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MicroControl mCAN.4.ao-BOX Manual

Manual analoge output module
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Systemhaus fŸr Automatisierung
μCAN.4.ao-BOX
Manual Analoge Output Module
Version 2.00

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Summary of Contents for MicroControl mCAN.4.ao-BOX

  • Page 1 Systemhaus fŸr Automatisierung μCAN.4.ao-BOX Manual Analoge Output Module Version 2.00...
  • Page 2 Keywords Important keywords appear in the border column to facilitate navigation through the text. MicroControl GmbH & Co. KG Junkersring 23 D-53844 Troisdorf Fon: +49 / 2241 / 25 65 9 - 0 https://www.microcontrol.net...
  • Page 3 Table of contents 1. Safety Regulations ......7 General Safety Regulations ....7 Safety Notice .
  • Page 4 Table of contents 7. Diagnosis ........39 State of CAN network.
  • Page 5 Table of contents 11. Object Dictionary ......55 11.1 Communication profile ....56 11.2 Manufacturer specific objects .
  • Page 6 Table of contents μCAN.4.ao-BOX...
  • Page 7 The stationary machine must be connected to a grounding conductor. If devices are supplied by mains, please see to it that the selected input voltage fits to the local mains. μCAN.4.ao-BOX Page 7 MicroControl Version 2.00...
  • Page 8 -precautions are met. Possible safety pre- cautions might be the integration of a limit switch or a mechan- ical locking device. Page 8 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 9 (±10 V) or current signals (0-20 mA) as desired. Placed in a robust alumini- um casing, the module scales the digitized process value into an analogue output signal. The CAN interface supports CANopen and J1939 protocols. μCAN.4.ao-BOX Page 9 MicroControl Version 2.00...
  • Page 10 The quick and easy integration of the μCAN.4.ao-BOX in your ap- service friendly plication reduces the development effort. Costs for material and personnel- are reduced to a minimum. The easy installation of the module facilitates maintenance and replacement. Page 10 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 11 1: bi-color state LED 5: terminals for analogue outputs (1..4) 2: Termination switch 6: bit rate settings 3: terminals for CAN 7: module ID setting 4: terminals for power supply Fig. 2: Overview of Functional Units μCAN.4.ao-BOX Page 11 MicroControl Version 2.00...
  • Page 12 The module can be supplied with a voltage of 9V .. 36V. Connection of the μCAN.4.ao-BOX to power supply and CAN bus should be realized via four-core wires, thus reducing wiring to a minimum. Adequate CAN cables are also available. Page 12 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 13 DIP switch. The CAN bus can be connected through the individual μCAN modules. Network Manager NID 127 NID 1 NID 2 Fig. 3: Maximum System Layout μCAN.4.ao-BOX Page 13 MicroControl Version 2.00...
  • Page 14 500 m 100 kBit/s 650 m 50 kBit/s 1000 m Table 1: Bit Rates in Relation to Cable Length CAN in Automation recommends not to use the bit rate of 100 kBit/s in new systems. Page 14 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 15 Please check the technical data section for detailed information about the maximum environment conditions of the μCAN module. 125 mm ON / CAN ERROR Fig. 4: Case Dimensions μCAN.4.ao-BOX Page 15 MicroControl Version 2.00...
  • Page 16 Project Planning Case Dimensions Page 16 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 17 The PE protective conductor must not lead into the casing or be connected to one of the terminals. PE protective conductor Fig. 5: Connection of the PE protective conductor When operating the μCAN.4.ao-BOX, the casing must be closed. μCAN.4.ao-BOX Page 17 MicroControl Version 2.00...
  • Page 18 μCAN module ID for labeling. When mounting several μCAN modules on a bus line, please make sure that the last module installed to the bus is terminated with a resistor. Page 18 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 19 4.3 Dismantling Please make sure that the device is disconnected from power supply first! Disconnect all signal wires from the connectors. Then, discon- nect the CAN bus and the power supply line from the connector. μCAN.4.ao-BOX Page 19 MicroControl Version 2.00...
  • Page 20 Assembly and Disassembly Dismantling Page 20 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 21  The CAN bus potential is isolated from the power supply.  The output signals are isolated from the power supply.  The output signals are not isolated from each other. μCAN.4.ao-BOX Page 21 MicroControl Version 2.00...
  • Page 22 RF signal lines. Capacitive Coupling A capacitive coupling is given between two conductors which have a different potential (principle of a capacitor). Potential noise sources in these cases may be: parallel conductors, static discharge and contactors. Page 22 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 23 Snapping the module onto the rail simultaneously connects the contact to the rail. The protective conductor must not lead into the casing of the modules. μCAN.4.ao-BOX Page 23 MicroControl Version 2.00...
  • Page 24 μCAN module. Never connect the shield to one of the termi- nals inside the casing. For stationary applications the shield of the CAN bus cable should be connected to an earthing conductor by metal terminals. Page 24 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 25 Group 1 with group 2 Other combinations of groups can only be realized if they are ar- ranged in separate cable ducts or groups observing the admissi- ble limit values. μCAN.4.ao-BOX Page 25 MicroControl Version 2.00...
  • Page 26 The wires must comply with the follow- ing electrical specifications: Cable characteristics Value Impedance 108 - 132 Ohms (nom. 120 Ohms) Specific impedance 70 m Ohms/meter Specific signal delay 5 ns/meter Table 2: Characteristics CAN cable Page 26 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 27          Fig. 6: Connection of the power supply The maximum power supply voltage of the electronics is 36V. Application of higher voltages will destroy the μCAN module. μCAN.4.ao-BOX Page 27 MicroControl Version 2.00...
  • Page 28 A shielding must not lead into the μCAN module or be connect- ed to one of the terminals. Shielding must be connected to the appropriate potential via special connectors outside the casing. Page 28 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 29 If you use a 9-pole Sub-D connector, the high potential has to be connected to pin 7 and the low potential to pin 2 (according to CiA standards). The pinout is shown in the following picture. Fig. 8: SUB-D pinout CAN (male) μCAN.4.ao-BOX Page 29 MicroControl Version 2.00...
  • Page 30 LSS mode. The μCAN module will not start if the switches are in a wrong po- sition, which will be indicated by the "Error" LED (refer to “Diag- nosis” on page 39). Page 30 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 31 This switch is also used to select the communication profile (CANopen or J1939) To select the bit rate you should use a small-sized screw driver. Baud Fig. 10: Configuration of bit rate (500 kBit/s is shown here) μCAN.4.ao-BOX Page 31 MicroControl Version 2.00...
  • Page 32 If the module is set to LSS mode, the bit rate and module address stored in the module will be applied. If an inadmissible bit rate has been set on the module, this will be indicated by the "Error" LED (refer to “Diagnosis” on page 39). Page 32 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 33 60 Ohms between the lines CAN-H and CAN-L.                        Fig. 11: Switching of termination In the drawing the termination is switched on. μCAN.4.ao-BOX Page 33 MicroControl Version 2.00...
  • Page 34 Termination Page 34 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 35 The μCAN.4.ao-BOX module can output both voltage or current at the terminals as desired. The signal type of the analogue output is set via the CANopen object "AO Type", refer to “Output Type” on page 80. μCAN.4.ao-BOX Page 35 MicroControl Version 2.00...
  • Page 36 Fig. 13: Block diagram analogue output terminal The following electric parameters apply to each analogue output: Parameter Value Impedance ±10 V > 500 Ω 0 .. 20 mA < 500 Ω Table 4: Electric parameters analogue output stage Page 36 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 37          Fig. 14: Connection of signal lines To connect signal lines, the μCAN modules must be disconnect- ed from power supply to avoid destruction of electronic compo- nents. μCAN.4.ao-BOX Page 37 MicroControl Version 2.00...
  • Page 38 Analogue Outputs Terminal configuration Page 38 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 39 Fig. 15: Position of LEDs on μCAN.4.ao-BOX In normal operation all LEDs should have a green color. A red steady light or a red blinking of a LED indicates an error condi- tion. μCAN.4.ao-BOX Page MicroControl Version 2.00...
  • Page 40 The red LED is signaling the status of the CAN controller. Only in fault condition the red LED will show the status. CAN Status: Controller in "Warning" state CAN Status: Controller in "Error Passive" state CAN Status: Controller in "Bus-Off" state Page μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 41 7.1.3 Combined signaling of NMT and CAN State In combination there will be shown the network status and the controler status. Device in "Pre-operational" state, CAN Controller in "Warning" state Device in "Operational" state, Controller in "Error Passive" state μCAN.4.ao-BOX Page MicroControl Version 2.00...
  • Page 42 The LED marked with Module Status" (on the case cover denoted as Error) displays the status of the device hardware. Module status: function/power OK Module status: wrong setting of bit rate DIP switches Module status: wrong setting of node-ID DIP switches Page μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 43 This operating manual describes the functions of the μCAN.4.ao- BOX module implemented in the firmware version 3.00. μCAN modules with a later version of the firmware may contain addi- tional objects, services and functions. μCAN.4.ao-BOX Page MicroControl Version 2.00...
  • Page 44 1537 - 1663 0x601 - 0x67F Heartbeat / Boot-up 1793 - 1919 0x701 - 0x77F Table 5: Distribution of identifiers The directions (Transmit / Receive) signify the transfer directions from the μCAN.4.ao-BOX module to adjacent devices. MicroControl Page Version 2.00 μCAN.4.ao-BOX...
  • Page 45 The „Stop Node“ command sets the module to Stopped state which will prevent communication via SDOs or PDOs. Sender μCAN.4.ao-BOX ID [hex] DLC Data [hex] Comment -> 02 7F Sequence 2: Set node with address 127 into Stopped state μCAN.4.ao-BOX Page MicroControl Version 2.00...
  • Page 46 After reset the device will be set to Pre-Operational state auto- matically and will send a „Boot-up Message“. Network Manager μCAN.4.ao-BOX ID [hex] DLC Data [hex] Comment -> 81 7F <- Boot-up Message Sequence 4: Restart the device with address 127 MicroControl Page Version 2.00 μCAN.4.ao-BOX...
  • Page 47 1 byte Table 6: Command for SDO expedited message In the fields Index and Data the LSB is transmitted first! For further information about the SDO protocol, please refer to the specification CiA 301, chapter 7.2.4. μCAN.4.ao-BOX Page MicroControl Version 2.00...
  • Page 48 Attempt to read a write only object 0601 0002h Attempt to write a read only object 0602 0000h Object does not exist in the object dictionary 0609 0011h Sub-index does not exist in the object dictionary Table 7: SDO abort protocol MicroControl Page Version 2.00 μCAN.4.ao-BOX...
  • Page 49 CANopen object 1001h. The „Manufacturer Spe- cific Error Field" is not used. The module will save all emergency messages in an error history which may be accessed via object 1003h of the CANopen object dictionary. μCAN.4.ao-BOX Page MicroControl Version 2.00...
  • Page 50 CANopen Protocol Emergency Message MicroControl Page Version 2.00 μCAN.4.ao-BOX...
  • Page 51 CANopen FD Protocol 9. CANopen FD Protocol The μCAN.4.ao-BOX module does not support CAN FD. μCAN.4.ao-BOX Page MicroControl Version 2.00...
  • Page 52 CANopen FD Protocol Page μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 53 J1939-71/DA as CANopen Application Messages. The CANopen Standard CiA 510 specifies in which way the two pa- rameter groups are allocated to the SDO protocol. This allocation allows access to the complete CANopen Object Dictionary by the J1939 protocol. μCAN.4.ao-BOX Seite MicroControl Version 2.00...
  • Page 54 J1939 Protocol Access to the CANopen object dictionary Seite μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 55 CANopen communication profiles CiA 301 as well as the de- vice profile CiA 404. The objects implemented in the μCAN.4.ao-BOX module are list- ed in an "Electronic Data Sheet" (EDS). The EDS file named mcan4ao_v2.20.00.eds can be downloaded from the MicroCon- trol homepage. μCAN.4.ao-BOX Page 55 MicroControl Version 2.00...
  • Page 56 RPDO 3 communication parameter 1403 RPDO 4 communication parameter 1600 RPDO 1 mapping parameter 1601 RPDO 2 mapping parameter 1602 RPDO 3 mapping parameter 1603 RPDO 4 mapping parameter Table 9: Supported objects of the communications profile Page 56 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 57 TPDO 4 communication parameter 1A00 TPDO 1 mapping parameter 1A01 TPDO 2 mapping parameter 1A02 TPDO 3 mapping parameter 1A03 TPDO 4 mapping parameter 1F80 NMT Startup Table 9: Supported objects of the communications profile μCAN.4.ao-BOX Page 57 MicroControl Version 2.00...
  • Page 58 Device Profile Description Information Number Read value [hex] 0008 0194 Identification analogue output CiA 404 block is available Table 10: Identification device profile The value 8 denotes that analogue outputs are defined in the module. Page 58 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 59 As a response the module will send the state of the error register of the device. In non-fault condition the value 00 will be read. For details on the error register refer to the CANopen communi- cation profile CiA 301. μCAN.4.ao-BOX Page 59 MicroControl Version 2.00...
  • Page 60 43 02 10 00 00 00 00 00  Sequence 7: Read object 1002h from module with node-ID 127 As a response you will get the manufacturer specific status of the μCAN.4.ao-BOX module. The value 00000000 will always be read. Page 60 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 61 2F 03 10 00 00 00 00 00 clear all logged errors <- 60 03 10 00 00 00 00 00  Sequence 8: Read object 1003h:00h from module with node-ID 127 and clear error history μCAN.4.ao-BOX Page 61 MicroControl Version 2.00...
  • Page 62 " "  Sequence 9: Read object 1008h (device name) from module with node-ID 127 The device name of the μCAN module is transmitted as SDO seg- mented transfer and is a Visible String. Page 62 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 63 "  Sequence 10: Read object 1009h (hardware version) from module with node-ID 127 The hardware version of the μCAN module is transmitted as Vis- ible String and is "2.00" for the present module. μCAN.4.ao-BOX Page 63 MicroControl Version 2.00...
  • Page 64 "  Sequence 11: Read object 100Ah (software version) from module with node-ID 127 The software version of the μCAN module is transmitted as Visi- ble String and is "2.22" in the example sequence. Page 64 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 65 Sequence 12: Save all parameters of module with node-ID 127 As soon as the storage function is initiated the parameters are stored in the non-volatile memory (EEPROM) and a SDO re- sponse is sent. μCAN.4.ao-BOX Page 65 MicroControl Version 2.00...
  • Page 66 "load" <- 60 11 10 02 00 00 00 00 restore was successful Sequence 13: Restore communications parameters for node-ID 127 The default parameter settings will be applied after restart of the μCAN module. Page 66 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 67 This object defines the COB-ID for the emergency messages. Sub-index Data type Access Name Default value Unsigned32 COB-ID EMCY 80h + node-ID The default value of the identifier of the emergency message is + selected node-ID (1 - 127). μCAN.4.ao-BOX Page 67 MicroControl Version 2.00...
  • Page 68 0000000E MicroControl. Product Code The product code is a manufacturer specific code which in case of MicroControl products corresponds to the order number stat- ed in our product catalogue. Revision Number The revision number states the software version. The number consists of two 16 bit values.
  • Page 69 ID [hex] DLC Data [hex] Comment -> 2F 29 10 01 01 00 00 00 <- 60 29 10 01 00 00 00 00 Sequence 14: Set error behavior for node-ID 127 to 01 μCAN.4.ao-BOX Page 69 MicroControl Version 2.00...
  • Page 70 The object defined the startup behav- ior after initialization of the device (Power-Up / Reset-Node). The following values are admissible: Value Description Standard behavior, change over to "pre-operational" Send NMT "Start All Nodes" Change over to NMT mode "Operational" Page 70 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 71 The μCAN.4.ao-BOX modules contain the following manufactur- er specific objects: Index Name 2010 Customer data 201A COB-ID storage 2E00 PDO data format 2E10 Disable bootup message 2E22 CAN bus statistics Table 11: Manufacturer specific objects μCAN.4.ao-BOX Page 71 MicroControl Version 2.00...
  • Page 72 <- 40 10 20 06 00 00 00 00 <- 43 10 20 06 78 56 34 12 read 12345678h Sequence 15: Write customer data "12345678 " into sub-index 6 for node-ID 127 Page 72 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 73 RPDO 3 communication parameter  1403 RPDO 4 communication parameter  1800 TPDO 1 communication parameter  1801 TPDO 2 communication parameter  1802 TPDO 3 communication parameter  1803 TPDO 4 communication parameter μCAN.4.ao-BOX Page 73 MicroControl Version 2.00...
  • Page 74 Only sub-index 0 is supported. Access to other sub-indices will result in an error message. The following values are admissible: Value Description PDO data is transferred in Intel format PDO data is transferred in Motorola format Page 74 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 75 The boot-up message can be switched off in line (5). The setting is stored afterwards (7). A final reset of the device (9) shows, that the module does not sent any boot-up message after re-start. μCAN.4.ao-BOX Page 75 MicroControl Version 2.00...
  • Page 76 Sub-indices 0 to 3 are supported. Access to other sub-indices will result in an error message. All received, sent or incorrect messages of the module will be counted. The number of counted messages may be read via this object and the correspondent sub-index. Page 76 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 77 Scaling 1 PV - Integer32 9321 Scaling 1 FV - Integer32 9322 Scaling 2 PV - Integer32 9323 Scaling 2 FV - Integer32 9324 Scaling Offset - Integer32 Table 12: Supported objects of the device profile CiA 404 μCAN.4.ao-BOX Page 77 MicroControl Version 2.00...
  • Page 78 Sequence 17: Set analogue output 2 of node with module address 127 to process value 3.542 Process values may be mapped into the receive PDOs which will also permit controlling the outputs via PDO. Page 78 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 79 The two permissive value may be interpreted as follows: Value Description 0026 0000h Volt [V] FD04 0000h Milli-Ampere [mA] Table 13: Value of the physical unit μCAN.4.ao-BOX Page 79 MicroControl Version 2.00...
  • Page 80 The object is read and write. Sub-indices 0 to 4 are supported. Access to other sub-indices will result in an error message. Value Description ± 10,000 V 0,000 mA .. 20,000 mA Table 14: Value of the output type Page 80 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 81 The object is read and write. Sub-indices 0 to 4 are supported. Access to other sub-indices will result in an error message. The realization of the process values depends on the Output Type and the Scaling. μCAN.4.ao-BOX Page 81 MicroControl Version 2.00...
  • Page 82 The object is read and write. Sub-indices 0 to 4 are supported. Access to other sub-indices will result in an error message. The realization of the process values depends on the Output Type and the Scaling. Page 82 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 83 The object is read and write. Sub-indices 0 to 4 are supported. The tara function is triggered by writing the signature value 6F72657A . Access to other sub-indices will result in an error message. μCAN.4.ao-BOX Page 83 MicroControl Version 2.00...
  • Page 84 Table 15: Value of the error state This object is used in combination with the SDO 7342h Error val- ue PV - Integer16 The following CANopen - device failures are considered: - error in heartbeat Page 84 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 85 Sequence 18: Set analogue output 2 of node with module address 127 to process value 3542 (+3.542 V) Process values may be mapped into the receive PDOs which will also permit controlling the outputs via PDO. μCAN.4.ao-BOX Page 85 MicroControl Version 2.00...
  • Page 86 Access to other sub-indices will result in an error message. The realization of the process values depends on the Output Type and the Scaling. You will find a detailed description of how to use the scaling function in chapter “Scaling” on page Page 86 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 87 The object is read and write. Sub-indices 0 to 4 are supported. Access to other sub-indices will result in an error message. The realization of the process values depends on the Output Type and the Scaling. μCAN.4.ao-BOX Page 87 MicroControl Version 2.00...
  • Page 88 AO Output FV 2 Integer16 AO Output FV 3 Integer16 AO Output FV 4 The object is read-only. Sub-indices 0 to 4 are supported. Access to other sub-indices will result in an error message. Page 88 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 89 An error value will only be automatically set if automatic setting of the error value in case of a CANopen device failure has been activated via Error State index 6340h. The following CANopen - device failures are considered: - error in heartbeat μCAN.4.ao-BOX Page 89 MicroControl Version 2.00...
  • Page 90 Sequence 19: Set analogue output 2 of node with module address 127 to process value 3542 (+3.542 V) Process values may be mapped into the receive PDOs which will also permit controlling the outputs via PDO. Page 90 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 91 Access to other sub-indices will result in an error message. The realization of the process values depends on the Output Type and the Scaling. You will find a detailed description of how to use the scaling function in chapter “Scaling” on page μCAN.4.ao-BOX Page 91 MicroControl Version 2.00...
  • Page 92 The object is read and write. Sub-indices 0 to 4 are supported. Access to other sub-indices will result in an error message. The realization of the process values depends on the Output Type and the Scaling. Page 92 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 93 Access to other sub-indices will result in an error message. The realization of the process values depends on the Output Type and the Scaling. You will find a detailed description of how to use the scaling function in chapter “Scaling” on page μCAN.4.ao-BOX Page 93 MicroControl Version 2.00...
  • Page 94 If the process values are to be scaled, users must parameterize the objects x320h to 0x324h according to their specific require- ments. If the Output Type is changed via object 6310h, the scaling will always be set to the standard values! Page 94 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 95 PV --------------- - ------------------------- - with – – The set scaling parameters are not automatically stored in a non- volatile memory. The Store parameters command has to be trig- gered via index 1010 μCAN.4.ao-BOX Page 95 MicroControl Version 2.00...
  • Page 96 6310h to the value 15h for cur- rent. 2) Enter scaling parameters according to table: Integer16 Value Scaling 7320h -360 7321h 4000 7322h 7323h 20000 Offset 7324h 11920 Table 18: Values for scaling of Integer16 in AO current Page 96 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 97 6310h to the value 0Bh for volt- age. 2) Enter scaling parameters according to table: Integer32 Value Scaling 9320h -5000 9321h -5000 9322h 50000 9323h 10000 Offset 9324h -3636 Table 19: Values for scaling of Integer32 in AO current μCAN.4.ao-BOX Page 97 MicroControl Version 2.00...
  • Page 98 Device Profile Page 98 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 99 All input network variables may be mapped to the TPDOs, all out- put network variables may be mapped to the RPDOs to relocate the process value within the PDO or to indicate gaps between two process values. μCAN.4.ao-BOX Page 99 MicroControl Version 2.00...
  • Page 100 A writing access to sub-index 1 to 4 will temporarily save the val- ue in the respective network variable. The content of the network variable is set to the value 0 in case of a NMT Reset Node com- mand. Page 100 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 101 A writing access to sub-index 1 to 8 will temporarily save the val- ue in the respective network variable. The content of the network variable is set to the value 0 in case of a NMT Reset Node com- mand. μCAN.4.ao-BOX Page 101 MicroControl Version 2.00...
  • Page 102 A writing access to sub-index 1 to 2 will temporarily save the val- ue in the respective network variable. The content of the network variable is set to the value 0 in case of a NMT Reset Node com- mand. Page 102 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 103 Bootup Stopped Operational Pre-Operational After Power-on the module will automatically send a „bootup message“. Sender μCAN.4.ao-BOX ID [hex] DLC Data [hex] Comment -> Sequence 20: Bootup message of a node with module address 2 μCAN.4.ao-BOX Page 103 MicroControl Version 2.00...
  • Page 104 0 or higher than 127 for the node-ID, the con- sumer heartbeat is not activated. The consumer heartbeat mon- itoring will be activated after the first producer heartbeat has been received. Page 104 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 105 60 17 10 00 00 00 00 00 Sequence 21: Set producer heartbeat time to 1000ms The producer heartbeat time is not automatically stored in a non- volatile memory. Store parameters has to be triggered via index 1010 μCAN.4.ao-BOX Page 105 MicroControl Version 2.00...
  • Page 106 Device Monitoring Page 106 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 107 (1 - 240 dec) The data of the last received PDO is processed after every n SYNC message FEh .. FFh event-driven, (254 - 255 dec) The PDO data is process on reception μCAN.4.ao-BOX Page 107 MicroControl Version 2.00...
  • Page 108 Node-ID Unsigned8 Transmission type The object is read and write. Sub-indices 0 to 2 are supported. Access to other sub-indices will result in an error message. In standard setting the RPDO 3 is inactive. Page 108 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 109 Node-ID Unsigned8 Transmission type The object is read and write. Sub-indices 0 to 2 are supported. Access to other sub-indices will result in an error message. In standard setting the RPDO 4 is inactive. μCAN.4.ao-BOX Page 109 MicroControl Version 2.00...
  • Page 110 For this reason, network variable can have a length of 1 byte, 2 byte and 4 byte. Each network variable may repeatedly be used for mapping. The contents of the network variables are not analyzed in the μCAN.4.ao-BOX module. Page 110 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 111 Please note that the total number of entries within a PDO must not exceed 8 byte. Each mapping entry consists of index, sub-index and bit-length, the respective values are listed in Table 21 Table μCAN.4.ao-BOX Page 111 MicroControl Version 2.00...
  • Page 112 In standard setting RPDO 1 is active and contains four mapping entries. Table 21 Table 22 show all supported entries of the μCAN.4.ao-BOX module. Chapter “RPDO mapping configura- tion” on page 116 describes all steps necessary to perform the mapping. Page 112 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 113 In standard setting the RPDO 2 is inactive and contains no map- ping entry. Table 21 Table 22 show all supported entries of the μCAN.4.ao-BOX module. Chapter “RPDO mapping configura- tion” on page 116 describes all steps necessary to perform the mapping. μCAN.4.ao-BOX Page 113 MicroControl Version 2.00...
  • Page 114 In standard setting the RPDO 3 is inactive and contains no map- ping entries. Table 21 Table 22 show all supported entries of the μCAN.4.ao-BOX module. Chapter “RPDO mapping configura- tion” on page 116 describes all steps necessary to perform the mapping. Page 114 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 115 In standard setting the RPDO 4 is inactive and contains no map- ping entry. Table 21 Table 22 show all supported entries of the μCAN.4.ao-BOX module. Chapter “RPDO mapping configura- tion” on page 116 describes all steps necessary to perform the mapping. μCAN.4.ao-BOX Page 115 MicroControl Version 2.00...
  • Page 116 PDO communication must be disabled  PDO mapping must be disabled  The mapping entries may not contain any gaps  The total number of mapping entries within a PDO must not exceed 8 entries. Page 116 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 117 PDO mapping, where n represents the desired PDO number 1..4 and k the mapping entry 1..8. The communication and mapping parameters of the PDO are not automatically saved in a non-volatile memory. Storage must be triggered via Index 1010h. μCAN.4.ao-BOX Page 117 MicroControl Version 2.00...
  • Page 118 As soon as the μCAN.4.ao-BOX module is ready to operate it will send a bootup message (1). Afterwards, it is set to Operational mode via a "NMT - Start all nodes" message (2). Sending the first RPDO will set the digital outputs (3). Page 118 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 119 (1 - 240 dec) TPDO is processed after every n SYNC message FEh .. FFh event-driven, (254 - 255 dec) The TPDO is processed on event (e.g timer) Table 24: Transmission type setting of TPDO μCAN.4.ao-BOX Page 119 MicroControl Version 2.00...
  • Page 120 The object is read and write. Sub-indices 0 to 2 as well as 5 are supported. Access to other sub-indices will result in an error mes- sage. In standard setting TPDO 2 is inactive. Page 120 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 121 The object is read and write. Sub-indices 0 to 2 as well as 5 are supported. Access to other sub-indices will result in an error mes- sage. In standard setting TPDO 4 is inactive. μCAN.4.ao-BOX Page 121 MicroControl Version 2.00...
  • Page 122 For this reason, network variable can have a length of 1 byte, 2 byte and 4 byte. Each network variable may repeatedly be used for mapping. The contents of the network variables are not analyzed in the μCAN.4.ao-BOX module. Page 122 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 123 All the objects listed above can be mapped into each of the four TPDOs-. For each TPDO between 0 and 8 mapping entries may be configured. Please note that the total number of entries within a PDO must not exceed 8 byte. μCAN.4.ao-BOX Page 123 MicroControl Version 2.00...
  • Page 124 Access to other sub-indices will result in an error message. In standard setting the TPDO 1 is inactive and contains no map- ping entry. Table 25 show all supported entries of the μCAN.4.ao-BOX mod- ule. Page 124 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 125 Access to other sub-indices will result in an error message. In standard setting the TPDO 2 is inactive and contains no map- ping entry. Table 25 show all supported entries of the μCAN.4.ao-BOX mod- ule. μCAN.4.ao-BOX Page 125 MicroControl Version 2.00...
  • Page 126 Access to other sub-indices will result in an error message. In standard setting the TPDO 3 is inactive and contains no map- ping entries. Table 25 show all supported entries of the μCAN.4.ao-BOX mod- ule. Page 126 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 127 Access to other sub-indices will result in an error message. In standard setting the TPDO 4 is inactive and contains no map- ping entries. Table 25 show all supported entries of the μCAN.4.ao-BOX mod- ule. μCAN.4.ao-BOX Page 127 MicroControl Version 2.00...
  • Page 128 TPDO Communication Page 128 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 129 Data type Access Name Default value Unsigned32 Communication cycle 0000 0000h period The object supports read and write acces. Only sub-index 0 is supported. Access to other sub-indices will result in an error mes- sage. μCAN.4.ao-BOX Page 129 MicroControl Version 2.00...
  • Page 130 Synchronization Service Page 130 μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 131 10 V/m, according to ENV 50204 Burst 5 kHz, 2 kV according to EN 6100-4-4 Conducted RF disturbance 10 V, according to EN 61000-4-6 Electromagnetic emission According to EN 50081-2, requirements according to EN 55022, class A μCAN.4.ao-BOX Page MicroControl Version 2.00...
  • Page 132 RAL 7032, RAL 7001 stoved enamel coating Dimensions 125 * 80 * 57 mm (l * w * d) without cable glands / connectors Weight 540 g Weight incl. cable glands 640 g Page μCAN.4.ao-BOX MicroControl Version 2.00...
  • Page 133 Index Index LED 39 module status 42 network status 40 Addressing 30 Little-Endian 74 Big-Endian 74 Module address 30 Bit rate bus length 14 setting 31 Network Management 45 Boot-up Message 103 Network manager 13 Bus length 14 Bus line 13 Pre-Operational 46 Bus statistics 76 Reset Node 46, 75...
  • Page 134 Index Index 2E10h 75 Index 2E22h 76 Terminal Index 6300h 78 CAN_H 28 Index 6301h 79 CAN_L 28 Index 6302h 80 GND 27 Index 6310h 80 V+ 27 Index 6320h 81 Termination 33 Index 6321h 81 Index 6322h 82 Termination resistor 33 Index 6323h 82 Index 6324h 83 Index 6325h 83...
  • Page 135 This operating manual is protected by copyright. All rights such as translation, re-printing and copying of the entire document or excerpts of it are reserved by MicroControl GmbH & Co. KG © 1999 - 2024 MicroControl GmbH & Co. KG, Troisdorf μCAN.4.ao-BOX...
  • Page 136 Systemhaus fŸr Automatisierung MicroControl GmbH & Co. KG Junkersring 23 D-53844 Troisdorf Fon: +49 / 2241 / 25 65 9 - 0 https://www.microcontrol.net...