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Deditec COS Series Hardware Description

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COS-REL8
Hardware-Description
2021
September

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Summary of Contents for Deditec COS Series

  • Page 1 COS-REL8 Hardware-Description 2021 September...
  • Page 2 INDEX 1. Hardware Description 1.1. COS-REL8 1.1.1. technical data 1.1.2. connection example 1.1.2.1. outputs 1.1.3. block diagram 1.1.4. pin assignment 1.2. Installation 1.3. coding switch 1.4. Dimensions 1.5. Control LEDs 1.5.1. COS-REL8 1.6. CAN connection and power supply 1.7. Firmware Update 2.
  • Page 3 2.3.1.23. 0x1F51 Program Control 2.3.1.24. 0x1F80 MNT Startup 2.3.2. manufacturer profile 2.3.2.1. 0x2100 Custom Data 2.3.2.2. 0x5F00 Deditec Special 2.3.2.3. 0x5F10 Deditec Register Mode Read 2.3.2.4. 0x5F20 Deditec Register Mode Write 2.3.3. device profile 2.3.3.1. Digital outputs 2.3.3.1.1. 0x6200 Write Output 8-Bit 2.3.3.1.2.
  • Page 4 INDEX 2.5.2. Heartbeat Protokoll 2.6. Emergency 2.7. PDOs 2.8. Store in EEPROM 3. CAN Bus length 4. appendix 4.1. revisions Index | Seite...
  • Page 5 Hardware Description Hardware Description | Seite...
  • Page 6 1. Hardware Description 1.1. COS-REL8 CANopen profiles according to CiA® specification CiA 301, CiA 305 and CiA 401 Galvanic isolation of the CAN bus 8 relay outputs (galvanically isolated) AC switching voltage (36V / 3A or 5A) DC switching voltage (30V / 3A or 5A) Node number and baud rate configurable via coding switch or LED status display for each input/output channel Suitable for DIN rail mounting (TS35)
  • Page 7 1.1.1. technical data CAN-Interface supply voltage 7V to 24V DC via voltage plug or Inrail bus Interface CAN (galvanically isolated via optocoupler) logs Configurable via coding switch CANopen according to CiA® specification CiA 301, CiA 305 and CiA 401 CAN 2.0A or CAN 2.0B Baud rates Configurable via coding switch 1 Mbit/s, 800 Kbit/s, 500 Kbit/s,...
  • Page 8 General outputs Relay Outputs Switching voltage: 36V AC, 30V Max. Inrush current: 3A AC/DC or 5A AC/DC (depending on version) Max. transport stream: 3A AC/ DC or 5A A/C/DC (depending on version) Max. Switching capacity: 78W AC, 60W DC Insulation voltage (between open contacts): 750 V rms...
  • Page 9 1.1.2. connection example 1.1.2.1. outputs Hardware Description | Seite...
  • Page 10 1.1.3. block diagram Hardware Description | Seite...
  • Page 11 1.1.4. pin assignment Port 1 & 2 3 & 4 5 & 6 7 & 8 9 & 10 11 & 12 13 & 14 15 & 16 Hardware Description | Seite...
  • Page 12 1.2. Installation Modules of the COS series can be operated stand-alone or in combination. In a network, the CAN bus and the power supply can be passed on via the in-rail bus connector (see accessories). Hardware Description | Seite...
  • Page 13 1.3. coding switch The operating mode, bit rate and node number (Node ID) can be determined via coding switches. The coding switches are located at the bottom of the front panel. In this example the operating mode is CANopen, the bit rate is 250 kBit/s and the Node ID is 0x24 Hardware Description | Seite...
  • Page 14 Coding switch Mode Baud rate value operating Description mode CANopen Bitrate = 1000 kBit/s CANopen Bitrate = 800 kBit/s CANopen Bitrate = 500 kBit/s CANopen Bitrate = 250 kBit/s CANopen Bitrate = 125 kBit/s CANopen Bitrate = 100 kBit/s CANopen Bitrate = 50 kBit/s CANopen Bitrate = 20 kBit/s...
  • Page 15 Attention The coding switches are always queried at module start. Hardware Description | Seite...
  • Page 16 1.4. Dimensions 1) front view Dimensions in mm Hardware Description | Seite...
  • Page 17 2) Side view (DIN rail mounting left) Dimensions in mm Hardware Description | Seite...
  • Page 18 1.5. Control LEDs The upper part of the front panel contains 2 LEDs (Run and Error) in the left area, which indicate various CANopen states. In addition, the status LED, which shows manufacturer-specific information, is located in the right area. Flashing states for Run and Error LED State Description...
  • Page 19 CANopen Run LED State Description blinking Pre-Operational Operational 1 flash Stopped CANopen Error LED State Beschreibung no error 1 flash CAN-Controller status "error" 2 flashes Heartbeat/Nodeguard error 3 flashes Synchronization error 4 flashes Event Timer error CAN-Controller status "Bus Off" Hardware Description | Seite...
  • Page 20 status LED The status LED indicates the state (application or bootloader) of the module. The status LED lights up for 5 seconds (application) or 2 seconds (bootloader). At the end of this sequence, the LED can also flash "n times", but at least once, indicating the submode.
  • Page 21 Flashing at the end of the sequence Number Description of flashes CANopen mode, NodeID and baud rate via coding switch CANopen mode, NodeID via coding switch, baud rate successfully determined via autobaud CANopen mode, NodeID via coding switch, Baud rate via autobaud still pending CANopen mode, fixed NodeID (0x7e) and baud rate (1000 kBit/s)
  • Page 22 Bootloader The status LED lights for 2 seconds and goes out for about 300ms. The bootloader sequence repeats itself. explanation Hardware Description | Seite...
  • Page 23 1.5.1. COS-REL8 LED "1" ... "8" Shows the status of the respective output LED ON = relay is switched LED OFF = relay is not switched Hardware Description | Seite...
  • Page 24 1.6. CAN connection and power supply Power supply and CAN bus can be connected in parallel via the 5- pin plug connector. Description explanation +7..24V Power supply CAN GND CAN-Bus CAN High CAN Low 1.7. Firmware Update Updating the firmware by the emtas - CANopen UpdateManager Tool.
  • Page 25 Establishing a connection to the module Bootloader ID: 126 Node ID: 126 Select firmware file Check Device Data Firmware update Hardware Description | Seite...
  • Page 26 Hardware Description | Seite...
  • Page 27 CANopen Log CANopen Log | Seite...
  • Page 28 2. CANopen Log 2.1. Identifier By default, the CANopen identifiers are assigned according to the Predefined Connection Set, which is described in the CANopen communication profile DS-301. COB-ID object 0x000 Network Management 0x080 SYNC 0x080 + NodeID EMERGENCY 0x180 + NodeID Client PDO1 0x200 + NodeID Server PDO1...
  • Page 29 Thus these COB-IDs are active even if the Node-ID is changed. To adapt the COB IDs to the new node ID, the Communication Parameters (0x1011:2 - 0x1011 Restore default parameters) must be reset. CANopen Log | Seite...
  • Page 30 2.2. Network Management NMT messages (Network Management Messages) can be used to change the operating status of the module. Start Node COB-ID DLC Byte0 Byte1 0x01 Node ID The "Start Node" message sets the module to the "Operational" state. Communication via PDO can only take place in this state. Stop Node COB-ID DLC Byte0...
  • Page 31 Reset Node COB-ID DLC Byte0 Byte1 0x80 Node ID A hardware reset of the module is triggered via the message "Reset Node". After restarting the module it is in the "Pre-Operational" state. CANopen Log | Seite...
  • Page 32 2.3. object directory All relevant data (process data, parameters, ..) of a CANopen module are uniformly made available to other bus participants in an object directory. Each object has a 16-bit index and an 8-bit subindex. For a better overview, the index area is divided into logical segments: Index Description...
  • Page 33 2.3.1. communication profile The module COS-REL8 has implemented the following objects from the communication profile DS-301: Index Description data type unsigned 0x1000 Device Type 0x1001 Error Register unsigned 8 unsigned 0x1003 Predefined Error Field unsigned 0x1003:1 Standard Error Field unsigned 0x1003:2 Standard Error Field unsigned...
  • Page 34 Index Description data type visible 0x1008 Manufacturer device name string visible 0x100a Manufacturer software version string unsigned 0x100c Guard time 0x100d Life time factor unsigned 8 0x1010 Store parameters unsigned 8 unsigned 0x1010:1 Save all parameters unsigned 0x1010:2 Save communication parameters unsigned 0x1010:3 Save application parameters...
  • Page 35 Index Description data type Restore communication default unsigned 0x1011:2 parameters Restore application default unsigned 0x1011:3 parameters Restore manufacturer default unsigned 0x1011:4 parameters unsigned 0x1014 COB ID EMCY unsigned 0x1015 Inhibit Time Emergency 0x1016 Consumer Heartbeat Time unsigned 8 unsigned 0x1016:1 Consumer Heartbeat Time 1 unsigned 0x1016:2...
  • Page 36 Index Description data type unsigned 0x1018:2 Product Code unsigned 0x1018:3 Revision number unsigned 0x1018:4 Serial number 0x1029 Error behaviour unsigned 8 0x1029:1 Communication Error unsigned 8 0x1029:2 Specific Error Class unsigned 8 0x1400 RPDO1 Communication Parameter unsigned 8 unsigned 0x1400:1 COB ID 0x1400:2 Transmission Type...
  • Page 37 Index Description data type 0x1401:2 Transmission Type unsigned 8 0x1402 RPDO3 Communication Parameter unsigned 8 unsigned 0x1402:1 COB ID 0x1402:2 Transmission Type unsigned 8 0x1403 RPDO4 Communication Parameter unsigned 8 unsigned 0x1403:1 COB ID 0x1403:2 Transmission Type unsigned 8 0x1600 RPDO1 Mapping Parameter unsigned 8 unsigned...
  • Page 38 Index Description data type unsigned 0x1600:3 Mapping Entry 3 unsigned 0x1600:4 Mapping Entry 4 unsigned 0x1600:5 Mapping Entry 5 unsigned 0x1600:6 Mapping Entry 6 unsigned 0x1600:7 Mapping Entry 7 unsigned 0x1600:8 Mapping Entry 8 0x1601 RPDO2 Mapping Parameter unsigned 8 unsigned 0x1601:1 Mapping Entry 1...
  • Page 39 Index Description data type unsigned 0x1601:5 Mapping Entry 5 unsigned 0x1601:6 Mapping Entry 6 unsigned 0x1601:7 Mapping Entry 7 unsigned 0x1601:8 Mapping Entry 8 0x1602 RPDO3 Mapping Parameter unsigned 8 unsigned 0x1602:1 Mapping Entry 1 unsigned 0x1602:2 Mapping Entry 2 unsigned 0x1602:3 Mapping Entry 3...
  • Page 40 Index Description data type unsigned 0x1602:7 Mapping Entry 7 unsigned 0x1602:8 Mapping Entry 8 0x1603 RPDO4 Mapping Parameter unsigned 8 unsigned 0x1603:1 Mapping Entry 1 unsigned 0x1603:2 Mapping Entry 2 unsigned 0x1603:3 Mapping Entry 3 unsigned 0x1603:4 Mapping Entry 4 unsigned 0x1603:5 Mapping Entry 5...
  • Page 41 Index Description data type 0x1800 TPDO1 Communication Parameter record unsigned 0x1800:1 COB ID 0x1800:2 Transmission Type unsigned 8 unsigned 0x1800:3 Inhibit Time unsigned 0x1800:4 Event Timer 0x1801 TPDO2 Communication Parameter record unsigned 0x1801:1 COB ID 0x1801:2 Transmission Type unsigned 8 unsigned 0x1801:3 Inhibit Time...
  • Page 42 Index Description data type unsigned 0x1802:1 COB ID 0x1802:2 Transmission Type unsigned 8 unsigned 0x1802:3 Inhibit Time unsigned 0x1802:4 Event Timer 0x1803 TPDO4 Communication Parameter record unsigned 0x1803:1 COB ID 0x1803:2 Transmission Type unsigned 8 unsigned 0x1803:3 Inhibit Time unsigned 0x1803:4 Event Timer unsigned...
  • Page 43 Index Description data type unsigned 0x1a00:2 Mapping Entry 2 unsigned 0x1a00:3 Mapping Entry 3 unsigned 0x1a00:4 Mapping Entry 4 unsigned 0x1a00:5 Mapping Entry 5 unsigned 0x1a00:6 Mapping Entry 6 unsigned 0x1a00:7 Mapping Entry 7 unsigned 0x1a00:8 Mapping Entry 8 unsigned 0x1a01 TPDO2 Mapping Parameter unsigned...
  • Page 44 Index Description data type unsigned 0x1a01:4 Mapping Entry 4 unsigned 0x1a01:5 Mapping Entry 5 unsigned 0x1a01:6 Mapping Entry 6 unsigned 0x1a01:7 Mapping Entry 7 unsigned 0x1a01:8 Mapping Entry 8 unsigned 0x1a02 TPDO3 Mapping Parameter unsigned 0x1a02:1 Mapping Entry 1 unsigned 0x1a02:2 Mapping Entry 2 unsigned...
  • Page 45 Index Description data type unsigned 0x1a02:6 Mapping Entry 6 unsigned 0x1a02:7 Mapping Entry 7 unsigned 0x1a02:8 Mapping Entry 8 unsigned 0x1a03 TPDO4 Mapping Parameter unsigned 0x1a03:1 Mapping Entry 1 unsigned 0x1a03:2 Mapping Entry 2 unsigned 0x1a03:3 Mapping Entry 3 unsigned 0x1a03:4 Mapping Entry 4 unsigned...
  • Page 46 Index Description data type unsigned 0x1a03:7 Mapping Entry 7 unsigned 0x1a03:8 Mapping Entry 8 0x1f51 Program Control unsigned 8 0x1f51:1 Program Control unsigned 8 unsigned 0x1f80 NMT Startup CANopen Log | Seite...
  • Page 47 2.3.1.1. 0x6002 Polarity Input 8 Bit 4 Index 0x6002 determines the polarity of the digital inputs. Sub- Description data access Default type index unsigned number of entries Polarity Input Channel unsigned 1..8 Subindex 1 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Port...
  • Page 48 2.3.1.2. 0x1000 Device Type 0x1601:The device type can be read via the index 0x1000. Sub- Description data type access Default index unsigned 0x0003 Device Type 0191 Device Type Description value [dez] Special functionality Manufacturer-specific PDO mapping implemented reserved Analog outputs implemented Analog inputs implemented Digital outputs implemented Digital inputs implemented...
  • Page 49 2.3.1.3. 0x1001 Error Register The error register of the module can be read via index 0x1001. Sub- Description data access Default type index unsigned Error Register 0x00 Supported bits of the error register Description generic communication Possible errors value Description 0x00 no error 0x01...
  • Page 50 2.3.1.4. 0x1003 Predefined Error Field The error history of the module can be accessed via index 0x1003. Subindex 0 contains the number of occurred errors. As soon as an error occurs, it is stored under subindex 1 and subindex 0 is incremented. If further, older errors occur, the subindex of these errors is also incremented.
  • Page 51 2.3.1.5. 0x1005 COB ID SYNC The identifier for SYNC messages (synchronization message) can be set via index 0x1005. SYNC messages can be used to trigger the sending of a PDO. Sub- Description data access Default type index unsigned COB ID SYNC Message 0x80 2.3.1.6.
  • Page 52 2.3.1.8. 0x100C Guard Time The time [ms] for device monitoring can be set via index 0x100C. This value is multiplied by 0x100D Life Time Factor. The result of this multiplication is the Life Time. By default the Guard Time is configured to 0ms. Node guarding is therefore inactive! Sub- Description...
  • Page 53 2.3.1.9. 0x100D Life Time Factor Via the index 0x100D a factor for the time of the device monitoring can be set. This factor is multiplied by 0x100C Guard Time. The result of this multiplication is the Life Time. By default, the Life Time Factor is configured with 0. Node guarding is therefore inactive! Sub- Description...
  • Page 54 2.3.1.10. 0x1010 Store parameters Via index 0x1010 current module parameters can be stored in the EEPROM. To save, a write access with the value 0x65766173 (= ASCII "save") must take place. The subindex determines which parameters are to be stored. Sub- Description data...
  • Page 55 2.3.1.11. 0x1011 Restore default parameters The module parameters can be reset to the factory setting via index 0x1011. To reset, a write access with the value 0x64616F6C(= ASCII "load") must take place. The subindex determines which parameters are to be reset. Sub- Description data...
  • Page 56 2.3.1.12. 0x1014 COB ID EMCY Index 0x1014 defines the COB-ID for Emergency Messages (EMCY). Sub- Description data access Default type index unsigned 0x80 + COB-ID EMCY NodeID 2.3.1.13. 0x1015 Inhibit Time Emergency The inhibit time (dead time) for EMCY messages (emergency messages) can be defined via index 0x1015.
  • Page 57 2.3.1.14. 0x1016 Consumer Heartbeat Time The consumer heartbeat time is defined via index 0x1016. Other CANopen bus participants can be monitored with the heartbeat protocol. For this purpose, index 0x1017 Producer Heartbeat Time must be active on the device to be monitored. This device then sends a CAN message (heartbeat) cyclically in the defined time.
  • Page 58 Consumer Heartbeat Time Description Wert [dez] reserved z.B. device address / NodeID 0x3F z.B. 1000 Heartbeat Producer Time [ms] für 1Sek. CANopen Log | Seite...
  • Page 59 2.3.1.14.1. 0x 1017 Producer Heart beat T ime The Producer Heartbeat Time can be defined via index 0x1017. If the heartbeat producer is activated (value > 0), a heartbeat message on identifier "0x700 + nodeID" is sent cyclically during this time. The heartbeat protocol is suitable for monitoring a node.
  • Page 60 Revision Number unsigned Serial Number Vendor ID The Vendor ID is a unique manufacturer identification. The DEDITEC Vendor ID has the value 0x44F. Product Code The product code is a manufacturer-specific identifier for identifying the hardware. Revision Number This can be used to query the firmware version of the module.
  • Page 61 Serial Number The serial number is the serial number of the module. CANopen Log | Seite...
  • Page 62 2.3.1.16. 0x1400 Receive PDO1 Communication Parameter The communication parameters for the RPDO (receive PDO) are defined via index 0x1400. By default, the top bit of the COB-ID is not set. RPDO1 is therefore active. Sub- Description data access Default type index unsigned number of entries...
  • Page 63 Transmission Type value Description acyclically synchronous, Module reacts to each SYNC message cyclically synchronous, 1 .. 240 Module reacts to every "nth" SYNC message event-driven, PDO is sent when Event Timer expires more information about the Transmission Type can be found here CANopen Log | Seite...
  • Page 64 2.3.1.16.1. 0x 1029 E rror behav iour The index 0x1029 describes the error behavior in the operating mode "Operational". By default, the module switches to the "Pre-Operational" operating mode in the event of an operating fault (e.g. heartbeat timeout or bus off). Sub- Description data...
  • Page 65 2.3.1.17. 0x1600 Receive PDO1 Mapping Parameter The mapping parameters for the RPDO1 (receive PDO) are defined via index 0x1600. Subindex 1 is configured by default so that the incoming data (byte0 in the receive PDO) are mapped to the digital outputs (0x6200:1 - 0x6200 Write Output 8-Bit).
  • Page 66 Attention By default, RPDO1 is active. To edit the mapping entries, the COB- ID (0x1400:1 - 0x1400 Receive PDO1 Communication Parameter) must be set to invalid. CANopen Log | Seite...
  • Page 67 Mapping Entry Description Index Subindex Länge possible mapping Mapping Description [hex] 6200 01 08 Digital outputs Ch 01..08 0005 00 08 Dummy Mapping CANopen Log | Seite...
  • Page 68 2.3.1.18. 0x1800 Transmit PDO1 Communication Parameter The communication parameters for the 1.TPDO (transmit PDO) are defined via index 0x1800. By default, the top bit of the COB-ID is not set. TPDO1 is therefore active. Sub- Description data access Default type index unsigned number of entries...
  • Page 69 COB ID Description PDO valid 0=valid, 1=invalid RTR allowed 0=yes, 1=no Frame Type 0=11 Bit, 1=29 Bit Identifier CANopen Log | Seite...
  • Page 70 Transmission Type value Description acyclically synchronous, Module reacts to each SYNC message cyclically synchronous, 1 .. 240 Module reacts to every "nth" SYNC message event-driven, PDO is sent when Event Timer expires Inhibit Time The Inhibit Time is a period of time that must be waited between sending identical messages.
  • Page 71 2.3.1.19. 0x1801 Transmit PDO2 Communication Parameter The communication parameters for the 2.TPDO (transmit PDO) are defined via index 0x1801. By default, the highest bit of the COB-ID is set. TPDO2 is therefore inactive. Sub- Description data access Default type index unsigned number of entries 0x8000...
  • Page 72 COB ID Description PDO valid 0=valid, 1=invalid RTR allowed 0=yes, 1=no Frame Type 0=11 Bit, 1=29 Bit Identifier CANopen Log | Seite...
  • Page 73 Transmission Type value Description acyclically synchronous, Module reacts to each SYNC message cyclically synchronous, 1 .. 240 Module reacts to every "nth" SYNC message event-driven, PDO is sent when Event Timer expires Inhibit Time The Inhibit Time is a period of time that must be waited between sending identical messages.
  • Page 74 2.3.1.20. 0x1802 Transmit PDO3 Communication Parameter The communication parameters for the 3.TPDO (transmit PDO) are defined via index 0x1802. By default, the highest bit of the COB-ID is set. TPDO3 is therefore inactive. Sub- Description data access Default type index unsigned number of entries 0x8000...
  • Page 75 COB ID Description PDO valid 0=valid, 1=invalid RTR allowed 0=yes, 1=no Frame Type 0=11 Bit, 1=29 Bit Identifier CANopen Log | Seite...
  • Page 76 Transmission Type value Description acyclically synchronous, Module reacts to each SYNC message cyclically synchronous, 1 .. 240 Module reacts to every "nth" SYNC message event-driven, PDO is sent when Event Timer expires Inhibit Time The Inhibit Time is a period of time that must be waited between sending identical messages.
  • Page 77 2.3.1.21. 0x1A01 Transmit PDO2 Mapping Parameter The mapping parameters for the 2.TPDO (transmit PDO) are defined via index 0x1a01. Subindex 1..4 is configured by default so that the input counters Ch 01..04 (0x2411:1..0x2411:4 - 0x2411 Read Input Counter 16 Bit) are mapped to Byte 0..7 in the 2nd TPDO (transmit PDO). Sub- Description data...
  • Page 78 Mapping Entry Description Index Subindex Länge possible Mapping Mapping Description [hex] 6000 01 08 Digital inputs Ch 01..08 5010 01 10 input counter Ch 01..08 5010 08 10 0005 00 08 Dummy Mapping CANopen Log | Seite...
  • Page 79 2.3.1.21.1. 0x 1A00 T ransmit PD O1 Mapping Paramet er The mapping parameters for the 1.TPDO (transmit PDO) are defined via index 0x1a00. Subindex 1 is configured by default so that the states of the digital inputs (0x6000:1 - 0x6000 Read Input 8-Bit) are mapped to Byte0 in the transmit PDO.
  • Page 80 Attention By default TPDO1 is active. To edit the mapping entries the COB- (0x1800:1 0x1800 Transmit PDO1 Communication Parameter) must be set invalid. CANopen Log | Seite...
  • Page 81 Mapping Entry Description Index Subindex Lenght possible Mapping Mapping Description [hex] 6000 01 08 Digital inputs Ch 01..08 5010 01 10 input counter Ch 01..08 5010 08 10 0005 00 08 Dummy Mapping CANopen Log | Seite...
  • Page 82 2.3.1.22. 0x1A02 Transmit PDO3 Mapping Parameter The mapping parameters for the 3.TPDO (transmit PDO) are defined via index 0x1a02. Subindex 1..4 is configured by default so that the input counters Ch 05..08 (0x2411:5..0x2411:8 - 0x2411 Read Input Counter 16 Bit) are mapped to Byte 0..7 in the 3rd TPDO (transmit PDO). Sub- Description data...
  • Page 83 Mapping Entry Description Index Subindex Länge possible Mapping Mapping Description [hex] 6000 01 08 Digital inputs Ch 01..08 5010 01 10 input counter Ch 01..08 5010 08 10 0005 00 08 Dummy Mapping CANopen Log | Seite...
  • Page 84 access 2.3.1.23. 0x1F51 Program Control The current program (e.g. firmware or bootloader) can be selected or controlled via index 0x1F51. This object is required if a new firmware is to be installed. Sub- Description data access Default type index unsigned number of entries unsigned Program Control...
  • Page 85 2.3.1.24. 0x1F80 MNT Startup Index 0x1F80 can be used to define the operating mode after the module has been switched on/reset. The automatic change to operating mode "Operational" should only be used in environments where no NMT master is available. Sub- Description data...
  • Page 86 Custom Data 3 unsigned 0x2100:4 Custom Data 4 unsigned 0x2100:5 Custom Data 5 unsigned 0x2100:6 Custom Data 6 unsigned 0x2100:7 Custom Data 7 unsigned 0x2100:8 Custom Data 8 0x5F00 DEDITEC Special unsigned 8 unsigned 0x5F00:1 ModuleState CANopen Log | Seite...
  • Page 87 Description data type unsigned 0x5F00:2 CfgModuleID unsigned 0x5F00:3 ModuleType unsigned 0x5F00:4 BootloadID0..3 unsigned 0x5F00:5 BootloadID4..7 0x5F10 DEDITEC Register Mode Read unsigned 8 unsigned 0x5F10:1 Register Address unsigned 0x5F10:2 Read Byte unsigned 0x5F10:3 Read Word unsigned 0x5F10:4 Read Long unsigned 0x5F10:5...
  • Page 88 Index Description data type unsigned 0x5F10:7 Read Long + Increment Address unsigned 0x5F10:8 Error Code 0x5F20 DEDITEC Register Mode Write unsigned 8 unsigned 0x5F20:1 Register Address unsigned 0x5F20:2 Write Byte unsigned 0x5F20:3 Write Word unsigned 0x5F20:4 Write Long unsigned 0x5F20:5...
  • Page 89 2.3.2.1. 0x2100 Custom Data Via index 0x2100 up to 8 double words (DWORD / 32 Bit) can be stored in the EEPROM of the module. A write access causes an automatic saving. A write access to index 0x1010:0 or 0x1010:4 (Store parameters) is therefore not necessary..
  • Page 90 2.3.2.2. 0x5F00 Deditec Special Index is required for internal purposes. 2.3.2.3. 0x5F10 Deditec Register Mode Read Index is required for internal purposes. 2.3.2.4. 0x5F20 Deditec Register Mode Write Index is required for internal purposes. CANopen Log | Seite...
  • Page 91 2.3.3. device profile The module COS-REL8 has implemented the following objects from the device profile DS-401: Digital inputs Index Description data type 0x6000 Read Input 8 Bit unsigned 8 0x6002 Polarity Input 8 Bit unsigned 8 0x6003 Filter Constant Input 8 Bit unsigned 8 0x6005 Global Interrupt Enable Digital...
  • Page 92 2.3.3.1. Digital outputs Context of the implemented objects for digital outputs CANopen Log | Seite...
  • Page 93 2.3.3.1.1. 0x 6200 Writ e Out put 8- Bit Index 0x6200 is used to set the state of the digital outputs. In addition, the state can also be read back. Note: With the DIO8, channels must be defined as outputs before they can be set.
  • Page 94 SDO Frame COB- Byte Byte Byte Byte Byte Byte Byte Byte 0x61 0x2F 0x00 0x62 0x01 0x42 0x00 0x00 0x00 Response Frame COB- Byte Byte Byte Byte Byte Byte Byte Byte 0x59 0x60 0x00 0x62 0x01 0x00 0x00 0x00 0x00 CANopen Log | Seite...
  • Page 95 2.3.3.1.2. 0x 6202 Polarit y Out put 8 Bit Index 0x6202 defines the polarity of the digital outputs. Sub- Description Datenty access Default index unsigned Number of entries Polarity Output unsigned Channel 1..8 Subindex 1 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0...
  • Page 96 2.3.3.1.3. 0x 6206 E rror Mode Out put 8 Bit Index 0x6206 can be used to specify whether the outputs are to be switched to a special state in the event of an error. The state itself is defined in object 0x6207 Error Value Output 8 Bit.
  • Page 97 2.3.3.1.4. 0x 6207 E rror Value Out put 8 Bit Index 0x6207 can be used to define a state separately for each output, which is set in the event of an error. The Error Mode for the corresponding output must be activated in object 0x6206 Error Mode Output 8 Bit.
  • Page 98 2.4. Access via SDOs The object directory of a CANopen module is accessed via so- called SDOs (Service Data Object) and is only permitted in the operating modes "Pre-Operational" and "Operational". Each SDO access is confirmed with a response frame. Structure SDO Frame COB- Byte...
  • Page 99 Response Frame COB- Byte Byte Byte Byte Byte Byte Byte Byte 0x58 0x4F 0x00 0x60 0x01 0x88 0x00 0x00 0x00 CANopen Log | Seite...
  • Page 100 Identifier The parameters are transmitted on ID 0x600 + 0x0A (NodeID) (Request). The receiver acknowledges the parameters on ID 0x580 + 0x0A (NodeID) (Response). Command The command in the request frame consists of the Specifier (0x40 - Read Request) and the length (0x0 - undefined). Accordingly, the receiver acknowledges with the command 0x4F (Read Response with 1 byte data).
  • Page 101 Frequently used commands command Number of bytes value 0x2F 0x2B Write Request 0x27 0x23 unbestimmt 0x22 Write 0x60 Response Read Request 0x40 0x4F 0x4B Read Response 0x47 0x43 unbestimmt 0x42 Error Response 0x80 CANopen Log | Seite 101...
  • Page 102 2.4.1. SDO error messages If an error occurs during SDO communication, the receiver acknowledges this with an SDO error frame. The identifier and index refer to the device on which the error occurred. Structure SDO Error Frame COB- Byte Byte Byte Byte Byte...
  • Page 103 error code Description Incorrect number of data 0x0607 0010 bytes 0x0607 0012 Length too small 0x0607 0013 Length too large 0x0609 0011 Subindex unknown Transmitted parameter 0x0609 0030 outside the value range 0x0800 0000 undefined error cause Data cannot be transferred 0x0800 0020 or stored Data cannot be transferred...
  • Page 104 2.5. device monitoring There are two ways to monitor a CANopen Node, or protocols: node guarding Heartbeat Protocol reference CAN in Automation (CiA) recommends using only the heartbeat protocol for device monitoring. Node guarding should only be used in existing systems. 2.5.1.
  • Page 105 2.5.2. Heartbeat Protokoll Other nodes in the bus can be monitored via the Heartbeat protocol. The node to be monitored (also heartbeat producer) cyclically sends a message (heartbeat) on the CAN bus. This message is received by one or more nodes (heartbeat consumer). For this purpose, the node number of the producer and a heartbeat time are configured in the heartbeat consumer.
  • Page 106 2.6. Emergency With EMCY messages (Emergency Messages) internal errors of the module are signalled. An error message is sent when an error occurs for the first time. If the cause of the error is eliminated and the error is no longer present, an error message with error code 0x0000 is also sent.
  • Page 107 RPDO) and transmit PDOs (also Transmit, TX or TPDO). The "direction" of the transmission was determined from the module's point of view. Modules of the COS series send their input data (digital/analog inputs) with TPDOs and receive output data (digital/analog outputs) with RPDOs.
  • Page 108 Acyclic synchronous transmission With transmission type 0, PDOs work synchronously but not cyclically. With an RPDO, for example, the output value is not set until the next SYNC message is received. This allows several devices to be populated with data (RPDO). These data can then be set to active at the same time (SYNC).
  • Page 109 Cyclic synchronous transmission A cyclic transmission of TPDOs is achieved with Transmission Type 1..240. Here SYNC messages (n=1..240) are sent after every "n-th" SYNC message. With RPDOs, the data is set to active when the "nth" SYNC message is received. RTR (Remote Frames) Transmission Type...
  • Page 110 2.8. Store in EEPROM The CANopen variables are active immediately after setting. To make these variables permanently available, e.g. at module restart, they must be stored in the EEPROM. For this a write access to index 0x1010 Store parameters must be made. The storage should only take place in the operating mode "Pre- Operational".
  • Page 111 CAN Bus length CAN Bus length | Seite 111...
  • Page 112 3. CAN Bus length bit rate bus length wire cross-section [kbit/s] [mm²] 1000 0,25 to 0,34 0,34 to 0,6 0,5 to 0,6 0.75 to 0.8 1000 2500 not defined in CiA 303-1 5000 CAN Bus length | Seite 112...
  • Page 113 appendix appendix | Seite 113...
  • Page 114 4. appendix 4.1. revisions DEDITEC Design Update 2021 Rev 3.00 First DEDITEC manual Rev 1.00 appendix | Seite 114...
  • Page 115 appendix | Seite 115...

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