Eskon EPA300 User Manual

EPA300

CANopen

CANOPEN USER MANUAL

PROCESS CONTROL DEVICE

INDEX

INDEX --------------------------------------------------------------------------------------------------------------------- 2

1. CONFIGURATION ------------------------------------------------------------------------------------------------ 3

2.1. Configuration with Layer Setting Service (LSS) --------------------------------------------------------------------------------- 3

2.2. Configuration with Service Data Objects (SDO) -------------------------------------------------------------------------------- 5

2. OBJECT DICTIONARY ------------------------------------------------------------------------------------------- 7

1. CONFIGURATION

2.1. Configuration with Layer Setting Service (LSS)

Use the following tables to set the Node ID and bit rate using the LSS protocol.

* For the configuration with LSS, the bit rate settings of Master device and Slave device must be the same. * For configuration with LSS, only Master and Slave devices should be in the network. * The default bit rate for your EPA300 device is 250 kbps and the Node ID is 1. ** To change any value with LSS, the device must be in Configuration Mode. *** Please restart your device for changes to take effect.

LSS-Master Request COB-ID for LSS-Slave operations: 0x7E5 LSS-Slave Response COB-ID for LSS-Master operations: 0x7E4

To switch to the Configuration mode required to make Node ID or Baud Rate changes; If you do not want all devices to use the Switch Mode Global command; Use Switch Mode Selective commands only if it is a device on your network. For Selective mode, you need to know one of the Vendor ID, Product Code, Revision Number, Serial Number or Node ID of your device. If you do not know, you can use the Inquire commands by connecting your Master device and the Slave device you want to learn.

COB-ID

DATA (Hex)

COMMAND

EXPLANATION

0x7E5

04 00 00 00 00 00 00 00

Switch Mode Global -

Operation Mode

Command to import all connected devices

into Operational Mode

0x7E5

04 01 00 00 00 00 00 00

Switch Mode Global -

Configuration Mode

Command to import all connected devices

into Configuration Mode

0x7E5

5A 00 00 00 00 00 00 00

Inquire - Vendor ID

Vendor ID request command from sensor

0x7E4

5A ZZ 00 00 00 00 00 00

Vendor ID : 0xZZ

The answer from the sensor contains the

Vendor ID information.

0x7E5

5B 00 00 00 00 00 00 00

Inquire - Product Code

Command to request product code from

sensor

0x7E4

5B YY ZZ 00 00 00 00 00

Product Code : 0xZZYY

The answer from the sensor contains

Product Code information

0x7E5

5C 00 00 00 00 00 00 00

Inquire - Revision

Number

Request Revision Number from Sensor

0x7E4

5C XX YY ZZ 00 00 00 00

Revision Number :

0xZZYYXX

The response from the sensor contains

Revision Number information

0x7E5

5D 00 00 00 00 00 00 00

Inquire - Serial Number

Command to request Serial Number from

sensor

0x7E4

5D TT XX YY ZZ 00 00 00

Serial Number :

0xZZYYXXTT

The response from the sensor contains

Serial Number information.

0x7E5

5E 00 00 00 00 00 00 00

Inquire - Node ID

Command to request Node ID from sensor

0x7E4

5E ZY 00 00 00 00 00 00

Node ID – NID : 0xZY

The response from the sensor contains

Node ID information.

0x7E5

40 ZZ 00 00 00 00 00 00

Switch Mode Selective

– Vendor ID : 0xZZ

0xZZ Command to import Vendor ID device

into Configuration Mode

0x7E5

41 YY ZZ 00 00 00 00 00

Switch Mode Selective

– Product Code :

0xZZYY

0xZZYY Command to import Product Code

Device into Configuration Mode

0x7E5

42 XX YY ZZ 00 00 00 00

Switch Mode Selective-

Revision Number:

0xZZYYXX

0xZZYYXX Command to import Revision

Number Device into Configuration Mode

0x7E5

43 TT XX YY ZZ 00 00 00

Switch Mode Selective

– Serial Nr. : 0xZZYYXXTT

0xZZYYXXTT Command to import Serial

Number Device into Configuration Mode

0x7E4

44 YY 00 00 00 00 00 00

Switch Mode Selective

Response

Response from sensor to switch to

Configuration Mode: 'YY'=00= Successful

'YY'=01= Unsuccessful

*** Please restart the device for changes to take effect.

You can use the following commands to make Node ID and Bitrate changes in your Slave device that you have imported in Configuration mode. After the changes you have made, you must use the store configuration command to save changes from the temporary memory to the permanent memory.

COB-ID

DATA (Hex)

COMMAND

EXPLANATION

0x7E5

13 XX 00 00 00 00 00 00

Configure Bit Rate

Sensor command for bit rate change

Values for [XX]: '00'=10 kbps, '01'=20 kbps,

'02'=50 kbps, '03'=100 kbps, '04'=125

kbps,

'05'=250 kbps, '06'=500 kbps,

'07'= 800 kbps, '08'= 1000 kpbs

0x7E4

13 YY 00 00 00 00 00 00

Configure Bit Rate

Response

Response from the sensor for bit rate

change: 'YY'=00= Successful

'YY'=01= Unsuccessful

0x7E5

11 XX 00 00 00 00 00 00

Configure Node ID

Sensor command for Node ID change:

for [XX]: Value between 1 and 127

0x7E4

11 YY 00 00 00 00 00 00

Configure Node ID

Response

Response from the sensor for Node ID

change: 'YY'=00= Successful 'YY'=01=

Unsuccessful

0x7E5

17 00 00 00 00 00 00 00

Store Configuration

Command to save changes

0x7E4

17 YY 00 00 00 00 00 00

Store Configuration

Response

The response to the command to save

changes: 'YY'=00= Successful 'YY'=01=

Unsuccessful

*** Please restart the device for changes to take effect.

2.2. Configuration with Service Data Objects (SDO)

Use the following tables to set any parameters with the SDO protocol.

* For the configuration with SDO, the bit rate settings of Master device and Slave device should be same.

* Node IDs of all CANopen devices in the network should be different from each other. * The default bit rate for your EPA300 device is 250 kbps and the Node ID is 1. ** To change any value with SDO, the device must be in Configuration Mode. *** Please restart your device for changes to take effect.

COB-ID

DATA (Hex)

COMMAND

EXPLANATION

0x600+Node

22 ZZ YY XX TT SS RR PP

Download request

Write command

Index: 0xYYZZ Subindex: 0xXX

Data: 0xPPRRSSTT

0x580+Node

60 ZZ YY XX 00 00 00 00

Download response

Confirmation that the parameter

successfully registered

0x600+Node

11 ZZ YY XX 00 00 00 00

Upload request

Read command

Index: 0xYYZZ Subindex: 0xXX

0x580+Node

11 ZZ YY XX TT SS RR PP

Upload response

Contains the information of the data

being read.

Index: 0xYYZZ Subindex: 0xXX

Data: 0xPPRRSSTT

0x580+Node

80 ZZ YY XX TT SS RR PP

Abort message

response

If a command fails, it contains

information about what the error

means.

Index: 0xYYZZ Subindex: 0xXX

Hata kodu: [0xPPRRSSTT]

0x06090011: Subindex is incorrect Error code: [0xPPRRSSTT] 0x06090030: Max value exceeded list 0x06020000: Index is incorrect 0x06010001: Parameter writeonly

0x06010002: Parameter read-only 0x08000020: Data transfer error 0x08000000: General error 0x08000022: Incorrect state

*** Please restart the device for changes to take effect.

Example to make Node ID 2 of device with Node ID 1:

(NodeID): index=0x3001, subindex=0x00

COB-ID

DATA (Hex)

COMMAND

EXPLANATION

0x601

22 01 30 00 02 00 00 00

Download request

Write command

Data: 0x00000002

0x581

60 01 30 00 00 00 00 00

Download response

Node ID changed successfully

Node ID 2, Bit rate of 250 kbps device to make 125 kbps example:

(baudrate): index=0x3000, subindex=0x00

COB-ID

DATA (Hex)

COMMAND

EXPLANATION

0x602

22 00 30 00 04 00 00 00

Download request

Write command / Data: 0x00000004

Options for the last two digits:

'00'=10 kbps, '01'=20 kbps, '02'=50 kbps,

'03'=100 kbps, '04'=125 kbps,

'05'=250 kbps, '06'=500 kbps,

'07'= 800 kbps, '08'= 1000 kpbs

0x582

60 00 30 00 00 00 00 00

Download response

Confirmation that the parameter

successfully registered

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