ICP DAS USA CAN-8123 User manual

CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------ 1
CAN-8123/CAN-8223/CAN-8423
CANopen Slave Device
User’s Manual
Warranty
Without contrived damage, all products manufactured by ICP DAS are
warranted in one year from the date of delivery to customers.
Warning
ICP DAS revises the manual at any time without notice. However, no
responsibility is taken by ICP DAS unless infringement act imperils to patents
of the third parties.
Copyright
Copyright © 2007 is reserved by ICP DAS.
Trademark
The brand name ICP DAS as a trademark is registered, and can be used
by other authorized companies.

CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------ 2
Contents
1Introduction.............................................................................................4
1.1 Overview.........................................................................................4
1.2 Hardware Features ........................................................................6
1.3 CAN-8123/CAN-8223/CAN-8423 Features ....................................7
1.4 Utility Features...............................................................................8
2Hardware Specification..........................................................................9
2.1 CAN-8123/CAN-8223 Hardware Structure....................................9
2.2 CAN-8423 Hardware Structure....................................................11
2.3 Wire Connection ..........................................................................12
2.4 Power LED....................................................................................15
2.5 CANopen Status LED...................................................................16
2.5.1 The RUN LED...................................................................16
2.5.2 The ERR LED...................................................................17
2.6 The Node ID & the Baud rate Rotary Switch..............................19
2.7 Module Support ...........................................................................20
3CANopen Application...........................................................................21
3.1 CANopen Introduction.................................................................21
3.2 SDO Introduction.........................................................................28
3.3 PDO Introduction.........................................................................30
3.4 EMCY Introduction.......................................................................42
3.5 NMT Introduction.........................................................................43
3.5.1 Module Control Protocols...............................................44
3.5.2 Error Control Protocols ..................................................45
4Configuration & Getting Start..............................................................47
4.1 CAN-8123/CAN-8223 Configuration Flowchart..........................47
4.2 CAN-8423 Configuration Flowchart............................................49
4.3 CANopen Slave Utility Overview ................................................51
4.4 Configuration with the CANopen Slave Utility..........................52
4.5 CAN-8123/8223 Configuration (Off-line mode)..........................53
4.6 CAN-8423 Configuration (On-line mode)...................................58
5CANopen Communication Set.............................................................62
5.1 SDO Communication Set ............................................................63
5.1.1 Upload SDO Protocol......................................................63
5.1.2 SDO Block Upload Protocol...........................................72
5.1.3 Download SDO Protocol.................................................83
5.1.4 SDO Block Download......................................................88
5.1.5 Abort SDO Transfer Protocol .........................................96

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5.2 PDO Communication Set ............................................................99
5.2.1 PDO COB-ID Parameters ................................................99
5.2.2 Transmission Type........................................................101
5.2.3 PDO Communication Rule............................................102
5.3 EMCY Communication Set........................................................141
5.3.1 EMCY COB-ID Parameter..............................................141
5.3.2 EMCY Communication..................................................142
5.4 NMT Communication Set ..........................................................150
5.4.1 Module Control Protocol ..............................................150
5.4.2 Error Control Protocol ..................................................153
5.5 Special Functions for CAN-8123/8223/8423.............................158
6Object Dictionary of CAN-8123/8223/8423........................................166
6.1 Communication Profile Area.....................................................166
6.2 Manufacturer Specific Profile Area ..........................................173
6.3 Standardized Device Profile Area.............................................174
6.4 Object of Counter/Frequency Modules....................................178
6.5 Object of PWM Module..............................................................180
Appendix A: Type Code Table...................................................................182
Appendix B: DIO Type Define of I-8050 Modules ....................................195

CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------ 4
1 Introduction
1.1 Overview
CANopen, a kind of communication protocols, is an intelligent field bus
(CAN bus). It has been developed as a standard embedded network with a
high flexible configuration. It provides a standard communication protocol
transmitting real-time data in PDO (Process Data Objects), configuration data
in SDO (Service Data Objects), and network management data (NMT
message, and Error Control), even supports the special functions (Time Stamp,
Sync message, and Emergency message). Nowadays, CANopen is used on
many applications and in specific fields, such as medical equipment, off-road
vehicles, maritime electronics, public transportation, automation and so on.
The main control units CAN-8123/CAN-8223/CAN-8423 are specially
designed for the slave device of the CANopen protocols. In order to expand
the I/O channel, and make it more flexible, the
CAN-8123/CAN-8223/CAN-8423 supports up to 4 expansion slots for users to
increase applications by adding I/O channels. Users can choose either the
I-87K or the I-8000 series DI/DO/AI/AO slot modules for their application
purposes. The CAN-8123/CAN-8223 has one and two expansion slots
respectively, and the CAN-8423 supports four expansion slots. Each
expansion slot can insert in one I-87K or I-8000 series I/O module. All of these
main control units follow the CANopen Spec DS-301 V4.01 and DS-401 V2.1,
and supply a great deal of features to users, such as dynamic PDO, EMCY
object, error output value, SYNC cyclic and acyclic and so forth. In addition,
the CAN Slave Utility is also provided to allow users to create EDS files
dynamically. EDS files based on the CANopen DS-306 is compatible with other
CANopen master interface made by different manufacturers, also supporting
the EDS files. The general application for the CAN-8123/CAN-8223/CAN-8423
CANopen slave device architecture is as follows.

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CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------ 6
1.2 Hardware Features
zCPU:80186, 80MHz
zPhilip SJA1000 CAN controller
zPhilip 82C250 CAN transceiver
zSRAM:512 Kbytes
zFlash Memory:512 Kbytes
zEEPROM:2 Kbytes
zNVRAM: 32 bytes
zReal Time Clock
zBuilt-in Watchdog Timer
z16-bit Timer
zPower LED, RUN LED, and ERR LED
zSupport 1/2/4 expansion I/O slots
z2500 Vrms isolation at CAN side
z120Ωterminal resister selected by jumper(s)
zCAN bus interface: ISO/IS 11898-2, 5-pin screw terminal with
on-board optical isolators’ protection.
zPower Supply: 20W. Unregulated from +10VDC ~ +30VDC
zOperating Temperature:-25°C ~ +75°C
zStorage Temperature:-30°C ~ +85°C
zHumidity:5%~95% RH
COM1
zRS-232: TXD,RXD,RTS,CTS,GND
zCommunication speed: 115200 bps.
zConfigure tool connection

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1.3 CAN-8123/CAN-8223/CAN-8423 Features
zNMT: Slave
zError Control: Node Guarding
zNode ID: Setting by Rotary Switch
zNo. of PDOs: 16 Rx, 16Tx
zPDO Modes: Event-triggered, remotely requested, cyclic and acyclic
SYNC
zPDO Mapping: variable
zNo of SDOs: 1 server, 0 client
zEmergency Message: Yes
zCANopen Version: DS-301 v4.02
zDevice Profile: DS-401 v2.1
zProduce EDS file dynamically
zBaud Rate Selection : 10K, 20K, 50K, 125K, 250K, 500K, 800K and
1M bps
zPower LED, RUN LED, and ERR LED indicators
zSupport max 4 I-8000 and I-87K series modules for CAN-8423
zProvide a friendly Utility to configure the I-8000 and I-87K series
modules

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1.4 Utility Features
zSupport parameter configuration on the I-8000 and I-87K modules
zProvide to show Application and Device Object information
zProvide to show Rx and Tx PDO mapping
zSupport EDS file creation

CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------ 9
2 Hardware Specification
2.1 CAN-8123/CAN-8223 Hardware Structure
CAN Bus Connector
CANopen
Status LEDPower LED
1 I/O Expansion Slot
Node ID and Baud
rate rotary switch

CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------ 10
2 I/O Expansion Slots
CAN Bus Connector
CANopen
Status LEDPower LED
Node ID and Baud
rate rotary switch

CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------ 11
2.2 CAN-8423 Hardware Structure
CAN Bus Connector
CANopen
Status LED
Power LED
RS-232 Port
(
connect to PC
)
4 I/O Expansion Slots
Power Pin
Node ID and Baud
rate rotary switch

CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------ 12
2.3 Wire Connection
In order to minimize the reflection on the CAN bus line, the CAN bus line
has to be terminated at both ends by two terminal resistances as shown in the
following. According to the ISO 11898-2 spec, each terminal resistance is
120Ω(or other between 108Ω~132Ω). The length related resistance has to
reach 70 mΩ/m. At this circumstance, users would better check the
resistances of the CAN bus before installing a new CAN network.
120Ω
120Ω
CAN_H
CAN_L
Device NDevice 2Device 1 ...
Moreover, to minimize the voltage drop, value of the terminal resistance
must be higher than the one defined in the ISO 11898-2. The following table is
for users’ reference.
Bus Cable Parameters
Bus Length
(meter)
Length Related
Resistance
(mΩ/m)
Cross Section
(Type)
Terminal
Resistance
(Ω)
0~40 70 0.25(23AWG)~
0.34mm2(22AWG)
124 (0.1%)
40~300 < 60 0.34(22AWG)~
0.6mm2(20AWG)
127 (0.1%)
300~600 < 40 0.5~0.6mm2
(20AWG)
150~300
600~1K < 20 0.75~0.8mm2
(18AWG)
150~300

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In the CAN-8123/CAN-8223/CAN-8423, the 120Ωterminal resistance is
supplied as a standard accessory. In the following figure, the position JP2
allowed to build in a terminal resistance is only for the CAN-8123/CAN-8223.
..
.
In the following figure of the CAN-8423, the position JP1 is used for
adjusting terminal resistance.

CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------ 14
The figure indicates two conditions, “Disable (non-short)” and “Enable
(short)”.
Disable Enable
The bus length determines the CAN bus baud rate. In the following the
table provides users a relationship between the baud rate and the bus length.
Baud rate (bit/s) Max. Bus length (m)
1 M 25
800 K 50
500 K 100
250 K 250
125 K 500
50 K 1000
20 K 2500
10 K 5000
Note: When the bus length is greater than 1000m, the
bridge or repeater devices may be needed.
The pin descriptions of the CAN bus connectors on the
CAN-8123/CAN-8223 are shown below.
CAN_H
CAN_L
CAN_Shield
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
CAN_GND
CAN_V+

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Pin No. Signal Description
1 CAN_GND Ground (0V)
2 CAN_L CAN_L bus line (dominant low)
3 CAN_SHLD Optional CAN Shield
4 CAN_H CAN_H bus line (dominant high)
5 CAN_V+ CAN external positive supply (CAN-8123/CAN-8223
power)
The pin descriptions for the CAN-8123/CAN-8223 CAN bus connectors
Pin No. Signal Description
1 N/A N/A
2 CAN_H CAN_H bus line (dominant high)
3 CAN_SHLD Optional CAN Shield
4 CAN_L CAN_L bus line (dominant low)
5 N/A N/A
The pin descriptions only for the CAN-8423 CAN bus connector
2.4 Power LED
The CAN series products (8123, 8223 & 8423) need 10 to 30 VDC power
supplies, (Please note that other slot modules, inserted in, will also consume
part of the inputted power). Under a normal connection, a good power supply
and a correct voltage selection, as the unit is turned on, the LED will light up in
yellow. If it can’t work, please check with local agents or resellers for more help.
CANopen Status LED

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2.5 CANopen Status LED
Each one CAN-8123/CAN-8223/CAN-8423 has two LED indicators. One
is the Error LED (lighting in red) and the other one is the RUN (Performing)
LED (lighting in green). The Error LED and the Run (Performing) LED
information are presented in the CANopen specifications. When the CANopen
communication carries out, these indicators will glitter in different time. The
following descriptions will show meanings of the glittering signal as these
indicators are being triggered.
2.5.1 The RUN LED
The RUN LED relates to the physical mechanism on the CANopen that
will be discussed later. The data state and the signal state description are
respectively shown in the following figure and table.
No. Signal State Description
1 No Light Non-operation Malfunction or Power Supply
/Connection not ready
2 Single Flash Stopped The device is in Stopped state
3 Blinking Pre-operation The device is in the
pre-operational state
4 Continuing Light Operation The device is in the operational
state

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2.5.2 The ERR LED
The ERR LED relates to the state of missing messages at the CAN
physical layer (These missing messages might be SYNC or Guard messages).
The data state and the signal state description are respectively shown in the
following figure and table.

CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------ 18
No. Signal State Description
1 No Light No error The device is in working
condition.
2 Single Flash Error Reminding
when Warning
Level is Reached
At least one of the error counters
of the CAN controller has
reached or exceeded the warning
level (too many error frames).
3 Double Flash Error Reminding
when Events
happen.
A guard event (NMT-Slave or
NMT-master) or a heartbeat
event (Medical Application) has
occurred.
4 Triple Flash SYNC Error The SYNC message has not
been received within the specific
communication cycle before time
out (see Object Dictionary Entry
0x1006).
5 Continuing
Light
Bus Off The CAN controller is in a bus off
condition.
Note: If several errors occur at the same time, the most severe error will have
high priority to show its signal first. For example, if NMT Error (No. =3)
and Sync Error (No. =4) occur, the SYNC error signal will indicate.

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2.6 The Node ID & the Baud rate Rotary Switch
The first two rotary switches (MSB & LSB) control the
CAN-8123/CAN-8223/ CAN-8423 node ID. MSB (Most Significant Bit)means
the high nibble of the node ID, and LSB (Least Significant Bit). The last rotary
switch (BAUD) handles the CAN-8123/CAN-8223/CAN-8423 baud rate. The
relationship between the rotary switch value and the practical baud rate is
presented in the following table.
Rotary Switch Value Baud rate (K BPS)
0 10
1 20
2 50
3 125
4 250
5 500
6 800
7 1000
On the other hand, if the “BAUD” rotary switch for the CAN-8423 is turned
to ‘9’, the initial mode will be loaded, and the previous CANopen firmware will
be replaced.
Before using the utility tool to configure the CAN-8423, the initial mode is
needed. For more detail configuration, please refer to the cheaper 4. Since the
CAN-8123/CAN-8223 doesn’t support RS-232 COM Port, the utility tool in the
off-line mode takes the place to get the EDS file.

CAN-8123/CAN-8223/CAN-8423 user’s manual (Revision 3.00, May/22/2009) ------ 20
Furthermore, when users apply the CAN-8123/CAN-8223/CAN-8423 the
CANopen firmware will automatically check these rotary switches. Any illegal
value for these rotary switches will cause the boot-up failure.
2.7 Module Support
The CAN-8123/CAN-8223/CAN-8423 supports many kinds of DI, DO, AI
and AO types across the I-8000/I-87K series modules. When users want to
apply these modules on the CANopen network, they only insert these modules
into the CAN-8123/CAN-8223/CAN-8423 I/O expansion slots. Then, the
CANopen firmware built in the CAN-8123/CAN-8223/CAN-8423 will
automatically search them, and apply the corresponding CANopen objects.
The following table shows the information of the IO types and module names
which can be supported by the CAN-8123/CAN-8223/CAN-8423.
IO Type Module Name IO Type Module Name
AI
I-8017H/I-8017HS/I-8017HW
I-87005/I-87013/I-87015/
I-87015P/I-87016/I-87017/
I-87017R/I-87017RC/I-87017A5/
I-87018/I-87018R/I-87018Z
I-87019R
AO
I-8024
I-87022/I-87024/I-87026
DO
I-8037/I-8041/I-8041A/I-8056/
I-8057/ I-8060/I-8064/I-8065/
I-8066/I-8068/I-8069
I-87041/I-87057/ I-87064/
I-87065/ I-87066/I-87068I-87069
DI
I-8040/I-8046/I-8048/
I-8051/I-8052/I-8053/
I-8058/
I-87040/I-87040P/I-87046/
I-87051/ I-87052/I-87053/
I-87053P/I-87053A5/
I-87053E5/I-87058/I-87059
DO&DI
I-8042/I-8050/I-8054/I-8055/
I-8063/I-8077
I-87054/I-87055/I-87063/
Counter
Frequency I-8080/I-8084/I-8088
Note: All modules are supported with “High profile” (W) and “Low
profile”. But only the “High profile” I-87K modules support hot-swap
function.