GSD CAN-CBX-DIO8/2 Hardware Manual

Canopen module with 8 digital i/o ports
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CAN-CBX-DIO8/2
®
CANopen
Module
with 8 Digital I/O Ports
Hardware Manual
For Product C.3010.04
CAN-CBX-DIO8/2
Hardware Manual Doc.-Nr.: C.3010.21 / Rev 4.0
Page 1 of 141
esd electronics gmbh
Vahrenwalder Str. 207 • 30165 Hannover • Germany
http://www.esd.eu
Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68

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Summary of Contents for GSD CAN-CBX-DIO8/2

  • Page 1 CAN-CBX-DIO8/2 ® CANopen Module with 8 Digital I/O Ports Hardware Manual For Product C.3010.04 CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21 / Rev 4.0 Page 1 of 141 esd electronics gmbh Vahrenwalder Str. 207 • 30165 Hannover • Germany http://www.esd.eu Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68...
  • Page 2 The 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...
  • Page 3: Document Information

    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...
  • Page 4 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...
  • Page 5: Safety Instructions

    ● 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.
  • Page 6: Qualified Personnel

    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.
  • Page 7: Table Of Contents

    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...
  • Page 8 4.10.32 Error Value Output 8-Bit (0x6207) ................94 4.10.33 Filter Mask Output 8-Bit (0x6208) ................94 4.10.34 Write Output 1-Bit (0x6220) ..................95 4.10.35 Polarity Output 1-Bit (0x6240) .................. 96 Page 8 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
  • Page 9 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...
  • Page 10 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...
  • Page 11 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) ......
  • Page 12: Overview

    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...
  • Page 13: Glossary

    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...
  • Page 14: Hardware

    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...
  • Page 15: Leds

    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).
  • Page 16: Operation Of The Can-Error Led E

    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...
  • Page 17: Operation Of The Error-Led M

    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...
  • Page 18: Special Indicator States

    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...
  • Page 19: Coding Switch

    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...
  • Page 20: Setting The Bit Rate

    Bit rate Setting [Kbit/s] 1000 666.6 ̅ 333.3 ̅ 166.6 ̅ 66.6 ̅ 33.3 ̅ 12.5 83.3 ̅ Table 8: Index of the bit rate Page 20 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
  • Page 21: Installing And Uninstalling Hardware

    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.
  • Page 22: Uninstalling The Hardware

    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...
  • Page 23: Using Inrailbus

    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...
  • Page 24: Connecting Via The Inrailbus

    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...
  • Page 25: Connection Of The Supply Voltage

    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.
  • Page 26: Connection Of The Power Supply Voltage Via 24 V Connector

    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...
  • Page 27: Connection Of Can

    (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...
  • Page 28: Canopen Firmware

    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...
  • Page 29: Nmt-Boot-Up

    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...
  • Page 30 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...
  • Page 31: Non-Volatile Storage Of Parameters To Eeprom

    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...
  • Page 32: Overview Of Used Canopen-Identifiers

    PDO from CAN-CBX-DIO8/2 (Tx) (object 0x1800) RPDO1 0x200 + NodeID PDO to CAN-CBX-DIO8/2 (Rx) (object 0x1400) Client-SDO 0x580 + Node-ID SDO from CAN-CBX-DIO8/2 (Tx) Server-SDO 0x600 + Node-ID SDO to CAN-CBX-DIO8/2 (Rx) Node Guarding 0x700 + NodeID See object 0x100E NodeID: CANopen address [0x01...0x7F]...
  • Page 33: Default Pdo-Assignment

    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...
  • Page 34: Setting And Reading The Outputs/Inputs

    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...
  • Page 35: Communication Profile Area

    This parameter can be read or written. Value range Value range of the parameter Default value Default setting of the parameter Name/Description Name and short description of the parameter CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 35 of 141...
  • Page 36: Implemented Canopen Objects

    0x1003 Pre-Defined-Error-Field unsigned 32 0x00 0x1005 COB-ID-Sync unsigned 32 0x80 0x1006 Communication Cycle Period unsigned 32 0x00 “CAN-CBX-DIO8/2” 0x1008 Manufacturer Device Name visible string x.yy 0x1009 Manufacturer Hardware Version visible string (depending on version) x.yy 0x100A Manufacturer Software Version visible string...
  • Page 37 Access Product-specific Index Description Data type index mode properties default: 2 0x1F80 NMT startup unsigned 32 (autostart disabled) Self-starting nodes timing default: 0x64 0x1F91 unsigned 16 parameters (= 100 ms) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 37 of 141...
  • Page 38: Devicetpe (0X1000)

    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.
  • Page 39: Error Register (0X1001)

    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’.
  • Page 40: Pre-Defined Error Field (0X1003)

    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...
  • Page 41 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...
  • Page 42: Cob-Id Of Sync-Message (0X1005)

    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...
  • Page 43: Communication Cycle Period (0X1006)

    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...
  • Page 44: Manufacturer Device Name (0X1008)

    ‘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...
  • Page 45: Manufacturer Hardware Version (0X1009)

    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...
  • Page 46: Guard Time (0X100C) And Life Time Factor (0X100D)

    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.
  • Page 47: Node Guarding Identifier (0X100E)

    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...
  • Page 48: Store Parameters (0X1010)

    (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...
  • Page 49 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 …...
  • Page 50: Restore Default Parameters (0X1011)

    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...
  • Page 51 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...
  • Page 52: Cob_Id Emergency Message (0X1014)

    (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...
  • Page 53: Inhibit Time Emcy (0X1015)

    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...
  • Page 54: Consumer Heartbeat Time (0X1016)

    Example: consumer-heartbeat_time = 0x0031 03E8 => Node-ID = 0x31 = 49 (decimal) => heartbeat time = 0x3E8 = 1000 (decimal) => 1 s Page 54 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
  • Page 55: Producer Heartbeat Time (0X1017)

    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...
  • Page 56: Identity Object (0X1018)

    … 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...
  • Page 57 ‘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...
  • Page 58: Synchronous Counter Overflow Value (0X1019)

    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...
  • Page 59: Verify Configuration (0X1020)

    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...
  • Page 60: Error Behaviour Object (0X1029)

    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...
  • Page 61: Receive Pdo Communication Parameter (0X1400)

    8 1 ... 0x200 0x1400 COB_ID used by PDO1 unsigned 32 0x8000 07FF + Node-ID transmission type 0 ... 0xFF unsigned 8 All transmission types are supported. CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 61 of 141...
  • Page 62: Receive Pdo Mapping Parameter 0X1600

    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.
  • Page 63: Figure 12: Example For The Rx-Pdo Mapping With Three Can-Cbx-Dio8/2 Modules

    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).
  • Page 64: Object Transmit Pdo1 Communication Parameter 0X1800

    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...
  • Page 65: Object Transmit Pdo2 Communication Parameter 0X1801

    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...
  • Page 66: Transmit Pdo1 Mapping Parameter 0X1A00

    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...
  • Page 67: Transmit Pdo2 Mapping Parameter 0X1A01

    2402 01 10 ... 2402 08 10 Counter_Value_1 - Counter_Value_8, 16-bit (obj. 0x2402, sub-index 1-8) 2403 01 20 ... 2403 08 20 Counter_Value_1 - Counter_Value_8, 32-bit (obj. 0x2403, sub-index 1-8) 0005 00 08 “Dummy Mapping” CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 67 of 141...
  • Page 68 PDO2 unsigned 8 object_to_be_mapped_1 0x0005 00 08 unsigned 8 0x1A01 object_to_be_mapped_2 0x6000 01 08 unsigned 8 object_to_be_mapped_3 0x2403 05 20 unsigned 32 object_to_be_mapped_4 0x2402 01 10 unsigned 16 Page 68 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
  • Page 69: Nmt Startup (0X1F80)

    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...
  • Page 70: Self-Starting Nodes Timing Parameters (0X1F91)

    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...
  • Page 71: Device Profile Area

    Polarity Output 32 Bit unsigned 32 0x6326 Error Mode Output 32 Bit unsigned 32 0x6327 Error Value Output 32 Bit unsigned 32 0x6328 Filter Mask Output 32 Bit unsigned 32 CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 71 of 141...
  • Page 72: Interrelation Of The Implemented Objects Of The Digital Inputs

    Interrupt Mask Any Change 0x6006 0x6050 0x6106 0x6126 Interrupt Mask Low-to-High 0x6007 0x6060 0x6107 0x6127 Interrupt Mask High-to-Low 0x6008 0x6070 0x6108 0x6128 Table 9: Alternative objects for digital inputs Page 72 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
  • Page 73: Interrelation Of The Implemented Objects Of The Digital Outputs

    0x6322 Output Error Mode 0x6206 0x6250 0x6306 0x6326 Output Error Value 0x6207 0x6260 0x6307 0x6327 Output Filter Mask 0x6208 0x6270 0x6308 0x6328 Output Table 10: Alternative objects for digital outputs CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 73 of 141...
  • Page 74: Read Input 8-Bit (0X6000)

    Assignment of the parameter polarity_input_8-bit_DI8-DI1: Index: 0x6002, Sub-index: 1 Bit: Input: Bit value DIx Input DIx Input DIx is inverted Input DIx is not inverted (x = 1 … 8) Page 74 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
  • Page 75: Filter Constant Input 8-Bit (0X6003)

    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...
  • Page 76: Interrupt Mask Any Change 8-Bit (0X6006)

    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...
  • Page 77: Interrupt Mask High To Low 8-Bit (0X6008)

    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...
  • Page 78: Read Input 1-Bit (0X6020)

    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...
  • Page 79: Polarity Input 1-Bit (0X6030)

    Assignment of the parameter polarity_input_1-bit_DIx: (x = 1 … 8) polarity_input_1-bit_DIx Value Description true Input DIx is inverted false Input DIx is not inverted (x = 1 …8) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 79 of 141...
  • Page 80: Filter Constant Input 1-Bit (0X6038)

    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...
  • Page 81: Interrupt Mask Input Bit Any Change 1-Bit (0X6050)

    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...
  • Page 82: Interrupt Mask Low To High 1-Bit (0X6060)

    DIx. Value Description IRQ-mask_LH_1-bit_DIx true interrupt on rising edge of DIx enabled false interrupt on rising edge of DIx disabled (x = 1 … 8) Page 82 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
  • Page 83: Interrupt Mask High To Low 1-Bit (X6070)

    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...
  • Page 84: Read Input 16-Bit (0X6100)

    Assignment of the parameter polarity_input_16-bit_DI8-DI1: Index: 0x6102, Sub-index: 1 15 … … 8 Bit: Input: Bit value DIx Input DIx Input DIx is inverted Input DIx is not inverted (x = 1 …8) Page 84 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
  • Page 85: Filter Constant Input 16-Bit (0X6103)

    Index: 0x6103, Sub-index: 1 15 … …8 Bit: Input: Bit value DIx Input DIx Filter of input DIx is enabled Filter of input DIx is disabled (x = 1 …8) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 85 of 141...
  • Page 86: Interrupt Mask Any Change 16-Bit (0X6106)

    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...
  • Page 87: Interrupt Mask High To Low 16-Bit (0X6108)

    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...
  • Page 88: Read Input 32-Bit (0X6120)

    Assignment of the parameter polarity_input_32-bit_DI8-DI1: Index: 0x6122, Sub-index: 1 31 … …8 Bit: Input: Bit value DIx Input DIx Input DIx is inverted Input DIx is not inverted (x = 1 …8) Page 88 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
  • Page 89: Filter Constant Input 32-Bit (0X6123)

    Index: 0x6123, Sub-index: 1 31 … …8 Bit: Input: Bit value DIx Input filter of input DIx is enabled filter of Input DIx is disabled (x = 1 … 8) CAN-CBX-DIO8/2 Hardware Manual Doc.-Nr.: C.3010.21/ 4.0 Page 89 of 141...
  • Page 90: Interrupt Mask Any Change 32-Bit (0X6126)

    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...
  • Page 91: Interrupt Mask High To Low 32-Bit (0X6128)

    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...
  • Page 92: Write Output 8-Bit (0X6200)

    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...
  • Page 93: Error Mode Output 8-Bit (0X6206)

    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...
  • Page 94: Error Value Output 8-Bit (0X6207)

    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...
  • Page 95: Write Output 1-Bit (0X6220)

    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...
  • Page 96: Polarity Output 1-Bit (0X6240)

    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...
  • Page 97: Error Mode Output 1-Bit (0X6250)

    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...
  • Page 98: Error Value Output 1-Bit (0X6260)

    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...
  • Page 99: Filter Mask Output 1-Bit (0X6270)

    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...
  • Page 100: Write Output 16-Bit (0X6300)

    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...
  • Page 101: Error Mode Output 16-Bit (0X6306)

    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...
  • Page 102: Error Value Output 16-Bit (0X6307)

    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...
  • Page 103: Filter Mask Output 16-Bit (0X6308)

    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...
  • Page 104: Write Output 32-Bit (0X6320)

    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...
  • Page 105: Error Mode Output 32-Bit (0X6326)

    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...
  • Page 106: Error Value Output 32-Bit (0X6327)

    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...
  • Page 107: Filter Mask Output 32-Bit (0X6328)

    …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...
  • Page 108: Manufacturer Specific Profile Area

    0x2400 Counter Enable unsigned 8 0x2401 Counter Preload unsigned 32 0x2402 Counter Value 16- Bit unsigned 16 0x2403 Counter Value 32-Bit unsigned 32 0x2404 Counter Value 8-Bit unsigned 8 Page 108 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
  • Page 109: Input - Output (0X2250)

    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...
  • Page 110: Vio Voltage 16-Bit (0X2300)

    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...
  • Page 111: Sample Configuration (0X2310)

    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...
  • Page 112: Function Of The Counter

    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...
  • Page 113: Counter Enable (0X2400)

    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...
  • Page 114: Counter Value 16-Bit (0X2402)

    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...
  • Page 115: Counter Value 32-Bit (0X2403)

    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...
  • Page 116: Counter Value 8-Bit (0X2404)

    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...
  • Page 117: Firmware Management Via Cia Dsp-302-Objects

    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...
  • Page 118: Technical Data

    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...
  • Page 119: Can Port

    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...
  • Page 120: Software Support

    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...
  • Page 121: Connector Assignments

    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...
  • Page 123: Power Supply Voltage

    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,...
  • Page 124: Can

    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...
  • Page 125: Can Connector

    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...
  • Page 126: And Can Via Inrailbus

    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.
  • Page 127: Conductor Connection/Conductor Cross Section

    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...
  • Page 128: Correct Wiring Of Electrically Isolated Can Networks

    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...
  • Page 129: Light Industrial Environment (Single Twisted Pair Cable)

    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...
  • Page 130: Cabling

    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...
  • Page 131: Heavy Industrial Environment (Double Twisted Pair Cable)

    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...
  • Page 132: Device Cabling

    (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...
  • Page 133: Electrical Grounding

    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...
  • Page 134: Examples For Can Cables

    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...
  • Page 135: Can Troubleshooting Guide

    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...
  • Page 136: Electrical Grounding

    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...
  • Page 137: Can Transceiver Resistance Test

    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...
  • Page 138: Software Licenses

    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.
  • Page 139: References

    (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...
  • Page 140: Declaration Of Conformity

    Declaration of Conformity 11 Declaration of Conformity Page 140 of 141 Hardware Manual Doc.-Nr.: C.3010.21 /Rev. 4.0 CAN-CBX-DIO8/2...
  • Page 141: Order Information

    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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