IPC DAS I-7231D Manuel utilisateur
I-7231D CANopen/DCON Gateway user manual (ver. 1.04, Dec/14/2010) ------1
I-7231D CPS_DCON Gateway
User Manual
Warranty
All products manufactured by IPC DAS are warranted
against defective materials for a period of one year from
the date of delivery to the original purchaser.
Warning
ICP DAS assume no liability for damages consequent
to the use of this product. ICP DAS reserves the right to
change this manual at any time without notice. The
information furnished by ICP DAS is believed to be
accurate and reliable. However, no responsibility is
assumed by ICP DAS for its use, nor for any infringements
of patents or other rights of third parties resulting from its
use.
Copyright
Copyright 2003 by ICP DAS. All rights are reserved.
Trademark
The names used for identification only maybe registered
trademarks of their respective companies.
I-7231D CANopen/DCON Gateway user manual (ver. 1.04, Dec/14/2010) ------2
Tables of Content
1Introduction.............................................................................................4
1.1 Overview.........................................................................................4
1.2 Hardware Features ........................................................................5
1.3 I-7231D Features............................................................................6
1.4 Utility Features...............................................................................7
2Hardware Specification..........................................................................8
2.1 Hardware Structure........................................................................8
2.2 Wire Connection ............................................................................9
2.3 Power LED....................................................................................12
2.4 CANopen Status LED...................................................................12
2.4.1 RUN LED ..........................................................................13
2.4.2 ERR LED ..........................................................................14
2.4.3 Overrun LED....................................................................16
2.5 7-segment LED.............................................................................17
2.6 Module Support ...........................................................................19
3CANopen System..................................................................................21
3.1 CANopen Introduction.................................................................21
3.2 SDO Introduction.........................................................................29
3.3 PDO Introduction.........................................................................31
3.4 EMCY Introduction.......................................................................42
3.5 NMT Introduction.........................................................................43
3.5.1 Module Control Protocols...............................................44
3.5.2 Error Control Protocols ..................................................45
4CANopen System..................................................................................48
4.1 I-7231D Configuration Flowchart................................................48
4.2 CAN Gateway Utility Overview ...................................................49
4.3 Configuration with the CAN gateway Utility..............................50
4.4 Configuration with the CAN Gateway Utility .............................57
5Configuration & Getting Start..............................................................63
5.1 SDO Communication Set ............................................................63
5.1.1 Upload SDO Protocol......................................................63
5.1.2 SDO Block Upload...........................................................72
5.1.3 Download.........................................................................82
5.1.4 SDO Block Download......................................................87
5.1.5 Abort SDO Transfer Protocol .........................................95
5.2 PDO Communication Set ............................................................98
I-7231D CANopen/DCON Gateway user manual (ver. 1.04, Dec/14/2010) ------3
5.2.1 PDO COB-ID Parameters ................................................98
5.2.2 Transmission Type........................................................100
5.2.3 PDO Communication Rule............................................101
5.3 EMCY Communication Set........................................................135
5.3.1 EMCY COB-ID Parameter..............................................135
5.3.2 EMCY Communication..................................................136
5.4 NMT Communication Set ..........................................................145
5.4.1 Module Control Protocol ..............................................145
5.4.2 Error Control Protocol ..................................................149
5.5 Special Functions for DCON modules .....................................153
6Object Dictionary of I-7231D..............................................................157
6.1 Communication Profile Area.....................................................157
6.2 Manufacturer Specific Profile Area ..........................................167
6.3 Standardized Device Profile Area.............................................169
Appendix A: Dimensions and Mounting..................................................174
Appendix B: Analog I/O Transformation Table........................................176
I-7231D CANopen/DCON Gateway user manual (ver. 1.04, Dec/14/2010) ------4
1 Introduction
1.1 Overview
DCON protocol is the default protocol of ICPDAS’s I-7000 and I-87K
modules. The I-7231D is a CANopen slave to DCON master gateway. Using
I-7231D gateway, the DCON I/O modules can be connected with the CAN bus.
In CANopen protocol application, the I-7231D plays the role in a CANopen
slave device. Hence, it can produce or consume the PDO messages, receive
the SDO message from the SDO client, and deal with the NMT messages from
NMT master. In the DCON protocol application, it is a DCON master device.
The I-7231D will collect all I/O information of the I-7000 and I-87K series
modules through the RS-485 port of I-7231D. As long as the I-7231D receiving
the command form CAN bus, it will do the corresponding actions to DCON I/O
channels. In addition, we also provide the utility tool for users to configure the
communication parameters and build EDS file for the I-7231D. Therefore,
users can easily apply I-7k and I-87K IO modules in any CANopen master
interface with EDS file via the I-7231D.
I-7231D CANopen/DCON Gateway user manual (ver. 1.04, Dec/14/2010) ------5
1.2 Hardware Features
zCPU:80186, 80MHz
zPhilip SJA1000 CAN controller
zPhilip 82C250 CAN transceiver
zSRAM:512K bytes
zFlash Memory:512K bytes
zEEPROM:2k bytes
zReal Time Clock
zBuilt-in Dual-Watchdog
z16-bit Timer
z2500 Vrms isolation on CAN side
zPower Supply:3.0W
zUnregulated +10VDC to +30VDC
zOperating Temperature:-25°C to +75°C
zStorage Temperature:-30°C to +85°C
zHumidity:5%~95%
zNS, MS and IO Led directors
COM1
zRS-232: TXD,RXD,RTS,CTS,GND
zCommunication speed: 115200 max.
zConfigure tool connection
COM2
zRS-485: D2+, D2-
zCommunication speed: 115200 max.
zConnect to DCON IO modules
Display
z7-segmemt LED to show operation mode, Node ID, CAN baud and
RS-485 baud
I-7231D CANopen/DCON Gateway user manual (ver. 1.04, Dec/14/2010) ------6
1.3 I-7231D Features
zNMT: Slave
zError Control: Node Guarding
zNode ID: Setting by Utility
zNo. of PDOs: 32 Rx, 32Tx
zPDO Modes: Event-triggered, remotely requested, cyclic and acyclic
SYNC
zPDO Mapping: variable
zNo of SDOs: 1 server, 0 client
zEmergency Message: Yes
zCANopen Version: DS-301 v4.01
zDevice Profile: DSP-401 v2.0
zProduce EDS file dynamically
zBaud Rate setting by Utility : 10K, 20K, 50K, 125K, 250K, 500K, 800K
and 1M bps
zCAN, ERR and Overrun LED indicators
zSupport max 15 I-7000/I-87K I/O series modules
zAuto scan the input channel situations from the DCON modules
zProvide friendly Utility to configure
zSupport the watchdog function of I-7000/87K I/O series modules
z7-segmemt LED to show operation mode, Node ID, CAN baud and
RS-485 baud
I-7231D CANopen/DCON Gateway user manual (ver. 1.04, Dec/14/2010) ------7
1.4 Utility Features
zSupport CANopen node ID, baud rate setting, and com port
parameters setting
zSupport auto scan I-7k/I-87K modules
zShow I-7k/I-87K modules configuration
zShow Application and assembly objects configuration
zSupport IO connection path setting
zSupport EDS file creating
I-7231D CANopen/DCON Gateway user manual (ver. 1.04, Dec/14/2010) ------8
2 Hardware Specification
2.1 Hardware Structure
CANopen
Status LED
CAN Bus
Connector
Power LED
7-segment
LED
RS-232 Port
(
connect to PC
)
RS-485 Port
(Connect to I/O modules)
Power Pin
Bypass CAN
Bus Connector
Reserved for
time-being
I-7231D CANopen/DCON Gateway user manual (ver. 1.04, Dec/14/2010) ------9
2.2 Wire Connection
In order to minimize the reflection effects on the CAN bus line, the CAN
bus line has to be terminated at both ends by two terminal resistances as
following figure. According to the ISO 11898-2 spec, each terminal resistance
is 120Ω(or between 108Ω~132Ω). The length related resistance should have
70 mΩ/m. The user should check the resistances of CAN bus, before install a
new CAN network.
Moreover, to minimize the voltage drop on long distance, the terminal
resistance should be higher than the value defined in the ISO 11898-2. The
following table could be a reference.
Bus Cable Parameters
Bus Length
(meter)
Length Related
Resistance
(mΩ/m)
Cross Section
(Type)
Terminal
Resistance
(Ω)
0~40 70 0.25(23AWG)~
0.34mm2(22AWG)
124 (0.1%)
40~300 < 60 0.34(22AWG)~
0.6mm2(20AWG)
127 (0.1%)
300~600 < 40 0.5~0.6mm2
(20AWG)
150~300
600~1K < 20 0.75~0.mm2
(18AWG)
150~300
I-7231D CANopen/DCON Gateway user manual (ver. 1.04, Dec/14/2010) ------10
The CAN bus bard rate has the high relationship with the bus length. The
following table indicates the corresponding bus length on every kind of baud
rate.
Baud rate (bit/s) Max. Bus length (m)
1 M 25
800 K 50
500 K 100
250 K 250
125 K 500
50 K 1000
20 K 2500
10 K 5000
Note: When the bus length is greater than 1000m, the
bridge or repeater devices may be needed.
In order to wiring conveniently, the I-7231D supplies two CAN bus
connector. Each connecter built on the CPS_DCON gateway looks like as
following figure.
Pin No. Signal Description
2 CAN_L CAN_L bus line (dominant low)
3 CAN_SHLD Optional CAN Shield
4 CAN_H CAN_H bus line (dominant high)
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