Connection Configuration

Communication Settings

Cable Diagram

Recommended Connector and Cables

Supported Devices

Diagnostics Device

Object Dictionary

IMPORTANT:

- To use a CANopen Slave driver, you need a CANopen Slave Unit (PFXZCDEUCA1) by Pro-face. Please refer to the CANopen Slave Unit Manual for more details.

NOTE

- Node guarding and Self startup are not supported.

## Connection Configuration

- CANopen Network

*1 The maximum number of connectable slaves is 127. However, the maximum number of connectable units differs depending on the master in use. Refer to the master External Device's manual for details.

NOTE

- Communication between slaves is not supported. Be sure to connect the master in the network.

##### Communication Protocol

CANopen communicates using SDO and PDO.

NOTE

- For COB-ID, the default COB-ID is specified that is defined in CANopen specification.
  For details on CANopen specification or its basic structure, refer to the CiA website.

SDO (Service Data Object) is used for Domain device communication.

PDO (Process Data Object) is used for Input/Output device communication.

4PDO (16words) is set to the Input/Output device as default. When using a device exceeding 4PDO, the device needs to be set to valid by the CANopen master.

NOTE

- For TPDO transmission type, "Change of State" only is supported.

## Communication Settings

Examples of communication settings of the Display and the External Device, recommended by Pro-face, are shown.

WARNING

UNINTENDED EQUIPMENT OPERATION

Read and understand the instructions in this section to ensure data is properly transferred.

## Cable Diagram

The following cable diagrams may be different from cable diagrams recommended by External Device Manufacturer.

Please be assured there is no operational problem in applying the cable diagram shown in this manual.

- The FG pin of the External Device body must be grounded according to your country's applicable standard. Refer to your External Device manual for details.

- SG and FG are connected inside the Display. When connecting the External Device to SG, design your system to avoid short-circuit loops.

- Connect an isolation unit if the communication is not stable due to noise or other factors.

### Recommended Connector and Cables

| Model No. | Manufacturer | Description
--- | --- | --- | ---
Recommended Cable Connector | XM3D-0921 | OMRON Co. | DSUB 9-pin socket without termination resistance
TSXCANKCDF180T | Schneider Electric | Straight connector with terminal selector switch attached
TSXCANKCDF90T TSXCANKCDF90TP | Schneider Electric | Right-angled connector with terminal selector switch attached.
VS-09-BU-DSUB/CAN | PHOENIX CONTACT | Connector with terminal block attached with terminal selector switch attached
SUBCON-PLUS-CAN/AX | PHOENIX CONTACT | Straight connector with terminal selector switch attached
SUBCON-PLUS-CAN/PG SUBCON-PLUS-CAN | PHOENIX CONTACT | Right-angled connector with terminal selector switch attached
CANopen Recommended Transfer Cable | TSX CAN CA50 TSX CAN CA100 | Schneider Electric | Cable for CANopen (IEC60332-1) 50 m/100 m
TSX CAN CB50 TSX CAN CB100 | Schneider Electric | UL-authenticated cable for CANopen (IEC60332-2) 50 m/100 m

## Supported Devices

Range of supported device address is shown in the table below. Please note that the actually supported range of the devices varies depending on the External Device to be used. Please check the actual range in the manual of your External Device.

WARNING

UNINTENDED EQUIPMENT OPERATION

- Do not simultaneously write to the same register from Display and External Device program.
- Do not write 16-bit word values to registers being accessed in a bitwise manner.

### Diagnostics Device

Refer to the table below for details of the diagnostics device.

Address | Name | Comment
--- | --- | ---
0 | COMM_STATUS | MSB = Communication state machine, LSB= State of the communication with the network
1 | EVENT_BITS | Event indication bits
2 | Reserved | -
3 | RED_LED_STATUS | Status of the error LED (red LED)
4 | GRN_LED_STATUS | Status of the run LED (green LED)
5 | BAUD_RATE | Configured baud rate
6 | FW_VERSION | Firmware version of the PFXZCDEUCA1

COMM_STATUS

LSB and MSB comprise the COMM_STATUS field.

Refer to the table below for details.

- LSB

  LSB of the COMM_STATUS | Description
  --- | ---
  0x00 | Initializing the CANopen stack. Automatically goes to 0x41 when initialization is done.
  0x41 | Received a STOP command from master, CANopen slave is stopped.
  0x42 | Lost connection with master or waiting for master, CANopen slave is pre-operational.
  0x43 | CANopen slave is operational.
  0x90 | CANopen slave is in fatal error situation. CANopen slave can not proceed until error situation is resolved.

- MSB

  Bit | Description
  --- | ---
  0 | Reserved
  1 | Quantity of the CAN controller data is over range. (When bit is ON.)
  2 | The CAN controller is bus off. (When bit is ON.)
  3 | The CAN controller is in an error state. This bit is reset when the error state is ended. (When bit is ON.)
  4 | The CAN controller is not in an error state. An error history caused by stack will not be reset. (When bit is ON.)
  5 | Reserved
  6 | Quantity of the receive data is over range. (When bit is ON.)
  7 | Quantity of the transmit data is over range. (When bit is ON.)

EVENT_BITS

Refer to the table below for details.

Bit | Description
--- | ---
0 | Network communication error: network is in the fatal error state
1 | Reserved
2 | Reserved
3 | Reserved
4 | Reserved
5 | Reserved
6 | Reserved
7 | Set if a bit in one of the bit lists changes. (practically always 1)
8 | Reserved
9 | Reserved
10 | Reserved
11 | Reserved
12 | Reserved
13 | Network connection not found. Not connected to network.
14 | Reserved
15 | Reserved

RED_LED_STATUS

Refer to the table below for details.

Value | LED status
--- | ---
0 | LED off
1 | LED on
2 | Reserved
3 | Blinking
4 | Single flash
5 | Double flash
6 | Reserved
7 | Reserved

GRN_LED_STATUS

Refer to the table below for details.

Value | LED status
--- | ---
0 | LED off
1 | LED on
2 | Flickering
3 | Blinking
4 | Single flash
5 | Reserved
6 | Reserved
7 | Reserved

BAUD_RATE

Refer to the table below for details.

Value | Baud rate
--- | ---
0 | 1000 Kbps
1 | 800 Kbps
2 | 500 Kbps
3 | 250 Kbps
4 | 125 Kbps
6 | 50 Kbps

FW_VERSION

Display the CANopen slave unit's firmware version.

### Object Dictionary

Refer to the table below for details of the object dictionary.

Index (Hex) | Sub Index | Name | Type
--- | --- | --- | ---
1000 |  | Device Type | VAR
1001 |  | Error register | VAR
1003 |  | Pre-defined Error Field | ARRAY
| 0 | Number of Elements |
| 1 | Standard Error Field |
| 2 | Standard Error Field |
1008 |  | Manufacturer device name | VAR
1009 |  | Manufacturer hardware version | VAR
100A |  | Manufacturer software version | VAR
1014 |  | COB-ID Emergency object | VAR
1015 |  | Inhibit time for EMCY message | VAR
1016 |  | Consumer heartbeat time | ARRAY
| 0 | Number of elements |
| 1 | Consumer heartbeat time 1 |
1017 |  | Producer heartbeat time | VAR
1018 |  | Identity object | RECORD
| 0 | Number of entries |
| 1 | Vendor ID |
| 2 | Product code |
| 3 | Revision number |
1200 |  | 1. Server SDO parameter | RECORD
| 0 | Number of supported entries |
| 1 | COB-ID Client to Server (RX) |
| 2 | COB-ID Server to Client (TX) |
1400 |  | 1. Receive PDO parameter | RECORD
| 0 | Number of entries |
| 1 | COB-ID used by PDO |
| 2 | Transmission type |
1401 |  | 2. Receive PDO parameter | RECORD
| 0 | Number of entries |
| 1 | COB-ID used by PDO |
| 2 | Transmission type |
... |  |  |
143F |  | 64. Receive PDO parameter | RECORD
| 0 | Number of entries |
| 1 | COB-ID used by PDO |
| 2 | Transmission type |
1600 |  | 0. Receive PDO mapping | RECORD
| 0 | Number of mapping objects |
| 1 | 1. mapping object |
| 2 | 2. mapping object |
| 3 | 3. mapping object |
| 4 | 4. mapping object |
1601 |  | 1. Receive PDO mapping | RECORD
| 0 | Number of mapping objects |
| 1 | 1. mapping object |
| 2 | 2. mapping object |
| 3 | 3. mapping object |
| 4 | 4. mapping object |
... |  |  |
163F |  | 63. Receive PDO mapping | RECORD
| 0 | Number of mapping objects |
| 1 | 1. mapping object |
| 2 | 2. mapping object |
| 3 | 3. mapping object |
| 4 | 4. mapping object |
1800 |  | 1. Transmit PDO parameter | RECORD
| 0 | Number of entries |
| 1 | COB-ID used by PDO |
| 2 | Transmission type |
| 3 | Inhibit time |
| 4 | Event time |
1801 |  | 2. Transmit PDO parameter | RECORD
| 0 | Number of entries |
| 1 | COB-ID used by PDO |
| 2 | Transmission type |
| 3 | Inhibit time |
| 4 | Event time |
... |  |  |
183F |  | 64. Transmit PDO parameter | RECORD
| 0 | Number of entries |
| 1 | COB-ID used by PDO |
| 2 | Transmission type |
| 3 | Inhibit time |
| 4 | Event time |
1A00 |  | 0. Transmit PDO mapping | RECORD
| 0 | Number of mapping objects |
| 1 | 1. mapping object |
| 2 | 2. mapping object |
| 3 | 3. mapping object |
| 4 | 4. mapping object |
1A01 |  | 1. Transmit PDO mapping | RECORD
| 0 | Number of mapping objects |
| 1 | 1. mapping object |
| 2 | 2. mapping object |
| 3 | 3. mapping object |
| 4 | 4. mapping object |
... |  |  |
1A3F |  | 63. Transmit PDO mapping | RECORD
| 0 | Number of mapping objects |
| 1 | 1. mapping object |
| 2 | 2. mapping object |
| 3 | 3. mapping object |
| 4 | 4. mapping object |
2000 |  | Word Output | ARRAY
| 0 | Number of elements |
| 1 | 1st output word |
| ... |  |
| 128 | 128th output word |
2010 |  | Word Output | ARRAY
| 0 | Number of elements |
| 1 | 1st output word |
| ... |  |
| 128 | 128th output word |
2100 |  | Word Input | ARRAY
| 0 | Number of elements |
| 1 | 1st input word |
| ... |  |
| 128 | 128th input word |
2110 |  | Word Input | ARRAY
| 0 | Number of elements |
| 1 | 1st input word |
| ... |  |
| 128 | 128th input word |
2500 | 0 | Domain1 data area | DOMAIN
2501 | 0 | Domain2 data area | DOMAIN
2502 | 0 | Domain3 data area | DOMAIN
2503 | 0 | Domain4 data area | DOMAIN
2504 | 0 | Domain5 data area | DOMAIN
2505 | 0 | Domain6 data area | DOMAIN
2506 | 0 | Domain7 data area | DOMAIN
2507 | 0 | Domain8 data area | DOMAIN
5000 |  | Slave Diagnostics | ARRAY
| 0 | Number of elements |
| 1 | Global events |
| 2 | Slave network status |
| 3 | Communication status |
5FFF |  | Pro-face specific ID object | RECORD
| 0 | Number of elements |
| 1 | Manufacturer Brand |
| 2 | Conformance class |