Isel CAN-IO-8/12- 4/1 User manual

isel Germany AG, D-36124 Eichenzell, Bürgermeister-Ebert-Str. 40 (06659)981-0 (06659)981-776
CAN I/O 16/16
CAN I/O 8/12 –4/1
Operating Instruction
isel - CAN - I/O - Modules
CAN I/O 16/16
CAN I/O 8/12 - 4/1

About this manual:
The information, technical data and dimensions contained in this print are up-to-date
when published. Any possible misprints and mistakes cannot be excluded however.
We are thankful for any suggestion for improvement and indication of mistakes.
Please note that the used software- and hardware descriptions of each individual
company are generally subject to protection of trademarks and patent law.
All rights reserved. It is not permitted to reproduce or electronically process, duplicate
or spread any part of our prints in any way (print, copy etc.) without written
permission of isel Germany AG.
Manufacturer: isel Germany AG
Bürgermeister-Ebert-Straße 40
D-36124 Eichenzell
Tel.: [phone]
Fax: [phone]
Email: automati[email protected]
http://www.isel-germany.de
Part.-No.: 970321 BE004
Status: 03/2013

Contents
1Introduction......................................................................................................... 2
1.1 General function, benefit in application ........................................................ 2
1.2 Intended use................................................................................................. 3
1.3 Safety symbols............................................................................................. 3
1.4 Safety guidelines.......................................................................................... 4
2Technical specifications.................................................................................... 5
2.1 General, process - and logic power supply .................................................. 5
2.2 Module overview .......................................................................................... 7
2.3 Plug allocation.............................................................................................. 8
2.4 DIP Switches.............................................................................................. 12
2.5 Assembly, installation, connection.............................................................. 13
2.5.1 Base connection (Logic voltage and CAN bus) 13
2.5.2 Digital inputs 13
2.5.3 Digital outputs (relay outputs) 14
2.5.4 Digital electronic outputs (switching transistors) 15
2.5.5 Analog output 16
2.5.6 Analog input 18
2.5.7 Diagnosis, signalization, fault states 18
3Integration into the control software (ProNC, Remote)................................. 19
3.1 Settings in the module management.......................................................... 19
3.2 Settings within the Contro administration................................................... 21
3.3 Version information .................................................................................... 24
3.4 Diagnosis function...................................................................................... 25
3.5 Status information ...................................................................................... 26
4Index .................................................................................................................. 27

isel - CAN - I/O –Modules: Operating Instruction
Page - 2
1Introduction
1.1 General function, benefit in application
The CAN-I/O-Module is an Input/output-module for peripheral automation by
linking intelligent modules to the CAN bus (Controller Area Network).
Such modules are:
Positioning modules for numerical axes, e.g. IMD10, IMD20, IMD40 or CPC12
interface from isel Germany AG
HF-Inverter for working spindles
I/O-Modules for binary (analog) input/output, e.g. CAN-I/O-Modules from isel
Germany AG
All CAN-Modules are intelligent, that means they have at least one microprocessor
with integrated on chip or separate CAN-Controller. The CAN-I/O-Modules follow the
CANopen- Standard Device profile for I/O-Modules: CiA Draft Standard Proposal
DS301 V4.0 und DS401 V2.0.
The advantages of using I/O-Modules with CAN interface are:
The binary (analog) Inputs and Outputs are available close to the process
sensors (inputs) as well as to the actuators (outputs). A costly, susceptible and
EMC sensitive cabling to the (central) CNC-Controller (CNC-Master, CNC-
Control) will be cancelled.
Additional modules can be integrated and configured in a simply way:
1. Plug node to CAN-Bus
2. Set a new node address for the I/O module
3. Assign the respective software driver (DLL) to the application software (ProNC
or Remote)
There are extensive diagnostic- and test-possibilities because every CAN-I/O-
Module is intelligent. That means, that the modules are able to give status and
error information to the CNC-Master (this is also the CAN Master) on demand.

isel - CAN - I/O –Modules: Operating Instruction
Page - 3
1.2 Intended use
The CAN-I/O module is intended to be used as a peripheral Input / Output module
and therewith to connect sensors and actuators from an industrial process to this
module:
binary or analog sensors (Inputs)
binary or analog actuators (Outputs)
1.3 Safety symbols
Danger
This symbol indicates dangers that cause damages for person’s
health, physical injury or death.
Attention
This Symbol indicates important notes. Ignoring this symbol
leads to damages and malfunctions of the module.
Information
This symbol indicates important information and notes.
.

isel - CAN - I/O –Modules: Operating Instruction
Page - 4
1.4 Safety guidelines
The CAN-I/O-Modules 16/16 resp. 8/12-4/1 are designed due to current technical
and recognized rules.
Do not expose the device to high humidity or high vibrations.
Admissible ambient temperature : +5°C bis +40°C
Storage temperature : –25°C bis +70°C
The device may only be used if it is in correct condition. Any faults have to be
eliminated immediately. Neither children nor non-authorized persons are allowed
to put the device into operation.
The device may only be used for the intended use, i.e. I/O operations.
All work on the module must be executed from authorized personal regarding
electrical industry rules and accident prevention regulations.
Assembly and use of operating material has to be according to the appointments
of Machinery Directive 2006/42/EU resp. the Low Voltage Directive
2006/95/EU.
In case of improper, incorrect use even the compliance of the respective rules
and standards does not protect against physical damages and damage to
property.
Please take care of the instruction manual. Be sure that all users know the
instructions.
Ignoring the instruction manual can lead to damage, heavy physical damage or to
death.

isel - CAN - I/O –Modules: Operating Instruction
Page - 5
2Technical specifications
2.1 General, process - and logic power supply
box size:
85mm (B) x 180mm (H) x 28mm (T)
weight:
260 g
safety class:
IP20
power supply 1:
(logic voltage)
24VDC
The logic voltage supplies the module internal logic like
the CANopen microcontroller, DA and AD converters,
optocouplers, relays and the CAN bus drivers.
The logic voltage is feeded to the module via connector
X1 from an external 24VDC power supply device.
power supply 2:
(process voltage)
24VDC
The process voltage supplies sensors and actuators that
are connected to the CAN-I/O module:
binary process sensors like switches or inductive
sensors
binary process actuators like Ohm or inductive loads
The process voltage is feeded to the module via
connector X4 (+24V) resp. connector X6 (GND) from an
external 24VDC power supply device.
power consumption 1:
(from / over logic voltage)
160mA
power consumption 2:
(from / over process
voltage)
Power consumption (from / over process voltage)
depends from the external loads, e.g. especially from the
binary process actuators connected to the module.
Dimensioning the 24VDC power supply device for
process voltage with a sufficient value is very important.
The customer is responsible to do this dimensioning
correctly.
ambient temperature:
5°C bis +40°C
storage temperature:
-25°C bis +70°C
relative humidity:
max. 95%

isel - CAN - I/O –Modules: Operating Instruction
Page - 6
CAN –I/O - 16/16
digital inputs:
16 In1.1 to In1.8 and In2.1 to In2.8
using optocouplers (input current about 8mA)
digital outputs:
16 Out1.1 to Out1.8 and Out2.1 to Out2.8
8 relay outputs Out1.1 to Out1.8, Imax < 5A
8 electronic outputs (switching transistors)
Out2.1 to Out2.8, Imax < 350mA,
switching delay about 100µs,
thermic protection,
short-circuit protection
catch diode for digital
outputs
Each inductive load plugged to digital outputs requires
a separate external catch diode.
analog output:
1 0V –10V over 8 Bit D/A converter
(if the analog output is used the eight electronic digital outputs Out2.1 to Out2.8
can not be used for binary output)
fuse:
630 mA / 250V fast
CAN –I/O - 8/12 - 4/1
digital inputs:
8 In1.1 to In1.8
using optocouplers (input current about 8mA)
digital outputs:
12 Out1.1 to Out1.8 and Out2.1 to Out2.4
4 relays outputs Out2.1 to Out2.4, Imax < 5A
8 electronic outputs (switching transistors)
Out1.1 to Out1.8, Imax < 350mA,
switching delay about 100µs,
thermic protection,
short-circuit protection
catch diode for digital
outputs
Each inductive load plugged to digital outputs requires
a separate external catch diode.
analog output:
1 0V –10V over 8Bit D/A transformer
analog inputs:
4 Ana In1 bis Ana In4, 0V –10V, 16 Bit resolution
fuse:
630mA / 250V fast

isel - CAN - I/O –Modules: Operating Instruction
Page - 7
2.2 Module overview
CAN-IO-16/16
Process voltage: GND 24VDC Logic voltage
CAN-IO-8/12- 4/1
Process voltage: GND 24VDC Logic voltage

isel - CAN - I/O –Modules: Operating Instruction
Page - 8
2.3 Plug allocation
Supply voltage (Logic voltage)
Phoenix Mini Combicon 2 pins
modul
connector
pin
signal
description
CAN-IO 16/16
X1
1
2
GND
+24V
supply voltage GND
supply voltage +24V
CAN-IO 8/12-4/1
X1
1
2
GND
+24V
supply voltage GND
supply voltage +24V
CAN In, CAN Out
RJ45 connector
modul
connector
pin
signal
description
CAN- IO 16/16
X2 CAN In
X3 CAN Out
1
2
3
4
5
6
7
8
n.c.
n.c.
n.c.
CAN_H
CAN_L
CAN_GND
n.c.
n.c.
not connected
not connected
not connected
signal CAN high
signal CAN low
GND
not connected
not connected
CAN-IO 8/12-4/1
X2 CAN In
X3 CAN Out
1
2
3
4
5
6
7
8
n.c.
n.c.
n.c.
CAN_H
CAN_L
CAN_GND
n.c.
n.c.
not connected
not connected
not connected
signal CAN high
Signal CAN low
GND
not connected
not connected

isel - CAN - I/O –Modules: Operating Instruction
Page - 9
Input ports
Phoenix Mini Combicon 8 x 2 pins
module
connector
pin bottom
signal
description
CAN- IO
16/16
X4 In 1
and
X5 In 2
1
2
3
4
5
6
7
8
+24V
+24V
+24V
+24V
+24V
+24V
+24V
+24V
pin top
signal
description
9
10
11
12
13
14
15
16
In 1
In 2
In 3
In 4
In 5
In 6
In 7
In 8
bit 0
bit 1
bit 2
bit 3
bit 4
bit 5
bit 6
bit 7
pin bottom
signal
description
CAN-IO
8/12-4/1
X4 In 1
1
2
3
4
5
6
7
8
+24V
+24V
+24V
+24V
+24V
+24V
+24V
+24V
pin top
signal
description
9
10
11
12
13
14
15
16
In 1
In 2
In 3
In 4
In 5
In 6
In 7
In 8
bit 0
bit 1
bit 2
bit 3
bit 4
bit 5
bit 6
bit 7

isel - CAN - I/O –Modules: Operating Instruction
Page - 10
Output ports
Phoenix Mini Combicon 8 x 2pol.
module
connector
pin bottom
signal
description
CAN- IO
16/16
X6 Out 1
X7 Out 2
1
2
3
4
5
6
7
8
GND
GND
GND
GND
GND
GND
GND
GND
pin top
signal
description
9
10
11
12
13
14
15
16
Out 1
Out 2
Out 3
Out 4
Out 5
Out 6
Out 7
Out 8
bit 0
bit 1
bit 2
bit 3
bit 4
bit 5
bit 6
bit 7
pin bottom
CAN-IO
8/12-4/1
X6 Out 1
X7 Out 2
1
2
3
4
5
6
7
8
GND
GND
GND
GND
GND
GND
GND
GND
pin top
9
10
11
12
13
14
15
16
Out 1
Out 2
Out 3
Out 4
Out 5
Out 6
Out 7
Out 8
bit 0
bit 1
bit 2
bit 3
bit 4 (not on X7)
bit 5 (not on X7)
bit 6 (not on X7)
bit 7 (not on X7)

isel - CAN - I/O –Modules: Operating Instruction
Page - 11
Analog output
Phoenix Mini Combicon 2 pins
module
connector
pin
signal
description
CAN-IO
16/16
X8 AnaOut
1
2
analog Out GND
analog Out
reference for analog output
analog output (0 –10V)
CAN-IO
8/12-4/1
X8 AnaOut
1
2
analog Out GND
analog Out
reference for analog output
analog output (0 –10V)
Analog inputs
Phoenix Mini Combicon 2 pins
module
connector
pin bottom
signal
description
CAN- IO
16/16
-
-
-
pin bottom
signal
description
CAN-IO
8/12-4/1
X9 AnaIn
1
2
3
4
GND
GND
GND
GND
reference for analog input 1
reference for analog input 2
reference for analog input 3
reference for analog input 4
pin top
5
6
7
8
Analog In 1
Analog In 2
Analog In 3
Analog In 4
analog input 1
analog input 2
analog input 3
analog input 4

isel - CAN - I/O –Modules: Operating Instruction
Page - 12
2.4 DIP Switches
The node address of a CAN module is used to clearly identify the device on the CAN
bus.
We submit the following assignment of the modules node address:
Module
Node address
1. positioning module

Node address 1
2. positioning module

Node address 2
3. positioning module

Node address 3
additional positioning module

Node address 4-9
4. I/O-module (firstt)

Node address 16
5. I/O-module (second)

Node address 17
additional I/O-modules

Node address 18 and 19
6. HF- converter

Node address 10
additional HF-converter

Node address 11,12 or 13
CAN Node address (S1 –S5)
The switches S1 –S5 are used to set the CAN node address. Possible values are 1
to 31.
Node address
S1
S2
S3
S4
S5
16
off
off
off
off
on
17
on
off
off
off
on
…
31
on
on
on
on
on
Baud rate (S6 –S7)
The switches S6 and S7 are used to set the baud rate.
Following values are possible:
Baud rate
S6
S7
1 MBit/s
off
off
500 kBit/s
on
off
125 kBit/s
off
on
20 kBit/s
on
on
Terminating resistor (S8)
Switch S8 is used to switch a CAN bus termination resistor on or off. If the switch is
on a 120 Ω resistor is enabled.

isel - CAN - I/O –Modules: Operating Instruction
Page - 13
2.5 Assembly, installation, connection
Be sure that the jumper settings are correct before you build in the CAN-I/O
module into a Control cabinet or another device (refer to chapter 2.4).
2.5.1 Base connection (Logic voltage and CAN bus)
If you have configured the DIP switches the module can be built in to the intended
mounting place.
Now the 24V-power supply (logic voltage) must be connected with X1 (see
connection assignment). Also the CAN- bus interface connection must be plugged in
(CAN In must be connected)
If the CAN-I/O-module is the last device in the CAN-topology the DIP-switch 8
must be set to “on” to enable the terminating resistor.
2.5.2 Digital inputs
The digital inputs of the CAN-I/O-modules are realized using 24V-DC process
voltage. They can be connected to process sensors as follows:
The reference potential (+24VDC, GND) for the external sensor (in the principle
drawing a simple switch) is the process voltage.
The input load is about 8mA.

isel - CAN - I/O –Modules: Operating Instruction
Page - 14
2.5.3 Digital outputs (relay outputs)
The digital relay outputs of the CAN-I/O-modules switch 24V-DC process voltage.
Integrate the outputs as follows:
The reference potential (+24VDC, GND) for the external actuator (in the principle
drawing a simple resistor) is the process voltage.
The relay outputs
Out1.1 to Out1.8 at CAN-I/O-Module CAN-IO 16/16 = port1 (X6)
Out2.1 to Out2.4 at CAN-I/O-Module CAN-IO 8/12-4/1 = port2 (X7)
can be rated with 5A for each output.
Driving inductive loads on digital outputs (for example relays) put parallel to
every load (relay) a catch diode (anode to GND).

isel - CAN - I/O –Modules: Operating Instruction
Page - 15
2.5.4 Digital electronic outputs (switching transistors)
The digital electronic outputs (switching transistors, P channel, 24V switching) of the
CAN-I/O-modules switch 24 VDC process voltage. Integrate the outputs as follows:
The reference potential (+24VDC, GND) for the external actuator (in the principle
drawing a simple resistor) is the process voltage.
The digital electronic outputs
Out2.1 to Out2.8 at CAN-I/O-Module CAN-IO 16/16 = port2 (X7)
Out1.1 to Out1.8 at CAN-I/O-Module CAN-IO 8/12-4/1 = port1 (X6)
can be loaded with max. 350mA on each output.
IMPORTANT when using the CAN-I/O-Module CAN-IO 16/16,
here obtains for digital electronic outputs Out2.1 bis Out2.8 = Port2 (X7):
If the integrated D/A converter is used for analog output then port2 is reserved. That
means port2 is not longer available for digital outputs. To prevent confusions you can
deactivate port2 by removing Jumper1 (refer the next chapter Analog output).
Through this the port2 LEDs are also deactivated.
Driving inductive loads on digital outputs (for example relays) put parallel to
every load (relay) a catch diode (anode to GND).

isel - CAN - I/O –Modules: Operating Instruction
Page - 16
2.5.5 Analog output
You can use this output for controlling an external device with 0 to 10V interface /
input (e.g. the target velocity for HF converter).
If the analog output ist used, port2 is no longer available for digital outputs.
Output current not more than 15mA!
CAN-I/O 16/16 Jumper settings
Jumper 1 plugged:
- if the analog output is in use the LEDs
from output Port A2 signalize the binary
analog output value.
Delivery state:
Jumper 2 (4 pieces) not plugged.
Galvanic separation the 24DCV
process voltage from 24VDC logic
voltage is guaranteed.
If you plug the jumpers 2 then there is no galvanic separation between 24VDC
process voltage and 24VDC logic voltage!
This may be effects damages on the CAN-I/O-Module.

isel - CAN - I/O –Modules: Operating Instruction
Page - 17
CAN-I/O 8/12 - 4/1 Jumper settings
Delivery state: Jumper 1 (4 pieces)
Jumper 1 is not plugged. Galvanic separation the 24VDC process voltage from
24VDC logic voltage is guaranteed.
If you plug the jumper 1 then there is no galvanic separation between 24VDC
process voltage and 24VDC logic voltage!
This may be effects damages on the CAN-I/O-Module

isel - CAN - I/O –Modules: Operating Instruction
Page - 18
2.5.6 Analog input
The module CAN-I/O-8/12-4/1 has 4 analog Inputs with an input voltage range from
0V to10V and a resolution of 16 Bit. On these inputs you can directly connect e.g.
sensors. These inputs have an input impedance of 2kΩand provides an internal RC
filter.
2.5.7 Diagnosis, signalization, fault states
Diagnosis of the CAN-I/O modules is possible by observing the status LED.
CAN-IO-16/16
Status-LED
CAN-IO-8/12- 4/1
Status-LED
This LED signals 4 different states:
LED duty cycle
State
0%, off
Error: CAN I/O module is not in operational state,
logic voltage is not available or the internal power
supply (DC/DC: 24 VDC to 5,0 V) is damaged
10%
No error normal operation
50%
Uncritical error or warning
90%
Critical error (NMT error, output error)