Danfoss PLUS 1 CAN I/O User guide

PLUS+1 CAN I/O Module Communications Protocol

Technical Information

120

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IOX012-

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MC

24-10

IOX024-

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MC

50-10

IOX012-

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24-10

PLUS+1

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120

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PLUS+1 CAN I/O Module Communications Protocol Technical Information

About this Manual

Organization and Headings

To help you quickly find information in this manual, the material is divided into sections, topics, subtopics, and details, with descriptive headings set in red type. Section titles appear at the top of every page in large red type.

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Table of Contents

A Table of Contents (TOC) appears on the next page. In the PDF version of this document, the TOC entries are hyperlinked.

Revision History

Date Change Remarks

15 December 2005 —— Draft

22 December 2005 Add SUBCMD 19 Draft, protocol version 2.00

23 December 2005 Config values only 8 bit and not 16 bit in SUBCMD 19 Draft, protocol version 2.00

30 January 2006 Add IO_TYPE 6 for digital inputs on SUBCMD 19 Draft, protocol version 2.00

20 April 2006 —— Released

28 September 2007 Add current change limit—SUBCMD 20

Add recovery times—SUBCMD 21

New values in NV—SUBCMD 22

12 November 2007 Corrected Message Name—Configuration Type Definition table

Updated description of recover times—Bus Off Rcvr Time and CAN Drv Error Rcvr Time

23 November 2007

16 January 2008

31 January 2008 —— Released

3 June 2008 Renamed SUBCMD 18 and edited comments ——

21 October 2008 Corrected shown CMD values—CMD69 and CMD70 ——

26 February 2009 Corrected shown parameter list—CMD 71 (includes Digital ,Digital_AnIn, and Rheo

23 March 2009 Use correct names for CMD69 and CMD70

25 March 2009 Extended Request Configuration message to backwards compatatible for CRC—

31 March 20009 —— Released

26 March 2010 Added Non-Volatile Memory Storage—SUBCMD 22 Draft, protocol version 2.05

14 April 10 Added CMD71, CMD72, CMD73, and CMD74 Draft, protocol version 2.06

27 July 2010 Clarification on Mask—Configuration Type Definition table ——

27 October 2010 Further clarification on Mask—Configuration Type Definition table ——

1 December 2010 —— Reformat, Rev AA

Extended CRC message for backwards compatibility—SUBCMD 18 Draft, protocol version 2.02

inputs)

Changed wording for SUBCMD 18

SUBCMD 255

Draft, protocol version 2.01

Draft, protocol version 2.04

jumps

2

11005130 · AA · December 2010

PLUS+1 CAN I/O Module Communications Protocol Technical Information

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11005130 · AA · December 2010

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PLUS+1 CAN I/O Module Communications Protocol Technical Information

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11005130 · AA · December 2010

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PLUS+1 CAN I/O Module Communications Protocol Technical Information

Message Timing Information

In the following section on message structures, the repetition time is specified. If the repetition time is set to zero, then the message is disabled and is not sent. If the repetition time is not zero, then the message is active and is transmitted periodically at the interval specified by the repetition time. (The following tables identify the repetition time as the Rate.)

To change the repetition time, use the Configure Timing message (SUBCMD 12.)

Some of the messages are referred to as optimized and others are not. Optimized messages have the designation OPT in the title of the message. Optimized messages have the data for several inputs or outputs of a certain type contained in the message. This minimizes the number of messages needed to be sent on the CAN bus in order to reduce bus traffic.

Non-optimized (regular) messages typically have only the data for a single input or output. In general optimized messages are used as the default so that all data can be communicated between the I/O module and the controller. A system designer has the option of turning off optimized messages and using regular messages instead. Typically, the default set of messages is adequate for most systems.

11005130 · Rev AA · December 2010

7

Supply (CMD 0)

PLUS+1 CAN I/O Module Communications Protocol Technical Information

Messages Based on the Sub-Identifier

This frame is transmitted from the I/O device continuously with a default cycle time.

CMD

CAN B 0

0x00 Supp* (LSB) Supp* (MSB) Sensor† (LSB) Sensor† (MSB) Shield‡ (LSB) Shield‡ (MSB) —— 500 ms SUPPLY

*

Measured supply voltage in mV.

†

Measured sensor voltage in mV.

‡

Measured shield voltage in mV.

Data 0

CAN B 1

Data 1

CAN B 2

Data 2

CAN B 3

Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7 Rate Name

Dig_In (CMD 16)

This frame is transmitted from the I/O device continuously with a default cycle time. This message has to be activated. By default, packed frames are used.

CMD

CAN B 0

0x10 Channel* DigIn† —— —— —— —— —— 0 ms D_IN

*

Identifies the channel.

†

Actual pin status.

Data 0

CAN B 1

Data 1

CAN B 2

Data 2

CAN B 3

Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7 Rate Name

Ana/Temp/Rheo (CMD 32)

This frame is transmitted from the I/O device continuously with a default cycle time. This message has to be activated. By default the packed frames are used.

CMD

CAN B 0

0x20 Channel* Value† (LSB) Value† (MSB) —— —— —— —— 0 ms RHEO

*

Identifies the channel.

†

Actual measured value. mV in an analogue configuration; otherwise an Ω value.

Data 0

CAN B 1

Data 1

CAN B 2

Data 2

CAN B 3

11005130 · Rev AA · December 2010

Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7

Rate Name

8

PLUS+1 CAN I/O Module Communications Protocol Technical Information

Messages Based on the Sub-Identifier

Dig and Ana/Temp/Rheo Opt I (CMD 33)

This frame is transmitted from the I/O device continuously with a default cycle time. This message is a packed frame and is activated by default if the device does have these inputs. Values not available on the I/O device are set to zero.

CMD

CAN B 0

0x21 Value 0* (LSB) Value 0* (MSB) Value 1† (LSB) Value 1† (MSB) Dig 0_7‡ Dig 8_15§ Dig 16_23# 20 ms RHEO_OPTI

*

Actual measured value of the first channel; mV in an analogue configuration; otherwise an Ω value.

†

Actual measured value of the second channel; mV in an analogue configuration; otherwise an Ω value.

‡

Bit pattern for the first 8 digital inputs; bit 0 is channel 0.

§

Bit pattern for the next 8 digital inputs; bit 0 is channel 8.

#

Bit pattern for the next 8 digital inputs; bit 0 is channel 16.

Data 0

CAN B 1

Data 1

CAN B 2

Data 2

CAN B 3

Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7

Rate Name

Dig and Ana/Temp/Rheo Opt II (CMD 34)

This frame is transmitted from the I/O device continuously with a default cycle time. This message is a packed frame and is activated by default. Only input devices with more than two Ana/Temp/Rheo will transmit this message or if the device has more than 24 digital

inputs. Values not available on the I/O device are set to zero.

CMD

CAN B 0

0x22 Value 2* (LSB) Value 2* (MSB) Value 3† (LSB) Value 3† (MSB) Dig 24_31‡ Dig 32_39§Dig 40_47# 20 ms RHEO_OPTII

*

Actual measured value of the third channel; mV in an analogue configuration; otherwise an Ω value.

†

Actual measured value of the fourth channel; mV in an analogue configuration; otherwise an Ω value.

‡

§

Bit pattern for the next 8 digital inputs; bit 0 is channel 32.

#

Bit pattern for the next 8 digital inputs; bit 0 is channel 40.

Data 0

CAN B 1

Bit pattern for the first 8 digital inputs; bit 0 is channel 24.

Data 1

CAN B 2

Data 2

CAN B 3

Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7

Rate Name

Dig/Ana (CMD 48)

This frame is transmitted from the I/O device continuously with a default cycle time. This message will only be transmitted if the device does have this type of input. This message has to be activated; by default the packed frames are used.

CMD

CAN B 0

0x20 Channel* Value† (LSB) Value† (MSB) —— —— —— —— 0 ms RHEO

*

Identifies the channel.

†

Actual measured value in mV.

Data 0

CAN B 1

Data 1

CAN B 2

Data 2

CAN B 3

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Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7

Rate Name

9

Dig/Ana Opt I (CMD 49)

PLUS+1 CAN I/O Module Communications Protocol Technical Information

Messages Based on the Sub-Identifier

This frame is transmitted from the I/O device continuously with a default cycle time. This message is a packed frame and is activated by default if the device does have these inputs. Values not available on the I/O device will be set to zero.

CMD

CAN B 0

0x31 Value 0* (LSB) Value 0* (MSB) Value 1† (LSB) Value 1† (MSB) Value 2‡ (LSB) Value 2‡ (MSB) Dig 0_2§ 20 ms Dig_ANA_OPTI

*

Actual measured value of the first channel in mV.

†

Actual measured value of the second channel in mV.

‡

Actual measured value of the third channel in mV.

§

Bit pattern for the first 3 digital inputs; bit 0 is channel 0.

Data 0

CAN B 1

Data 1

CAN B 2

Data 2

CAN B 3

Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7

Rate Name

Dig/Ana Opt II (CMD 50)

This frame is transmitted from the I/O device continuously with a default cycle time. This message is a packed frame and is activated by default if the device does have these inputs. Values not available on the I/O device will be set to zero.

CMD

CAN B 0

0x32 Value 3* (LSB) Value 3* (MSB) Value 4† (LSB) Value 4† (LSB) Value 5‡ (LSB) Value 5‡ (LSB) Dig 3_5§ 20 ms Dig_ANA_OPTII

*

Actual measured value of the fourth channel in mV.

†

Actual measured value of the fifth channel in mV.

‡

Actual measured value of the sixth channel in mV.

§

Bit pattern for the next 2 digital inputs; bit 0 is channel 3.

Data 0

CAN B 1

Data 1

CAN B 2

Data 2

CAN B 3

Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7

Rate Name

Dig/Ana/Freq (CMD 64)

This frame is transmitted from the I/O device continuously with a default cycle time. This message will only be transmitted if the device does have this type of input. This message has to be activated; by default the packed frames are used.

CMD

CAN B 0

0x40 Channel* Value† (LSB) Value† (MSB) Freq‡ (LSB) Freq‡ (MSB) DigIn§ —— 0 ms DIG_ANA_FREQ

*

Indicates the channel.

†

Actual measured value in mV.

‡

Actual measured frequency.

§

Status of the digital input.

10

Data 0

CAN B 1

Data 1

CAN B 2

Data 2

CAN B 3

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Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7 Rate Name

Dig/Ana/Freq Opt I (CMD 65)

PLUS+1 CAN I/O Module Communications Protocol Technical Information

Messages Based on the Sub-Identifier

This frame is transmitted from the I/O device continuously with a default cycle time. This message is a packed frame and is activated by default if the device does have these inputs. Values not available on the I/O device will be set to zero.

CMD

CAN B 0

0x41 Value 0* (LSB) Value 0* (MSB) Value 1†(LSB) Value 1†(MSB) Value 2‡(LSB) Value 2‡(MSB) Dig 0_2§ 50 ms DIG_ANA_FREQ_OPTI

*

Actual measured value in mV on the first analogue input.

†

Actual measured value in mV on the second analogue input.

‡

Actual measured value in mV on the third analogue input.

§

Bit pattern of the first 3 digital inputs; bit 0 is channel 0.

Data 0

CAN B 1

Data 1

CAN B 2

Data 2

CAN B 3

Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7

Rate Name

Dig/Ana/Freq Opt II (CMD 66)

This frame is transmitted from the I/O device continuously with a default cycle time. This message is a packed frame and is activated by default if the device does have these inputs. Values not available on the I/O device will be set to zero.

CMD

CAN B 0

0x42 Value 3*(LSB) Value 3*(MSB) Value 4†(LSB) Value 4†MSB) Value 5‡(LSB) Value 5§(MSB) Dig 3_5# 50 ms DIG_ANA_FREQ_OPTI

*

Actual measured value in mV on the fourth analogue input.

†

Actual measured value in mV on the fifth analogue input.

‡

Actual measured value in mV on the sixth analogue input.

#

Bit pattern of the fourth, fifth, and sixth digital input; bit 0 is channel 4.

Data 0

CAN B 1

Data 1

CAN B 2

Data 2

CAN B 3

Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7 Rate Name

Dig/Ana/Freq Opt III (CMD 67)

This frame is transmitted from the I/O device continuously with a default cycle time. This message is a packed frame and is activated by default if the device does have these inputs. Values not available on the I/O device will be set to zero.

CMD

CAN B 0

0x43 Freq 0* (LSB) Freq 0* (MSB) Freq 1† (LSB) Freq 1† (MSB) Freq 2‡ (LSB) Freq 2‡ (MSB) 50 ms DIG_ANA_FREQ_OPTIII

*

Actual measured frequency in Hz on the first input.

†

Actual measured frequency in Hz on the second input.

‡

Actual measured frequency in Hz on the third input.

Data 0

CAN B 1

Data 1

CAN B 2

Data 2

CAN B 3

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Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7 Rate Name

11

Dig/Ana/Freq Opt IV (CMD 68)

This frame is transmitted from the I/O device continuously with a default cycle time. This message is a packed frame and is activated by default if the device does have these inputs. Values not available on the I/O device will be set to zero.

PLUS+1 CAN I/O Module Communications Protocol Technical Information

Messages Based on the Sub-Identifier

CMD

CAN B 0

0x44 Freq 3* (LSB) Freq 3* (MSB) Freq 4† (LSB) Freq 4† (MSB) Freq 5‡ (LSB) Freq 5‡ (MSB) —— 50 ms DIG_ANA_FREQ_OPTIV

*

Actual measured frequency in Hz on the fourth input.

†

Actual measured frequency in Hz on the fifth input.

‡

Actual measured frequency in Hz on the sixth input.

Data 0

CAN B 1

Data 1

CAN B 2

Data 2

CAN B 3

Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7

Rate Name

Dig/Ana/Freq Opt V(CMD 69)

This frame is transmitted from the I/O device continuously with a default cycle time. This message is a packed frame and is activated by default if the device does have these inputs. Values not available on the I/O device will be set to zero.

CMD

CAN B 0

0x45 Value 6* (LSB) Value 6* (MSB) Value 7† (LSB) Value 7† (MSB) Value 8‡ (LSB) Value 8‡ (MSB) Dig 6_8§ 50 ms DIG_ANA_FREQ_OPTV

*

Actual measured value in mV on the seventh analogue input.

†

Actual measured value in mV on the eighth analogue input.

‡

Actual measured value in mV on the ninth analogue input.

§

Bit pattern of the seventh, eighth, and ninth digital input; bit 0 is channel 7.

Data 0

CAN B 1

Data 1

CAN B 2

Data 2

CAN B 3

Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7 Rate Name

Dig/Ana/Freq Opt VI (CMD 70)

This frame is transmitted from the I/O device continuously with a default cycle time. This message is a packed frame and is activated by default if the device does have these inputs. Values not available on the I/O device will be set to zero.

CMD

CAN B 0

0x46 Freq 6* (LSB) Freq 6* (MSB) Freq 7† (LSB) Freq 7† (MSB) Freq 8‡ (LSB) Freq 8‡ (MSB) —— 50 ms DIG_ANA_FREQ_OPTVI

*

Actual measured frequency in Hz on the seventh input.

†

Actual measured frequency in Hz on the eighth input.

‡

Actual measured frequency in Hz on the ninth input.

12

Data 0

CAN B 1

Data 1

CAN B 2

Data 2

CAN B 3

11005130 · Rev AA · December 2010

Data 3

CAN B 4

Data 4

CAN B 5

Data 5

CAN B 6

Data 6

CAN B 7

Rate Name

Danfoss PLUS 1 CAN I/O User guide

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

Message Timing Information

Supply (CMD 0)

Messages Based on the Sub-Identifier

Dig_In (CMD 16)

Ana/Temp/Rheo (CMD 32)

Dig and Ana/Temp/Rheo Opt I (CMD 33)

Dig and Ana/Temp/Rheo Opt II (CMD 34)

Dig/Ana (CMD 48)

Dig/Ana Opt I (CMD 49)

Dig/Ana Opt II (CMD 50)

Dig/Ana/Freq (CMD 64)

Dig/Ana/Freq Opt I (CMD 65)

Dig/Ana/Freq Opt II (CMD 66)

Dig/Ana/Freq Opt III (CMD 67)

Dig/Ana/Freq Opt IV (CMD 68)

Dig/Ana/Freq Opt V(CMD 69)

Dig/Ana/Freq Opt VI (CMD 70)