MicroControl µCAN.8.dio-BOX User Manual
Systemhaus fr Automatisierung
µCAN.8.dio-BOX
Manual Digital I/O-Module
Version 2.00
MicroControl GmbH & Co. KG
Junkersring 23
D-53844 Troisdorf
Fon: 02241 / 25 65 9 - 0
Fax: 02241 / 25 65 9 - 11
http://www.microcontrol.net
Table of contents
μCAN.8.dio-BOX 2
1. Safety Regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1 General Safety Regulations . . . . . . . . . . . . . . . . . 6
2. Operation of μCAN.8.dio-BOX . . . . . . . . . . . . . . . . . . . 8
2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3. Project Planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1 Module Layout. . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2 Operation Area. . . . . . . . . . . . . . . . . . . . . . . . . 11
3.3 Maximum System Layout. . . . . . . . . . . . . . . . . 12
3.4 Case Dimensions . . . . . . . . . . . . . . . . . . . . . . . 14
4. Assembly and Disassembly . . . . . . . . . . . . . . . . . . . . . 16
4.1 Safety Regulations . . . . . . . . . . . . . . . . . . . . . . 16
4.2 General Information . . . . . . . . . . . . . . . . . . . . . 17
4.3 Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.4 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.1 Potential Basics. . . . . . . . . . . . . . . . . . . . . . . . . 20
5.2 EMC Considerations. . . . . . . . . . . . . . . . . . . . . 21
5.2.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.2.2 Shielding of cables . . . . . . . . . . . . . . . . . . . 22
5.2.3 CAN Cable . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.3 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.4 CAN Bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.5 Address Selection . . . . . . . . . . . . . . . . . . . . . . . 27
5.6 Baudrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.7 Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6. Digital Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.1 Function principle / High Side Version . . . . . . . 30
6.2 Function principle / Low Side Version. . . . . . . . 31
6.3 Pinning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7. Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.1 Network Status. . . . . . . . . . . . . . . . . . . . . . . . . 35
7.1.1 Signalling of CAN controller status . . . . . . . 35
Table of contents
3 μCAN.8.dio-BOX
7.1.2 Signalling of Network and CAN status . . . . . 36
7.2 Module Status . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.3 Signal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.3.1 High Side Version . . . . . . . . . . . . . . . . . . . . . 37
7.3.2 Low Side Version . . . . . . . . . . . . . . . . . . . . . 37
8. CANopen Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
8.2 Network Management . . . . . . . . . . . . . . . . . . . 40
8.3 SDO Communication . . . . . . . . . . . . . . . . . . . . 42
8.3.1 SDO Abort Protocol . . . . . . . . . . . . . . . . . . . 43
8.4 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . 44
8.4.1 Communication Profile. . . . . . . . . . . . . . . . . 45
8.4.2 Device Profile . . . . . . . . . . . . . . . . . . . . . . . . 52
8.4.3 Manufacturer Specific Objects . . . . . . . . . . . 56
8.5 Heartbeat Protocol . . . . . . . . . . . . . . . . . . . . . . 57
8.6 PDO Communication . . . . . . . . . . . . . . . . . . . . 59
8.6.1 Transmission Modes . . . . . . . . . . . . . . . . . . . 60
8.6.2 Receive-PDO . . . . . . . . . . . . . . . . . . . . . . . . 61
8.6.3 Transmit PDO. . . . . . . . . . . . . . . . . . . . . . . . 63
8.6.4 Synchronisation Message . . . . . . . . . . . . . . . 65
8.7 Emergency Message . . . . . . . . . . . . . . . . . . . . . 66
9. Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
μCAN.8.dio-BOX MicroControl Version 2.00 Page 4
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Remarks on CE-conformance of μCAN-modules
μCAN-modules which have CE-conformance label, have passed
test specifications of EU-criteria 89/336/EWG "Electromagnetic
Emission and Immunitiy" and standardized European norms
(EN).
Papers of declaration for EU-conformance, according to Art.10 of
EN, are available at:
MicroControl GmbH & Co. KG
Junkersring 23
D-53844 Troisdorf
Germany
MicroControl reserves the right to modify this manual and/or
product described herein without further notice. Nothing in this
manual, nor in any of the data sheets and other supporting documentation, shall be interpreted as conveying an express or implied warranty, representation, or guarantee regarding the
suitability of the products for any particular purpose. MicroControl does not assume any liability or obligation for damages, actual or otherwise of any kind arising out of the application, use of
the products or manuals.
The products described in this manual are not designed, intended, or authorized for use as components in systems intended to
support or sustain life, or any other application in which failure of
the product could create a situation where personal injury or
death may occur.
© 2016 MicroControl GmbH & Co. KG, Troisdorf
No part of this documentation may be copied, transmitted or
stored in a retrieval system or reproduced in any way including,
but not limited to, photography, magnetic or other recording
means, without prior written permission from MicroControl
GmbH & Co. KG.
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General Safety Regulations Safety Regulations
μCAN.8.dio-BOX
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1. Safety Regulations
Symbol Explanation
Attention !
This symbol marks a paragraph which explains possible danger.
This danger might cause a damage to the system / plant or damage to personnel.
Note
This symbol marks a paragraph which contains useful information for the work with the device or which gives just a hint.
1.1 General Safety Regulations
Attention !
Please read the following chapter in any case, because it contains important information about the secure handling of
electrical devices.
This paragraph gives important information about the conditions
of use. It was written for personnel which is qualified and trained
on electrical devices.
Qualified and trained personnel are persons who fulfil at least
one of the following conditions:
You know the safety regulations for automated machines and
you are familiar with the machine.
You are the operator for the machine and you have been trai-
ned on operation modes. You are familiar with the operation
of devices described in this manual.
You are responsible for setting into operation or service and
you are trained on repairing automated machines. In addition you are trained in setting electrical devices into operation,
to connect the earthing conductor and to label these devices.
Terms of use The devices described in this manual can only be used for the
mentioned applications. Other devices used in conjunction have
to meet the safety regulations and EMI requirements.
Safety Regulations General Safety Regulations
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To
Attention !
ensure a trouble free and safe operation of the device please
take care of proper transport, appropriate storage, proper assembly as well as careful operation and maintenance.
Hints for Installati-onPlease take care to observe the actual local safety regulations.
If devices are used in a fixed machine without a mains switch for
all phases or fuses, this equipment has to be installed. The fixed
machine must be connected to safety earth.
If devices are supplied by mains please take care that the selected input voltage fits to the local mains.
Safety Notice If devices are supplied by 24V DC, this voltage has to be isolated
from other voltages.
The cables for power supply, signal lines and sensor lines must
be installed in a way that the device function is not influenced by
EMI.
Devices or machines for industrial automation must be constructed in a manner that an unintentional operation is impossible.
By means of hardware and software safety precautions have to
be taken
Attention !
in order to avoid undefined operation of a automated
machine in case of a cable fraction.
If automated machines can cause damage of material or personnel in case of a malfunction the system designer has to take care
for safety precautions. Possible safety precautions might be a
limit switch o
r locking.
Overview Operation of μCAN.8.dio-BOX
μCAN.8.dio-BOX
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2. Operation of μCAN.8.dio-BOX
2.1 Overview
The μCAN.8.dio-BOX is the right solution for digital I/O-signals
via CAN.
Fig. 1: Digital I/O-Module μCAN.8.dio-BOX
The development in automation towards decentralized „intelligent“ systems makes the communication between these components quite important.
Modern automated systems require the possibility to integrate
components from different manufacturers. The solution for this
problem is a common bus system.
All these requirements are fulfilled by the μCAN.8.dio-BOX module. The μCAN.8.dio-BOX runs on the standard fieldbus CAN.
Typical applications for the μCAN.8.dio-BOX are industrial automation, transportation, food industry and environmental technology.
Operation of μCAN.8.dio-BOX Overview
Seite
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The μCAN.8.dio-BOX runs with the protocol
according to the device profile CiA 401. Other protocol stacks are
available on request.
space saving and
compact
The μCAN.8.dio-BOX is designed for heavy duty applications.
The aluminium cast ensures protection class IP65. The compact,
space saving case gives the freedom to mount the module in
many places.
inexpensive and
service friendly
The quick and easy integration of the μCAN.8.dio-BOX in your
application reduces the development effort. Costs for material
and personnel are reduced. The easy installation makes maintenance and replacement quite simple.
Module Layout Project Planning
μCAN.8.dio-BOX
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3. Project Planning
The chapter Project Planning contains information which are important for the system engineer when using the μCAN.8.dioBOX. These information include case dimensions and conditions
of use.
3.1 Module Layout
The following figure shows the top view of the μCAN.8.dio-BOX
PCB. Use the figure to identify the terminal blocks, LED’s and DIPswitches.
1: Baudrate switch
2: Module address / ID
3: Bi-color LED for module status
4: Bi-color LED for network status
5: Terminal block for Power / CAN
6: Switch for CANbus termination
7: Bi-color LED for signal status
8: Terminal block for digital signals
Modul IDBaud
Term
Off/On
CAN_H
CAN_L
GND
V+
V-PWR
V+PWR
I/O_1
I/O_2
I/O_3
I/O_4
I/O_5
I/O_6
I/O_7
I/O_8
NS
MS
1
2
4
3
6
5
7
8
Abb. 2: Top view of the μCAN.8.dio-BOX PCB
Project Planning Operation Area
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3.2 Operation Area
The μCAN.8.dio-BOX is a robust field module for acquisition and
manipulation of digital signals via the CANbus. Every module can
handle up to 8 digital I/O-signals. The port direction of each terminal (input / output) is configured via software. It is not required to setup DIP-switches or jumpers for a configuration change.
The module has a power supply range of 8V - 60V DC.
The PCB is incorporated in a robust case of protection class IP65.
The μCAN.8.dio-BOX is suited for mounting outside the switch
cabinet. Long wires for actors or sensors are not longer necessary.
Influence of EMI is reduced.
The μCAN.8.dio-BOX needs four wires for connection to the power supply and CAN bus. Special CAN bus cables are available as
accessories (refer to Ordering Information).
Maximum System Layout Project Planning
μCAN.8.dio-BOX
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3.3 Maximum System Layout
For an operational system at least one network manager (or supervisor system) must be connected to the bus. This network manager might be a PLC or PC equipped with a CAN card. Every
μCAN.8.dio-BOX module is an active node.
A CANopen network manager can handle up to 127 network slaves (refer to Fig. 3, “Maximum System Layout”). Every module
gets a unique address, which is set up via a DIP switch. The CANbus bus is connected through the μCAN modules. The last module in the network must be terminated by a termination switch
(refer to “Termination” on page 29).
ID 1
NetworkManager
ID 2 ID 127
Abb. 3: Maximum System Layout
Project Planning Maximum System Layout
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The maximum cable length depends on the selected baudrate.
The following table shows the maximum cable length recommended by the CAN in Automation (http://www.can-cia.org).
These distances can be realized with the μCAN.8.dio-BOX.
Tabelle 1: Dependence of baudrate from cable length
Baudrate in kBit/s Cable length in m
1000 25
800 50
500 100
250 250
125 500
100 650
50 1000
20 2500
10 5000
It is
Note
recommended by the CAN in Automation not to use the
baudrate 100 kBit/s in new CANopen systems.
Case Dimensions Project Planning
μCAN.8.dio-BOX
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3.4 Case Dimensions
The case dimensions of the module are given in the drawing below. The high protection class IP65 of the module allows an assembly at places with a harsh environment. It is possible to
mount the module inside a switching cabinet as well as direct on
a machine. Please check the technical data section for detailled
information about maximum environment conditions.
125mm
80mm57mm
ON / CAN
ERROR
CAN
Systemhaus für Automatisierung
20mm
20mm
20mm
Abb. 4: Case dimensions
Project Planning Case Dimensions
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Safety Regulations Assembly and Disassembly
μCAN.8.dio-BOX
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4. Assembly and Disassembly
4.1 Safety Regulations
This paragraph gives important information about the conditions
of
Attention !
use. It was written for personnel which is qualified and trained
on electrical devices.
Qualified and trained personnel are persons who fulfill at least
one of the following conditions:
You know the safety regulations for automated machines and
you are familiar with the machine.
You are the operator for the machine and you have been trai-
ned on operation modes. You are familiar with the operation
of devices described in this manual.
You are responsible for setting into operation or service and
you are trained on repairing automated machines. In addition you are trained in setting electrcal devices into operation,
to connect the earthing conductor and to label these devices.
Terms of Use The devices described in this manual can only be used for the
mentioned applications. Other devices used in conjuction have to
meet the safety regulations and EMI requirements.
To ensure a trouble free and safe operation of the device please
take
Attention !
care of proper transport, appropriate storage, proper assem-
bly as well as careful operation and maintenance.
Assembly and Disassembly General Information
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4.2 General Information
Assembly The µCAN modules should be assembled on an at least 2 mm
thick mounting plate or direct in the plant. The module is fixed
with 2 screws of type M4, which are plugged into the bottom part
of the case. You find an assembly template in the appendix of this
manual.
Power Supply You need a cable with two conductors for power supply. The ca-
ble is inserted from the right side into the case, where the terminals for power supply are located. However it makes sense to use
a cable with four conductors in order to run the CAN bus over the
same cable.
Earthed Conductor The non-fused earthed conductor is connected at the terminal
outside the case (refer to Fig. 5, “Connection of earthed conductor”). The non-fused earthed conductor may not lead inside the
case because of EMI.
The
Attention !
non-fused earthed conductor may not lead inside the µCAN
case and may not be connected to a terminal inside the case.
Abb. 5: Connection of earthed conductor
Attention !
Operation of the µCAN module is only permitted with closed
case.
Assembly Assembly and Disassembly
μCAN.8.dio-BOX
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4.3 Assembly
Assembly is performed with help of the template attached to this
manual. With the template all necessary bore-holes for screws of
type M4 can easily be drilled. If the module is directly fixed to the
machine make sure to take the proper drill size for tapping.
When fixing several modules at the same place please make
sure
Note
to leave some area for the PG screws.
For a quick identification of the modules during operation you
may use paper sticker. Please write down the ID that is set for the
module.
Please make sure that the first node and the last node in the CAN
network
Note
is terminated with a resistor (refer to “Termination” on
page 29).
Assembly and Disassembly Disassembly
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4.4 Disassembly
Please make sure to disconnect the power supply from the device
first!
Open the cover from the module and remove the temperature
sensors first. Now you can remove the cables for CAN bus and
power supply from the terminals.
Unlock the fixing screws and remove the module. For a safe
transport remove the PG screws and close the cover again.
Potential Basics Installation
μCAN.8.dio-BOX
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5. Installation
5.1 Potential Basics
The potential environment of a system that is realized with μCAN
modules is characterized by following features:
The CAN bus potential is isolated from the power supply.
The electronic of the μCAN modules is isolated from the po-
wer supply.
All μCAN modules have a separate power supply.
All I/O signals are optically isolated from the CAN bus poten-
tial.
Installation EMC Considerations
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5.2 EMC Considerations
EMC (Electromagnetic Compatibility) is the ability of a device to
work in a given electromagnetic environment without influencing this environment in a not admissible way.
All μCAN modules fit these requirements and are tested for electromagnetic compatibility in a EMC laboratory. However a EMC
plan should be done for the system in order to exclude potential
noise sources.
Noise signals can couple in different ways. Depending on that
way (guided wave propagation or non-guided wave propagation) and the distance to the noise source the kinds of coupling are
differentiated:
DC Coupling
If two electronic circuits use the same conductor we speak of a
DC coupling. Noise sources are in that case: starting motors, frequency converters (switching devices in general) and different
potentials of cases or of the common power supply.
Inductance Coupling
An inductance coupling is given between two current-carrying
conductors. The current in a conductor will cause a magnetic field
which induces a voltage in the second conductor (transformer
principle). Typical noise sources are transformer, power cables
and RF signal cables.
Capacitive Coupling
A capacitive coupling is given between two conductors which
have a different potential (principle of a capacitor). Noise sources
are in that case: parallel running conductors, static discharge and
contactors.
RF Coupling
A RF coupling is given when electromagnetic fields hit a conductor. This conductor works like an antenna for the electromagnetic
field and couples the noise into the system. Typical noise sources
are spark plugs and electric motors. Also a radio set might be a
noise source.
To reduce the impact of noise sources please take care to follow
the basic EMC rules.
EMC Considerations Installation
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5.2.1 Grounding
General All inactive metal plates must be grounded with low impedance.
By this step all elements of the system will have the same potential.
Please take care that the ground potential never carries a dangerous voltage. The grounding must be connected to the safety
earth.
Grounding of
μCAN-Modules
The µCAN modules are grounded by the contact which is mounted under one of the PG screws (see fig. 5, “Connection of
earthed conductor”). Additional contacts can be mounted under
the PG screws for shielding purposes on demand. The ground
potential may not be connected to a terminal inside the case.
Grounding of other
modules
If µCAN modules are shipped in a plastic case they have to be
grounded with a metal tape.
5.2.2 Shielding of cables
If noise is coupled to a cable shield it is grounded to safety earth
via the metal cover. The cable shields have to be connected to
the safety earth with low impedance.
Cable Types For installation of the µCAN module you should only use cable
with a shield that covers at least 80% of the core. Do not use cable with a shield made from metallized foil because it can be damaged very easy and has not a good shielding.
Cable Layout In general the cable shield should be grounded on both ends.
The cable shield should only be grounded on one end if an attenuation is necessary in the low frequency range. The cable shield
can not be grounded on both ends for temperature sensors. The
grounding on one end of the cable is necessary if
there is no contact to the safety earth possible,
analogue signals with only a few mV or mA are transmitted
(temperature sensors).
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