document. In particular descriptions and technical data specified in this document may not be constituted to be guaranteed product features in any legal sense.
Page 3 Document- I:\Texte\Doku\MANUALS\CAN\CBX\CAN-CBX-COM2\Englisch\CAN-CBX-COM2_Manual_en_11.wpd File: Date of 2015-02-05 print: Software: CANopen V1.ODJ Revision: Changes in the chapters The changes in the document listed below affect changes in the hardware and firmware as well as changes in the description of facts only. Revision...
Page 4 The intended use of the CAN-CBX module is the operation as a CANopen module with two serial interfaces. The esd guarantee does not cover damages which result from improper use, usage not in accordance with regulations or disregard of safety instructions and warnings.
Page 5: Table Of Contents
5.5 Conductor Connection/Conductor Cross Sections ....... . . 36 CAN-CBX-COM2 Page 5 of 125 Manual •...
Page 6 7.6 Support by esd ........
Page 7 11. Order Information ............124 CAN-CBX-COM2 Page 7 of 125 Manual •...
Page 8 Number Representation All numbers in this document are base 10 unless designated otherwise. For hexadecimal numbers appended . For example, 42 is represented as 2A in hexadecimal format. Page 8 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 9: Overview
The serial interface COM B can be individually configured as RS-232, RS-422, RS-485 or TTY interface via add-on modules (Piggybacks). As CAN-CBX module the CAN-CBX-COM2 can either be operated as individual module or it can be connected to the InRailBus.
Page 10: Quick Start
Mount the CAN-CBX-COM2 module and connect the interfaces (power supply voltage, CAN, serial interfaces). Please note that the CAN bus has to be terminated at both ends! esd offers special T-connectors and termination connectors. Additionally the CAN_GND signal has to be connected to earth at exactly one point in the CAN network.
Page 11 COM B Receive data serial -> CAN CAN-Identifier Data + Node-ID 8 Byte 0...8 byte user data COM A + Node-ID 8 Byte 0...8 byte user data COM B CAN-CBX-COM2 Page 11 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 12: Hardware Installation
Hardware-Installation 3. Hardware Installation 3.1 Connecting Diagram 3.1.1 Power Supply and CAN Fig. 2: Connections of the CAN-CBX-COM2 module Note: Please refer to page 36 for information on conductor connection and conductor cross section. The connector pin assignments can be found on page 26 and following.
Page 13: Led-Display
Hardware Installation 3.2 LED-Display Fig. 3: Position of the LEDs in the front panel The CAN-CBX-COM2 module is equipped with four Status LEDs and four Activity LEDs. 3.2.1 Indication of Activity-LEDs Name Colour Indication Meaning CAN-CBX-COM2 does not transmit data on COM A...
Page 14: Flash Rates Of The Status Leds
Hardware-Installation 3.2.2 Flash Rates of the Status LEDs The CAN-CBX-COM2 module is equipped with 4 status LEDs. The terms of the indicator states of the LEDs are chosen in accordance with the terms recommended by the CiA [3]. The indicator states are described in the following chapters. In principle 8 flash rates are defined.
Page 15: Operation Of The Canopen-Status Led
Bootloader-Mode, this state is indicated by the Power green CANopen status-LED (3 Flashes) (see page 16) power supply voltage is on and application software is running Table 7: Indicator state of the Power-LED CAN-CBX-COM2 Page 15 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 16: Special Indicator States
- CANopen-Status LED: 3 flashes switching on. The module will be stopped. Table 8: Special Indicator States 3.2.8 Assignment of LED Labelling to the Name in the Schematic Diagram Labelling on the Name in the Schematic Diagram * CAN-CBX-COM2 LED240A LED240B LED240C LED240D LED320A...
Page 17: Coding Switches
Setting the address range of the coding switches to values higher than 7F causes error messages, the red CAN-Error LED is on. If the coding switches are set to 00 , the CAN-CBX-module changes into Bootloader mode. CAN-CBX-COM2 Page 17 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 18: Setting The Baud Rate
83 3 . from firmware version 1.02 on Table 9: Index of the baud rate 3.3.3 Assignment of Coding-Switch Labelling to Name in Schematic Diagram Labelling on the Name in the Schematic Diagram * CAN-CBX-COM2 Baud SW401 SW400 High SW402 The schematic diagram is not part of this manual.
Page 19: Technical Data
Plastic housing for carrier rail mounting NS35/7,5 DIN EN 60715 Dimensions width: 22.5 mm, height: 99 mm, depth: 114.5 mm (without connectors) Weight approx. 135 g Table 9: General technical data CAN-CBX-COM2 Page 19 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 20: Cpu
ISO 11898-2, transfer rate Physical layer CAN programmable from 10 Kbit/s up to 1 Mbit/s Bus termination has to be set externally if required Table 11: Data of the CAN interface Page 20 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 21: Serial Interface
4.5 Software Support ® The firmware of the module supports the CiA CANopen specification CiA 301 [1]. The CAN-CBX-COM2 EDS-file can be downloaded from the esd website www.esd.eu. CAN-CBX-COM2 Page 21 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 22 Swivel the CAN-CBX module onto the mounting rail in pressing the module downwards according to the arrow as shown in figure 6. The housing is mechanically guided by the DIN rail bus connector. Page 22 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 23: Connecting Power Supply And Can-Signals To Cbx-Inrailbus
Plug the terminal plug into the socket on the right of the mounting-rail bus connector of the InRailBus, as described in Fig. 8. Then connect the CAN interface and the power supply voltage via the terminal plug. CAN-CBX-COM2 Page 23 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 24: Connection Of The Power Supply Voltage
Please note, that the impedance of the connection has to be kept low. The functional earth contact of the module does not ensure electrical safety. Page 24 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 25: Connection Of Can
Now the module is detached from the bottom edge of the mounting rail and can be removed. Note: It is possible to remove individual devices from the CBX station without interrupting the InRailBus connection, because the contact chain will not be disrupted. CAN-CBX-COM2 Page 25 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 26: Connector Assignment
Note: The pins 1 and 4 are connected internally. The pins 2 and 3 are connected internally. Signal Description: P24... power supply voltage +24 V M24... reference potential Page 26 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 27: Can
The CAN interface can be connected via the CAN connector or optionally via the InRailBus. Use the mounting-rail bus connector of the CBX-InRailBus (CAN-CBX-TBUS), see order information (page 124). CAN-CBX-COM2 Page 27 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 28: Can Connector
Recommendation of an adapter cable from 5-pin Phoenix Contact connector (here line connector FK-MCP1,5/5-STF-3,81 with spring-cage-connection) to 9-pin DSUB: T he 9 -pin DSUB connector is assigned according to CiA 102 Page 28 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 29: Can And Power Supply Voltage Via Inrailbus Connector
CAN signals CAN_GND ... reference potential of the local CAN-Physical layers P24... power supply voltage +24 V M24... reference potential FE... functional earth contact (EMC)(connected to mounting rail potential) CAN-CBX-COM2 Page 29 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 30: Serial Interfaces Com A And Com B
In this example for the connector cable an adapter cable from the 7-pin PCB plug connector to the DSUB9 socket is shown. This cable is designed for the direct connection of the CAN-CBX-COM2 to a PC without a Null modem adapter.
Page 31: Option: Rs-422 Interface
In RS-485 operation the pins 5 and 7 of the PCB plug connector are connected to a termination resistor network on the piggyback. To activate the termination the signal Rx/Tx+ has to be connected to TERM+ and the signal Rx/Tx- to TERM-. CAN-CBX-COM2 Page 31 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 32: Option: Tty(20 Ma) Interface
Connector Pin Assignment 5.3.4 Option: TTY(20 mA) Interface Fig. 15: Connection scheme for TTY operation (passive), optional Fig. 16: Connection scheme for TTY operation (active), optional Page 32 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 33: Connector Assignment
Serial Interface COM B (esd-order No.: C.3055.02) comes with two RS-232 drivers. Further options are available on request. Pin Assignment of the basic version CAN-CBX-COM2 2xRS-232 (esd order no.: C.3055.02): In this version both serial interfaces are configured as RS-232 interfaces. Signal Connector...
Page 34 Connector Pin Assignment Pin Assignment of the version CAN-CBX-COM2 1xRS-232 1x RS-485 (esd order no.: C.3055.03): In this version the serial interface COM A is configured as RS-232 interface and COM B as RS-485 interface. Signal Connector COM A COM B...
Page 35: Assignment Of The Labelling On The Module
Connector Pin Assignment 5.4 Assignment of the Labelling on the Module Labelling on Name in schematic diagram* CAN-CBX-COM2 COM A X300 COM B X310 X400 X100 InRailBus X101 The schematic diagram is not part of this manual. CAN-CBX-COM2 Page 35 of 125...
Page 36: Conductor Connection/Conductor Cross Sections
2 conductors with same cross section, stranded, 1 mm² n.a. n.a. TWIN ferrules with plastic sleeve, max. Minimum AWG according to UL/CUL Maximum AWG according to UL/CUL n.a..not allowed Page 36 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 37: Correct Wiring Of Electrically Isolated Can Networks
Therefore the practical maximum number of nodes, bus length and stub length are typically much lower. esd has concentrated her recommendations concerning CAN wiring on the specifications of the ISO 11898-2. Thus this wiring hints forgoes to describe the special features of the derived standards CANopen, ARINC825, DeviceNet and NMEA2000.
Page 38: Light Industrial Environment (Single Twisted Pair Cable)
6.2.1 General Rules Note: esd grants the EU Conformity of the product, if the CAN wiring is carried out with at least single shielded single twisted pair cables that match the requirements of ISO 118982-2. Single shielded double twisted pair cable wiring as described in chapter 6.3 ensures the EU Conformity as well.
Page 39: Cabling
9-pin DSUB-termination connectors with integrated termination resistor and male and female contacts (gender changer) are available from esd (order no. C.1303.01). DSUB termination connectors with male contacts (order no. C.1302.01) or female contacts (order no. C.1301.01) and additional functional earth contact are available, if CAN termination and grounding of CAN_GND is required.
Page 40: Heavy Industrial Environment (Double Twisted Pair Cable)
Select a working combination of bit rate and cable length. Keep away CAN cables from disturbing sources. If this cannot be avoided, double shielded cables are recommended. Fig. 19: CAN wiring for heavy industrial environment Page 40 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 41: Device Cabling
DSUB9-connector from ERNI (ERBIC CAN BUS MAX, order no.:154039). The usage of esd’s T-connector type C.1311.03 is not recommended for single shielded double twisted pair cables because the shield potential of the conductive DSUB housing is not looped through this T-connector type.
Page 42: Electrical Grounding
Table 13: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) Optical couplers are delaying the CAN signals. esd modules typically reach a wire length of 37 m at 1 Mbit/s within a proper terminated CAN network without impedance disturbances like e.g.
Page 43: Examples For Can Cables
Wiring Notes 6.6 Examples for CAN Cables esd recommends the following two-wire and four-wire cable types for CAN network design. These cable types are used by esd for ready-made CAN cables, too. 6.6.1 Cable for Light Industrial Environment Applications (Two-Wire)
Page 44: Can Troubleshooting Guide
- there are no open circuits in CAN_H or CAN_L wiring - your bus system has two terminating resistors (one at each end) and that they are 120 each. Page 44 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 45: Electrical Grounding
(see figure at previous page). Measure the DC voltage between CAN_L and CAN_ GND (see figure at previous page). Normally the voltage should be between 2.0 V and 3.0 V. CAN-CBX-COM2 Page 45 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 46: Can Transceiver Resistance Test
(>> 200%). Figure 23: Simplified diagram of a CAN node 7.6 Support by esd If you have executed the fault diagnostic steps of this troubleshooting guide and you even can not find a solution for your problem our support department will be able to assist.
Page 47: Canopen Firmware
SDOs are used to transmit module internal configuration- and parameter data. In opposition to the PDOs SDO-messages are confirmed. A write or read request on a data object is always answered by a response telegram. CAN-CBX-COM2 Page 47 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 48: Nmt-Boot-Up
= Error rRegister 2000 ... 5FFF Manufacturer Specific Profile Area 2800 , 14 = Tx-Cycle-Time 6000 ... 9FFF Standardized Device Profile Area not used for CAN-CBX-COM2 A000 ... FFFF reserved Page 48 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 49: Communication Parameters Of The Pdos
Frequently required combinations are, for instance: = 64 : Read Request, i.e. a parameter is to be read = 35 : Write Request with 32-bit data, i.e. a parameter is to be set CAN-CBX-COM2 Page 49 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 50 The least significant byte is always in ‘Data 1’. With 16-bit values the most significant byte (bits 8...15) is always in ‘Data 2’, and with 32-bit values the MSB (bits 24...31) is always in ‘Data 4’. Page 50 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 51: Non-Volatile Storage Of Parameters To Eeprom
, sub-index 1 is not set, i.e the CAN-CBM-COM2 module does not save the configuration automatically. The storage must be initiated by writing the character string ‘save’ (73 , order from CAN telegram) to object 1010 , sub-index 1 CAN-CBX-COM2 Page 51 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 52: Restoring Of Default Status Of The Parameters
Sub-index Data 1 Data 2 Data 3 Data 4 code (low) (high) (read Node-ID Data are not evaluated request) Response of CAN-CBX-COM2 module (default setting): Command Index Index Identifier Sub-index Data 1 Data 2 Data 3 Data 4 code (low)
Page 53: Overview Of Used Canopen-Identifiers
SYNC to all, (configurable via object 1005 Emergency Message + NodeID configurable via object 1014 PDO1 to CAN-CBX-COM2 RPDO1 + NodeID (Receive-PDO1 COM A) PDO1 to CAN-CBX-COM2 (object 1801 TPDO1 + NodeID (Transmit-PDO1 COM A) PDO3 to CAN-CBX-COM2 RPDO3 + NodeID (Receive-PDO3 COM B)
Page 54: Default Pdo-Assignment
Default Direction up to TPDO1 + Node-ID COM A data serial -> CAN, byte 0...7 from 8 bytes CAN-CBX-COM2 up to Transmit PDO) TPDO3 + Node-ID COM B data serial -> CAN, byte 0...7 8 bytes Transmission CAN Identifier Length...
Page 55: Communication Profile Area
This parameter can be read or written. Value range value range of the parameter Default value default setting of the parameter Name/Description name and short description of the parameter CAN-CBX-COM2 Page 55 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 56: Implemented Canopen-Objects
Unsigned 32 default: 80 1006 Communication Cycle Period Unsigned 32 default: 0 1008 Manufacturer Device Name Visible String default:‘CAN-CBX-COM2’ 1009 Manufacturer Hardware Version Visible String default depending on version 100A Manufacturer Software Version Visible String default depending on version 100C...
Page 57 Data type index mode values (max.) default: 2 (autostart 1F80 NMT startup unsigned 32 disabled) Self starting nodes timing 1F91 unsigned 16 default: 64 (= 100 ms) parameters CAN-CBX-COM2 Page 57 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 58: Device Type (1000 )
Sub Index Device Profile Nr. Additional Response 0000 information 0080 value of device type: 0080 0000 The data field is always structured following the rule ‘LSB first, MSB last‘. Page 58 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 59: Error Register (1001 )
Bits which are not supported (-) are always returned as ‘0’. The following messages can occur: no error one of the error conditions defined by esd has occurred (any manufacturer-specific error) CAN-CBX-COM2 Page 59 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 60: Manufacturer Status Register (1002 )
INDEX 1002 Name manufacturer status register Data type unsigned 32 Default value The bits of the status register are manufacturer-specific and may only be used for internal purposes. Page 60 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 61: Pre-Defined Error Field (1003 )
- in order to delete the error list this variable has to be set to ‘0’ - if no_of_errors_in_list 0, the error register (Object 1001 ) is set CAN-CBX-COM2 Page 61 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 62 Implemented CANopen Objects error-code x The 32-bit long error code consists of the CANopen-emergency error code described in [1] and the error code defined by esd (manufacturer-specific error field). Bit: 31 ..16 15 ..0 manufacturer-specific emergency-error-code...
Page 63: Cob-Id Of Sync-Message (1005 )
1: Device generates SYNC message always 0 (11-bit ID) 28...11 always 0 (29-bit IDs are not supported) 10...0 (LSB) Bit 0...10 of the SYNC-COB-ID The identifier can take values between 0...7FF CAN-CBX-COM2 Page 63 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 64: Communication Cycle Period (1006 )
32 FFFF FFFF communication cycle period Cycle time of the SYNC frame in [ s]. If the value is ‘0’ no SYNC messages are transmitted. Page 64 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 65: Manufacturer Device Name (1008 )
INDEX 1008 Name manufacturer device name Data type visible string Default value see chapter 8.8.1 (page 56) For detailed description of the SDO Uploads, please refer to [1]. CAN-CBX-COM2 Page 65 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 66: Manufacturer Hardware Version (1009 )
Reading the software version is similar to reading the manufacturer’s device name via the domain upload protocol. Please refer to [1] for a detailed description of the upload. Page 66 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 67: Guard Time
Default value 0 [ms] Minimum value Maximum value FFFF (65.535 s) INDEX 100D Name life time factor Data type unsigned 8 Access mode Default value Minimum value Maximum value CAN-CBX-COM2 Page 67 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 68: Store Parameters (1010 )
(rw) right of access (here e.g. 6xxx save_manufacturer_parameter saves all manufacturer parameters of those objects (objects 2000 ... 5FFF , if available), which have a read/write (rw) right of access (here e.g. 2xxx Page 68 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 69 CAN-CBX module does not save the parameters on command CAN-CBX module saves the parameters on command Autonomous saving means that the CAN-CBX module stores the storable parameters non-volatile and without a user request. CAN-CBX-COM2 Page 69 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 70: Restore Default Parameters (1011 )
(objects 6000 ... 9FFF , if available, here e.g. 6xxx restore_manufacturer_parameter loads all manufacturer default parameters of those objects (objects 2000 ... 5FFF , if available, here e.g. 2xxx Page 70 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 71 Bit: Content: reserved Value Description The default parameters of the CAN-CBX-module can not be loaded The default parameters of the CAN-CBX-module can be loaded CAN-CBX-COM2 Page 71 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 72: Cob_Id Emergency Message (1014 )
(always 0) always 0 (11-bit ID) 28...11 always 0 (29-bit IDs are not supported) 10...0 (LSB) bits 0...10 of COB-ID The identifier can take values between 0...7FF Page 72 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 73: Inhibit Time Emcy (1015 )
Value range 0...FFFF Default value The Inhibit Time for the EMCY message can be defined with this entry. The time is determined as a multiple of 100 s. CAN-CBX-COM2 Page 73 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 74: Consumer Heartbeat Time (1016 )
CAN net. Sub- Access Index Description Value range Default Data type index mode number_of_entries unsigned 8 1016 consumer_heartbeat_time 0...007FFFFF unsigned 32 Page 74 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 75 Example: consumer-heartbeat_time = 0031 03E8 => Node-ID = 31 = 49 => heartbeat time = 3E8 = 1000 => 1 s CAN-CBX-COM2 Page 75 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 76: Producer Heartbeat Time (1017 )
Cycle time [ms] of heartbeat producer to transmit the heartbeat on the node-guarding ID (see object 100E The consumer-heartbeat time of the monitoring module must always be higher than the producer-heartbeat time of the heartbeat-transmitting module. Page 76 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 77: Identity Object (1018 )
HW serial number unsigned 32 Description of the variables: vendor_id This variable contains the esd-vendor-ID. This is always 0000 0017 product_code Here the esd-article number of the product is stored. The nibbles of the long words have the following meaning: Example: ‘2305 5002...
Page 78 If the value ‘C1C2 0105 ’ is being read, this corresponds to the hardware-serial number code ‘AB 0105’. This value has to correspond to the serial number of the module. Page 78 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 79: Synchronous Counter Overflow Value (1019 )
The SYNC message shall be transmitted as a CAN message of data length ‘1’. The 2...240 first data byte of the SYNC message contains the value of the SYNC-counter. 241...255 reserved CAN-CBX-COM2 Page 79 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 80: Verify Configuration (1020 )
Date of the last configuration of the module. The value is defined in number of days since the 01.01.1984. configuration_time Time in ms since midnight at the day of the last configuration. Page 80 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 81: Error Behaviour Object (1029 )
The module can enter the following states if an error occurs. Variable Module state pre-operational (only if the current state is operational) no state change stopped CAN-CBX-COM2 Page 81 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 82: Nmt Startup
The value range of the object is described in the following table: Value Meaning Auto startup disabled 0000 0002 (default) 0000 0008 Auto startup enabled all other values reserved Page 82 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 83: Self Starting Nodes Timing Parameters (1F91 )
Sub-index 1 of this object contains the timeout in [ms] between the change from “preoperational” > “operational”. In default it is 100 ms. The sub-indices 2 and 3 of this object are not supported. CAN-CBX-COM2 Page 83 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 84: Receive Pdo Communication Parameter 1400
COB-ID used by PDO3 unsigned 8 transmission type 1402 unsigned 16 inhibit time unsigned 8 compatibility entry unsigned 16 event-timer unsigned 8 SYNC start value Value range see [1]. Page 84 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 85 Content Command Write Request Index Low New PDO 1400 in Intel-Notation Index High Sub-index defines COB-ID Data 1 Data 2 COB-ID 035A in Intel-Notation Data 3 Data 4 CAN-CBX-COM2 Page 85 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 86: Receive Pdo-Mapping Parameter 1600
-objects registered in the PDO-Mapping are not accessible via SDOs. They are used as dummies to correspond to the structure of the objects 1600 1602 , 1A00 and 1A02 Page 86 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 87 COB-ID used by PDO3 unsigned 8 transmission type 1802 unsigned 16 inhibit time unsigned 8 reserved unsigned 16 event timer unsigned 8 SYNC start value value range see [1] CAN-CBX-COM2 Page 87 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 88 Content Command Write Request Index Low new PDO 1800 in Intel-Notation Index High Sub-index define COB-ID Data 1 Data 2 COB 047F in Intel-Notation Data 3 Data 4 Page 88 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 89: Transmit Pdo Mapping Parameter 1A00
-objects registered in the PDO-Mapping are not accessible via SDOs. They are used as dummies to correspond to the structure of the objects 1600 1602 , 1A00 and 1A02 CAN-CBX-COM2 Page 89 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 90: Transmission Modes
1...240 241...251 reserved Table 14: Transmission modes Das CAN-CBX-COM2 module only supports transmission type 255. It transmits Tx frames depending on the parameters MinChar and MaxChar, TxByRxTimeout and after receiving RTRs. Page 90 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 91: Data Transfer And Pdo Assignment
CAN partner via RTR, that the local ring buffer still can receive data. No data are sent any more if the ring buffer is full (see page 106). CAN-CBX-COM2 Page 91 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 92 The eight data bytes of the TPDOs are: TPDO Data Bytes TPDO1 1 ... 8 bytes data: serial -> CAN Table 16: Transmission of data received by serial interface via Tx-identifier Page 92 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 93: Device Profile Area
Device Profile Area 8.11 Device Profile Area 8.11.1 Overview of Implemented Objects 6000 ...9FFF The module does not support objects in the range 6000 ...9FFF CAN-CBX-COM2 Page 93 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 94: Manufacturer Specific Profile Area
Dummy Rx object COM B place holder for serial data COM B Dummy Tx object COM B place holder for serial data COM B 2981 Table 17: Overview of the manufacturer-specific parameters Page 94 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 95: Serial Communication Parameter 2800
0000... Tx_Cycle_Time 0000 unsigned 16 FFFF 0000... Break_Code 0000 unsigned 16 FFFF Break_Time_Factor 00...FF unsigned 8 Table 18: Overview of the parameters of object 2800 and object 2900 CAN-CBX-COM2 Page 95 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 96 The parameter Inhibit-Time defines how long the CAN controller waits after the last successful transmission of CAN data, before another transmission is triggered. The value is specified in [ms]. Fig. 25: Function of the parameter Inhibit-Time (parameter MaxChar = 1) Page 96 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 97 You can also specify for the transmission, whether the flags are to be transmitted on the CAN together with the data or not. CAN-CBX-COM2 Page 97 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 98 For MinChar value E has been selected. Via the serial interface the data ‘abcd<CR><LF>’ is received. The data ‘abcd’ would be transmitted on the CAN after <LF> had been received. Page 98 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 99 ) further baud rates can be set (see page 112)! If you want to do so, the value E has to be specified for parameters Rx-Baudrate and Tx-Baudrate. CAN-CBX-COM2 Page 99 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 100 19200 9600 4800 2400 1200 , 08 7200 14400 28800 57600 115200 Special_ Baudrate 76800 Table 22: Setting the baud rate of the serial interface in 14 steps Page 100 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 101 Transmitter in multidrop mode, if RTS-Mode = ‘1’ (see page 104) Force Tx-Parity to value of ‘a’, 1 Stop-Bit Table 24: Permissible combinations of the bits 4...0 CAN-CBX-COM2 Page 101 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 102 Here the number of stop bits of the serial interface is determined: Stop Bit Number of Stop bits 1 Stop bit 2 Stop bits (default setting) Table 27: Number of Stop bits Page 102 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 103 Bits per Character... The number of bits per character is set to ‘8’ and cannot be changed. Therefore, these two bits have always to be set to ‘1’! CAN-CBX-COM2 Page 103 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 104 For paritity bit set to ‘1’ the received data are to interpret as address. For paritity bit set to ‘0’, it is process data. Fig. 27: Structure of the Tx-data in multidrop mode Page 104 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 105 This function is required, if strings of more than 8 bytes are to be transmitted together on an RS-485 interface (e.g. with Master/Slave protocols). ≤ Fig. 28: Function of parameter TxMinCharStart CAN-CBX-COM2 Page 105 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 106 For this option the parameter RTR_T_Cycle (2800 , 13 , see page 113) has to be set correspondingly and the buffer of the CAN-CBM-COM2 module must be empty. Page 106 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 107 This bit can enable or disable the usage of “Tx_Break”. The Break is a zero signal of at least one byte length, so that the start- and the stop- bit have the same level. CAN-CBX-COM2 Page 107 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 108 The value of parameter Handshake_Off must always be smaller than the value of parameter Handshake_On! If the bit RTS_Mode = ‘0’, the RTS-signal always has the current handshake, regardless of the bit XON/XOFF_EN. Page 108 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 109 The transmitter of the serial interface is enabled - if the bit CTS-Mode = ‘1’ and the CTS-signal is inactive, or - if XON/XOFF_EN = ‘1’ and <Xoff> has been received. CAN-CBX-COM2 Page 109 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 110 In default setting TxByRxTimeout = ‘0’ and therefore the transmission function is blocked. The value for TxByRxTimeout is specified in [ms]. Values up to 255 ms are permissible. Page 110 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 111 End_Char_1 and End_Char_2, i.e. other characters than <CR> or <LF> can be selected. In default setting End_Char_1 is assigned by <CR>, that is 0D , and End_Char_2 is assigned by <LF>, that is 0A CAN-CBX-COM2 Page 111 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 112 Baud rates can be set from 244 Baud to 500 000 Baud. Because N has to be an integer, it is not possible to attain all standard baud rates exactly! Page 112 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 113 The module can send RTR-frames cyclically if the data of the CAN master fail to appear. For this option the value of the parameter RTR_T_Cycle must be higher than ‘0’ and the buffer of the CAN-CBM-COM2 module must be empty. CAN-CBX-COM2 Page 113 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 114 Tx_Cycle_Time. For Tx_Cycle_Time = ‘0’ no transmission will be carried out. The content of the character string is transmitted via the parameter Tx_Cycle_String (object 2810 /2910 , see page 117) . Page 114 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 115 2900 , 0F (COM B) Access mode Data type unsigned 16 Value range 0000...FFFF Default value Description: The parameter Break_Code contains the coding of Break. Break_Code Tx_Break_Code Rx_Break_Code CAN-CBX-COM2 Page 115 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 116 The parameter Break_Time_Factor defines the duration of the Break signal in bit times. Example: baud rate: 9600 Baud Break_Time_Factor: 11 × Break Time = 11 1146 9600 Baud Page 116 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 117: Tx_Cycle_String 2810
Tx_Cycle_Time (object 2800 , COM A / object 2900 , COM B) on the serial bus (see page 114). Every character string can contain up to 15 bytes. CAN-CBX-COM2 Page 117 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 118: Dummy_Rx_Object 2880
2981 ) is used for interface COM B. Sub- Default Access Save to Index Description Value range Data type index value mode EEPROM 2881 dummy_tx_object unsigned 8 2981 Page 118 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 119: Firmware Management Via Canopen Objects
Faulty program update can result in deleting of the memory and loss of the firmware. The module then can not be operated further! Note: esd offers the program CANfirmdown for a firmware update. Please, contact our support for this. In normal operation mode the objects 1F50 and 1F52 can not be accessed.
Page 120: Download Control Via Object 1F51
0...2 unsigned 8 Note: The value range of this object in the implementation for the CAN-CBX-COM2 differs from the value range specified in CiA 302 [2]. For further information about object 1F51 and the firmware-update please refer to [2].
Page 121: Download Control Via Object 1F52
-> 26.10.2001 application_software_time Time is the number of milliseconds since midnight of the day of the generation of the last application software. Example: 02A0 AB8E -> approx. 12:14 pm CAN-CBX-COM2 Page 121 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 122: References
PCB plug connector - FK-MCP 1,5/ 5-STF-3,81 - 1851261, downloaded 2013-05-30 [6] Phoenix Contact GmbH & Co. KG, Blomberg., Technical data is taken from the Phoenix Contact website: https://www.phoenixcontact.com/online/portal/de; PCB plug connector -FK-MCP- 1,5/7-ST-3,5 - 1939960, downloaded 2013-05-30 Page 122 of 125 CAN-CBX-COM2 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 123: Declaration Of Conformity
10. Declaration of Conformity CAN-CBX-COM2 Page 123 of 125 Manual • Doc.-No.: C.3055.21 / Rev. 1.1...
Page 124: Order Information
PDF Manuals Manuals are available in English and usually in German as well. For availability of English manuals see the following table. Please download the manuals as PDF documents from our esd website www.esd.eu for free. Page 124 of 125 CAN-CBX-COM2 Manual •...
Page 125 Order Information Manuals Order No. Manual in English C.3055.21 CAN-CBX-COM2-ME CAN-CBX-COM2-MD Manual in German C.3055.20 Table 33: Available manuals Printed Manuals If you need a printout of the manual additionally, please contact our sales team: sales@esd.eu for a quotation. Printed manuals may be ordered for a fee.

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