GCAN GCAN-IO-8000 User manual

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GCAN-IO-8000
CANopen I/O coupler
User manual
Document version V4.00（2021/03/23）

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Vhandy technology GCAN-IO-8000 user manual
Revision History:
Version
Date
Reason
V1.00
2015/10/16
Create
V2.01
2015/12/20
Fixed working parameters
V3.01
2017/11/22
Add parameters
V3.02
2018/01/22
Add protocol section
V3.03
2018/03/22
Fixed parameters
V3.25
2019/03/20
Modify the selection table
V4.00
2021/03/23
Product revision and upgrade

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Vhandy technology GCAN-IO-8000 user manual
Contents
1. Introduction .................................................................................................. 4
1.1 Overview ............................................................................................. 4
1.2 Performance .........................................................................................4
1.3 Typical application .............................................................................. 5
2. Installation and usage ................................................................................... 6
2.1 Fixed module ....................................................................................... 6
2.2 Wiring method .....................................................................................7
2.3 System status indicator ........................................................................9
3. Communication connection ........................................................................11
3.1 Serial connection ............................................................................... 11
3.2 CAN connection ................................................................................ 11
3.3 CAN-Bus terminal resistance ............................................................12
3.4 CAN baud rate and node number setting .......................................... 12
4. Communication example ............................................................................14
4.1 NMT command ................................................................................. 14
4.2 Equipped with GC-1008module ........................................................17
4.3 Equipped with GC-2008module ........................................................18
4.4 Equipped with GC-3804module ........................................................18
4.5 Equipped with multiplemodules ........................................................19
5. Module selection table ................................................................................22
6. Technical specifications ............................................................................. 24
Sales and service .............................................................................................25

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Vhandy technology GCAN-IO-8000 user manual
1. Introduction
1.1 Overview
GCAN-8000 Modbus I/O Coupler can be used to connect CAN bus
system and distributed bus terminal module, and these terminal modules can be
expanded in a modular way. A complete node consists of a bus coupler, 1-32
arbitrary number of terminal modules and a terminal module. Adopt GCAN-
IO-8000 bus coupler, through GC-bus expansion technology, can establish I/O
connection extremely conveniently, can connect 32 input/output terminal
modules at most.
The GCAN-IO-8000 CANopen bus coupler adopts the CAN bus protocol
that conforms to the ISO 11898 standard. The GCAN-IO-8000 bus coupler not
only supports all types of CANopen communication, but can also be easily
applied to the manufacturer's specific CAN bus environment. In addition, the
firmware can also be upgraded through the configuration interface.
GCAN-IO-8000 bus coupler can connect all bus terminal modules. As far
as the user is concerned, there is no difference between the processing methods
of analog input/output signals and the processing methods of other types of
signals. The information in the process image area of the controller is displayed
in byte array format. According to different models, the analog quantity bus
terminal module register contains temperature range, gain value and
linearization characteristic curve.
GCAN-8000 Bus Coupler supports automatic configuration, and you do
not need to set parameters on the PC. When GCAN-8000 bus coupler uses
Modbus RTU communication, communication parameters can be configured
by RS232 interface.
1.2 Performance
●CANopen baud rate supports 1000k, 500k, 250k, 125k, 100k, 50k, 10k;
PDO mode supports synchronization, loop, event-driven, and polling;
The number of bus terminal modules is up to 32;
●Sending PDO (CANopen) is determined by the number of extended input
modules, and receiving PDO (CANopen) is determined by the number of
extended output modules
●Configuration mode is automatic configuration,expandedfreely
CAN bus interface is an open 4-pin terminal

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Vhandy technology GCAN-IO-8000 user manual
●Supply power: 24V DC(-15%/+20%)
●Input current, 70mA+ (total GC-bus current), maximum2.5A
●Starting current: about 2.5 times continuous current
●Power contacts: maximum 24V DC/maximum10A
●Electrical isolation: 1500 Vrms (power contact/bus coupled power voltage)
●Working temperature: -40.00℃~85.00℃
●Dimensions：100mm(L) * 69mm(W) * 48mm(H)
1.3 Typical application
●Connect with the distributed bus terminal module to form a complete
control node.
●Perform data acquisition and data transmission with CANopen protocol.

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Vhandy technology GCAN-IO-8000 user manual
2. Installation and usage
This chapter introduces the method installation and wiring,the meaning of
the indicator and the interface.
2.1 Fixed module
The installation method of GCAN-8000CANopen bus coupler is shown in
Figure 2.1
Figure 2.1 GCAN-8000 module installation
Figure 2.2 GCAN-8000 module self-locking mechanism
As shown figure 2.1, install the GCAN-8000CANopen bus coupler on the
guide rail until the lock is stuck. The GCAN-8000 CANopen bus coupler has a
self-locking mechanism that can effectively prevent equipment from falling. As
shown figure 2.2, you can release the self-locking mechanism by pulling out
the orange label
The GCAN-8000 CANopen bus coupler can connect up to 32 distributed

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Vhandy technology GCAN-IO-8000 user manual
bus terminal modules. When inserting bus terminal module, be sure to insert it
along the groove on the right side of the existing module sequentially until the
lock is stuck. At the right end of the entire node, you need to install terminal
module. The terminal will guarantee the data transmission and power supply of
the GC-Bus.
When you assemble the nodes correctly, there is no obvious gap between
the terminal modules. If the modules are not assembled correctly, the entire
node will not operate normally.
2.2 Wiring method
The power wiring as shown in figure 2.3. First, use a flat-blade
screwdriver to insert into the square hole, hold the top edge of the metal sheet
in the square hole, and press toward the hole. Then, insert the wire into the hole.
After plugging in, pull out the screwdriver and the wire can be firmly locked in
the hole.
Figure 2.3 GCAN-8000 module installation

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Vhandy technology GCAN-IO-8000 user manual
Figure 2.4 GCAN-8000 module, wiring terminal block
The wiring terminal block of the GCAN-8000CANopen bus coupler is
shown in Figure 2.4, including 8 terminals. The number corresponding to each
terminal and its meaning are shown in Table 2.1.
Note: connecting between terminal 3 and terminal 4, terminal 5 and terminal 6,
terminal7 and terminal 8 inside the module.
Terminal
Number
Definition
24V
1
Input 24V power
0V
2
GND power
+
3
IO positive power
+
4
IO positive power
-
5
IO negative power
-
6
IO negative power
PE
7
shield
PE
8
shield
Table 2.1 GCAN-8000 module, wiring terminal definition
Figure 2.5 CAN bus terminal block of GCAN-IO-8000 module

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Vhandy technology GCAN-IO-8000 user manual
The CAN bus terminal block of GCAN-IO-8000 CANopen bus coupler is
shown in Figure 2.5.
The CAN bus terminal block of GCAN-IO-8000 contains 4 terminals, and
the corresponding serial number of each terminal and its meaning are shown in
Table 2.2
Terminal
Serial number
Meaning
CAN-H
1
CAN bus-high
SHIELD
2
Shield
CAN-L
3
CAN bus-low
CAN-G
4
CAN bus-GND
Table 2.2 CAN bus terminal definition of GCAN-IO-8000 module
Figure 2.6 GCAN-IO-8000 module RS-232 interface definition
The RS-232 interface definition of GCAN-IO-8000 CANopen bus coupler
is shown in Figure 2.6. The RS-232 interface of GCAN-IO-8000 only defines 3
signal lines, RXD, TXD and GND.
2.3 System status indicator
GCAN-8000CANopen bus coupler has two sets of status indicators,
contains 6 circular status indicators in the left area and 2 power indicators in
the right area. The specific indicating function of the indicator is shown in table
2.3.
Indicator
Color
Status
PWR
green
Power
SYS
green
System
RUN
green
Run
ERR
green
Error
IO RUN
green
GC-Bus run
IO ERR
green
GC-Bus error
NO.1 on the right
green
Power

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Vhandy technology GCAN-IO-8000 user manual
NO.3 on the right
green
GC-Bus power
Table 2.3 GCAN-8000 module, indicators
Indicator
Status
Meaning
PWR
bright
Power supply normally
not bright
Power supply abnormally
SYS
Blinking
Working status
not bright
Initialization error
RUN
Blinking
Run normal
not bright
stop
ERR
bright
System error
not bright
System normal
IO RUN
Blinking
GC-Bus run normally
not bright
GC-Bus stop
IO ERR
bright
GC-Bus error
not bright
GC-Bus normal
Terminal module
NO.1 on the right
bright
Power supply normally
not bright
Power supply abnormally
NO.3 on the right
bright
Internal power supply
normally
not bright
Internal Power supply
abnormally
Table 2.4 GCAN-8000 module, indicators status

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Vhandy technology GCAN-IO-8000 user manual
3. Communication connection
3.1 Serial connection
GCAN-IO-8000 CANopen bus coupler uses standard serial port level
(RS232: ±3~15V), so this module can be directly connected to equipment with
RS232 interface.
The RS232 interface baud rate of the GCAN-IO-8000 CANopen bus
coupler cannot be modified and is fixed at 19200bps.
3.2 CAN connection
GCAN-IO-8000 connect to CAN-Bus as described in figure 3.1, CAN-H
connect CAN-H, CAN-L connect CAN L to make communication.
GCAN-IO-8000, must be installed two 120 ohms terminal resistance at
the farthest end of CAN-Bus network; if the node number is more than 2,
intermediate nodes needn't to install 120 ohms terminal resistance. For branch
connections, the length should not exceed 3 meters.
Figure 3.1 CAN-Bus network structure
Please note: CAN-bus cable can use ordinary twisted pair and shielded twisted
pair. The theoretical maximum communication distance mainly depends on the
bus baud rate. The relationship between the maximum bus length and the baud
rate is shown in Table 3.1. If the communication distance exceeds 1km, the
cross-sectional area of the line should be greater than Φ1.0mm2. The specific
specifications should be determined according to the distance. The general rule
is to increase the distance as the distance increases

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Vhandy technology GCAN-IO-8000 user manual
Baud rate
Distance
1 Mbit/s
40m
500 kbit/s
110m
250 kbit/s
240m
125 kbit/s
500m
50 kbit/s
1.3km
20 kbit/s
3.3km
10 kbit/s
6.6km
5 kbit/s
13km
Table 3.1 the relationship between CAN-Bus length and baud rate.
3.3 CAN-Bus terminal resistance
In order to enhance the reliability of CAN communication and eliminate
the interference of CAN bus terminal signal reflection, the two farthest
endpoints of the CAN bus network usually need to add terminal matching
resistors, as shown in Figure 3.2. The value of the terminal matching resistance
is determined by the characteristic impedance of the transmission cable. For
example, the characteristic impedance of the twisted pair is 120Ω, and the two
end points on the bus should also be integrated with 120Ω terminal resistance.
If other nodes on the network use different transceivers, the terminal resistance
must be calculated separately.
Figure 3.2 GCAN-IO-8000 connect with other nodes
Please note: 2 GCAN-IO-8000 hasn't integrated 120Ω terminal resistance. If
the number of nodes is more than 2, the middle node does not need to install
120Ω terminal resistance. When you need to use it, connect the both sides of
the resistance to CAN_H and CAN_L
3.4 CAN baud rate and node number setting
You can modify the CAN bus communication baud rate of the GCAN-IO-

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Vhandy technology GCAN-IO-8000 user manual
8000 module through the RS232 interface. The specific process is as follows:
First, establish a serial port connection with a baud rate of 19200bps, configure
the data bit and stop bit as none, 8, 1, and send a "help" command or "?"
command through the RS232 interface, and then the RS232 interface will
return to the configuration information. Please note that when sending the
command, please add a carriage return at the end or select "Send New Line" in
the software. Do not select "Hexadecimal Display" or "Hexadecimal
Transmission" for display and transmission. You can send "setbaud=500000"
to modify the baud rate of the GCAN-IO-8000 module to 500kbps. At the same
time, you canSend "getbaud" to get the CAN baud rate of this machine, and the
unit of the reply value is bps.
Set baud
Corresponding baud
rate（kbps）
setbaud=1000000
1000
setbaud=500000
500
setbaud=250000
250
setbaud=125000
125
setbaud=100000
100
setbaud=50000
50
setbaud=10000
10
Table 3.2
The method of setting and obtaining the CANopen node ID is similar to
the baud rate. You can modify the CAN bus node number of the GCAN-IO-
8000 module through the RS232 interface. You can send “setid=3” to modify
the CANopen node ID of the GCAN-IO-8000 module to 3. At the same time,
you can send "getid" to get the CANopen node ID of the machine. The node
number can be set arbitrarily within 1-127

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Vhandy technology GCAN-IO-8000 user manual
4. Communication example
GCAN-IO-8000 implements the CANopen communication protocol and is
a CANopen slave device. The GCAN-IO-8000 module uses PDO (Process
Data Object) to collect or output digital signals.
When equipped with GC-3804 or GC-1008 module, GCAN-IO-8000 will
send out TPDO data. Typical frame IDs are 0x181, 0x281 and so on. When
equipped with GC-2008 module, GCAN-IO-8000 will receiveRPDO data,
typical frame IDs are 0x203, 0x303, etc.
This chapter will use Vhandy Technology's USBCAN-II Pro module and
ECANTools software to receive and send CAN bus data. The CANopen master
function attached to the software can help debug CANopen slaves, which is
very convenient and practical.
Use Vhandy Technology's USBCAN bus analyzer to simulate CAN bus
communication equipment and perform communication tests on GCAN-IO-
8000 modules. The USBCAN bus analyzer is an intuitive CAN bus debugging
and analysis tool. The device can be used to monitor and simulate CAN data
transmission and reception through a computer. It is an indispensable tool for
engineers engaged in the CAN bus industry. You are welcome to buy through
the contact information on the last page of this manual.
4.1 NMT command
The GCAN-IO-8000 module meets the standard CANopen Cia301
protocol and is a standard CANopen slave device. After GCAN-IO-8000 is
started, the master will send a frame command to the master station, the frame
ID is 0x700+Node ID, and the frame data is 0x7F.
For example: Set the Node ID of GCAN-IO-8000 to 1 through the DIP
switch, then USBCAN-II Pro as the master device can receive a start command,
the frame ID is 0x701, and the frame data is 0x7F. As shown in Figure 4.1, this
data can be received using ECANTools software.
FrameID
（HEX）
DLC
Frame data（HEX）
701
1
7F
--
--
--
--
--
--
--
Table 4.1

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Vhandy technology GCAN-IO-8000 user manual
Figure 4.1
The GCAN-IO-8000 module receives the operation command issued by
the master station, the frame ID is 0x000, and the DLC is2. The first byte of the
frame data is the command symbol, and the second byte is the node number (00
means all nodes).
For example: the Node ID of GCAN-IO-8000 is 1, and the command
GCAN-IO-8000 is to enter the operating state (01), the NMT command frame
ID is 0x000, and the frame data is 0x01, 0x01. This command can also be
issued by CANopenMaster plug-in of ECANTools software. For detailed
instructions of NMT, please refer to Appendix B.4. CANopen communication.
FrameID
（HEX）
DLC
Frame data（HEX）
000
2
Command
symbol
Node address
01
01
--
--
--
--
--
--
Table 4.2

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Vhandy technology GCAN-IO-8000 user manual
Figure 4.2 NMT command sending interface
Use the ECANTools software to command GCAN-IO-8000 to enter the
operating state:
①Fill the slave node number into the text box behind the ID
②click the Add Slave button
③open the + sign on the left side of the node, and click " NMT"
④Select "Start Remote Node" (default), and click the "NMT" button below. As
shown in Figure 4.3, the NMT command can be viewed in the ECANTools
monitoring interface after sending.
After receiving the NMT command, GCAN-IO-8000 will start
broadcasting PDO data and send out a heartbeat command with a frame ID of
0x701 and frame data of 0x05, indicating that GCAN-IO-8000 has entered the
operating state.

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Vhandy technology GCAN-IO-8000 user manual
Figure 4.3 NMT command monitoring interface
4.2 Equipped with GC-1008module
The state of the digital input is represented by one byte, channel 8 is high
and channel 1 is low.
Eg: GCAN-8000 module node number is set to 1. The channel 8 and
channel 4 status are 1 and the other status are 0, and the DI status data
displayed on one end of the Modbus is 88.The following table lists two
common DI states and their corresponding state data.
DI State
Channel
Number
8
7
6
5
4
3
2
1
State
1
0
0
0
1
0
0
0
Modbus
data
88
DI State
Channel
Number
8
7
6
5
4
3
2
1
State
0
1
0
1
1
0
1
0
Modbus
data
5A
Table 4.3

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Vhandy technology GCAN-IO-8000 user manual
4.3 Equipped with GC-2008module
The state of the digital output is represented by one byte, channel 8 is high and
channel 1 is low.
Eg: GCAN-8000 module node number is set to 1. Set the status of channel 8
and channel 4 to 1, and set the other status to 0. The data of the Modbus DO
status to be sent is 88 (15 function code).
DO State
Channel
Number
8
7
6
5
4
3
2
1
State
1
0
0
0
1
0
0
0
Modbus
data
88
DO State
Channel
Number
8
7
6
5
4
3
2
1
State
0
1
0
1
1
0
1
0
Modbus
data
5A
Table 4.4
4.4 Equipped with GC-3804module
The temperature status of each channel is represented by two bytes, eight
bytes for four channels.
Among them, the two bytes representing the temperature state, the first
byte is low, and thedataofbyte to be converted to decimal and multiplied by 0.1.
The second byte is high, the data of byte need to be converted to decimal and
multiplied by 25.6.
Finally add the two values, which is the final temperature value, and the
unit is degrees Celsius.
Eg: The temperature of the four channels is 25.6 degrees, 25.5 degrees, 20
degrees, and 30 degrees respectively. The analog input data is 0x00, 0x01,
0xFF, 0x00, 0xC8, 0x00, 0x2C, 0x01.

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Vhandy technology GCAN-IO-8000 user manual
GC-3804 temperature and CAN data
Modbus
data
Low byte C8
High byte 00
coefficient
200（0xC8）x0.1
0（0x00）x25.6
temperature
20℃
GC-3804 temperature and CAN data
Modbus
data
Low byte 2C
High byte 01
coefficient
44（0x2C）x0.1
1（0x01）x25.6
temperature
30℃
Table 4.5
4.5 Equipped with multiplemodules
If the GCAN-IO-8000 is equipped with multiple sets of GC-1008 modules
at the same time, then we will number them according to their distance from
the GCAN-IO-8000, from the nearest to the farthest, and the nearest one is
number 1. The TPDO data sent by the GCAN-IO-8000 coupler will be sent
according to the following table. For example, when the GCAN-IO-8000 node
number is 3 and 9 GC-1008 modules are installed at the same time, you will
receive two sets of data with frame IDs of 0x183 and 0x283. Among them, the
eight data bytes with frame ID 0x183 correspond to GC-1008 modules No. 1-8
in turn; one data byte with frame ID 0x283 corresponds to No. 9 GC-1008
modules.
Frame ID
Frame data
0x180+Node ID
1
2
3
4
5
6
7
8
0x280+Node ID
9
10
11
12
13
14
15
16
0x380+Node ID
17
18
19
20
21
22
23
24
0x480+Node ID
25
26
27
28
29
30
31
32
Table 4.6 Correspondence between multiple sets of GC-1008 modules and
CAN data
If GCAN-IO-8000 is equipped with multiple sets of GC-2008 modules at
the same time, then we will number them according to their distance from
GCAN-IO-8000, from the nearest to the farthest, and the nearest one is number
1. The RPDO data received by the GCAN-IO-8000 coupler needs to be sent

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Vhandy technology GCAN-IO-8000 user manual
according to the following table. For example, when the GCAN-IO-8000 node
number is 3 and 9 GC-2008 modules are installed at the same time, you need to
send two sets of data with frame IDs of 0x203 and 0x303 to control all 9
modules. Among them, the eight data bytes with frame ID 0x203 correspond to
GC-2008 modules 1-8 in sequence; one data byte with frame ID 0x303
corresponds to GC-2008 module 9.
Frame ID
Frame data
0x200+Node ID
1
2
3
4
5
6
7
8
0x300+Node ID
9
10
11
12
13
14
15
16
0x400+Node ID
17
18
19
20
21
22
23
24
0x500+Node ID
25
26
27
28
29
30
31
32
Table 4.7 Correspondence between multiple groups of GC-2008 modules and
CAN data
If the GCAN-IO-8000 is equipped with multiple sets of GC-3804 modules
at the same time, then we number them according to their distance from the
GCAN-IO-8000, from the nearest to the farthest, and the nearest one is number
1. The TPDO data sent by the GCAN-IO-8000 coupler will be sent according
to the following table. For example, when the GCAN-IO-8000 node number is
3 and 4 GC-3804 modules are installed at the same time, you will receive four
sets of data such as frame ID 0x183. Among them, the eight data bytes with
frame ID 0x183 correspond to the 4 channels of No. 1 GC-3804 module in turn;
the eight data bytes with frame ID 0x283 correspond to the 4 channels of No. 2
GC-3804 module in turn.
Frame ID
Frame data
0x180+Node ID
No.1GC-3804 4 channels
0x280+Node ID
No.2GC-3804 4 channels
0x380+Node ID
No.3GC-3804 4 channels
0x480+Node ID
No.4GC-3804 4 channels
Table 4.8 Correspondence between multiple groups of GC-3804 modules and
CAN data
If GCAN-IO-8000 is equipped with GC-1008 module and GC-3804
module at the same time, then we will number them according to their distance
from GCAN-IO-8000, from the nearest to the farthest, and the nearest one is
number 1. The TPDO data sent by the GCAN-IO-8000 coupler will be sent
according to the following table.
For example, when the GCAN-IO-8000 module node number is 3 and it is
equipped with 3 GC-1008 modules and 1 GC-3804 module at the same time,