ICP DAS USA CAN-2054C User manual

CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------ 1
CANopen Slave Device
CAN-2054C
Application 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 © 2009 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-2054C user’s manual (Revision 1.30, Nov/05/2014) ------ 2
Contents
1Introduction.............................................................................................3
1.1 Overview.........................................................................................3
1.2 Hardware Specifications ...............................................................4
1.3 Features..........................................................................................5
1.4 Application.....................................................................................5
2Hardware .................................................................................................6
2.1 Structure.........................................................................................6
2.2 Node ID & Baud Rate Rotary Switch............................................7
2.3 I/O Pair-connection Mode..............................................................8
2.4 LED Description...........................................................................10
2.5 PIN Assignment ...........................................................................12
2.6 Wire Connection ..........................................................................13
3Object Dictionary..................................................................................14
3.1 Object List....................................................................................14
3.2 Store and Restore Object............................................................17
3.3 Application Object.......................................................................18
3.4 Default PDO Mapping..................................................................22

CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------ 3
1 Introduction
1.1 Overview
CANopen is one kind of the network protocols based on the CAN bus and
mainly used for embedded network of machine control, such as industrial
machine control , aircraft engines monitoring, factory automation, medical
equipments control, remote data acquisition, environmental monitoring, and
packaging machines control, etc.
CAN-2054C module follows the CiA DS-301 version 4.02 and DSP-401
version 2.1. It is easy to access the digital I/O status and set the configuration
by using standard CANopen protocol. CAN-2054C has passed the validation
of the CiA CANopen Conformance Test tool. Therefore, the provided EDS file
is standard for any other standard CANopen masters. CAN-2054C has
8-channel isolated sink/source input and 8-channel isolated sink output and it
can be used to various applications, such as PNP, NPN, TTL, relay contact
and so forth. By owing to the CANopen masters of ICP DAS, you can quickly
build a CANopen network to approach your requirements.
Figure 1-1

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1.2 Hardware Specifications
Digital Output:
zOutput Channels: 8 (Sink)
zDO Load Voltage: +5 ~ +30 VDC
zOutput Max Load Current: 700 mA per channel.
zOutput Type: Open-Collector.
zIntra-module Isolation: 3750 Vrms
zReaction Time:
DO Message to rising edge: 55 us.
DO Message to falling edge: 170 us.
zESD Protection: 4 kV Contact for each channel
Digital Input:
zInput Channels: 8 (Sink/Source).
zDI On Level: +3.5 ~ +30 VDC.
zDI Off Level: +1VDC Max.
zInput Impedance: 3 kΩ, 0.3 W.
zIntra-module Isolation: 3750 Vrms
zResponse Time:
Rising edge to DI response: 75 us
Falling edge to DI response: 180 us
zESD Protection: 4 kV Contact for each channel
Others:
zCANopen Status: 3 LEDs for PWR / RUN / ERR.
zTerminal Resister: 1 LED as terminator resister indicators
zDI LED: 8 LEDs as digital input indicators.
zDO LED: 8 LEDs as digital output indicators.
zPower Supply: Unregulated +10 ~ +30 VDC.
zPower Consumption: 1.5 W.
zOperating Temperature: -25 ~ 75 ℃.
zStorage Temperature: -35 ~ 80 ℃.
zHumidity: 10 to 90% RH, Non-condensing.
zDimensions: 32.5 mm x 110 mm x 102 mm (W x L x H) Detail.

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1.3 Features
zStandard CANopen general I/O slave devices.
zCANopen Version: DS-301, v4.02.
zDevice Profile: DSP-401, v2.1
zSupport I/O pair-connection mechanism.
zProvide normal/polarity 8 DI channels and 8 DO channels
zCANopen transfer rate: 10 kbps, 20 kbps, 50 kbps, 125 kbps, 250
kbps, 500 kbps, 800 kbps, 1000 kbps.
zSupport maximum CANopen slave devices Node-ID up to 99.
zSet Node-ID 0 for firmware update (after version 1.50-20111227).
Firmware updates tools: I-7530 series, I-7540D series, I-7565
series, PISO-CM100 series, and PISO-CAN series.
zSupport NMT, PDO, SDO, EMCY, SYNC, Guarding, and Heartbeat
protocol.
zPass the validation of CANopen conformance test
zProvide EDS file for CANopen master interface
1.4 Application
Figure 1-2 Application Structure

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2 Hardware
2.1 Structure
Figure 2-1 (TopView) Figure 2-2 (Bottom View)

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2.2 Node ID & Baud Rate Rotary Switch
The rotary switches of node ID configure the node ID of CAN-2054C
module. These two switches are for the tens digit and the units digit of the
node ID. The node ID value of this demo picture is 32.
Figure 2-3 Node ID rotary switch
The rotary switch of baud rate handles the CAN baud rate of CAN-2054C
module. The value of baud rate switch from 0 ~ 7 are normal CANopen mode,
and 8 ~ F are I/O pair-connection mode. About the I/O pair-connection mode
please refer to section 2.3. The relationship between the rotary switch value
and the practical baud rate is presented in the following table.
Figure 2-4 Baud rate rotary switch
Rotary Switch Value Rotary Switch Value of
I/O Pair-connection Baud Rate (k bps)
0 8 10
1 9 20
2 A 50
3 B 125
4 C 250
5 D 500
6 E 800
7 F 1000
Table 2-1

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2.3 I/O Pair-connection Mode
The CAN-2054C module provides the I/O pair-connection function. Before
using this function, you need to prepare one CAN-2054C module and a 8-bit
DO and 8-bit DI CAN-2000 series module (such as CAN-2054C). When
applying this function, the DI channels of one CAN-2054C and the DO
channels of another CAN-2054C are mapping with each other. That is to say
that when the DI channels of one CAN-2054C get the ON signal, the
corresponding DO channels of another CAN-2054C will be turned on.
When you completed the connection of these two CAN-2054Cs by CAN
bus, you need to set the baud rate rotary switch of these two modules to 0x8 ~
0xF, and configure the node ID of them by the special rule. Set the node ID to
be odd for one module, and set the node ID of another module to be the value
which is equal to the node ID increased one of the former. Therefore, they are
the couple as the following figure.
Figure 2-5
For example, user uses two CAN-2054Cs to do I/O pair-connection. The
connection structure is as follows.

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Figure 2-6
The node IDs of these two CAN-2054Cs are 1 and 2 respectively. Both of
these two module’s baud rate switch are selected to “D”, 500 kbps CANopen
baud rate with I/O pair-connection mode, and these two modules will into
Operational state automatically. When the DI channel of one CAN-2054C
receives a DI ON-signal, another CAN-2054C will output the ON-signal at the
corresponding DO channel.

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2.4 LED Description
Power LED
CAN-2054C allows 10 VDC ~ 30 VDC for working voltage. The
power consumption is 1.5 W. Under the connection of a proper power
connection, as the unit is turned on, the LED will light up in red.
Run LED
The Run LED indicates the CANopen operation state. The
description of LED state is shown below. About the detail, please refer
to the section 2.3.1 of the CAN-2000C user manual.
LED Signal State Description
No Light Non-operation Power Supply is not ready
Single Flash Stopped The device is in Stopped state
Blinking Pre-operational Device is in Pre-operational state
Continuing Light Operational Device is in Operational state
Table 2-2
Error LED
The Error LED indicates the CANopen error state. The
description of LED state is shown below. About the detail please refer
to the section 2.3.2 of the CAN-2000C user manual.
LED Signal State Description
No Light No error Device is working well.
Single Flash Error Warning At least one CANopen error
happened.
Double Flash Guarding Fail Guarding fail event happened.
Continuing Light Bus Off The bus off state happened.
Table 2-3
Terminal Resistor LED
When enable the 120Ωterminator resistor, the LED will turn on.
DO LED
If the DO LED turns on, it means that the corresponding DO
channel is active no matter what the DO channel polarity is. (User can
configure the 0x6202 object to change the polarity of the DO channel.
Please refer to section 3.3 for detail.)
DI LED