TKE WCS-10 User Manual

WCS-10 User manual 1

WCS-10

USER MANUAL

WCS-10 manual version 1.41

Firmware version 0x1002b

Marine Type Approvals

info@tke.fi

www.tke.fi

WCS-10 User manual 2

Table of contents

1 Legal disclaimer ................................................................................... 10

1.1 Exclusion of liability ..................................................................................... 10

2 Hardware specifications ....................................................................... 11

2.1 Technical details ............................................................................................ 11

2.2 Mechanical Dimensions ................................................................................ 11

2.3 Connectors ..................................................................................................... 12

2.4 Block schema ................................................................................................. 13

2.5 Termination .................................................................................................... 14

2.6 Power supply ................................................................................................. 14

2.7 Transceivers ................................................................................................... 14

2.8 Isolation ......................................................................................................... 14

2.9 PE Grounding ................................................................................................ 14

2.10 Light Emitting Diodes (LED) .................................................................... 15

3 Device Overview (WCS-10) ................................................................ 15

3.1 Introduction .................................................................................................... 15

3.2 WCS-10 ......................................................................................................... 16

3.3 CAN-Port usage ............................................................................................. 16

3.4 Factory settings .............................................................................................. 16

4 Device Configuration ........................................................................... 17

4.1 Object dictionary overview ........................................................................... 17

WCS-10 User manual 3

4.2 Global parameters .......................................................................................... 19

4.2.1 Device type (0x1000) ............................................................................. 19

4.2.2 Node-ID (0x100B) .................................................................................. 19

4.2.3 Store parameters (0x1010) ...................................................................... 20

4.2.4 Inhibit time of EMCY (0x1015) ............................................................. 21

4.2.5 Producer heartbeat time (0x1017) .......................................................... 21

4.2.6 Device identity (0x1018) ........................................................................ 22

4.3 Hardware configuration ................................................................................. 23

4.3.1 Disable/Enable Heartbeat ....................................................................... 23

4.3.2 Bit rates (0x50x0) ................................................................................... 23

4.3.3 Acceptance filter configurations first filter bank (0x50x1) .................... 25

4.3.4 Acceptance filter configurations second filter bank (0x50x2) ............... 26

4.3.5 Acceptance mask configurations first filter bank (0x50x5) ................... 27

4.3.6 Acceptance mask configurations second filter bank (0x50x6) .............. 28

4.3.7 Hardware filter configuration (0x50x9) ................................................. 29

4.3.8 Filter example for two 32-bit filters using extended ID ......................... 30

4.3.9 Filter example for two 32-bit filters using standard ID .......................... 31

4.4 Universal ID routing setting .......................................................................... 33

4.5 Route table configuration (0x6801..0x6864) ................................................ 33

5 Error message ....................................................................................... 36

WCS-10 User manual 4

List of tables

Table 1: Power supply characteristics ......................................................................... 14

Table 2: Power led status ............................................................................................. 15

Table 3: CAN controller led status .............................................................................. 15

Table 4: Priority of led indication states ..................................................................... 15

Table 5: Blink led times .............................................................................................. 15

Table 6: Communication profile area .......................................................................... 17

Table 7: Manufacturer-specific area ........................................................................... 17

Table 8: Device-profile specific area .......................................................................... 18

Table 9: 0x1000 object description ............................................................................. 19

Table 10: 0x1000 entry description ............................................................................. 19

Table 11: 0x100B object description .......................................................................... 19

Table 12: 0x100B entry description ............................................................................ 19

Table 13: 0x1010 object description ........................................................................... 20

Table 14: 0x1010 entry description ............................................................................. 20

Table 15: Storage write access signature .................................................................... 20

Table 16: 0x1015 object description ........................................................................... 21

Table 17: 0x1015 entry description ............................................................................. 21

Table 18: 0x1017 object description ........................................................................... 21

Table 19: 0x1017 entry description ............................................................................. 21

Table 20: 0x1018 object description ........................................................................... 22

Table 21: 0x1018 entry description ............................................................................. 22

Table 22: Revision number structure .......................................................................... 22

Table 23: 0x2000 object description ........................................................................... 23

Table 24: 0x2000 entry description ............................................................................. 23

Table 25: 0x5010..0x5050 object description ............................................................. 23

Table 26: 0x5010..0x5050 sub 0x01 BTR0 entry description .................................... 23

Table 27: 0x5010..0x5050 sub 0x02 BTR1 entry description .................................... 24

Table 28: Bit rate register enumeration for 1000kbps ................................................ 24

Table 29: Bit rate register enumeration for 800kbps .................................................. 24

Table 30: Bit rate register enumeration for 500kbps .................................................. 24

Table 31: Bit rate register enumeration for 250kbps .................................................. 24

Table 32: Bit rate register enumeration for 125kbps .................................................. 24

Table 33: Bit rate register enumeration for 100kbps .................................................. 24

Table 34: Bit rate register enumeration for 50kbps .................................................... 25

Table 35: 0x50x1 object description ........................................................................... 25

Table 36: 0x50x1 entry description ............................................................................. 25

Table 37: Acceptance register mapping ...................................................................... 25

Table 38: 0x50x2 object description ........................................................................... 26

Table 39: 0x50x2 entry description ............................................................................. 26

Table 40: Acceptance register mapping ...................................................................... 26

Table 41: 0x50x5 object description ........................................................................... 27

WCS-10 User manual 5

Table 42: 0x50x5 entry description ............................................................................. 27

Table 43: Acceptance mask register mapping............................................................. 27

Table 44: 0x50x6 object description ........................................................................... 28

Table 45: 0x50x6 entry description ............................................................................. 28

Table 46: Acceptance mask register mapping............................................................. 28

Table 47: 0x50x9 object description ........................................................................... 29

Table 48: 0x50x9 entry description ............................................................................. 29

Table 49: HW filter configuration description ............................................................ 29

Table 50: 32-bit filter extended ID example ............................................................... 31

Table 51: 32-bit filter standard ID example ................................................................ 32

Table 52: Universal ID routing settings ...................................................................... 33

Table 53: 0x6800 sub 1 entry description CAN-ID .................................................... 33

Table 54: 0x6800 sub2 entry description Route ......................................................... 33

Table 55: Route table Configuration ........................................................................... 33

Table 56: 0x6801..0x6864 entry description CAN-ID................................................ 34

Table 57: 0x6801..0x6864 sub2 entry description Route ........................................... 34

Table 58: Route descriptor structure ........................................................................... 34

Table 59: Error message descriptions ......................................................................... 36

Table 60: Error message structure ............................................................................... 36

WCS-10 User manual 6

List of figures

Figure 1: Mechanical dimensions ............................................................................... 11

Figure 2: WCS-10 connectors ..................................................................................... 12

Figure 3: WCS-10.04 Block schema ........................................................................... 13

Figure 4: Internal termination...................................................................................... 14

Figure 5: 32-bit filter using extended ID register ........................................................ 30

Figure 6: 32-bit filter using extended ID register only accepting extended CAN ID

0x1 ............................................................................................................................... 30

Figure 7: 32-bit filter using standard ID register ........................................................ 31

Figure 8: 32-bit filter using standard ID register only accepting standard CAN ID 0x1

..................................................................................................................................... 32

WCS-10 User manual 7

The following revision history table summarizes changes contained in this document.

Revision History

Date

Revision

Author

Description

31.10.07

1.0

PSAN

New Book

14.11.07

1.1

PSAN

Added object dictionary for BTR0 and BTR1 for all CAN channels

15.11.07

1.2

PSAN

Added examples of bit rates and Sampling point

24.01.08

1.3

BCAB

Renamed CAN-Switch to WCS-10

24.01.08

1.4

BCAB

Changed hardware chapter

25.03.08

1.5

PSAN

Removed objects 0x1001 and 0x1014 from documentation. Changed the logo to TKE logo.

25.03.08

1.6

BCAB

Changed address on front page, added picture on front page

01.04.08

1.7

BCAB

Added more info to HW

25.06.08

1.8

BCAB

Changed first page picture

20.08.08

1.9

BCAB

Changed min max voltage levels

22.08.08

1.10

BCAB

Changed Firmware nr and version on front page

25.09.08

1.11

BCAB

Changed switch in text to WCS-10

07.10.08

1.12

BCAB

Changed text in 4.3 Power supply

13.10.08

1.13

BCAB

LED chapter added

21.10.08

1.14

BCAB

Grounding chapter added, prio added to led chapter

13.11.08

1.15

MCJW

Legal Disclaimer

14.11.08

1.16

BCAB

Changed order of Legal, HW and SW

26.11.08

1.17

PSAN

Changed Firmware version

22.12.08

1.18

BCAB

Changed Firmware version

29.12.08

1.19

PSAN

Changed EMCY-codes to match firmware

29.12.08

1.20

BCAB

Changed help text in EMCY-codes table

30.12.08

1.21

BCAB

Changed EMCY bus state messages and firmware version

05.01.09

1.22

BCAB

Changed EMCY, firmware updated, WCD-10 changed to WCS-10, Changed front page picture.

07.01.09

1.23

BCAB

WCS-10 front page picture changed

19.01.09

1.24

BCAB

WCS-10 front page picture changed

29.01.09

1.25

BCAB

WCS-10 block schema added and mechanical drawing

04.02.09

1.26

BCAB

HW filter example added updated to match firmware 0x1002b. Changed block schema v.1.4, updated connector picture, Technical information added.

04.02.09

1.27

BCAB

GL type approval changed to pending GL type approval

04.02.09

1.28

BCAB

Factory default routing table changed, spelling corrections, baud rate changed to bit rate.

06.02.09

1.29

BCAB

PE ground text changed, HW filter sample text changed

11.02.09

1.30

BCAB

New block schema v.1.5

12.02.09

1.31

BCAB

Halt removed, GL removed from PE grounding

12.02.09

1.32

BCAB

Blink times table added

13.02.09

1.33

BCAB

New block schema v.1.6

05.03.09

1.34

BCAB

New internal terminator picture, and spelling fixes

10.03.09

1.35

BCAB

EMCY error text changed

26.03.09

1.36

BCAB

BRT1 changed to BTR1

31.03.09

1.37

BCAB

X13 pin out changed. Pin 8 added as NC

12.06.09

1.38

BCAB

WCS-10 front page picture changed

WCS-10 User manual 8

12.06.09

1.39

BCAB

GL type approval status changed

19.01.17

1.41

RCS

Front page picture changed to one with TKE logo, spelling fixes

WCS-10 User manual 9

References

/2/ MC9S12XDP512 Data Sheet, Rev. 2.11, Freescale Semiconductor /3/ CiA301, CiA Draft Standard Proposal 301, V4.1 /4/ Embedded Networking with CAN and CANopen, Pfeiffer, Ayre and Keydel /5/ CiA302-1, CiA Addition application layer functions, V3.4.1 /6/ CiA Draft Recommendation 303-3 Indicator specification V1.2

Definitions, acronyms and abbreviations ASAP As soon as possible

ASCII American standard for information interchange CAN Controller Area Network

CAN-ID Identifier of the CAN-telegram CANopen Higher level CAN-protocol by CiA CiA CAN in Automation organization DLC Data Length Code EMCY CANopen emergency protocol or –telegram HW Hardware LSB Least significant byte Mbps Megabits per second MSB Most significant byte NMT CANopen network management OD Object Dictionary RX Receive/reception SDO CANopen Service Data Object SW Software TX Transmit/Transmission

WCS-10 User manual 10

1 Legal disclaimer

Important note! Please read before using WCS-10

1.1 Exclusion of liability

All machines, vehicles or other technical installations, which are controlled by electronic systems can be through disturbing the network communication or other intervention, lead to disorder or failure, which can injure persons or cause material-damage.

Before you connect WCS-10 to such an electronic system, please ensure that connecting the WCS10 to your system/network will not injure persons or cause material-damage.

You must not use WCS-10 in applications/environments where the use of WCS-10 can directly lead to disorder or failure, of such machines, vehicles or other technical installations or where such failures or damages can lead to injuring of persons.

Do not use WCS-10 if you are not absolutely certain that you know how to use the WCS-10. If you are uncertain about compatibility between WCS-10 and your system, do not use WCS-10 in your system.

TK Engineering Oy does not take over any liability for damages, injuries etc. caused by the use of WCS-10.

WCS-10 User manual 11

2 Hardware specifications

2.1 Technical details

 Operating voltage 10…40V DC.  Power consumption max 3.5W typical 3W  CAN routing ports, CAN1 – CAN4, galvanically isolated 1kV, ISO11898, Max 1Mbps  CAN configuration port, CANA, ISO11898, Max 1Mbps  Operating temperature range -40°C…+85°C  Storage temperature range -50°C…+105°C  Protection class IP30  Weight ~210g  Flammability UL94 V0  GL type approval: Environmental Category D, EMC1, software class 3

GL type approval certificate number: 7518909 HH

2.2 Mechanical Dimensions

Figure 1: Mechanical dimensions

+ 25 hidden pages

TKE WCS-10 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual