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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.
© 2016 esd electronics system design gmbh, Hannover
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
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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
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
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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
CAN-CBX-DIO8
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Seite 9 von 123
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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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
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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.
/