Danfoss PLUS 1 CAN I/O User guide
PLUS+1 CAN I/O
Module
Communications
Protocol
Technical Information
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
IOX012- |
|
|
IOX024- |
|
|
|
IOX012- |
|
PLUS+1 |
|
|
||||||||||||||||
|
|
|
|
|
|
|
|
|
|
||||||||||||||||||||
|
|
010- |
|
|
|
010- |
|
|
|
|
010- |
|
|
|
Diag |
|
|
||||||||||||
|
|
|
|
|
|
|
|
|
|
|
|
||||||||||||||||||
|
|
00000 |
|
|
00000 |
|
|
|
00000 |
|
|
|
Tool |
|
|
||||||||||||||
|
|
|
|
|
|
|
|
|
|
|
|
||||||||||||||||||
|
|
|
|
|
|
|
|
|
|
|
|
||||||||||||||||||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
120 Ω |
|
120 Ω |
|
||
|
||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
MC |
|
|
MC |
|
MC |
||
24-10 |
|
50-10 |
|
24-10 |
|||
|
|
|
|
|
|
|
|
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
About this Manual
Organization
and Headings
Special Text Formatting
Table of Contents
Revision History
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.
In the PDF version of this document, clicking an item underlined in blue italic type jumps you to the referenced page in the document.
Controls and indicators are set in bold black type.
A Table of Contents (TOC) appears on the next page. In the PDF version of this document, the TOC entries are hyperlinked.
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 |
Draft, protocol version 2.01 |
|
Add recovery times—SUBCMD 21 |
|
|
New values in NV—SUBCMD 22 |
|
|
|
|
12 November 2007 |
Corrected Message Name—Configuration Type Definition table |
Draft, protocol version 2.01 |
|
Updated description of recover times—Bus Off Rcvr Time and CAN Drv Error Rcvr Time |
|
|
|
|
23 November 2007 |
Extended CRC message for backwards compatibility—SUBCMD 18 |
Draft, protocol version 2.02 |
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 |
Draft, protocol version 2.04 |
|
inputs) |
|
|
|
|
23 March 2009 |
Use correct names for CMD69 and CMD70 |
Draft, protocol version 2.04 |
|
Changed wording for SUBCMD 18 |
|
|
|
|
25 March 2009 |
Extended Request Configuration message to backwards compatatible for CRC— |
Draft, protocol version 2.04 |
|
SUBCMD 255 |
|
|
|
|
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 |
|
|
|
2 |
11005130 · AA · December 2010 |
|
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
©2010 Sauer-Danfoss. All rights reserved.
Sauer-Danfoss accepts no responsibility for possible errors in catalogs, brochures and other printed material. Sauer-Danfoss reserves the right to alter its products without prior notice. This also applies to products already ordered provided that such alterations can be made without affecting agreed specifications.
All trademarks in this material are properties of their respective owners.
PLUS+1, GUIDE, and Sauer-Danfoss are trademarks of the Sauer-Danfoss Group. The PLUS+1 GUIDE, PLUS+1 Compliant, and Sauer-Danfoss logotypes are trademarks of the Sauer-Danfoss Group.
11005130 · AA · December 2010 |
3 |
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
(This page is intentionally blank.)
4 |
11005130 · AA · December 2010 |
PLUS+1 CAN I/O Module Communications Protocol |
|
Technical Information |
|
Contents |
|
T Adobe Reader links entries in this table of contents. To follow a link, click an entry. |
|
Message Timing Information....................................................................................................................... |
7 |
Messages Based on the Sub-Identifier ..................................................................................................... |
8 |
Supply (CMD 0) ........................................................................................................................................ |
8 |
Dig_In (CMD 16)....................................................................................................................................... |
8 |
Ana/Temp/Rheo (CMD 32)................................................................................................................... |
8 |
Dig and Ana/Temp/Rheo Opt I (CMD 33)........................................................................................ |
9 |
Dig and Ana/Temp/Rheo Opt II (CMD 34)....................................................................................... |
9 |
Dig/Ana (CMD 48) ................................................................................................................................... |
9 |
Dig/Ana Opt I (CMD 49)....................................................................................................................... |
10 |
Dig/Ana Opt II (CMD 50)...................................................................................................................... |
10 |
Dig/Ana/Freq (CMD 64)....................................................................................................................... |
10 |
Dig/Ana/Freq Opt I (CMD 65) ............................................................................................................ |
11 |
Dig/Ana/Freq Opt II (CMD 66)........................................................................................................... |
11 |
Dig/Ana/Freq Opt III (CMD 67).......................................................................................................... |
11 |
Dig/Ana/Freq Opt IV (CMD 68) ......................................................................................................... |
12 |
Dig/Ana/Freq Opt V(CMD 69)............................................................................................................ |
12 |
Dig/Ana/Freq Opt VI (CMD 70) ......................................................................................................... |
12 |
Dig/Ana/Freq Opt VII (CMD 71) ........................................................................................................ |
13 |
Dig/Ana/Freq Opt VIII (CMD 72) ....................................................................................................... |
13 |
Dig/Ana/Freq Opt IX(CMD 73) .......................................................................................................... |
13 |
Dig/Ana/Freq Opt X(CMD 74) ........................................................................................................... |
14 |
Digital Out Status (CMD 80)............................................................................................................... |
14 |
Digital/PVG Out Status (CMD 81)..................................................................................................... |
14 |
Digital/PVG Out Status Opt I (CMD 82) .......................................................................................... |
15 |
Multifunction Out Status (CMD 96)................................................................................................. |
15 |
Multifunction Out Status Opt I (CMD 97) ...................................................................................... |
15 |
Multifunction Out Status Opt II (CMD 98) ..................................................................................... |
16 |
Multifunction Out Status Opt OPT III (CMD 99)........................................................................... |
16 |
Multifunction Out Status Opt IV (CMD 100) ................................................................................. |
16 |
Digital Out (CMD 128).......................................................................................................................... |
17 |
Digital/PVG Out (CMD 129)................................................................................................................ |
17 |
Digital/PVG Out Opt I (CMD 130) ..................................................................................................... |
18 |
Multifunction Out (CMD 144)............................................................................................................ |
18 |
Multifunction Out Opt I (CMD 145) ................................................................................................. |
19 |
Multifunction Out Opt II (CMD 146)................................................................................................ |
19 |
Multifunction Out Opt III (CMD 147)............................................................................................... |
20 |
Multifunction Out Opt IV (CMD 148)............................................................................................... |
20 |
Messages Based on the Sub-Command ................................................................................................ |
21 |
Ack (SUBCMD 0)..................................................................................................................................... |
21 |
Request Protocol Version (SUBCMD 1) .......................................................................................... |
21 |
Protocol Version (SUBCMD 2)............................................................................................................ |
21 |
11005130 · Rev AA · December 2010 |
5 |
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Contents
|
Configure DIG Input (SUBCMD 3) .................................................................................................... |
21 |
|
Configure Analogue Input (SUBCMD 4) ........................................................................................ |
22 |
|
Configure Multifunction Input Dig/Ana (SUBCMD 5) ............................................................... |
22 |
|
Configure Multifunction Input Dig/Ana Switch Point (SUBCMD 6) ..................................... |
22 |
|
Configure Multifunction Input Dig/Ana/Freq (SUBCMD 7)..................................................... |
23 |
|
Configure Multifunction Input Dig/Ana/Freq Switch Point (SUBCMD 8)........................... |
23 |
|
Configure Multifunction Output (SUBCMD 9)............................................................................. |
23 |
|
Configure Multifunction Output Frequency (SUBCMD 10)..................................................... |
24 |
|
Freeze N1 (SUBCMD 11)...................................................................................................................... |
24 |
|
Configure Timing (SUBCMD 12)....................................................................................................... |
24 |
|
Configure Output Default (SUBCMD 13)....................................................................................... |
25 |
|
Set AddrMode (SUBCMD 14)............................................................................................................. |
25 |
|
Set Fixed Tx ID (SUBCMD 15)............................................................................................................. |
25 |
|
Set Fixed Rx ID (SUBCMD 16)............................................................................................................. |
26 |
|
Set KWP2000 Net (SUBCMD 17) ....................................................................................................... |
26 |
|
Configuration CRC (SUBCMD 18)..................................................................................................... |
26 |
|
Temporary IO Configuration (SUBCMD 19).................................................................................. |
27 |
|
Configure Current Change Limit (SUBCMD 20) .......................................................................... |
27 |
|
Configure Recover Times (SUBCMD 21) ........................................................................................ |
28 |
|
Non-Volatile Memory Storage (SUBCMD 22)............................................................................... |
28 |
|
Request Configuration (SUBCMD 255) .......................................................................................... |
29 |
|
Parameters Stored in Non-Volatile Memory ........................................................................................ |
30 |
|
Power-Up Baud Rate (PwrUpBaud) Parameter ........................................................................... |
31 |
|
Addressing Mode (AddrMode) Parameter ................................................................................... |
31 |
|
Fixed Tx ID (Tx) Parameter.................................................................................................................. |
31 |
|
Fixed Rx ID (Rx) Parameter ................................................................................................................. |
31 |
|
Fixed ID Frame Format (Frame) Parameter .................................................................................. |
31 |
|
N1 (N1) Parameter................................................................................................................................. |
31 |
|
Mask (Mask) Parameter ....................................................................................................................... |
31 |
|
KWP2000 Net Number (Net) Parameter ........................................................................................ |
32 |
|
Default Output Value (Out Default) Parameter........................................................................... |
32 |
|
Default Output Configuration (Out Default Config) Parameter............................................ |
32 |
|
Default DigOut Value (DigOut Default) Parameter.................................................................... |
32 |
|
Default PVE Value (PVE Default) Parameter ................................................................................. |
32 |
|
Digital Input Configuration (DigitalDefault Config) Parameter............................................. |
32 |
|
Input Configuration 0 (In Default Config 0) Parameter............................................................ |
32 |
|
Input Configuration 1 (In Default Config 1) Parameter............................................................ |
32 |
|
Digital Analogue Input Configuration 0 (Digital AnIn Default Config 0) Parameter ...... |
32 |
|
Digital Analogue Input Configuration 1 (Digital AnIn Default Config 1) Parameter ...... |
33 |
|
Rheostat Input Configuration 1 (Rheo Default Config 1) Parameter................................... |
33 |
|
Bus OFF Recover Time (Bus Off Rcvr Rate) Parameter .............................................................. |
33 |
|
CAN Driver Error Recover time (CAN Drv Error Rcvr Time) Parameter ................................ |
33 |
|
Index .................................................................................................................................................................. |
34 |
6 |
11005130 · Rev AA · December 2010 |
|
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 |
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
Supply (CMD 0)
This frame is transmitted from the I/O device continuously with a default cycle time.
CMD |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
Data 5 |
Data 6 |
|
|
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
CAN B 6 |
CAN B 7 |
Rate |
Name |
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.
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 |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
Data 5 |
Data 6 |
|
|
|
|
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
CAN B 6 |
CAN B 7 |
|
Rate |
|
Name |
0x10 |
Channel* |
DigIn† |
—— |
—— |
—— |
—— |
—— |
|
0 ms |
|
D_IN |
*Identifies the channel.
†Actual pin status.
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 |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
Data 5 |
Data 6 |
|
|
|
|
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
CAN B 6 |
CAN B 7 |
|
Rate |
|
Name |
0x20 |
Channel* |
Value† (LSB) |
Value† (MSB) |
—— |
—— |
—— |
—— |
0 ms |
|
RHEO |
|
*Identifies the channel.
†Actual measured value. mV in an analogue configuration; otherwise an Ω value.
11005130 · Rev AA · December 2010 |
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 |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
Data 5 |
Data 6 |
|
|
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
CAN B 6 |
CAN B 7 |
Rate |
Name |
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.
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 |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
Data 5 |
Data 6 |
|
|
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
CAN B 6 |
CAN B 7 |
Rate |
Name |
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 first 8 digital inputs; bit 0 is channel 24.
§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.
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 |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
Data 5 |
Data 6 |
Rate |
Name |
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
CAN B 6 |
CAN B 7 |
|
|
0x20 |
Channel* |
Value† (LSB) |
Value† (MSB) |
—— |
—— |
—— |
—— |
0 ms |
RHEO |
*Identifies the channel.
†Actual measured value in mV.
11005130 · Rev AA · December 2010 |
9 |
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
Dig/Ana Opt I (CMD 49)
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 |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
Data 5 |
Data 6 |
|
|
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
CAN B 6 |
CAN B 7 |
Rate |
Name |
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.
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 |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
Data 5 |
Data 6 |
|
|
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
CAN B 6 |
CAN B 7 |
Rate |
Name |
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.
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 |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
Data 5 |
Data 6 |
|
|
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
CAN B 6 |
CAN B 7 |
Rate |
Name |
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 |
11005130 · Rev AA · December 2010 |
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
Dig/Ana/Freq Opt I (CMD 65)
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 |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
Data 5 |
Data 6 |
|
|
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
CAN B 6 |
CAN B 7 |
Rate |
Name |
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.
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 |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
|
Data 5 |
|
Data 6 |
|
|
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
|
CAN B 6 |
|
CAN B 7 |
Rate |
Name |
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.
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 |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
Data 5 |
Data 6 |
|
|
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
CAN B 6 |
CAN B 7 |
Rate |
Name |
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.
11005130 · Rev AA · December 2010 |
11 |
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
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.
CMD |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
Data 5 |
Data 6 |
|
|
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
CAN B 6 |
CAN B 7 |
Rate |
Name |
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.
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 |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
Data 5 |
Data 6 |
|
|
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
CAN B 6 |
CAN B 7 |
Rate |
Name |
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.
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 |
Data 0 |
Data 1 |
Data 2 |
Data 3 |
Data 4 |
Data 5 |
Data 6 |
|
|
CAN B 0 |
CAN B 1 |
CAN B 2 |
CAN B 3 |
CAN B 4 |
CAN B 5 |
CAN B 6 |
CAN B 7 |
Rate |
Name |
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 |
11005130 · Rev AA · December 2010 |
Loading...