ICPDAS CAN-8124, CAN-8424, CAN-8224 User Manual

CAN-8124/CAN-8224/CAN-8424 User Manual

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CAN-8124/ CAN-8224/ CAN-8424

DeviceNet Slave Device

User Manual

Warranty

All products manufactured by ICP DAS are warranted
against 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 consequent
to 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 2007 by ICP DAS Co., LTD. All rights
reserved worldwide.

Trademark

The names used for identification only may be

registered trademarks of their respective companies.

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Table of Content

Chapter 1 Introduction........................................................................................4

1.1 Overview .....................................................................................................................4

1.2 Hardware Features.....................................................................................................6

1.3 CAN-8124/CAN-8224/CAN-8424 DeviceNet Features ..............................................7

1.4 Utility Feature .............................................................................................................7

Chatper 2 Hardware Specification..................................................................... 8

2.1 CAN-8124/CAN-8224 Hardware Structure ................................................................8

2.2 CAN-8424 Hardware Structure..................................................................................9

2.3 Wire connection .......................................................................................................10

2.4 PWR LED...................................................................................................................14

2.5 DeviceNet LED..........................................................................................................15

2.5.1 MOD LED..................................................................................................................... 15

2.5.2 NET LED...................................................................................................................... 16

2.6 NA and DR Rotary Switch........................................................................................17

2.7 Module Support........................................................................................................19

2.8 Application Flowchart..............................................................................................20

Chapter 3 DeviceNet System ........................................................................... 21

3.1 DeviceNet Introduction............................................................................................21

3.2 Predefined Master Slave Connection Set...............................................................25

3.2.1 Explicit Messages:........................................................................................................ 26

3.2.2 I/O Bit Strobe Messages:............................................................................................. 27

3.2.3 I/O Poll Messages:........................................................................................................ 28

3.2.4 I/O Change of State/Cyclic Messages:........................................................................ 29

3.3 EDS File.....................................................................................................................30

Chapter 4 DeviceNet Profile Area.................................................................... 32

4.1 DeviceNet Statement of Compliance......................................................................32

4.2 Identity Object (Class ID: 0x01)...............................................................................33

4.3 DeviceNet Object (Class ID:0x03)...........................................................................35

4.4 Assembly Object (Class ID: 0x04)...........................................................................37

4.5 Application Object (Class ID:0x64).......................................................................38

4.6 Connection Object (Class ID:0x05).........................................................................41

4.6.1 Explicit connection....................................................................................................... 42

4.6.2 Poll I/O connection....................................................................................................... 43

4.6.3 Bit–Strobe I/O Connection.......................................................................................... 44

4.6.4 Change of State or Cyclic I/O Connection (Acknowledge) ...................................... 45

4.6.5 Change of State or Cyclic I/O Connection (Unacknowledge).................................. 46

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Chapter 5 Configuration & Getting Started.....................................................48

5.1 CAN-8124/CAN-8224 Configuration Flowchart......................................................48

5.2 CAN-8424 Configuration Flowchart........................................................................49

5.3 CAN Slave Utility Overview .....................................................................................50

5.4 Configuration with the CAN Slave Utility ...............................................................51

5.5 CAN-8124/ CAN-8224 Configuration (Off-line mode).............................................57

5.6 CAN-8424 Configuration (On-line mode)................................................................66

Chapter 6 Components of Assembly objects................................................. 77

6.1 Components in the Assembly object......................................................................77

6.2 CAN-8424 Assembly Example.................................................................................79

6.3 CAN-8124/ CAN-8224 Assembly Example..............................................................99

Chapter 7 DeviceNet Communication Set .................................................... 107

7.1 DeviceNet Communication Set Introduction........................................................107

7.2 Examples of the DeviceNet communication set.................................................. 111

7.2.1 Requests the use of the Predefined Master/Slave Connection Set..........................111

7.2.2 How to apply the Poll IO connection.........................................................................112

7.2.3 The Bit-Strobe IO connection example.....................................................................115

7.2.4 Change of State/Cyclic IO with Acknowledge connections.....................................118

7.2.5 Change of State/Cyclic IO without Acknowledge connections.............................. 122

7.2.6 Reset Service............................................................................................................... 124

7.2.7 DEVICE HEARTBEAT............................................................................................ 127

7.2.8 Fragmentation example............................................................................................. 129

Chapter 8 Interpreting Analog Module Data ................................................. 133

8.1 Analog Input Module Data transfer.......................................................................133

8.2 Analog Output Module Data transfer....................................................................134

Chapter 9 Troubleshooting ............................................................................ 135

9.1 Problem: Unable to Communicate with the Device.............................................135

9.2 Problem: All of the LEDs are off............................................................................136

9.3 Problem: MOD LED is Flashing.............................................................................137

9.4 Problem: NET LED is Solid when power-up.........................................................137

9.5 Problem: How can I start to use the ICP DAS DeviceNet products? .................138

9.6 Problem: Why can I not to communicate any IO message with the device?

.......................................................................................................................................138

9.7 Problem: How to get IO data from CAN-8x24? ....................................................139

Appendix A: Dimension.................................................................................. 142

Appendix B: Analog I/O Transformation Table............................................. 144

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Chapter 1 Introduction

1.1 Overview

The CAN-8x24 series are the DeviceNet remote I/O units produced by ICP

DAS for data acquisition and the control system that provides a wide range of

capabilities, most specifically for real-time applications. A DeviceNet master

operating via a DeviceNet protocol remotely controls the CAN-8124/

CAN-8224/CAN-8424 series products. In others words, the CAN-8124/

CAN-8224/CAN-8424 series can be a DeviceNet slave devices in the CAN on

the DeviceNet network. Furthermore, the CAN-8124/ CAN-8224/CAN-8424’s

main unit are small and middle size compact devices, but it offers many good

features to the users.

The CAN-8124/ CAN-8224/CAN-8424’s main control units are based on

the modular design which offers many good features to users and provides

more flexibility in data acquisition and a control system for the DeviceNet

network. In order to expand the I/O channel to make it more flexible,

CAN-8124/ CAN-8224/CAN-8424 supports 1,2 and 4 expansion slots

respectively for user to expand their I/O channel numbers in various DeviceNet

applications. Users can configure the I-87K or I-8000 IO series modules to fit

their customized applications. The symbol ‘x’ in the I-8x24 represents that how

many expansion slots there are in these main control units. Each expansion

slot can have one I-87K or I-8000 series I/O module plugged into it. For

example, an CAN-8124 has one expansion slot, and an CAN-8424 has 4

expansion slots. All of these main control units follow the DeviceNet

specification Volume I, Release 2.0& Volume II, Release 2.0. In addition, ICP

DAS also provides the CAN Slave Utility to create the EDS file dynamically and

to configure DeviceNet slave devices. Therefore, users can easily apply the

CAN-8124/CAN-8224/CAN-8424 embedded controller into the DeviceNet

network. The general application architecture is demonstrated in figure 1-1:

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Figure 1-1 DeviceNet application

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1.2 Hardware Features

z CPU:80186, 80MHz

z Philip SJA1000 CAN controller

z Philip 82C250 CAN transceiver

z SRAM:512K bytes

z Flash Memory:512K bytes

z EEPROM:2k bytes

z NVRAM: 32 bytes

z Real Time Clock

z Built-in Watchdog Timer

z 16-bit Timer

z PWR LED, NET LED, MOD LED

z Support 1/2/4 expansion I/O slots

z 2500 Vrms isolation on CAN side
z 120Ω terminal resister selected by jumper

z CAN bus interface: ISO/IS 11898-2, 5-pin screw terminal with

on-board optical isolators protection.

z Power Supply:20W, Unregulated +10VDC to +30VDC

z Operating Temperature:-25°C to +75°C

z Storage Temperature:-30°C to +85°C

z Humidity:5%~95%

COM1 (CAN-8424 only)

z RS-232: TXD,RXD,RTS,CTS,GND

z Communication speed: 115200 bps.

z Configure tool connection

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1.3 CAN-8124/CAN-8224/CAN-8424 DeviceNet Features

z Complies with DeviceNet specification Volume I, Release 2.0&

Volume II, Release 2.0

z Group 2 Only Slave; (non UCMM-capable)

z Supports Predefined Master/slave Connection Set

z Supports Explicit message connection

z Supports Fragmented Explicit Message

z I/O operating modes: Polling, Bit-Strobe, Change of State/Cyclic

z Supports Fragmented IO (maximum 128 bytes output and/or 128

bytes input data)

z Dynamic Assembly Objects Mapping;

z Supports Device Heartbeat message

z Supports Device Shutdown message

z EDS file dynamically

z Support all standard DeviceNet data rate: 125K, 250K and 500K bps

z Data rate and Node Address (MAC ID) configured via rotary switch

z NET, MOD and Power Led directors

1.4 Utility Feature

z Support I-8k/I-87K modules

z Show I-8k/I-87K modules configuration

z Show Application and assembly objects configuration

z Support IO connection path setting

z Support EDS file creating

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Chatper 2 Hardware Specification

2.1 CAN-8124/CAN-8224 Hardware Structure

DeviceNet

Status LED

Power LED

Node ID and Baud

rate rotary switch

CAN Bus Connector

1 I/O Expansion Slot

2 I/O Expansion Slots

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2.2 CAN-8424 Hardware Structure

DeviceNet

Status LED

Power LED

RS-232 Port

(

connect to PC)

Power Pin

CAN Bus Connector

4 I/O Expansion Slots

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2.3 Wire connection

In order to minimize the reflection effects on the CAN bus line, the CAN

bus line has to be terminated at both ends by two terminal resistances as in the

following figure. According to the ISO 11898-2 spec, each terminal resistance

is set to 120Ω (or between 108Ω~132Ω). The length related resistance should

have 70 mΩ/m. The user should check the resistances of their CAN bus,

before they install a new CAN network as in figure 2-1.

Figure 2-1 wire connections

Moreover, to minimize the voltage drop over long distances, the terminal

resistance should be higher than the value defined by ISO 11898-2. Table 2-1

may be used as a reference.

Table 2-1 The relation between bus cable and length

Bus Cable Parameters

Bus Length

(meter)

Length Related

Resistance

(mΩ/m)

Cross Section

(Type)

Terminal

Resistance

(Ω)

0~40 70

0.25(23AWG)~

0.34mm2(22AWG)

124 (0.1%)

40~300 < 60

0.34(22AWG)~

0.6mm2(20AWG)

127 (0.1%)

300~600 < 40

0.5~0.6mm

2

(20AWG)

150~300

600~1K < 20

0.75~0.8.mm2

(18AWG)

150~300

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In the CAN-8124/CAN-8224/CAN-8424, the 120Ω terminal resistance is

supplied. The JP2 for the CAN-8124/CAN-8224 is for terminal resistance. The

JP2 position is shown in the following figure.

.

JP1 on CAN-8424 is used for adjusting terminal resistance, and its

position is shown in the following figure.

The following connection status is presented for if the terminal resister is

enable or disable.

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The CAN bus baud rate has the high relationship with the bus length.

Table 2-2 indicates the corresponding bus length for every kind of baud rate.

Table 2-2 Baud rate and bus lengths for the DeviceNet

Baud rate (bit/s) Max. Bus length (m)

500 K 100

250 K 250

125 K 500

Note: When the bus length is greater than 1000m,

bridge or repeater devices may be needed.

The pin assignments for these CAN-8124/ CAN-8224 and CAN-8424 CAN

bus connectors are shown in figure 2-2, figure 2-3, table 2-3 and table 2-4.

Figure 2-2 The connector pin assignments for the CAN-8424

Table 2-3 Connector pins of CAN-8424

Pin No. Signal Description

1 N/A No use

2 CAN_H CAN_H bus line (dominant high)

3 SHIELD Optional CAN Shield

4 CAN_L CAN_L bus line (dominant low)

5 N/A No use

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Pin 1

Pin 2

Pin 3
Pin 4

Pin 5

V-

CAN_L

SHIELD

CAN_H

V+

Figure 2-3 The connector pin assignments for the CAN-8124/CAN-8224

Table 2-4 Connector pins of CAN-8124/CAN-8224

Pin No. Signal Description

1 V- Ground (0V)

2 CAN_L CAN_L bus line (dominant low)

3 SHIELD Optional CAN Shield

4 CAN_H CAN_H bus line (dominant high)

5 V+ CAN external positive supply (I-8KDNSx power)

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2.4 PWR LED

After connecting the CAN-8124/CAN-8224/CAN-8424 with electronic

power (the range of input voltage is 10~30VDC), the PWR LED will be turned

on. If the Power LED is off after giving the proper voltage, please check the

power and load of power supply first. If the situation is not improved, please

communicate your problem with your distributor in order to find the solution.

The corresponding conditions are given in table 2-5.

Table 2-5 PWR led conditions

condition status indicates

Off No power No power supply

Solid red Normal Device is working

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2.5 DeviceNet LED

CAN-8124/CAN-8224/CAN-8424 supplies 2 DeviceNet LED indicators.

They are NET LED (Yellow), MOD LED (Green). The Indicators assist

maintenance personnel in quickly identifying a problem unit. The LED test is to

be performed when the device is powered–up. When the DeviceNet

communication events occur, these indicators will be triggered to glitter with

different conditions.

2.5.1 MOD LED

This LED provides the devices status. It indicates whether or not the

device is operating properly. Table 2-6 shows the conditions for all MOD

statuses.

Table 2-6 The MOD led conditions

condition status indicates

Off Normal

Solid Critical fault Device has unrecoverable fault;

Flashing Non_critical fault Device has recoverable fault; to

recover:

Reconfigure device

Reset device

Perform error recovery

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2.5.2 NET LED

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

Table 2-7 shows the conditions for all NET statuses.

Table 2-7 NET led conditions

condition status indicates

Off Off line DeviceNet is not online

Flashing On line DeviceNet 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 DeviceNet is online and

communicating

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2.6 NA and DR Rotary Switch

The CAN-8124/CAN-8224/CAN-8424 provide NA(node address) and DR(data

rate) rotary switches to set the node ID and baud rate of the device. Refer to

the figure 2-4.

Figure 2-4 NA and DR rotary switches

The node address (MAC ID) and data rate (baud rate) to be used by the

device for communication on the network are set via the upper rotary switches.

The MSD means the most significant digit of the node address, and LSD

represent the low significant digit of the node ID in the decimal format. The

node address of the CAN-8124/CAN-8224/CAN-8424 is useless when the

value exceeds 64 (decimal format) because the max node value in the

DeviceNet is 63. For example, the node address in

CAN-8124/CAN-8224/CAN-8424 is 32, if the MSD rotary switch is turned to 3

and the LSD rotary switch is turned to 2 as in figure 2-5.

Figure 2-5 NA rotary switches

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The lower rotary switch handles the CAN-8124/CAN-8224/CAN-8424 data

rate (baud rate). The relationship between the rotary switch value and the

practical baud rate is displayed in the following table.

Table 2-7

Rotary Switch Value Baud rate (K BPS)

0 125

1 250

2 500

For example, the setting data rate is 125 Kbps as in figure 2-6.

Figure 2-6 NA rotary switches

Note: If the “DR” rotary switch for the CAN-8x24 is set to ‘9’, the CAN-8x24 will

get into its initial mode. The DeviceNet firmware built in the CAN-8x24 will not

be executed. Before users employ the utility tool to configure the CAN-8x24,

the initial mode is needed. Because the CAN-8124/CAN-8224 has no RS-232

COM Port, it is necessary to run this utility tool in the off-line mode if users

want to get the EDS file of users’ CAN-8124/CAN-8224.

Furthermore, when the CAN-8124/CAN-8224/CAN-8424 is started up, the

DeviceNet firmware will check these rotary switches. Any illegal value on these

rotary switches will cause the CAN-8124/CAN-8224/CAN-8424 to fail when

booting-up.

Note: If users set the illegal values of the rotary switch, the MOD led would

flash when powering up. In this condition, users must configure the legal

values for the switches and reset the device, and then the device will work

normally.

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2.7 Module Support

CAN-8124/CAN-8224/CAN-8424 supports many kinds of DI, DO, AI and

AO modules for the I-8000/I-87K series modules. When users want to use

these modules on the DeviceNet network, they only need to plug these

modules into the CAN-8124/CAN-8224/CAN-8424 I/O expansion slots. Then,

the DeviceNet firmware built in the CAN-8124/CAN-8224/CAN-8424 will

search through them automatically organizing them into their corresponding

DeviceNet entries. Table 2-8 below provides the modules names with their

basic information supported by the CAN-8124/CAN-8224/CAN-8424.

Table 2-8 support modules

IO Type Module Name IO Type Module Name

AI

I-87013/ I-87016/ I-87017/
I-87018/

AO

I-8024

I-87022/ I-87024/ I-87026

DO

I-8037/ I-8041/ I-8056/
I-8057/ I-8060/ I-8064/
I-8065/ I-8066/ I-8068/
I-8069

I-87041/ I-87056/ I-87057/
I-87060/ I-87064/ I-87065/
I-87066/ I-87068/ I-87069

DI

I-8051/ I-8052/ I-8053/
I-8058/

I-87040/ I-87051/ I-87052/
I-87053/ I-87058/

DO&DI

I-8042/ I-8054/ I-8055/
I-8063

I-87042/ I-87054/ I-87055
I-87063/

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2.8 Application Flowchart

The procedure to follow on how to use the CAN-8124/CAN-8224/

CAN-8424 is as follows. Users can refer to the procedure to apply the

CAN-8124/CAN-8224/CAN-8424 devices to the DeviceNet application as in

figure 2-7.

Figure 2-7 CAN-8124/CAN-8224/CAN-8424 application flowchart

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Chapter 3 DeviceNet System

3.1 DeviceNet Introduction

The CAN (Controller Area Network) is a serial communication protocol,

which efficiently supports distributed real-time control with a very high level of

security. It is especially suited for networking "intelligent" devices as well as

sensors and actuators within a system or sub-system. In CAN networks, there

is no addressing of subscribers or stations in the conventional sense, but

instead, prioritized messages are transmitted.

DeviceNet is one of the kinds of network protocols based on the CAN bus

which are mainly used for machine control in embedded networks, such as in

textile machinery, printing machines, injection molding machinery, or

packaging machines. DeviceNet is a low level network that provides

connections between simple industrial devices (sensors, actuators) and higher

level devices (controllers). It allows direct peer to peer data exchange between

nodes in an organized and, if necessary, deterministic manner. The network

management functions specified in DeviceNet simplifies project design,

implementation and diagnosis by providing standard mechanisms for network

start-up and error management. DeviceNet defines a connection-based

scheme to facilitate all application communications. A DeviceNet connection

provides a communication path between multiple endpoints. The endpoints of

a connection are applications that need to share data. Figure 3.1 shows the

DeviceNet layer in the control and information layers.

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Figure 3.1 DeviceNet layer

DeviceNet Communication Protocol is based on the concept of

connections. One must establish a connection with a device in order to

exclude information with that device. To establish a connection, each gateway

implements a Predefined Master/Slave Connection Set through the DeviceNet

network. After establishing the explicit connections, the connection is then

used to move information from one node to the other. Once IO connections

have been established, I/O data may be moved among devices in the network.

The 11-bit CAN identifier is used to identify the connection. DeviceNet defines

four separate groups of 11-bit CAN identifiers: Group 1, Group 2, Group 3, and

Group 4 described in Table 3.1. With respect to Connection Based Messages,

the Connection ID is placed within the CAN Identifier Field. With this in mind,

the below figure also describes the components for a DeviceNet Connection ID.

Because of the arbitration scheme defined by CAN, Group 1 messages have a

higher priority than group 2 messages and group 2 messages have higher

priority than group 3 messages and so on. This prioritization must be taken into

consideration when establishing connections.

Table 3.1 DeviceNet’s Use of the CAN Identifier Field

IDENTIFIER BITS

10 9 8 7 6 5 4 3 2 1 0

IDENTITY USAGE

HEX

RANGE

0

Group 1

Message ID

Source MAC ID Group 1 Messages 000 –

3ff

1 0

MAC ID Group 2

Message ID

Group 2 Messages 400 –

5ff

1 1

Group 3

Message ID

Source MAC ID Message Group 3 600-7bf

1 1 1 1 1

Group 4 Message ID Group 4 Messages 7c0–7ef

CAN-8124/CAN-8224/CAN-8424 provides the Predefined Master/Slave

Connection Set for users to establish connections. The Predefined

Master/Slave Connection Set is a set of Connections that facilitate

communications typically seen in a Master/Slave relationship. Many of the

steps involved in the creation and configuration of an application-to-application

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connection have been removed within the Predefined Master/Slave

Connection Set definition. This, in turn, presents the means by which a

communication environment can be established using less network and device

resources. The CAN Identifier Fields associated with the Predefined

Master/Slave Connection Set are shown in Table 3.2. The table defines the

Identifiers that are to be used with all connection based messages involved in

the Predefined Master/Slave Connection Set and, as such, it also illustrates

the produced_connection_id and consumed_connection_id attributes

associated with Predefined Master/Slave Connection Objects.

Note: The Master is the device that gathers and distributes I/O data for the

process controller. Slaves are the devices from which the Master

gathers I/O data and to which the Master distributes I/O data.

Table 3.2 DeviceNet Identifiers

IDENTIFIER BITS

10 9 8 7 6 5 4 3 2 1 0

IDENTITY USAGE

HEX

RANGE

0

Group 1

Message ID

Source MAC ID Group 1 Messages 000 –

3ff

0 1 1 0 0

Source MAC ID Slave’s Multicast Poll Response

0 1 1 0 1

Source MAC ID Slave’s I/O Change of State or Cyclic Message

0 1 1 1 0

Source MAC ID Slave’s I/O Bit–Strobe Response Message

0 1 1 1 1

Source MAC ID Slave’s I/O Poll Response or Change of

State/Cyclic Acknowledge Message

1 0

MAC ID Group 2

Message ID

Group 2 Messages 400 –

5ff

1 0

Source MAC ID

0 0 0

Master’s I/O Bit–Strobe Command Message

1 0

Multicast MAC ID

0 0 1

Master’s I/O Multicast Poll Command Message

1 0

Destination MAC ID

0 1 0

Master’s Change of State or Cyclic Acknowledge

Message

1 0

Source MAC ID

0 1 1

Slave’s Explicit/ Unconnected Response

Messages/ Device Heartbeat Message/ Device

Shutdown Message

1 0

Destination MAC ID

1 0 0

Master’s Explicit Request Messages

1 0

Destination MAC ID

1 0 1

Master’s I/O Poll Command/Change of State/Cyclic

Message

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1 0

Destination MAC ID

1 1 0

Group 2 Only Unconnected Explicit Request

Messages (reserved)

1 0

Destination MAC ID

1 1 1

Duplicate MAC ID Check Messages

A device within a DeviceNet network is represented by the below object

model. The object model provides a template for organizing and implementing

the Attributes (data), Services (methods or procedures) and behaviors of the

components within a DeviceNet product. Figure 3.2 depicts the object model

for CAN-8124/CAN-8224 (Group 2 server Only). The next section would

explain these objects. More detailed information about Predefined

Master/Slave Connection Set is described in the next section.

Figure 3.2 Object models of CAN-8124/CAN-8224/CAN-8424

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3.2 Predefined Master Slave Connection Set

The CAN-8124/CAN-8224/CAN-8424 has a “Predefined Master Slave

Connection Set” device. Users must understand these connection sets to know

how to operate the device. The following section explains what the “Predefined

Master Slave Connection Set” is.

When using the Predefined Master Slave Connection Set, DeviceNet

allows devices with fewer resources to take part in DeviceNet network

communication. For this reason a set of identifiers has been reserved within

Message Group 2 to simplify the movement of I/O and configuration data

typically seen in Master/Slave relationships. The steps which are necessary to

create and configure a connection between devices has been removed within

the Predefined Set. The Predefined Master Slave Connection Set allows for

the establishing of a DeviceNet communication environment using less

network and Device resources. The Predefined Set contains one Explicit

Messaging Connection and allows for several different I/O connections which

include a Bit Strobe Command/Response, Poll Command/Response, Change

of State and Cyclic connections. The following types of messages are

processed by a DeviceNet Slave

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3.2.1 Explicit Messages:

Explicit Request Messages are used to perform operations such as

reading and writing attributes. Explicit response Messages indicate the results

to attempt to service an Explicit Request massage. Within a Slave Explicit

Request and Response Messages are received/transmitted by a single

Connection Object. The architecture is as figure 3.3.

Figure 3.3 the architecture of Explicit message

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3.2.2 I/O Bit Strobe Messages:

The Bit-Strobe Command is an I/O message that is transmitted by the

Master. A Bit-Strobe Command has multicast capabilities. Multiple Slaves can

receive and react to the same Bit Strobe Command. The Bit-Strobe response

is an I/O message that a Slave transmits back to the Master when the

Bit-Strobe Command has been received. Within a Slave the two messages are

received/ transmitted by a single Connection Object. The architecture is as in

figure 3.4.

Figure 3.4 the architecture of IO bit strobe message

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3.2.3 I/O Poll Messages:

The Poll Command is a command that is transmitted by the Master. A Poll

Command is directed towards a single, specific Slave (point-to-point

connection). A Master must transmit a separate Poll command message for

each one of its Slaves that is to be polled. The Poll-Response is an I/O

message that the Slave transmits back to the Master when the Poll Command

is received. Within a Slave the two messages are received/transmitted by a

single Connection Object as in figure 3-5.

Figure 3-5 the architecture of poll IO message

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3.2.4 I/O Change of State/Cyclic Messages:

The Change of State Message is transmitted by either the Master or the

Slave. A Change of Sate/Cyclic is directed towards a single specific node

(point-to-point). An Acknowledge Message may be returned in response to this

message. Within either the Master or the Slave the producing Change of State

Message and consuming Acknowledge Messages are received/transmitted by

one Connection Object. The consuming Change of State and producing

Acknowledge Message are received/transmitted by a second Connection

Object. The architecture for these messages can be seen in figure 3-6 and

figure 3-7.

Figure 3-6 the architecture of the IO COS message

Figure 3-7 the architecture of the IO Cyclic message

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3.3 EDS File

An Electronic Data Sheet is an external disk that contains information

about configurable attributes for a device, including the object addresses of

each parameter. The following figure shows the configuration of a device

through the configuration tool that supports an EDS. The application objects in

the device represent the destination addresses for the configuration data.

These addresses are encoded in the EDS. ICP DAS provides users with the

CAN Slave utility software they need to create suitable EDS files. The EDS file

system architecture is presented in Figure 3-8.

Figure 3-8 the architecture of EDS file

EDS provides information about the device’s configuration data according to

the following:

‧ context
‧ content
‧ format

The information in an EDS file allows configuration tools to provide

informative screens that guide a user through the steps necessary to configure

a device. ICP DAS provides CAN utilities, so that users can setup their own

EDS file. You can use the EDS file in the DeviceNet Master to access

DeviceNet Slave devices. The CAN utility is a very powerful tool for the

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DeviceNet network. Users can get more DeviceNet Slave information. The

CAN utility can scan I-8K/I-87K IO modules connected to the CAN-8124/

CAN-8224. However, users can only use off-line mode to create EDS files of

CAN-8124/ CAN-8224 with the specific IO modules. It also provides a graph

interface for users to be able to make up their own EDS file system. For more

detailed information on this topic, please refer to the next section.

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Chapter 4 DeviceNet Profile Area

This chapter is for users who want to get and understand more detailed

information relating to the CAN-8124/CAN-8224/CAN-8424 device when using

the DeviceNet protocol. This section documents the detailed functions for each

object class that is implemented in the DeviceNet network.

4.1 DeviceNet Statement of Compliance

General Device Data

Conforms to DeviceNet Specification Volume I-Release 1.1

Vendor Name ICP DAS

Device Profile Name ICPDAS-CAN-8x24

Production Revision 1.03

DeviceNet Physical Conformance Data

Network Power Consumption(Max) Open-Hardwired

Isolated Physical Layer Yes

LEDs Supported Yes

MAC ID Setting Switch

Default MAC ID Switch

Communication Rate Setting Switch

Predefined Master/Slave Connection

Set

Group 2 Only Server

Fragmented Explicit Message

implemented

yes

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4.2 Identity Object (Class ID: 0x01)

This object provides the identification of and general information about the

device.

Class Attribute

Attribute ID Attribute name Data Type Method Valu e

0x01 Revision UINT Get 0001

0x02 Max Instance UINT Get 1

Class Service

Service Code Service name Support

0x0E Get_Attribute_Single Yes

Instance Attribute

A

ttribute

ID

Description Method DeviceNet

Data Type

Value

1 Vendor

UINT

Get UINT 803

2 Product

type UINT

Get UINT 0x00

3 Product

code

Get UINT 2(CAN-8124/CAN-8224)/3(CAN-8424)

4 Revision

vision

Major

Revision

Minor

Revision

Get Struct of

USINT

USINT

1.03

5 Status Get WORD 0

6 Serial

number

Get UDINT 2(CAN-8124/CAN-8224)/3(CAN-8424)

7 Product

name

Get Short_String Note

10 Heartbeat

Interval

Get/Set USINT 0(default)

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Instance Service

Service Code Service name Support

0x0E Get_Attribute_Single Yes

0x10 Set_Attribute_Single Yes

0x05 Reset Yes

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4.3 DeviceNet Object (Class ID:0x03)

The DeviceNet Object is used to provide the configuration and status of a

physical attachment to DeviceNet.

Class attribute

Attribute ID Attribute

name

Data Type Method Value

0x01 revision UINT Get 2

Class service

Service Code Service name Support

0x0E Get_Attribute_Single Yes

Instance attribute

Attribute ID Description Method DeviceNet

Data Type

Value

1 MAC ID Get USINT Range 0-63

2 Baud Rate Get USINT Range 0-2

3 BOI Get/Set BOOL 0

4 Bus-off counter Get/Set USINT 0

5 Allocation

information

Get/Set STRUCT

6 MAC ID Switch

Changed

Get BOOL 0=No Change

1=Change

since last

Reset or

Power-up

7 Baud Rate

Switch Changed

Get BOOL 0=No Change

1=Change

since last

Reset or

Power-up

8 MAC ID Switch

Value

Get USINT Range 0-99

9 Baud Rate

Switch Value

Get USINT Range 0-9

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Instance Service

Service Code Service name Support

0x0E Get_Attribute_Single Yes

0x10 Set_Attribute_Single Yes

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4.4 Assembly Object (Class ID: 0x04)

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 ”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

Attribute ID

Attribute

name

Data Type Method Val ue

0x01 Revision UINT Get 2

0x02 Max Instance UINT Get

By slot

number

Class service

Service Code Service name Support

0x0E Get_Attribute_Single Yes

Instance attribute

Attribute ID Description Method

DeviceNet

Data Type

Value

0x03 Data Get/Set

Defined by

users

By IO modules

plugged in the

device

Note: In CAN-8x24 device, the statart-up number of assembly instance is

0x64.

Instance service

Service Code Service name Support

0x0E Get_Attribute_Single Yes

0x10 Set_Attribute_Single Yes

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4.5 Application Object (Class ID:0x64)

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 I-7K/I-87K IO

modules.

Class attribute

Attribute ID Attribute name Data Type Method Val ue

0x01 Revision UINT Get 1

0x02 Max Instance UINT Get

By slot number

Class service

Service Code Service name Support

0x0E Get_Attribute_Single Yes

Instance attribute

Attribute ID Description Method Data Type

Default

Value

0x01 Module name Get WORD 0

0x02 Module Type Get CHAR 0

0x03 Configuration Get Depend on the

number of channels

0

0x04 Total Channels Get CHAR 0

0x05 Total Length Get CHAR 0

0x06 Reserved Get CHAR 0

0x07 DO Length Get CHAR 0

0x08 AO Length Get CHAR 0

0x09 DI Length Get CHAR 0

0x0A AI Length Get CHAR 0

0x0B DO channel num Get CHAR 0

0x0C AO channel num Get CHAR 0

0x0D DI channel num Get CHAR 0

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Attribute ID Description Method Data Type

Default

Value

0x0E AI channel num Get CHAR 0

0x14 DO data Set Defined by module

channel num

0

0x15 AO data Set Defined by module

channel num

0

0x16 DI data Get Defined by module

channel num

0

0x17 AI data Get Defined by module

channel num

0

Application instance attribute interpreter:

Attribute name Brief Description of Attribute

Module Name The number corresponds to the modules name. For example:

The plugged-in module is I-8055. The corresponding module

name in DeviceNet is 8055.

Module Type This attribute contains the module type of the plugged-in

modules.

0- DO module

1- DI module

2- AO module

3- AI module

4- DO & DI mdoule

Configuration This attribute includes the module configuration. In DI/DO

module, the value is 0x40. Please refer to the module manual

for more information relating to analog module configuration.

Every channel in analog modules corresponds to the relating

byte of the attribute.

Total Channels The total channel attribute indicates the total channel number

for the module.

Total Length This attribute includes the total length of this module. In

analog modules, the unit of length is 2 bytes. And 1 bit is

corresponding to a channel in the digital modules.

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Attribute name Brief Description of Attribute

DO Length The attribute indicates the DO length of the module.

AO Length The attribute indicates the AO length of the module.

DI Length The attribute indicates the DI length of the module.

AI Length The attribute indicates the AI length of the module.

DO channel

num

The attribute indicates the DO channel number of the

module.

AO channel

num

The attribute indicates the AO channel number of the

module.

DI channel num The attribute indicates the DI channel number of the module.

AI channel num The attribute indicates the AI channel number of the module.

DO data The attribute indicates the DO data of the module.

AO data The attribute indicates the AO data of the module.

DI data The attribute indicates the DI data of the module.

AI data The attribute indicates the AI data of the module.

Instance service

Service Code Service name Support

0x0E Get_Attribute_Single Yes

0x10 Set_Attribute_Single Yes

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4.6 Connection Object (Class ID:0x05)

This section presents the externally visible characteristics of the Connection

Objects associated with the Predefined Master/Slave Connection Set within

Slave devices.

Note: In CAN-8x24, the default IO connection path is its Assembly Object.

Please use the CAN Slave Utility to set the IO connection path. For

CAN-8124/ CAN-8224, it is needed to set the path via the CAN bus via

explicit message.

Connection

Instance ID

Description

1 References the Explicit Messaging Connection into the Server

2 References the Poll I/O Connection

3 References the Bit–Strobe I/O Connection

4 References the Slave’s Change of State or Cyclic I/O Connection

Class attribute

Attribute ID Attribute name Data Type Method Valu e

0x01 Revision UINT Get 1

Class service

Service Code Service name Support

0x0E Get_Attribute_Single Yes

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4.6.1 Explicit connection

Instance (0x01) attribute

Attribute

ID

Description

DeviceNet

Data Type

Method

Default

Value

0x01 state USINT Get 3

0x02 instance_type USINT Get 0

0x03 transportClass_trigger BYTE Get 0x83

0x04 produced_connection_id UINT Get Table 3.2

0x05 consumed_connection_id UINT Get Table 3.2

0x06 initial_comm_characteristics BYTE Get 0x21

0x07 produced_connection_size UINT Get 0x20

0x08 consumed_connection_size UINT Get 0x20

0x09 expected_packet_rate UINT Get 0x09c4

0x0C watchdog_timeout_action USINT Get 1

0x0D produced_connection_path_ length UINT Get 0

0x0E produced_connection_path EPATH Get Empty

0x0F consumed_connection_path_length UINT Get 0

0x10 consumed_connection_path EPATH Get Empty

0x11 production_inhibit_time UINT Get 0

Instance service

Service Code Service name Support

0x0E Get_Attribute_Single Yes

0x10 Set_Attribute_Single Yes

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4.6.2 Poll I/O connection

Instance (0x02) attribute

Attribute

ID

Description

DeviceNet

Data Type

Method

Default

Value

0x01 state USINT Get 0x01

0x02 instance_type USINT Get 0x01

0x03 transportClass_trigger BYTE Get 0x83

0x04 produced_connection_id UINT Get Table 3.2

0x05 consumed_connection_id UINT Get Table 3.2

0x06 initial_comm_characteristics BYTE Get 0x01

0x07 produced_connection_size UINT Get

No

specified

default

0x08 consumed_connection_size UINT Get

No

specified

default

0x09 expected_packet_rate UINT Get 0

0x0C watchdog_timeout_action USINT Get 0

0x0D produced_connection_path_ length UINT Get

No

specified

default

0x0E produced_connection_path EPATH Get

No

specified

default

0x0F consumed_connection_path_length UINT Get

No

specified

default

0x10 consumed_connection_path EPATH Get

No

specified

default

0x11 production_inhibit_time UINT Get 0

Instance service

Service Code Service name Support

0x0E Get_Attribute_Single Yes

0x10 Set_Attribute_Single Yes

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4.6.3 Bit–Strobe I/O Connection

Instance (0x03) attribute

Attribute

ID

Description

DeviceNet

Data Type

Method

Default

Value

0x01 state USINT Get 0x01

0x02 instance_type USINT Get 0x01

0x03 transportClass_trigger BYTE Get 0x83

0x04 produced_connection_id UINT Get Table 3.2

0x05 consumed_connection_id UINT Get Table 3.2

0x06 initial_comm_characteristics BYTE Get 0x02

0x07 produced_connection_size UINT Get

No

specified

default

0x08 consumed_connection_size UINT Get 0x08

0x09 expected_packet_rate UINT Get 0

0x0C watchdog_timeout_action USINT Get 0

0x0D produced_connection_path_ length UINT Get

No

specified

default

0x0E produced_connection_path EPATH Get

No

specified

default

0x0F consumed_connection_path_length UINT Get

No

specified

default

0x10 consumed_connection_path EPATH Get

No

specified

default

0x11 production_inhibit_time UINT Get 0

Instance service

Service Code Service name Support

0x0E Get_Attribute_Single Yes

0x10 Set_Attribute_Single Yes

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4.6.4 Change of State or Cyclic I/O Connection (Acknowledge)

Instance (0x04) attribute (Acknowledge)

Attribute

ID

Description

DeviceNet

Data Type

Method

Default

Value

0x01 state USINT Get 0x01

0x02 instance_type USINT Get 0x01

0x03 transportClass_trigger BYTE Get 0x02

0x04 produced_connection_id UINT Get Table 3.2

0x05 consumed_connection_id UINT Get Table 3.2

0x06 initial_comm_characteristics BYTE Get 0x01

0x07 produced_connection_size UINT Get

No

specified

default

0x08 consumed_connection_size UINT Get

No

specified

default

0x09 expected_packet_rate UINT Get 0

0x0C watchdog_timeout_action USINT Get 0

0x0D produced_connection_path_ length UINT Get

No

specified

default

0x0E produced_connection_path EPATH Get

No

specified

default

0x0F consumed_connection_path_length UINT Get

No

specified

default

0x10 consumed_connection_path EPATH Get

20h 2Bh 24h

01h

0x11 production_inhibit_time UINT Get 0

Instance service

Service Code Service name Support

0x0E Get_Attribute_Single Yes

0x10 Set_Attribute_Single Yes

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4.6.5 Change of State or Cyclic I/O Connection
(Unacknowledge)

Instance (0x04) attribute (Unacknowledge)

Attribute

ID

Description

DeviceNet

Data Type

Method

Default

Value

0x01 state USINT Get 0x01

0x02 instance_type USINT Get 0x01

0x03 transportClass_trigger BYTE Get 0x00

0x04 produced_connection_id UINT Get Table 3.2

0x05 consumed_connection_id UINT Get 0xFFFF

0x06 initial_comm_characteristics BYTE Get 0x0F

0x07 produced_connection_size UINT Get

No

specified

default

0x08 consumed_connection_size UINT Get

No

specified

default

0x09 expected_packet_rate UINT Get 0

0x0C watchdog_timeout_action USINT Get 0

0x0D produced_connection_path_ length UINT Get

No

specified

default

0x0E produced_connection_path EPATH Get

No

specified

default

0x0F consumed_connection_path_length UINT Get 0

0x10 consumed_connection_path EPATH Get Empty

0x11 production_inhibit_time UINT Get 0

Instance service

Service Code Service name Support

0x0E Get_Attribute_Single Yes

0x10 Set_Attribute_Single Yes

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Note ： The first assembly instance number in the CAN-8124/CAN-8224/

CAN-8424 is 0x64. The second is 0x65. The priority of Assembly

instances follow the DO, AO, DI and AI order. There are many

examples for users to go through in order to better understand

Assembly objects. Please refer to the next section.

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Chapter 5 Configuration & Getting Started

5.1 CAN-8124/CAN-8224 Configuration Flowchart

Select the needed I-8K/I-87K IO
modules from ICP DAS in your
DeviceNet application.

1. Execute CAN Slave Utility in the
off-line mode

2. Select the proper module slot No. and
name for each I-8000/I-87K module
plugged in the CAN-8124/CAN-8224

3. Produce the corresponding EDS file.

1. Reset the CAN-8124/CAN-8224
device with the proper node ID and
baud rate.

2. Apply the EDS file in your
DeviceNet.

3. Start to communicate with the
DeviceNet Master Interface

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5.2 CAN-8424 Configuration Flowchart

Select the needed I-8K/I-87K IO
modules from ICP DAS in your
DeviceNet application.

1. Connect the COM1 of the DeviceNet
gateway & PC’s COM-1/2 port with the
download cable, CA0910F.

2. Execute CAN Slave Utility to configure
the CAN-8424 device and create the EDS
file.

After configuring CAN-8424 and
creating the specific EDS files, apply
the EDS file in your DeviceNet

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5.3 CAN Slave Utility Overview

The CAN Slave Utility is designed for the CAN-8124/ CAN-8224/

CAN-8424. It provides the following functions.

z Configures the input range of the I-8000 and I-87K AI/AO modules

plugged in the CAN-8124/CAN-8224/CAN-8424.

z Scans the I-8000 or I-87K modules in the I-8x20. Then, it creates EDS

files to match the scan results in the on-line mode.

z Produces the EDS files by using the off-line method for

CAN-8124/CAN-8224/ CAN-8424.

z Shows the important information which is useful in the DeviceNet

network. Such as Assembly instances and Application instance

attributes.

For the reason that all I-8000/I-87K AI/AO parameter configurations can

be done by using explicit messages for the DeviceNet specification, the

CAN-8124/CAN-8224/ CAN-8424 can work directly without using the CAN

Slave Utility if users don’t need to use the I-8424 EDS file creation system in

the on-line mode, That is to say that users can turn on the

CAN-8124/CAN-8224 and directly apply it into the DeviceNet network using

default settings. Users can get the EDS file by using the CAN Slave Utility in

the off-line mode. When the AI/AO channel’s configurations are needed, use

explicit message to modify the AI/AO parameter configurations. For more

detailed information, please refer to section 7.2.

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5.4 Configuration with the CAN Slave Utility

Installing the CAN Slave Utility

Step 1: Download the CAN Slave Utility setup file from the web site

http://www.icpdas.com/download/download-list.htm or CD-ROM disk

following the path of “/CAN-CD/DeviceNet/Slave/CAN-8x24/Utility/.

Step 2: Execute the setup.exe file to install the CAN Slave Utility.

Step 3: A “Welcome” window will pop up to prompt the user to begin

installation.

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Step 4: Click the “Next” button and a “Choose Destination Location” window

will pop up for deciding the installation path.

Step 5: Click the “Next” button. A “Ready to Install the Program” window will

pop up. Here, press the “Install” button to install the Utility.

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Step 6: Click the “Next” button and start to install the CAN Slave Utility to the

system. After finishing this process, the following figure will be displayed

prompting users to “Finish” the successful completion of the installation.

Step 7: After finishing the installation of the CAN Slave Utility, users can find

the CAN_SL Utility as shown in the following screenshot.

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Uninstall CAN Slave Utility

You can uninstall the CAN_SL Utility software by the following means

described below.

Step 1: Click “Start” in the task bar, then click Settings/Control Panel.

Step 2: Click the “Add/Remove Programs” button icon to open the dialog.

Step 3: Find out the CAN_SL Utility, and click the Change/Remove button.

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Step 4: Select the “Remove” option and press the “Next” button to remove the

software.

Step 5: Click the “Yes” button to remove the software.

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Step 6: Finally, click the “Finish” button to finish the uninstall process.

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5.5 CAN-8124/ CAN-8224 Configuration (Off-line mode)

Step 1: Select “DeviceNet” from under the “Application Layer” option. Then,

select “offline” from the “Setting status”.

Step 2: If the CAN slave device is CAN-8224 with node id 1 and and baud rate 125
Kbps, then users must set the file’s correct value for the CAN-8224 node id and baud
rate in the “NODE ID” and “CAN Baud rate”. Then, select the “2 Slot” as the number
of slots under “Slot Number”.

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Step 3: Click one of the slot module icons as shown in the “CAN Slave Device

Situation” frame below. A list box will pop up. Select the correct slot module

that is plugged into the CAN-8224.

Step 4: If the I-8024 and I-8042 modules are plugged into slot 0 and slot 1

respectively, then, select 8024 from the list box, and click the “Apply Module”

button to save this configuration.

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Step 5: Once completing this configuration, users can move the mouse point to

the slot module in the “CAN Slave Device Situation” frame. If the configuration

has been successful, users will see the correct module name on the top of the

slot module.

Step 6: Repeat steps 4~6 to configure slot 1 with the I-8042 module. Then,

click the “Save Setting” button to finish the off-line parameter settings.

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Step 7: Users can perform their parameter settings in the “General Setting”

window. Also, users can check the default settings for each slot module by

clicking on the module’s icon. Alternatively users can move the mouse pointer

over the slot module to show the modules name and information displayed in

the “Module Information” frame. Then, click the “Build EDS file” button to go to

the next step.

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Step 8: In this step users can begin building the specific EDS files for their

CAN-8124/ CAN-8224. In this dialog, users can know the information of IO

modules, assembly components and application instances. Due to the off-line

mode, the output and input instance parameters are not able to be set.

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By clicking the “Module View” button, the following figure will be displayed.

Clicking on the “Assembly Object View” button, the following figure will be

displayed.

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Clicking the “Application Object View” button and the following figure will pop

up.

Step 9: Press the “NEXT” button to go to the next step. Otherwise you can

press the “Back” button to go back to the above step.

Step 10: The next step shows the settable connection path. The connection

path in the CAN-8124/CAN-8224 device is default path. Users can refer to the

settable path to set these IO connection paths. The application and assembly

object instance can also be shown in this figure.

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Step 11: Setting the EDS file’s information and giving it a description in the

description box provided as can be seen in the following figure.

Step 12: Click the “Finish” button to complete the I-8KDNS1/ I-8KDNS2

configuration and the system will create the EDS file for users as in the

following figure.

Step 13: When this process is finished, the main window will pop-up. Then

select “Exit program” to exit the program.

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You can find the EDS file for the specific CAN-8124/CAN-8224. The file

name is ICPDNS1.eds. “1” represents the Node ID of the device. Therefore,

users can apply the EDS file in the DeviceNet application as the following

figure.

Note: There is also some device information in the EDS file. Users can also

see the information form the EDS file.

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5.6 CAN-8424 Configuration (On-line mode)

Before using the CAN Slave utility in the On-line mode with the CAN-8424,

please make sure that you have connected the COM1 port of the CAN-8424

with the available COM port on your PC. The architecture is displayed in the

following figure. In this demo, the CAN-8424 will be used, and slot modules,

I-8057, I-8053, I-8024 and I-8017H are plugged into slots 0, 1, 2 and 3

respectively.

Step 1: Turn off the CAN-8424. Set the “DR” rotary switch for the CAN-8424 to

9. Then turn on the CAN-8424.

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Step 2: Use the “DR” rotary switch again to set the baud rate for the CAN-8424.

Here, we use the baud rate at 125 Kbps for the demo. Therefore, set the “DR”

rotary switch to 0.

Step 3: Execute the CAN_SL.exe file, and the figure will be displayed. Select a

PC COM port to connect the CAN-8424. We used the PC COM 1 port for this

demo. Click the “Connect” button to store the information into the CAN-8424.

Then press the “Connect” button to connect to the CAN-8424. The utility will

scan the IO modules plugged into the CAN-8424 automatically.

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Step 4: After scanning the IO modules, there will be some information about

the firmware version, MAC ID and baud rate as shown in the below windows.

Step 5: In the “CAN Slave Device situation” section, press the specific modules

and their module configuration information will be revealed in the right upper

window. Furthermore users can set their specific module configuration.

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Step 6: After selecting the needed configuration, press the “Set” button to set

the module’s configuration as in this specific one.

Step 7: After finishing the process of configuration, press the “Build EDS file” to

button to go to the next step to start to build the specific EDS file for your

I-8x20.

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Step 8: The dialog will be displayed as follows. In this dialog, users can defined

their needed assembly objects.

Step 9: Set the output instance and input instance to either default or user

defined mode.

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The dialog will be shown by the assembly mapping information. If users

set it to the “user-defined mode”, users can add, delete or update instance

mapping in the dialog. In addition, the usable IO information will be shown in

the IO Mapping frame. Users can set/clear the specific channel IO of the slot to

the assembly instance. In the default mode, the system just shows the default

Assembly instance information. Users cannot modify the assembly instance

components.

Step 10: In addition, the utility also provides module, assembly and application

object information by pressing the “Module view”, “Assembly Object View” and

“Application View” buttons.

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Step 11: If you press the “Module View” button, the “Module Information”

window will pop-up. Users can get the IO module plugged into the CAN-8424

from this dialog.

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Step 12: By pressing the “Assembly Object View” button, the “Assembly Object

Information” window will pop-up. Users can get every assembly object

information in the CAN-8424 from this dialog.

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Step 13: When pressing the “Application Object View” button, the “Application

Object Information” window will pop-up. Users can get every application

object’s information in the CAN-8424 from this dialog.

Step 14: After creating the assembly object, press the “NEXT” button to go to

the next step. Alternatively you can press the “Back” button to go back to the

above step.

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Step 15: Upon completion of the above steps, the following window will pop-up.

Users can set their EDS files information from here.

Step 16: Users can set the specified information they want in the below fields.

This information will be stored in the EDS file.

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Step 17: Set the Polling/Bit Strobe/COS/Cyclic IO connection path for the

I-8x20.

The utility will list all useable paths in these fields. These selections

include assembly and application objects.

Step 18: Press the “Finish” button to complete the CAN-8424 configuration and

the system will create the EDS file for the CAN-8424. Otherwise press the

“Back” button to go back to the above step. Users can then find the EDS file in

the execute file path.

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Chapter 6 Components of Assembly objects

6.1 Components in the Assembly object

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.

The CAN-8x24 provides many assembly objects for users. The number of

assembly objects is decided by the user-defined or default settings. However,

the number of assembly objects is only a default setting in the

CAN-8124/CAN-8224. Every IO slot modules represents an application object

instance. The CAN-8x24 device would arrange the application instances in

order by slot address. The assembly object instances consist of these

application object attributes. Moreover the default assembly instances are the

groups relating to DO/AO/DI/AI signals. However, in the CAN-8x24, users can

define the specific assembly object instances they need by using the CAN

Slave Utility. The sketch map is as figure 6-1. The CAN-8x24 supports a

maximum of 8 assembly instances.

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Figure 6-1 DeviceNet object sketch map

Note: The max number in the assembly instance is 8.

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6.2 CAN-8424 Assembly Example

There are many IO examples related to the CAN-8424 in this section.

These demos should help users to understand the CAN-8424 to a suitable

degree.
Example1:

In this demo, apply the I-87017 (slot 0), I-8024 (slot 1), I-8057 (slot 2) and

I-8053 (slot 3) to the I-8x20 as follows.

The CAN-8424 will arrange the application objects for the DeviceNet

according to the following table.

Slot

Address

Application

Instance ID

Module

name

DO

Length(Byte)

AO

Length(Byte)

DI

Length(Byte)

AI

Length(Byte)

0 0x01 87017 0 0 0 16

1 0x02 8024 0 8 0 0

2 0x03 8057 2 0 0 0

3 0x04 8053 0 0 2 0

Because there are four slots in the CAN-8424, the application instance number

is 4. The corresponding Instance attribute is as follows:

Application Instance 1

Attribute ID Description Method Data Type Value

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0x01 Module name Get WORD 87017

0x02 Module Type Get CHAR 3 (AI type)

0x03 Configuration Get/Set

Depend on the

number of

module channel

1st byte (1st channel)

2

nd

byte (2nd channel)

3

rd

byte (3rd channel)

4

th

byte (4th channel)

5

th

byte (5th channel)

6

th

byte (6th channel)

7

th

byte (7th channel)

8

th

byte (8th channel)

0x04 Total Channels Get CHAR 8

0x05 Total Length Get CHAR 16

0x06 Reserved Get CHAR 0

0x07 DO Length Get CHAR 0

0x08 AO Length Get CHAR 0

0x09 DI Length Get CHAR 0

0x0A AI Length Get CHAR 16

0x0B

DO channel

num

Get CHAR 0

0x0C

AO channel

num

Get CHAR 0

0x0D DI channel num Get CHAR 0

0x0E AI channel num Get CHAR 8

0x14 DO data Set

Defined by

module channel

num

0

0x15 AO data Set

Defined by

module channel

num

0

0x16 DI data Get

Defined by

module channel

num

0

0x17 AI data Get

Defined by

module channel

num

1st and 2nd bytes (1st

channel)

3

rd

and 4th bytes (2nd

channel)

5

th

and 6th bytes (3rd

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channel)

7

th

and 8th bytes (4th

channel)

9

th

and 10th bytes (5th

channel)

11

th

and 12th bytes (6th

channel)

13

th

and 14th bytes (7th

channel)

15

th

and 16th bytes (8th

channel)

Application Instance 2

Attribute ID Description Method Data Type Value

0x01 Module name Get WORD 8024

0x02 Module Type Get CHAR 2 (AO type)

0x03 Configuration Get/Set

Depend on the

number of

module channel

1st byte (1st channel)

2

nd

byte (2nd channel)

3

rd

byte (3rd channel)

4

th

byte (4th channel)

0x04

To ta l

Channels

Get CHAR 4

0x05 Total Length Get CHAR 8

0x06 Reserved Get CHAR 0

0x07 DO Length Get CHAR 0

0x08 AO Length Get CHAR 0

0x09 DI Length Get CHAR 0

0x0A AI Length Get CHAR 8

0x0B

DO channel

num

Get CHAR 0

0x0C

AO channel

num

Get CHAR 0

0x0D

DI channel

num

Get CHAR 0

0x0E

AI channel

num

Get CHAR 4

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0x14 DO data Set

Defined by

module channel

num

0

0x15 AO data Set

Defined by

module channel

num

1st and 2nd bytes (1st

channel)

3

rd

and 4th bytes (2nd

channel)

5

th

and 6th bytes (3rd

channel)

7

th

and 8th bytes (4th

channel)

0x16 DI data Get

Defined by

module channel

num

0

0x17 AI data Get

Defined by

module channel

num

0

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Application Instance 3

Attribute ID Description Method Data Type Value

0x01 Module name Get WORD 8057

0x02 Module Type Get CHAR 0 (DO type)

0x03 Configuration Get/Set

Depend on the

number of

module channel

0x40

0x04

To ta l

Channels

Get CHAR 16

0x05 Total Length Get CHAR 2

0x06 Reserved Get CHAR 0

0x07 DO Length Get CHAR 2

0x08 AO Length Get CHAR 0

0x09 DI Length Get CHAR 0

0x0A AI Length Get CHAR 0

0x0B

DO channel

num

Get CHAR 16

0x0C

AO channel

num

Get CHAR 0

0x0D

DI channel

num

Get CHAR 0

0x0E

AI channel

num

Get CHAR 0

0x14 DO data Set

Defined by

module channel

num

1st bit of 1st byte (1st

channel)

2

nd

bit of 1st byte (2nd

channel)

3

rd

bit of 1st byte (3rd

channel)

4

th

bit of 1st byte (4th

channel)

5

th

bit of 1st byte (5th

channel)

6

th

bit of 1st byte (6th

channel)

7

th

bit of 1st byte (7th

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channel)

8

th

bit of 1st byte (8th

channel)

1

st

bit of 2nd byte (9th

channel)

2

nd

bit of 2nd byte (10th

channel)

3

rd

bit of 2nd byte (11th

channel)

4

th

bit of 2nd byte (12th

channel)

5

th

bit of 2nd byte (13th

channel)

6

th

bit of 2nd byte (14th

channel)

7

th

bit of 2nd byte (15th

channel)

8

th

bit of 2nd byte (16th

channel)

0x15 AO data Set

Defined by

module channel

num

0

0x16 DI data Get

Defined by

module channel

num

0

0x17 AI data Get

Defined by

module channel

num

0

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Application Instance 4

Attribute ID Description Method Data Type Value

0x01 Module name Get WORD 8053

0x02 Module Type Get CHAR 2 (DI type)

0x03 Configuration Get/Set

Depend on the

number of

module channel

0x40

0x04 Total Channels Get CHAR 16

0x05 Total Length Get CHAR 2

0x06 Reserved Get CHAR 0

0x07 DO Length Get CHAR 0

0x08 AO Length Get CHAR 0

0x09 DI Length Get CHAR 2

0x0A AI Length Get CHAR 0

0x0B

DO channel

num

Get CHAR 0

0x0C

AO channel

num

Get CHAR 0

0x0D DI channel num Get CHAR 16

0x0E AI channel num Get CHAR 0

0x14 DO data Set

Defined by

module channel

num

0

0x15 AO data Set

Defined by

module channel

num

0

0x16 DI data Get

Defined by

module channel

num

1st bit of 1st byte (1st

channel)

2

nd

bit of 1st byte (2nd

channel)

3

rd

bit of 1st byte (3rd

channel)

4

th

bit of 1st byte (4th

channel)

5

th

bit of 1st byte (5th

channel)

6

th

bit of 1st byte (6th

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channel)

7

th

bit of 1st byte (7th

channel)

8

th

bit of 1st byte (8th

channel)

1

st

bit of 2nd byte (9th

channel)

2

nd

bit of 2nd byte (10th

channel)

3

rd

bit of 2nd byte (11th

channel)

4

th

bit of 2nd byte (12th

channel)

5

th

bit of 2nd byte (13th

channel)

6

th

bit of 2nd byte (14th

channel)

7

th

bit of 2nd byte (15th

channel)

8

th

bit of 2nd byte (16th

channel)

0x17 AI data Get

Defined by

module channel

num

0

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Refer to the application object instances. The CAN-8424 will define the

default assembly object instances according to the following table.

Assembly Object Instance ID(Hex) Data Length(Byte) Component modules

0x64 DO: 2 I-8053 (ch0~ch15)

0x65 AO: 8 I-8024 (ch0~ch3)

0x66 DI: 2 I-8057 (ch0~ch15)

0x67 AI: 8 I-87017 (ch0~ch3)

0x68 AI: 8 I-87017 (ch4~ch7)

If the default assembly instances are not adaptive, the user-defined

assembly object can be created by applying the CAN Slave Utility. The system

will show the unit of IO modules in the utility software. Therefore, users can

arrange the unit to the specific assembly instance. In analog modules, the unit

of length is 2 bytes and 1 byte is in the digital module.

Slot

Address

Application

Instance ID

Module name

Useable

DO unit

Useable

AO unit

Useable

DI unit

Useable

AI unit

0 0x01 87017 0 0 0 8

1 0x02 8024 0 4 0 0

2 0x03 8057 2 0 0 0

3 0x04 8053 0 0 2 0

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Users can assign assembly instances as either input or output instances.

However there must be DO or AO units in output instances. Plus there must be

DI or AI units in input instances. For example:

Assembly Object

Instance ID (Hex)

Instance Type

Data

Length(Byte)

Component modules

0x64 Output 8

1

st

byte DO (1st byte of I-8053)

2

nd

byte DO (2nd byte of I-8053)

3

rd

byte AO (1st CH of I-8024)

4

th

byte AO (1st CH of I-8024)

5

th

byte AO (2nd CH of I-8024)

6

th

byte AO (2nd CH of I-8024)

7

th

byte AO (3rd CH of I-8024)

8

th

byte AO (3rd CH of I-8024)

0x65 Output 2

1

st

byte AO (4th CH of I-8024)

2

nd

byte AO (4th CH of I-8024)

0x66 Input 8

1

st

byte DI (1st byte of I-8057)

2

nd

byte DI (2nd byte of I-8057)

3

rd

byte AI (1st CH of I-87017)

4

th

byte AI (1st CH of I-87017)

5

th

byte AI (2nd CH of I-87017)

6

th

byte AI (2nd CH of I-87017)

7

th

byte AI (3rd CH of I-87017)

8

th

byte AI (3rd CH of I-87017)

0x67 Input 8

1

st

byte AI (4th CH of I-87017)

2

nd

byte AI (4th CH of I-87017)

3

rd

byte AI (5th CH of I-87017)

4

th

byte AI (5th CH of I-87017)

5

th

byte AI (6th CH of I-87017)

6

th

byte AI (6th CH of I-87017)

7

th

byte AI (7th CH of I-87017)

8

th

byte AI (7th CH of I-87017)

0x68 Input 2

1

st

byte AI (8th CH of I-87017)

2

nd

byte AI (8th CH of I-87017)

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Example2:

If users plug I-8057 (slot 0), I-8064 (slot 1), I-8042 (slot 2) and I-8053 (slot

3) into the CAN-8424, the CAN-8424 will arrange the application objects for

the DeviceNet according to the following table.

Slot

Address

Application

Instance ID

Module

name

DO

Length(Byte)

AO

Length(Byte)

DI

Length(Byte)

AI

Length(Byte)

0 0x01 8057 2 0 0 0

1 0x02 8064 1 0 0 0

2 0x03 8042 2 0 2 0

3 0x04 8053 0 0 2 0

Since there are four slots in I-8420, the application instance number is 4. The

corresponding instance attributes are as follows:

Application Instance 1

Attribute ID Description Method Data Type Value

0x01 Module name Get WORD 8057

0x02 Module Type Get CHAR 0 (DO type)

0x03 Configuration Get/Set

Depend on the

number of

module channel

0x40

0x04 Total Channels Get CHAR 16

0x05 Total Length Get CHAR 2

0x06 Reserved Get CHAR 0

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0x07 DO Length Get CHAR 2

0x08 AO Length Get CHAR 0

0x09 DI Length Get CHAR 0

0x0A AI Length Get CHAR 0

0x0B

DO channel

num

Get CHAR 16

0x0C

AO channel

num

Get CHAR 0

0x0D DI channel num Get CHAR 0

0x0E AI channel num Get CHAR 0

0x14 DO data Set

Defined by

module channel

num

1st bit of 1st byte (1st

channel)

2

nd

bit of 1st byte (2nd

channel)

3

rd

bit of 1st byte (3rd

channel)

4

th

bit of 1st byte (4th

channel)

5

th

bit of 1st byte (5th

channel)

6

th

bit of 1st byte (6th

channel)

7

th

bit of 1st byte (7th

channel)

8

th

bit of 1st byte (8th

channel)

1

st

bit of 2nd byte (9th

channel)

2

nd

bit of 2nd byte (10th

channel)

3

rd

bit of 2nd byte (11th

channel)

4

th

bit of 2nd byte (12th

channel)

5

th

bit of 2nd byte (13th

channel)

6

th

bit of 2nd byte (14th

channel)

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7

th

bit of 2nd byte (15th

channel)

8

th

bit of 2nd byte (16th

channel)

0x15 AO data Set

Defined by

module channel

num

0

0x16 DI data Get

Defined by

module channel

num

0

0x17 AI data Get

Defined by

module channel

num

0

Application Instance 2

Attribute ID Description Method Data Type Value

0x01 Module name Get WORD 8064

0x02 Module Type Get CHAR 0 (DO type)

0x03 Configuration Get/Set

Depend on the

number of

module channel

0x40

0x04

To ta l

Channels

Get CHAR 8

0x05 Total Length Get CHAR 1

0x06 Reserved Get CHAR 0

0x07 DO Length Get CHAR 1

0x08 AO Length Get CHAR 0

0x09 DI Length Get CHAR 0

0x0A AI Length Get CHAR 0

0x0B

DO channel

num

Get CHAR 8

0x0C

AO channel

num

Get CHAR 0

0x0D

DI channel

num

Get CHAR 0

0x0E AI channel Get CHAR 0

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num

0x14 DO data Set

Defined by

module channel

num

1st bit of 1st byte (1st

channel)

2

nd

bit of 1st byte (2nd

channel)

3

rd

bit of 1st byte (3rd

channel)

4

th

bit of 1st byte (4th

channel)

5

th

bit of 1st byte (5th

channel)

6

th

bit of 1st byte (6th

channel)

7

th

bit of 1st byte (7th

channel)

8

th

bit of 1st byte (8th

channel)

0x15 AO data Set

Defined by

module channel

num

0

0x16 DI data Get

Defined by

module channel

num

0

0x17 AI data Get

Defined by

module channel

num

0

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Application Instance 3

Attribute ID Description Method Data Type Value

0x01 Module name Get WORD 8042

0x02 Module Type Get CHAR

4

(DO_AND_DI_TYPE)

0x03 Configuration Get/Set

Depend on the

number of

module channel

0x40

0x04

To ta l

Channels

Get CHAR 32

0x05 Total Length Get CHAR 4

0x06 Reserved Get CHAR 0

0x07 DO Length Get CHAR 2

0x08 AO Length Get CHAR 0

0x09 DI Length Get CHAR 2

0x0A AI Length Get CHAR 0

0x0B

DO channel

num

Get CHAR 16

0x0C

AO channel

num

Get CHAR 0

0x0D

DI channel

num

Get CHAR 16

0x0E

AI channel

num

Get CHAR 0

0x14 DO data Set

Defined by

module channel

num

1st bit of 1st byte (1st

channel)

2

nd

bit of 1st byte (2nd

channel)

3

rd

bit of 1st byte (3rd

channel)

4

th

bit of 1st byte (4th

channel)

5

th

bit of 1st byte (5th

channel)

6

th

bit of 1st byte (6th

channel)

7

th

bit of 1st byte (7th

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channel)

8

th

bit of 1st byte (8th

channel)

1

st

bit of 2nd byte (9th

channel)

2

nd

bit of 2nd byte (10th

channel)

3

rd

bit of 2nd byte (11th

channel)

4

th

bit of 2nd byte (12th

channel)

5

th

bit of 2nd byte (13th

channel)

6

th

bit of 2nd byte (14th

channel)

7

th

bit of 2nd byte (15th

channel)

8

th

bit of 2nd byte (16th

channel)

0x15 AO data Set

Defined by

module channel

num

0

0x16 DI data Get

Defined by

module channel

num

1st bit of 1st byte (1st

channel)

2

nd

bit of 1st byte (2nd

channel)

3

rd

bit of 1st byte (3rd

channel)

4

th

bit of 1st byte (4th

channel)

5

th

bit of 1st byte (5th

channel)

6

th

bit of 1st byte (6th

channel)

7

th

bit of 1st byte (7th

channel)

8

th

bit of 1st byte (8th

channel)

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1

st

bit of 2nd byte (9th

channel)

2

nd

bit of 2nd byte (10th

channel)

3

rd

bit of 2nd byte (11th

channel)

4

th

bit of 2nd byte (12th

channel)

5

th

bit of 2nd byte (13th

channel)

6

th

bit of 2nd byte (14th

channel)

7

th

bit of 2nd byte (15th

channel)

8

th

bit of 2nd byte (16th

channel)

0x17 AI data Get

Defined by

module channel

num

0

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Application Instance 4

Attribute ID Description Method Data Type Value

0x01 Module name Get WORD 8053

0x02 Module Type Get CHAR 1 (DI type)

0x03 Configuration Get/Set

Depend on the

number of

module channel

0x40

0x04 Total Channels Get CHAR 16

0x05 Total Length Get CHAR 2

0x06 Reserved Get CHAR 0

0x07 DO Length Get CHAR 0

0x08 AO Length Get CHAR 0

0x09 DI Length Get CHAR 2

0x0A AI Length Get CHAR 0

0x0B

DO channel

num

Get CHAR 0

0x0C

AO channel

num

Get CHAR 0

0x0D DI channel num Get CHAR 16

0x0E AI channel num Get CHAR 0

0x14 DO data Set

Defined by

module channel

num

0

0x15 AO data Set

Defined by

module channel

num

0

0x16 DI data Get

Defined by

module channel

num

1st bit of 1st byte (1st

channel)

2

nd

bit of 1st byte (2nd

channel)

3

rd

bit of 1st byte (3rd

channel)

4

th

bit of 1st byte (4th

channel)

5

th

bit of 1st byte (5th

channel)

6

th

bit of 1st byte (6th

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channel)

7

th

bit of 1st byte (7th

channel)

8

th

bit of 1st byte (8th

channel)

1

st

bit of 2nd byte (9th

channel)

2

nd

bit of 2nd byte (10th

channel)

3

rd

bit of 2nd byte (11th

channel)

4

th

bit of 2nd byte (12th

channel)

5

th

bit of 2nd byte (13th

channel)

6

th

bit of 2nd byte (14th

channel)

7

th

bit of 2nd byte (15th

channel)

8

th

bit of 2nd byte (16th

channel)

0x17 AI data Get

Defined by

module channel

num

0

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Refer to the application object instances. The CAN-8x24 will define the default

assembly object instances according to the following table.

Assembly Object

Instance ID (Hex)

Instance Type Data Length(Byte) Component modules

0x64 Output DO: 5 I-8053/ I-8064/ I-8042

0x65 Input DI: 4 I-8042/I-8057

If the default assembly instances are not adaptive, a user-defined assembly

object can be created. The system will show the unit of IO modules in the CAN

Slave Utility software. Therefore, users can arrange the unit to the specific

assembly instances. In analog modules, the unit of length is 2 bytes where 1

byte is in the digital modules.

Users can assign assembly instances as either input or output instances.

However there must be DO or AO units in output instances. Plus there must be

DI or AI units in input instances. For example:

Assembly Object

Instance ID (Hex)

Instance

Type

Data

Length(Byte)

Component modules

0x64 Output 2

1

st

byte DO (1st byte of I-8053),

2

nd

byte DO (1st byte of I-8064)

0x65 Output 3

1

st

byte DO (2nd byte of I-8053),

2

nd

byte DO (1st byte of I-8042),

3

rd

byte DO (2nd byte of I-8042)

0x66 Input 4

1

st

byte DI (2nd byte of I-8042),

2

nd

byte DI (1st byte of I-8042),

3

rd

byte DI (2nd byte of I-8057)

4

th

byte DI (2nd byte of I-8057)

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6.3 CAN-8124/ CAN-8224 Assembly Example

There are few IO examples related to the CAN-8124/CAN-8224 in this

section. These demos should help users to understand the CAN-8124/

CAN-8224 to a suitable degree.
Example1: AI/AO modules demo

In this demo, apply the I-87017 (slot 0), I-8024 (slot 1) into the CAN-8224

as follows.

The CAN-8224 would arrange the application objects for the DeviceNet

according to the following table.

Slot

Address

Application

Instance ID

Module

name

DO

Length(Byte)

AO

Length(Byte)

DI

Length(Byte)

AI

Length(Byte)

0 0x01 87017 0 0 0 16

1 0x02 8024 0 8 0 0

Application Instance 1

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Attribute ID Description Method Data Type Value

0x01 Module name Get WORD 87017

0x02 Module Type Get CHAR 3 (AI type)

0x03 Configuration Get/Set

Depend on the

number of

module channel

1st byte (1st channel)

2

nd

byte (2nd channel)

3

rd

byte (3rd channel)

4

th

byte (4th channel)

5

th

byte (5th channel)

6

th

byte (6th channel)

7

th

byte (7th channel)

8

th

byte (8th channel)

0x04 Total Channels Get CHAR 8

0x05 Total Length Get CHAR 16

0x06 Reserved Get CHAR 0

0x07 DO Length Get CHAR 0

0x08 AO Length Get CHAR 0

0x09 DI Length Get CHAR 0

0x0A AI Length Get CHAR 16

0x0B

DO channel

num

Get CHAR 0

0x0C

AO channel

num

Get CHAR 0

0x0D DI channel num Get CHAR 0

0x0E AI channel num Get CHAR 8

0x14 DO data Set

Defined by

module channel

num

0

0x15 AO data Set

Defined by

module channel

num

0

0x16 DI data Get

Defined by

module channel

num

0

0x17 AI data Get

Defined by

module channel

num

1st and 2nd bytes (1st

channel)

3

rd

and 4th bytes (2nd

channel)