ICPDAS CAN-8123, CAN-8223, CAN-8423 User Manual
CAN-8123/ CAN-8223/CAN-8423
CANopen 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 assume 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, nor for any infringements
of patents or other rights of third parties resulting from its
use.
Copyright
Copyright 2003 by ICP DAS. All rights are reserved.
Trademark
The names used for identification only maybe
registered trademarks of their respective companies.
CAN-8123/CAN-8223/CAN- 8423 user manual (ver. 2.00, July/26/2007) ------1
Tables of Content
1 Introduction.............................................................................................4
1.1 Overview.........................................................................................4
1.2 Hardware Features ........................................................................6
1.3 CAN-8123/CAN-8223/CAN-8423 Features ....................................7
1.4 Utility Features...............................................................................8
2 Hardware Specification..........................................................................9
2.1 CAN-8123/CAN-8223 Hardware Structure....................................9
2.2 CAN-8423 Hardware Structure....................................................11
2.3 Wire Connection ..........................................................................12
2.4 Power LED....................................................................................15
2.5 CANopen Status LED...................................................................16
2.5.1 RUN LED ..........................................................................16
2.5.2 ERR LED ..........................................................................17
2.6 Node ID and Baud rate Rotary Switch........................................19
2.7 Module Support ...........................................................................21
3 CANopen System..................................................................................22
3.1 CANopen Introduction.................................................................22
3.2 SDO Introduction.........................................................................30
3.3 PDO Introduction.........................................................................32
3.4 EMCY Introduction.......................................................................44
3.5 NMT Introduction.........................................................................45
3.5.1 Module Control Protocols...............................................46
3.5.2 Error Control Protocols ..................................................47
4 Configuration & Getting Start..............................................................49
4.1 CAN-8123/CAN-8223 Configuration Flowchart..........................49
4.2 CAN-8423 Configuration Flowchart............................................51
4.3 CAN Slave Utility Overview.........................................................53
4.4 Configuration with the CAN Slave Utility...................................54
4.5 CAN-8123/CAN-8223 Configuration (Off-line mode).................59
4.6 CAN-8423 Configuration (On-line mode)...................................66
5 CANopen Communication Set.............................................................69
5.1 SDO Communication Set ............................................................70
5.1.1 Upload SDO Protocol......................................................70
5.1.2 SDO Block Upload...........................................................79
5.1.3 Download.........................................................................90
5.1.4 SDO Block Download......................................................95
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5.1.5 Abort SDO Transfer Protocol.......................................103
5.2 PDO Communication Set ..........................................................106
5.2.1 PDO COB-ID Parameters ..............................................106
5.2.2 Transmission Type........................................................108
5.2.3 PDO Communication Rule............................................109
5.3 EMCY Communication Set........................................................151
5.3.1 EMCY COB-ID Parameter..............................................151
5.3.2 EMCY Communication..................................................152
5.4 NMT Communication Set ..........................................................162
5.4.1 Module Control Protocol .............................................. 162
5.4.2 Error Control Protocol ..................................................166
5.5 Special Functions for CAN-8123/CAN-8223/CAN-8423...........171
6 Object Dictionary of CAN-8123/CAN-8223/CAN-8423......................179
6.1 Communication Profile Area.....................................................179
6.2 Manufacturer Specific Profile Area ..........................................189
6.3 Standardized Device Profile Area.............................................190
Appendix A: Dimensions...........................................................................194
Appendix B: Analog I/O Transformation Table........................................196
CAN-8123/CAN-8223/CAN- 8423 user manual (ver. 2.00, July/26/2007) ------3
1 Introduction
1.1 Overview
CANopen, a kind of communication protocol, is based on an intelligent
field bus (CAN bus). It was developed as a standardized embedded network
with highly flexible configuration capabilities. It provides standardized
communication objects for real-time data (Process Data Objects, PDO),
configuration data (Service Data Objects, SDO), network management data
(NMT message, and Error Control), and special functions (Time Stamp, Sync
message, and Emergency message). Nowadays, CANopen is used in many
various application fields, such as medical equipment, off-road vehicles,
maritime electronics, public transportation, building automation and so on.
CAN-8123/CAN-8223/CAN-8423 main control units are specially
designed for the slave device of CANopen protocols. In order to expand the I/O
channel to make it more flexible, the CAN-8123/CAN-8223/CAN-8423
supports up to 8 expansion slots for the user to expand their I/O channel
numbers in various applications. Users can choose either the I-87K or the
I-8000 series DI/DO/AI/AO slot modules to fit their customized practice
applications. An CAN-8123/CAN-8223 has one and two expansion slots
respectively, and an CAN-8423 supports four expansion slots respectively.
Each expansion slot can plug in one I-87K or I-8000 series I/O module. For
example, only one slot module can plug in the CAN-8123, and an CAN-8423
can have at most 4 slot modules plugged in it. All of these main control units
follow the CANopen Spec DS-301 V4.01 and DSP-401 V2.1, and supplies
many features for users, such as dynamic PDO, EMCY object, error output
value, SYNC cyclic and acyclic and so forth. In addition, we also provide the
CAN Slave Utility to allow users to create EDS files dynamically. EDS files are
based on the CANopen DSP-306 and can be compatible with each CANopen
master interface from different manufacturers if the CANopen master interface
supports EDS files. The general application for the
CAN-8123/CAN-8223/CAN-8423 CANopen slave device architecture is as
follows.
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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 Power LED, RUN LED, and ERR LED
z Support 1/2/4/8 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
z RS-232: TXD,RXD,RTS,CTS,GND
z Communication speed: 115200 bps.
z Configure tool connection
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1.3 CAN-8123/CAN-8223/CAN-8423 Features
z NMT: Slave
z Error Control: Node Guarding
z Node ID: Setting by Rotary Switch
z No. of PDOs: 16 Rx, 16Tx
z PDO Modes: Event-triggered, remotely requested, cyclic and acyclic
SYNC
z PDO Mapping: variable
z No of SDOs: 1 server, 0 client
z Emergency Message: Yes
z CANopen Version: DS-301 v4.01
z Device Profile: DSP-401 v2.0
z Produce EDS file dynamically
z Baud Rate setting by Utility : 10K, 20K, 50K, 125K, 250K, 500K, 800K
and 1M bps
z Power LED, RUN LED, and ERR LED indicators
z Support max 4 I-8000 and I-87K series modules for CAN-8423
z Provide a friendly Utility to configure the I-8000 and I-87K series
modules
CAN-8123/CAN-8223/CAN- 8423 user manual (ver. 2.00, July/26/2007) ------7
1.4 Utility Features
z Set the I-8000 and I-87K AI/AO modules parameters
z Show I-8000 and I-87K modules configuration
z Show Application and assembly object configurations
z Support IO connection path settings
z Support EDS file creation
CAN-8123/CAN-8223/CAN- 8423 user manual (ver. 2.00, July/26/2007) ------8
2 Hardware Specification
2.1 CAN-8123/CAN-8223 Hardware Structure
CAN Bus Connector
CANopen
Status LED Power LED
1 I/O Expansion Slot
Node ID and Baud
rate rotary switch
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2 I/O Expansion Slots
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2.2 CAN-8423 Hardware Structure
CAN Bus Connector
CANopen
Status LED
Power LED
RS-232 Port
(
connect to PC)
4 I/O Expansion Slots
Power Pin
Node ID and Baud
rate rotary switch
CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------11
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
120Ω (or between 108Ω~132Ω). The length related resistance should have 70
mΩ/m. Users should check the resistances of the CAN bus, before they install a
new CAN network.
...
CAN_H
Device NDevice 2Device 1
120Ω
120Ω
CAN_L
Moreover, to minimize the voltage drop over long distances, the terminal
resistance should be higher than the value defined in the ISO 11898-2. The
following table can be used as a good reference.
Bus Cable Parameters
Bus Length
(meter)
0~40 70 0.25(23AWG)~
40~300 < 60 0.34(22AWG)~
300~600 < 40 0.5~0.6mm
600~1K < 20 0.75~0.8mm
Length Related
Resistance
(mΩ/m)
Cross Section
(Type)
0.34mm
0.6mm
2
(22AWG)
2
(20AWG)
(20AWG)
(18AWG)
2
2
Terminal
Resistance
(Ω)
124 (0.1%)
127 (0.1%)
150~300
150~300
CAN-8123/CAN-8223/CAN- 84 2 3 user manual (ver. 2.0 0, Jul y / 26/2007) ------12
In the CAN-8123/CAN-8223/CAN-8423, the 120Ω terminal resistance is
supplied. The JP2 for the CAN-8123/CAN-8223 is for terminal resistance. The
JP2 location is shown in the following figure.
L
CAN Connector
Rotary Swtich
E
D
JP2
CAN
Transciver
CAN Controller
I-8KCPS1/I-8KCPS2 Connector
JP4
JP3
186 CPU
.
The JP1 on the CAN-8423 is used for adjusting terminal resistance, and its
location is shown in the following figure.
L
E
D
Rotary Switch
186 CPU
CAN Connector
JP1
CAN
Transciver
..
The following connection statuses are presented for the condition if the
terminal resister is enabled or disabled.
CAN-8123/CAN-8223/CAN- 84 2 3 user manual (ver. 2.0 0, Jul y / 26/2007) ------13
CAN Controller
I-8421/I-8821 Connector
Disable Enable
The CAN bus baud rate has the high relationship with the bus length. The
following table indicates the corresponding bus length for every kind of baud rate.
Baud rate (bit/s) Max. Bus length (m)
1 M 25
800 K 50
500 K 100
250 K 250
125 K 500
50 K 1000
20 K 2500
10 K 5000
Note: When the bus length is greater than 1000m, the bridge
or repeater devices may be needed.
The pin assignment of both the CAN-8123/CAN-8223 and CAN-8423 CAN
bus connectors are shown below.
CAN_GND
CAN_L
CAN_Shield
CAN_H
CAN_V+
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin No. Signal Description
1 CAN_GND Ground (0V)
2 CAN_L CAN_L bus line (dominant low)
3 CAN_SHLD Optional CAN Shield
4 CAN_H CAN_H bus line (dominant high)
5 CAN_V+ CAN external positive supply (CAN-8123/CAN-8223
power)
CAN-8123/CAN-8223 CAN bus connector pin assignments
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NO USE
CAN_H
CAN_Shield
CAN_L
NO USE
Pin No. Signal Description
1 NO USE No use
2 CAN_H CAN_H bus line (dominant high)
3 CAN_SHLD Optional CAN Shield
4 CAN_L CAN_L bus line (dominant low)
5 NO USE No use
CAN-8423 CAN bus connectors ping assignment
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
2.4 Power LED
Power LED is yellow one. An CAN-8123/CAN-8223/CAN-8423 needs 10~30
VDC power input. The power consumption for an CAN-8123/CAN-8223/
CAN-8423 will correlate with the number of slot modules plugged into them. If the
electronic power is enough, the Power LED will be turned on. If the Power LED
can’t be turned on after applying the power supplier, users need to check the
power and voltage for this power supply.
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2.5 CANopen Status LED
CAN-8123/CAN-8223/CAN-8423 provides two CANopen LED indicators.
They are the Error LED (red) and the RUN LED (green). The Error LED and
Run LED are defined in the CANopen specs. When the CANopen
communication events occur, these indicators will be triggered to glitter with
different periods. The following descriptions interpret the twinkling signal
meanings when these indicators are triggered.
2.5.1 RUN LED
The RUN LED indicates the condition of the CANopen network state
mechanism. About the information of CANopen state mechanism, please refer
to section 3.5.1. The different signal periods and related meanings are
displayed respectively in the following figure and table.
ON
OFF
ON
OFF
Blanking
Single Flash
0
400
200 600
800
1000
1200
1400
1600
1800
2000
Time (ms)
No. CAN RUN LED State Description
1 Single Flash Stopped The device is in Stopped state
2 Blinking Pre-operational The device is in the
pre-operational state
3 On Operational The device is in the operational
state
CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------16
2.5.2 ERR LED
The ERR LED indicates the status of the CAN physical layer and indicates
errors due to missing CAN messages (These messages may be SYNC or
Guard messages). Each error event has different twinkling signal periods, and
the signal periods and related meanings are displayed respectively in the
following figure and table.
ON
OFF
ON
OFF
ON
OFF
Single Flash
Double Flash
Triple Flash
0
400
200 600
800
1000
1200
1400
1600
1800
2000
Time (ms)
CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------17
No. Error LED State Description
1 Off No error The device is in working
condition.
2 Single Flash Warning limit
reached
At least one of the error counters
of the CAN controller has
reached or exceeded the warning
level (too many error frames).
3 Double Flash Error Control
Event
A guard event (NMT-Slave or
NMT-master) or a heartbeat
event (Heartbeat consumer) has
occurred.
4 Triple Flash SYNC Error The SYNC message has not
been received within the
configured communication cycle
period time out (see Object
Dictionary Entry 0x1006).
5 On Bus Off The CAN controller is in a bus off
condition.
Note: If several errors are present at the same time, the error with the highest
number will be indicated first. For example, if NMT Error (No. =3) and
Sync Error (No. =4) occur, the SYNC error is indicated.
CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------18
2.6 Node ID and Baud rate Rotary Switch
8
7
0
C
4
2
1
F
D
B
9
5
3
A
6
E
8
7
0
C
4
2
1
F
D
B
9
5
3
A
6
E
8
7
0
C
4
2
1
F
D
B
9
5
3
A
6
E
(MSB)
(LSB)
ID
BAUD
The upper two rotary switches control the CAN-8123/CAN-8223/
CAN-8423 node ID. MSB means the high nibble of the node ID, and LSB
represent the low nibble of the node ID. The CAN-8123/CAN-8223/
CAN-8423node ID is useless when the value exceeds the 0x7F (127 for
decimal format) because of the CANopen specification definition. Therefore, if
the node ID is set to exceed 127, the CANopen firmware will set the node ID to
1 automatically. For example, if the MSB rotary switch is turned to 3 and the
LSB rotary switch is turned to 2, the CAN-8123/CAN-8223/CAN-8423 node ID
is 0x32 and the decimal value is 50 (3*16+2=50).
The lower rotary switch handles the CAN-8123/CAN-8223/CAN-8423
baud rate. The relationship between the rotary switch value and the practical
baud rate is presented in the following table.
Rotary Switch Value Baud rate (K BPS)
0 10
1 20
2 50
3 125
4 250
5 500
6 800
7 1000
CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------19
If the “BAUD” rotary switch for the CAN-8423 is turned to ‘9’, the
CAN-8423 will get into its initial mode. In the meanwhile, the CANopen
firmware built in the CAN-8423 will not be executed. Before users use the
utility tool to configure the CAN-8423, the initial mode is needed. For the detail
configuration process, please refer to the cheaper 4. Since the
CAN-8123/CAN-8223 has no RS-232 COM Port, it is necessary to run the
utility tool in the off-line mode if users want to get the EDS file of the
CAN-8123/CAN-8223.
Furthermore, when the CAN-8123/CAN-8223/CAN-8423 is started up, the
CANopen firmware will check these rotary switches. Any illegal value for these
rotary switches will cause the CAN-8123/CAN-8223/CAN-8423 to have a
boot-up failure.
CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------20
2.7 Module Support
The CAN-8123/CAN-8223/CAN-8423 supports many kinds of DI, DO, AI
and AO modules for the I-8000/I-87K series modules. When users want to
apply these modules on the CANopen network, they only need to plug these
modules into the CAN-8123/CAN-8223/CAN-8423 I/O expansion slots. Then,
the CANopen firmware built in the CAN-8123/CAN-8223/CAN-8423 will search
for them by organizing the corresponding CANopen entries automatically. The
following table shows the module name and basic information supported by
the CAN-8123/CAN-8223/CAN-8423.
IO Type Module Name IO Type Module Name
AI
( NOTE )
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-8040/ 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/
NOTE : CANopen remote I/O ( CAN-8423/CAN-8223/CAN-8123 ) do
not support I-8017H
CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------21
3 CANopen System
3.1 CANopen Introduction
CANopen is a kind of network protocol based on the CAN bus and has
been used in various applications, such as vehicles, industrial machines,
building automation, medical devices, maritime applications, restaurant
appliances, laboratory equipment & research. It allows for not only
broadcasting but also peer-to-peer data exchange between every CANopen
node. The network management functions specified in CANopen simplify the
project design. In addition to this, users can also implement and diagnose the
CANopen network by standard mechanisms for network start-up and error
management. By the device model, any CANopen device can effectively
access or get the conditions relating to the I/O values and node states of other
devices in the same network. Generally, a CANopen device can be modeled
into three parts.
z Communication
z Object Dictionary
z Application program
The functions and general concepts for each part are shown as follows.
Communication
Object
Dicitionary
Application
Comm.
objcet
Comm.
objcet
Comm.
objcet
Application
objcet
Application
objcet
Application
objcet
Entry 1
Entry 2
Entry n
State
mechanism
Bus System
Process
CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------22
Communication
The communication part provides several communication objects and
appropriate functionalities to transmit CANopen messages via the underlying
network structure. These objects may be PDO (Process Data Object), SDO
(Service Data Object), NMT (Network Management Objects), SYNC
(Synchronous Objects)…etc. Each communication object has its
communication model and functionality. Take the PDO, SDO, and NMT for
examples, the communication objects for accessing the device object
dictionary entries is SDO, and SDO uses the Client/Server structure for its
communication model (section 3.2). Real-time data or I/O values can be
transmitted or received quickly without any protocol overhead by means of
PDO communication objects. The PDO’s communication model follows the
Producer/Consumer structure. It is also named the Push/Pull model (section
3.3). NMT communication objects are used for controlling and supervising the
state of the nodes in the CANopen network, and it follows a Master/Slave
structure (section 3.5). No matter which kind of communication object is used,
the transmitted message must obey the data frame defined in the CAN 2.0A
spec. Generally, it looks like the following figure.
ID RTR
Data
Length
8-byte Data
The ID field has 11-bit data. It is useful in the arbitration mechanism. The
RTR filed has a one-bit value. If the RTR is set to 1, this message is used for
remote-transmit requests. In this case, the 8-byte data is useless. The data
length field contains 4-bit data. It indicates that the valid data number stored in
the 8-byte data field. The last field, 8-byte data, is applied to store the message
data.
CANopen specification uses the 4-bit function code and 7-bit node ID to
combine the 11-bit ID of CAN message, and name it as communication object
ID (COB-ID). The COB-ID structure is displayed below.
Function Code Node ID
bit 10 bit 0
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The COB-IDs are defined for recognizing where the message comes from
or where the message must be sent. Also, they are used to distinguish the
functionality of the transmitted or received messages, and decide the priority of
the message transmission for each node on the network. According to the
arbitration mechanism of the CAN bus, the CAN message with the lower value
COB-ID has the higher priority to be transmitted into the CAN bus. In the
CANopen specification, some COB-IDs are reversed for specific
communication objects and can't be defined arbitrarily by users. The following
list shows these reversed COB-IDs.
Reversed COB-ID (Hex) Used by object
0 NMT
1 Reserved
80 SYNC
81~FF EMERGENCY
100 TIME STAMP
101~180 reversed
581~5FF Default Transmit-SDO
601~67F Default Receive-SDO
6E0 reversed
701~77F NMT Error Control
780~7FF reversed
CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------24
Beside the COB-IDs described above, users can apply the other COB-IDs
if needed. All of the default COB-IDs used in the CANopen protocol is shown in
the following table.
(Bit10~Bit7)
(Function Code)
(Bit6~Bit0) Communication object Name
0000 0000000 NMT
0001 0000000 SYNC
0010 0000000 TIME STAMP
0001 Node ID EMERGENCY
0011/0101/0111/1001 Node ID TxPDO1/2/3/4
0100/0110/1000/1010 Node ID RxPDO1/2/3/4
1011 Node ID SDO for transmission (TxSDO)
1100 Node ID SDO for reception (RxSDO)
1110 Node ID NMT Error Control
Note: For the CAN-8123/CAN-8223/CAN-8423, we provide all communication
objects except for the TIME STAMP.
CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------25
Object Dictionary
The object dictionary collects a lot of important information. This
information has an influence on the device’s behavior, such as the data in the
I/O channels, the communication parameters and the network states. The
object dictionary is essentially a group of objects. It consists of a lot of object
entries, and these entries can be accessible via the network in a pre-defined
method. Each object entry within the object dictionary has their own
functionality (ex. communication parameters, device profile …), data type (ex.
8-bit Integer, 8-bit unsigned…), and access type (read only, write only …). All
of them are addressed by a 16-bit index and an 8-bit sub-index. The overall
profile of the standard object dictionary is shown below.
Index (hex) Object
0000 Reserved
0001-001F Static Data Types
0020-003F Complex Data Types
0040-005F Manufacturer Specific Data Types
0060-007F Device Profile Specific Static Data Types
0080-009F Device Profile Specific Complex Data Types
00A0-0FFF Reserved for further use
1000-1FFF Communication Profile Area
2000-5FFF Manufacturer Specific Profile Area
6000-9FFF Standardized Device Profile Area
A000-BFFF Standardized Interface Profile Area
C000-FFFF Reserved for further use
Take the standardized device profile area for an example. Assume that a
CANopen device has 16 DI, 8 DO, 2AI and 1AO channels. The values of these
channels will be stored into several entries in the standardized device
dictionary, such as the entries with indexes 0x6000, 0x6200, 0x6401, and
0x6411. When the CANopen device obtains the input value, these values are
stored in the 0x6000 and 0x6401 indexes. Furthermore, the values stored in
the 0x6200 and 0x6411 indexes also output to the DO and AO channels. The
basic concept is depicted as follows.
CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------26
Subindex1 : DI Channel 0~7
Subindex2 : DI Channel 8~15
Subindex1 : DO Channel 0~7
Subindex1 : AI Channel 0
Subindex2 : AI Channel 1
Subindex1 : AO Channel 0
DI Standardized Device
Dictionary Object (0x6000)
DO Standardized Device
Dictionary Object (0x6200)
AI Standardized Device
Dictionary Object (0x6401)
AO Standardized Device
Dictionary Object (0x6411)
Practical DI
Channel 0~15
Practical DO
Channel 0~7
Practical AI
Channel 0~1
Practical AO
Channel 0
Hardware
Standardized Device
Profile Area
Take the CAN-8423 for example. There are some I-8000 or I-87K series
modules plugged in the CAN-8423 I/O expansion slots. The related
information for each module is shown below.
Module Name Slot No DO (ch) AO (ch) DI (ch) AI (ch)
I-8063 0 4 0 4 0
I-87053 1 0 0 16 0
I-8053 3 0 0 16 0
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When the CAN-8423 boots up, all the channels of the modules plugged in
the CAN-8423 will be scanned. Also, the I/O values of these channels are
arranged into proper object entries one by one. So the minimum data unit is
one byte, the DI and DO channels, which are not enough to fill up one byte, will
be regarded as one byte length automatically. The CAN-8423 uses objects
with the index 0x6000 to store the input values of the DI channels. The I/O
values of the DO, AI, and AO channels are put into the object with the indexes
0x6200, 0x6401, and 0x6411 respectively. When data come through these I/O
values to the corresponding object, the device will follow the rules below.
z The I/O channel values of the I-8000/I-87K series modules with lower
slot numbers are first placed into the object dictionary. After the
CAN-8423 has filled the all I/O channels in one module, then the
CAN-8423 will go to the next slot number to continue.
z Each analog channel is stored by using 2 bytes.
z The number of digital channels of one module, which can’t be divided
by 8 with no remainder, is stored with 1 byte.
CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------28
After using the rule described above, the result of the object format is as
follows.
Index
sub-index
0x6000
(for DI)
0x6200
(for DO)
0x6401
(for AI)
0x6411
(for AO)
0x00 9 1 9 4
0x01 DI0~DI3
(Slot:0)
DO0~DO3
(Slot:0)
0x02 DI0~DI7
(Slot:1)
0x03 DI8~DI15
(Slot:1)
0x04 DI0~DI7
(Slot:3)
0x05 DI8~DI15
(Slot:3)
The information described above can also be viewed by using the CAN
Slave Utility. For more details about the object dictionary and how to use the
CAN Slave Utility, refer to both chapter 5 and chapter 6.
Application
The application objects handle all of the device functionalities, which
respect to the interaction with the process environment. It is the bridge
between the object dictionary and practical process, such as the analog I/O,
digital I/O….
CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------29
3.2 SDO Introduction
In order to access the entries in a device object dictionary, service data
objects (SDOs) are provided. By means of the SDO communication method, a
peer-to-peer communication bridge between two devices is established. The
SDO transmission follows the client-server relationship. The general concept is
shown in the figure below.
Client Server
confirmation
response
data
data
request indication
The SDO has two kinds of the COB-IDs, which are RxSDOs and TxSDOs.
They are viewed at point in the CANopen device. For example, from the view
of the CAN-8123/CAN-8223/CAN-8423, if users want to send a SDO message,
then the CAN-8123/CAN-8223/CAN-8423 needs to receive the SDO message
transmitted from users. Hence, the receive SDO (RxSDO) COB-ID of the
CAN-8123/CAN-8223/CAN-8423 will be used.
If the CAN-8123/CAN-8223/CAN-8423 wants to transmit a SDO message,
then the TxSDO COB-ID of the CAN-8123/CAN-8223/CAN-8423 will need to
be utilized. Before the SDO has been used, only the client can take the active
requirement for a SDO transmission. When the SDO client starts to transmit a
SDO, it is necessary to choose the proper protocol to transmit the SDO.
If the SDO client has to get the information from the device object
dictionary and from the SDO server, the segment upload protocol or block
upload protocol will be applied. The former protocol is used for transmitting
fewer data; the latter protocol is used for transmitting larger data. Both the
segment download protocol and block download protocol will be implemented
when the SDO client wants to modify the object dictionary to the SDO server.
The differences between the segment download protocol and the block
download protocol are similar to the differences between the segment upload
protocol and the block upload protocol. Because of the different access types
CAN-8123/CAN-8223/CAN-84 2 3 user manual (ver. 2.00, Jul y / 26/2007) ------30
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