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Murrelektronik DATA PANEL xtremeDB DP-34044-3 User Manual

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A Murrelektronik Company
A Murrelektronik Company
A Murrelektronik Company
A Murrelektronik Company
xtremeDB
DP-34044-3 User Manual
xDB16-PWM
1

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Summary of Contents for Murrelektronik DATA PANEL xtremeDB DP-34044-3

  • Page 1 A Murrelektronik Company A Murrelektronik Company A Murrelektronik Company A Murrelektronik Company xtremeDB DP-34044-3 User Manual xDB16-PWM...

  • Page 2: Table Of Contents

    | CONTENTS 1. Concerning this manual 7. CANopen Information 7.1 Node ID/Baud Rate 2. Safety Information 7.2 LED Description 2.1 Designated Use 7.2.1 CANopen Error LED 2.2 Target Groups 7.2.2 CANopen Run LED 2.3 Regulations 7.2.3 LED STAT Operation 2.3.1 General Information 7.3 Emergency Message Format 2.4 License Disclaimer 7.4 Communication Segment 2.5 Example of Symbols 7.5 Manufacturer Segment 2.5.1 Use of Attention Signs 7.6 Device Profile Segment 2.5.2 Use of Danger Signs 7.7 Heartbeat...

  • Page 3: Concerning This Manual

    A Murrelektronik Company 1. CONCERNING THIS MANUAL The text, illustrations, diagrams and examples used in this manual exist solely for the purpose of explaning the operation and usage of xtremeDB Input/Output modules. If you have any further questions regarding the installation and set-up of the equipment de- A Murrelektronik Company scribed in this manual, please do not hesitate to contact us. We will be glad to assist you. Murrelektronik reserves the right to make technical changes or modifications to this manual without prior notice. 2. SAFETY INFORMATION 2.1 DESIGNATED USE The input/output modules of the xtremeDB series are designated for use only in those areas as described in this manual. Strict adherence to the data specified in this manual must be ensured. The products have been developed, manufactured, tested and documented in compliance with currently valid safety codes. The equipment poses no danger to operating personnel or material if configuration, assembly and operation are performed in compliance with the stated handling and safety regulations. Unqualified intervention in the hardware and software of our equipment, disregard of warning labels found on the equipment or non-observance of the information in this manual can result in injury or serious damage to man and/or material. Any application or usage beyond and above this shall be regarded as non-designated. Warning! Good chemical and oil resistance. When using aggressive mediums, material resistance based on application must be checked.

  • Page 4: Example Of Symbols

    2.5 EXAMPLE OF SYMBOLS 2.5.1 USE OF ATTENTION SIGNS Notes containing important information are specially marked. These are illustrated as follows: Attention text... 2.5.2 USE OF DANGER SIGNS Danger signs are indicated by text and a corresponding symbol inside of a frame CAUTION! Disregard of safety measures may result in damage to equipment and other serious consequences.
  • Page 5 A Murrelektronik Company A Murrelektronik Company 1.3” ATTENTION! Modules must be mounted a minimum of 3mm from each other.

  • Page 6: Module Overview

    4. MODULE OVERVIEW Configuration & Power Plug CAN Ports, Non-Isolated 16 Outputs...

  • Page 7: Configuring The Baud Rate

    A Murrelektronik Company A Murrelektronik Company 4.1 CONFIGURING THE BAUD RATE Configuration of the baud rate is done using pins 1 & 7 of the Power and Configuration plug shown below. Currently there are 2 A Murrelektronik Company A Murrelektronik Company baud rates supported, 250kb and 500kb. If you are connecting to a 250kb network no jumpers are required. If connecting to a 500kb network, jumper pin 1 to pin 7. Configuration & Power Plug Baud1-A Baud1-B 9 10 11 12 13 14 15 16 17 18 Baud Rate No Jumper = 250kb Baud1-A to Baud1-B = 500kb...

  • Page 8: Configuring The Node Id

    4.2 CONFIGURING THE NODE ID The Node Source Address (SA) is configured by jumpering the matching Config-A to Config-B. The Node SA starts with a base ad- dress of 224 (0xE0h) with no jumpers installed. The offset is configured with the use of Binary Coded Decimal (BCD). A power cycle is required when changing the Node SA. If a duplicate source address is on the network on a power up our module will stay in address arbitration mode and will not function. Config4-A Config3-A Config2-A Config1-A Node SA Offset (0-15) in BCD Config1-A (pin 2) to Config1-B (pin 8) = 1’s Config2-A (pin 3) to Config2-B (pin 9) = 2’s 9 10 11 12 Config3-A (pin 4) to Config3-B (pin 10) = 4’s Config4-A (pin 5) to Config4-B (pin 11) = 8’s 13 14 15 16 17 18 Config1-B Config2-B Config3-B...

  • Page 9: Powering The Module

    A Murrelektronik Company 4.3 POWERING THE MODULE The module recieves its power from the CAN ports. The module power is limited to 13 amps and is used to power connected modules down the line. This power is also used for all input ports as well. A Murrelektronik Company CAN Ports, Non-Isolated Power (J1939) Pin 2 = CAN High Pin 1 = 8-32V DC Pin 4 = CAN Low Pin 3 = Ground (A) The connection between CAN1 & CAN2 for the power feed is not fused (protected from short circuit current). During installation the module power wiring on CAN1 &...

  • Page 10: Leds

    4.4 LEDs During start up the LEDs will come on for 3-5 seconds to verify that they are working (bulb test). PWR LED - Blue Indicates module power is connected FLT LED - Red Fault Status COM LED - Green Communication Status STAT LED - Green Module Status Bus Power - Blue P1 = Power for ports 1 & 2 P2 = Power for ports 3 & 4 P3 = Power for ports 5 & 6 P4 = Power for ports 7 & 8 PORT I/O LED - Yellow Left LED = Output A Right LED = Output B...

  • Page 11: Led Status

    A Murrelektronik Company 4.4.1 LED STATUS COM LED - Green A Murrelektronik Company Communication Status COM Fault Description Bootload Mode Indicates traffic on bus Valid Communication Network Source Address (SA) Arbitration 1 Short CANBUS Hardware Fault 2 Short 1 Long Output Control Message Missing 3 Short DM13 Detected* 4 Short * See J1939-73 diagnostics, another device has requested module to stop broadcasting FLT LED - Red Fault Status Fault Description Bootload Mode...

  • Page 12: Circuit Protection

    4.5 CIRCUIT PROTECTION Bus Power The module shall monitor Power Bus Bank current and shut off all bank outputs if the maximum current exceeds 13 amps per bus. Both short circuit and overcurrent protection is provided. P1 = Ports 1 & 2 power, 13 amps. P2 = Ports 3 & 4 power, 13 amps. P3 = Ports 5 & 6 power, 13 amps. P4 = Ports 7 & 8 power, 13 amps. Module Power This circuit has a separate ground that is supplied by the CAN port. Ground (A) Output Power This module has both 10 amp and 4 amp outputs. The outputs have both short circuit and overcurrent protection. (See Figure 1) (14) 4A (2) 10A Resetting an output fault will require cycling of the module power unless the Controller Mode Output Reset is enabled. If the Con- troller Mode Output Reset is enabled the fault will be reset if the output is turned off, limit of 5 times before a cycle of module power will be required. An output fault will not effect other outputs on the module. Figure 1 Output Over Current Curve Amps Seconds...

  • Page 13: Module Configuration

    A Murrelektronik Company 5. MODULE CONFIGURATION 5.1 CONFIGURATION STEPS A Murrelektronik Company Module default configuration: • Factory Default Config returns 1 in Status message 1-Status 1, this should not be on if the module has been configured. • Default operation of the module is on/off digital control. PWM control messages are not needed. • Default configuration does not require a Command 0x52 message to enable operation. Command 0x52h (This message needs to be sent until the message confirmation bit is set true): Value Name Data Type Byte Bits...
  • Page 14 • PWM(i) mode requires the frequency to be in the range of 100Hz to 700Hz. • Output frequency for data or percent mode can use the range of 40Hz to 1100Hz • The default frequency is set to 200Hz if Command 82, 0x52h, is not used” • Mode 1: Configure all the outputs at the same time, override Command 0x53. • Mode 2: Configure all the inputs at the same time, override Command 0x53 and 0x54. • ID1: This is used to give a number to the node that will be transmitted back in Status Message 1-User ID. Default as 0, please note this User ID is not node ID (node address), please see “Configuring the Node ID” for setting node address. • Save Configuration: Turn on the bits (value of 1) after configuring module, inputs and outputs, otherwise changes will only be saved until power cycle. Command 0x53h & 54h (These messages need to be sent until the message confirmation bit is set True): • Configure individual input and output modes if they haven’t been configured in Mode 1 and Mode 2 in Command 0x52h. Command 0x54h, 55h, 56h, 59h, & 5Ah (These messages need to be sent until the message confirmation bit is set True): • Configure the Kp and Ki for any PWM current controls.
  • Page 15 A Murrelektronik Company Configuration Sample Flowchart: Configure Module Check [STAT] D25 A Murrelektronik Company (Command 0x52h Received) (Command 0x52) Check [STAT] D26 Configure Outputs (Command 0x53h Received) (Command 0x53h) Check [STAT] D27, D28 & D29 Configure the Kp and Ki for PWM (I) (Command 0x54h, 0x55h, 56h (Command 0x54h, 55h, 56h) Received)

  • Page 16: Output Configuration

    5.2 OUTPUT CONFIGURATION 5.2.1 POWERING THE OUTPUTS Configuration & Power Plug Power 4 9 10 11 12 Ground (B) 13 14 15 16 17 18 Power 1 Ground (B) Power 2 Ground (B) Power 3 Ground (B) Power (Output only) Power 1 = 13 amps for ports 1 & 2 (Outputs 1A, 1B, 2A, 2B) Power 2 = 13 amps for ports 3 & 4 (Outputs 3A, 3B, 4A, 4B) Power 3 = 13 amps for ports 5 & 6 (Outputs 5A, 5B, 6A, 6B) Power 4 = 13 amps for ports 7 & 8 (Outputs 7A, 7B, 8A, 8B) Ground (B)= output ground, internally connected to all Ground (B) pins Please note that ALL module power...

  • Page 17: Output Layout

    A Murrelektronik Company 5.2.2 OUTPUT LAYOUT A Murrelektronik Company High Amp Ports Ground (B) Output B (4A) Output A (10A) Ground (B) Output Ports Ground (B) Output B (4A) Output A (4A) Ground (B) Power Outputs Pin 1 = Ground B Ports 1 & 3: 10A, 4A Pin 3 = Ground B Ports 2, 4-8: 4A, 4A Configurations Ports 1A, 3A (10 Amp): • Port 1, Pin 4: Output 1A • Digital high side • Port 1, Pin 2: Output 1B Ports 1B, 2, 3B, 4-8 (4 Amp): • Port 2, Pin 4: Output 2A • Digital high side • Port 2, Pin 2: Output 2B • PWM •...

  • Page 18: Configuring Outputs

    5.2.3 CONFIGURING OUTPUTS Output Mode There are two ways to configure the outputs. All configuration is done through the same PGN. PGN 61408 is used for multiple messages by use of a different value put into the “command” byte of the PGN. This value is used as an index or pointer as to where the information goes in the module. A. Global Output Configuration (only used if you want all the outputs to be configured the same) Configuring all of the outputs is done through the “MODE1” byte in PGN 61408. The J1939 message structure, Command Value 61408 (0xEFE0) SA Offset of 0 82 (0x52) PDU Format Transmit rate 239 (0xEF) 50 ms PDU Specific Msg timeout 224 (0xE0) SA Offset of 0 200 ms Source Address Priority (0x?? (CSA*)) Built Message (0x18EFE0??) Name Data Type Byte Bits...
  • Page 19 A Murrelektronik Company B. Individual Configuration Individual output configuration is done through the “output mode” nibble in PGN 61408 A Murrelektronik Company Command Value 61408 (0xEFE0) SA Offset of 0 83 (0x53) PDU Format Transmit rate 239 (0xEF) 50 ms PDU Specific Msg timeout 224 (0xE0) SA Offset of 0 200 ms Source Address Priority (0x?? (CSA*)) Built Message (0x18EFE0??) Name Data Type Byte Bits...

  • Page 20: Output Operation

    C. High Current Output Configuration Command Value 88 (0x58) 61408 (0xEFE0) PDU Format Transmit rate 50 ms 239 (0xEF) PDU Specific Msg timeout 224 (0xE0) 200 ms Source Address Priority (0x?? (CSA*)) Built Message (0x18EFE0??) Name Data Type Byte Bits Description Command Command for index pointer Port 1A Output 1A (0-100) Set amp range 0.0-10.0A = Data Range 0-100 Port 1A Output 1B (Not Used)
  • Page 21 A Murrelektronik Company D. Data, MODE = 2 (Used for PWM Control using a value of 0-4000) This puts the output into PWM control with a value of 0 - 4000 equaling 0 - 100% of the duty cycle. Two bytes are allocated for each of the PWM control messages with the first 12 bits being used for the value. The first byte and the first 4 bits of the second byte are A Murrelektronik Company put together for 12 bit control of the output. Example Second Byte First Byte Bit 4 Bit 3 Bit 2 Bit 1 Bit 8 Bit 7 Bit 6 Bit 5...
  • Page 22 J1939 Output Configuration 4 Value Name Data Type Byte Bits Description 85 (0x55) Command Command for index pointer (which message your sending) Port 2B Kp Port 2B proportional set point (0-250 = 0-2.50, >250=0) default 100 Port 2B Ki Port 2B integral set point (0-250 = 0-2.50, >250=0) default 100 Port 3A Kp* Port 3A proportional set point not used Byte Port 3A Ki* Port 3A integral set point not used Port 3B Kp Port 3B proportional (0-250 = 0-2.50, >250=0) default 100 Port 3B Ki Port 3B integral (0-250 = 0-2.50, >250=0) default 100 Not used...
  • Page 23 A Murrelektronik Company Amperage Feedback Status Message 4 (Ouput Amperage Feedback OUT 1A-4B) A Murrelektronik Company Name Data Type Byte Bits Description Output 1A Feedback (Amps) Amp Data Range 0.0 to 22.0 Amps [0 – 220 decimal] Output 1B Feedback (Amps) Amp Data Range 0.0 to 22.0 Amps [0 – 220 decimal] Output 2A Feedback (Amps) Amp Data Range 0.0 to 22.0 Amps [0 –...

  • Page 24: Status Messages

    5.3 STATUS MESSAGES 5.3.1 MODULE STATUS Status Message 1 (Software and Node Status) Name Data Type Byte Bits Description (0xEF(CSA))* Software Version Version of the current software Byte Software Revision Revision of the current software Status 1 Factory Default Configuration Status 2 Configuration Saved (module is configured) Status 3 Alternate Configuration Received Status 4 Node Alive 2 Bit Status 5 Node Fault Present Status 6 Fault Count not Zero...
  • Page 25 A Murrelektronik Company Status Message 2 (Configuration and Output Status) Name Data Type Byte Bits Description A Murrelektronik Company 65531 (0xFFFB) Config Pair 1 Baud rate configuration jumper is applied Config Pair 2 Node ID 1's configuration jumper is applied Config Pair 3 Node ID 2's configuration jumper is applied Config Pair 4 Node ID 3's configuration jumper is applied Config Pair 5 Node ID 4's configuration jumper is applied Output 1A Status Status of Output 1A, (00 = off), (01 = on), (10 = fault) Output 1B Status Status of Output 1B, (00 = off), (01 = on), (10 = fault) Output 2A Status...

  • Page 26: J1939 Information

    6. J1939 INFORMATION 6.1 MESSAGE STRUCTURE All PGNs are shown as module configured with no jumpers (Offset = 0) Value 61408 (0xEFE0) SA Offset of 0 82 (0x52) Source Address Transmit rate (0x?? (CSA*)) 50 ms PDU Format Msg timeout 239 (0xEF) 200 ms PDU Specific Priority 224 (0xE0) SA Offset of 0 Built Message (0x18EFE0??) *CSA = Controller Source Address...
  • Page 27 A Murrelektronik Company Output Control - Control Message 1 (Output Control) Command Value 81 (0x51) A Murrelektronik Company Name Data Type Byte Bits Description Command Byte Command for index pointer (which message you’re sending) Output1A Output1B Output2A Output2B Output3A Output3B Output4A Output4B 2 bit Turns the output on when in "On/Off" Mode, (not used when using any other mode) Output5A Output5B Output6A Output6B Output7A Output7B Output8A Output8B Byte...
  • Page 28 Output Configuration 2 Command Value 83 (0x53) Name Data Type Byte Bits Description Command Byte Command for index pointer (which message your sending) Mode 1A 1,2,3,4 Mode 0x0=disabled, 0x1=On/Off Mode 0x0=disabled, 0x1=On/Off, 0x2=Data(0-4000), 0x3=Percent(0-1000 = 0-100.0%), Mode 1B 5,6,7,8 0x4=Amps(0-4000 = 0-4.000 amps) Mode 0x0=disabled, 0x1=On/Off, 0x2=Data(0-4000), 0x3=Percent(0-1000 = 0-100.0%), Mode 2A 1,2,3,4 0x4=Amps(0-4000 = 0-4.000 amps) Mode 0x0=disabled, 0x1=On/Off, 0x2=Data(0-4000), 0x3=Percent(0-1000 = 0-100.0%), Mode 2B 5,6,7,8 0x4=Amps(0-4000 = 0-4.000 amps) Mode 3A 1,2,3,4 Mode 0x0=disabled, 0x1=On/Off Mode 0x0=disabled, 0x1=On/Off, 0x2=Data(0-4000), 0x3=Percent(0-1000 = 0-100.0%), Mode 3B 5,6,7,8 0x4=Amps(0-4000 = 0-4.000 amps) Mode 0x0=disabled, 0x1=On/Off, 0x2=Data(0-4000), 0x3=Percent(0-1000 = 0-100.0%), Mode 4A 1,2,3,4 0x4=Amps(0-4000 = 0-4.000 amps) Mode 0x0=disabled, 0x1=On/Off, 0x2=Data(0-4000), 0x3=Percent(0-1000 = 0-100.0%), 4 bit Mode 4B 5,6,7,8...
  • Page 29 A Murrelektronik Company Output Configuration 4 Command Value A Murrelektronik Company 85 (0x55) Name Data Type Byte Bits Description Command Command for index pointer (which message your sending) Port 2B Kp Port 2B proportional set point (0-250 = 0-2.50, >250=0) default 100 Port 2B Ki Port 2B integral set point (0-250 = 0-2.50, >250=0) default 100 Port 3A Kp (not used on this module) Port 3A proportional set point not used Byte Port 3A Ki (not used on this module) Port 3A integral set point not used Port 3B Kp Port 3B proportional set point (0-250 = 0-2.50, >250=0) default 100...
  • Page 30 Output Configuration 7 Command Value 89 (0x59) Name Data Type Byte Bits Description Command Command for index pointer (which message your sending) Port 5B Ki Port 5B integral set point (0-250 = 0-2.50, >250=0) default 100 Port 6A Kp Port 6A proportional set point (0-250 = 0-2.50, >250=0) default 100 Port 6A Ki Port 6A integral set point (0-250 = 0-2.50, >250=0) default 100 Byte Port 6B Kp Port 6B proportional set point (0-250 = 0-2.50, >250=0) default 100 Port 6B Ki Port 6B integral set point (0-250 = 0-2.50, >250=0) default 100 Port 7A Kp Port 7A proportional set point (0-250 = 0-2.50, >250=0) default 100 Port 7A Ki Port 7A integral set point (0-250 = 0-2.50, >250=0) default 100 Output Configuration 8 Command Value 90 (0x5A) Name Data Type Byte Bits Description...
  • Page 31 A Murrelektronik Company Control Message (PWM1) A Murrelektronik Company 65308 (0xFF1C) SA Offset of 0 Transmit rate PDU Format 50 ms 255 (0xEF) Msg timeout PDU Specific 200 ms 28 (0x1C) Priority Source Address (0x?? (CSA*)) Built Message (0x12FF1C??) Name Data Type Byte Bits Description PWM Ctrl Output 1A 12 Bit Not used 1, 2, 3, 4...
  • Page 32 Control Message (PWM3) 65310 (0xFF1E) SA Offset of 0 PDU Format Transmit rate 255 (0xEF) 50 ms PDU Specific Msg timeout 30 (0x1E) 200 ms Source Address Priority (0x?? (CSA*)) Built Message (0x26FF1E??) Name Data Type Byte Bits Description PWM Ctrl Output 5A 12 Bit PWM Output 5A (12 bit, uses the 1st byte and the first 4 bits of the 2nd byte) 1, 2, 3, 4 PWM Ctrl Output 5B 12 Bit PWM Output 5B (12 bit, uses the 1st byte and the first 4 bits of the 2nd byte) 1, 2, 3, 4 PWM Ctrl Output 6A 12 Bit PWM Output 6A (12 bit, uses the 1st byte and the first 4 bits of the 2nd byte) 1, 2, 3, 4...
  • Page 33 A Murrelektronik Company STATUS MESSAGES Status Message STAT Proprietary A Default Response Message A Murrelektronik Company (0xEF(CSA)) Transmit rate PDU Format 239 (0xEF) 50 ms PDU Specific Msg timeout 200 ms (0x??(CSA)) Source Address Priority 224 (0xE0) SA Offset of 0 Built Message (0x18FF??E0) Name Data Type Byte Bits Description Software Version Version of the current software Byte...
  • Page 34 Status Message DPLF1 65531 (0xFFFB) PDU Format Transmit rate 255 (0xFF) 50 ms PDU Specific Msg timeout 251 (0xFB) 200 ms Source Address Priority 224 (0xE0) SA Offset of 0 Built Message (0x18FFFBE0) Name Data Type Byte Bits Description Config Pair 1 Baud rate configuration jumper is applied Config Pair 2 Node ID 1's configuration jumper is applied Config Pair 3 Node ID 2's configuration jumper is applied Config Pair 4 Node ID 3's configuration jumper is applied Config Pair 5 Node ID 4's configuration jumper is applied Output 1A Status Status of Output 1A, (00 = off), (01 = on), (10 = fault) Output 1B Status Status of Output 1B, (00 = off), (01 = on), (10 = fault)
  • Page 35 A Murrelektronik Company Status Message DPLF2 A Murrelektronik Company 65532 (0xFFFC) PDU Format Transmit rate 50 ms 255 (0xFF) PDU Specific Msg timeout 252 (0xFC) 200 ms Source Address Priority 224 (0xE0) SA Offset of 0 Built Message (0x18FFFCE0) Name Data Type Byte Bits Description CNFG1 Hardware Configuration Byte CNFG2 PCB Assembly Revision...
  • Page 36 Status Message DPLT2 PGN 5 65524 (0xFFF4) Transmit rate PDU Format 50 ms 255 (0xFF) PDU Specific Msg timeout 200 ms 243 (0xF4) Priority Source Address 224 (0xE0) SA Offset of 0 Built Message (0x18FFF4E0) Status Message 5 (Ouput Amperage Feedback OUT 5A-8B) Name Data Type Byte Bits Description Output 5A Feedback (Amps) Amp Data Range 0.0 to 22.0 Amps [0 –...

  • Page 37: Pgns Used

    A Murrelektronik Company 6.2 PGNs USED A Murrelektronik Company Depending on the Node ID selected for the module, the PGNs and source address will be different for the module. The section below shows which are used for each Node ID. SA Offset Control PWM1 PWM2 PWM3 PWM4 Module Status Output Status Analog Status Amp Data 1-8 Amp Data 9-16 Fault Count (EF(CSA)) EFE0 FF1C FF1D FF1E FF1F FFFB (SA=E0) FFFC (SA=E0)

  • Page 38: Canopen Information

    7. CANopen INFORMATION 7.1 Node ID / Baud Rate • The BAUD1 jumper selects between the default CANBUS baud rate of 250k bits/sec and the HS baud rate of 500k bits/sec • The default baud rate is 250 kbit/sec • The default Node ID is 1 • The CNFG1 – CNFG4 jumpers select the Node ID Offset using binary coded decimal (BCD) for Offset = +1 to +15 • Node ID = 1 + Offset (0 to 15) Configuration Description Jumper Wire 0 : 250k bits/sec Offset CNFG1 A/B CNFG2 A/B CNFG3 A/B CNFG4 A/B BAUD1 1 : 500k bits/sec CNFG1 Node ID offset +1 CNFG2 Node ID offset +2 CNFG3 Node ID offset +4 CNFG4 Node ID offset +8 7.2 LED Description The function of the LED is defined according to the CiA standard DR 303-3 V 1.4.0 7.2.1 CANopen Error LED The CANopen error LED shall indicate the status of the CAN physical layer and errors due to missing CAN messages (sync, guard or...

  • Page 39: Canopen Run Led

    A Murrelektronik Company 7.2.2 CANopen Run LED The CANopen Run LED shall indicate the status of the CANopen network state machine. Whilst the device is executing a reset the CANopen Run LED shall be off. The following Table provides the CANopen Run LED truth table. A Murrelektronik Company CAN Run LED State Description Flickering Auto Bitrate/LSS The auto-bitrate detection is in progress or LSS services are in progress (alternately flickering with error LED) Blinking PRE-OPERATIONAL The device is in state PRE-OPERATIONAL Single Flash STOPPED The device is in state STOPPED Double Flash Reserved for further use OPERATIONAL The device is in state OPERATIONAL 7.2.3 LED STAT Operation The CANopen run LED shall indicate the errors in the module. Fault Description Bootload Mode 1 Short 1 Short...

  • Page 40: Communication Segment

    7.4 COMMUNICATION SEGMENT Index Name Sub-Index Data Type Description Access Default Value 1000 Device Type UNSIGNED32 0x000E0191 1001 Error Register UNSIGNED8 0x00 UNSIGNED32 Number of Errors 0x00000000 UNSIGNED32 Standard Error Field 0x00000000 UNSIGNED32 Standard Error Field_2 0x00000000 1003 Pre-defined Error Field UNSIGNED32 Standard Error Field_3 0x00000000 UNSIGNED32 Standard Error Field_4 0x00000000 UNSIGNED32 Standard Error Field_5 0x00000000 1008 Manufacturer Device Name...
  • Page 41 A Murrelektronik Company Index Name Sub-Index Data Type Description Access Default Value A Murrelektronik Company PDO_COMM_PAR Highest sub-index supported 0x05 UNSIGNED32 COB-ID 0x400+NodeID UNSIGNED8 Transmission Type 0xFF 1402 Receive PDO Communication Parameter 3 UNSIGNED16 Inhibit Time UNSIGNED8 Compatibility Entry 0x00 UNSIGNED16 Event Timer PDO_COMM_PAR Highest sub-index supported 0x05 UNSIGNED32 COB-ID...
  • Page 42 Index Name Sub-Index Data Type Description Access Default Value PDO_COMM_PAR Highest sub-index supported 0x05 UNSIGNED32 COB-ID 0x1A0+NodeID UNSIGNED8 Transmission Type 0xFE 1804 Transmit PDO Communication Parameter 5 UNSIGNED16 Inhibit Time UNSIGNED8 Compatibility Entry 0x00 UNSIGNED16 Event Timer PDO_COMM_PAR Highest sub-index supported 0x05 UNSIGNED32 COB-ID 0x1C0+NodeID UNSIGNED8 Transmission Type 0xFE 1805...
  • Page 43 A Murrelektronik Company Index Name Sub-Index Data Type Description Access Default Value PDO_COMM_PAR Highest sub-index supported 0x05 A Murrelektronik Company UNSIGNED32 COB-ID 0x3C0+NodeID UNSIGNED8 Transmission Type 0xFE 180B Transmit PDO Communication Parameter 12 UNSIGNED16 Inhibit Time UNSIGNED8 Compatibility Entry 0x00 UNSIGNED16 Event Timer PDO_MAPPING...

  • Page 44: Manufacturer Segment

    Index Name Sub-Index Data Type Description Access Default Value PDO_MAPPING Number of mapped objects CONST 0x04 UNSIGNED32 Mapping Entry 1 CONST 0x50030D10 1A0A Transmit PDO Mapping Parameter 11 UNSIGNED32 Mapping Entry 2 CONST 0x50030E10 UNSIGNED32 Mapping Entry 3 CONST 0x50030F10 UNSIGNED32 Mapping Entry 4 CONST 0x50031010 PDO_MAPPING Number of mapped objects CONST 0x08 UNSIGNED32 Mapping Entry 1 CONST 0x50040108 UNSIGNED32 Mapping Entry 2 CONST 0x50040208...
  • Page 45 A Murrelektronik Company Index Name Sub-Index Data Type Description Access Default Value UNSIGNED8 Highest sub-index supported 0x20 A Murrelektronik Company UNSIGNED8 Port1A_Kp 0x64 UNSIGNED8 Port1A_Ki 0x64 UNSIGNED8 Port1B_Kp 0x64 UNSIGNED8 Port1B_Ki 0x64 UNSIGNED8 Port2A_Kp 0x64 UNSIGNED8 Port2A_Ki 0x64 UNSIGNED8 Port2B_Kp 0x64 UNSIGNED8...
  • Page 46 Index Name Sub-Index Data Type Description Access Default Value UNSIGNED8 Highest sub-index supported 0x08 UNSIGNED8 d1-d8_Message 0x00 UNSIGNED8 d9-d16_Message 0x00 UNSIGNED8 Status_Output1-2 0x00 5001 Status Message F1 UNSIGNED8 Status_Output3-4 0x00 UNSIGNED8 Status_Output5-6 0x00 UNSIGNED8 Status_Output7-8 0x00 UNSIGNED8 Power 0x00 UNSIGNED8 Save_Counter 0x00 UNSIGNED16 Highest sub-index supported 0x05 UNSIGNED16 VBAT...

  • Page 47: Device Profile Segment

    A Murrelektronik Company 7.6 DEVICE PROFILE SEGMENT Index Name Sub-Index Data Type Description Access Default Value A Murrelektronik Company UNSIGNED8 Highest sub-index supported 0x02 6200 Write Output 8-Bit UNSIGNED8 Output_1 0x00 UNSIGNED8 Output_2 0x00 UNSIGNED16 Highest sub-index supported 0x10 UNSIGNED16 Port_1A 0x0000 UNSIGNED16 Port_1B 0x0000 UNSIGNED16...

  • Page 48: Receive Pdo

    7.9 RECEIVE PDO Index Mapped Index Mapped Sub-Index Object Function Message COB-ID 1400 6200 RPDO1 Digital Output Digital Output 0x200+NodeID 1401 6411 RPDO2 Analog Output Analog Output 0x300+NodeID 1402 6411 RPDO3 Analog Output Analog Output 0x400+NodeID 1403 6411 9-12 RPDO4 Analog Output Analog Output 0x500+NodeID...
  • Page 49 A Murrelektronik Company Index Sub-Index Name Default Value d1 - d8_Enable 0x00 A Murrelektronik Company d9 - d16_Enable 0x00 2000 Output_Mode 0x01 0x00 OUTMODE_1 0x11 OUTMODE_2 0x11 OUTMODE_3 0x11 OUTMODE_4 0x11 2001 OUTMODE_5 0x11 OUTMODE_6 0x11 OUTMODE_7 0x11 OUTMODE_8 0x11 Port1A_Kp 0x64 Port1A_Ki 0x64...

  • Page 50: Module Global Configuration

    Index Sub-Index Name Default Value Port_1A 0x64 2004 Port_3A 0x64 3000 Frequency 0x41 7.12 MODULE GLOBAL CONFIGURATION Index Sub-Index Name Data Type Byte Bits Description Ctrl Mode Reset Enables Controller Mode Output Reset 2 bit Enable 24 vdc Enables the low and over voltage fault limits for 24V DC system Analog raw value Sets all analog to be read in raw value as opposed to scaled (.005668/bit) 2000 Sets the global configuration of ALL the outputs, overrides Index 2001. 0=Mode 1 Not Output Mode Byte Used, 1=ON/OFF, 2=Data 0-4000, 3= Percent 0-100.0%(0-1000), (4= Amps (0-4000ma) Cannot be used in this mode.) Byte User defined byte for configuration ID, this will be transimitted in the STAT message.

  • Page 51: Module Output Configuration

    A Murrelektronik Company 7.13 MODULE OUTPUT CONFIGURATION Index Sub-Index Name Data Type Byte Bits Description A Murrelektronik Company Mode 1A 1,2,3,4 Mode 0x0=disabled, 0x1=On/Off Mode 0x0=disabled, 0x1=On/Off, 0x2=Data(0-4000), 0x3=Percent(0-1000 = Mode 1B 5,6,7,8 0-100.0%), 0x4=Amps(0-4000 = 0-4.000 amps) Mode 0x0=disabled, 0x1=On/Off, 0x2=Data(0-4000), 0x3=Percent(0-1000 = Mode 2A 1,2,3,4 0-100.0%), 0x4=Amps(0-4000 = 0-4.000 amps) Mode 0x0=disabled, 0x1=On/Off, 0x2=Data(0-4000), 0x3=Percent(0-1000 = Mode 2B 5,6,7,8 0-100.0%), 0x4=Amps(0-4000 = 0-4.000 amps) Mode 3A 1,2,3,4 Mode 0x0=disabled, 0x1=On/Off Mode 0x0=disabled, 0x1=On/Off, 0x2=Data(0-4000), 0x3=Percent(0-1000 = Mode 3B 5,6,7,8 0-100.0%), 0x4=Amps(0-4000 = 0-4.000 amps)

  • Page 52: Module Pwmi Pid Configuration

    7.14 MODULE PWMi PID CONFIGURATION Index Sub-Index Name Data Type Byte Bits Description Port1A_Kp Port 1A proportional set point (0-250 = 0-2.50, >250=0) default 100 (Not Used) Port1A_Ki Port 1A integral set point (0-250 = 0-2.50, >250=0) default 100 (Not Used) Port1B_Kp Port 1B proportional set point (0-250 = 0-2.50, >250=0) default 100 Port1B_Ki Port 1B integral set point (0-250 = 0-2.50, >250=0) default 100 Port2A_Kp Port 2A proportional set point (0-250 = 0-2.50, >250=0) default 100 Port2A_Ki Port 2A integral set point (0-250 = 0-2.50, >250=0) default 100 Port2B_Kp Port 2B proportional set point (0-250 = 0-2.50, >250=0) default 100 Port2B_Ki Port 2B integral set point (0-250 = 0-2.50, >250=0) default 100 Port3A_Kp Port 3A proportional set point (0-250 = 0-2.50, >250=0) default 100 (Not Used) Port3A_Ki Port 3A integral set point (0-250 = 0-2.50, >250=0) default 100 (Not Used) Port3B_Kp Port 3B proportional set point (0-250 = 0-2.50, >250=0) default 100 Port3B_Ki Port 3B integral set point (0-250 = 0-2.50, >250=0) default 100 Port4A_Kp Port 4A proportional set point (0-250 = 0-2.50, >250=0) default 100 Port4A_Ki Port 4A integral set point (0-250 = 0-2.50, >250=0) default 100 Port4B_Kp Port 4B proportional set point (0-250 = 0-2.50, >250=0) default 100...

  • Page 53: Frequency

    A Murrelektronik Company 7.16 FREQUENCY Index Sub-Index Name Data Type Byte Bits Description A Murrelektronik Company 3000 Frequency Word Sets the configuration of the frequency for all channels (30-1140 Hz) 7.17 RESPONSE MESSAGE Index Sub-Index Name Data Type Byte Bits Description Status 1 Factory Default Configuration Status 2 Configuration Saved (module is configured) Status 3 Alternate Configuration Received...

  • Page 54: Status Message F2

    Index Sub-Index Name Data Type Byte Bits Description Output 7A Status Status of Output 7A, (00 = off), (01 = on), (10 = fault) Output 7B Status Status of Output 7B, (00 = off), (01 = on), (10 = fault) Output 8A Status Status of Output 8A, (00 = off), (01 = on), (10 = fault) Output 8B Status Status of Output 8B, (00 = off), (01 = on), (10 = fault) 2 Bit 5001 Power Bus P1 Status of Power Bus P1 (00 = off), (01 = on), (10 = fault) Power Bus P2 Status of Power Bus P2 (00 = off), (01 = on), (10 = fault) Power Bus P3 Status of Power Bus P3 (00 = off), (01 = on), (10 = fault) Power Bus P4 Status of Power Bus P4 (00 = off), (01 = on), (10 = fault) Save Config Counter Byte Count of how many times the configuration has been saved to the module 7.19 STATUS MESSAGE F2 Index Sub-Index Name...

  • Page 55: Fault Message

    A Murrelektronik Company Index Sub-Index Name Data Type Byte Bits Description PORT 5B AMP FEEDBACK Current reading on Port 5B, 0-4,000 = 0-4000 mA A Murrelektronik Company PORT 6A AMP FEEDBACK Current reading on Port 6A, 0-4,000 = 0-4000 mA PORT 6B AMP FEEDBACK Current reading on Port 6B, 0-4,000 = 0-4000 mA 5003 PORT 7A AMP FEEDBACK Word Current reading on Port 7A, 0-4,000 = 0-4000 mA PORT 7B AMP FEEDBACK Current reading on Port 7B, 0-4,000 = 0-4000 mA PORT 8A AMP FEEDBACK Current reading on Port 8A, 0-4,000 = 0-4000 mA PORT 8B AMP FEEDBACK Current reading on Port 8B, 0-4,000 = 0-4000 mA 7.21 FAULT MESSAGE Index Sub-Index Name Data Type Byte Bits...

  • Page 56: Write Analog Output 16-Bit

    7.23 WRITE ANALOG OUTPUT 16-BIT Index Sub-Index Name Data Type Byte Bits Description PWM Ctrl Port 1A Not used 1, 2, 3, 4 PWM Output 1B, PWM Ctrl Port 1B (12 bit, uses the 1st byte and the first 4 bits of the 2nd byte) 1, 2, 3, 4 PWM Output 2A PWM Ctrl Port 2A (12 bit, uses the 1st byte and the first 4 bits of the 2nd byte) 1, 2, 3, 4 PWM Output 2B PWM Ctrl Port 2B (12 bit, uses the 1st byte and the first 4 bits of the 2nd byte) 1, 2, 3, 4 PWM Ctrl Port 3A Not used 1, 2, 3, 4 PWM Output 3B PWM Ctrl Port 3B (12 bit, uses the 1st byte and the first 4 bits of the 2nd byte) 1, 2, 3, 4 PWM Output 4A PWM Ctrl Port 4A (12 bit, uses the 1st byte and the first 4 bits of the 2nd byte) 1, 2, 3, 4 PWM Output 4B PWM Ctrl Port 4B (12 bit, uses the 1st byte and the first 4 bits of the 2nd byte) 1, 2, 3, 4...
  • Page 57 A Murrelektronik Company A Murrelektronik Company...

  • Page 58: Data Sheet

    8. DATA SHEET 8.1 PORT CONFIGURATION Configuration & Power Plug See next page for pinout guide 9 10 11 12 13 14 15 16 17 18 CAN Ports 1 & 2 Non-Isolated Power (J1939) (Module & Input-13A) Pin 2 = CAN High Pin 1 = 8-32V DC Pin 4 = CAN Low Pin 3 = Ground (A) Output Ports Power Outputs Pin 1 = Ground B Ports 1 & 3: 10A, 4A Pin 3 = Ground B Ports 2, 4-8: 4A, 4A Configurations Ports 1A, 3A (10 Amp): • Port 1, Pin 4: Output 1A •...

  • Page 59: Technical Data

    A Murrelektronik Company Configuration & Power Plug Pinouts Jumper from A to B to configure A Murrelektronik Company Power (Output Only) Baud Rate 13. Power 1 = 13A for ports 1 & 2 (Outputs 1A, 1B, 2A, 2B) No Jumper = 250kb 14. Power 2 = 13A for ports 3 & 4 (Outputs 3A, 3B, 4A, 4B) 1. Baud1-A Baud1-A to Baud1-B = 500kb 15. Power 3 = 13A for ports 5 & 6 (Outputs 5A, 5B, 6A, 6B) 7. Baud1-B 6. Power 4 = 13A for ports 7 & 8 (Outputs 7A, 7B, 8A, 8B) Node ID (0-15) 16. Ground 1B = for ports 1 & 2 (Outputs 1A, 1B, 2A, 2B) 2. Config1-A = 1s 17. Ground 2B = for ports 3 & 4 (Outputs 3A, 3B, 4A, 4B) 8. Config1-B 9 10 11 12 18. Ground 3B = for ports 5 & 6 (Outputs 5A, 5B, 6A, 6B) 12. Ground 4B = for ports 7 & 8 (Outputs 7A, 7B, 8A, 8B) 3. Config2-A 13 14 15 16 17 18 = 2s 9. Config2-B...

  • Page 60: Model Code Part Number Structure

    8.3 MODEL CODE PART NUMBER STRUCTURE Data Panel Product Group Special Features Made in the USA 00 = Standard xtremeDB Family Communication xtremeDB Type 0 - J1939, Slave Only 44 - Active Modules 1 - DPLogic Enabled, Master or Slave 2 - CANopen, Slave Only Variant 1 - Combo Block, 8 Inputs/8 Outputs (Includes all in/output types) 2 - All Inputs 3 - All Outputs (PWM) 4 - All Outputs (PWMi) 5 - All Outputs (Digital) 7 - PVG Valve Driver, 8 Sections (Ratiometric or On/Off) Example: DP-34044-3-000 is a J1939 standard combo unit. First generation part numbers will be updated by adding “-000” to indicate standard J1939 Murr product.

  • Page 61: Firmware Updates

    A Murrelektronik Company 9. FIRMWARE UPDATES A Murrelektronik Company All modules are capable of in the field firmware updates with the use of the xtreme DB Programming Kit (DP-34005-12). DP Loader is the software used to download the firmware to the xtreme DB blocks. Please reference the DP Loader User Manual for instructions.
  • Page 62 A Murrelektronik Company 181 Cheshire Lane North, Suite 300 | Plymouth, MN 55441 P: 952-941-3511 | F: 952-941-3931 | datapanel.com...

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