Beijer Electronics G, GN-9261 User Manual

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CANopen network adapter

GN-9261

User manual

-series GN-9261 CANopen Rev. 1.01.docx

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GN-9261 User Manual

REV.

PAGES

REMARKS

DATE

Editor

1.00

New Document

2018/7/30

1.01

First release

2019/01/29

NJL

DOCUMENT CHANGE SUMMARY

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Contents

1. Important Notes ............................................................................................................................................................. 5

1.1.1 Symbols.............................................................................................................................................................. 6

1.1.2 Safety Notes .................................................................................................................................................... 6

1.1.3 Certification ..................................................................................................................................................... 6

3.1 GN-9261 Specification ........................................................................................................................................ 8

3.2 GN-9261 Wiring Diagram ..................................................................................................................................... 9

3.3 GN-9261 LED Indicator ....................................................................................................................................... 10

3.3.1 LED Indicator................................................................................................................................................. 10

3.3.2 MOD(Module Status LED) ...................................................................................................................... 10

3.3.3 RUN(Module Status LED) ....................................................................................................................... 10

3.3.4 ERROR(CANopen Error LED)................................................................................................................. 10

3.3.6 Field Power, System Power LED(Field Power, System Power Status LED) ................... 11

3.3.7 Indicator states and flash rates .......................................................................................................... 11

3.4. GN-9261 Electrical Interface ............................................................................................................................ 12

3.4.1 5pin Open Connector ............................................................................................................................... 12

3.4.2 Dip Switch ...................................................................................................................................................... 12

3.4.4 RS232 Port for MODBUS/RTU, Touch Panel or I/O Guide .................................................. 13

4. Dimension ........................................................................................................................................................................ 14

4.1 GN-9261 .................................................................................................................................................................... 14

5. Communication .............................................................................................................................................................. 15

5.1 Device Model

......................................................................................................................................................... 15

5.1.1 Structure of the device model ............................................................................................................ 15

5.2 PDO (Process Data) ........................................................................................................................................... 15

5.2.1 Introduction ................................................................................................................................................... 15

5.2.2 PDO Mapping ............................................................................................................................................... 16

5.2.3 PDO Identifier .............................................................................................................................................. 16

5.2.4 PDO Communication Type .................................................................................................................... 17

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5.3 SDO (Service Data) ............................................................................................................................................. 19

5.3.1 Introduction ................................................................................................................................................... 19

5.4 Emergency (Error Message) .......................................................................................................................... 20

5.5 NMT (Network Management) ......................................................................................................................... 20

5.5.1 Network Start-up ........................................................................................................................................ 20

5.5.2 Boot-up Message ....................................................................................................................................... 21

5.5.3 Node Guarding ............................................................................................................................................ 21

5.5.4 Life Guarding ................................................................................................................................................ 23

6. Object Directory ............................................................................................................................................................. 26

6.1 Communication Profile Area ......................................................................................................................... 26

6.2. Manufacturer Specific Profile Area ........................................................................................................... 33

6.3 Standard Device Profile Area – DS401 ..................................................................................................... 35

7. MODBUS Interface ....................................................................................................................................................... 39

7.1 MODBUS Interface Register/Bit Map......................................................................................................... 39

7.2 Supported MODBUS Function Codes ...................................................................................................... 39

7.2.1 8(0x08)Diagnostics .................................................................................................................................... 40

7.2.2 Error Response ............................................................................................................................................. 41

7.3 MODBUS Special Register Map ..................................................................................................... 42

7.3.1 Adapter Identification Special Register (0x1000, 4096) ....................................................... 42

7.3.3 Expansion Slot Information Special Register (0x2000, 8192)....................................... 43

APPENDIX A .................................................................................................................................................................. 48

A.1 Pr oduct List ........................................................................................................................................................... 48

A.2 Glossary .................................................................................................................................................................. 50

APPENDIX B .................................................................................................................................................................. 51

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Warning!

Caution!

1. Important Notes

Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also becaus e of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

In no event will CREVIS be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment. The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, CREVIS cannot assume responsibility or liability for actual use based on the examples and diagrams.

 If you don’t follow the directions, it could cause a personal injury, damage to the equipment or

explosion

 Do not assemble the products and wire with power applied to the system. Else it may cause an electric

arc, which can result into unexpected and potentially dangerous action by field devices. Arching is explosion risk in hazardous locations. Be sure that the area is non-hazardous or remove system power appropriately before assembling or wiring the modules.

 Do not touch any terminal blocks or IO modules when system is running. Else it may cause the unit to

an electric shock or malfunction.

 Keep away from the strange metallic materials not related to the unit and wiring works should be

controlled by the electric expert engineer. Else it may cause the unit to a fire, electric shock or malfunction.

 If you disobey the instructions, there may be possibility of personal injury, damage to equipment

or explosion. Please follow below Instructions.

 Check the rated voltage and terminal array before wiring. Avoid the circumstances over 55℃ of

temperature. Avoid placing it directly in the sunlight.

 Avoid the place under circumstances over 85% of humidity.  Do not place Modules near by the inflammable material. Else it may cause a fire.  Do not permit any vibration approaching it directly.  Go through module specification carefully, ensure inputs, output connections are made with the

specifications. Use standard cables for wiring.

 Use Product under pollution degree 2 environment.

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1.1. Safety Instruction

1.1.1 Symbols

Identifies information about practices or circumstances that can cause an explosion

in a hazardous environment, which may lead to personal injury or death property damage, or economic loss

Identifies information that is critical for successful application and understanding of the product

Identifies information about practices or circumstances that can lead to personal injury, property damage, or economic loss. Attentions help you to identity a hazard, avoid a hazard, and recognize

the consequences

1.1.2 Safety Notes

The modules are equipped with electronic components that may be destroyed by electrostatic discharge. When handling the modules, ensure that the environment (persons, workplace and packing) is well grounded. Avoid touching conductive components, G-BUS Pin.

1.1.3 Certification

c-UL-us UL Listed Industrial Control Equipment, certified for U.S. and Canada See UL File E235505

FCC, Reach, RoHS- II, China RoHS

CE Certificate EN 61000-6-2; Industrial Immunity EN 61000-6-4; Industrial Emissions

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Environment Specification

Operating T emperature

-40℃~70℃

UL Temperature

-20℃~60℃

Storage T e mperature

-40℃~85℃

Relative Humidity

5% ~ 90% non-condensing

Operating Altitude

2000m

Mounting

DIN rail

General Specification

Shock Operating

IEC 60068-2-6

Vibration resistance

Based on IEC 60068-2-6

Test time : 1hrs for each test

EMC resistance burst/ESD

EN 61000-6-2 : 2005 EN 61000-6-4/ALL : 2011

Installation Pos. / Protect. Class

Vertical and horizontal installation is available.

Product Certifications

CE, UL

2. Environment Specification

Sine Vibration 5 ~ 25Hz : 1.6mm 25 ~ 300Hz : 4g Sweep Rate : 1 Oct/min, 20 cycles Random Vibration 10 ~ 40Hz : 0.0125g²/Hz 40 ~ 100Hz : 0.0125 → 0.002g²/Hz 100 ~ 500Hz : 0.002g²/Hz 500 ~ 2000Hz : 0.002 → 1.3 x 10-⁴g²/Hz

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Interface Specifications, GN-9261

Adapter Type

Slave node (CANopen, CiA 301)

Max. PDO Number

32 TPDO / 32 RPDO

Max. SDO Number

1 Standard SDOs

PDO Mapping Method

Auto Mapping : CiA 301 (default), Sequential Max. Expansion Module

63 slots

Max. Input size

252 bytes

Max. Output size

252 bytes

Nodes

1~99

Baudrate

10, 20, 50, 100, 125, 250, 500, 800, 1000 Kbps(default 1000Kbps)

Interface Connector

5pin Open Connector

Other Serial Port

RS232 for MODBUS/RTU(Touch Panel, I/O Guide ...)

Serial Configuration (RS232)

Node : 1 (Fixed)

Stop bit : 1 (Fixed)

Indicator

6 LEDs

1 Green, Field Power Status

Module Location

Starter module left side of G-Series system

Field Power Detection

About 14Vdc

General Specification

System Power

Supply voltage : 24Vdc nominal

Reverse polarity protection

Power dissipation

70mA typical @ 24Vdc

Current for I/O module

1.5A @ 5Vdc

Isolation

System power to internal logic : Non-isolation System power I/O driver : Isolation

Field Power

Supply voltage : 24Vdc typical(Max. 32Vdc) Refer to IO Module`s Specification.

Max. Current Field Power Contact

DC 10A Max

Weight

162g

Module Size

54mm x 99mm x 70mm

Environment Condition

Refer to ‘2. Environment Specification’

3. General Description

3.1 GN-9261 Specification

Manual Mapping (Reference to Index : 0x20F0, Sub Index : 6)

Baud Rate : 115200 (Fixed) Data bit : 8 (Fixed) Parity bit : No parity (Fixed)

1 Green/Red, Module Status (MOD) 1 Green, Network Status(RUN) 1 Red, Error Status (ERROR) 1 Green/Red, Expansion I/O Module Status (IOS) 1 Green, System Power Status

Supply voltage range : 15~32Vdc Protection : Output current limit (Min. 1.5A)

* Field Power Range is different depending on IO Module series.

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3.2 GN-9261 Wiring Diagram

Pin No. Signal Description Signal Description Pin No.

0 System Power, 24V System Power, Ground 1 2 System Power, 24V System Power, Ground 3 4 F.G F.G 5 6 Field Power, Ground Field Power, Ground 7 8 Field Power, 24V Field Power, 24V 9

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Status

LED

To indicate

At least one of the error counters of the CAN controller has reached or exceeded the warning limit.

A guard event (NMT-Slave or NMT-Master) or a Heartbeat event has occurred.

The SYNC message has not been received within then 0x1006)

3.3 GN-9261 LED Indicator

3.3.1 LED Indicator

LED No. LED Function / Description LED Color

MOD Module Status Green/Red

RUN CANopen Status Green/Red

ERROR CANopen Error Status Red

I.O Extension Module Status Green/Red

Field Power Field Power Enable Green

3.3.2 MOD(Module Status LED)

Not Powered OFF Not power is supplied to the unit. Normal Operational Green The unit is operating in normal condition.

Unrecoverable Fault Red

The device has an unrecoverable fault.

- Memory error or CPU watchdog error.

3.3.3 RUN(Module Status LED)

Status LED To indicate

Not Powered OFF

Stopped Single flash Green Module is stopped Pre-Operational Blinking Green Module is in PRE-OPERATIONAL Operational Green Module is in OPENRATIONAL

Module is either not getting power, or it is NOT_ACTIVE status. Module is initializing.

3.3.4 ERROR(CANopen Error LED)

Status LED To indicate

Not Powered OFF Module is not getting powered or No error. Warning limit reached Single flash

Error control Event Double flash

Sync. Error Triple flash

Bus Off ON The CAN controller is bus off.

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configured communication cycle period time out (see index

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Red

Status

LED

To indicate

Equal ON and OFF times with a frequency of approximately 10 Hz: ON for approximately 50ms and OFF for approximately 50ms.

3.3.5 IOS LED(Extension Module Status LED)

Status LED To indicate

Not Powered OFF Device may not be powered. No Expansion Module Flashing Red Adapter has no expansion module Internal Bus Connection, Run Exchanging I/O Expansion Configuration Failed - Detected invalid expansion module ID.

- Overflowed Input/Output Size

- Too many expansion module

- Initialization failure

- Communication failure.

- Changed expansion module configuration.

- Mismatch vendor code between adapter and expansion module.

Green Exchanging I/O data.

One or more expansion module occurred in fault state.

3.3.6 Field Power, System Power LED(Field Power, System Power Status LED)

Not Powered OFF Not power is supplied to the unit. Normal Operational Green The unit is operating in normal condition.

Unrecoverable Fault Red

The device has an unrecoverable fault.

- Memory error or CPU watchdog error.

3.3.7 Indicator states and flash rates

LED ON Constantly ON

LED OFF Constantly OFF. LED Blinking

LED Single flash

LED Double flash

LED Triple flash

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One short flash (approximately 200ms) followed by a long OFF phase (approximately 1000ms) A sequence of two short flashes (approximately 200ms), separated by an OFF phase (approximately 200ms). The sequence is finished by a long OFF phase (approximately 1000ms) A sequence of three short flashes (approximately 200ms), separated by an OFF phase (approximately 200ms). The sequence is finished by a long OFF phase (approximately 1000ms)

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Terminal Resister

On : Terminal Resister On

Default : 0 (1000kbps)

Baudrate #1

3.4. GN-9261 Electrical Interface

3.4.1 5pin Open Connector

No. Signal Name Description

3.4.2 Dip Switch

1 - 2 CAN H CAN High 3 Shield F.G 4 CAN L CAN Low 5 CAN G CAN GND

DIP Pole# Description

2 3 4 5 Baudrate #4 6 Baudrate #3 7 Baudrate #2

Reserved

5 6 7 8 (ex.) 0 0 0 1 : 10Kbps 0 0 1 0 : 20Kbps 0 0 1 1 : 50Kbps 0 1 0 0 : 100Kbps 0 1 0 1 : 125Kbps 0 1 1 0 : 250Kbps 0 1 1 1 : 500Kbps 1 0 0 0 : 800Kbps 1 0 0 1 : 1000Kbps

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3.4.3 Address setup

Each Adapter could have an unique address (from 1 to 99) so that it can be addressed independently from other nodes. The address 0 is reserved.

3.4.4 RS232 Port for MODBUS/RTU, Touch Panel or I/O Guide

RS232 (37204-64A3-004PL/3M

Pin# Signal Name Description

1 Reserved ---2 TXD RS232 TXD 3 RXD RS232 RXD 4 GND RS232 GND

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4. Dimension

4.1 GN-9261

(mm)

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5. Communication

5.1 Device Model

5.1.1 Structure of the device model

Communication. This functional unit makes the communication data objects and the associated functionality for data exchange over the CANopen network available. The network status machine is part of this.

Object directory. This contains all the data objects (application data + parameters) that are accessible from outside and that affect the behavior of communication, application and status machines. The object directory is organized as a two-dimensional table in which the data are addressed by their index and sub-index.

The data exchange with CANopen devices takes place by means of data objects. In the CANopen communication profile, two types of standard object (PDO and SDO) and special objects (for network management etc.) are defined. The GN-9261 supports the following objects:

• 32 transmit PDOs

• 32 receive PDOs

• 1 standard SDO (server)

• Node guarding

• NMT objects

Every CANopen device possesses a CANopen object directory in which The parameters for all the CANopen objects are entered.

5.2 PDO (Process Data)

5.2.1 Introduction

In many fieldbus systems the entire process image is continuously transferred - usually in a more or less cyclic manner. CANopen is not limited to this communication principle, since the multi-master bus access protocol allows CAN to offer other methods.

The process data in CANopen is divided into segments with a maximum of 8 bytes. These segments are known as process data objects (PDOs). The PDOs each corresponds to a CAN telegram, whose specific CAN identifier is used to allocate them and to determine their priority.

The PDOs are named from the point of view of the Network Adapter: receive PDOs (RxPDOs) are received by the coupler and contain output data, while transmit PDOs (TxPDOs) are sent by the coupler and contain input data.

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5.2.2 PDO Mapping

CANopen specifies the data assignment for the first two PDOs in the device profile for input/output groups (DS401) (“default mapping”). The first PDO is provided for digital inputs (TxPDO1) or outputs (RxPDO1). The first 4 analog inputs or outputs are located in the second PDO. These PDOs are accordingly occupied by the Network Adapters - if, for instance, no digital output terminals are plugged in, RxPDO1 remains empty.

Once the first PDOs have been occupied, the next PDOs are filled with process data in the following sequence:

1. Digital I/O (1-byte)

2. Digital I/O (2-byte)

3. Analog I/O

5.2.3 PDO Identifier

For the first two PDOs (PDO1 + PDO2) CANopen provides default identifiers depending on the node address, but all other PDOs must have identifiers assigned to them. The principle of the default identifiers is explained in the section on “Network Management”, and there is a list of all the CANopen default identifiers in the appendix.

Pre-Define Connection Set In the system of default identifiers, all the nodes (here: slaves) communicate with one central station (the

master), since slave nodes do not listen by default to the send identifier of other slave nodes:

PDO Linking If the consumer-producer model of CANopen PDOs is to be used for direct data exchange between nodes

(without a master), the distribution of identifiers must be appropriately adapted, so that the TxPDO identifier of the producer agrees with the RxPDO identifier of the consumer:

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This procedure is known as PDO linking. It permits, for example, easy construction of electronic drives in which several slave axes simultaneously listen to the actual value in the master axis TxPDO.

5.2.4 PDO Communication Type

Event driven

The “event” is the alteration of an input value, the data being transmitted immediately after this change. The event-driven flow can make optimal use of the bus bandwidth, since instead of the whole process image it is only the changes in it that are transmitted. A short reaction time is achieved at the same time, since when an input value changes it is not necessary to wait for the next interrogation from a master.

Polling The PDOs can also be polled by data request telegrams (remote frames). In this way it is possible to get the

input process image of event-driven inputs onto the bus, even when the inputs have not changed, for instance by a monitoring or diagnostic device brought into the network while it is running.

The Crevis CANopen bus Adapter supports the interrogation of PDOs by means of remote frames.

Synchronized It is not only for drive applications that it is worthwhile to synchronize the determination of the input

information and the setting the outputs. For this purpose CANopen provides the SYNC object, a CAN telegram of high priority but containing no user data, whose reception is used by the synchronized nodes as a trigger for reading the inputs or for setting the outputs:

PDO transmission type The “PDO transmission type” parameter specifies how the transmission of the PDO is triggered, or how

received PDOs are handled:

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Transmission type PDO transmission

cyclic acyclic synchronous asynchronous RTR only

0 1-240 X 241-251 reserved 252 253 254 255

Synchronous Transmission type 0 is only useful for RxPDOs: the PDO is only used when the next SYNC telegram is

received. In transmission types 1-240 the PDO is cyclically transmitted or expected: after every “nth” SYNC (n = 1...240).

Since transmission types can be combined on a coupler as well as in the network, it is possible, for example, for a fast cycle to be agreed for digital inputs (n = 1), whereas the data for analog inputs is transmitted in a slower cycle (e.g. n = 10). The cycle time (SYNC rate) can be monitored (object 0x1006), so that if the SYNC fails the Adapter switches its outputs into the fault state.

Asynchronous

X X

The transmission types 254 + 255 are asynchronous, but may also be event-driven. In transmission type 254, the event is specific to the manufactur er, where as for type 255 it is defined in the device pr of ile. Sinc e the Beckhoff CANopen Network Adapters support device profile DS401 no distinction is made here between the two transmission types.

Inhibit Time The “inhibit time” parameter can be used to implement a “transmit filter” that does not increase the reaction

time for relatively new input alterations, but is active for changes that follow immediately afterwards. The inhibit time (transmit delay time) specifies the minimum length of time that must be allowed to elapse between the transmission of two of the same telegrams. If the inhibit time is used, the maximum bus loading can be determined, so that the worst case latency can then be found.

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5.3 SDO (Service Data)

5.3.1 Introduction

The parameters listed in the object directory are read and written by means of service data objects. These SDOs are multiplexed domains, i.e. structures of any size that have a multiplexer (address). The multiplexer consists of a 16-bit index and an 8-bit sub-index that address the corresponding entries in the object directory.

The CANopen Network Adapters are servers for the SDO, which means that at the request of a client they make data available (upload), or they receive data from the client (download).

This involves a handshake between the client and the server. When the size of the parameter to be transferred is not more than 4 bytes, a single handshake is sufficient (one telegram pair).

For a download, the client sends the data together with its index and sub-index, and the server confirms reception. For an upload, the client requests the data by transmitting the index and sub-index of the desired parameter and the server sends the parameter (including index and sub-index) in its answer telegram. The same pair of identifiers is used for both upload and download. The telegrams, which are always 8 bytes long, encode the various services in the first data byte.

All parameters with the exception of objects 1008h, 1009h and 100Ah (device name, hardware and software versions) are only at most 4 bytes long, so this description is restricted to transmission in expedited transfer.

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5.4 Emergency (Error Message)

Emergency messages are always sent in the event of a critical error situation having occurred/overcome in the device, or if important information has to be communicated to other devices.

Structure and meaning of the entries in the emergency object are explained in the table .EMCY-CODE., they are coded in the bus message in a ‘Low byte’ / ‘High byte’ order.

An emergency object is also sent, after an error is remedied (Error Code = 0x0000, the Error Register and the Additional Code behave as described in the table .EMCY-CODE.).

Following Power On an emergency object is sent if the loaded settings are the default settings. This occurs for two reasons:

• No settings have yet been saved (Index 0x1010).

• The saved setting was discarded by the Network Adapter, because modules were connected or disconnected.

5.5 NMT (Network Management)

5.5.1 Network Start-up

CANopen defines a state machine that controls the functionality of a device. Transition between the individual states is initiated by internal events or services from the NMT master. These devices states can be connected to application processes.

In Initialization state, the CANopen data structures of a node are initialized by the application. The CiA DS301 standard defines various mandatory OD entries for this task as well as specific communication objects required for that. In the minimum device configuration, the identifier for these communication objects must correspond to the so-called Pre-Defined Connection-Set. The device profiles define further settings for the applicable device class. The pre-defined settings for identifier for emergency, PDOs and SDOs are calculated based on the node address (Node ID) that can be in the range from 1 to 99, added to a base identifier that determines the function of the individual object.

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After Initialization is completed the node automatically switches into PRE-OPERATIONAL (12) state. The NMT master will be informed about this state change with the BOOT-UP message sent by the corresponding node. In this state it is not possible to communicate with the node using PDOs. However, the node can be configured over the CAN bus using SDOs in PRE-OPERATIONAL state. NMT services and Life Guarding are also available in this state.

The application as well as the available resources of the CANopen device determine to what extend configuration over the CAN bus with the help of SDOs must take place. For example, if the CANopen device does not provide a non-volatile memory to store mapping and communication parameters for PDOs and these parameters differ from the default values, then these parameters must be transmitted to the node over the network after initialization is completed.

After the configuration of these parameters by the application or the NMT master is completed, the NMT service Start_Remote_Node (6) can be used to render the node from PRE-OPERATIONAL state into OPERATIONAL state. This state change also causes the initial transmission of all TPDOs independently of whether an event for it is present. Each subsequent transmission of PDOs then always takes place as a function of an event.

All CANopen devices also support the Stop_Remote_Node (7), Enter_PRE-OPERATIONAL_State (8), Reset_Node (10), Reset_Communication (11) services. Reset_Node is used to reset the application-specific data and the communication parameter of the node. The CANopen data structures are loaded with their initial values. Data stored in a non-volatile memory are rejected. This state change is comparable with an initial operation of the node.

If the NMT service Reset_Communication is used to change the state of a node, then loading initial values exclusive for the communication parameters in the CANopen stack takes place.

No communication via PDO and SDO is possible if the device is in STOPPED state. Only NMT services, Node Guarding, Life Guarding as well as Heartbeat are possible in this state.

5.5.2 Boot-up Message

After the initialization phase and the self-test, the Network Adapter sends the boot-up message, a CAN message with no data bytes and with the identifier of the emergency message: CAN-ID = 0x80 + node ID.

5.5.3 Node Guarding

Node Guarding represents a means of node supervision that is initiated by the NMT master. This service is used to request the node’s operational state and to determine whether the node is functioning correctly. The NMT master transmits a single Node Guard message to the slave in the form of a remote frame with the CAN identifier 0x700 plus the node address of the NMT slave. As a response to this remote frame, the NMT slave sends a CAN message back containing its current NMT state and a one bit that toggles between two subsequent messages.

Response from the NMT Slave to a Node Guard Remote Frame:

Identifier DLC

0x700 + Node Address 1 Status Byte

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Data

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Node state of a CANopen Device

Status Byte Node State

0x00 BOOT-UP 0x04 STOPED 0x05 OPERATIONAL 0x7F PRE-OPERATIONAL

Bit 7 of the status byte always starts with a 0 and changes its value after each transmission. The application is responsible for actively toggling this bit. This ensures that the Node Guard response message from a slave is not just stored in one of the Full-CAN channels. Thus the NMT master will get the confirmation from the NMT slave node that the application is still running.

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5.5.4 Life Guarding

As an alternative to Node Guarding node supervision can also be performed by Life Guarding services. In contrast to the Node Guarding the NMT master cyclically sends a Life Guard message to the slave in the form of a remote frame with the CAN identifier 0x700 plus the node address of the NMT slave. As a response to this remote frame, the NMT slave sends a CAN message back containing its current NMT state and a one bit that toggles between two subsequent messages. With being missing the answer or unexpected status of the slave the NMT masters application is informed. Further the slave can detect the loss of the masters. The Life Guarding is started with the transmission of the first Life Guard message of the masters.

Response from the NMT Slave to a Life Guard Remote Frame

Identifier DLC

0x700 + Node Address 1 Status Byte

Meaning of the status byte corresponds to that of the Node Guarding message The Life Guarding supervision on the NMT slave node is deactivated, if the Life Guard time (object entry 0x100C in the object dictionary) or the Life time factor (object entry 0x100D in the object dictionary) are equal to zero.I/O Process

Image Map

Data

An expansion module may have 3 types of data as I/O data, configuration parameter and memory register. The data exchange between network adapter and expansion modules is done via an I/O process image data by FnBus protocol. The following figure shows the data flow of process image between network adapter and expansion modules.

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5.6 Example of Input and Output Proce s s Im a ge Ma p

Input image data depends on slot position and expansion slot data type. Input process image data is only ordered by expansion slot position when input image mode is uncompressed (mode 0). But, when input image mode is compr essed (m ode 1), input proces s im age data is or dered b y expans ion slo t pos ition and slot d ata type. Input process image mode can be set by Object Index 0x4500

For example slot configuration

Slot Address Module Description

#0 CANopen Adapter #1 8-discrete output #2 8-dis cr ete inp ut #3 4-analog output #4 2ch, high speed counter #5 4-relay output #6 16-dis c rete in put #7 4-analog input #8 16-dis c rete out put

Non-compress mode data format

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Index Sub-Index

0 Analog Output Ch0 low byte (Slot#3) 0x6411 0x01 1 Analog Output Ch0 high byte (Slot#3) 0x6411 0x01 2 Analog Output Ch1 low byte (Slot#3) 0x6411 0x02 3 Analog Output Ch1 high byte (Slot#3) 0x6411 0x02 4 Analog Output Ch2 low byte (Slot#3) 0x6411 0x03 5 Analog Output Ch2 high byte (Slot#3) 0x6411 0x03 6 Analog Output Ch3 low byte (Slot#3) 0x6411 0x04 7 Analog Output Ch3 high byte (Slot#3) 0x6411 0x04 8 Discrete Output 8 pts. (Slot#1) 0x6200 0x01

9 Reserved Discrete Output 4 pts. (Slot#5) 0x6200 0x02 10 Discrete Output low 8 pts. (Slot#8) 0x6200 0x03 11 Discrete Output high 8 pts. (Slot#8) 0x6200 0x04 12 Discrete Input 8 pts. (Slot#2) 0x6000 0x01 13 Discrete Input low 8 pts. (Slot#6) 0x6000 0x02 14 Discrete Input high 8 pts. (Slot#6) 0x6000 0x03

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15 Discrete Input low 8 pts. (Slot#9) 0x6000 0x08 16 Discrete Input high 8 pts. (Slot#9) 0x6000 0x09 17 Analog Output Ch0 low byte (Slot#7) 0x6400 0x01 18 Analog Output Ch0 high byte (Slot#7) 0x6400 0x01 19 Analog Output Ch1 low byte (Slot#7) 0x6400 0x02 20 Analog Output Ch1 high byte (Slot#7) 0x6400 0x02 21 Analog Output Ch2 low byte (Slot#7) 0x6400 0x03 22 Analog Output Ch2 high byte (Slot#7) 0x6400 0x03 23 Analog Output Ch3 low byte (Slot#7) 0x6400 0x04 24 Analog Output Ch3 high byte (Slot#7) 0x6400 0x04 25 Special Input LL byte Ch#0 (Slot#4) 0x3000 0x01 26 Special Input LH byte Ch#0 (Slot#4) 0x3000 0x02 27 Special Input HL byte Ch#0 (Slot#4) 0x3000 0x03 28 Special Input HH byte Ch#0 (Slot#4) 0x3000 0x04 29 Special Input LL byte Ch#1 (Slot#4) 0x3000 0x05 30 Special Input LH byte Ch#1 (Slot#4) 0x3000 0x06 31 Special Input HL byte Ch#1 (Slot#4) 0x3000 0x07 32 Special Input HH byte Ch#1 (Slot#4) 0x3000 0x08 33 Special Output byte Ch#0 (Slot#4) 0x3200 0x01 34 Special Output byte Ch#1 (Slot#4) 0x3200 0x02

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Sub-

Index

0x1000

0x00

Device type

unsigned32

Statement of device type

0x1001

0x00

Error register

unsgined8

Error register

0x00

Predefine error field

unsgined8

Number of error states stored

0x01

Standard error filed

unsigned32

Error state are stored

0x1005

0x00

COB-ID sync message

unsigned32

0x80000080

Identifier of the Sync message

0x1007

0x00

Synchronous Window Length

unsigned32

Synchronous Window Length

visible string

Interval between two guard Is set by the NMTmaster.(ms)

0x00

Largest sub-index supported

unsigned32

Number of store options

0x00

Restore default parameters

unsgined8

Number of restore options

0x1012

0x00

COB-ID Time Stamp

unsigned32

100

COB-ID Time Stamp

0x1014

0x00

COB-ID emergency message

unsigned32

0x80+node ID

COB-ID of the emergency object

0x1015

0x00

Inhibit time EMCY

unsigned16

COB-ID SYNC

0x00

Number of entries

unsgined8

Heartbeat time value

0x01

Consumer Heartbeat time1

unsigned32

6. Object Directory

All the CANopen objects relevant for the Network Adapter are entered into the CANopen object directory. The object directory is divided into three different regions:

1) communication-specific profile region (index 0x1000 – 0x1FFF)

2) manufacturer-specific profile region (index 0x2000 – 0x5FFF)

3) standardized device profile region (0x6000 – 0x9FFF)

Region 1 thus contains the description of all the parameters particular to communication, the manufacturerspecific entries are described in region 2, and region 3 stores the objects for the device profile according to DS-401. Every entry in the object directory is identified by a 16 bit index.

6.1 Communication Profile Area

The following table contains all objects of the communication profile supported by the Network adapter

Index

0x1003

0x1006 0x00 Communication cycle period unsigned32 rw 0

0x1008 0x00 Manufacturer device name 0x1009 0x00 Manufacturer hardware version

0x100A 0x00 Manufacturer software version

0x100C 0x00 Guard time unsigned16 rw 0x00C8

0x100D 0x00 Life time factor unsgined8 rw 2

0x1010

0x1011

0x01 Save all parameters unsigned32 rw 1

0x01 Restore all default unsigned32 rw 1

Name Type Attribute Default Meaning

ro GN-9261 Device name of the Adapter ro 100 H/W version description ro 100 Software version number

Communication cycle period in. ’0’ if not used

telegrams.

Life time factor * guard time = life time(watchdog for life guarding)

Store all parameters 0x65766173(ASCII : save)

Restore all default parameters 0x64616F6C(ASCII : load)

0x1016

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...

0x05

Consumer Heartbeat time5

unsigned32

0x1017

0x00

Producer Heartbeat time

unsigned16

Producer Heartbeat time (0~127)

0x00

Identity object

unsgined8

Identity Object

0x01

Manufacturer ID

unsigned32

0x0000029D

0x03

Revision number

unsigned32

0x00000100

0x04

Serial number

unsigned32

0x1019

0x00

Synchronous counter overflow value

unsigned16

Synchronous counter overflow value

Error Behavior

0x01

Communication Error

unsgined8

0x01

COB-ID used by PDO

unsigned32

0x200+nodeID

Parameter 1-32

0x02

Transfer type

unsgined8

… …

…

0x00

Number of entries

unsgined8

0x01

COB-ID used by PDO

unsigned32

0x00

Number of entries

unsgined8

Receive PDO Mapping

0x01

1. Mapping Entry 1

unsigned32

Parameter 1-32

…

0x08

8. Mapping Entry 8

unsigned32

… …

…

0x01

1. Mapping Entry 1

unsigned32

… …

0x08

8. Mapping Entry 8

unsigned32

0x01

COB-ID used by PDO

unsigned32

0x180+nodeID

Parameter 1-32

…

0x00

Number of entries

unsgined8

0x01

COB-ID used by PDO

unsigned32

0x02

Transfer type

unsgined8

0x00

Number of entries

unsgined8

Transmit PDO Mapping

…

0x08

8. Mapping Entry 8

unsigned32

… …

…

0x00

Number of entries

unsgined8

0x01

1. Mapping Entry 1

unsigned32

0x08

8. Mapping Entry 8

unsigned32

0x02 Consumer Heartbeat time2 unsigned32 rw 0

0x1018

0x1029

0x1400

0x141F

0x1600

0x161F

0x1800

0x02 Product code unsigned32 ro 0x00009060

0x00 Number of error unsgined8 ro 1

0x00 Number of entries unsgined8 ro 5 Receive PDO Communication

0x02 Transfer type unsgined8 rw

0x00 Number of entries unsgined8 rw 8

0x00 Number of entries unsgined8 ro 5 Transmit PDO Communication

0x02 Transfer type unsgined8 rw

0x181F

0x1A00

0x1A1F

0x01 1. Mapping Entry 1 unsigned32 rw

… …

Parameter 1-32

• Object 0x1000, Device Type

The object indicates the implemented device profile. The CANopen Network Adapter has implemented the Device Profile for Generic I/O Modules" (device profile No. 401). Moreover, in the index 0x1000 the value informs about the type of modules connected.

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Bit

Meaning

Format:

MSB

4 byte 3 byte 2 byte 1 byte 0 byte

0x00 0x00 0000.4321 (bit) 0x01 0x91 Device connect Number Device Profile Number

This register contains internal errors. This register is also part of the emergency message

1 1 = 1, if at least one digital input is connected. 2 2 = 1, if at least one digital output is connected. 3 3 = 1, if at least one analog input is connected. 4 4 = 1, if at least one analog output is connected.

• Object 0x1001, Error Register

Format:

Bit Meaning

0 General Error 1 Reserved 2 Reserved 3 Reserved 4 Communication 5 Device profile specific 6 Reserved 7 Manufacturer specific

In the event of an error, bit 0 is always set. Additional bits used specify the error in more detail.

• Object 0x1003, Pre-defined Error Field

The sub-index 0 contains the errors currently stored in the field. If a new error occurs, it will be entered in sub-index 1, and all errors already existing moved down by one sub-index. A max. Of 20 error entries are supported. Should more than 20 errors occur, each time the error contained in sub-index 20 is written over?

Format:

The additional information corresponds to the first 2 bytes of the additional code of the Emergency telegram. The error code coincides with the error code in the Emergency telegram. The complete error memory is deleted by writing a .0" in sub-index 0.

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• Object 0x1005, COB-ID SYNC message

The object defines the COB ID for the synchronization message.

• Object 0x1006, Communication Cycle Period

The object defines the max. Time in µs for two subsequent SYNC messages. The internal resolution is 2ms. If the value is 0, no SYNC monitoring is performed.

• Object 0x1008, Manufacturer Device Name

The object indicates the device name of the Network Adapter.

• Object 0x1008, Manufacturer Device Name

The object contains the length of the time window for synchronous PDOs in us. It is 0 if not used.

• Object 0x1009, Manufacturer Hardware Version

The object indicates the current hardware version of the Network Adapter

• Object 0x100A, Manufacturer Software Version

The object indicates the current software version of the Network Adapter

• Object 0x100C, Guard Time

The object indicates the Guarding Time in milliseconds. An NMT master cyclically interrogates the NMT slave for its status. The time between two interrogations is termed Guard Time.

• Object 0x100D, Life Time Factor

The life Time Factor is part of the Node Guarding Protocol. The NMT slave checks if it was interrogated within the Node Life Time (Guard time multiplied with the life time factor). If not, the slave works on the basis that the NMT master is no longer in its normal operation. It then triggers a Life Guarding Event. If the node life time is zero, no monitoring will take place.

• Object 0x1010, Store Parameters

This object allows to permanently storing the settings made by the user. For this purpose, the signature .save" (lower case letters ASCII - MSB. 0x65 76 61 73 - LSB) must be written into the index 0x1010 sub index 1. The storing process runs in the background and takes approx. 2-3 seconds. When the storing process is finished, the SDO reply telegram is sent. Communication remains possible during storage by means of SDOs. An error message as a result of a new storage attempt only occurs, when the previous one was not yet finished. It is also not possible to trigger the storage function for as long as .Restore" is active. As soon as a setting is stored, the Emergency .Changed HW configuration. Is not sent any longer if the Network Adapter is started up again without changing the module configuration.

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Object 0x1011, Restore default Parameters

This object allows resetting the user stored parameters to the original default values. Sub-indexes 2 and 3 are not supported. The load command is processed in the background and takes approx. 2-3 seconds. When the performance is finished, the SDO reply message is sent. Communication can be continued during performance using SDOs. An error message is only tripped with another attempt to send a load command, if the previous one is not yet completed. It is also not possible to trigger a load command for as long as .Save" is active. Sub-index 1 - Permanent entry of default parameters: Writing the signature .load" (lower case letters ASCII - MSB 0x64 0x61 0x6F 0x6C LSB) into the index 0x1011 sub-index 1 entails loading of the standard factory settings after the following Power ON and each further Power On (until the next SAVE command is given).

• Object 0x1014, COB-ID Emergency Object

The object defines the COB ID for the EMCY message.

If a new COB ID is to be entered, set bit 31 to 1 first, because standard DS301 does not allow to change a valid COB ID (Bit31=0).

• Object 0x1015, Inhibit Time Emergency Object

This object indicates the time in minutes which must be allowed to elapse prior to another Emer genc y to be sent. An entry of zero deactivates the delayed transmission. Due to the fact that with delayed transmission the entries are entered in a queue, the max. number of Emergencies in quick succession is limited to the queue size (20 entries). If this number is exceeded, an Emergency is sent immediately indicating the overf lo w. One time unit is 100µs.

• Object 0x1016, Consumer Heartbeat Time

This entry allows the monitoring of a maximum of 1modules. The system checks whether each module defined in this object has created a Heartbeat within the set time. If the set time was exceeded, a HeartbeatEvent is triggered. The Heartbeat-Time is entered in milliseconds. The monitoring is deactivated, if the time value is 0.

• Object 0x1017, Producer Heartbeat Time

The object defines the time between two Heartbeat messages sent in milliseconds. If the time is 0, no Heartbeat is sent. The Heartbeat transmission starts as soon as a value other than 0 is entered.

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• Object 0x1018, Identity Object

The object specifies the device used.

• Object 0x1029, Error behavior

The object specifies to which state an I/O module shall be set, when a communication error, output error or input error is detected.

• Object 0x1400 ~ 0x141F Receive PDO Communication Parameter

This object is used to set the communication parameters of the RxPDOs. 8 RxPDOs are supported. The default COB IDs of the first four PDOs is resigned according to the DS301 standard. All further PDOs are deactivated. If not all default PDOs are used (i.e. a smaller number of modules is connected), also the default PDOs not used are deactivated.

If a new COB ID is to be entered, bit 31 must be set to 1 first, because the DS301 standard does not permit to change a valid COB ID (Bit31=0).

• Object 0x1600 ~ 0x161F, Receive PDO Mapping Parameter

This object is used to define the data, which is to be transmitted by means of the PDO. Sub-index 0 contains the number of objects valid for the PDO.

Index: Index of the object to be transmitted Sub-Index: Sub-index of the object to be transmitted Size: Object size in bits Due to the fact that max. 32 bytes can be transmitted in a PDO, the sum of the valid

object lengths must not exceed 252 (32Byte*8Bit = 256 but, Fn-bus specification is Max.252bytes)

• Object 0x1800 ~ 0x181F, Transmit PDO Communication Parameter

This object is used to set the communication parameters of the TxPDOs. 8 TxPDOs are supported. The default COB IDs of the first four PDOs is reassigned according to the DS301 standard. All other PDOs are de-activated. If not all default PDOs are used (i.e. a smaller number of modules is connected), also the default PDOs not used are de-activated.

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• Object 0x1A00 ~ 0x1A1F, Transmit PDO Mapping Parameter

This object is used to define the data, which is transmitted using the PDO. Sub-index 0 contains the number of objects valid for the PDO.

Index: Index of the object to be transmitted Sub-Index: Sub-index of the object to be transmitted Size: Object size in bits Due to the fact that max. 8 bytes can be transmitted in a PDO, the sum of the valid

object lengths must not exceed 252

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Sub-

Index

unsigned16

unsigned16*n

All module name

unsigned16

Baudrate Setting value

0x03E8 : 1000(default)

unsigned8

unsigned32

0x00000003

unsigned16

unsigned32

unsigned16

unsigned8*n

unsigned16

unsigned8*n

unsigned32

unsigned16

unsigned8*n

6.2. Manufacturer Specific Profile Area

The following table shows all objects of the manufacturer profile supported by the Network Adapter.

*0x2100(Slot#0=NA), 0x2101(Slot#1), 0x2102(Slot#2)...

Index

0x20F0

0x21xx

0x00 Number of entries unsigned8 ro 0x4F 0x01 Node id current switch value unsigned8 ro 0x02 Number of module unsigned16 ro

Run command 0 : IO_Available 1 : IO_Ready 2 : IO_Idle

0x03

0x04 All module id

0x05 Baudrate

0x06

0x0C Status, error inf orm ation 0x0E All size of output bit 0x0F All size of input bit 0x10 All size of output byte 0x11 All size of input byte 0x04 Module ID 0x08 Address of output byte 0x09 Address of input byte 0x0C Fnbus Status, error inf ormati on 0x0E Size of output bit 0x0F Size of input bit 0x12 IO Data output#0 0x13 IO Data input#0 0x16 Parameter length 0x17 Parameter data 0x18 Hardware Rev 0x19 Firmware Rev 0x1A Firmware release date 0x1B Inspection date 0x20 String, Module description

3 : IO_Run 4 : IO_Timeout 5 : IO_Minorfault 6 : IO_Unrecoveryfault 7 : Reset

PDO Mapping Method 0 : DS301(Auto) (default) 2 : Manual

Name Type Attribute Default Meaning

Node ID value Number of Module

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unsigned8

0xFE

Read Special Input 8 bit

unsigned8

...

unsigned8

0xFE

Special input Interrupt Mask any

unsigned8

0xFF

...

unsigned8

0xFF

unsigned8

0xFE

number of entries

unsigned8

1st special output block

...

unsigned8

64st special output block

unsigned8

0xFE

Error Mode 8 Special output

unsigned8

0xFF

...

unsigned8

0xFF

unsigned8

0xFE

Fault State 8 output lines

unsigned8

...

unsigned8

0x2100

0x213F

0x00 Read special input data

0x3000

0x3005 0x00 Enable speci al input int errupts

0x3006

0x3200

0x3206

0x3207

0x1 8-bit special input 1

… …

0xFE 8-bit special input 254

0x00 Number of entries 0x01

0xFE 0x00 Number of entries

0x01 8-bit special output 1

0xFE 8-bit special output 254 0x00 Number of entries 0x01 Faultmode for special output 1

0xFE Faultmode for special output 254 0x00 Number of entries 0x01 Fault state for spec i al output 1

0xFE Fault state for special output 254

Special input interrupt mask any change for special input 1

... ...

Special input interrupt mask any change for special input 254

… …

... ...

change for Special Inputs

• Object 0x2100(Slot#0=NA), Manufacture Information.

Index Sub Name Type Attribute Default Meaning

0x00 number of entries unsigned8 ro 0x4F number of entries(slot number) 0x04 module id unsigned16 ro 0

• Object 0x2101(Slot#1=IO), ... , 0x213F(Slot#63=IO), IO Module Inform ation.

Index Sub Name Type Attribute Default Meaning

0x00 number of entries unsigned8 ro 0x4F number of entries(slot number) 0x04 module id unsigned16 ro 0

• Object 0x20F0, Network Adapter Status.

This object contains the Network Adapter status.

- Sub-index 2 contains rotary switch value set Node ID from NA.

- Sub-index 5 contains Dip switch value set baudrate from NA. If you write 5(125), you can read 7D

- Sub-index 6 set Master's PDO mapping method. By default, DS301 Auto mapping. PDO1 is digital IO and PDO2~3 analog IO fixed. From PDO4 additional IO slot is used in sequence. Manual mapping set all digital IO, second analog IO and Special IO lastly. So you need separate master.

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• Object 0x3000, Special Modules, Inputs.

This object contains the process data of the special input modules. Sub-index 1 contains the first 8 special input channels from the left to the right, counted from starting with the Network Adapter. Sub-index 2 the next etc.

• Object 0x3005, Special Inputs Interrupt.

This object shall enable and disable special module the interrupt behavior without changing the interrupt mask. By default, special input activates an interrupt.

• Object 0x3005, Special Inputs Interrupt.

This object determines, which input port lines shall activate an interrupt by positive or/and negative edge detection.

• Object 0x3200, Special Modules, Outputs.

This object contains the process data of the special output modules. Sub-index 1 contains the first 8 special output channels from the left to the right, counted from starting with the Network Adapter. Sub-index 2 the next etc.

• Object 0x3206, Special Output Error Mode

This object is used to define whether the outputs change to a pre-defined error status (see object 0x3207) in the event of an

error (i.e. Adapter changes to the Stopped status, Node guarding has failed,). Once the error is remedied, the outputs retain

their momentary status, i, e. the set error status of the output channels remains unchanged. All analog outputs that are not covered by the object 0x3207 are always set to 0 in the event of an error. 0 = The output remains unchanged 1 = The output changes to a pre-defined error status

• Object 0x3207, Special Output Error Value integer

This object is used to define values that they are to assume in the event of an error. Prerequisite being that the corresponding bit is set in object 0x3206

6.3 Standard Device Profile Area – DS401

• Object 0x6000, Digital Inputs

This object contains the process data of the digital input modules. Sub-index 1 contains th e fi r st 8 di gi t al in pu t channels from the left to the right, counted from starting with the Network Adapter. Sub-index 2 the next etc.

• Object 0x6005, Global Interrupt Enable Digital 8-bit

This object shall enable an d disable globally the interr upt behavior without chan ging the interrupt mask s. In event-driven mode th e device tr ansmits the i nput values depending o n the interrupt masks in objects 6006

h, and 6008h. If the object is not supported, the device shall behave accordingly to the default value.

6007

• Object 0x6006, Interrupt Mask Any Change 8-bit

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This object determines, which input port lines shall activate an interrupt by positive or/and negative edge detection. If the object is not supported the device shall behave accordingly to the default value.

• Object 0x6007, Interrupt Mask Low-to-High 8-bit

This object determ ines, which input port l ines shall acti vate an interru pt by positive edg e detection (lo gical 0 to 1). Done for groups of 8 lines. The values shall be in an ”OR” connect ion to the values of 6006 (Interrupt mask any change 8-bit). If inputs are inverted by 6002

h object (polarity input 8-bit), the positive logical

h object

edge shall correspond to negative physical edge. 0 = Interrupt Disabled 1 = Interrupt Enabled

• Object 0x6008, Interrupt Mask High-to-Low 8-bit

This object determ ines, whi ch input por t lines shal l activat e an interr upt b y negativ e edge det ectio n (logic al 1 to 0). Done for groups of 8 lines. The values shall be in an ”OR” connect ion to the values of 6006

h object

(Interrupt mask an y change 8-bit). If inputs are inverted by 6002h o bject (polarity input 8-bit), the negat ive logical edge shall correspond to positive physical edge. 0 = Interrupt Disabled 1 = Interrupt Enabled

• Object 0x6200, Digital Outputs

This object contai ns the process data of t he digital output m odules. Sub-index 1 contai ns the first 8 digital output channels from left to right, counting starting from the Network Adapter. Sub-index 2 the next etc.

• Object 0x6206, Error Mode Output 8-Bit

This object defines whether the out puts change to a pre-defined error status i n the event of an error (i.e. Adapter changes to the Stopped status, Node guarding has failed,) (see object 0x6207). If the error is remedied, the outputs remain in their momentary status, i.e. the set error status of the output channels remains unchanged. 0 = Outputs remain unchanged (per channel) 1 = Outputs change to a pre-defined error status (per channel)

• Object 0x6207, Error Value Output 8-Bit

This object is used to define the values, which the outputs should assume in the event of an error. Prerequisite being that the corresponding bit in object 0x6206 is set. 0 = Output to 0 (per channel) 1 = Output to 1 (per channel) Example: Index 0x6206 sub-index 0 = 1, sub-index 1 = 65 = 0x41 Index 0x6207 sub-index 0 = 1 sub-index 1 = 33 = 0x21 Channel 1 is set to 1, channel 7 is set to 0, and all other output channels remain unchanged in the event of an error

• Object 0x6401, Analog Inputs 16 Bit

This object contains the process data of the analog input modules. Sub-index 1 contains the first analog input channel from left to right, counting starting with the Network Adapter. Sub-index 2 the second, etc.

• Object 0x6411, Analog Outputs 16 Bit

This object contains t he process data of the an alog output modules. Sub-in dex 1 contains the first an alog output channel from left to right, counting starting with the Network Adapter. Sub-index 2 the second, etc.

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• Object 0x6421, Analog Input Interrupt Trigger Selection

This object determ ines, which events shall cause an interrupt f or a specific channel. All bits set to 1b shall trigger the correspond ing analog input. If the objec t is not suppor ted, the dev ice shall beha ve accordingl y to the default value.

Format:

Bit Value Meaning

0b Upper limit not exceeded 1b Upper limit exceeded

reversed 0b Reserved for future use

• Object 0x6423, Analog Input Global Interrupt Enable

This object shall e nable and disab le globally the interrupt behavior without changing the interrupt mask . By default, no analog input activates an interrupt.

0 = global interrupt disabled 1 = global interrupt enabled

• Object 0x6424, Analog Input Interrupt Up per Limit Integer

If enabled (see 6423h object), an interrupt is triggered when the analog input is equal or rises above the given value. The value shall be always left adjusted. As long as the trig ger condition is m et, every change of the analog input data generate s a new interrupt, if there i s no additional trigger condition, e.g. an inpu t interrupt delta (6426h).

• Object 0x6425, Analog Input Interrupt Lower Limit Integer

0b Input not below lower limit 1b Input below lower limit 0b Input not changed by more than delta 1b Input changed by more than delta 0b Input not reduced by more than negative delta 1b Input reduced by more than negative delta 0b Input not increased by more than positive delta 1b Input increased by more than positive delta

If enabled (see 6423h obje c t), an inter rup t is tr igg ered when t h e analog input falls below the given value. T he value shall be always left adjusted. As long as the trigger conditi on is met, ever y change of the analog inp ut data generates a new interrupt, if there is no addit ional tr igger co nd iti on, e.g. an in put interr u pt delt a (64 26h).

• Object 0x6426, Analog Input Interrupt Delta Limit Integer

This object shall set the delta value (rising or falling above or below the last communicated value) for interruptenabled analog inputs (see 6423h object).

• Object 0x6427, Analog Input Interrupt Negative Delta Unsigned

This object shall set the negative delta value (falling below the last communicated value) for interrupt-enabled analog inputs (see 6423h object).

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• Object 0x6428, Analog Input Interrupt Positive Delta Unsigned

This object shall set the ne gat ive d elt a v alu e (r ising be lo w the las t c om municated value) for interrupt-enabled analog inputs (see 6423h object).

• Object 0x6443, Analog Output Error Mode

This object is used to d ef ine whether t he outp uts chan ge to a pre-defined error status (s ee objec t 0x64 44) in the event of an error (i.e. Adapter changes to the Stopped status , Node guarding has failed,). Once the err or is remedied, the outputs retain their momentary status, i, e. the set error status of the output channels remains unchanged. All analog outputs that are not covered by the object 0x6444 are always set to 0 in the event of an error. 0 = The output remains unchanged 1 = The output changes to a pre-defined error status

• Object 0x6444, Analog Output Error Value Integer

This object is used to defin e values that they are to assum e in the event of an error. Prerequisite being that the corresponding bit is set in object 0x6443

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0x0000~

Read

Process input image bits

All input registers area are addressable by bit address.

Size of input image bit is size of input image register * 16.

0x1000~

Read/Write

Process output image bits

1,5,15

All output registers area are addressable by bit address.

Size of output image bit is size of output image register * 16.

Code

1(0x01)

Read Coils

This function code is used to read from 1 to 2000 contiguous

7. MODBUS Interface

7.1 MODBUS Interface Register/Bit Map

• Register Map

Start Address Read/Write Description Func. Code

0x0000 ~ 0x007E Read Process input image registers (Real Input Register) 3,4,23 0x0800 ~ 0x087E Read/Write Process output image registers (Real Output Register) 3,16,23

0x1000 * Read Adapter Identification special registers. 3,4,23 0x1020 * Read/Write Adapter Watchdog, other time special register. 3,4,6,16,23 0x1100 * Read/Write Adapter Information special registers. 3,4,6,16,23 0x2000 * Read/Write Expansion Slot Information special registers. 3,4,6,16,23

* The special register map must be accessed by read/write of every each address (one address).

• Register Bit Map

Start Address Read/Write Description Func. Code

7.2 Supported MODBUS Function Codes

Function

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Function Description

(Read output bit)

status of coils in a remote device. The Request PDU specifies the starting address, i.e. the address of the first coil specified, and the number of coils. In the PDU Coils are addressed starting at zero. Therefore coils numbered 1-16 are addressed as 0-15. The coils in the response message are packed as one coil per bit of the data field. Status is indicated as 1= ON and 0= OFF.

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2(0x02)

Read Discrete Inputs

This function code is used to read from 1 to 2000 contiguous status of 3(0x03)

Read Holding Registers

This function code is used to read the contents of a contiguous block of

Sub-function

Data Field (Request)

Data Field (Response)

Description

0x0000(0)

Any

Echo Request Data

Sub-function

Data Field (Request)

Data Field (Response)

Description

0x0001(1)

0x0000, 0xFF00

Echo Request Data

Reset Only

Sub-function

Data Field (Request)

Data Field (Response)

Description

0x000B(11)

0x0000

Total Message Count

Sub-function

Data Field (Request)

Data Field (Response)

Description

0x000C(12)

0x0000

CRC Error Count

Sub-function

Data Field (Request)

Data Field (Response)

Description

0x000D(13)

0x0000

Exception Error Count

(Read input bit)

(Read output word)

discrete inputs in a remote device. The Request PDU specifies the starting address, i.e. the address of the first input specified, and the number of inputs. In the PDU Discrete Inputs are addressed starting at zero. Therefore Discrete inputs numbered 1-16 are addressed as 0-15. The discrete inputs in the response message are packed as one input per bit of the data field. Status is indicated as 1= ON; 0= OFF.

holding registers in a remote device. The Request PDU specifies the starting register address and the number of registers. The register data in the response message are packed as two bytes per register, with the binary contents right justified within each byte. For each register, the first byte contains the high order bits and the second contains the low order bits.

7.2.1 8(0x08)Diagnostics

Sub-function 0x0000(0) Return Query Data

The data passed in the request data field is to be returned (looped back) in the response. The entire response message should be identical to the request.

Sub-function 0x0001(1) Restart Communications Option The remote device could be initialized and restarted, and all of its communications event counters are cleared. Especially, data field 0x55AA make the remote device to restart with factory default setup of EEPROM.

Sub-function 0x000B(1 1) Return Bus Message Count The response data field returns the quantity of messages that the remote device has detected on the communications system since its last restart, clear counters operation, or power-up.

Sub-function 0x000C(12) Return Bus Communication Error Count The response data field returns the quantity of CRC errors encountered by the remote device since its last restart, clear counters operation, or power-up.

Sub-function 0x000D(13) Return Bus Exception Error Count The response data field returns the quantity of MODBUS exception responses returned by the remote device since its last restart, clear counters operation, or power-up. Exception responses are described and listed in section 3.2.11.

Sub-function 0x000E(14) Return Slave Message Count The response data field returns the quantity of messages addressed to the remote device, or broadcast, that the remote device has processed since its last restart, clear counters operation, or power–up.

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Sub-function

Data Field (Request)

Data Field (Response)

Description

0x000E(14)

0x0000

Slave Message Count

Sub-function

Data Field (Request)

Data Field (Response)

Description

0x000F(15)

0x0000

Slave No Response Count

Sub-function

Data Field (Request)

Data Field (Response)

Description

0x0064(100)

0x0000

MODBUS, Internal Status

Same as status 1word

Sub-function 0x000F(15) Return Slave No Response Count The response data field returns the quantity of messages addressed to the remote device for which it has returned no response (neither a normal response nor an exception response), since its last restart, clear counters operation, or power–up.

Sub-function 0x0064(100) Return Slave MODBUS, Internal Status The response data field returns the status of MODBUS and Internal addressed to the remote device. This status values are identical with status 1word of input process image.

7.2.2 Error Response

In an exception response, the server sets the MSB of the function code to 1. This makes the function code value in an exception response exactly 80 hexadecimal higher than the value would be for a normal response.

• Exception Codes

Exception Code

Name Description

01 Illegal Function

02 Illegal Data Address

03 Illegal Data Value

04 Slave Device Failure

05 Acknowledge

06 Slave Device Busy

08 Memory Parity Error

Gateway Path

Unavailable

The function code received in the query is not an allowable action for the server (or slave).

The data address received in the query is not an allowable address for the server (or slave).

A value contained in the query data field is not an allowable value for server (or slave).

An unrecoverable error occurred while the server (or slave) was attempting to perform the requested action.

The server (or slave) has accepted the request and is processing it, but a long duration of time will be required to do so.

Specialized use in conjunction with programming commands. The server (or slave) is engaged in processing a long–duration program command. The client (or master) should retransmit the message later when the server (or slave) is free.

The server (or slave) attempted to read record file, but detected a parity error in the memory. The client (or master) can retry the request, but service may be required on the server (or slave) device.

Specialized use in conjunction with gateways, indicates that the gateway was unable to allocate an internal communication path from the input port to the output port for processing the request.

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7.3 MODBUS Special Register Map

The special register map can be accessed by function code 3, 4, 6 and 16. Also the special register map must be accessed by read/write of every each address (one address).

7.3.1 Adapter Identification Special Register (0x1000, 4096)

Address Access Type, Size Description

0x1000(4096) Read 1word Vendor ID = 0x029D(669), Crevis. Co., Ltd. 0x1001(4097) Read 1word Device type = 0x000C, Network Adapter 0x1002(4098) Read 1word Product code = 0x9060(GN-9261) 0x1003(4099) Read 1word Firmware revision, if 0x0101, revision 1.01 0x1004(4100) Read 2word Product unique serial number

0x1005(4101) Read

0x1010(4112) Read 2word Firmware release date 0x1013(4115) Read 1word Firmware Code = 0x9261

0x101E(4126) Read

- String Type consist of valid string length (firs t 1word) and arr a y of charact ers

String Product nam e string (ASCII) Up to 34byte "GN-926 1,C ANopen Adapter, G-Bus"

7word Composite Id of following address

- 1word 0x1100(4352), Modbus RS232 Node. (Fixed 0x0001)

- 1word 0x1000(4096), Vendor ID

- 1word 0x1001(4097), Device type

- 1word 0x1002(4098), Product code

- 1word 0x1003(4099), Firmware revision

- 2word 0x1004(4100), Product serial number

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Address

Access

Type, Size

Description

7.3.2 Adapter Identification Special Register (0x1100, 4352)

0x1102(4354) Read 1word Start address of input image word register. =0x0000 0x1103(4355) Read 1word Start address of output image word register. =0x0800 0x1104(4356) Read 1word Size of input image word register. 0x1105(4357) Read 1word Size of output image word register. 0x1106(4358) Read 1word Start address of input image bit. = 0x0000 0x1107(4359) Read 1word Start address of output image bit. =0x1000 0x1108(4360) Read 1word Size of input image bit. 0x1109(4361) Read 1word Size of output image bit. 0x110A(4362) Read 1word Update time for cyclic data change (same as 0x1028) 0x110C(4364) Read 1word Field power status

Current Rotary Switch State and Dip Switch Status (MSB)

0x110D(4365) Read 1word

ex) Rotary SW(0x02) , Dip SW(0x01) = 0x8201 (0x8000 field power on)

0x110E(4366) Read up to 33word

0x1110(4368) Read 1word Number of expansion slot

0x1113(4371) Read up to 33word

0x1119(4377) Read 1word

0x111D(4381) Read 1word Adapter G-Series Revision. If 0x013C, G-Series Revision is 1.60

*After the system is reset, the new “Set Value” action is applied. ** If the slot location is changed, set default value automatically (all expansion slot are live).

Expansion slot’s GT-number including GN First 1word is adapter’s number, if GN-9289, then 0x9289

Expansion slot Module Id. Refer to Appendix A.1 Product List. First 1word is adapter’s module id. Hi byte is Modbus status, low byte is internal status. Zero value means ‘no error’.

7.3.3 Expansion Slot Information Special Register (0x2000, 8192)

Each expansion slot has 0x20(32) address offset and same information structure. Slot#1 0x2000(8192)~0x 20 1F( 8223) Slot#2 0x 20 20( 82 24)~ 0x 20 3F (8255)

Slot#3 0x2040(8256)~0x 20 5F( 8287) Slot#4 0x 20 60( 82 88)~ 0x 20 7F (8319) Slot#5 0x2080(8320)~0x 20 9F( 8351) Slot#6 0x 20 A0( 8 352) ~0x 20 BF( 838 3) Slot#7 0x20C0(8384)~0x 20 DF (8415) Slot#8 0x20E0(8416) ~0x20FF(8447) Slot#9 0x2100(8448)~0x 211F(8479) Slot#10 0x2120(8480)~0x213F(8511) Slot#11 0x2140(8512)~0x215F(8543) Slot#12 0x2160(8544)~0x217F(8575) Slot#13 0x2180(8576)~0x219F(8607) Slot#14 0x21A0(8608)~0x21BF(8639) Slot#15 0x21C0(8640)~0x21DF(8671) Slot#16 0x21E0(8672)~0x21FF(8703) Slot#17 0x2200(8704)~0x221F(8735) Slot#18 0x2220(8736)~0x223F(8767) Slot#19 0x2240(8768)~0x225F(8799) Slot#20 0x2260(8800)~0x227F(8831) Slot#21 0x2280(8832)~0x229F(8863) Slot#22 0x22A0(8864)~0x22BF(8895) Slot#23 0x22C0(8896)~0x22DF(8927) Slot#24 0x22E0(8928)~0x22FF(8959)

…..Slot#63 0x27C0(10176)~0x27DF(10207)

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Address Expansion Expansion Expansion Expansion

Offset Slot#1 Slot#2 Slot#3 Slot#4 Slot#63

……..

Expansion

+ 0x00(+0) + 0x01(+1) + 0x02(+2) + 0x03(+3) + 0x04(+4) + 0x05(+5) + 0x06(+6) + 0x07(+7) + 0x08(+8) + 0x09(+9)

+ 0x0A(+10)

+ 0x0B(+11) + 0x0C(+12)

+ 0x0D(+13)

+ 0x0E(+14) + 0x0F(+15)

0x2000(8192) 0x2020(8224) 0x2040(8256) 0x2060(8288) 0x2001(8193) 0x2021(8225) 0x2041(8257) 0x2061(8289) 0x2002(8194) 0x2022(8226) 0x2042(8258) 0x2062(8290) 0x2003(8195) 0x2023(8227) 0x2043(8259) 0x2063(8291) 0x2004(8196) 0x2024(8228) 0x2044(8260) 0x2064(8292) 0x2005(8197) 0x2025(8229) 0x2045(8261) 0x2065(8293) 0x2006(8198) 0x2026(8230) 0x2046(8262) 0x2066(8294) 0x2007(8199) 0x2027(8231) 0x2047(8263) 0x2067(8295) 0x2008(8200) 0x2028(8232) 0x2048(8264) 0x2068(8296) 0x2009(8201) 0x2029(8233) 0x2049(8265) 0x2069(8297)

0x200A(8202) 0x202A(8234) 0x204A(8266) 0x206A(8298)

0x200B(8203) 0x202B(8235) 0x204B(8267) 0x206B(8299) 0x200C(8204) 0x202C(8236) 0x204C(8268) 0x206C(8300)

0x200D(8205) 0x202D(8237) 0x204D(8269) 0x206D(8301)

0x200E(8206) 0x202E(8238) 0x204E(8270) 0x206E(8302) 0x200F(8207) 0x202F(8239) 0x204F(8271) 0x206F(8303)

……. ……. ……. ……. ……. ……. ……. ……. ……. ……. ……. ……. ……. ……. ……. …….

0x27C0(10176) 0x27C1(10177) 0x27C2(10178) 0x27C3(10179) 0x27C4(10180) 0x27C5(10181) 0x27C6(10182) 0x27C7(10183) 0x27C8(10184)

0x27C9(10185) 0x27CA(10186) 0x27CB(10187) 0x27CC(10188) 0x27CD(10189) 0x27CE(10190)

0x27CF(10191)

+ 0x10(+16) + 0x11(+17) + 0x12(+18) + 0x13(+19) + 0x14(+20) + 0x15(+21) + 0x16(+22) + 0x17(+23) + 0x18(+24) + 0x19(+25)

+ 0x1A(+26)

+ 0x1B(+27) + 0x1C(+28)

+ 0x1D(+29)

+ 0x1E(+30) + 0x1F(+31)

0x2010(8208) 0x2030(8240) 0x2050(8272) 0x2070(8304) 0x2011(8209) 0x2031(8241) 0x2051(8273) 0x2071(8305) 0x2012(8210) 0x2032(8242) 0x2052(8274) 0x2072(8306) 0x2013(8211) 0x2033(8243) 0x2053(8275) 0x2073(8307) 0x2014(8212) 0x2034(8244) 0x2054(8276) 0x2074(8308) 0x2015(8213) 0x2035(8245) 0x2055(8277) 0x2075(8309) 0x2016(8214) 0x2036(8246) 0x2056(8278) 0x2076(8310) 0x2017(8215) 0x2037(8247) 0x2057(8279) 0x2077(8311) 0x2018(8216) 0x2038(8248) 0x2058(8280) 0x2078(8312) 0x2018(8217) 0x2038(8249) 0x2058(8281) 0x2078(8313)

0x201A(8218) 0x203A(8250) 0x205A(8282) 0x207A(8314)

0x201B(8219) 0x203B(8251) 0x205B(8283) 0x207B(8315) 0x201C(8220) 0x203C(8252) 0x205C(8284) 0x207C(8316)

0x201D(8221) 0x203D(8253) 0x205D(8285) 0x207D(8317)

0x201E(8222) 0x203E(8254) 0x205E(8286) 0x207E(8318) 0x201F(8223) 0x203F(8255) 0x205F(8287) 0x207F(8319)

……. ……. ……. ……. ……. ……. ……. ……. ……. ……. ……. ……. ……. ……. ……. …….

0x27D0(10192)

0x27D1(10193)

0x27D2(10194)

0x27D3(10195)

0x27D4(10196)

0x27D5(10197)

0x27D6(10198)

0x27D7(10199)

0x27D8(10200)

0x27D9(10201) 0x27DA(10202) 0x27DB(10203) 0x27DC(10204) 0x27DD(10205) 0x27DE(10206) 0x27DF(10207)

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“00 1E 52 54 2D 31 32 33 38 2C 20 38 44 49 2C 20 32 34 56 64 63 2C 20 55 6E 69 76 65 72 73 61 6C 00 00”

Read/write Configuration parameter data, up to 8byte. Refer to A.2 ***

Address Offset Access Type, Size Description

+ 0x02(+2) ** Read 1word Input start register address of input image word this slot. + 0x03(+3) ** Read 1word Input word’s bit offset of input image word this slot. + 0x04(+4) ** Read 1word Output start register address of output image word this slot. + 0x05(+5) ** Read 1word Output word’s bit offset of output image word this slot. + 0x06(+6) ** Read 1word Input bit start address of input image bit this slot. + 0x07(+7) ** Read 1word Output bit start address of output image bit this slot. + 0x08(+8) ** Read 1word Size of input bit this slot + 0x09(+9) ** Read 1word Size of output bit this slot + 0x0A(+10)** Read n word Read input data this slot + 0x0B(+11)** Read/Write n word Read/write output data this slot + 0x0E(+14) Read 1word GT-number, if GT-1238, returns 0x1238

String First 1word is length of valid character string. upto 72byte If GT-1238, returns

+ 0x0F(+15) Read

+ 0x10(+16) Read 1word Size of configuration parameter byte + 0x11(+17)** Read/Write n word

+ 0x17(+23) Read 1word

* After the system is reset, the new “Set Value” action is applied. ** Nothing of output, input, memory or configuration parameter corresponding slot returns Exception 02.

Valid character size = 0x001E =30 characters, “GT-1238, 8DI, 24Vdc, Universal”

Firmware Revision ex) 0x0001 (Major revision 0 /Minor revision 1)

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All LED turns off

- No power

- Check main power Cable

- Occurrence critical error in firmware

- Contact Sales team and send module for repair.

- At least one of the error counters

or exceeded the warning limit.

- A guard event (NMT-Slave or

has occurred.

- Adjust guard time or life time factor.

module power reset.

- The SYNC message has not been

out (see index 0x1006)

ERR LED ON

- The CAN controller is bus off.

IOS LED turns off

- Device may not be powered.

- Check main power Cable

- Add one or more expansion

One or more expansion module

- Check main power Cable

8. TROUBLE SHOOTING

How to diagnose by LED indicator

LED Status Cause Action

MOD LED is red

ERR LED Single flash

ERR LED Double flash

ERR LED Triple flash

IOS LED flashes red - Adapter has no expansion module

IOS LED is red

of the CAN controller has reached

NMT-Master) or a Heartbeat event

received within then configur ed communication cycle period time

occurred in fault state.

- Detected invalid expansion module ID.

- Overflowed Input/Output Size

- Too many expansion module

- Initialization failure

- Communication failure.

- Changed expansion module configuration.

- Mismatch vendor code between adapter and expansion module.

- Check the communication cable or communication setting.

If Heartbeat event has occurred,

- Adjust transfer type setting.

modules.

- Use expansion slot up to 63.

- Compose that IO total size is not excess.

- Check status of expansion IO connection.

- Check the vendor code of module.

Field Power LED turns off - Field power is not supplied.

System Power LED turns off

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- System power is not supplied.

- Contact Sales team and send module for repair.

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How to diagnose when device couldn’t communicate network

Inspection of wrong or omission cable connection

- Check status of cable connection for each node.

- Check that all color matches between connector and cable.

- Check wire omission.

Terminator resistor

- If terminator resistor is not installed, install terminator resistor

- Check location of terminator resistor

Configuration of Node address

- Check duplication node address.

Configuration of Master

- Check configuration of master

- Check whether to do download or don’t

- Check composition is right as below Configuration of communication baud rate I/O size Configuration of each node

Ground and environment

- Check ground is contacted

- Check environment factor (temperature, humidity, etc.) is in less than regular limit

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No.

GT-Number

Description

ID(hex)

Digital Input Module

GT-1238

8 Points, Universal, 24Vdc, 10RTB

1238

GT-123F

16 Points, Universal, 24Vdc, 20P connector

123F

GT-12DF

16 Points, Universal, 24Vdc, 18RTB

12DF

GT-12FA

32 Points, Universal, 24Vdc, 40P connector

12FA

GT-1804

4 Points, 120Vac, 10RTB

1804

GT-1904

4 Points, 240Vac, 10RTB

1904

Digital Output Module

GT-2318

8 Points, Sink, 24Vdc/0.5A, 10RTB

2318

GT-2328

8 Points, Source, 24Vdc/0.5A, 10RTB

2328

GT-221F

16 Points, Sink, 24Vdc/0.3A, 20P connector

221F

GT-222F

16 Points, Source, 24Vdc/0.3A, 20P connector

222F

GT-225F

16 Points, Sink, 24Vdc/0.3A, 18RTB

225F

GT-226F

16 Points, Source, 24Vdc/0.3A, 18RTB

226F

GT-22BA

32 Points, Sink, 24Vdc/0.3A, 40P connector

22BA

GT-22CA

32 Points, Source, 24Vdc/0.3A, 40P connector

22CA

GT-2618

8 Points, Sink, 24Vdc/2A, 10RTB

2618

GT-2628

8 Points, Source, 24Vdc/2A, 10RTB

2628

GT-2734

4 Points, MOS Relay, 240Vdc/ac, 0.5A, 10RTB

2734

GT-2744

4 Points, Relay, 24Vdc/2A, 240Vac/2A, 10RTB

2744

GT-2764

4 Points, MOS Relay, 24Vdc/ac, 2A, 10RTB

2764

GT-2784

4 Points, MOS Relay, 110Vdc/ac, 1A, 10RTB

2784

Analog Input Module

GT-3001

LoadCell (TBD)

3001

GT-3114

4 Channels, 0~20, 4~20mA, 12bits, 10RTB

3114

GT-3154

4 Channels, 0~20, 4~20mA, 16bits, 10RTB

3154

GT-3118

8 Channels, 0~20, 4~20mA, 12bits, 10RTB

3118

GT-3158

8 Channels, 0~20, 4~20mA, 16bits, 10RTB

3158

GT-311F

16 Channels, 0~20, 4~20mA, 12bits, 20P connector

311F

GT-315F

16 Channels, 0~20, 4~20mA, 16bits, 20P connector

315F

GT-317F

16 Channels, 0~20, 4~20mA, 12bits, 18RTB

317F

GT-319F

16 Channels, 0~20, 4~20mA, 16bits, 18RTB

319F

GT-3424

4 Channels, 0~10, 0~5, 1~5Vdc, 12bits, 10RTB

3424

GT-3464

4 Channels, 0~10, 0~5, 1~5Vdc, 16bits, 10RTB

3464

GT-3428

8 Channels, 0~10, 0~5, 1~5Vdc, 12bits, 10RTB

3428

GT-3468

8 Channels, 0~10, 0~5, 1~5Vdc, 16bits, 10RTB

3468

GT-342F

16 Channels, 0~10, 0~5, 1~5Vdc, 12bits, 20P connector

342F

GT-346F

16 Channels, 0~10, 0~5, 1~5Vdc, 16bits, 20P connector

346F

GT-347F

16 Channels, 0~10, 0~5, 1~5Vdc, 12bits, 18RTB

347F

GT-349F

16 Channels, 0~10, 0~5, 1~5Vdc, 16bits, 18RTB

349F

GT-3704

4 Channels, RTD, 10RTB

3704

GT-3708

8 Channels, RTD, 20P connector

3708

GT-3804

4 Channels, Thermocouple, 10RTB

3804

APPENDIX A A.1 Product List

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GT-3808

8 Channels, Thermocouple, 20P connector

3808

GT-3901

AC Measurement

3901

GT-3914

4 Channels, Differential, 0~20, 4~20, +/-20mA, 12Bits, 10RTB

3914

GT-3934

4 Channels, Differential, 0~20, 4~20, +/-20mA, 16Bits, 10RTB

3934

GT-3918

8 Channels, Differential, 0~20, 4~20, +/-20mA, 12Bi ts , 18RT B

3918

GT-3938

8 Channels, Differential, 0~20, 4~20, +/-20mA, 16Bi ts , 18RT B

3938

GT-3924

4 Channels, Differential, 0~5, 0~10, +/-5, +/-10Vdc, 12Bits, 10RTB

3924

GT-3944

4 Channels, Differential, 0~5, 0~10, +/-5, +/-10Vdc, 16Bits, 10RTB

3944

GT-3928

8 Channels, Differential, 0~5, 0~10, +/-5, +/-10Vdc, 12Bits, 18RTB

3928

GT-3948

8 Channels, Differential, 0~5, 0~10, +/-5, +/-10Vdc, 16Bits, 18RTB

3948

Analog Output Module

GT-4114

4CH, 0~20mA, 12Bits, 10RTB

4114

GT-4154

4CH, 0~20mA, 16Bits, 10RTB

4154

GT-4118

8CH, 0~20mA, 12Bits, 10RTB

4118

GT-4158

8CH, 0~20mA, 16Bits, 10RTB

4158

GT-4424

4CH, 0~10Vdc, 12Bits, 10RTB

4424

GT-4464

4CH, 0~10Vdc, 16Bits, 10RTB

4464

GT-4428

8CH, 0~10Vdc, 12Bits, 10RTB

4428

GT-4468

8CH, 0~10Vdc, 16Bits, 10RTB

4468

GT-417F

16CH, 0~20mA, 12Bits, 18RTB

417F

GT-419F

16CH, 0~20mA, 16Bits, 18RTB

419F

GT-442F

16CH, 0~10Vdc, 12Bits, 20P Connector

442F

GT-446F

6CH, 0~10Vdc, 16Bits, 20P Connector

446F

GT-447F

16CH, 0~10Vdc, 12Bits, 18RTB

447F

GT-449F

16CH, 0~10Vdc, 16Bits, 18RTB

449F

Special Module

GT-5102

2CH, Encoder, Input, 5Vdc, 10RTB

5102

GT-5211

1CH, RS 232, RTS/CTS, Full Duplex Type, 10RTB

5211

GT-5212

2CH, RS 232, Full Duplex Type, 10RTB

5212

GT-5221

1CH, RS 485, Full Duplex Type, 10RTB

5221

GT-5231

1CH, RS 485, Half Full Duplex Type, 10RTB

5231

GT-5232

2CH, RS 485, Half Full Duplex Ty pe, 10RTB

5232

GT-5352

2CH, Synchronous Serial Interface Input, 10RTB

5352

GT-5521

1CH, Stepper Module (TBD)

5521

Power Module

GT-7408

Shield Module

7408

GT-7508

Common for 0Vdc

7508

GT-7511

Power Expansion, In 24Vdc, Out 1A/5Vdc

7511

GT-7518

Common for 24Vdc

7518

GT-7588

Common for 0Vdc, 24Vdc

7588

GT-7641

Field Power, 5/24/48 Vdc, 110/220 Vac

7641

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GN-9261 User Manual

A.2 Glossary

- System Power : The power for starting up CPU.

- Field Power : The power for input and output line.

- Terminator Resistor : Resistor for prevention reflected wave.

- EDS : Electronic Data Sheet.

- Sink : The method of in/output power supply if a device has no power source.

- Source : The method of in/output power supply if a device has the power source.

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Page 50 of (52)

GN-9261 User Manual

Bus cable (1)

Length-related Resistance [m/m]

Cross-section [mm2]

0 ... 40

0.25 … 0.34

124

1000 at 40m

40 … 300

< 60

0.34 … 0.6

150 … 300

> 500 at 100m

300 ... 600

< 40

0.5 ... 0.6

150 ... 300

> 100 at 500 m

600 ... 1000

< 26

0.75 ... 0.8

150 ... 300

> 50 at 1 km

Wire cross-

Maximum length [m] (1)

Maximum length [m] (2)

n = 32

n = 64

n = 100

n = 32

n = 64

n = 100

0.25

200

170

150

230

200

170

0.5

360

310

270

420

360

320

0.75

550

470

410

640

550

480

APPENDIX B

Bus cable and termination resistors The cables, connectors, a nd termination resistors used in CANo pen networks shall meet the requirements

defined in ISO 11898. In addition, here are given some guidelines for selecting cables and connectors. The table below sh ows some standard values for DC parameter s for CANopen network s with less than 64 nodes:

Bus length [m]

(1) Recommended cable AC parameters: 120- impedance and 5-ns/m specific line delay For drop cables a wire cross-section of 0.25 to 0.34 mm2 would be an appropriate choice in many cases. Besides the cable resistance, there should also be considered the real resistance of the connectors, if calculating the voltage drop. The transmission resistance of one connector should be in the range of 2.5 to 10 m. With the assumed values for Minimum dominant value Vdiff.out.min = 1.5 V Minimum differential input resistance Rdiff.min = 20 k Requested differential input voltage Vth.max = 1.0 V Minimum termination resistance RT.min = 118 

The maximum wiring leng th is give n for diff erent bus cables and diff erent num ber of connect ed bus nodes in the following table.

Termination resistance [Ω]

Baud rate [Kbit/s]

Section [mm2]

(1) Safety margin of 0.2 (2) safety margin of 0.1 Note: If driving more than 64 nodes and/or more than 250 m bus length the accuracy of the VCC supply voltage for the ISO 11898 transceiver is recommended to be 5% or better. You also have to consider the m inimum supply voltage of at least 4.75V when dr iving 50  load, i.e. 64 bus nodes, an d at least 4.9V when dr iv ing 4 5  loads, i.e. 100 bus nodes.

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GN-9261 User Manual

Head office Beijer Electronics AB Box 426 20124 Malmö, Sweden Phone +46 40 358600

www.beijerelectronics.com

-series GN-9261 CANopen Rev. 1.01.docx

Page 52 of (52)

Beijer Electronics G, GN-9261 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1. Important Notes

1.1.1 Symbols

1.1.2 Safety Notes

1.1.3 Certification

3.1 GN-9261 Specification

3.2 GN-9261 Wiring Diagram

3.3 GN-9261 LED Indicator

3.3.1 LED Indicator

3.3.2 MOD(Module Status LED)

3.3.3 RUN(Module Status LED)

3.3.4 ERROR(CANopen Error LED)

3.3.6 Field Power, System Power LED(Field Power, System Power Status LED)

3.3.7 Indicator states and flash rates

3.4. GN-9261 Electrical Interface

3.4.1 5pin Open Connector

3.4.2 Dip Switch

3.4.4 RS232 Port for MODBUS/RTU, Touch Panel or I/O Guide

4. Dimension

4.1 GN-9261

5. Communication

5.1 Device Model

5.1.1 Structure of the device model

5.2 PDO (Process Data)

5.2.1 Introduction

5.2.2 PDO Mapping

5.2.3 PDO Identifier

5.2.4 PDO Communication Type

5.3 SDO (Service Data)

5.3.1 Introduction

5.4 Emergency (Error Message)

5.5 NMT (Network Management)

5.5.1 Network Start-up

5.5.2 Boot-up Message

5.5.3 Node Guarding

5.5.4 Life Guarding

6. Object Directory

6.1 Communication Profile Area

6.2. Manufacturer Specific Profile Area

6.3 Standard Device Profile Area – DS401

7. MODBUS Interface

7.1 MODBUS Interface Register/Bit Map

7.2 Supported MODBUS Function Codes

7.2.1 8(0x08)Diagnostics

7.2.2 Error Response

7.3 MODBUS Special Register Map

7.3.1 Adapter Identification Special Register (0x1000, 4096)

7.3.3 Expansion Slot Information Special Register (0x2000, 8192)

A.2 Glossary

APPENDIX B