Trio Motion Technology CAN 16-I/O Modules User manual

CHAPTER
CHAPTER 0I/O MODULES

Motion Coordinator PCI 208 Technical Reference Manual
I/O Modules 5-3
Input/Output Modules
Input/Output Modules
General Description
Trio can supply a range of Input/Output Modules for the PCI 208. The Motion
Coordinator controllers allow for I/O expansion by having a CAN interfaces. The
PCI 208 has 2 built-in CAN interfaces of which channel A is always used for Trio I/
O modules. This allows the I/O modules to form a network up to 100m in length.
The Trio I/O modules use a dedicated protocol which must be run on a physically
separate CAN interface to CANopen or DeviceNet. If the built-in Trio protocol is
not to be used it is necessary to set the CANIO_ADDRESS value to a value other
than it’s default of 32.
CAN 16-I/O Module (P315)
The CAN 16-I/O Module allows the 24 volt digital inputs and outputs of the
Motion Coordinator to be expanded in blocks of 16 bi-directional channels.
Up to 16 CAN 16-I/O Modules may be connected allowing up to 256 I/O channels
in addition to the internal channels built-in to the PCI 208 Motion Coordinator.
Each of the 16 channels in each module is bi-directional and can be used either as
an input OR as an output.
Convenient disconnect terminals are used for all I/O connections.
Product: Product Code:
CAN 16-I/O Module P315
CAN Analog Input Module P325

5-4 I/O Modules
Input/Output Modules
Trio Motion Technology
I/O Connections:
The CAN 16-I/O Module has 3 disconnect terminal connectors:
• DeviceNet physical format 5 way CAN connector
• Input/Output Bank 0 - 7 and power supply for bank 0 - 7 on 10 way
connector
• Input/Output Bank 8 - 15 and power supply for bank 8 - 15 on 10 way
connector.
P165
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
1
2
4
8
16
32
OFF
MS NS
PR
DR 10 11 12 13 14 15 24v Ov98
NODE
ADDRESS
CAN 16-I/O
Trio
7654 321 00v 24v
0v for IO 0-7
24v for IO 0-7
IO 7
IO 6
IO 5
IO 4
IO 3
IO 2
IO 1
IO 0
0v for IO 8-15
24v for IO 8-15
IO 15
IO 14
IO 13
IO 12
IO 11
IO 10
IO 9
IO 8
(Black) V-
(Blue) CAN _L
SHIELD
(White) CAN_H
(Red) V+

Motion Coordinator PCI 208 Technical Reference Manual
I/O Modules 5-5
Input/Output Modules
Bus Wiring
The CAN 16-I/O Modules and the Motion Coordinator are connected together on a
network which matches the physical specification of DeviceNet running at
500kHz. The network is of a linear bus topology. That is the devices are daisy-
chained together with spurs from the chain. The total length is allowed to be up
to 100m, with drop lines or spurs of up to 6m in length. At both ends of the net-
work, 120 Ohm terminating resistors are required between the CAN_H and CAN_L
connections. The resistor should be 1/4 watt, 1% metal film.
The cable required consists of:
Blue/White 24AWG data twisted pair
+ Red/Black 22AWG DC power twisted pair
+ Screen
A suitable type is Belden 3084A.
The CAN 16-I/O modules are powered from the network. The 24 volts supply for
the network must be externally connected. The Motion Coordinator does NOT
provide the network power. In many installations the power supply for the
Motion Coordinator will also provide the network power.
Note:
It is recommended that you use a separate power supply from that used to
power the I/O to power the network as switching noise from the I/O devices
may be carried into the network.
Axis Ø Axis 1
X13
X12
X10
X14
X11
X15
X16
Axis 2 Axis 3
Axis 4 Axis 5
Axis 6 Axis 7
X17
X9
0
1
8
9
OFF
PR
DR
NODE
ADDRESS
CAN Analog
Inputs
7654 321 00v 24v
1
2
4
8
16
32
MS NS
Trio
P325
0
1
8
9
OFF
PR
DR
NODE
ADDRESS
CAN Analog
Inputs
7654321 00v 24v
1
2
4
8
16
32
MS NS
Trio
P325
120 ohm
Terminating Resistor
120 ohm
Terminating
Resistor
24v
0v

5-6 I/O Modules
Input/Output Modules
Trio Motion Technology
DIP Switch Settings
Note that the IO mapping of the PCI 208 starts at 32 rather than 16 which is
the usual setting for Motion Coordinator’s with 16 or fewer IO’s built-in.
TRIO Protocol
The switch marked PR is set ON to select the standard TRIO protocol.
The top 6 DIP switches on the CAN 16-I/O set the module address. Only
addresses 0 - 15 are valid for CAN 16-I/O modules.
The switch marked DR sets the CAN Bus communications rate to 125kHz or
500kHz. Only 500Khz is valid with the TRIO protocol.
Address: Start: End:
032 47
148 63
264 79
380 95
496 111
5112 127
6128 143
7144 159
8160 175
9176 191
10 192 207
11 208 223
12 224 239
13 240 255
14 256 271
15 272 287

Motion Coordinator PCI 208 Technical Reference Manual
I/O Modules 5-7
Input/Output Modules
The addresses for I/O modules MUST be set in sequence, 0,1,2 etc. Therefore the
first two CAN 16-I/O Modules would have switch settings as shown below:
Note:
The I/O Channels referred to above start at 32. This is because the
numbering sequence starts with channels 0 - 31, which are on the PCI 208
master unit itself.
DUAL IO Mapping:
The PCI 208 has 20 inputs built-in. These are read by the software as inputs
0..19. The I/O module inputs/output start at number 32. There is therefore a
set of inputs 20..31 which are unused.
When at least one I/O module is connected to the PCI 208 the first 12 inputs from
the I/O module are also mapped into this range automatically by the software.
For example: Input 32 can also be read via input 20, and input 33 can also be
read via input 21.
This arrangement allows the CAN I/O module inputs to be used as limit inputs and
to be used with the INVERT_IN command.
LED Indicators
When NS is ON LEDs marked 0 - 15 represent the input channels 0 - 15 of the mod-
ule. The actual input as seen by the Motion Coordinator software will depends on
the I/O modules address:
Address = 0
IO Channels
32-47
1
2
4
8
16
32
(TRIO)
(500Khz)
P
R
D
R
Address = 1
IO Channels
48-63
1
2
4
8
16
32
(TRIO)
(500Kh
z)
PR
DR

5-8 I/O Modules
Input/Output Modules
Trio Motion Technology
Error Codes:
When an error occurs on a CAN I/O module,
the fault code is represented by a binary
number displayed on the leds.
Software Interfacing
The PCI 208 Motion Coordinator will automatically detect and allow the use of
correctly connected CAN I/O channels. The CAN I/O are accessed with the
same
IN and OP commands used to access the built-in I/O on the Motion Coor-
dinator. The Motion Coordinator sets the system parameter
NIO which reflects
the number of I/O's connected to the system. 3 system parameters are availa-
ble to facilitate the use of the CAN 16-I/O:
Code Error Description
1Invalid Protocol
2Invalid Module Address
3Invalid Data Rate
4Uninitialised
5Duplicate Address
6Start Pending
7System Shutdown
8Unknown Poll
9Poll Not Implemented
10 CAN Error
11 Receive Data Timeout
NS
24
25
26
27
28
29
30
31
16
17
18
19
20
21
22
23
MS
Address = 1
NS
40
41
42
43
44
45
46
47
32
33
34
35
36
37
38
39
MS
Address = 2
NS
56
57
58
59
60
61
62
63
48
49
50
51
52
53
54
55
MS
Address = 3
NS
72
73
74
75
76
77
78
79
64
65
66
67
68
69
70
71
MS
Address = 4
NS (OFF)
8
9
10
11
12
13
14
15
1
2
3
4
5
6
7
8
MS
Error Code
displayed on
IO 8 .. 11
Whole Bank
Flashing

Motion Coordinator PCI 208 Technical Reference Manual
I/O Modules 5-9
Input/Output Modules
CANIO_STATUS, CANIO_ADDRESS and CANIO_ENABLE
When choosing which I/O devices should be connected to which channels the fol-
lowing points need to be considered:
• Inputs 0 - 31 ONLY are available for use with system parameters which specify
an input, such as FWD_IN, REV_IN, DATUM_IN etc. See note on page 7 on dual
mapping of I/O’s
• Outputs 8 - 17 ONLY are available for use with the PSWITCH command.
• The built-in I/O channels have the fastest operation <1mS
• CAN I/O channels 32 - 79 have the next fastest operation <2mS
• CAN I/O channels 80 - 207 have the next fastest operation <8mS
It is not possible to mix the CAN 16-I/O module which is running the TRIO I/O pro-
tocol with DeviceNet equipment on the same network.
Troubleshooting
If the network configuration is incorrect 2 indications will be seen: The CAN 16-I/
O module will indicate that it is uninitialised and the Motion Coordinator will
report the wrong number when questioned:
>>? NIO
If this is not as expected check:
• Terminating 120 Ohm Network Resistors fitted?
• 24Volt Power to each IO bank required?
• 24Volt Power to Network?
• DIP switches in sequence starting 0,1,2...?
•Motion Coordinator CANIO_ADDRESS=32?

5-10 I/O Modules
Input/Output Modules
Trio Motion Technology
P315 Specification
Inputs: 16 24volt inputs channels with 2500v isolation
Outputs: 16 24volt output channels with 2500v isolation
Configuration: 16 bi-directional channels
Output Capacity: Outputs are rated at 250mA/channel. (1 Amp total/
bank of 8 I/O's)
Protection: Outputs are overcurrent and over temperature pro-
tected
Indicators: Individual status LED's
Address Setting: Via DIP switches
Power Supply: 24V dc, Class 2 transformer or power source.
18 ... 29V dc / 1.5W
Mounting: DIN rail mount
Size: 95mm wide x 45mm deep x 105mm high
Weight: 200g
CAN: 500kHz, Up to 256 expansion I/O channels
EMC: BSEN50082-2 (1995) Industrial Noise Immunity / BS
EN55022 (1995) Class A Industrial Noise Emissions

Motion Coordinator PCI 208 Technical Reference Manual
I/O Modules 5-11
CAN Analog Inputs Module (P325)
CAN Analog Inputs Module (P325)
The CAN Analog Input Module allows the PCI 208 Motion Coordinator to be
expanded with banks of 8 analog input channels. Up to 4 x P325 Modules may be
connected allowing up to 32 x 12 bit analog channels in addition to the 4 poten-
tial analog inputs if the P184 is fitted. Convenient disconnect terminals are used
for the I/O connections. The input channels are designed for +/-10volt opera-
tion. Each bank of 8 channels is opto-isolated from the CAN bus.
I/O Connections
The CAN Analog Input Module has 3 disconnect terminal connectors:
The lower 10 way connector is unused
Input Bank 0..7 with
0v reference and earth
DeviceNet physical format
5 way CAN connector
0
1
8
9
OFF
PR
DR
NODE
ADDRESS
CAN Analog
Inputs
765 4 32 1 00v 24v
1
2
4
8
16
32
MS NS
Trio
P325

5-12 I/O Modules
CAN Analog Inputs Module (P325)
Trio Motion Technology
Bus Wiring
See Can 16 I/O for details
DIP Switch Settings
The switch marked “PR” selects the protocol, but is currently unused as only
the TRIO protocol is available.
The switch marked DR sets 125kHz or 500kHz. Only 500Khz is valid with the
TRIO protocol.
The addresses for P325 modules MUST be set 16,17,18... in sequence. There-
fore the first P325 Module should have the switch setting:
Note:
P325 modules and P315 (16-I/O) modules may be mixed on the network. The
P315 addresses will be 0 to 15 in sequence and the P325 modules will be 16 to
19 in sequence.
LED Indicators
Address: Start: End:
16 815
17 16 23
18 24 31
19 32 39
Address = 16
Analog Inputs 8..15
1
2
4
8
16
32
(TRIO)
(500Khz)
PR
DR
Address = 17
Analog Inputs 16..23
1
2
4
8
16
32
(TRIO)
(500Kh
z)
PR
DR
MS “Module Status” ON when module powered on OK
NS “Network Status” ON when module powered on OK and initialised.

Motion Coordinator PCI 208 Technical Reference Manual
I/O Modules 5-13
CAN Analog Inputs Module (P325)
Software Interfacing
The Motion Coordinator will automatically detect and allow the use of correctly
connected P325 modules. The number of connected analog input channels is
reported in the startup message and is also available to the programmer via an
additional system parameter “NAIO”.
The analog input resolution is fixed at +10volts to -10volts and will return values
-2047 to 2048 to the function AIN(). The first 4 channels are also available as sys-
tem parameters AIN0, AIN1, AIN2, and AIN3. This allows these values to be seen
using the SCOPE function.
The P325 works “single ended” and does not return differential values.
It is not possible to mix the P325 module which is running the TRIO I/O protocol
with DeviceNet equipment on the same network.
Troubleshooting
If the network configuration is incorrect 2 indications will be seen: The P325
module will indicate that it is uninitialised and the Motion Coordinator will
report the wrong number when questioned:
>>? NAIO
If this is not as expected check:
• Terminating 120 Ohm Network Resistors fitted?
• 24Volt Power to Network?
• DIP switches in sequence starting 16,17,18...?
•Motion Coordinator CANIO_ADDRESS=32?

5-14 I/O Modules
CAN Analog Inputs Module (P325)
Trio Motion Technology
P325 Specification
Analog Inputs: 8+/-10 volt inputs with 500v isolation from CAN bus
Resolution: 12 bit
Protection: Inputs are protected against 24v over voltage.
Address Setting: Via DIP switches
Power Supply: 24V dc, Class 2 transformer or power source.
18 ... 29V dc / 1.5W
Mounting: DIN rail mount
Size: 95mm wide x 45mm deep x 105mm high
Weight: 200g
CAN: 500kHz, Up to 32 analog input channels
EMC: BSEN50082-2 (1995) Industrial Noise Immunity / BS
EN55022 (1995) Class A Industrial Noise Emissions