ICP DAS USA CAN-2024C User manual

CAN-2024C user’s manual (Revision 1.10, Mar/02/2016) ------
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CANopen Slave Device
CAN-2024C
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 © 2016 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-2024C user’s manual (Revision 1.10, Mar/02/2016) ------
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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 LED Description.............................................................................8
2.4 PIN Assignment .............................................................................9
2.5 Wire Connection ..........................................................................10
3Object Dictionary..................................................................................11
3.1 Object List....................................................................................11
3.2 Store and Restore Object............................................................14
3.3 Application Object.......................................................................15
3.4 Default PDO Mapping..................................................................20

CAN-2024C user’s manual (Revision 1.10, Mar/02/2016) ------
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1 Introduction
1.1 Overview
CANopen is one kind of the network protocols based on the CAN bus and
mainly used for embedded network system, such as industrial machine control ,
vehicle control system, factory automation, medical equipments control,
remote data acquisition, environmental monitoring, and packaging machines
control, etc.
The CAN-2024C module follows the CiA DS-301 version 4.02 and
DSP-401 version 2.1. It is easy to access the analogue I/O status and set the
configuration by using the standard CANopen protocol. The CAN-2024C has
passed the validation of the CiA CANopen Conformance Test tool. Therefore,
the provided EDS file is standard for any other standard CANopen masters.
Owing to the 4-channel analog output and 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
Analogue Output:
Output Channels: 4 single-end channels
Output Type : 0 ~ +20 mA, 4 ~ +20 mA, 0 ~ +5 VDC, -5 VDC ~ +5 VDC,
0 ~ +10 VDC, -10 VDC ~ +10 VDC.
Resolution : 14-bit.
Accuracy: +/- 0.1% of FSR for Voltage Output.
+/- 0.2% of FSR for Current Output.
Zero Drift :Voltage:+/- 30μV/ °C.
Current: +/-0.2μA/ °C.
Span Drift :+/- 20ppm/ °C.
Voltage Output Capability: 10V@5mA.
Max Current Load Resistance: external power +24 V:1050 Ω.
Power-on Value & Safe value: Yes.
4KV ESD Protection: Yes, Contact for each terminal.
Intra-module Isolation, Field to Logic: 3000 VDC.

Others:
CANopen Status: 3 LEDs for PWR / RUN / ERR.
Terminator Resister: Yes, by DIP-switch with 1 LED indicator
AO LED: 4 LEDs for analog output, and 4 LEDs for circuit output
Power Supply: Unregulated +10 ~ +30 VDC.
Power Consumption: 1.5 W.
Operating Temperature: -25 ~ 75 ℃.
Storage Temperature: -30 ~ 80 ℃.
Humidity: 10 to 90% RH, Non-condensing.
Dimensions: 32.5 mm x 110 mm x 102 mm (W x L x H) Detail.

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1.3 Features
Standard CANopen general I/O slave devices.
CANopen Version: DS-301, v4.02.
Device Profile: DSP-401, v2.1
Provide 4 single-end analog output channels.
CANopen transfer rate: 10 kbps, 20 kbps, 50 kbps, 125 kbps, 250
kbps, 500 kbps, 800 kbps, 1000 kbps.
Maximum CANopen slave Node-ID up to 99.
Support NMT, PDO, SDO, EMCY, SYNC, Guarding, and Heartbeat
protocol.
Pass the validation of CANopen conformance test
Provide 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 (Top View) 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-2024C
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-2024C
module. The value of baud rate switch from 0 ~ 7 are normal CANopen mode,
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
Baud Rate (k bps)
0
10
1
20
2
50
3
125
4
250
5
500
6
800
7
1000
Table 2-1

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2.3 LED Description
Power LED
CAN-2024C 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 120Ω terminator resistor, the LED will turn on.
Vout LED
If the CAN-2024C is applied in voltage mode, the Vout LED is
turned on while the corresponding channel outputs a non-zero
voltage value.
Iout LED
If the CAN-2024C is applied in current mode, the Iout LED is
turned on while the corresponding channel outputs a non-zero current
value.

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2.4 PIN Assignment
Figure 2-7

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2.5 Wire Connection
Figure 2-8