ICPDAS CAN-2015C Application User's Manual
CAN-2015C User’s Manual (Version 1.0, June/2012) ------------- 1
CANopen Slave Device
CAN-2015C
Application User’s Manual
Warranty
All products manufactured by ICP DAS are under warranty regarding
defective materials for a period of one year from the date of delivery to
the original purchaser.
Warning
ICP DAS assumes no liability for damages resulting from the use of
this product. ICP DAS reserves the right to change this manual at any
time without notice. The information furnished by ICP DAS is believed to
be accurate and reliable. However, no responsibility is assumed by ICP
DAS for its use, or for any infringements of patents or other rights of third
parties resulting from its use.
Copyright
Copyright @2012 is reserved by ICP DAS.
Trademark
The names used for identification only may be registered trademarks
of their respective companies.
CAN-2015C User’s Manual (Version 1.0, June/2012) ------------- 2
Table of Contents
1. Introduction .......................................................................................................... 3
1.1 Overview ........................................................................................... 3
1.2 Features ............................................................................................ 4
1.3 Hardware Specifications .................................................................. 4
1.4 Application ........................................................................................ 5
2. Hardware ............................................................................................................... 6
2.1 Structure............................................................................................ 6
2.2 Node ID & Baud Rate Rotary Switch ............................................... 7
2.3 LED Description ................................................................................ 8
2.4 PIN Assignment ................................................................................ 9
2.5 Wire Connection ................................ ................................ ............... 9
3. Application .......................................................................................................... 10
3.1 Object Dictionary ............................................................................ 10
3.2 Store and Restore Object ............................................................... 15
3.3 Application Object .......................................................................... 16
3.4 Default PDO Mapping ..................................................................... 17
3.5 EMCY Communication ................................................................... 18
Appendix: Type Code Definition ............................................................................. 19
CAN-2015C User’s Manual (Version 1.0, June/2012) ------------- 3
1. Introduction
1.1 Overview
CANopen is one kind of the network protocols based on CAN bus and
mainly used for embedded system, such as industrial machine control,
vehicle control system, factory automation, medical equipments control,
remote data acquisition, environment monitoring and package machines
control. The CAN-2015C is a CANopen slave which follows the CiA 301
version 4.02 and CiA 401 version 2.1. This module provides 8 RTD input
channels, and users can obtain the RTD input data or configure the CAN2015C via the standard CANopen protocol. In order to be fully compatible
with other CANopen devices, the CAN-2015C has passed the validation
of the CiA CANopen Conformance Test tool. Therefore, it is very easy to
integrate the CAN-2015C with the standard CANopen master by applying
the EDS file. Combining with the CANopen masters of ICP DAS, you can
quickly build a CANopen network to approach your requirements.
Figure 1-1 CAN-2015C
CAN-2015C User’s Manual (Version 1.0, June/2012) ------------- 4
1.2 Features
NMT Slave
Guarding or Heartbeat Error Control protocols
Supports Dynamic PDO
Supports 2-wire or 3-wire RTD
RTD broken line detection
10 Hz sampling rate for total channels
Provide the EDS file
ESD Protection 4 KV Contact for each channel
Verifies by the CiA CANopen Conformance Test tool
1.3 Hardware Specifications
CANopen Interface
Connector
5-pin screwed terminal block (CAN_GND, CAN_L, CAN_SHLD, CAN_H, CAN_V+)
Baud Rate (bps)
10 k, 20 k, 50 k, 125 k, 250 k, 500 k, 800 k, 1 M, selected by rotary switch
Terminator Resistor
DIP switch for the 120 Ω terminator resistor
Protocol
CANopen CiA 301 ver4.02, CiA 401 ver2.1
Node ID
1~99 selected by rotary switch
NMT
Slave
Error Control
Node Guarding protocol / Heartbeat Producer
SDOs
1 server, 0 client
PDOs
10 RxPDO, 10 TxPDO (Supports dynamic PDO)
PDO Modes
Event-triggered, remotely-requested, synchronous (cyclic), synchronous (acyclic)
Emergency Message
Yes
EDS file
Yes
Analog Input
Channels
8 channels for 2-wire or 3-wire RTD
Input Type
Pt100, Pt1000, Ni120, Cu100, Cu1000, JPt100
Resolution
16-bit
Sampling Rate
10 Samples/Sec. (Total)
Accuracy
+/-0.05% FSR
Zero Drift
+/- 0.5 μV/ °C
Span Drift
+/- 20 ppm/ °C
Common Mode Rejection
150 dB
Normal Mode Rejection
100 dB
Individual Channel Configuration
Yes
Open Thermocouple Detection
Yes
Over voltage Protection
120 VDC / 110 VAC
Input Impedance
20mΩ
Isolation
3000 V DC-DC isolation, 3000 Vrms photocoupler isoloation
Hardware
ESD Protection
Contact 4 kV class A
LED
CAN-2015C User’s Manual (Version 1.0, June/2012) ------------- 5
LEDs
PWR LED, RUN LED, ERR LED, 8 LEDs for the AI high alarms or low alarms
Power
Power Supply
Unregulated +10 ~ +30 VDC
Power Consumption
1.5 W
Mechanism
Casing
Plastic case, fire-retardant materials (UL94-V0 Level)
Installation
DIN-Rail
Dimensions
33 mm x 99 mm x 78 mm ( W x L x H )
Environment
Operating Temp.
-25 ~ 75 ℃
Storage Temp.
-30 ~ 80 ℃
Humidity
10 ~ 90% RH, non-condensing
1.4 Application
Measuring Temperature
Medical technology
Utility vehicles
CAN-2015C User’s Manual (Version 1.0, June/2012) ------------- 6
2. Hardware
2.1 Structure
(Top View)
(Botton View)
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