ICP DAS USA CAN-2015C User manual

CAN-2015C User’s Manual (Version 1.0, June/2012) ------------- 1
CANopen Slave Device
CAN-2015C
Application User’s Manual
Warranty
All products manufactured by ICP DAS are under warranty regarding
defective materials for a period of one year from the date of delivery to
the original purchaser.
Warning
ICP DAS assumes no liability for damages resulting from the use of
this product. ICP DAS reserves the right to change this manual at any
time without notice. The information furnished by ICP DAS is believed to
be accurate and reliable. However, no responsibility is assumed by ICP
DAS for its use, or for any infringements of patents or other rights of third
parties resulting from its use.
Copyright
Copyright @2012 is reserved by ICP DAS.
Trademark
The names used for identification only may be registered trademarks
of their respective companies.

CAN-2015C User’s Manual (Version 1.0, June/2012) ------------- 2
Table of Contents
1. Introduction..........................................................................................................3
1.1 Overview ...........................................................................................3
1.2 Features ............................................................................................4
1.3 Hardware Specifications..................................................................4
1.4 Application........................................................................................5
2. Hardware...............................................................................................................6
2.1 Structure............................................................................................6
2.2 Node ID & Baud Rate Rotary Switch...............................................7
2.3 LED Description................................................................................8
2.4 PIN Assignment................................................................................9
2.5 Wire Connection...............................................................................9
3. Application..........................................................................................................10
3.1 Object Dictionary............................................................................10
3.2 Store and Restore Object...............................................................15
3.3 Application Object..........................................................................16
3.4 Default PDO Mapping.....................................................................17
3.5 EMCY Communication...................................................................18
Appendix: Type Code Definition .............................................................................19

CAN-2015C User’s Manual (Version 1.0, June/2012) ------------- 3
1. Introduction
1.1 Overview
CANopen is one kind of the network protocols based on CAN bus and
mainly used for embedded system, such as industrial machine control,
vehicle control system, factory automation, medical equipments control,
remote data acquisition, environment monitoring and package machines
control. The CAN-2015C is a CANopen slave which follows the CiA 301
version 4.02 and CiA 401 version 2.1. This module provides 8 RTD input
channels, and users can obtain the RTD input data or configure the CAN-
2015C via the standard CANopen protocol. In order to be fully compatible
with other CANopen devices, the CAN-2015C has passed the validation
of the CiA CANopen Conformance Test tool. Therefore, it is very easy to
integrate the CAN-2015C with the standard CANopen master by applying
the EDS file. Combining with the CANopen masters of ICP DAS, you can
quickly build a CANopen network to approach your requirements.
Figure 1-1 CAN-2015C

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1.2 Features
NMT Slave
Guarding or Heartbeat Error Control protocols
Supports Dynamic PDO
Supports 2-wire or 3-wire RTD
RTD broken line detection
10 Hz sampling rate for total channels
Provide the EDS file
ESD Protection 4 KV Contact for each channel
Verifies by the CiA CANopen Conformance Test tool
1.3 Hardware Specifications
CANopen Interface
Connector
5-pin screwed terminal block (CAN_GND, CAN_L, CAN_SHLD, CAN_H, CAN_V+)
Baud Rate (bps)
10 k, 20 k, 50 k, 125 k, 250 k, 500 k, 800 k, 1 M, selected by rotary switch
Terminator Resistor
DIP switch for the 120 Ωterminator resistor
Protocol
CANopen CiA 301 ver4.02, CiA 401 ver2.1
Node ID
1~99 selected by rotary switch
NMT
Slave
Error Control
Node Guarding protocol / Heartbeat Producer
SDOs
1 server, 0 client
PDOs
10 RxPDO, 10 TxPDO (Supports dynamic PDO)
PDO Modes
Event-triggered, remotely-requested, synchronous (cyclic), synchronous (acyclic)
Emergency Message
Yes
EDS file
Yes
Analog Input
Channels
8 channels for 2-wire or 3-wire RTD
Input Type
Pt100, Pt1000, Ni120, Cu100, Cu1000, JPt100
Resolution
16-bit
Sampling Rate
10 Samples/Sec. (Total)
Accuracy
+/-0.05% FSR
Zero Drift
+/- 0.5 μV/ °C
Span Drift
+/- 20 ppm/ °C
Common Mode Rejection
150 dB
Normal Mode Rejection
100 dB
Individual Channel Configuration
Yes
Open Thermocouple Detection
Yes
Over voltage Protection
120 VDC / 110 VAC
Input Impedance
20mΩ
Isolation
3000 V DC-DC isolation, 3000 Vrms photocoupler isoloation
Hardware
ESD Protection
Contact 4 kV class A
LED

CAN-2015C User’s Manual (Version 1.0, June/2012) ------------- 5
LEDs
PWR LED, RUN LED, ERR LED, 8 LEDs for the AI high alarms or low alarms
Power
Power Supply
Unregulated +10 ~ +30 VDC
Power Consumption
1.5 W
Mechanism
Casing
Plastic case, fire-retardant materials (UL94-V0 Level)
Installation
DIN-Rail
Dimensions
33 mm x 99 mm x 78 mm ( W x L x H )
Environment
Operating Temp.
-25 ~ 75 ℃
Storage Temp.
-30 ~ 80 ℃
Humidity
10 ~ 90% RH, non-condensing
1.4 Application
Measuring Temperature
Medical technology
Utility vehicles

CAN-2015C User’s Manual (Version 1.0, June/2012) ------------- 6
2. Hardware
2.1 Structure
(Top View)
(Botton View)

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2.2 Node ID & Baud Rate Rotary Switch
The rotary switches for node ID configure the node ID of the CAN-2015C module.
These two switches are for the tens digit and the units digit of node ID. The node ID value of
this demo picture is 32.
The rotary switch for baud rate handles the CAN baud rate of the CAN-2015C
module. 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
Baud rate and rotary switch

CAN-2015C User’s Manual (Version 1.0, June/2012) ------------- 8
2.3 LED Description
Power LED
The CAN-2015C needs a 10V~30VDC power supply. Under a normal
connection, a good power supply and a correct voltage selection, as the unit it turned
on, the LED will light up in red.
Run LED
The Run LED indicates the CANopen operation state. The description of the
LED state is shown below. About the details, please refer to the section 2.3.1 of the
CAN-2000C user manual.
LED Signal
State
Description
No Light
Non-power
Power Supply is not ready
Single Flash
Stopped
The device is in Stopped state
Blinking
Pre-operation
The device is in the pre-
operation state
Continuing Light
Operation
The device is in the operational
state
Error LED
The Error LED indicates the CANopen error state. The description of the
LED state is shown below. About the details, please refer to the section 2.3.2 of the
CAN-2000C user manual.
LED Signal
State
Description
No Light
Non error
Device is in working condition
Single Flash
Error Warning
At least one error of the CAN
controller has occurred
Blinking
Guarding fail
Guard event happened
Continuing Light
Bus Off
The CAN controller is bus off
Terminal Resistor LED
When the switch of the 120Ω terminal resistor is turned on, the terminal
resistor LED will be lightening.

CAN-2015C User’s Manual (Version 1.0, June/2012) ------------- 9
2.4 PIN Assignment
2.5 Wire Connection

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3. Application
3.1 Object Dictionary
General Communication Entries
Idx
Sidx
Description
Type
Attr
Default
1000h
0h
device type
UNSIGNED 32
RO
---
1001h
0h
error register
UNSIGNED 8
RO
---
1003h
0h
largest sub-index supported for
“predefine error field”
UNSIGNED 8
RO
0h
1h
actual error (the newest one)
UNSIGNED 32
RO
---
…
…
…
…
---
5h
actual error (the oldest one)
UNSIGNED 32
RO
---
1005h
0h
COB-ID of Sync message
UNSIGNED 32
RW
80h
1008h
0h
manufacturer device name
VISIBLE_STRING
RO
1009h
0h
manufacturer hardware version
VISIBLE_STRING
RO
---
100Ah
0h
manufacturer software version
VISIBLE_STRING
RO
---
100Ch
0h
guard time
UNSIGNED 16
RW
0
100Dh
0h
life time factor
UNSIGNED 8
RW
0
1010h
0h
largest subindex supported
UNSIGNED 8
RO
1
1010h
1h
save all parameters
UNSIGNED 32
RW
0
1011h
0h
largest subindex supported
UNSIGNED 8
RO
1
1011h
1h
restore all default parameters
UNSIGNED 32
RW
0
1014h
0h
COB-ID of EMCY
UNSIGNED 32
RW
80h+Node-ID
1015h
0h
Inhibit time of EMCY
UNSIGNED 16
RW
0
1017h
0h
Heartbeat time
UNSIGNED 16
RW
0
1018h
0h
largest sub-index supported for
“identity object”
UNSIGNED 8
RO
4
1h
vender ID
UNSIGNED 32
RO
0x0000013C
2h
Produce Code
UNSIGNED 32
RO
0x00002015
3h
Revision_number
UNSIGNED 32
RO
0x00030001
4h
Serial_number
UNSIGNED 32
RO
0x6cd3683c