ICPDAS CAN-2054D User Manual

Download

DeviceNet Slave Device

CAN-2054D

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.

Trademark

The brand name ICP DAS as a trademark is registered, and can be used by other authorized companies.

CAN-2054D User’s Manual (v1.10, April/2015)

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 LED Description ............................................................................. 8

2.4 PIN Assignment ........................................................................... 10

2.5 Wire Connection .......................................................................... 11

3 DeviceNet Profile Area ......................................................................... 12

3.1 DeviceNet Statement of Compliance .......................................... 12

3.2 Identity Object (Class ID: 0x01) .................................................. 13

3.3 Connection Object (Class ID:0x05) ............................................ 14

3.4 Assembly Object (Class ID: 0x04) .............................................. 15

3.5 Application Object1 (Class ID: 0x64).......................................... 17

4 Application ............................................................................................ 19

Appendix A: Dimension ............................................................................... 21

CAN-2054D User’s Manual (v1.10, April/2015)

1 Introduction

1.1 Overview

DeviceNet is one kind of the network protocols based on the CAN bus and mainly used for the embedded network of the 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.

The CAN-2054D follows DeviceNet specification Volume I/II, Release 2.0. User can access the digital I/O status and set the configuration via DeviceNet EDS file. This module has 8-channel isolated sink/source input and 8-channel isolated sink output. It can be applied to various applications, such as PNP, NPN, TTL, relay contact and so forth. By owing to the DeviceNet masters of ICP DAS, you can quickly build a DeviceNet network to approach your requirements.

CAN-2054D User’s Manual (v1.10, April/2015)

1.2 Hardware Specifications

Digital Output:

 Output Channels: 8 (Sink)

 DO Load Voltage: +5 ~ +30 VDC

 Output Max Load Current: 700 mA per channel.

 Output Type: Open Collector.

 Intra-module Isolation: 3750 Vrms

 ESD Protection: 4 kV Contact for each channel

Digital Input:

 Input Channels: 8 (Sink/Source).

 DI On Level: +3.5 ~ +30 VDC.

 DI Off Level: +1VDC Max.

 Input Impedance: 3 kΩ, 0.3 W.

 Intra-module Isolation: 3750 Vrms

 ESD Protection: 4 kV Contact for each channel

Others:

 DeviceNet Status: 3 LEDs for PWR / NET / MOD.

 Terminator Resister: 1 LED as terminator resister indicators

 DI LED: 8 LEDs as digital input indicators.

 DO LED: 8 LEDs as digital output indicators.

 Power Supply: Unregulated +10 ~ +30 VDC.

 Power Consumption: 1.5 W.

 Operating Temperature: -25 ~ 75 ℃.

 Storage Temperature: -30 ~ 80 ℃.

 Humidity: 10 to 90% RH, Non-condensing.

 Dimensions: 32.3 mm x 99 mm x 77.5 mm (W x L x H) Detail.

CAN-2054D User’s Manual (v1.10, April/2015)

1.3 Features

 DeviceNet general I/O slave devices.

 Comply with DeviceNet specification Volume I, Release 2.0 &

Volume II, Release 2.0, Errata 5

 Group 2 Only Server (non UCMM-capable)

 Support Predefined Master/Slave Connection Set

 Connection supported:

1 connection for Explicit Messaging 1 connection for Polled I/O 1 connection for Bit-Strobe I/O connection

 Support DeviceNet heartbeat and shutdown messages

 Provide EDS file for standard DeviceNet master interface.

 NET, MOD and PWR Led indictors

1.4 Application

CAN-2054D User’s Manual (v1.10, April/2015)

2 Hardware

(Top View)

(Bottom View)

2.1 Structure

CAN-2054D User’s Manual (v1.10, April/2015)

2.2 Node ID & Baud Rate Rotary Switch

Rotary Switch Value

Baud rate (kbps)

125

250

500

The rotary switches of node ID configure the node ID of CAN-2054D 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.

Node ID rotary switch

The rotary switch for baud rate handles the CAN baud rate of CAN-2054D module. The relationship between the rotary switch value and the practical baud rate is presented in the following table.

Baud rate rotary switch

CAN-2054D User’s Manual (v1.10, April/2015)

2.3 LED Description

condition

status

indicates

Init Off

Off line

Device is not online

Off

Connection timeout

I/O connection timeout

Flashing

On line

Device is on line, but not communicating

Init solid

Link failed

(Critical) Device has detected an error that has rendered it incapable of communicating on the link; for example, detected a duplicate node address or network configuration error

Solid

On line, communicating

Device is online and communicating

condition

status

indicates

Off

Normal

Solid

Critical fault

Device has unrecoverable fault.

Flashing

Non_critical fault

Device has recoverable fault to recover. If users want to fix the problem, reconfiguring device’s MAC ID or resetting device may work.

PWR LED

The CAN-2054D needs the power of 10 ~ 30 VDC. Under a normal connection, a good power supply and a correct voltage selection, as the unit is turned on, the LED will light up in red.

NET LED

The NET LED indicates the current status of the DeviceNet communication link.

MOD LED

This LED provides the devices status. It indicates whether or not the device is operating properly.

CAN-2054D User’s Manual (v1.10, April/2015)

Terminal Resistor LED

When enable the 120Ω terminator resistor, the LED will be turned on.

DO LED

If the DO LED is turned on, it means that the corresponding DO channel is active.

DI LED

If the DI LED is turned on, it means that the channel of DI is receiving an ON-Voltage-Level digital signal.

CAN-2054D User’s Manual (v1.10, April/2015)

2.4 PIN Assignment

CAN-2054D User’s Manual (v1.10, April/2015)

2.5 Wire Connection

CAN-2054D User’s Manual (v1.10, April/2015)

3 DeviceNet Profile Area

Device Information

Description

Version Description of DeviceNet Specification

Volume I, Release 2.0 & Volume II, Release 2.0

Vendor Name

ICP DAS

Device Profile Name

CAN-2054D

Production Revision

1.1

Item

Description

LED Support

Yes

MAC ID Setting

Switch (0 ~ 63)

Default MAC ID

Communication Baud Rate Setting

Switch (125, 250, 500 kbps)

Default Baud Rate

125 kbps

Predefined Master/Slave Connection Set

Group 2 Only Server

This section describes the detailed functions for each object class that is implemented in the CAN-2054D DeviceNet network.

3.1 DeviceNet Statement of Compliance

General Device Data

DeviceNet Physical Conformance Data

CAN-2054D User’s Manual (v1.10, April/2015)

3.2 Identity Object (Class ID: 0x01)

Attribute ID

Attribute name

Data Type

Method

Value

0x01

Revision

UINT

Get

0001

0x02

Max Instance

UINT

Get

Service Code

Service name

Support

0x0E

Get_Attribute_Single

Yes

Attribute

Description

Method

DeviceNet Data

Type

Value 1

Vendor

Get

UINT

803 2 Product type

Get

UINT

0x00 3 Product code

Get

UINT

0x700

Major. Minor of firmware

version

Get

Struct of

USINT USINT

1.1

Status

Get

WORD

- 6 Serial number

Get

UDINT

1 7 Product name

Get

Short_String

CAN-2054D

Heartbeat Interval

Get/Set

USINT

0(default)

Service Code

Service name

Support

0x0E

Get_Attribute_Single

Yes

0x10

Set_Attribute_Single

Yes

0x05

Reset

Yes

This object provides the identification of and general information about the

device.

Class Attribute (Instance ID=0)

Class Service

Instance Attribute (Instance ID=1)

Instance Service

Note: Use the Instance Service 0x05 will reboot the device.

CAN-2054D User’s Manual (v1.10, April/2015)

3.3 Connection Object (Class ID:0x05)

Connection Path

Class ID

Instance ID

Attribute ID

Poll Produced

0x04

0x64

0x03

Poll Consumed

0x04

0x65

0x03

Bit Strobe Produced

0x04

0x64

0x03

Bit Strobe Consumed

0x04

0x65

0x03

Connection Instance ID

Description

References the Explicit Messaging Connection into the Server

References the Poll I/O Connection

References the Bit–Strobe I/O Connection

This section presents the externally visible characteristics of the Connection Objects associated with the Predefined Master/Slave Connection Set within slave devices.

The default IO connection path is as follow.

CAN-2054D User’s Manual (v1.10, April/2015)

3.4 Assembly Object (Class ID: 0x04)

Attribute ID

Attribute

name

Data Type

Method

Value

0x01

Revision

UINT

Get

0x02

Max Instance

UINT

Get

0x02

Service Code

Service name

Support

0x0E

Get_Attribute_Single

Yes

Instance ID

OUTPUT

INPUT

0x64

Get DI value

0x65

Set DO value

Get DO value

Instance

Description

Type

Method

Default

Value

0x64

Channel 0 ~ 7 DI value

USINT

Get

0x00 0x65

Channel 0 ~ 7 DO value

USINT

Get/Set

0x00

The Assembly Object binds attributes of multiple objects, which allows data to or from each object to be sent or received over a single connection. Assembly objects can be used to bind input data or output data. The terms of ”input” and ”output” are defined from the network’s point of view. An input will produce data on the network and an output will consume data from the network.

Class attribute (Instance ID=0)

Class service

Instance ID

Contents of Each Assembly Object Instance

CAN-2054D User’s Manual (v1.10, April/2015)

Parameter description of Assembly Object Instance

Instance

Data Range

Parameter Description

0x64

0x00 ~ 0xFF

Bit 0 => channel 0 DI value Bit 1 => channel 1 DI value … Bit 7 => channel 7 DI value

0x65

0x00 ~ 0xFF

Bit 0 => channel 0 DO value Bit 1 => channel 1 DO value … Bit 7 => channel 7 DO value

Attribute ID

Description

Method

DeviceNet Data Type

Value

0x03

Data

Get/Set

OUTPUT/

INPUT

Dependent on

instance ID

Service Code

Service name

Support

0x0E

Get_Attribute_Single

Yes

0x10

Set_Attribute_Single

Yes

Note: x is channel number of module

Instance attribute (Instance ID=0x64~0x65)

Instance service

CAN-2054D User’s Manual (v1.10, April/2015)

3.5 Application Object1 (Class ID: 0x64)

Attribute ID

Attribute

name

Data Type

Method

Value

0x01

Revision

UINT

Get

0x02

Max Instance

UINT

Get

0x06

Service Code

Service name

Support

0x0E

Get_Attribute_Single

Yes

Attribute

Description

Method

Data Type

Default

Value

0x01

DI value

Get

USINT

0x00

0x02

DO value

Get/Set

USINT

0x00

0x03

DO power on value

Get/Set

USINT

0x00

0x04

DO safe value mask

Get/Set

UDINT

0x00

0x05

DO safe value

Get/Set

USINT

0x00

0x06

Save all Configuration to EEPROM

Set

USINT

Application objects are the interfaces between an application and the DeviceNet Layer. The attributes of application Objects contain the data for the application, which are accessed and exchanged via DeviceNet. DeviceNet accesses application data by invoking read and write functions. These functions need to be provided by an Application Object. DeviceNet provides Get_Attribute_Single and Set_ Attribute_Single to read and write CAN-2054D module.

Application Object1 defines pulse output channels and digital input channels configuration.

Class attribute (Instance ID=0)

Class service

Instance attribute (Instance ID=0x01)

CAN-2054D User’s Manual (v1.10, April/2015)

Parameter description of Application Object1 attributes

Attribute

Data Range

Parameter Description

0x01

0x00 ~ 0xFF

Bit 0 => channel 0 DI value Bit 1 => channel 1 DI value … Bit 7 => channel 7 DI value

0x02

0x00 ~ 0xFF

Bit 0 => channel 0 DO value Bit 1 => channel 1 DO value … Bit 7 => channel 7 DO value

0x03

0x00 ~ 0xFF

Bit 0 => channel 0 DO power on value Bit 1 => channel 1 DO power on value … Bit 7 => channel 7 DO power on value

0x04

0x00 ~ 0xFF

Bit 0 => channel 0 DO safe value mask Bit 1 => channel 1 DO safe value mask … Bit 7 => channel 7 DO safe value mask

Bit value=1 => apply safe value setting Bit value=0 => apply DO output value

0x05

0x00 ~ 0xFF

Bit 0 => channel 0 DO safe value Bit 1 => channel 1 DO safe value … Bit 7 => channel 7 DO safe value

0x06

0x01: Use default configuration 0x02: Save all Configuration to EEPROM

0x01: After restarting the device, configuration will become factory setting. 0x02: Save all channels configuration into EEPROM

Service Code

Service name

Support

0x0E

Get_Attribute_Single

Yes

0x10

Set_Attribute_Single

Yes

Instance service

CAN-2054D User’s Manual (v1.10, April/2015)

4 Application

IDENTIFIER BITS

RTR

Data

Length

8-byte Data (byte)

(HEX)

Destination MAC ID

10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 0 0 0 0 0 1 1 0 0 0 6 0A

Master

Slave

(CAN-2054D)

IDENTIFIER BITS

RTR

Data

Length

8-byte Data (byte)

(HEX)

Source MAC ID

10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 0 0 0 0 0 1 0 1 1 0 2 0A

Master

Slave

(CAN-2054D)

Set the value 0xFF to the Application Object1 with Instance ID 0x01 and Attribute ID 0x02. After sending the “Set Attribute Single”, the slave device will response 0x90 to mean that the setting is OK. Then the DO4, DO5, DO6, and DO7 will be turned ON and others are turned OFF.

Application Object1 (Class ID:0x64) lists all the parameters of the module. Each Instance ID is corresponding to the different cahnnels. By using “Set/Get Attribute Single” service, user can read/write the parameters of each channel.

Example1:

Set DO output value. (Class ID: 0x64, Instance ID: 0x01, Attribute ID 0x02). If the node ID of the CAN-2054D is 1, and the master (ID: 0x0A) has completed “Explicit” connection with the device. By setting the value of Attribute ID 0x02 to 0xF0, you can set the DO4, DO5, DO6, and DO7 to turn ON and others to turn OFF.

Via changing the Attribute ID of the Application Object, user can set other parameters of this device.

CAN-2054D User’s Manual (v1.10, April/2015)

Example2:

IDENTIFIER BITS

RTR

Data

Length

8-byte Data (byte)

(HEX)

Destination MAC ID

10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 0 0 0 0 0 1 1 0 0 0 5 0A

Master

Slave

(CAN-2054D)

IDENTIFIER BITS

RTR

Data

Length

8-byte Data (byte)

(HEX)

Source MAC ID

10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 0 0 0 0 0 1 0 1 1 0 3 0A

Master

Slave

(CAN-2054D)

Get the value of Application Object1 with Instance ID 0x01 and Attribute ID 0x01. After sending the “Get Attribute Single”, the slave device response the DI data (0x0F) at byte 2. The value 0x0F means that the status of DI3, DI2, DI1 and DI0 are turned on and others are turned off.

Get DI data (Class ID: 0x64, Instance ID: 0x01, Attribute ID 0x01). If the node ID of the CAN-2054D is 1, and the master (id: 0x0A) has completed “Explicit” connection with the device. By getting the value of the object with attribute ID 0x01, you can get the channel 0 ~ 7 of the DI data.

By changing the Instance ID and Attribute ID of the Application Object, you can get other parameters of this device.

The Attribute 0x03 of Application Object1 can control the DO power on value of each channel. After setting this attribute, the DO channels will output DO power on value when booting up.

Attribute 0x04 and 0x05 of Application Object1 are used for safe value configuration when “Explicit Message Timeout” error occurs. When setting the channel selection value of the Attribute ID 0x04 to “0x1”, the safe value of Channel 0 will be active. If the value is set to 0x4, it means that the safe value of the channel 2 is active. Afterwards, you can configure the output safe value of this channel by setting the value of Attribute ID 0x05. When setting the Attribute ID 0x04 to “0x1” and Attribute ID 0x05 to “0x1”, the channel 0 will turn ON while the error occurs.

CAN-2054D User’s Manual (v1.10, April/2015)

Appendix A: Dimension

CAN-2054D User’s Manual (v1.10, April/2015)

ICPDAS CAN-2054D User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual