:
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.
CANopen communicates using SDO and PDO.
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.
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.
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.
|
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 |
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
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.
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 |
|