ICP DAS USA CAN-8823 User manual

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CAN-8123/CAN-8223/
CAN-8423/CAN-8823
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
byother authorized companies.

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Contents
1Introduction ........................................................................................................4
1.1 Overview....................................................................................................4
1.2 Hardware Features..................................................................................6
1.3 CAN-8x23 Features.................................................................................7
1.4 Utility Features.........................................................................................8
2Hardware Specification ...................................................................................9
2.1 Hardware Structure.................................................................................9
2.2 Layout Structure....................................................................................11
2.3 Wire Connection...................................................................................12
2.4 CAN Connector.....................................................................................13
2.5 Terminal Resistor Jumper and Initial Switch................................ 15
2.6 Power LED............................................................................................. 15
2.7 CANopen Status LED..........................................................................16
2.7.1 The RUN LED...........................................................................16
2.7.2 The ERR LED...........................................................................17
2.8 The Node ID & the Baud rate Rotary Switch.................................19
2.9 I/O Pair-connection Mode ..................................................................20
2.10 Module Support....................................................................................21
3CANopen Application....................................................................................22
3.1 CANopen Introduction........................................................................22
3.2 SDO Introduction.................................................................................. 29
3.3 PDO Introduction.................................................................................. 31
3.4 EMCY Introduction...............................................................................43
3.5 NMT Introduction.................................................................................. 44
3.5.1 Module Control Protocols....................................................45
3.5.2 Error Control Protocols........................................................ 46
4Configuration & Getting Start.....................................................................49
4.1 CAN-8123/CAN-8223 Configuration Flowchart ............................ 49
4.2 CAN-8423/CAN-8823 Configuration Flowchart ............................ 51
4.3 CANopen Slave Utility Overview......................................................53
4.4 Configuration with the CANopen Slave Utility .............................54
4.5 CAN-8123/8223 Configuration (Off-line mode).............................55
4.6 CAN-8423/8823 Configuration (On-line mode)............................. 60
5CANopen Communication Set.................................................................... 64
5.1 SDO Communication Set................................................................... 65
5.1.1 Upload SDO Protocol............................................................ 65
5.1.2 SDO Block Upload Protocol................................................74

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5.1.3 Download SDO Protocol ...................................................... 85
5.1.4 SDO Block Download............................................................90
5.1.5 Abort SDO Transfer Protocol..............................................98
5.2 PDO Communication Set.................................................................101
5.2.1 PDO COB-ID Parameters....................................................101
5.2.2 Transmission Type...............................................................103
5.2.3 PDO Communication Rule.................................................104
5.3 EMCY Communication Set ..............................................................143
5.3.1 EMCY COB-ID Parameter ...................................................143
5.3.2 EMCY Communication........................................................144
5.4 NMT Communication Set .................................................................152
5.4.1 Module Control Protocol....................................................152
5.4.2 Error Control Protocol ........................................................155
5.5 Special Functions for CAN-8x23....................................................160
6Object Dictionary of CAN-8x23.................................................................168
6.1 Communication Profile Area...........................................................168
6.2 Manufacturer Specific Profile Area ...............................................175
6.3 Standardized Device Profile Area ..................................................177
6.4 Object of Counter/Frequency Modules........................................181
6.5 Object of PWM Module (Only for I-8088W)..................................183
Appendix A: Type Code Table...........................................................................185
Appendix B: DIO Type Define of I-8050 Modules.........................................198

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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), evensupports the specialfunctions (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, automationand so on.
The main control units CAN-8123/CAN-8223/CAN-8423/CAN-8823
(CAN-8x23 in general) 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-8x23 supports up to 8 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/CAN-8823 supports four and eight expansion slots. Each
expansionslot 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 onthe CANopenDS-306 is compatible with other
CANopen master interface made by different manufacturers, also supporting
the EDS files. The general application for the CAN-8x23 CANopen slave
device architecture is as follows.

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1.2 Hardware Features
CPU:80186, 80MHz
Philip SJA1000 CANcontroller
Philip 82C250 CAN transceiver
SRAM:512 Kbytes
Flash Memory:512 Kbytes
EEPROM:2 Kbytes
NVRAM: 32 bytes
Real Time Clock
Built-in Watchdog Timer
16-bit Timer
Power LED, RUN LED, and ERR LED
Support 1/2/4 expansion I/O slots
2500 Vrms isolation at CAN side
120Ω terminal resister selected by jumper(s)
CAN bus interface: ISO/IS 11898-2, 5-pin screw terminal with
on-board optical isolators’ protection.
Power Supply: 20W. Unregulated from +10VDC ~ +30VDC
Operating Temperature:-25°C ~ +75°C
Storage Temperature:-30°C ~ +85°C
Humidity:5%~95% RH
COM1
RS-232: TXD,RXD,RTS,CTS,GND
Communication speed: 115200 bps.
Configure tool connection

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1.3 CAN-8x23 Features
NMT: Slave
Error Control: Node Guarding
Node ID: Setting by Rotary Switch
No. of PDOs: 16 Rx, 16Tx
PDO Modes: Event-triggered, remotely requested, cyclic and acyclic
SYNC
PDO Mapping: variable
No of SDOs: 1 server, 0 client
Emergency Message: Yes
CANopenVersion: DS-301 v4.02
Device Profile: DS-401 v2.1
Produce EDS file dynamically
Baud Rate Selection : 10K, 20K, 50K, 125K, 250K, 500K, 800K and
1M bps
Power LED, RUN LED, and ERR LED indicators
Support I-8000 and I-87K I/O expansion slot:
CAN-8123: 1 slot
CAN-8223: 2 slots
CAN-8423: 4 slots
CAN-8823: 8 slots
Provide a friendly Utility to configure the I-8000 and I-87K series
modules

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1.4 Utility Features
Support parameter configuration on the I-8000 and I-87K modules
Provide to showApplication and Device Object information
Provide to show Rxand TxPDO mapping
Support EDS file creation

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2 Hardware Specification
2.1 Hardware Structure
CAN-8123:
CAN-8223:
CAN Bus Connector
CANopen
Status LED
Power LED
1 I/O Expansion Slot
Node ID and Baud
rate rotaryswitch
CAN Bus Connector
CANopen
Status LED
Power LED
Node ID and Baud
rate rotaryswitch
CANopen
Error LED
CANopen
Error LED
2 I/O Expansion Slot

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CAN-8423:
CAN-8823:
CAN Bus Connector
CANopen
Status LED
CANopen
Error LED
RS-232 Port
(connect to PC)
4 I/O Expansion Slots
Power Pin
Node ID and Baud
rate rotaryswitch
Power LED
8 I/O Expansion Slots
CAN Bus Connector
RS-232 Port
(connect to PC)
Power Pin
CANopen
Status LED
CANopen
Error LED
Node ID and Baud
rate rotaryswitch
Power LED

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2.2 Layout Structure
CAN-8123/CAN-8223:
.
CAN-8423:
CAN-8823:

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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
reach70mΩ/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 Length
(meter)
Bus Cable Parameters
Terminal
Resistance
(Ω)
Length Related
Resistance
(mΩ/m)
Cross Section
(Type)
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
In the CAN-8x23, the 120Ω terminal resistance is supplied as a standard
accessory. About enable/disable the 120Ω terminal resistance jumps, please
refer to section 2.5 “Terminal Resistor Jumper and Initial Switch”.

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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.
2.4 CAN Connector
The pin descriptions of the CAN bus connectors on the CAN-8x23 are
shown below.
CAN-8123/CAN-8223:
PinNo.
Signal
Description
1
CAN_GND
Ground (0V)
2
CAN_L
CAN_Lbus 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(+10V ~ +30V)

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CAN-8423:
PinNo.
Signal
Description
1
N/A
N/A
2
CAN_L
CAN_Lbus line (dominant low)
3
CAN_SHLD
Optional CAN Shield
4
CAN_H
CAN_H bus line (dominant high)
5
N/A
N/A
CAN-8823:
PinNo.
Signal
Description
2
CAN_L
CAN_Lbus line (dominant low)
5
CAN_SHLD
Optional CAN Shield
7
CAN_H
CAN_H bus line (dominant high)
Others
N/A
N/A

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2.5 Terminal Resistor Jumper and Initial Switch
The jumpers enable/disable of the terminal resistor show as follow:
Device
Jumper
Enable
Disable
CAN-8123 / CAN-8223
JP2
CAN-8423
JP1
CAN-8823
JP1
Before updating firmware or using the utility tool to configure the
CAN-8423 and the CAN-8823, 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 toolin the off-line mode takes the
place to get the EDS file.
Following shows the initial switch of CAN-8423 and CAN-8823
(CAN-8123/CAN-8223 not support the initial function).
Device
Switch
Initial Mode
Run Mode
CAN-8423
Baud
RotarySwitch
Switch to “9”
Switch to “0”~ “7”
CAN-8823
SW1
Switch to “Init”
Switch to “Run”
2.6 Power LED
The CANseries products (CAN-8x23) 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.
CANopenStatus LED

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2.7 CANopen Status LED
Each one CAN-8x23 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.
2.7.1 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
respectivelyshown 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
5
Blinking rapidly
Module Error
I/O module is removed when
running or CAN-8x23 detects the
module different from before.
Users can use utility to reset it.

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2.7.2 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.

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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 manyerror frames).
3
Double Flash
Error Reminding
when Events
happen.
Aguard 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
communicationcycle before time
out (see Object Dictionary Entry
0x1006).
5
Continuing
Light
Bus Off
The CANcontroller is ina 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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2.8 The Node ID & the Baud rate Rotary Switch
The first two rotaryswitches (MSB & LSB) control the CAN-8x23 node
ID. MSB (Most Significant Bit)means the high nibble of the node ID, and LSB
(Least Significant Bit).
ID Rotary Switch
Status
0x01 ~ 0x7F
Normal CANopen ID
0x81 ~ 0xFF
I/O Pair-connection CANopen ID
The last rotary switch (BAUD) handles the CAN-8x23 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
9
Initial Mode
(Only for CAN-8423)
Others
N / A
Furthermore, when users apply the CAN-8x23 the CANopen firmware will
automatically check these rotary switches. Any illegal value for these rotary
switches will cause the boot-up failure.

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2.9 I/O Pair-connection Mode
The CAN-8x23 provides the I/O pair-connectionfunction. Before using this
function, you need to prepare two CAN-8x23s with DI and DO I/O modules
(such as I-8057W and I-8053W). When applying this function, the DI channels
and the DO channels are mapping witheachother. That is to saythat whenthe
DI channels of one CAN-8x23 get the ON signal, the corresponding DO
channels of the other one will be turned on.
When you completed the connection of these two CAN-8x23s by CAN bus,
you need to set the ID rotary switch of these two modules to 0x81 ~ 0xFE 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, theyare the couple as the following figure.
For example, user uses a CAN-8123 with I-8057W and a CAN-8123 with
I-8053W to do I/O pair-connection. The connection structure is as follows.