ICP DAS USA CAN-2088D User manual

CAN-2088D User’s Manual (v1.10, April/2015)
1
DeviceNet Slave Device
CAN-2088D
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 © 2015 is reserved by ICP DAS.
Trademark
The brand name ICP DAS as a trademark is registered, and can be used
by other authorized companies.

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Contents
1Introduction.............................................................................................3
1.1 Overview.........................................................................................3
1.2 Hardware Specifications ...............................................................4
1.3 Features..........................................................................................5
2Hardware .................................................................................................6
2.1 Structure.........................................................................................6
2.2 The Node ID & Baud rate Rotary Switch......................................7
2.3 LED Description.............................................................................8
2.4 PIN Assignment ...........................................................................10
2.5 Wire Connection ..........................................................................11
3DeviceNet Profile Area .........................................................................12
3.1 DeviceNet Statement of Compliance..........................................12
3.2 Identity Object (Class ID: 0x01) ..................................................13
3.3 Connection Object (Class ID:0x05) ............................................14
3.4 Assembly Object (Class ID: 0x04)..............................................15
3.5 Application Object1 (Class ID: 0x64)..........................................18
3.6 Application Object2 (Class ID: 0x65)..........................................21
4Application............................................................................................22
Appendix A: Dimension...............................................................................25

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1 Introduction
1.1 Overview
PWM (Pulse width modulation) is a powerful technique for controlling
analog circuits. It uses digital outputs to generate a waveform with variant duty
cycle and frequency to control analog circuits. CAN-2088D is a DeviceNet
slave module and it has 8 PWM output channels and 8 digital inputs. It can be
used to develop powerful and cost effective analog control system.

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1.2 Hardware Specifications
PWM Output:
Output Channels: 8 (Source)
Scaling Resolution: 16-bit (1 ~ 128 µs for each step).
Frequency Range: 0.2 Hz ~ 500 kHz (non-continuous, and the min.
unit of the high/low level of the signal is 1 us).
Duty Cycle: 0.1% ~ 99.9%.
PWM Mode: Burst Counting, Continuous mode.
Burst Counter: 1 ~ 65535.
Trigger Mode: Hardware or software trigger.
Hardware Trigger Mode: Trigger start & trigger stop.
Max Load Current: 1 mA.
Intra-module Isolation, Field to Logic: 2500 Vrms.
ESD Protection: 4 kV Contact for each channel.
Digital Input:
Input Channels: 8 (Sink).
Input Type: One common for all digital input.
On Voltage Level: +5.5 ~ +30 V.
Off Voltage Level: <+3.5 V.
Counter Frequency: 500 kHz Max.
Max. Counts: 32-bit (0 ~ 4294967295)
Input Impedance: 2.2 kΩ, 0.5 W
Intra-module Isolation, Field to Logic: 2500 Vrms
ESD Protection: 4 kV Contact for each channel
Others:
LED: 1 as power indicator, 1 as terminator resistor, 2 as DeviceNet
status, 8 as PWM and 8 as DI indicator.
Power Requirement: +10 ~ +30 VDC, 3.5 W.
Operating Temperature: -25 ~ 75 ℃.
Storage Temperature: -30 ~ 80 ℃.
Humidity: 10 to 90% RH, Non-condensing.
Dimensions: 32.3 mm x 99 mm x 77.5 mm (W x L x H) Detail.

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1.3 Features
DeviceNet general I/O slave devices.
Comply with DeviceNet specification Volume I, Release 2.0 &
Volume II, Release 2.0
Group 2 Only Server (non UCMM-capable)
Support Predefined Master/Slave Connection Set
Connection supported:
1 connection for Explicit Messaging
1 connection for Polled I/O
1 connection for Bit-Strobe I/O connection
Support DeviceNet heartbeat and shutdown messages
Provide EDS file for standard DeviceNet master interface.
Automatic generation of PWM outputs by hardware, without software
intervention.
0.2 Hz ~ 500 kHz (non-continuous) PWM output frequency with
0.1%~99.9% duty cycle configuration.
Software and hardware trigger mode for PWM output.
Support individual or synchronous PWM output in software trigger
mode.
Each digital input channel provides high-speed counter functionality.
DI channel can be configured as simple digital input channel or
hardware trigger source of the PWM output.
NET, MOD and PWR DeviceNet status Led indictors

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2 Hardware
2.1 Structure
(Top View)
(Bottom View)

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2.2 The Node ID & Baud rate Rotary Switch
The rotary switches for node ID configure the node ID of CAN-2088D
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.
Node ID rotary switch
The rotary switch for baud rate handles the CAN baud rate of CAN-2088D
module. The relationship between the rotary switch value and the practical
baud rate is presented in the following table.
Baud rate rotary switch
Rotary Switch Value
Baud rate (kbps)
0
125
1
250
2
500

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2.3 LED Description
PWR LED
The CAN-2088D needs the power of 10 ~ 30 VDC. 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 red.
NET LED
The NET LED indicates the current status of the DeviceNet
communication link.
condition
status
indicates
Init Off
Off line
Device is not online
Off
Connection timeout
I/O connection timeout
Flashing
On line
Device is on line, but not
communicating
Init solid
Link failed
(Critical) Device has detected an
error that has rendered it incapable
of communicating on the link; for
example, detected a duplicate node
address or network configuration
error
Solid
On line, communicating
Device is online and communicating
MOD LED
This LED provides the devices status. It indicates whether or not
the device is operating properly.
condition
status
indicates
Off
Normal
Solid
Critical fault
Device has unrecoverable fault.
Flashing
Non_critical fault
Device has recoverable fault to
recover. If users want to fix the
problem, reconfiguring device’s
MAC ID or resetting device may
work.

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Terminal Resistor LED
When enable the 120Ω terminal resistor, the LED will turn on.
PWM LED
If the PWM LED turns on, it means that the channel of PWM is
sending pulse.
DI LED If the DI LED turns on, it means that the channel of DI is receiving
an ON-Voltage-Level digital signal.

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2.4 PIN Assignment

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2.5 Wire Connection

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3 DeviceNet Profile Area
This section documents the detailed functions for each object class that is
implemented in the CAN-2088D DeviceNet network.
3.1 DeviceNet Statement of Compliance
General Device Data
Device Information
Description
Version Description of DeviceNet
Specification
Volume I, Release 2.0 &
Volume II, Release 2.0
Vendor Name
ICP DAS
Device Profile Name
CAN-2088D
Production Revision
1.1
DeviceNet Physical Conformance Data
Item
Description
DeviceNet status LED Support
Yes
MAC ID Setting
Switch (0 ~ 63)
Default MAC ID
1
Communication Baud Rate Setting
Switch (125, 250, 500 kbps)
Default Baud Rate
125 kbps
Predefined Master/Slave Connection
Set
Group 2 Only Server

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3.2 Identity Object (Class ID: 0x01)
This object provides the identification of and general information about the
device.
Class Attribute (Instance ID=0)
Attribute ID
Attribute name
Data Type
Method
Value
0x01
Revision
UINT
Get
0001
0x02
Max Instance
UINT
Get
1
Class Service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
Instance Attribute (Instance ID=1)
Attribute
ID
Description
Method
DeviceNet Data
Type
Value
1
Vendor
Get
UINT
803
2
Product type
Get
UINT
0x00
3
Product code
Get
UINT
0x600
4
Major. Minor of firmware
version
Get
Struct of
USINT
USINT
1.1
5
Status
Get
WORD
-
6
Serial number
Get
UDINT
1
7
Product name
Get
Short_String
CAN-2088D
10
Heartbeat Interval
Get/Set
USINT
0(default)
Instance Service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
0x05
Reset
Yes
Note: Use the Instance Service 0x05 will reboot the device.

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3.3 Connection Object (Class ID:0x05)
This section presents the externally visible characteristics of the
Connection Objects associated with the Predefined Master/Slave Connection
Set within slave devices.
The default IO connection path is as follow.
Connection Path
Class ID
Instance ID
Attribute ID
Poll Produced
0x04
0x66
0x03
Poll Consumed
0x04
0x64
0x03
Bit Strobe Produced
0x04
0x66
0x03
Bit Strobe Consumed
0x04
0x64
0x03
Connection
Instance ID
Description
1
References the Explicit Messaging Connection into the Server
2
References the Poll I/O Connection
3
References the Bit–Strobe I/O Connection

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3.4 Assembly Object (Class ID: 0x04)
The Assembly Object binds attributes of multiple objects, which allows
data to or from each object to be sent or received over a single connection.
Assembly objects can be used to bind input data or output data. The terms
of ”input” and ”output” are defined from the network’s point of view. An input will
produce data on the network and an output will consume data from the
network.
Class attribute (Instance ID=0)
Attribute ID
Attribute
name
Data Type
Method
Value
0x01
Revision
UINT
Get
1
0x02
Max Instance
UINT
Get
0x0A
Class service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
Instance ID
Instance ID
OUTPUT
INPUT
0x64
Clear channel 0 ~ 7 DI counter
Get 0 ~ 7 DI counter clear
Flag
0x65
Set channel 0 ~ 7 Config. to default
Get 0 ~ 7 Config. to default
Flag
0x66
Get channel 0 ~ 7 DI value
0x67
Get channel 0 ~ 7 DI counter
0x68
Set channel 0 ~ 7 sync mode
Get channel 0 ~ 7 sync mode
0x69
Set channel 0 ~ 7 hardware trig
mode
Get channel 0 ~ 7 hardware
trig mode
0x6A
Set channel 0 ~ 7 output type
Get channel 0 ~ 7 output type
0x6B
Set channel 0 ~ 7 PWM period
Get channel 0 ~ 7 PWM
period
0x6C
Set channel 0 ~ 7 PWM duty
Get channel 0 ~ 7 PWM duty
0x6D
Set channel 0 ~ 7 PWM burst count
Get channel 0 ~ 7 PWM burst
count
0x6E
Set channel 0 ~ 7 PWM start/stop
Get channel 0 ~ 7 PWM
start/stop

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Contents of Each Assembly Object Instance
Instance
ID
Description
Type
Method
Default
Value
0x64
Clear channel 0 DI counter
…
Clear channel 7 DI counter
USINT
…
USINT
Get/Set
0x00
…
0x00
0x65
Channel 0 Configuration to default
…
Channel 7 Configuration to default
USINT
…
USINT
Get/Set
0x00
…
0x00
0x66
Get channel 0 DI value
…
Get channel 7 DI value
USINT
…
USINT
Get
0x00
…
0x00
0x67
Get channel 0 DI counter
…
Get channel 7 DI counter
UDINT
…
UDINT
Get
0x00000000
…
0x00000000
0x68
Channel 0 sync mode
…
Channel 7 sync mode
USINT
…
USINT
Get/Set
0x00
…
0x00
0x69
Channel 0 hardware trig mode
…
Channel 7 hardware trig mode
USINT
…
USINT
Get/Set
0x00
…
0x00
0x6A
Channel 0 output type
…
Channel 7 output type
USINT
…
USINT
Get/Set
0x01
…
0x01
0x6B
Channel 0 PWM period
…
Channel 7 PWM period
UDINT
…
UDINT
Get/Set
0x00000002
…
0x00000002
0x6C
Channel 0 PWM duty
…
Channel 7 PWM duty
UINT
…
UINT
Get/Set
0x01F4
…
0x01F4
0x6D
Channel 0 PWM burst count
…
Channel 7 PWM burst count
UINT
…
UINT
Get/Set
0x00
…
0x00
0x6E
Channel 0 PWM start/stop
…
Channel 0 PWM start/stop
USINT
…
USINT
Get/Set
0x00
…
0x00

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Parameter description of Assembly Object Instance
Instance
ID
Data Range
Parameter Description
0x64
0x01: Clear
Clear channelxDI counter
0x65
0x01: Set to default
Set channelxconfiguration to default value
0x66
0x00 or 0x01
Channelxdigital input value
0x67
0x00000000 ~ 0xFFFFFFFF
Channelxhigh speed digital input counter
value
0x68
0x00: disable sync
0x01: enable sync
Channelxwith sync output.
0x69
0x00: disable
0x01: start trig
0x02: stop trig
Channelxtrigger status. The DI ch0 is the
trig of PO ch0, and DI ch1 is the trig of PO
ch1, and so on. When DI value is changed,
the PO will be triggered.
0x6A
0x00: Burst Counting mode
0x01: Continue mode
Channelxoutput mode
0x6B
0x00000002 ~ 0x004C4B40
(0.2 Hz ~ 500 kHz)
Channelxfrequency range. The frequency
range is non-continuous.
0x00000001 => 0.1 Hz
0x6C
0x0001 ~ 0x03E7
(1‰~ 999‰)
Channelxhigh duty mille.
0x0001 => 1‰
low duty mille = (1000 –high duty) ‰
0x6D
0x0001 ~ 0xFFFF
ChannelxBurst counting value, only for
burst counting mode.
0x6E
0x00: stop output
0x01: start output
Channelxstart or stop to output pulse.
Note: xis channel number of module
Instance attribute (Instance ID=0x64~0x6E)
Attribute ID
Description
Method
DeviceNet
Data Type
Value
0x03
Data
Get/Set
OUTPUT/
INPUT
Dependent on
instance ID
Instance service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes

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3.5 Application Object1 (Class ID: 0x64)
Application objects are the interfaces between an application and the
DeviceNet Layer. The attributes of application Objects contain the data for the
application, which are accessed and exchanged via DeviceNet. DeviceNet
accesses application data by invoking read and write functions. These
functions need to be provided by an Application Object. DeviceNet provides
Get_Attribute_Single and Set_ Attribute_Single to read and write CAN-2088D
module.
Application Object1 defines pulse output channels and digital input
channels configuration.
Class attribute (Instance ID=0)
Attribute ID
Attribute
name
Data Type
Method
Value
0x01
Revision
UINT
Get
1
0x02
Max Instance
UINT
Get
0x08
Class service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
Instance ID
Instance ID
Description
0x01
PO&DI channel 0 configuration
0x02
PO&DI channel 1 configuration
0x03
PO&DI channel 2 configuration
0x04
PO&DI channel 3 configuration
0x05
PO&DI channel 4 configuration
0x06
PO&DI channel 5 configuration
0x07
PO&DI channel 6 configuration
0x08
PO&DI channel 7 configuration

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Instance attribute (Instance ID=0x01~0x08)
Attribute
ID
Description
Method
Data Type
Default
Value
0x01
Clear DI counter
Get/Set
USINT
0x00
0x02
Set configuration to default
Get/Set
USINT
0x00
0x03
DI value
Get
USINT
0x00
0x04
DI counter
Get
UDINT
0x00000000
0x05
Sync mode
Get/Set
USINT
0x00
0x06
Hardware trigger mode
Get/Set
USINT
0x00
0x07
Output type
Get/Set
USINT
0x01
0x08
PWM period
Get/Set
UDINT
0x00000002
0x09
PWM duty
Get/Set
UINT
0x01F4
0x0A
PWM burst count
Get/Set
UINT
0x0000
0x0B
PWM start/stop
Get/Set
USINT
0x00
Parameter description of Application Object1 attributes
Attribute
ID
Data Range
Parameter Description
0x01
0x01: Clear
Clear channelxDI counter
0x02
0x01: Set to default
Set channelxconfiguration to default
value
0x03
0x00 or 0x01
ChannelxDI value
0x04
0x00000000 ~ 0xFFFFFFFF
Channelxhigh speed digital input
counter value
0x05
0x00: disable sync
0x01: enable sync
Channelxwith sync output.
0x06
0x00: disable
0x01: start trigger
0x02: stop trigger
Channelxtrigger status. The DI ch0 is
the trig of PO ch0, and DI ch1 is the trig
of PO ch1, and so on. When DI value is
changed, the PO will be triggered.
0x07
0x00: Burst Counting mode
0x01: Continue Counting mode
Channelxoutput mode
0x08
0x00000002 ~ 0x004C4B40
(0.2 Hz ~ 500 kHz)
Channelxfrequency range. The
frequency range is non-continuous.
0x00000001 => 0.1 Hz
0x09
0x0001 ~ 0x03E7
(1‰~ 999‰)
Channelxhigh duty mille.
0x0001 => 1‰
low duty mille = (1000 –high duty) ‰

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0x0A
0x0001 ~ 0xFFFF
ChannelxBurst counting value, only for
burst counting mode.
0x0B
0x00: stop output
0x01: start output
Channelxstart or stop to output pulse.
Note: xis channel number of module, dependent on instance ID setting
Instance service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes