ICPDAS CAN-2054C User Manual
CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------ 1
CANopen Slave Device
CAN-2054C
Application User’s Manual
Warranty
Without contrived damage, all products manufactured by ICP DAS are
warranted in one year from the date of delivery to customers.
Warning
ICP DAS revises the manual at any time without notice. However, no
responsibility is taken by ICP DAS unless infringement act imperils to patents
of the third parties.
Copyright
Copyright © 2009 is reserved by ICP DAS.
Trademark
The brand name ICP DAS as a trademark is registered, and can be used
by other authorized companies.
CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------ 2
Contents
1 Introduction .............................................................................................3
1.1 Overview.........................................................................................3
1.2 Hardware Specifications...............................................................4
1.3 Features..........................................................................................5
1.4 Application.....................................................................................5
2 Hardware .................................................................................................6
2.1 Structure.........................................................................................6
2.2 Node ID & Baud Rate Rotary Switch............................................7
2.3 I/O Pair-connection Mode..............................................................8
2.4 LED Description...........................................................................10
2.5 PIN Assignment ...........................................................................12
2.6 Wire Connection ..........................................................................13
3 Object Dictionary..................................................................................14
3.1 Object List....................................................................................14
3.2 Store and Restore Object............................................................17
3.3 Application Object.......................................................................18
3.4 Default PDO Mapping..................................................................22
CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------ 3
1 Introduction
1.1 Overview
CANopen is one kind of the network protocols based on the CAN bus and
mainly used for embedded network of machine control, such as industrial
machine control , aircraft engines monitoring, factory automation, medical
equipments control, remote data acquisition, environmental monitoring, and
packaging machines control, etc.
CAN-2054C module follows the CiA DS-301 version 4.02 and DSP-401
version 2.1. It is easy to access the digital I/O status and set the configuration
by using standard CANopen protocol. CAN-2054C has passed the validation
of the CiA CANopen Conformance Test tool. Therefore, the provided EDS file
is standard for any other standard CANopen masters. CAN-2054C has
8-channel isolated sink/source input and 8-channel isolated sink output and it
can be used to various applications, such as PNP, NPN, TTL, relay contact
and so forth. By owing to the CANopen masters of ICP DAS, you can quickly
build a CANopen network to approach your requirements.
Figure 1-1
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1.2 Hardware Specifications
Digital Output:
z Output Channels: 8 (Sink)
z DO Load Voltage: +5 ~ +30 VDC
z Output Max Load Current: 700 mA per channel.
z Output Type: Open-Collector.
z Intra-module Isolation: 3750 Vrms
z Reaction Time:
DO Message to rising edge: 55 us.
DO Message to falling edge: 170 us.
z ESD Protection: 4 kV Contact for each channel
Digital Input:
z Input Channels: 8 (Sink/Source).
z DI On Level: +3.5 ~ +30 VDC.
z DI Off Level: +1VDC Max.
z Input Impedance: 3 kΩ, 0.3 W.
z Intra-module Isolation: 3750 Vrms
z Response Time:
Rising edge to DI response: 75 us
Falling edge to DI response: 180 us
z ESD Protection: 4 kV Contact for each channel
Others:
z CANopen Status: 3 LEDs for PWR / RUN / ERR.
z Terminal Resister: 1 LED as terminator resister indicators
z DI LED: 8 LEDs as digital input indicators.
z DO LED: 8 LEDs as digital output indicators.
z Power Supply: Unregulated +10 ~ +30 VDC.
z Power Consumption: 1.5 W.
z Operating Temperature: -25 ~ 75 ℃.
z Storage Temperature: -35 ~ 80 ℃.
z Humidity: 10 to 90% RH, Non-condensing.
z Dimensions: 32.5 mm x 110 mm x 102 mm (W x L x H) Detail.
CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------ 5
1.3 Features
z Standard CANopen general I/O slave devices.
z CANopen Version: DS-301, v4.02.
z Device Profile: DSP-401, v2.1
z Support I/O pair-connection mechanism.
z Provide normal/polarity 8 DI channels and 8 DO channels
z CANopen transfer rate: 10 kbps, 20 kbps, 50 kbps, 125 kbps, 250
kbps, 500 kbps, 800 kbps, 1000 kbps.
z Support maximum CANopen slave devices Node-ID up to 99.
z Set Node-ID 0 for firmware update (after version 1.50-20111227).
Firmware updates tools: I-7530 series, I-7540D series, I-7565
series, PISO-CM100 series, and PISO-CAN series.
z Support NMT, PDO, SDO, EMCY, SYNC, Guarding, and Heartbeat
protocol.
z Pass the validation of CANopen conformance test
z Provide EDS file for CANopen master interface
1.4 Application
Figure 1-2 Application Structure
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2 Hardware
2.1 Structure
Figure 2-1 (Top View) Figure 2-2 (Bottom View)
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2.2 Node ID & Baud Rate Rotary Switch
The rotary switches of node ID configure the node ID of CAN-2054C
module. These two switches are for the tens digit and the units digit of the
node ID. The node ID value of this demo picture is 32.
Figure 2-3 Node ID rotary switch
The rotary switch of baud rate handles the CAN baud rate of CAN-2054C
module. The value of baud rate switch from 0 ~ 7 are normal CANopen mode,
and 8 ~ F are I/O pair-connection mode. About the I/O pair-connection mode
please refer to section 2.3. The relationship between the rotary switch value
and the practical baud rate is presented in the following table.
Figure 2-4 Baud rate rotary switch
Rotary Switch Value
Rotary Switch Value of
I/O Pair-connection
Baud Rate (k bps)
0 8 10
1 9 20
2 A 50
3 B 125
4 C 250
5 D 500
6 E 800
7 F 1000
Table 2-1
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