ESD CAN-CBX-COM2 Manuel utilisateur

CAN-CBX-COM2

Manual • Doc.-No.: C.3055.21 / Rev. 1.1

Page 1 of 125

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-COM2

CAN - RS-232, RS-422, RS-485

or TTY-Interface

Manual

to Product C.3055.02, C.3055.03

Manual • Doc.-No.: C.3055.21 / Rev. 1.1

CAN-CBX-COM2Page 2 of 125

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

Trademark Notices

CiA

and CANopen

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

All other trademarks, product names, companynamesor companylogos used in thismanual are reserved by their respective

owners.

CAN-CBX-COM2

Manual • Doc.-No.: C.3055.21 / Rev. 1.1

Page 3 of 125

Document-

File:

I:\Texte\Doku\MANUALS\CAN\CBX\CAN-CBX-COM2\Englisch\CAN-CBX-COM2_Manual_en_11.wpd

Date of

print: 2015-02-05

Software: CANopen

Revision: V1.ODJ

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.

Revision Chapter Changes versus previous version

1.0

- First English Version

1.1

- Typographical Conventions inserted

2. Note to termination connector in step 2 deleted

3. Chapter revised, notes inserted

4.5 Chapter “Software Support” moved

8.8 Description of Self-Start-Feature (1F80

, 1F91

) inserted

9. References revised

10. EU-Conformity updated

Technical details are subject to change without further notice.

Manual • Doc.-No.: C.3055.21 / Rev. 1.1

CAN-CBX-COM2Page 4 of 125

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 open the housing of the CAN-CBX module



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.



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 domestic animals, or property.



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.

Qualified Personal

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

The installation and commissioning of the product may onlybe 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.

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 module with two serial interfaces.

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.

CAN-CBX-COM2

Manual • Doc.-No.: C.3055.21 / Rev. 1.1

Page 5 of 125

Contents

1. Overview ....................................................................9

1.1DescriptionoftheModule ....................................................9

2. Quick Start .................................................................10

3. Hardware Installation ........................................................12

3.1ConnectingDiagram .......................................................12

3.1.1PowerSupplyandCAN .................................................12

3.2LED-Display .............................................................13

3.2.1IndicationofActivity-LEDs ..............................................13

3.2.2FlashRatesoftheStatusLEDs............................................14

3.2.3 Operation of the CAN-Error LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.2.4 Operation of the CANopen-Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.2.5OperationoftheError-LED ..............................................15

3.2.6OperationofthePower-LED..............................................15

3.2.7SpecialIndicatorStates ..................................................16

3.2.8 Assignment of LED Labelling to the Name in the Schematic Diagram . . . . . . . . . . . . . 16

3.3CodingSwitches...........................................................17

3.3.1 Setting the Node-ID via Coding Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.3.2SettingtheBaudRate ...................................................18

3.3.3 Assignment of Coding-Switch Labelling to Name in Schematic Diagram . . . . . . . . . . . 18

4. Technical Data ..............................................................19

4.1General technicalData .....................................................19

4.2CPU ....................................................................20

4.3CANInterface ............................................................20

4.4SerialInterface ............................................................21

4.5SoftwareSupport ..........................................................21

4.6.1 Connecting Power Supply and CAN-Signals to CBX-InRailBus . . . . . . . . . . . . . . . . . . 23

4.6.2 Connection of the Power Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

4.6.3ConnectionofCAN.....................................................25

4.7 Remove the CAN-CBX Module from the InRailBus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

5. Connector Assignment ........................................................26

5.1PowerSupplyVoltage24V(X100) ...........................................26

5.2CAN ....................................................................27

5.2.1CANInterface .........................................................27

5.2.2CANConnector........................................................28

5.2.3 CAN and Power Supply Voltage via InRailBus Connector . . . . . . . . . . . . . . . . . . . . . . 29

5.3 Serial Interfaces COM A and COM B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

5.3.1RS-232Interface .......................................................30

5.3.2Option:RS-422Interface ................................................31

5.3.3Option:RS-485Interface ................................................31

5.3.4Option:TTY(20mA)Interface ............................................ 32

5.3.5ConnectorAssignment ..................................................33

5.4 Assignment of the Labelling on the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

5.5 Conductor Connection/Conductor Cross Sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Manual • Doc.-No.: C.3055.21 / Rev. 1.1

CAN-CBX-COM2Page 6 of 125

6. Correct Wiring of Electrically Isolated CAN Networks .............................37

6.1StandardsconcerningCANWiring ............................................37

6.2 Light Industrial Environment (Single Twisted Pair Cable) . . . . . . . . . . . . . . . . . . . . . . . . . . 38

6.2.1GeneralRules .........................................................38

6.2.2Cabling ..............................39

6.2.3Termination...........................................................39

6.3 Heavy Industrial Environment (Double Twisted Pair Cable) . . . . . . . . . . . . . . . . . . . . . . . . 40

6.3.1GeneralRules .........................................................40

6.3.2DeviceCabling ........................................................41

6.3.3Termination...........................................................41

6.4ElectricalGrounding .......................................................42

6.5BusLength ...............................................................42

6.6ExamplesforCANCables...................................................43

6.6.1 Cable for Light Industrial Environment Applications (Two-Wire) . . . . . . . . . . . . . . . . . 43

6.6.2 Cable for Heavy Industrial Environment Applications (Four-Wire) . . . . . . . . . . . . . . . . 43

7. CAN Troubleshooting Guide ..................................................44

7.1Termination ..............................................................44

7.2ElectricalGrounding .......................................................45

7.3ShortCircuitinCANWiring.................................................45

7.4CAN_H/CAN_LVoltage ...................................................45

7.5CANTransceiverResistanceTest .............................................46

7.6Supportbyesd ............................................................46

8. CANopen Firmware .........................................................47

8.1 Definition of Terms . 47

8.2NMT-Boot-up ............................................................48

8.3TheCANopen-ObjectDirectory ..............................................48

8.4 Communication Parameters of the PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

8.4.1AccessontheObjectDirectory............................................49

8.4.2 Non-volatile Storage of Parameters to EEPROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

8.4.3 Restoring of Default Status of the parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

8.5 Overview of used CANopen-Identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

8.5.1SettingtheCOB-ID.....................................................53

8.6DefaultPDO-Assignment ...................................................54

8.7CommunicationProfileArea .................................................55

8.7.1UsedNamesandAbbreviations ...........................................55

8.8ImplementedCANopen-Objects ..............................................56

8.8.1 Overview of used 1000-Objects and Default Values . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

8.8.2 Device Type (1000

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

8.8.3 Error Register (1001

) ...................................................59

8.8.4 Manufacturer Status Register (1002

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

8.8.5 Pre-defined Error Field (1003

)............................................61

8.8.6 COB-ID of SYNC-Message (1005

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

8.8.7 Communication Cycle Period (1006

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

8.8.8 Manufacturer Device Name (1008

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

8.8.9 Manufacturer Hardware Version (1009

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

8.8.10 Manufacturer Software Version (100A

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

8.8.11 Guard Time (100C

) und Life Time Factor (100D

)...........................67

8.8.12 Store Parameters (1010

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

CAN-CBX-COM2

Manual • Doc.-No.: C.3055.21 / Rev. 1.1

Page 7 of 125

8.8.13 Restore Default Parameters (1011

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

8.8.14 COB_ID Emergency Message (1014

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

8.8.15 Inhibit Time EMCY (1015

) .............................................73

8.8.16 Consumer Heartbeat Time (1016

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

8.8.17 Producer Heartbeat Time (1017

) .........................................76

8.8.18 Identity Object (1018

) .................................................77

8.8.19 Synchronous Counter Overflow Value (1019

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

8.8.20 Verify Configuration (1020

) ............................................80

8.8.21 Error Behaviour Object (1029

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

8.8.22 NMT Startup (1F80

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

8.8.23 Self Starting Nodes Timing Parameters (1F91

)..............................83

8.8.24 Receive PDO Communication Parameter 1400

, 1402

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

8.8.25 Receive PDO-Mapping Parameter 1600

, 1603

..............................86

8.8.26 Object Transmit PDO Communication Parameter 1800

, 1802

..................87

8.8.27 Transmit PDO Mapping Parameter 1A00

, 1A02

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

8.9TransmissionModes .......................................................90

8.9.1 Supported transmission modes according to CiA 301, Table 55 . . . . . . . . . . . . . . . . . . 90

8.10 Data Transfer and PDO Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

8.10.1 Function Description of local Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

8.11DeviceProfileArea .......................................................93

8.11.1 Overview of Implemented Objects 6000

...9FFF

............................93

8.12 Manufacturer Specific Profile Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

8.12.1 Overview of Implemented Objects 2800

- 2981

.............................94

8.12.2 Serial Communication Parameter 2800

, 2900

..............................95

8.12.3 Tx_Cycle_String 2810

, 2910

..........................................117

8.12.4 Dummy_Rx_Object 2880

, 2980

........................................118

8.12.5 Dummy_Tx_Object 2881

, 2981

........................................118

8.13 Firmware Management via CANopen Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

8.13.1 Download Control via Object 1F51

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

8.13.2 Download Control via Object 1F52

......................................121

9. References .................................................................122

10. Declaration of Conformity ..................................................123

11. Order Information .........................................................124

Manual • Doc.-No.: C.3055.21 / Rev. 1.1

CAN-CBX-COM2Page 8 of 125

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

The following indicators are used to highlight noticeable descriptions.

Attention:

Warnings or cautions to tell you about operations which might have unwanted side

effects.

Note:

Notes to point out something important or useful.

Number Representation

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

appended . For example, 42 is represented as 2A

in hexadecimal format.

Overview

CAN-CBX-COM2

Manual • Doc.-No.: C.3055.21 / Rev. 1.1

Page 9 of 125

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1. Overview

1.1 Description of the Module

Fig. 1: Block circuit diagram of the CAN-CBX-COM2 module

TheCAN-CBX-COM2moduleisaCANopen

Module,thatintegratesthecommunicationoftwoserial

interfaces into a CANopen

network.

The basic version comes with two RS-232 interfaces.

The serial interface COM B can be individually configured as RS-232, RS-422, RS-485 or TTY

interface via add-on modules (Piggybacks).

As CAN-CBX module the CAN-CBX-COM2 can either be operated as individual module or it can be

connected to the InRailBus.

The CAN-CBX-COM2 module is equipped with an ARM7

-Microcontroller, which operates as

controller for the serial interfaces and the CAN-Bus. The CAN data are buffered in the local SRAM.

The firmware is held in the flash. The parameters are saved in a serial EEPROM.

The CAN-CBX-COM2 features the possibility to connect the power supply and the CAN bus signals

viaindividual connectorsorvia theInRailBusconnector(TBUS-connector)integratedinthemounting

rail. Individual modules can then be removed without interrupting the bus signals.

The CANinterface is designed according to ISO11898-2 high-speed layer with electrical isolation and

supports bit rates up to 1 Mbit/s.

The firmware supports CANopen according to CiA

301 [1].

The CANopen node number and the CAN-bit rate can be easily set via coding switches.

Quick Start

Manual • Doc.-No.: C.3055.21 / Rev. 1.1

CAN-CBX-COM2Page 10 of 125

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

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

“Correctly Wiring Electrically Isolated CAN Networks“! 22,

1 Mount the CAN-CBX-COM2 module and connect the interfaces (power

supply voltage, CAN, serial interfaces). 12

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.

A CAN node with electrical connection to earth potential acts as an earth

potential.

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”.

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

). 17

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)

Ce manuel convient aux modèles suivants

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