ESD CAN-CBX-AI814 Manual
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ESD CAN-CBX-AI814 Manual

8 a/d-converter-inputs, 14 bit
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CAN-CBX-AI814
8 A/D-Converter-Inputs, 14 Bit
Manual
to Product C.3020.02
CAN-CBX-AI814
Page 1 of 108
Manual • Doc.-No.: C.3020.21 / Rev. 1.5
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

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Summary of Contents for ESD CAN-CBX-AI814

  • Page 1 CAN-CBX-AI814 Page 1 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5 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 Description of the parameters inserted Chapter ‘Used Names and Abbreviations’ inserted 8.9.1 Product-specific properties of CAN-CBX-AI814 described in table, new objects 1F80 , 1F91 Chapter revised, description of the product-specific properties removed to table in‘Overview of 8.9.2 - 9.71-9.7.20 Communication Profile-Specific Objects with Product-Specific Properties (chapter 8.9.1), objects 1010...
  • Page 4 The intended use of the CAN-CBX module is the operation as a CANopen module with analog inputs. 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

    5.2.1 General Rules ........... . 33 CAN-CBX-AI814 Page 5 of 108 Manual •...
  • Page 6 ) ........71 Page 6 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...
  • Page 7 11. Order Information ............107 CAN-CBX-AI814 Page 7 of 108 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 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 9: Overview

    1.1 Description of the Module Fig. 1: Block circuit diagram of the CAN-CBX-AI814 module The CAN-CBX-AI814 module is a CANopen module with eight A/D-converter inputs and InRailBus. It is equipped with a MB90F497 microcontroller. The firmware is held in the flash. Parameters are stored in a serial EEPROM.

  • Page 10: Technical Data

    Plastic housing for carrier rail mounting NS35/7,5 DIN EN 60715 width: 2.2 cm, height: 11.2 cm, depth: 11.3 cm Dimensions (including mounting rail fitting and connector projection) Weight approx. 125 g Table 1: General technical data Page 10 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 11: Cpu-Unit

    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 3: Data of the CAN interface CAN-CBX-AI814 Page 11 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 12: Analog Inputs

    Table 4: Data of analog inputs 2.5 Software Support ® ® The firmware of the module supports CANopen according to CiA CANopen specifications CiA 301 [1] and CiA DS-401 [2]. Page 12 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 13: Hardware Installation

    Hardware Installation 3. Hardware Installation 3.1 Connecting Diagram Fig. 2: Connections of the CAN-CBX-AI814 module Note: The connector pin assignment can be found on page 24 and following. For conductor connection and conductor cross section see page 30. CAN-CBX-AI814 Page 13 of 108...

  • Page 14: Led Display

    3.2 LED Display Fig. 3: Position of the LEDs in the front panel The CAN-CBX-AI814 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.

  • Page 15: Operation Of The Can-Error Led

    Module is in bootloader mode, the power LED is off, 3 flashes (or coding switch position ID-node > 7F when switching on; see page 16) Table 7: Indicator states of the CANopen Status-LED CAN-CBX-AI814 Page 15 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 16: Operation Of The Error-Led

    The coding switches for the Node-ID are set to an invalid ID- CAN-Error LED: on value, when switching on. The firmware application will not be started. Table 10: Special Indicator States Page 16 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 17: Assignment Of Led Labelling To Name In Schematic Diagram

    Hardware Installation 3.2.7 Assignment of LED Labelling to Name in Schematic Diagram Labelling on Name of the LED in Schematic CAN-CBX-AI814 Diagram* LED200A LED200B LED200C LED200D * The Schematic Diagram is not part of this manual. CAN-CBX-AI814 Page 17 of 108...

  • Page 18: Coding Switches

    Setting the address range of the coding switches to values higher than 7F causes error messages, the red CAN-Error LED turns on. If the coding switches are set to 00 , the CAN-CBX-AI814 changes into Bootloader mode. Page 18 of 108 CAN-CBX-AI814...

  • Page 19: Setting The Baud Rate

    83 3 , implemented since firmware version 2.03 Table 11: 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 CAN-CBX-AI814 Diagram * Baud SW301 SW300 High SW302 The Schematic Diagram is not part of this manual.

  • Page 20: Installation Of The Module Using Inrailbus Connector

    CAN-CBX modules. Place the CAN-CBX module with the DIN rail guideway on the top edge of the mounting rail. Figure 6 : Mounting CAN-CBX modules Page 20 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 21: Connecting Power Supply And Can-Signals To Cbx-Inrailbus

    To connect the power supply and the CAN-signals via the InRailBus, a terminal plug is needed. The terminal plug is not included in delivery and must be ordered separately (order no.: C.3000.02, see order information). Fig. 8: Mounting rail with InRailBus and terminal plug CAN-CBX-AI814 Page 21 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 22: Connection Of The Power Supply Voltage

    The connections for the 24 V power supply are internally connected and must not be supplied by two independent power sources at the same time! Fig. 9: Connecting the power supply voltage to the CAN-CBX station Page 22 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 23: 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-AI814 Page 23 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 24: 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 24 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 25: Can Bus (X400)

    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 107). CAN-CBX-AI814 Page 25 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 26: Can Connector (X400)

    Recommendation of an adapter cable from 5-pin Combicon (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 26 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 27: 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-AI814 Page 27 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 28: Analog Inputs (X500)

    Connector Pin Assignment 4.3 Analog Inputs (X500) 4.3.1 Analog Input Circuit Fig. 12: Analog input circuit (example: channel 1) Page 28 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 29: Connector Assignmant Analog Inputs (X500)

    To achieve short conductor loops it is recommended to use an adjacent GND-Pin. Note: To ensure EU Conformity a cable with a maximum wire length of 3 m has to be used for the analog inputs CAN-CBX-AI814 Page 29 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 30: Conductor Connection/Conductor Cross Sections

    2 conductors with same cross section, stranded, 1 mm² 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 30 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 31: Correct Wiring Of Electrically Isolated Can Networks

    5.1.1 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 5.2 ensures the EU Conformity as well.

  • Page 32: Cabling

    If the used CAN interface is not equipped with an integrated CAN termination and it is at an end of the bus, use external termination plugs. 9-pin DSUB-termination connectors with male and female contacts and earth terminal are available as accessories Page 32 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 33: Heavy Industrial Environment (Double Twisted Pair Cable)

    Select a working combination of bit rate and cable length. Keep away cables from disturbing sources. If this cannot be avoided, double shielded wires are recommended. Fig. 15: CAN wiring for heavy industrial environment CAN-CBX-AI814 Page 33 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 34: 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 35: Electrical Grounding

    Optical couplers are delaying the CAN signals. By using fast digital isolators and testing each board at 1 Mbit/s, esd modules typically reach a wire length of 37 m at 1 Mbit/s within a closed net without impedance disturbances like e.g. longer stub.

  • Page 36: Examples For Can Cables

    Part No.: 93 022 026 (UL appr.) 74535 Mainhardt Germany BUS-Schleppflex-PUR-C (2x 2x 0.25 mm²) Part No.: 94 025 026 (UL appr.) www.concab.de Note: Completely configured CAN cables can be ordered from esd. Page 36 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 37: Can-Bus 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. CAN-CBX-AI814 Page 37 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 38: Ground

    3. Measure the DC voltage between CAN_H and GND (see figure above). 4. Measure the DC voltage between CAN_L and GND (see figure above). Normally the voltage should be between 2.0 V and 4.0 V. Page 38 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 39: Can Transceiver Resistance Test

    Another sign for a faulty transceiver is a very high deviation between the two measured input resistance (>> 200%). Ω Ω Figure 19: Simplified diagram of a CAN node CAN-CBX-AI814 Page 39 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 40: Quick Start Guide

    Mount the CAN-CBX-AI814 module and connect the interfaces (power supply voltage, CAN, analog inputs) Please note that the CAN bus has to be terminated at both ends! esd offers special T-connectors and terminator connectors. Additionally the CAN_GND signal has to be connected to earth at exactly one point. For easier wiring the termination connectors are equipped with an earth connector.
  • Page 41 Send the start telegram for all CANopen modules (NMT-start command) CAN-Identifier Data 2 Byte 00 or Node-ID (00 = start all modules) Now the CAN-CBX-AI814 should be cyclically transmitting data on the 2. and 3. PDO. CAN-CBX-AI814 Page 41 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 42: 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 with an error index. Page 42 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 43: Nmt-Boot-Up

    1000 ... 1FFF Communication Profile Area 2000 ... 5FFF Manufacturer Specific Profile Area 6000 ... 9FFF Standardized Device Profile Area A000 ... FFFF reserved CAN-CBX-AI814 Page 43 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 44: 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 Page 44 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...
  • Page 45 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’. CAN-CBX-AI814 Page 45 of 108...
  • Page 46 08000022 device state 08000024 access to flash failed Page 46 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 47: Overview Of Used Canopen-Identifiers

    SYNC Sync to all, (configurable via object 1005 Emergency Message + Node-ID configurable via object 1014 TPDO2 + Node-ID PDO2 from CAN-CBX-AI814 (object 1801 TPDO3 + Node-ID PDO3 from CAN-CBX-AI814 (object 1802 Client-SDO + Node-ID SDO from CAN-CBX-AI814 (transmit SDO)

  • Page 48: Default Pdo-Assignment

    (Transmit PDO) as 16 bit-values from CAN-CBX-AI814 A/D values channel 5 to 8 TPDO3 + Node-ID 8 byte (Transmit PDO) as 16 bit values TPDO2 (CAN-CBX-AI814 ->) CAN Identifier: 280 + Node-ID Byte Parameter Analog_Input_16_1 Analog_Input_16_2 Analog_Input_16_3 Analog_Input_16_4 TPDO3 (CAN-CBX-AI814 ->)

  • Page 49: Reading The Analog Values

    • event controlled, asynchronous: The transmission is initiated if the state of selected inputs has changed (PDO-transmission type 254, 255). 8.7.2 Supported Transmission Types Based on DS-301 PDO-Transmission Transmission supported by synchro- asynchro- Type CAN-CBX-AI814 cyclic acyclic nous nous 1...240 241...251 reserved CAN-CBX-AI814 Page 49 of 108 Manual •...

  • Page 50: 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 Page 50 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 51: Implemented Canopen-Objects

    Pre-Defined-Error-Field unsigned 32 1005 COB-ID-Sync unsigned 32 1006 Communication Cycle Period unsigned 32 1008 Manufacturer Device Name visible string ‘CAN-CBX-AI814’ x.yy 1009 Manufacturer Hardware Version visible string (depending on version) x.yy 100A Manufacturer Software Version visible string (depending on version)
  • Page 52 Data type index mode properties (max.) 1F80 NMT startup unsigned 32 default: 2 (autostart disabled) Self starting nodes timing 1F91 unsigned 16 default: 64 (= 100 ms) parameters Page 52 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 53: Device Type (1000 )

    The value of the device type of this CAN-CBX module is printed in chapter 8.9.1 (page 51) The data field is always structured following the rule ‘LSB first, MSB last‘ (see page 45, data field). CAN-CBX-AI814 Page 53 of 108...

  • Page 54: Error Register (1001 )

    For a list of the error bits supported by this CAN-CBX module see chapter 8.9.1 (page 51). Bits which are not supported are always returned as ‘0’. If an error is active, the according bit is set to ‘1’. Page 54 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 55: 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-AI814 Page 55 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...
  • Page 56 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 57: 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-AI814 Page 57 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 58: Communication Cycle Period (1006 )

    Communication Cylcle Period Data type unsigned 32 Access mode Default value Value range of the parameter: Value Meaning No transmission of SYNC messages 1...FFFFFFFF Cycle time in microseconds Page 58 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 59: Manufacturer Device Name (1008 )

    INDEX 1008 Name manufacturer device name Data type visible string Default value see chapter 8.9.1 (page 51) For detailed description of the SDO Uploads, please refer to [1]. CAN-CBX-AI814 Page 59 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 60: 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 60 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 61: Guard Time (100C ) Und Life Time Factor

    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-AI814 Page 61 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 62: Node Guarding Identifier

    Meaning 31 (MSB) reserved 29...11 always 0, because 29-bit-IDs are not supported 10...0 (LSB) bit 0...10 of the node guarding identifier The identifier can take values between 1...7FF Page 62 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 63: Store Parameters (1010 )

    ... 1029 save_application_parameter saves all application parameters of those objects (objekte 6000 ... 9FFF , if available), which have a read/write (rw) right of access (here e.g. 6xxx CAN-CBX-AI814 Page 63 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...
  • Page 64 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. Page 64 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 65: Restore Default Parameters (1011 )

    (objekts 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 CAN-CBX-AI814 Page 65 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...
  • Page 66 On read access to the appropriate sub-index, the CANopen device provides information about its default parameter restoring capability with the following format: Bit: Content: reserved Value Description the CAN-CBX-module does not restore default parameters the CAN-CBX-module restores the default parameters Page 66 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 67: 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 CAN-CBX-AI814 Page 67 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 68: 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. Page 68 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 69: Consumer Heartbeat Time (1016 )

    Each module can act as a heartbeat producer and a heartbeat consumer. The CAN-CBX module can represent at most one heartbeat consumer per CAN net. Access Index Sub-index Description Value range Default Data type mode number_of_entries unsigned 8 1016 consumer_heartbeat_time 0...007FFFFF unsigned 32 CAN-CBX-AI814 Page 69 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...
  • Page 70 Example: consumer-heartbeat_time = 0031 03E8 => Node-ID = 31 = 49 => heartbeat time = 3E8 = 1000 => 1 s Page 70 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 71: 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. CAN-CBX-AI814 Page 71 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 72: Identity Object (1018 )

    0...FFFFFFFF unsigned 32 Description of the variables: vendor_id This variable contains the esd-vendor-ID. This is always 00000017 product_code Here the esd-article number of the product is stored. The nibbles of the long words have the following meaning: product_code = 1...
  • Page 73 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. CAN-CBX-AI814 Page 73 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 74: Synchronous Counter Overflow Value (1019 )

    The SYNC message shall be transmitted as a CAN message of data length ‘0’. reserved The SYNC message shall be transmitted as a CAN message of data length ‘1’. The 2...240 first data byte contains the counter. 241...255 reserved Page 74 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 75: 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. CAN-CBX-AI814 Page 75 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 76: Error Behaviour Object (1029 )

    Bus off 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 Page 76 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 77: Nmt Startup

    The value range of the object is described in the following table: Value Meaning [Hex] Auto startup disabled 0000 0002 (default) 0000 0008 Auto startup enabled alle other values reserved CAN-CBX-AI814 Page 77 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 78: 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. Page 78 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 79: Object Transmit Pdo Communication Parameter (1801 )

    0...FF unsigned 8 1802 inhibit time 0...FFFF unsigned 16 reserved 0..FF unsigned 8 const event timer 0...FFFF unsigned 16 The transmission types 0, 1...240 and 252...255 are supported. CAN-CBX-AI814 Page 79 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 80: Transmit Pdo Mapping Parameter (1A01 )

    The local firmware allows every TxPDO-mapping of the objects listed below, i.e. combinations of 16-bit- and 32-bit-A/D-values in one frame are also possible. The following objects can be mapped: 6401 6402 6404 Page 80 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 81: Device Profile Area

    Analog Input Global Interrupt Enable boolean 6424 Analog Input Interrupt Upper Limit integer 32 6425 Analog Input Interrupt Lower Limit integer 32 6426 Analog Input Interrupt Delta Unsigned unsigned 32 CAN-CBX-AI814 Page 81 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 82: Relationship Between The Implemented Analog Input Objects

    8.10.2 Relationship Between the Implemented Analog Input Objects > _ & < Fig. 20: Relationship between the implemented objects Page 82 of 108...

  • Page 83: Read Input 16-Bit (6401 )

    = 10.2397 V Resolution of the measured value: 1 LSB based on the variable Read_Analog_Input_16_x (x = 1...8): 1 LSB => 10.24 V / 8000 => 0.3125 mV VARIABLE CAN-CBX-AI814 Page 83 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...
  • Page 84 Offset is defined in the objects Calibration Offset Value (object 2404 , see page 101) and Gain is defined in the objects Calibration Gain Value (object 2405 , see page 102). Page 84 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 85: Read Input 32-Bit (6402 )

    VARIABLE Resolution of the measured value: 1 LSB based on the variable Read_Analog_Input_32_x (x = 1...8): 1 LSB => 10.24 V / 8000 0000 => 4.7684 nV VARIABLE CAN-CBX-AI814 Page 85 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...
  • Page 86 Offset is defined in the objects Calibration Offset Value (object 2404 , see page 101) and Gain is defined in the objects Calibration Gain Value (object 2405 , see page 102). Page 86 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 87: Read Input Raw Data 16-Bit (6404 )

    = 10.2397 V Resolution of the measured values: 1 LSB based on the variable Read_Analog_Input_16_x (x = 1...8): 1 LSB => 10.24 V / 8000 => 0.3125 mV VARIABLE CAN-CBX-AI814 Page 87 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 88: Analog Interrupt Trigger Selection (6421 )

    Lower Limit (object 6425 ) enabled. Analog_Input_IRQ_Trigger_x = 04 => interrupt trigger, if the change of the A/D-value is higher than the value (Delta) defined in object 6426 Page 88 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 89: Global Interrupt Enable (6423 )

    Analog_Input_Global_Interrupt_Enable = false => Global Interrupt disabled (default setting) Note: To enable an event controlled transmission of the TxPDO it is absolutely necessary to set Analog_Input_Global_Interrupt_Enable to ‘true’. CAN-CBX-AI814 Page 89 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 90: Interrupt Upper Limit (6424 )

    Only the 16 higher-order bits of the 32-bit-variables Analog_Input_Interrupt_Upper_Limit_x are evaluated. Thus the minimum value is 0001 0000 , i.e. 312,5 V. The lower-order bits are cut off when written. Page 90 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 91: Interrupt Lower Limit (6425 )

    Only the 16 higher-order bits of the 32-bit-variables Analog_Input_Interrupt_Upper_Limit_x are evaluated. Thus the minimum value is 0001 0000 , i.e. 312,5 V. The lower-order bits are cut off when written. CAN-CBX-AI814 Page 91 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 92: Analog Input Interrupt Delta (6426 )

    Per default this value is '0'. Thus the interrupt is always triggered, because the difference is always 0. Note: Only the 16 higher-order bits of the 32-bit-variables Analog_Input_IRQ_Delta_x are evaluated. Thus the minimum value is 0001 0000 , i.e. 312.5 V. Page 92 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...
  • Page 93 It can be expedient, to use all of the upper 16 bits of the 32-bit variable Analog_Input_IRQ_Delta_x, because resolutions higher than 14 bit can be achieved by the addition of the measured values. CAN-CBX-AI814 Page 93 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 94: Manufacturer Specific Profile Area

    Sample Time Actual Value unsigned 16 2401 Channel Enabled unsigned 8 2402 Accu_N unsigned 8 2403 Average_N unsigned 8 2404 Calibration Offset Value integer 32 2405 Calibration Gain Value integer 16 Page 94 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 95: Sample Time (2310 )

    30 SPS The sample rate is calculated of the sample time as described below: Sample Rate = Sample Time The sample rate is specified in SPS (Samples Per Second). CAN-CBX-AI814 Page 95 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...
  • Page 96 Additionally, in practice it has to be taken into account for short sample times, that possibly not all determined analog data can be transmitted, due to the available data rate and the CAN bus load. Page 96 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 97: Sample Time Actual Value (2312 )

    Value of variables Sample time Sample_Time_Actual_x 00C8 100 s 00C9 100.5 s FFFF 32767.5 s Note: For compatibility reasons the Sample-Time_Actual_x equates the Sample Time (Objekt: 2310 CAN-CBX-AI814 Page 97 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 98: Channel Enabled (2401 )

    The object Channel Enabled returns, which A/D-channels are mapped in a PDO. Value range: Channel_Enabled_x = false => A/D-converter channel is not ‘mapped’ Channel_Enabled_x = true => A/D-converter channel is ‘mapped’ Page 98 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 99: Accu N (2402 )

    Number of additions In default (Accu_Count = 03, Sample_Time = 312,5 s) the data rate is 400 SPS. Disadvantage: The measured value is not updated until the addition is finished. CAN-CBX-AI814 Page 99 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 100: Average N (2403 )

    150 Hz, 100 Hz and 50 Hz can be additionally obtained. Advantage: After every conversion a new average is available. Disadvantage: Higher internal calculating effort as for the addition of the measured values (see object 2402 Page 100 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 101: Calibration Offset Value (2404 )

    (see also figure on page 82). The default values Offset _x (x = 1 ...8) are determined in the manufacturer’s calibration of the Factory CAN-CBX-AI814. With object 1011 (load_manufacurer_parameter) these module-specific default values can be loaded again. Value range: Value of the variable Calibration_Offset_x...

  • Page 102: Calibration Gain Value (2405 )

    _x (x = 1 ...8) are determined in the manufacturer’s calibration of the CAN- Factory CBX-AI814. With object 1011 (load_manufacurer_parameter) these module-specific default values can be loaded again. Page 102 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 103: Firmware Update Via Ds-302-Objects 1F50

    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 DS 301 mode the object 1F50 can not be accessed.

  • Page 104: Download Control Via Object

    Value range 0...FE Default value Note: The value range of this objects in the implementing of the CAN-CBX-AI814 differs from the value range specified in [5]. For further information about object 1F51 and the firmware-update please refer to [5] 8.12.2 Verify Application Software (1F52...

  • Page 105: References

    [5] 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/ ...-STF-3,81 - 1851261, downloaded 2013-10-09 CAN-CBX-AI814 Page 105 of 108 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 106: Eu Declaration Of Conformity

    10. EU Declaration of Conformity Page 106 of 108 CAN-CBX-AI814 Manual • Doc.-No.: C.3020.21 / Rev. 1.5...

  • Page 107: Order Information

    Table 13: 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. CAN-CBX-AI814 Page 107 of 108 Manual •...
  • Page 108 Order Information Manuals Order No. Manual in English C.3010.21 CAN-CBX-AI814-ME CAN-CBX-AI814-MD Manual in German C.3010.20 Table 14: 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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