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The manual is a product component, please retain it for future use. The software used in the CAN-CBX-DIO8/2 is subject to the license terms of the respective authors or rights holders. CAN-CBX-DIO8/2 may only be used in accordance...
The changes in the document listed below affect changes in the hardware as well as changes in the description of the facts, only. Rev. Chapter Changes versus previous version Date First English version of the CAN-CBX-DIO8/2 manual 2025-05-02 Technical details are subject to change without further notice. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0...
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This NOTICE statement contains the general mandatory sign and gives information that must be heeded and complied with for a safe use. INFORMATION INFORMATION Notes to point out something important or useful. Page 4 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
● The galvanic isolation of the CAN-CBX-DIO8/2 has only functional tasks and is not a protection against hazardous electrical voltage. ● The CAN-CBX-DIO8/2 is a device of protection class III according to DIN EN IEC 61140 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages.
Intended Use The intended use of the CAN-CBX-DIO8/2 is the operation as a CANopen module with eight digital inputs/outputs. The guarantee given by esd does not cover damages which result from improper use, usage not in accordance with regulations or disregard of safety instructions and warnings.
Table of Contents Safety Instructions .......................... 5 Overview ..........................12 About this Manual ......................12 Description of CAN-CBX-DIO8/2 ..................12 Glossary ......................... 13 Hardware ..........................14 Connecting Diagram ....................... 14 LEDs ..........................15 2.2.1 Position of the LEDs ....................15 2.2.2...
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Bus Length ........................133 Examples for CAN Cables .................... 134 7.6.1 Cable for Light Industrial Environment Applications (Two-Wire) ......134 7.6.2 Cable for Heavy Industrial Environment Applications (Four-Wire) ......134 CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 9 of 141...
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Table 15: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) ....133 Table 16: 3rd Party Software License Terms ................138 Table 17: Order information ......................141 Page 10 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
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Figure 11: Connecting the CAN signals to the CAN-CBX station ..........27 Figure 12: Example for the Rx-PDO mapping with three CAN-CBX-DIO8/2 modules ....63 Figure 13: Overview of the objects for the digital inputs (Example 8-bit objects) ......72 Figure 14: Overview of the objects for the digital outputs (Example 8-bit objects) ......
LEDs Figure 1: Block circuit diagram The CAN-CBX-DIO8/2 is a CANopen module that provides 8 flexible digital IO ports that can be independently assigned as inputs or outputs. It operates at a nominal voltage of 24 V and supports a maximum output current of 0.5 A at 24 V, making it suitable for various control scenarios. The...
Operating System Process Data Object Remote Transmission Request Software Development Kit Service Data Object INFORMATION The CANopen terms and abbreviations are described in the chapter “Definition of Terms” on page 28. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 13 of 141...
Hardware 2 Hardware 2.1 Connecting Diagram Figure 2: Connecting diagram of CAN-CBX-DIO8/2 See also page 121 for signal assignment of the CAN connectors. For conductor connection and conductor cross section see page 127 NOTICE Read chapter “Installing and Uninstalling Hardware” from page 21, before you start with...
2.2 LEDs 2.2.1 Position of the LEDs Figure 3: Connectors and LEDs The CAN-CBX-DIO8/2 module is equipped with 4 status LEDs and 8 LEDs for the input and output ports. 2.2.2 Indicator States The terms of the indicator states of the LEDs are chosen in accordance with the terms recommended by the CiA (3).
2.2.4 Operation of the CANopen-Status LED S Indicator Label Name Colour Description state blinking Pre-operational CANopen green Operational Status Single flash Stopped Table 3: Indicator states of the CANopen Status-LED Page 16 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Read value of the operating voltage of the digital outputs is within the limits (object 0x2300, sub-index 2 and 3, see page 110) Table 5: Indicator state of the Power-LED CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 17 of 141...
Input voltage level of IO port x is higher than the upper switching threshold, or output state is ‘on’ x = 1 – 8 Table 7: Indication of LEDs 1-8 and state of the ports Page 18 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
NOTICE Avoid the following settings: • Setting the address range of the coding switches to 0x00 or values higher than 0x7F causes error messages, the red CAN-Error LED is on. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 19 of 141...
CAN-CBX-DIO8/2 is to be integrated. → The CAN-CBX-DIO8/2 is a device of protection class III according to DIN EN IEC 61140 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages.
HIGH has to be set to '0'. Before you switch on the supply voltage, check that all plug connectors are correctly seated. Switch on the 24 V-power supply voltage of the CAN-CBX-DIO8/2. Start the module with the NMT Start Command CAN Identifier...
2. Hold the CAN-CBX module tilted backwards at a slight angle and place it on the bus connector so that the DIN rail guideway is placed on the top edge of the mounting rail. Figure 6: Mounting CAN-CBX modules CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 23 of 141...
Insert the terminal plug from the right into the socket side of the outer mounting rail bus connector of the InRailBus, as shown in Figure 8. Then connect the CAN interface and the supply voltage via the terminal plug. Page 24 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Switch off the power supply, before you connect it to the system. DANGER The CAN-CBX-DIO8/2 is a device of protection class III according to DIN EN IEC 61140 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages.
It must be ensured that the impedance of the connection is kept low. The functional earth contact of the module does not ensure electrical safety. Page 26 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
(e.g., with a screwdriver). This releases the module from the bottom edge of the mounting rail, and it can be removed. INFORMATION It is possible to remove individual devices from the CBX station without interrupting the InRailBus connection, because the contact chain will not be disrupted. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 27 of 141...
CANopen Firmware 4 CANopen Firmware The CAN-CBX-DIO8/2 presents itself as a CANopen responder device. The "Digital In" and "Digital ® Out" functions conform to the CiA profile DS-401. The EDS file can be downloaded under Software Downloads from the CAN-CBX-DIO8/2 product page on esd website: https://esd.eu/en/products/can-cbx-dio8-2...
Sub- Identifier Data field code index (low) (high) Example: 0x23 0x00 0x14 0x01 0x7F 0x04 0x00 0x00 0x600+ (COB- (Index=0x1400) Node-ID (write) COB Node ID = 0x0000 047F def.) (Receive-PDO-Comm-Para) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 29 of 141...
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The least significant byte is always in ‘Data 1’. With 16-bit values the most significant byte (bits 8...15) is always in ‘Data 2’, and with 32-bit values the MSB (bits 24...31) is always in ‘Data 4’. Page 30 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Bit 1 of object 0x1010, sub-index 1 is not set, i.e the CAN-CBX-module does not save the configuration automatically. The storage must be initiated by writing the character string ‘save’ (0x73 61 76 65, order from CAN telegram) to object 0x1010, sub-index 1. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 31 of 141...
Setting of the outputs (Receive-PDO) From CAN-CBX-DIO8/2 Request the state of the TPDO1 0x180 + Node-ID 1 byte (Transmit PDO) inputs RPDO1 (-> CAN-CBX-DIO8/2) CAN Identifier: 0x200 + Node-ID Byte Parameter Write_ Output_8-Bit Parameter description: Parameter Description Data type See page...
The transmission is initiated if the state of selected inputs has changed (PDO-transmission type 254, 255). 4.7.2 Digital Outputs The digital outputs are set, as soon as an output setting object is received by the CAN-CBX-DIO8/2 (e.g. object 0x6200 via RPDO). 4.7.3 Supported Transmission Types Based on CiA 301...
This parameter can be read or written. Value range Value range of the parameter Default value Default setting of the parameter Name/Description Name and short description of the parameter CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 35 of 141...
Value of the device type in the example above: 0x0002.0194. The value of the device type of the CAN-CBX-DIO8/2 module is printed in chapter (page 36). The data field is always structured following the rule: ‘LSB first, MSB last‘, see Data Field page 30.
For a list of the error bits supported by the CAN-CBX-DIO8/2 module see in chapter (page 36). Bits which are not supported are always returned as ‘0’. If an error is active, the according bit is set to ‘1’.
The 32-bit long error code consists of the CANopen-emergency error code described in (1) and the error code defined by esd (manufacturer-specific error field). Bit: 31 ..16 15 ..0 Contents: manufacturer-specific emergency-error-code error field manufacturer-specific Page 40 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
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An emergency message is transmitted if an error occurs. If this error occurs again, no further emergency message is generated. If the last error message is cancelled, again an emergency message is transmitted to indicate the error disappearance. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 41 of 141...
1: Device generates SYNC message always 0 (11-bit ID) 28...11 always 0 (29-bit IDs are not supported) 10...0 (LSB) Bit 0...10 of the SYNC-COB-ID The identifier can take values between 0...0x7FF. Page 42 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Value range of the parameter: Value Meaning No transmission of SYNC messages 0x0000 0001 ... 0xFFFF FFFF Cycle time in microseconds, Example: 0x4E20 corresponds to a cycle time of 20000 µs = 20 ms CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 43 of 141...
‘Overview Communication Profile Objects/ Default value Product-Specific Values’ (page 36) For detailed description of the SDO Uploads, please refer to CiA DS 202-2 (CMS-Protocol Specification) (4). Page 44 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Reading the software version is similar to reading the manufacturer’s device name via the domain upload protocol. Please refer to CiA DS 202-2 (CMS-Protocol Specification) (4) for a detailed description of the upload. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 45 of 141...
CANopen Firmware 4.9.10 Guard Time (0x100C) and Life Time Factor (0x100D) The CAN-CBX-DIO8/2 supports the node guarding or alternatively the heartbeat function (see page 55). NOTICE By the recommendation of the CiA, the heartbeat-function shall be used preferentially. Use the node-guarding only for existing systems and not for new developments! Guard time and life time factor are evaluated together.
0, because 29-bit-IDs are not supported 10 ... 0 (LSB) bit 0 ... 10 of the node guarding identifier The identifier can take values between 0x701...0x7FF, depending on the Node-ID set by the coding switches. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 47 of 141...
(rw) right of access (here e.g. 0x6xxx). save_manufacturer_parameter Saves all manufacturer parameters of those objects (objects 0x2000 ... 0x5FFF, if available), which have a read/write (rw) right of access (here e.g. 0x2xxx). Page 48 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
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The storage must be initiated by writing the character string ‘save’ (0x73 61 76 65, order from CAN telegram) to object 0x1010, sub-index 1 - 4. On read access to the appropriate sub-index, the CAN-CBX-DIO8/2 provides information about its storage functionality with the format described in the following: 30 …...
Bit 0 of object 0x1011, sub-index 1 is set, i.e. the CAN-CBX module restores the default values initiated by writing the signature ‘load’ (0x64 61 6F 6C, sequence in CAN telegram) in object 0x1011, sub-index 1-4. Page 50 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
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30 … … 1 Bit: Content: reserved Value Description The CAN-CBX-module does not restore default parameters The CAN-CBX-module restores the default parameters CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 51 of 141...
(always 0) always 0 (11-bit ID) 28...11 always 0 (29-bit IDs are not supported) 10 ... 0 (LSB) bits 0...10 of COB-ID The identifier can take values between 0x000...0x7FF. Page 52 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Value range 0 ... 0xFFFF Default value The Inhibit Time for the EMCY message can be defined with this entry. The time is determined as a multiple of 100 μs. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 53 of 141...
Cycle time [ms] of heartbeat producer to transmit the heartbeat on the node-guarding ID (see object 0x100E). The consumer-heartbeat time of the monitoring module must always be higher than the producer-heartbeat time of the heartbeat- transmitting module. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 55 of 141...
… 16 15 … … 0 serial_number Here the serial number of the hardware is read. The first two characters of the serial number are letters which designate the manufacturing lot. Page 56 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
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‘AB 0105’. This value must correspond to the serial number of the module. See chapter ‘Overview Communication Profile Objects / Product-Specific Values’ on page 36 for the article number and the serial number of your module. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 57 of 141...
The SYNC message shall be transmitted as a CAN message of data length ‘0’. reserved The SYNC message shall be transmitted as a CAN message of data length ‘1’. 2...240 The first data byte contains the counter. 241...255 reserved Page 58 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Date of the last configuration of the module. The value is defined in number of days since the 01.01.1984. configuration_time Time in ms since midnight at the day of the last configuration. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 59 of 141...
0x2300, sub-index 3. The module can enter the following states if an error occurs. Variable Module state pre-operational (only if the current state is operational) no state change stopped Page 60 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
PDO by their index, subindex and length. For the CAN-CBX-DIO8/2 module the value 0x6200 0108 (index 0x6200, subindex 1 and length 8) may only be contained once. The other subindices contain the value 0x0005 0008 as placeholder Page 62 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev.
CANopen Firmware for the so-called dummy mapping. Example: There are three CAN-CBX-DIO8/2 modules which shall be addressed via RPDO-Mapping simultaneously. Therefore, the RPDO COB-IDs of the modules must be configured to the same value. For further information refer to s CiA 301 (1).
The transmission types 0, 1...240, 252, 253 and 255 are supported. Per default the highest bit of the parameter COB-ID used by_PDO1 is not set: 0x0000 0000 +0x180 +Node-ID Per default this object is valid. Page 64 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
The transmission types 0, 1...240, 252, 253 and 255 are supported. Per default the highest bit of the parameter COB-ID used by_PDO2 is set: 0x8000 0000 +0x280 +Node-ID Per default this object is not valid. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 65 of 141...
The Transmit PDO1-Mapping parameters cannot be modified if the PDO1 is valid. To change the value of the parameter object_to_be_mapped, the value of the parameter COB-ID_used_by_PDO1 in object 0x1800 (4.9.24) must be set to not valid. Page 66 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Further features of the parameters NMT startup are currently not supported. The value range of the object is described in the following table: Value Meaning 0x0000 0002 Auto startup disabled (default) 0x0000 0008 Auto startup enabled all other values reserved CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 69 of 141...
Sub-index 1 of this object contains the timeout in [ms] between the change from “preoperational” > “operational”. In default it is 100 ms. The sub-indices 2 and 3 of this object are not supported. Page 70 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Value range Data Access Index Description Default index [Boolean] Mapping type mode 0x6005 Global Interrupt Enable-Bit True, False boolean Global Interrupt Enable-Bit Value Description true Interrupts enabled false Interrupts disabled CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 75 of 141...
For activated IRQ an interrupt is generated by rising edge detection of the input signal. Bit-value DIx Interrupt DIx-enable interrupt of DIx disabled interrupt of DIx enabled (x = 1 … 8) Page 76 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
For activated IRQ an interrupt is generated by falling edge detection of the input signal. Bit-value DIx Interrupt DIx enable interrupt of DIx disabled interrupt of DIx enabled (x = 1 … 8) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 77 of 141...
An input (DIx) is read as ‘true’, if the corresponding input is active, i.e. voltage is ‘on’ (if the according bit in object 0x6030 ‘Polarity Input 1-Bit’ is set to ‘0’). Page 78 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Assignment of the parameter polarity_input_1-bit_DIx: (x = 1 … 8) filter_constant_input_1-bit_DIx Value Description true Filter of digital input x is enabled false Filter of digital input x is disabled Page 80 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
This object determines, which input shall activate an interrupt by rising or falling edge detection Assignment of the parameter IRQ-mask_any_1-bit_DIx: (x = 1 … 8) Value Description IRQ-mask_any_1-bit_DIx true interrupt of DIx enabled false interrupt of DIx disabled CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 81 of 141...
For activated IRQ-mask_HL_1-bit_DIx an interrupt is generated by falling edge detection of the input signal of port DIx. Value Description IRQ-mask_HL_1-bit_DIx true interrupt on falling edge of DIx enabled false interrupt on falling edge of DIx disabled (x = 1 …8) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 83 of 141...
For activated IRQ an interrupt is generated by rising edge detection of the input signal. Bit-value DIx Interrupt-enable interrupt on rising edge of DIx disabled interrupt on rising edge of DIx enabled (x = 1 …8) Page 86 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
For activated IRQ an interrupt is generated by falling edge detection of the input signal. Bit-value DIx Interrupt-enable interrupt on falling edge of DIx disabled interrupt on falling edge of DIx enabled (x = 1 … 8) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 87 of 141...
For activated IRQ an interrupt is generated by rising edge detection of the input signal. Bit-value DIx Interrupt-enable interrupt on rising edge of DIx disabled interrupt on rising edge of DIx enabled (x = 1 … 8) Page 90 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
For activated IRQ an interrupt is generated by falling edge detection of the input signal. Bit-value DIx Interrupt-enable interrupt on falling edge of DIx disabled interrupt on falling edge of DIx enabled (x = 0 … 8)) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 91 of 141...
Output: Setting an output bit to ‘1’ inverts the corresponding output. Bit value DOx Output DOx output DOx is inverted output DOx is not inverted (x = 1 …8) Page 92 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Bit value DOx Output DOx Output DOx shall take the pre-defined value specified in object 0x6207. Output DOx shall be kept unchanged if an error occurs. (x = 0 …8) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 93 of 141...
Index: 0x6208, Sub-index: 1 Bit: Output: This parameter contains the filter mask Bit value DOx Output DOx filter of output DOx is enabled filter of output DOx is disabled Page 94 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Assignment of the variable write_output_1-bit_DOx: write_output_1-bit_DOx Value Description true output DOx is turned on (24 V) false output DOx is turned off (0 V/open) (x = 1 …8) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 95 of 141...
The parameter determines which digital output can be inverted. Setting an output bit to ‘1’ inverts the corresponding output. change_polarity_output_1-bit_DOx: Value Description true output DOx is inverted false output DOx is not inverted (x = 1 …8) Page 96 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
DOx shall take the pre-defined value true specified in object 0x6260, sub-index x output DOx shall be kept unchanged if an error false occurs (x = 1 … 8) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 97 of 141...
0x6250, sub-index x) is enabled output DOx shall be set to ‘0’ (disabled) in case of false fault if error_mode_output_1-bit_DOx (object 0x6250, sub-index x) is enabled (x = 1 … 8) Page 98 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
The parameter contains the filter mask of output DIOx. Value Description filter_mask_output_1-bit_DOx true filter of output DOx is enabled false filter of output DOx is disabled (x = 1 … 8) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 99 of 141...
The parameter determines which digital output can be inverted. Index: 0x6302, Sub-index: 1 15 … …8 Bit: Content: Bit value DOx Output output DOx is inverted output DOx is not inverted (x = 1 …8) Page 100 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Bit value DOx Output DOx Output DOx shall take the pre-defined value specified in error_value_output_16-bit_DO8-DO1 (object 0x6307, subindex x). Output DOx shall be kept unchanged if an error occurs. (x = 0 …8) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 101 of 141...
Output DOx shall be set to ‘1’ (enabled) in case of fault if object 0x6306, subindex x is enabled. Output DOx shall be set to ‘0’ (disabled) in case of fault if object 0x6306 sub-index x is enabled. Page 102 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Index: 0x6308, Sub-index: 1 15 … …8 Bit: Content: This parameter contains the filter mask Bit value DOx Output DOx filter of output DOx is enabled filter of output DOx is disabled CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 103 of 141...
The parameter determines which digital output can be inverted. Index: 0x6322, Sub-index: 1 31 … …8 Bit: Content: Bit value DOx Output output DOx is inverted output DOx is not inverted (x = 1 …8) Page 104 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Bit value DOx Output DOx Output DOx shall take the pre-defined value specified in error_value_output_32-bit_DO8-DO1 (object 0x6327, subindex x). Output DOx shall be kept unchanged if an error occurs. (x = 0 …8) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 105 of 141...
0x6326, subindex x is enabled. Output DOx shall be set to ‘0’ (disabled) in case of fault if object 0x6326 sub-index x is enabled. (x = 0 …8) Page 106 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
…8 Bit: Content: This parameter contains the filter mask Bit value DOx Output DOx Filter of output DOx is enabled Filter of output DOx is disabled (x = 0 …8) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 107 of 141...
They both hold the exact same value. There is even a third object 0x5FF5 Subindex 0 which also holds the same value (for backward compatibility) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 109 of 141...
This variable defines the voltage limit that initiates an Emergency Message, if the value falls below. 0 = disable Example: VIO_high_emergency_voltage = 0x118 = 280 (value of the variable) 280/10 = 28 V voltage limit (max.); above this limit an Emergency Message is initiated Page 110 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Value of parameter Resulting sample rate [μs] sample_rate ≤199 current parameter value is not changed (old value will stay valid + SDO error message) 100 (default value) 100.5 65535 32767.5 CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 111 of 141...
Input signal > sample_rate Sample signal (internal) sample_rate Figure 15: Interrelation of maximum count frequency and sample rate So, the absolute maximum of the countable input frequency is 5 kHz. Page 112 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
In this object the initial values counter_preload_1...8 of the counters 1 ... 8 are defined. Beginning from the initial value counter_preload_x the counter value is decremented by ‘1’ if a change occurs. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 113 of 141...
The following table shows the position of the 16-bit counter value counter_value_x_16-bit in the 32- bit counter value counter_value_x_32-bit: Bit 31..Bit 0 counter_preload_x counter_value_x_32-bit Bit 31..Bit 16 Bit 15..Bit 0 counter_value_x_16-bit Page 114 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
An event is generated, if the value of the 32-bit counter results in ‘0’. If the value of counter_preload_x is set to ‘0000.0000’, the preload is 2 Bit 31..Bit 0 counter_preload_x counter_value_x_32-bit CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 115 of 141...
The following table shows the position of the 8-bit counter value counter_value_x_8-bit in the 32-bit counter value counter_value_x_32-bit: Bit 31..Bit 0 counter_preload_x counter_value_x_32-bit Bit 31..Bit 16 Bit 15..Bit 8 Bit 7..Bit 0 counter_value_x_8-bit Page 116 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
It is not necessary to erase the firmware beforehand, just send the firmware to object 0x1F50 sub-index 1. For further information about object 0x1F51 and the firmware-update please refer to the standard (5). CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 117 of 141...
A 5-pos.) cycles of InRailBus power supply The CAN-CBX-TBus connector (C.3000.01) can be used, TBUS- via InRailBus see accessories page 141.) connector Table 12: Connectors, accessible from outside Page 118 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Galvanic isolation none Protective circuit Short circuit and over temperature protection with output shutdown and auto-restart with hysteresis, Connector Digital I/O connector, see 5.2 Table 14: Data of the digital input/output CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 119 of 141...
As part of the esd software development kit (CAN SDK) of the NTCAN-API the CAN Tools are included in delivery of the CAN-CD. The CAN SDK can also be downloaded free-of-charge from the esd website: https://esd.eu/ Page 120 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
The pins are internally connected M24... Reference potential of 24 V IO supply voltage (GND) The pins are internally connected IOx... Signal line of the digital input/output x (x = 1 - 8) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 121 of 141...
Page 122
-pins of row 1 and row 2. These pins are connected to each other on the PCB. NOTICE To ensure EU Conformity a cable with a maximum wire length of 30 m must be used for the digital inputs and digital outputs. Page 122 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Connector Assignments 6.2 24V Power Supply Voltage DANGER The CAN-CBX-DIO8/2 is a device of protection class III according to DIN EN 61140 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages. Device socket: Phoenix Contact PCB header MSTBO 2,5/4-G1L-KMGY Cable plug: Phoenix Contact pluggable connector FKCT 2,5/4-ST, 5.0 mm pitch,...
GND2 CAN_GND Shield (FE_GND) Figure 16: CAN Port The CAN port can be connected via the CAN connector (see chapter 6.3.2) or optionally via the InRailBus (see chapter 6.4). Page 124 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
CiA 106 . INFORMATION esd offers assembled CAN cables according to recommendations of CiA 303 part1 and CiA 106 (6) as accessories, see Order Information, page 141. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 125 of 141...
6.4.1 Connector Assignment 24V and CAN via InRailBus DANGER The CAN-CBX-DIO8/2 is a device of protection class III according to DIN EN IEC 61010- 2-201 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages.
Technical Data from Phoenix Contact website, printed circuit board connector, plug component INFORMATION For further information or other conductor connections see technical data of the connectors on the Phoenix Contact web site. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 127 of 141...
Of course, reliable networks can be designed according to the specifications of CANopen, ARINC825, DeviceNet and NMEA2000, however it is strictly not recommended to mix the wiring guidelines of the various specifications! Page 128 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
6 Select a working combination of bit rate and cable length. 7 Keep away cables from disturbing sources. If this cannot be avoided, double shielded wires are recommended. Figure 17: CAN wiring for light industrial environment CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 129 of 141...
For termination of the CAN bus and grounding of the CAN_GND, DSUB terminators with pin contacts (order no. C.1302.01) or socket contacts (order no. C.1301.01) and with additional functional earth contact are available. Page 130 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
6 Select a working combination of bit rate and cable length. 7 Keep away CAN cables from disturbing sources. If this cannot be avoided, double shielded cables are recommended. Figure 19: CAN wiring for heavy industrial environment CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 131 of 141...
(order no. C.1303.01). ● 9-pole DSUB-connectors with integrated switchable termination resistor can be ordered for example from ERNI (ERBIC CAN BUS MAX, socket contacts, order no.:154039). Page 132 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
Optical couplers are delaying the CAN signals. esd modules typically achieve a wire length of 37 m at 1 Mbit/s within a proper terminated CAN network without impedance disturbances, such as those caused by cable stubs > 0.3 m. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 133 of 141...
74535 Mainhardt Germany BUS-Schleppflex-PUR-C (2x 2x 0.25 mm²) Order No.: 94 025 026 (UL appr.) www.concab.de INFORMATION Ready-made CAN cables with standard or custom length can be ordered from esd. Page 134 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
If the determined value is higher than 70 Ω, please make sure that: • All CAN_H and CAN_L lines are correctly connected. • Two terminating resistors of 120 Ω each are connected to your CAN network (one at each end). CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 135 of 141...
Measure the DC voltage between CAN_L and CAN_GND, measuring point (See “Simplified diagram of a CAN network” on previous page). Expected result: The measured voltage should be between 2.0 V and 3.0 V. Page 136 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
If you have followed the troubleshooting steps in this troubleshooting guide and still cannot find a solution to your problem, our support team can help. Please contact our support by email to support@esd.eu or by phone +49-511-37298-130. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 137 of 141...
9 Software Licenses NOTICE The software from esd and from third parties used in the CAN-CBX-DIO8/2 is subject to the license terms of the respective authors or rights holders. CAN-CBX-DIO8/2 may only be used in accordance with these license terms! By using the CAN-CBX-DIO8/2 you agree to the terms of these software licenses.
(5) CiA Draft Standard Proposal 302 V4.1 (04.2010) Additional Application Layer functions, Part 3: Configuration and program download (6) CiA 106, Connector Pin-assignment Recommendations, Technical Report V1.1.0 (07. 2023), CAN in Automation (CiA) e. V. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 139 of 141...
Please download the manuals as PDF documents from our esd website https://www.esd.eu for free. Manuals Order No. C.3010.21 CAN-CBX-DIO8/2-ME CAN-CBX-DIO8/2 Manual in English CAN-API Manual in English CAN-API-ME NTCAN-API, Part 1: Application Developers Manual C.2001.21 NTCAN-API, Part 2: Driver Installation Guide CANopen-ME CANopen Manuals in English C.2002.21...
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