CANopen Slave Device
CAN-2084C
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 @2019 is reserved by ICP DAS.
Trademark
The names used for identification only may be registered trademarks
of their respective companies.
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 1
Table of Contents
1. Introduction .......................................................................................................... 3
1.1 Overview ........................................................................................... 3
1.2 Features ............................................................................................ 5
1.3 Hardware Specifications .................................................................. 5
1.4 Application ........................................................................................ 7
2. Hardware ............................................................................................................... 8
2.1 Structure............................................................................................ 8
2.2 Node ID & Baud Rate Rotary Switch ............................................... 9
2.3 LED Description .............................................................................. 10
2.4 PIN Assignment .............................................................................. 11
2.5 Wire Connection ............................................................................. 12
2.6 Input Signal Model .......................................................................... 13
2.7 Digital Low Pass Filter ................................................................... 14
2.8 Counter Mode ................................................................................. 16
2.8.1 Mode 0: Dir/Pulse Counting ............................................................ 16
2.8.2 Mode 1: Up/Down Counting ............................................................ 16
2.8.3 Mode 2: Frequency Mode ............................................................... 17
2.8.4 Mode 3: Up Counting ................................................................ ...... 18
2.8.5 Mode 4: Quadrant Counting ........................................................... 18
3. Application .......................................................................................................... 19
3.1 Object Dictionary ............................................................................ 19
3.2 Store and Restore Object ............................................................... 25
3.3 Application Object .......................................................................... 26
3.4 Default PDO Mapping ..................................................................... 33
3.5 EMCY Communication ................................................................... 34
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 2
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-2084C is a CANopen slave which follows the CiA 301
version 4.02. The CAN-2084C is a 4/8-channel Counter/Frequency
module that provides “Up Counter”, "Frequency”, “Up/Down Counter”,
“Dir/Pulse Counter” and “A/B Phase Counter” modes. It provides a variety
of measurement applications, such as measuring a number of timerelated quantities, counting events or totalizing and monitoring position
with quadrature encoders. In addition, a digital filter is used to eliminate
the effects of noise. Users can obtain those data or configure the CAN2084C via the standard CANopen protocol. In order to be fully compatible
with other CANopen devices, the CAN-2084C has passed the validation
of the CiA CANopen Conformance Test tool. Therefore, it is very easy to
integrate the CAN-2084C 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.
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 3
Figure 1-1 CAN-2084C
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 4
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
Digital Input
Mode
4-channel Up/Down Counter (Up/Down)
4-channel Dir/Pulse Counter (Bi-direction)
4-channel Quadrant Counting
8-channel Up Counter
8-channel Frequency
Programmable Digital Noise Filter: 1 to 32767 µs
Isolated Input
Level
Logic Level 0: +1 V Max.
Logic Level 1: +4.5 to +30 V
TTL Input
Level
Logic Level 0: 0 to +0.8 V
Logic Level 1: 2 to +5 V
Minimum
Pulse Width
2μs
Input
Frequency
1 Hz ~ (typically) 250 kHz for both counter and frequency mode, where 250 kHz is calculated as follows:
supposed that the duty cycle = 50%, by referring to the Minimum Pulse Duration of the High Level, the pulse
period will be 2 μs x 2 = 4 μs, which is 250 kHz as a maximum.
Maximum Frequency:
Refer to the Minimum Pulse Duration of the High Level, the maximum frequency is highly affected by the duty
cycle
Frequency Accuracy = ±0.4%
EEPROM
128KB
1.2 Features
NMT Slave
Guarding or Heartbeat Error Control protocols
Supports Dynamic PDO
Provide the EDS file
ESD Protection 4 KV Contact for each channel
Verifies by the CiA CANopen Conformance Test tool
1.3 Hardware Specifications
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 5
Isolated
Voltage
1000Vrms
Hardware
ESD
Protection
4 kV (Contact for each Channel)
LED
CANopen
Status
3 LEDs to PWR, RUN and ERR
Terminal
Resister
1 LED to terminal resister indicator
Digital Input
8 LEDs as Digital Input Indicators
Power
Power Supply
Unregulated +10 ~ +30 VDC
Power
Consumption
1.5 W
Mechanism
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
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 6
1.4 Application
Counting events or totalizing
Detecting frequency
Monitoring position or speed with quadrature encoder
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 7
2. Hardware
2.1 Structure
(Top View)
(Bottom View)
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 8
Rotary Switch Value
Baud rate (k BPS)
0
10 1 20
2
50
3
125
4
250
5
500
6
800
7
1000
2.2 Node ID & Baud Rate Rotary Switch
The rotary switches for node ID configure the node ID of the CAN-2084C
module. These two switches are for the tens digit and the units digit of node ID. The
node ID value of this demo picture is 32.
The rotary switch for baud rate handles the CAN baud rate of the CAN2084C module. The relationship between the rotary switch value and the practical
baud rate is presented in the following table.
Baud rate and rotary switch
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 9
LED Signal
State
Description
No Light
Non-power
Power Supply is not ready
Single Flash
Stopped
The device is in Stopped state
Blinking
Pre-operation
The device is in the preoperation state
Continuing Light
Operation
The device is in the operational
state
LED Signal
State
Description
No Light
Non error
Device is in working condition
Single Flash
Error Warning
At least one error of the CAN
controller has occurred
Blinking
Guarding fail
Guard event happened
Continuing Light
Bus Off
The CAN controller is bus off
2.3 LED Description
Power LED
The CAN-2084C needs a 10V~30VDC power supply. Under a normal
connection, a good power supply and a correct voltage selection, as the unit it turned
on, the LED will light up in red.
Run LED
The Run LED indicates the CANopen operation state. The description of the
LED state is shown below. About the details, please refer to the section 2.3.1 of the
CAN-2000C user manual.
Error LED
The Error LED indicates the CANopen error state. The description of the
LED state is shown below. About the details, please refer to the section 2.3.2 of the
CAN-2000C user manual.
Terminal Resistor LED
When the switch of the 120Ω terminal resistor is turned on, the terminal
resistor LED will be lightening.
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 10
2.4 PIN Assignment
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 11
2.5 Wire Connection
The CAN-2084C has two kind of inputs, isolated and non-isolated (TTL) for different
input signals. Users can switch jumper setting on the CAN-2084C board for
appropriate signal. These jumpers are located within JP1~JP8. The jumper settings
are listed in the following table. The isolated input is set by default.
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 12
2.6 Input Signal Model
Isolated Input (XOR=0)
The operational logic applied on CAN-2084C modules is a falling edge trigger.
(Normal High and Active Low) The external signal is input into a CAN-2084C
module through the isolation mechanism, with the signal being reversed from the
external signal. This internal signal is the suggested waveform, as the XOR
operation (XOR=0) doesn’t need to be executed.
The solution is shown below.
TTL Input (XOR=1)
When an external TTL signal is input into a CAN-2084C module through the TTL
mechanism, the signal will be the same as the external signal. This internal signal
isn’t the recommended waveform as the exclusive OR (XOR=1) operation must be
executed to invert the waveform.
The solution is shown below
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 13
2.7 Digital Low Pass Filter
The CAN-2084C includes three independent 2nd-order digital noise filters that can be
used to remove noise, and are implemented as follows:
The Low Pass Filter can be set to either enabled or disabled. The width of the
Low Pass Filter is programmable and can be set within a range from 1 µs to
32767 µs.
The Low Pass Filter can be applied to all working modes, both counter and
frequency.
All three Low Pass Filters are disabled by default when the module is shipped.
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 14
Refer to the following table for details of how to set the Low Pass Filter:
An example is illustrated in the following figure:
In this example, H < T and the high width of the input signal < the period of the filtering
clock, and so the signal will be filtered.
Supposed T = 1 ms, that is the filtering clock has a frequency of 1 kHz. Now, if the
duty cycle of the input signal is 50%, that is the high width is equal to the low width,
then:
H < T ➙ H < 1 ms
➙ input signal period < 2 ms (duty cycle = 50%)
➙ input frequency > 500 Hz,
Consequently, the input signal will be filtered.
Now, if the duty cycle of the input signal is 25%, that is the low width is three
times the high width, then:
H < T ➙ H < 1 ms
➙ Input signal period < 4 ms (duty cycle = 25%)
➙ Input frequency > 250 Hz,
Consequently, the input signal will be filtered.
Similarly, the maximum period of the filtering clock can be calculated to allow the input
signal to be passed using the formula H > 2T.
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 15
2.8 Counter Mode
2.8.1 Mode 0: Dir/Pulse Counting(Bi-direction)
When InB0 is used as Dir:
If InB0 is Low, counter will be increased by one for every falling edge of InA0.
If InB0 is High, counter will be decreased by one for every falling edge of InA0.
2.8.2 Mode 1: Up/Down Counting
When InA0 is used as an UP_clock and InB0 is used as a DOWN_clock, counter_0
will be increased by one for every falling edge of InA0 and decreased by one for every
falling edge of InB0.
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 16
2.8.3 Mode 2: Frequency Mode
We calculate frequency of a certain channel by how many counts in a period of time.
There are two modes: Normal Mode and High Speed Mode for measurement
frequency
Normal Mode:
Normal Mode will read 1 pulse, this pulse will be calculated frequency value.
High Speed Mode:
High Speed Mode will read 11 pulses to calculate average value of those 11
pluses.
High Speed Mode will be more accuracy than Normal mode for measurement
Frequency. We suggest using High Speed Mode if measurement frequency is more
than 10k Hz.
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 17
2.8.4 Mode 3: Up Counting
Counter_0 will be incremented by one for every falling edge of InA0
2.8.5 Mode 4: Quadrant Counting(A/B Phase)
When InA0 is used as an A signal and InB0 is used as a B signal:
Counter_0 will be increased by one when the InA0 phase leads by 90 degrees to
InB0.
Counter_0 will be decreased by one when the InA0 phase lags by 90 degrees to
InB0.
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 18
Idx
Sidx
Description
Type
Attr
Default
1000h
0h
device type
UNSIGNED 32
RO
---
1001h
0h
error register
UNSIGNED 8
RO
---
1003h
0h
largest sub-index supported for
“predefine error field”
UNSIGNED 8
RO
0h
1h
actual error (the newest one)
UNSIGNED 32
RO
---
…
… … …
---
5h
actual error (the oldest one)
UNSIGNED 32
RO
---
1005h
0h
COB-ID of Sync message
UNSIGNED 32
RW
80h
1008h
0h
manufacturer device name
VISIBLE_STRING
RO
1009h
0h
manufacturer hardware version
VISIBLE_STRING
RO
---
100Ah
0h
manufacturer software version
VISIBLE_STRING
RO
---
100Ch
0h
guard time
UNSIGNED 16
RW
0
100Dh
0h
life time factor
UNSIGNED 8
RW
0
1010h
0h
largest subindex supported
UNSIGNED 8
RO
1
1010h
1h
save all parameters
UNSIGNED 32
RW
0
1011h
0h
largest subindex supported
UNSIGNED 8
RO
1
1011h
1h
restore all default parameters
UNSIGNED 32
RW
0
1014h
0h
COB-ID of EMCY
UNSIGNED 32
RW
80h+Node-ID
1015h
0h
Inhibit time of EMCY
UNSIGNED 16
RW
0
1017h
0h
Heartbeat time
UNSIGNED 16
RW
0
1018h
0h
largest sub-index supported for
“identity object”
UNSIGNED 8
RO
4
1h
vender ID
UNSIGNED 32
RO
0x0000013C
2h
Produce Code
UNSIGNED 32
RO
0x00002026
3h
Revision_number
UNSIGNED 32
RO
0x00030001
4h
Serial_number
UNSIGNED 32
RO
0x6cd3683c
3. Application
3.1 Object Dictionary
General Communication Entries
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 19
Idx
Sidx
Description
Type
Attr
Default
1200h
0h
largest sub-index supported
for “server SDO parameter”
UNSIGNED 8
RO 2
1h
COB-ID form client to server
(RxSDO)
UNSIGNED 32
RO
600h+Node-ID
2h
COB-ID form server to client
(TxSDO)
UNSIGNED 32
RO
580h+Node-ID
Idx
Sidx
Description
Type
Attr
Default
1400h
0h
Number of entries
UNSIGNED 8
RO 2
1h
COB-ID used by RxPDO
UNSIGNED 32
RW
200h+Node-ID
2h
Transmission type
UNSIGNED 8
RW
FFh
1401h
0h
Number of entries
UNSIGNED 8
RO 2
1h
COB-ID used by RxPDO
UNSIGNED 32
RW
300h+Node-ID
2h
Transmission type
UNSIGNED 8
RW
FFh
1402h
0h
Number of entries”
UNSIGNED 8
RO 2
1h
COB-ID used by RxPDO
UNSIGNED 32
RW
400h+Node-ID
2h
Transmission type
UNSIGNED 8
RW
FFh
1403h
0h
Number of entries
UNSIGNED 8
RO 2
1h
COB-ID used by RxPDO
UNSIGNED 32
RW
500h+Node-ID
2h
Transmission type
UNSIGNED 8
RW
FFh
1404h
0h
Number of entries
UNSIGNED 8
RO 2
1h
COB-ID used by RxPDO
UNSIGNED 32
RW
C0000000h
2h
Transmission type
UNSIGNED 8
RW
---
…
… … … … …
1409h
0h
Number of entries
UNSIGNED 8
RO 2
1h
COB-ID used by RxPDO
UNSIGNED 32
RW
C0000000h
2h
Transmission type
UNSIGNED 8
RW
---
Idx
Sidx
Description
Type
Attr
Default
1600h
0h
Number of entries
UNSIGNED 8
RW
0
1601h
0h
Number of entries
UNSIGNED 8
RW
0
1602h
0h
Number of entries
UNSIGNED 8
RW 0 …
… … … … …
1609h
0h
Number of entries
UNSIGNED 8
RW
0
SDO Communication Entries
RxPDO Communication Entries
RxPDO Mapping Communication Entries
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 20
Idx
Sidx
Description
Type
Attr
Default
1800h
0h
Number of entries
UNSIGNED 8
RO 5
1h
COB-ID used by TxPDO
UNSIGNED 32
RW
180h+Node-ID
2h
Transmission type
UNSIGNED 8
RW
FFh
3h
Inhibit time
UNSIGNED 16
RW 0
4h
Reversed
---
---
---
5h
Event timer
UNSIGNED 16
RW
0
1801h
0h
Number of entries
UNSIGNED 8
RO 5
1h
COB-ID used by TxPDO
UNSIGNED 32
RW
280h+Node-ID
2h
Transmission type
UNSIGNED 8
RW
FFh
3h
Inhibit time
UNSIGNED 16
RW 0
4h
Reversed
---
---
---
5h
Event timer
UNSIGNED 16
RW
0
1802h
0h
Number of entries
UNSIGNED 8
RO 5
1h
COB-ID used by TxPDO
UNSIGNED 32
RW
380h+Node-ID
2h
Transmission type
UNSIGNED 8
RW
FFh
3h
Inhibit time
UNSIGNED 16
RW
0
4h
Reversed
---
---
---
5h
Event timer
UNSIGNED 16
RW
0
1803h
0h
Number of entries
UNSIGNED 8
RO
5
1h
COB-ID used by TxPDO
UNSIGNED 32
RW
480h+Node-ID
2h
Transmission type
UNSIGNED 8
RW
FFh
3h
Inhibit time
UNSIGNED 16
RW 0
4h
Reversed
---
---
---
5h
Event timer
UNSIGNED 16
RW
0
1804h
0h
Number of entries
UNSIGNED 8
RO 5
1h
COB-ID used by TxPDO
UNSIGNED 32
RW
80000000h
2h
Transmission type
UNSIGNED 8
RW
FFh
3h
Inhibit time
UNSIGNED 16
RW 0
4h
Reversed
---
---
---
5h
Event timer
UNSIGNED 16
RW 0 …
… … … … …
1809h
0h
Number of entries
UNSIGNED 8
RO 5
1h
COB-ID used by TxPDO
UNSIGNED 32
RW
80000000h
2h
Transmission type
UNSIGNED 8
RW
FFh
3h
Inhibit time
UNSIGNED 16
RW
0
4h
Reversed
… … …
5h
Event timer
UNSIGNED 16
RW
0
TxPDO Communication Entries
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 21
Idx
Sidx
Description
Type
Attr
Default
1A00h
0h
Number of entries
UNSIGNED 8
RO
0
1A01h
0h
Number of entries
UNSIGNED 8
RO 2
1h
Read Counter value 1h
UNSIGNED 32
RW
3000 0120h
2h
Read Counter value 2h
UNSIGNED 32
RW
3000 0220h
1A02h
0h
Number of entries
UNSIGNED 8
RO 2
1h
Read Counter value 3h
UNSIGNED 32
RW
3000 0320h
2h
Read Counter value 4h
UNSIGNED 32
RW
3000 0420h
1A03h
0h
Number of entries
UNSIGNED 8
RO 2
1h
Read Counter value 5h
UNSIGNED 32
RW
3000 0520h
2h
Read Counter value 6h
UNSIGNED 32
RW
3000 0620h
1A04h
0h
Number of entries
UNSIGNED 8
RO 2
1h
Read Counter value 7h
UNSIGNED 32
RW
3000 0720h
2h
Read Counter value 8h
UNSIGNED 32
RW
3000 0820h
1A05h
0h
Number of entries
UNSIGNED 8
RO 0 …
.. … … … …
1A09h
0h
Number of entries
UNSIGNED 8
RO
0
Idx
Sidx
Description
Type
Attr
Default
2004h
0h
Number of entries
UNSIGNED 8
RO
3h
1h
Counter channel 0
UNSIGNED 8
RW
3h
… … …
… …
6h
Counter channel 5
UNSIGNED 8
RW
3h
7h
Counter channel 6
UNSIGNED 8
RW
3h
8h
Counter channel 7
UNSIGNED 8
RW
3h
Type Code
Input Type
Number of counter sets
00
Dir/Pulse Counting Mode
4
01
Up/Down Counting Mode
4
02
Frequency Mode
8
03 (Default)
Up Counting Mode
8
Note: The unit of “Inhibit time” is 100 us.
TxPDO Mapping Communication Entries
Counter Type Entry
Note: If user want to use Dir/Pulse, Up/Down or Quadrant Mode, user must set
the paired channels in the same mode. For example, user use first set as
Up/Down Counter, user need to set Channel 0 and Channel 1 into
Up/Down Counting mode.
Counter Type
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 22
04
Quadrant Counting Mode
4
Idx
Sidx
Description
Type
Attr
Default
3000h
0h
Number of entries
UNSIGNED 8
RO
8h
1h
Channel 0 counter value
UNSIGNED 32
RO 0
… … …
… …
8h
Channel 7 counter value
UNSIGNED 32
RO
0
Idx
Sidx
Description
Type
Attr
Default
3001h
0h
Number of entries
UNSIGNED 8
RO
8h
1h
Channel 0 overflow value
UNSIGNED 32
RO 0
… … …
…
…
8h
Channel 7 overflow value
UNSIGNED 32
RO
0
Idx
Sidx
Description
Type
Attr
Default
3002h
0h
Number of entries
UNSIGNED 8
RO
8h
1h
Clear Channel 0 counter value
UNSIGNED 8
WO
---
… … …
… …
8h
Clear Channel 7 counter value
UNSIGNED 8
WO
---
Idx
Sidx
Description
Type
Attr
Default
3003h
0h
Number of entries
UNSIGNED 8
RO
8h
1h
Channel 0 Edge type
UNSIGNED 32
RW 0
… … …
… …
8h
Channel 7 Edge type
UNSIGNED 32
RW
0
Type Code
Edge Type
0 (default)
Falling
1
Rising
Idx
Sidx
Description
Type
Attr
Default
3004h
0h
Number of entries
UNSIGNED 8
RO
8h
1h
Channel 0 Frequency mode
UNSIGNED 32
RW 0
… … …
…
…
Counter Value Entry
Overflow Value Entry
Clear Counter Value Entry
Edge Type Entry
Edge Type
Frequency Mode Entry
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 23
8h
Channel 7 Frequency mode
UNSIGNED 32
RW
0
Type Code
Frequency Mode
0 (default)
Normal mode
1
High speed mode
Idx
Sidx
Description
Type
Attr
Default
3005h
0h
Number of entries
UNSIGNED 8
RO
8h
1h
Channel 0 frequency time out value
UNSIGNED 16
RW
0BB8h
… … …
…
…
8h
Channel 7 frequency time out value
UNSIGNED 16
RW
0BB8h
Idx
Sidx
Description
Type
Attr
Default
3006h
0h
Number of entries
UNSIGNED 8
RO
8h
1h
Channel 0 Low pass filter
UNSIGNED 8
RW 0
… … …
… …
8h
Channel 7 Low pass filter
UNSIGNED 8
RW
0
Idx
Sidx
Description
Type
Attr
Default
3007h
0h
Number of entries
UNSIGNED 8
RO
8h
1h
Channel 0 Low pass filter period
UNSIGNED 16
RW 1
… … …
… …
8h
Channel 7 Low pass filter period
UNSIGNED 16
RW
1
Note: When user set 2004 to 02(Frequency mode), user can use 3004
to determine which mode you want
Frequency Mode
Frequency Time Out Value Entry
Note:
Frequency time out value:
Default: 0xBB8 (3000ms)
Range: 0x0 ~ 0xFFFF
For example:
To measure 1k Hz frequency.
In normal mode, only needs 1 ms to update frequency value.
In High Speed mode, it will measure 11 times (necessary 1ms*11=11ms) and
calculate frequency value.
Low Pass Filter Entry
Note: 0 = Disable , 1 = Enable
Low Pass Filter Period Entry
Note: Time Range: 1μs ~ 32767μs
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 24
Idx
Sidx
Description
Type
Attr
Default
3008h
0h
Number of entries
UNSIGNED 8
RW
8h
1h
Channel 0 input signal type
UNSIGNED 8
RW 1
… … …
… …
8h
Channel 7 input signal type
UNSIGNED 8
RW
1
Index
Subindex
Description
Factory
Default
2004h
1~8
Counter type code for channel 0 ~ 7
03h
3000h
1~8
Counter value
0
3001h
1~8
Overflow value
0
3002h
1~8
Clear counter value
--
3003h
1~8
Edge mode
0
3004h
1~8
Frequency mode
0
3005h
1~8
Frequency time out value
BB8h
3006h
1~8
Low pass filter
0
3007h
1~8
Low pass filter time
1
3008h
1~8
Input signal model
1
Input Signal Model Entry
Note: 0 = TTL , 1 = Isolated (default)
3.2 Store and Restore Object
The user can write the value 65766173h to object with index 1010h and
subindex 1 to save the application setting, or write the value 64616F6Ch to the object
with index 1011h and subindex 1 and reboot the module to load the factory default.
The following table lists the relative objects which will be stored or restored after
writing these two objects. The factory default for these objects is also shown below:
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 25
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1 0 8
2F
04
20
01
01
00
00
00
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1 0 8
60
04
20
01
--
--
--
--
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1 0 8
40
00
30
01
00
00
00
00
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
3.3 Application Object
Type code of CAN-2084C module (0x2004)
The user can read the object with index 2004h and subindex 1~8 to get the
Counter type of the channel 0~7. If the user wants to change the Counter type,
write the type code to the object with index 2004h and subindex 1~8. For
example, if the node ID of CAN-2084C is 1, the following command would be
used:
Counter Value (0x3000)
Reading the object with index 3000h and subindex 1~8 to get the Counter
value of the channel 0~7.
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 26
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1 0 8
43
00
30
01
00
00
00
00
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1 0 8
40
01
30
01
00
00
00
00
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1 0 8
43
01
30
01
00
00
00
00
11-bit COB-ID (bit)
RTR
Data
8-byte Data (byte)
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
Overflow value (0x3001)
Reading the object with index 3001h and subindex 1~8 to get the Overflow
value of the channel 0~7.
Clear Counter Value (0x3002)
This object is used to clear the channels counter value and it’s write only.
For example, if the node ID of the CAN-2084C is 1, the commands are as
follows:
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 27
Func Code
Node ID
Length
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1 0 8
2F
02
30
01
00
00
00
00
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1 0 8
60
02
30
01
---
---
---
---
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1 0 8
2F
03
30
01
01
00
00
00
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1 0 8
60
03
30
01
---
---
---
---
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
If Data0 is 60, that means the CAN-2084C writes data successfully.
If Data0 is 80, that means it fails.
Select Edge Mode (0x3003)
This object can be used to select the detecting method of counter. There are
three modes can be selected, falling, rising, or both.
For example, if the node ID of CAN-2084C is 1, the commands are shown
below:
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 28
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1 0 8
2F
04
30
01
01
00
00
00
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1 0 8
60
04
30
01
---
---
---
---
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
If Data0 is 60, that means the CAN-2084C writes data successfully.
If Data0 is 80, that means it fails.
Select Frequency Mode (0x3004)
This object can be used to select the frequency mode. There are two modes
can be selected, normal mode and High speed mode. Note: If user doesn’t
choose frequency mode in object 0x2004, 0x3004 make no difference to CAN2084C module.
For example, if the node ID of CAN-2084C is 1, the commands are shown
below:
If Data0 is 60, that means the CAN-2084C writes data successfully.
If Data0 is 80, that means it fails.
Set Frequency Time Out Value (0x3005)
User can use this object to set the frequency time out value. The default
value is 0xBB8(3000ms) and the range is from 0x0 to 0xFFFF(65535ms). Note:
If user doesn’t choose frequency mode in object 0x2004, 0x3005 make no
difference to CAN-2084C module.
For example, if the node ID of CAN-2084C is 1, the commands are shown
below:
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 29
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1 0 8
2B
05
30
01
FF
FF
00
00
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1 0 8
60
05
30
01
---
---
---
---
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1 0 8
2F
06
30
01
01
00
00
00
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1 0 8
60
06
30
01
---
---
---
---
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
If Data0 is 60, that means the CAN-2084C writes data successfully.
If Data0 is 80, that means it fails.
Turn On/Off Low Pass Filter (0x3006)
User can use this object to turn on/off the low pass filter of channel0~7.
For example, if the node ID of CAN-2084C is 1, the commands are shown
below:
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 30
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1 0 8
2B
07
30
01
FF
7F
00
00
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1 0 8
60
07
30
01
---
---
---
---
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
If Data0 is 60, that means the CAN-2084C writes data successfully.
If Data0 is 80, that means it fails.
Set Low Pass Filter Time (0x3007)
User can use this object to set the low pass filter time of channel0~7. The
default value is 1μs, and the range is 1μs ~32767μs(0x01~0x7FFF).
For example, if the node ID of CAN-2084C is 1, the commands are shown
below:
If Data0 is 60, that means the CAN-2084C writes data successfully.
If Data0 is 80, that means it fails.
Set Input Signal Model (0x3008)
User can use this object to get channel0~7 into isolated or non-isolated(TTL)
model.
For example, if the node ID of CAN-2084C is 1, the commands are shown
below:
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 31
1 1 0 0 0 0 0 0 0 0 1 0 8
2F
08
30
01
01
00
00
00
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1 0 8
60
08
30
01
---
---
---
---
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1 0 8
2F
00
21
01
01
00
00
00
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1 0 8
60
00
21
01
--
--
--
--
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
If Data0 is 60, that means the CAN-2084C writes data successfully.
If Data0 is 80, that means it fails.
Set Module to Operation Mode when powering on (0x2100)
This object 0x2100 with subindex 1 defines if the module will enter operation
mode automatically when powering on.
For example, if the node id of CAN-2084C is 1, the commands are as below:
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 32
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1 0 8
23
10
10
01
73
61
76
65
11-bit COB-ID (bit)
RTR
Data
Length
8-byte Data (byte)
Func Code
Node ID
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1 0 8
60
10
10
01
--
--
--
--
ID
Led
D0
D1
D2
D3
D4
D5
D6
D7
180h+x
0
Reserved
280h+x
0
Counter Value ch0
Counter Value ch1
380h+x
0
Counter Value ch2
Counter Value ch3
480h+x
0
Counter Value ch4
Counter Value ch5
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
SDO server
(CAN-2084C)
SDO client
Write object index 0x2100 with subindex 1 to 0x01 then store the setting as below.
Module will enter operation mode when powering on.
3.4 Default PDO Mapping
TxPDO mapping list:
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 33
Byte
0 1 2 3 4 5 6 7 Content
Emergency Error code
Error register
Manufacturer specific Error Field
Bit
Meaning
0
Generic error
1
Current
2
Voltage
3
Temperature
4
Communication error (Overrun, error state)
5
Device profile specific
6
Reserved (Always 0)
7
Manufacturer specific
Emergency
Error Code
Error
Register
Manufacture Specific Error Field
Description
High
Byte
Low
Byte
First
Byte
Last Four Bytes
00
00
00
00
00 00 00 00
Error Reset or No Error
10
00
81
01
00 00 00 00
CAN controller Error Occur
50
00
81
02
00 00 00 00
EEPROM Access Error
81
01
11
04
00 00 00 00
Soft Rx Buffer Overrun
81
01
11
05
00 00 00 00
Soft Tx Buffer Overrun
81
01
11
06
00 00 00 00
CAN controller Overrun
81
30
11
07
00 00 00 00
Lift Guarding Fail
81
40
11
08
00 00 00 00
Recover From Bus Off
82
10
11
09
00 00 00 00
PDO Data Length Error
FF
00
80
0A
00 00 00 00
Request To Reset Node or
Communication
FF
00
2E
0B
00 00
Upper limit
alarm
00 00
Lower limit
alarm
Upper/Lower limit alarm for
Each channel
3.5 EMCY Communication
The data format of the emergency object data follows the structure below.
Each bit on the error register is defined as follows.
The Emergency error codes and the error register are specified in the following
table.
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 34
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 35
CAN-2084C User’s Manual (Version 1.00, Sep/2018) ------------- 36
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