ESD CAN-CBX-AO412 Manual
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ESD CAN-CBX-AO412 Manual

4 analog outputs, 12-bit
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CAN-CBX-AO412
4 Analog Outputs, 12-Bit
Manual
to Product C.3040.02
CAN-CBX-AO412
Page 1 of 92
Manual • Doc.-No.: C.3040.21 / Rev. 1.2
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-AO412

  • Page 1 CAN-CBX-AO412 Page 1 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2 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 Chapter moved and updated Chapter “Software” renamed to “CANopen-Firmware”, general part (chapter 7.1 - 7.4) updated and restructured Parameter description inserted Chapter to “Definition of Terms” inserted Product-specific Properties CAN-CBX-AO412 inserted in table, new objects 1005 , 1006 , 100E , 1019 7.9.1...
  • Page 4 The intended use of the CAN-CBX module is the operation as a CANopen module with analog outputs. 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-AO412 Page 5 of 92 Manual •...
  • Page 6 ) ........73 Page 6 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...
  • Page 7 10. Order Information ............91 CAN-CBX-AO412 Page 7 of 92 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 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 9: Overview

    Fig. 1: Block circuit diagram of the CAN-CBX-AO412 module The CAN-CBX-AO412 module is equipped with a MB90F497 microcontroller, which buffers the CAN data into a local SRAM. The firmware is stored in the Flash. Parameters are stored in a serial EEPROM.

  • Page 10: Technical Data

    22.5 mm, height: 99 mm, depth: 114.5 mm Dimensions (including mounting rail fitting and connector projection, without mating plug) Weight approx. 130 g Table 1: General data of the module Page 10 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 11: Cpu-Unit

    Physical Layer according to ISO 11898-2, transfer rate Physical CAN Layer programmable from 10 Kbit/s up to 1 Mbit/s Bustermination has to be set externally if required Table 3: Data of the CAN-interface CAN-CBX-AO412 Page 11 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 12: Analog Outputs

    The firmware of the module supports CANopen according to CiA CANopen specifications CiA 301 [1] and CiA DS-401 [2]. The CAN-CBX-AO412 EDS file can be downloaded from the esd website www.esd.eu. Page 12 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 13: Hardware Installation

    Hardware Installation 3. Hardware Installation 3.1 Connecting Diagram Fig. 2: Connection of the CAN-CBX-AO412 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-AO412 Page 13 of 92...

  • Page 14: Led Display

    Fig. 3: Position of the LEDs in the front panel The CAN-CBX-AO412 module is equipped with four Status-LEDs. The terms of the indicator states of the LEDs are chosen in accordance 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-AO412 Page 15 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 16: Operation Of The Error-Led

    The coding switches for the Node-ID are set to an invalid ID- value, when switching on. The firmware application will be CAN-Error LED: on stopped. Table 10: Special Indicator States Page 16 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • 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-AO412 Diagram* LED200A LED200B LED200C LED200D The Schematic Diagram is not part of this manual. CAN-CBX-AO412 Page 17 of 92...

  • 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 is on. If the coding switches are set to 00 , the CAN-CBX-module changes into Bootloader mode. Page 18 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 19: Setting The Baud Rate

    83 3 . implemented from firmware version 2.06 on 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-AO412 Diagram * Baud SW301 SW300 High SW302 The Schematic Diagram is not part of this manual.
  • Page 20 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 20 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 21: 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-AO412 Page 21 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 22: 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 22 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • 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-AO412 Page 23 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 24: Connector Assignments

    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 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 25: 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 ?). CAN-CBX-AO412 Page 25 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 26: 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: The 9-pin DSUB connector is assigned according to CiA 102 Page 26 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • 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-AO412 Page 27 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 28: Analog Outputs

    4.3.1 Analog Output Circuits Fig. 12: Analog output circuit (example: channel 1) Special features of the circuit The voltage at the output of the CAN-CBX-AO412 module is generated by two outputs of the internal ® digital/analog-converter LTC 2620 of Linear Technology and a post-connected differential amplifier TLE2064AID of Texas Instruments.

  • Page 29: Analog Outputs X500

    (x = 1, 2, 3, 4) Note: The xG-pins are electrically connected. Note: To ensure EMC properties a cable with a maximum wire length of 3 m has to be used CAN-CBX-AO412 Page 29 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • 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 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • 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 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • 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-AO412 Page 33 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • 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 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • 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-AO412 Page 37 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • 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 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • 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-AO412 Page 39 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 40: 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 40 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 41: 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-AO412 Page 41 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 42: 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 42 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...
  • Page 43 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-AO412 Page 43 of 92...
  • Page 44 08000022 device state 08000024 access to flash failed Page 44 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 45: Overview Of Used Canopen-Identifiers

    SYNC Sync to all, (configurable via object 1005 Emergency Message 80 + NodeID configurable with object 1014 Client-SDO 580 + Node-ID SDO from CAN-CBX-AO412 Server-SDO 600 + Node-ID SDO to CAN-CBX-AO412 Node Guarding 700 + NodeID configurable with object 100E NodeID: CANopen-address set [1 ...7F...

  • Page 46: Default Pdo-Assignment

    D/A-values channel 1 to 4 RPDO2 + Node-ID 8 byte (Receive-PDO) as 16-bit values to CAN-CBX-AO412 RPDO3 + Node-ID 8 byte Dummy Mapping (Receive-PDO) Rx-PDO2 (-> CAN-CBX-AO412) CAN-Identifier: 300 + Node-ID Byte Parameter Analog_Output_16-Bit_1 Analog_Output_16-Bit_2 Analog_Output_16-Bit_3 Analog_Output_16-Bit_4 Rx-PDO3 (-> CAN-CBX-AO412) CAN-Identifier: 400 + Node-ID...

  • Page 47: Setting And Reading The Analog Values

    CANopen Firmware 7.7 Setting and Reading the Analog Values 7.7.1 Setting the Analog Outputs The analog outputs are set, as soon as an object for setting the outputs of the CAN-CBX-AO412 is received. 7.7.2 Reading the Analog Outputs Differing from the CANopen Specification CiA 301 the values of the analog outputs can be read. If the CAN-CBX-AO412 module receives an RTR-frame on RPDO2, in response the D/A-values of the channels 1 to 4 will be transmitted on this PDO.

  • Page 48: 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 48 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 49: Implemented Canopen-Objects

    32 1005 COB-ID Sync unsigned 32 1006 Communication Cycle Period unsigned 32 1008 Manufacturer Device Name visible string “CAN-CBX-AO412” 1009 Manufacturer Hardware Version visible string x.yy (depending on version) 100A Manufacturer Software Version visible string x.yy (depending on version) 100C...
  • Page 50 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 50 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 51: Device Type (1000 )

    The value of the device type of this CAN-CBX module is printed in chapter 7.9.1 (page 49) The data field is always structured following the rule ‘LSB first, MSB last‘ (see page 43, data field). CAN-CBX-AO412 Page 51 of 92...

  • Page 52: Error Register (1001 )

    For a list of the error bits supported by this CAN-CBX module see chapter 7.9.1 (page 49). Bits which are not supported are always returned as ‘0’. If an error is active, the according bit is set to ‘1’. Page 52 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 53: 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-AO412 Page 53 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...
  • Page 54 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 55: 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-AO412 Page 55 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 56: 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 56 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 57: Manufacturer Device Name (1008 )

    INDEX 1008 Name manufacturer device name Data type visible string Default value see chapter 7.9.1 (page 49) For detailed description of the SDO Uploads, please refer to [1]. CAN-CBX-AO412 Page 57 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 58: 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 58 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 59: 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-AO412 Page 59 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 60: 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 60 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 61: 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 CAN-CBX-AO412 Page 61 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...
  • Page 62 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 62 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 63: 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-AO412 Page 63 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...
  • Page 64 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 64 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 65: 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-AO412 Page 65 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 66: 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 66 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 67: 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 CAN-CBX-AO412 Page 67 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...
  • Page 68 Example: consumer-heartbeat_time = 0031 03E8 => Node-ID = 31 = 49 => heartbeat time = 3E8 = 1000 => 1 s Page 68 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 69: 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-AO412 Page 69 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 70: Identity Object (1018 )

    0...FFFFFFFF 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: product_code = 1...
  • Page 71 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-AO412 Page 71 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 72: 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 72 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 73: 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-AO412 Page 73 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 74: 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 74 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 75: 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 CAN-CBX-AO412 Page 75 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 76: 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 76 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 77: Receive Pdo Communication Parameter 1401

    Implemented CANopen Objects 7.9.24 Receive PDO Communication Parameter 1401 , 1402 The objects ‘Receive PDO Communication Parameter 1401 1402 ’ contain the communication parameters for the PDOs the CAN-CBX-AO412 is able to receive. INDEX 1401 Name 2. receive PDO parameter Data Type...

  • Page 78: Receive Pdo Mapping Parameter 1601

    Implemented CANopen Objects 7.9.25 Receive PDO Mapping Parameter 1601 , 1601 This object contains the PDO mapping parameters for the PDOs the CAN-CBX-AO412 is able to receive. INDEX 1601 Name 2. receive PDO mapping Data Type PDO Mapping INDEX 1602 Name 3.

  • Page 79: Device Profile Area

    7.10.1 Overview of the implemented Objects Index Name Data Type Write Analogue Outputs 16-Bit integer 16 6411 6443 Error Mode unsigned 8 6444 Error Value integer 32 Fig. 20: Overview of implemented objects CAN-CBX-AO412 Page 79 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 80: Write Analog Output 16-Bit (6411 )

    The analog value is transmitted in two’s complement representation. Two’s complement Output voltage representation 8000 -10.205 V FFFB -2.492 mV FFFC ...0003 0.000V 0004 +2.492mV 7FFF +10.205 V Page 80 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 81: Examples Of Can-Frames For The Sdo-Transfer

    The following table shows the entries in the data section of the CAN telegram. For output channel 2 the subindex has to be d4 = 02 Data byte Content various various CAN-CBX-AO412 Page 81 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 82: Analog Output Error Mode (6443 )

    This object defines whether an output is set to a predefined error value (see object 6444 ) in case of an internal device failure. The following modes are defined: Error mode Meaning set to 0 set to error value (6444 leave current value Page 82 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 83: Analog Output Error Value Integer (6444 )

    7FFFFFFF This object contains the left adjusted value to which the outputs shall be set at device failure if the corresponding error mode is active (see object 6443 CAN-CBX-AO412 Page 83 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 84: Manufacturer Specific Profile Area

    7.11 Manufacturer Specific Profile Area 7.11.1 Overview of the implemented Objects Index Name Data Type 2404 Calibration Offset Value 16 Bit integer 16 2405 Calibration Gain Value 16 Bit integer 16 Page 84 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 85: Calibration Offset Value

    6401 and 6402 (see also figure on page ?). The default values Offset _x (x = 1 ...4) are determined in the factory calibration of the CAN-CBX-AO412. Factory With object 1011 (restore_manufacurer_parameter) these module-specific default values can be restored. Value range:...

  • Page 86: Calibration Gain Value

    The default values Gain _x (x = 1 ...4) are determined in the factory calibration of the CAN-CBX- Factory AO412. With object 1011 (restore_manufacurer_parameter) these module-specific default values can be restored. Page 86 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 87: 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 CiA 301 mode the object 1F50 can not be accessed.

  • Page 88: Download Control Via Object

    Date of the generation of the firmware used, specified in number of days since 1. January 1984 Application_Software_Time Time of the generation of the firmware used, specified in milliseconds since midnight. Page 88 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 89: References

    [8] 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-AO412 Page 89 of 92 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 90: Eu Declaration Of Conformity

    9. EU Declaration of Conformity Page 90 of 92 CAN-CBX-AO412 Manual • Doc.-No.: C.3040.21 / Rev. 1.2...

  • Page 91: 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-AO412 Page 91 of 92 Manual •...
  • Page 92 Order Information Manuals Order No. Manual in English C.3040.21 CAN-CBX-AO412-ME CAN-CBX-AO412-MD Manual in German C.3040.20 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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