ESD CAN-CBX-DIO8 Owner's manual

CAN-CBX-DIO8

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

Seite 1 von 123

esd electronic system design gmbh

Vahrenwalder Str. 207 • 30165 Hannover • Germany

http://www.esd.eu

Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68

CAN-CBX-DIO8

Compact I/O-Module

with InRailBus

Manual

to Product C.3010.02

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

CAN-CBX-DIO8

Seite 2 von 123

N O T E

The information in this document has been carefully checked and is believed to be entirely reliable.

esd makes no warranty of any kind with regard to the material in this document, and assumes no

responsibility for any errors that may appear in this document. In particular descriptions and technical

data specified in this document may not be constituted to be guaranteed product features in any legal

sense.

esd reserves the right to make changes without notice to this, or any of its products, to improve

reliability, performance or design.

All rights to this documentation are reserved by esd. Distribution to third parties and reproduction of

this document in any form, whole or in part, are subject to esd’s written approval.

esd electronic system design gmbh

Vahrenwalder Str. 207

30165 Hannover

Germany

Phone: +49-511-372 98-0

Fax: +49-511-372 98-68

E-mail: [email protected]

Internet: www.esd.eu

This manual contains important information and instructions on safe and efficient

handling of the module. Carefully read this manual before commencing any work and

follow the instructions.

The manual is a product component, please retain it for future use.

Trademark Notices

CiA

®

and CANopen

®

are registered EU trademarks of CAN in Automation e.V.

All other trademarks, product names, company names or company logos used in this manual are reserved by their respective

owners.

CAN-CBX-DIO8

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

Seite 3 von 123

Document-File:

I:\Texte\Doku\MANUALS\CAN\CBX\DIO8\Englisch\CAN-CBX-DIO8_Manual_en_31.wpd

Date of print: 2016-09-06

PCB versions: from Rev. 1.3

Firmware version: 2.0

Changes in the chapters

The changes in the document listed below affect changes in the hardware and firmware as well as

changes in the description of facts only.

Version Chapter Changes versus previous version

3.1

- Safety Instructions revised and inserted, Classification inserted

2 Safety Information inserted

3.2.3 Note to power LED inserted

3.2.6 LED description revised

3.3 Note inserted

3.3.1 Note inserted

3.3.3 Assignment of Coding Switch moved to chapter 3.3.3

3.4.2 Note concerning earthing of mounting rail inserted

4.1 Input voltage range, temperature range, description of housing changed

5.2.2 Picture of connector changed

5.4.3 Note on cable length inserted

6., 7. Chapters updated

8.9 Default value of 1001

h

changed

8.9.11 Description of object revised

8.9.12 Description of object revised

10. Declaration of Conformity updated

11. Phoenix Contact order number of TBUS-connectors inserted in esd order information

Technical details are subject to change without further notice.

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

CAN-CBX-DIO8

Seite 4 von 123

Classification of Warning Messages and Safety Instructions

This manual contains noticeable descriptions, warning messages and safety instructions, which you

must follow to avoid personal injuries or death and property damage.

This is the safety alert symbol.

It is used to alert you to potential personal injury hazards. Obey all safety messages and

instructions that follow this symbol to avoid possible injury or death.

DANGER, WARNING, CAUTION

Depending on the hazard level the signal words DANGER, WARNING or CAUTION are used to

highlight safety instructions and warning messages. These messages may also include a warning

relating to property damage.

DANGER

Danger statements indicate a hazardous situation which, if not avoided, will result in

death or serious injury.

WARNING

Warning statements indicate a hazardous situation that, if not avoided, could result in

death or serious injury.

CAUTION

Caution statements indicate a hazardous situation that, if not avoided, could result in

minor or moderate injury.

NOTICE

Notice statements are used to notify people on hazards that could result in things other than personal

injury, like property damage.

NOTICE

This NOTICE statement indicates that the device contains components sensitive to

electrostatic discharge.

NOTICE

This NOTICE statement contains the general mandatory sign and gives information that

must be heeded and complied with for a safe use.

INFORMATION

Notes to point out something important or useful.

CAN-CBX-DIO8

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

Seite 5 von 123

Safety Instructions

When working with CAN-CBX modules follow the instructions below and read the manual

carefully to protect yourself and the CAN-CBX module from damage.

The permitted operating position is specified as shown (Fig. 7). Other operating positions are

not allowed.

Do not use damaged or defective cables to connect the CAN-CBX module and follow the

CAN wiring hints in chapter: ”Correct Wiring of Electrically Isolated CAN Networks” .

In case of damages to the device, which might affect safety, appropriate and immediate

measures must be taken, that exclude an endangerment of persons and objects.

Current circuits which are connected to the device have to be sufficiently protected against

hazardous voltage (SELV according to EN 60950-1).

The CAN-CBX module may only be driven by power supply current circuits, that are contact

protected. A power supply, that provides a safety extra-low voltage (SELV or PELV)

according to EN 60950-1, complies with this conditions.

Do not open the housing of the CAN-CBX module.

The CAN-CBX module has to be securely installed before commissioning.

Never let liquids get inside the CAN-CBX module. Otherwise, electric shocks or short circuits

may result.

Protect the CAN-CBX module from dust, moisture and steam.

Protect the CAN-CBX module from shocks and vibrations.

The CAN-CBX module may become warm during normal use. Always allow adequate

ventilation around the CAN-CBX module and use care when handling.

Do not operate the CAN-CBX module adjacent to heat sources and do not expose it to

unnecessary thermal radiation. Ensure an ambient temperature as specified in the technical

data.

DANGER

Hazardous Voltage - Risk of electric shock due to unintentional contact with

uninsulated live parts with high voltages inside of the system into which the CAN-

CBX-DIO8 is to be integratred.

All current circuits which are connected to the device have to be sufficiently

protected against hazardous voltage (SELV according to EN 60950-1).

Qualified Personal

This documentation is directed exclusively towards qualified personal in control and automation

engineering.

The installation and commissioning of the product may only be carried out by qualified personal,

which is authorized to put devices, systems and electric circuits into operation according to the

applicable national standards of safety engineering.

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

CAN-CBX-DIO8

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Conformity

The CAN-CBX module is an industrial product and meets the demands of the EU regulations and

EMC standards printed in the conformity declaration at the end of this manual.

Warning: In a residential, commercial or light industrial environment the CBX-module may

cause radio interferences in which case the user may be required to take adequate

measures.

Intended Use

The intended use of the CAN-CBX module is the operation as a CANopen-Slave with digital in-

and outputs. The esd guarantee does not cover damages which result from improper use, usage not

in accordance with regulations or disregard of safety instructions and warnings.

The CAN-CBX module is intended for indoor installation only.

The operation of the CAN-CBX module in hazardous areas, or areas exposed to potentially

explosive materials is not permitted.

The operation of the CAN-CBX module for medical purposes is prohibited.

Service Note

The CAN-CBX module does not contain any parts that require maintenance by the user. The

CAN-CBX module does not require any manual configuration of the hardware. Unauthorized

intervention in the device voids warranty claims.

Disposal

Devices which have become defective in the long run have to be disposed in an appropriate way or

have to be returned to the manufacturer for proper disposal. Please, make a contribution to

environmental protection.

Typographical Conventions

Throughout this manual the following typographical conventions are used to distinguish technical

terms.

Convention Example

File and path names /dev/null or <stdio.h>

Function names open()

Programming constants NULL

Programming data types uint32_t

Variable names Count

Number Representation

All numbers in this document are base 10 unless designated otherwise. For hexadecimal numbers

h

is appended . For example, 42 is represented as 2A

h

in hexadecimal format.

CAN-CBX-DIO8

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

Seite 7 von 123

Contents

Page

1. Overview ...................................................................10

2. Quick Start .................................................................11

3. Hardware Installation ........................................................13

3.1 Connecting Diagram ................................................13

3.2 Front Panel View ..................................................14

3.2.1 Indicator States .........................................15

3.2.2 Operation of the CAN-Error LED . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.2.3 Operation of the CANopen-Status LED . . . . . . . . . . . . . . . . . . . . . . 16

3.2.4 Operation of the Error-LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.2.5 Operation of the VIO-LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.2.6 Special Indicator States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.2.7 I/O-LED 1-8 ...........................................18

3.3 Coding Switch.....................................................19

3.3.1 Setting the Node-ID via Coding Switch . . . . . . . . . . . . . . . . . . . . . . 19

3.3.2 Setting the Baud Rate ....................................20

3.3.3 Assignment of the Coding-Switch Labelling to the Name in the

Schematic Diagram .................................20

3.4 Installation of the Module Using InRailBus Connector . . . . . . . . . . . . . . . . . . . . . 21

3.4.1 Connecting Power Supply and CAN-Signals to CBX-InRailBus . . . 22

3.4.2 Connection of the Power Supply Voltage . . . . . . . . . . . . . . . . . . . . . 23

3.4.3 Connection of CAN......................................24

3.5 Remove the CAN-CBX Module from the InRailBus . . . . . . . . . . . . . . . . . . . . . . . 24

4. Technical Data ..............................................................25

4.1 General technical Data ..............................................25

4.2 CPU Unit.........................................................26

4.3 CAN Interface.....................................................26

4.4 Digital In-/Outputs .................................................27

4.5 Software Support...................................................27

5. Connector Pin Assignment ....................................................28

5.1 Power Supply Voltage X100..........................................28

5.2 CAN ............................................................29

5.2.1 CAN Interface ..........................................29

5.2.2 CAN Connector (X600) ..................................30

5.3 CAN and Power Supply Voltage via InRailBus Connector X101 . . . . . . . . . . . . . 31

5.4 Digital In/Outputs X400 .............................................32

5.4.1 Digital Inputs...........................................32

5.4.2 Digital Outputs .........................................32

5.4.3 Connector Assignment Digital In-/Outputs (X400) . . . . . . . . . . . . . 33

5.5 Conductor Connection/Conductor Cross Sections . . . . . . . . . . . . . . . . . . . . . . . . . 34

6. Correct Wiring of Electrically Isolated CAN Networks .............................35

6.1 Standards concerning CAN Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

6.2 Light Industrial Environment (Single Twisted Pair Cable) . . . . . . . . . . . . . . . . . . 36

6.2.1 General Rules ..........................................36

6.2.2 Cabling ..............................37

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

CAN-CBX-DIO8

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6.2.3 Termination............................................37

6.3 Heavy Industrial Environment (Double Twisted Pair Cable) . . . . . . . . . . . . . . . . . 38

6.3.1 General Rules ..........................................38

6.3.2 Device Cabling .........................................39

6.3.3 Termination............................................39

6.4 Electrical Grounding................................................40

6.5 Bus Length .......................................................40

6.6 Examples for CAN Cables ...........................................41

6.6.1 Cable for Light Industrial Environment Applications (Two-Wire) . 41

6.6.2 Cable for Heavy Industrial Environment Applications (Four-Wire)

.................................................41

7. CAN Troubleshooting Guide ..................................................42

7.1 Termination ......................................................42

7.2 Electrical Grounding ...............................................43

7.3 Short Circuit in CAN Wiring .........................................43

7.4 CAN_H/CAN_L Voltage ............................................43

7.5 CAN Transceiver Resistance Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

7.6 Support by esd.....................................................44

8. CANopen Firmware .........................................................45

8.1 Definition of Terms . . . . . . . . . . . 45

8.2 NMT Boot-up .....................................................46

8.3 CANopen Object Directory...........................................46

8.4 Communication Parameters of the PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

8.4.1 Accessing the Communication Parameters via SDO Telegrams . . . 47

8.4.2 Non-volatile Storage of Parameters to EEPROM . . . . . . . . . . . . . . . 49

8.5 Overview of Used CANopen Identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

8.5.1 Setting the COB-ID......................................50

8.6 PDO Assignment...................................................51

8.7 Setting and Reading of the Out/Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

8.7.1 Status Message of the Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . 52

8.7.2 Digital Outputs .........................................52

8.7.3 Supported Transmission Types Based on DS 301 . . . . . . . . . . . . . . 52

8.8 Communication Profile Area .........................................53

8.8.1 Used Names and Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

8.9 Implemented CANopen-Objects.......................................54

8.9.1 Device Type (1000

h

) .....................................56

8.9.2 Error Register (1001

h

)....................................57

8.9.3 Pre-defined Error Field (1003

h

).............................58

8.9.4 COB-ID SYNC Message (1005

h

) ...........................60

8.9.5 Communication Cycle Period 1006

h

.........................61

8.9.6 Manufacturer’s Device Name (1008

h

)........................62

8.9.7 Manufacturer’s Hardware Version (1009

h

)....................63

8.9.8 Manufacturer’s Software Version 100A

h

.....................63

8.9.9 Guard Time (100C

h

) und Life Time Factor (100D

h

).............64

8.9.10 Node Guarding Identifier (100E

h

)..........................65

8.9.11 Store Parameters (1010

h

).................................66

8.9.12 Restore Default Parameters (1011

h

) ........................68

8.9.13 COB_ID Emergency Object (1014

h

)........................70

8.9.14 Inhibit Time EMCY (1015

h

) ..............................71

8.9.15 Consumer Heartbeat Time (1016

h

) .........................72

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Manual • Doc.-No.: C.3010.21 / Rev. 3.1

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8.9.16 Producer Heartbeat Time (1017

h

) ..........................74

8.9.17 Identity Object (1018

h

) ..................................75

8.9.18 Synchronous Counter Overflow Value 1019

h

.................77

8.9.19 Verify Configuration (1020

h

) .............................78

8.9.20 Error Behaviour Object (1029

h

) ...........................79

8.9.21 NMT Startup (1F80

h

) ...................................81

8.9.22 Self Starting Nodes Timing Parameters (1F91

h

)...............82

8.9.23 Receive PDO Communication Parameter 1400

h

...............83

8.9.24 Receive PDO Mapping Parameter 1600

h

....................84

8.9.25 Object Transmit PDO1 Communication Parameter 1800

h

.......87

8.9.26 Object Transmit PDO2 Communication Parameter 1801

h

.......88

8.9.27 Transmit PDO1 Mapping Parameter 1A00

h

..................89

8.9.28 Transmit PDO2 Mapping Parameter 1A01

h

..................90

8.10 Device Profile Area................................................92

8.10.1 Implemented Objects 6000

h

-6207

h

.........................92

8.10.2 Interrelation of the Implemented Objects of the Digital Inputs . . . 93

8.10.3 Interrelation of the Implemented Objects of the Digital Outputs . . 94

8.10.4 Read Input 8-Bit (6000

h

).................................95

8.10.5 Polarity Input 8-Bit (6002

h

)...............................96

8.10.6 Filter Constant Input 8-Bit (6003

h

) .........................97

8.10.7 Global Interrupt Enable Digital (6005

h

) .....................98

8.10.8 Interrupt Mask Any Change 8-Bit (6006

h

) ...................99

8.10.9 Interrupt Mask Low to High 8-Bit (6007

h

) ..................100

8.10.10 Interrupt Mask High to Low 8-Bit (6008

h

) .................101

8.10.11 Write Output 8-Bit (6200

h

) .............................102

8.10.12 Change Polarity Output 8-Bit (6202

h

).....................103

8.10.13 Error Mode Output 8-Bit (6206

h

) ........................104

8.10.14 Error Value Output 8-Bit (6207

h

) ........................105

8.11 Manufacturer Specific Profile Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

8.11.1 Implemented Objects 2210

h

... 2403

h

......................106

8.11.2 Output Errors 8-Bit (2210

h

)..............................107

8.11.3 Output Error Produces Emergency 8-Bit (2220

h

) .............108

8.11.4 I/O Direction Mask 8-Bit (2250

h

) .........................109

8.11.5 VIO Voltage 16-Bit (2300

h

) .............................110

8.11.6 Sample Configuration (2310

h

) ...........................111

8.11.7 Function of the Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

8.11.8 Counter Enable (2400

h

).................................114

8.11.9 Counter Preload (2401

h

) ................................115

8.11.10 Counter Value 16-Bit (2402h) . . . . . . . . . . . . . . . . . . . . . . . . . . 116

8.11.11 Counter Value 32-Bit (2403h) . . . . . . . . . . . . . . . . . . . . . . . . . . 117

8.12 Firmware Management via CiA DSP- 302-Objects . . . . . . . . . . . . . . . . . . . . . . 118

8.12.1 Download Control via Object 1F51

h

.......................119

8.12.2 Download Control via Object 1F52

h

.......................120

9. References .................................................................121

10. Declaration of Conformity ..................................................122

11. Order Information .........................................................123

i

Overview

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

CAN-CBX-DIO8

Seite 10 von 123

1. Overview

Figure 1: Block circuit diagram

The CAN-CBX-DIO8 module operates with a MB90F497 microcontroller which buffers CAN data

into a local SRAM. The firmware is contained in the flash. Parameters are stored in a serial

EEPROM.

The eight digital in-/outputs can be individually set as outputs or inputs.

The CAN-CBX-DIO8 features the possibility to connect the power supply and the CAN bus signals

via the InRailBus connector (TBUS-connector) integrated in the mounting rail. Individual modules

can then be removed without interrupting the bus signals.

The ISO 11898-compliant CAN interface allows a maximum data transfer rate of 1 Mbit/s. The

CAN interface is electrically isolated by a dual digital isolator and a DC/DC converter.

The CANopen

®

node number and the CAN bit rate can be configured via three coding switches.

Quick Start

CAN-CBX-DIO8

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

Seite 11 von 123

2. Quick Start

Step Action See

page

Read the safety instructions at the beginning of this document

carefully, before you start with the hardware installation! 4

DANGER

Hazardous Voltage - Risk of electric shock.

All current circuits which are connected to the device have to be

sufficiently protected against hazardous voltage (SELV according to EN

60950-1).

Please note the chapters “Installation and Wiring of the Module“ and

“Correct Wiring of Electrically Isolated CAN Networks“! 21,

35

1 Mount the CAN-CBX-module and connect the interfaces (power supply

voltage, CAN, digital in/outputs). 13

2 Please note that the CAN bus has to be terminated at both ends! esd offers

special T-connectors and termination connectors. Additionally the

CAN_GND signal has to be connected to earth at exactly one point in the

CAN network. For details please read chapter “Correct Wiring of

Electrically Isolated CAN Networks”. A CAN node with electrical

connection to earth potential acts as an earth potential.

35

3 Set the baud rate (only if it differs from the default setting)

The default baud rate is 1 MBit/s. The baud rate can be set via the coding

switch BAUD, as described in chapter: “Setting the Node-ID via Coding

Switch”.

20

4 Set the module number (node-ID).

The node ID can be set via the coding switches LOW and HIGH.

It may be set to values between 1 and 127 (01-7F

h

). 19

5 Apply the 24 V power supply voltage. -

6 Start the module with the NMT-Start Command

-

CAN-Identifier Len Data

0 2 Byte 1 0

(Node-ID,

0 = start all

modules)

Quick Start

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CAN-CBX-DIO8

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7 Transmit data CAN -> Digital Output

-

CAN-Identifier Len Data

200

h

+ Node-ID 8 Byte 0...8 byte user data

Set digital outputs

8 Receive data Digital Input -> CAN

-

CAN-Identifier Len Data

180

h

+ Node-ID 8 Byte 0...8 byte user data

Set digital inputs

Hardware Installation

CAN-CBX-DIO8

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

Seite 13 von 123

3. Hardware Installation

3.1 Connecting Diagram

Figure 2: Connections of the CAN-CBX-DIO8 module

NOTICE

Read chapter “Quick Start” on page 11, before you start with the installation of the

hardware!

INFORMATION

Refer to page 34 for information on conductor connection and conductor cross section.

The connector pin assignments can be found on page 28 and the following.

Hardware Installation

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CAN-CBX-DIO8

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3.2 Front Panel View

Figure 3: Position of the LEDs and connector in the front panel

The CAN-CBX-DIO8 module is equipped with 4 status LEDs and 8 LEDs for the I/O-channels.

INFORMATION

Refer to page 34 for information on conductor connection and conductor cross section.

The connector pin assignments can be found on page 28 and the following.

Hardware Installation

CAN-CBX-DIO8

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

Seite 15 von 123

3.2.1 Indicator States

The terms of the indicator states of the LEDs are chosen in accordance with the terms recommended

by the CiA [3]. The indicator states are described are described in the following chapters.

In principle there are 8 indicator states distinguished:

Indicator state Display

on LED constantly on

off LED constantly off

blinking LED blinking with a frequency of approx. 2.5 Hz

flickering LED flickering with a frequency of approx. 10 Hz

1 flash LED 200 ms on, 1400 ms off

2 flashes LED 200 ms on, 200 ms off, 200 ms on 1000 ms off

3 flashes LED 2x (200 ms on, 200 ms off) + 1x (200 ms on 1000 ms off)

4 flashes LED 3x (200 ms on, 200 ms off) + 1x (200 ms on 1000 ms off)

Table 2: Indicator states

The red LED flashes oppositely in phase with the green LED.

3.2.2 Operation of the CAN-Error LED

LED indication Display function

Label Name Colour

Name in

schematic

diagram *

1Indicator state Description

E CAN Error red

200A

off no error

1 flash CAN controller is in Error Active state

on

CAN controller state is Bus Off

(or coding switch position ID-node > 7F

h

when

switching on; see “Special Indicator States”,

page 17)

2 flashes

Heartbeat or Nodeguard error occurred.

The LED automatically turns off if

Nodeguard/Heartbeat-messages are received

again.

*

1

The schematic diagram is not part of this manual.

Table 3: Indicator states of the red CAN Error-LED

Hardware Installation

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CAN-CBX-DIO8

Seite 16 von 123

3.2.3 Operation of the CANopen-Status LED

LED indication Display function

Label Name Colour

Name in

schematic

diagram *

1Indicator state Description

SCANopen

Status green 200B

blinking Pre-operational

on Operational

1 flash Stopped

3 flashes

Module is in bootloader mode, the power LED

is off

(or coding switch position ID-node > 7F

h

when

switching on; see page 17)

*

1

The schematic diagram is not part of this manual.

Table 4: Indicator states of the CANopen Status-LED

3.2.4 Operation of the Error-LED

LED indication Display function

Label Name Colour

Name in

schematic

diagram *

1

Indicator state Description

M Error red 200C

off no error

on

error occurred on one of the monitored outputs

- if the module has switched to Stopped state when the

error occurred, the LED remains ‘on’, even if the

error does no longer exist

- errors that occur after switching to Stopped state,

will not be indicated

2 flashes

EEPROM error

- stored data have an invalid checksum therefore

default values are loaded

- indicator state lasts until the module resets or an

error occurs at the outputs

*

1

The schematic diagram is not part of this manual.

Table 5: Indicator state of the Error-LED

Hardware Installation

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Manual • Doc.-No.: C.3010.21 / Rev. 3.1

Seite 17 von 123

3.2.5 Operation of the VIO-LED

The display functions described in the following table are only valid if the module is in the

Operational state and Output Port and Output Port Config are set.

If these conditions do not apply, the LED is on.

LED indication Display function

if the module is in Operational state and

Output Port and Output Port Config are set

Label Name Colour

Name in

schematic

diagram *

1

Indicator state Description

V VIO_Sense green 200D

off read value of the operating voltage of the digital

outputs (object 2300

h

,sub-index 1, see page 111) is

lower than 5 V

blinking read value of the operating voltage of the digital

outputs is lower than the value set in object 2300

h

sub-

index 2 (see page 111)

flickering read value of the operating voltage of the digital

outputs is higher than the value set in object 2300

h

sub-

index 3 (see page 111)

on read value of the operating voltage of the digital

outputs is within the limits

(object 2300

h

, sub-index 2 and 3, see page 111)

*

1

The schematic diagram is not part of this manual.

Table 6: Indicator state of the VIO-LED

3.2.6 Special Indicator States

The special indicator state described in the following table is indicated by the CANopen-Status-LED

and the CAN-Error-LED together:

LED indication Description

- CAN-Error LED: on

and

- CANopen-Status LED: 3 flashes

Invalid node ID:

The coding switches for the node-ID are set to an invalid ID-value, when

switching on. The firmware application will be stopped.

Table 7: Special Indicator States

Hardware Installation

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

CAN-CBX-DIO8

Seite 18 von 123

3.2.7 I/O-LED 1-8

LED

Name in

schematic diagram*

1

Indication function =

I/O channel state

1 LED400D IO1

2 LED400C IO2

3 LED400B IO3

4 LED400A IO4

5 LED410D IO5

6 LED410C IO6

7 LED410B IO7

8 LED410A IO8

*

1

The schematic diagram is not part of this manual.

Table 8: Indication of LEDs 1-8

LED State of channels IO1...IO8

off input voltage level is below the lower switching threshold, or output state is ‘off’

on input voltage level is higher than the upper switching threshold, or output state is ‘on’

Table 9: State of channels IO1...IO8

Hardware Installation

CAN-CBX-DIO8

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

Seite 19 von 123

3.3 Coding Switch

Fig. 4: Position of the coding switches

NOTICE

The state of the coding switches is only determined at the moment the module is

powered on! At the moment the module is switched ‘on’, the state of the coding

switches is determined. Changes of the settings therefore have to be made before

switching on the module, because changes of the settings are not determined during

operation.

After a CANopen-reset (e.g. NMT reset) the settings are read again.

3.3.1 Setting the Node-ID via Coding Switch

The address range of the CAN-CBX-module can be set decimal from 1 to 127 or hexadecimal from 01

h

to 7F

h

.

The three higher-order bits (higher-order nibble) can be set with coding switch HIGH, the four lower-

order bits can be set with coding switch LOW.

INFORMATION

Avoid the following settings:

Setting the address range of the coding switches to values higher than 7F

h

causes error

messages, the red CAN-Error LED is on.

If the coding switches are set to 00

h

, the CAN-CBX-module changes into Bootloader

mode.

Hardware Installation

Manual • Doc.-No.: C.3010.21 / Rev. 3.1

CAN-CBX-DIO8

Seite 20 von 123

3.3.2 Setting the Baud Rate

The baud rate can be set with the coding switch Baud.

Values from 0

h

to F

h

can be set via the coding switch. The values of the baud rate can be taken from the

following table:

Setting

[Hex] Bit rate

[Kbit/s]

0

1000

1

666

6

.

2

500

3

333

3

.

4

250

5

166

6

125

7

100

8

66

6

.

9

50

A

33

3

.

B

20

C

12

5

.

D

10

E

800

F *

2

83

3

.

*

2

from firmware version 1.02 on

Table 10: Index of the baud rate

3.3.3 Assignment of the Coding-Switch Labelling to the Name in the Schematic Diagram

Labelling on the

CAN-CBX-DIO8 Name in Schematic Diagram *

1

Baud SW301

Low SW300

High SW302

*

1

The schematic diagram is not part of this manual.

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