Deditec COS Series Guide

Hardware-Description
September
COS-REL8
2021

INDEX
Index | 2Seite
1. Hardware Description 6
1.1. COS-REL8 6
7
1.1.1. technical data
9
1.1.2. connection example
9
1.1.2.1. outputs
10
1.1.3. block diagram
11
1.1.4. pin assignment
1.2. Installation 12
1.3. coding switch 13
1.4. Dimensions 16
1.5. Control LEDs 18
23
1.5.1. COS-REL8
1.6. CAN connection and power supply 24
1.7. Firmware Update 24
2. CANopen Log 28
2.1. Identifier 28
2.2. Network Management 30
2.3. object directory 32
33
2.3.1. communication profile
47
2.3.1.1. 0x6002 Polarity Input 8 Bit 4
48
2.3.1.2. 0x1000 Device Type
49
2.3.1.3. 0x1001 Error Register
50
2.3.1.4. 0x1003 Predefined Error Field
51
2.3.1.5. 0x1005 COB ID SYNC
51
2.3.1.6. 0x1008 Manufacturer device name
51
2.3.1.7. 0x100A Manufacturer software version
52
2.3.1.8. 0x100C Guard Time
53
2.3.1.9. 0x100D Life Time Factor
54
2.3.1.10. 0x1010 Store parameters

INDEX
Index | 3Seite
55
2.3.1.11. 0x1011 Restore default parameters
56
2.3.1.12. 0x1014 COB ID EMCY
56
2.3.1.13. 0x1015 Inhibit Time Emergency
57
2.3.1.14. 0x1016 Consumer Heartbeat Time
59
2.3.1.14.1. 0x1017 Producer Heartbeat Time
60
2.3.1.15. 0x1018 Identity Object
62
2.3.1.16. 0x1400 Receive PDO1 Communication Parameter
64
2.3.1.16.1. 0x1029 Error behaviour
65
2.3.1.17. 0x1600 Receive PDO1 Mapping Parameter
68
2.3.1.18. 0x1800 Transmit PDO1 Communication Parameter
71
2.3.1.19. 0x1801 Transmit PDO2 Communication Parameter
74
2.3.1.20. 0x1802 Transmit PDO3 Communication Parameter
77
2.3.1.21. 0x1A01 Transmit PDO2 Mapping Parameter
79
2.3.1.21.1. 0x1A00 Transmit PDO1 Mapping Parameter
82
2.3.1.22. 0x1A02 Transmit PDO3 Mapping Parameter
84
2.3.1.23. 0x1F51 Program Control
85
2.3.1.24. 0x1F80 MNT Startup
86
2.3.2. manufacturer profile
89
2.3.2.1. 0x2100 Custom Data
90
2.3.2.2. 0x5F00 Deditec Special
90
2.3.2.3. 0x5F10 Deditec Register Mode Read
90
2.3.2.4. 0x5F20 Deditec Register Mode Write
91
2.3.3. device profile
92
2.3.3.1. Digital outputs
93
2.3.3.1.1. 0x6200 Write Output 8-Bit
95
2.3.3.1.2. 0x6202 Polarity Output 8 Bit
96
2.3.3.1.3. 0x6206 Error Mode Output 8 Bit
97
2.3.3.1.4. 0x6207 Error Value Output 8 Bit
2.4. Access via SDOs 98
102
2.4.1. SDO error messages
2.5. device monitoring 104
104
2.5.1. Node-Guarding

INDEX
Index | 4Seite
105
2.5.2. Heartbeat Protokoll
2.6. Emergency 106
2.7. PDOs 107
2.8. Store in EEPROM 110
3. CAN Bus length 112
4. appendix 114
4.1. revisions 114

I
Hardware Description |Seite 5
Hardware Description

Hardware Description |Seite 6
1. Hardware Description
1.1. COS-REL8
CANopen profiles according to CiA® specification CiA 301, CiA
305 and CiA 401
Galvanic isolation of the CAN bus
8 relay outputs (galvanically isolated)
AC switching voltage (36V / 3A or 5A)
DC switching voltage (30V / 3A or 5A)
Node number and baud rate configurable via coding switch or
LSS
LED status display for each input/output channel
Suitable for DIN rail mounting (TS35)

Hardware Description |Seite 7
1.1.1. technical data
CAN-Interface
supply voltage
7V to 24V DC via voltage plug or
Inrail bus
Interface
CAN (galvanically isolated via
optocoupler)
logs
Configurable via coding switch
CANopen according to CiA®
specification CiA 301, CiA 305
and CiA 401
CAN 2.0A or CAN 2.0B
Baud rates
Configurable via coding switch
1 Mbit/s, 800 Kbit/s, 500 Kbit/s,
250 Kbit/s, 125 Kbit/s, 100 Kbit/
s, 50 Kbit/s, 20 Kbit/s, 10 Kbit/s
or Autobaud
Node-ID
Configurable via coding switch
or LSS (0x01 .. 0x7F)
control LEDs
CANopen RUN, CANopen ERR,
Power/Status

Hardware Description |Seite 8
General
outputs
Relay Outputs
Switching voltage: 36V AC, 30V
DC
Max. Inrush current: 3A AC/DC
or 5A AC/DC (depending on
version)
Max. transport stream: 3A AC/
DC or 5A A/C/DC (depending on
version)
Max. Switching capacity: 78W
AC, 60W DC
Insulation voltage (between
open contacts): 750 V rms
Insulation voltage (between
contacts and coil): 3 kV rms
activity LED
One LED per output channel
plug connector
1 * pluggable 16 pole terminal
strip for 8 outputs
operating temperature
+10°C...+50°C
Dimensions
99 mm x 22,5 mm x 114,5 mm
(LxWxH)
Length with connector 117mm

Hardware Description |Seite 9
1.1.2. connection example
1.1.2.1. outputs

Hardware Description |Seite 10
1.1.3. block diagram

Hardware Description |Seite 11
1.1.4. pin assignment
Port
Pin
1
1 & 2
2
3 & 4
3
5 & 6
4
7 & 8
5
9 & 10
6
11 & 12
7
13 & 14
8
15 & 16

Hardware Description |Seite 12
1.2. Installation
Modules of the COS series can be operated stand-alone or in
combination.
In a network, the CAN bus and the power supply can be passed
on via the in-rail bus connector (see accessories).

Hardware Description |Seite 13
1.3. coding switch
The operating mode, bit rate and node number (Node ID) can be
determined via coding switches.
The coding switches are located at the bottom of the front panel.
In this example the operating mode is CANopen,
the bit rate is 250 kBit/s and the Node ID is 0x24

Hardware Description |Seite 14
Coding switch Mode Baud rate
value
operating
mode
Description
0
CANopen
Bitrate = 1000 kBit/s
1
CANopen
Bitrate = 800 kBit/s
2
CANopen
Bitrate = 500 kBit/s
3
CANopen
Bitrate = 250 kBit/s
4
CANopen
Bitrate = 125 kBit/s
5
CANopen
Bitrate = 100 kBit/s
6
CANopen
Bitrate = 50 kBit/s
7
CANopen
Bitrate = 20 kBit/s
8
CANopen
Bitrate = 10 kBit/s
9
CANopen
Autobaud + LSS
A
CANopen
Autobaud
B
CANopen
Bootloader
Bitrate = 250 kBit/s
C
CANopen
Bootloader
Bitrate = 1000 kBit/s, Node ID =
0x7e
D
CAN 2.0 A/B
use settings from EEPROM
E
CAN 2.0 A/B
Bitrate = 1000 kBit/s, CAN ID =
0x100
F
CANopen
Bitrate = 1000 kBit/s, Node ID =
0x7e

Hardware Description |Seite 15
Attention
The coding switches are always queried at module start.

Hardware Description |Seite 16
1.4. Dimensions
1) front view
Dimensions in mm

Hardware Description |Seite 17
2) Side view (DIN rail mounting left)
Dimensions in mm

Hardware Description |Seite 18
1.5. Control LEDs
The upper part of the front panel contains 2 LEDs (Run and Error)
in the left area, which indicate various CANopen states.
In addition, the status LED, which shows manufacturer-specific
information, is located in the right area.
Flashing states for Run and Error LED
State
Description
on
LED on
off
LED off
blinking
LED flashes at 2.5 Hz
flicker
LED flickers with 10 Hz
1 flash
LED 200 ms on, 1400 ms off
2 flashes
1x LED (200 ms on, 200ms off),
200ms on, 1000ms off
3 flashes
2x LED (200 ms on, 200ms off),
200ms on, 600ms off

Hardware Description |Seite 19
CANopen Run LED
State
Description
blinking
Pre-Operational
on
Operational
1 flash
Stopped
CANopen Error LED
State
Beschreibung
off
no error
1 flash
CAN-Controller status "error"
2 flashes
Heartbeat/Nodeguard error
3 flashes
Synchronization error
4 flashes
Event Timer error
on
CAN-Controller status "Bus Off"

Hardware Description |Seite 20
status LED
The status LED indicates the state (application or bootloader) of
the module. The status LED lights up for 5 seconds (application)
or 2 seconds (bootloader). At the end of this sequence, the LED
can also flash "n times", but at least once, indicating the
submode.
Applikation
The boot process was completed successfully and the product is
in the application. The product is now ready for use.
The status LED lights up for 5 seconds and goes out for about
300ms. The application sequence repeats itself.