ICPDAS CAN-2084C Application User's Manual
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
Loading...