GCAN GCAN-IO-8000 Manual de usuario
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GCAN-IO-8000
CANopen I/O coupler
User manual
Document version V4.00（2021/03/23）
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Vhandy technology GCAN-IO-8000 user manual
Revision History:
Version
Date
Reason
V1.00
2015/10/16
Create
V2.01
2015/12/20
Fixed working parameters
V3.01
2017/11/22
Add parameters
V3.02
2018/01/22
Add protocol section
V3.03
2018/03/22
Fixed parameters
V3.25
2019/03/20
Modify the selection table
V4.00
2021/03/23
Product revision and upgrade
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Vhandy technology GCAN-IO-8000 user manual
Contents
1. Introduction .................................................................................................. 4
1.1 Overview ............................................................................................. 4
1.2 Performance .........................................................................................4
1.3 Typical application .............................................................................. 5
2. Installation and usage ................................................................................... 6
2.1 Fixed module ....................................................................................... 6
2.2 Wiring method .....................................................................................7
2.3 System status indicator ........................................................................9
3. Communication connection ........................................................................11
3.1 Serial connection ............................................................................... 11
3.2 CAN connection ................................................................................ 11
3.3 CAN-Bus terminal resistance ............................................................12
3.4 CAN baud rate and node number setting .......................................... 12
4. Communication example ............................................................................14
4.1 NMT command ................................................................................. 14
4.2 Equipped with GC-1008module ........................................................17
4.3 Equipped with GC-2008module ........................................................18
4.4 Equipped with GC-3804module ........................................................18
4.5 Equipped with multiplemodules ........................................................19
5. Module selection table ................................................................................22
6. Technical specifications ............................................................................. 24
Sales and service .............................................................................................25
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Vhandy technology GCAN-IO-8000 user manual
1. Introduction
1.1 Overview
GCAN-8000 Modbus I/O Coupler can be used to connect CAN bus
system and distributed bus terminal module, and these terminal modules can be
expanded in a modular way. A complete node consists of a bus coupler, 1-32
arbitrary number of terminal modules and a terminal module. Adopt GCAN-
IO-8000 bus coupler, through GC-bus expansion technology, can establish I/O
connection extremely conveniently, can connect 32 input/output terminal
modules at most.
The GCAN-IO-8000 CANopen bus coupler adopts the CAN bus protocol
that conforms to the ISO 11898 standard. The GCAN-IO-8000 bus coupler not
only supports all types of CANopen communication, but can also be easily
applied to the manufacturer's specific CAN bus environment. In addition, the
firmware can also be upgraded through the configuration interface.
GCAN-IO-8000 bus coupler can connect all bus terminal modules. As far
as the user is concerned, there is no difference between the processing methods
of analog input/output signals and the processing methods of other types of
signals. The information in the process image area of the controller is displayed
in byte array format. According to different models, the analog quantity bus
terminal module register contains temperature range, gain value and
linearization characteristic curve.
GCAN-8000 Bus Coupler supports automatic configuration, and you do
not need to set parameters on the PC. When GCAN-8000 bus coupler uses
Modbus RTU communication, communication parameters can be configured
by RS232 interface.
1.2 Performance
●CANopen baud rate supports 1000k, 500k, 250k, 125k, 100k, 50k, 10k;
PDO mode supports synchronization, loop, event-driven, and polling;
The number of bus terminal modules is up to 32;
●Sending PDO (CANopen) is determined by the number of extended input
modules, and receiving PDO (CANopen) is determined by the number of
extended output modules
●Configuration mode is automatic configuration,expandedfreely
CAN bus interface is an open 4-pin terminal
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Vhandy technology GCAN-IO-8000 user manual
●Supply power: 24V DC(-15%/+20%)
●Input current, 70mA+ (total GC-bus current), maximum2.5A
●Starting current: about 2.5 times continuous current
●Power contacts: maximum 24V DC/maximum10A
●Electrical isolation: 1500 Vrms (power contact/bus coupled power voltage)
●Working temperature: -40.00℃~85.00℃
●Dimensions：100mm(L) * 69mm(W) * 48mm(H)
1.3 Typical application
●Connect with the distributed bus terminal module to form a complete
control node.
●Perform data acquisition and data transmission with CANopen protocol.
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Vhandy technology GCAN-IO-8000 user manual
2. Installation and usage
This chapter introduces the method installation and wiring,the meaning of
the indicator and the interface.
2.1 Fixed module
The installation method of GCAN-8000CANopen bus coupler is shown in
Figure 2.1
Figure 2.1 GCAN-8000 module installation
Figure 2.2 GCAN-8000 module self-locking mechanism
As shown figure 2.1, install the GCAN-8000CANopen bus coupler on the
guide rail until the lock is stuck. The GCAN-8000 CANopen bus coupler has a
self-locking mechanism that can effectively prevent equipment from falling. As
shown figure 2.2, you can release the self-locking mechanism by pulling out
the orange label
The GCAN-8000 CANopen bus coupler can connect up to 32 distributed
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Vhandy technology GCAN-IO-8000 user manual
bus terminal modules. When inserting bus terminal module, be sure to insert it
along the groove on the right side of the existing module sequentially until the
lock is stuck. At the right end of the entire node, you need to install terminal
module. The terminal will guarantee the data transmission and power supply of
the GC-Bus.
When you assemble the nodes correctly, there is no obvious gap between
the terminal modules. If the modules are not assembled correctly, the entire
node will not operate normally.
2.2 Wiring method
The power wiring as shown in figure 2.3. First, use a flat-blade
screwdriver to insert into the square hole, hold the top edge of the metal sheet
in the square hole, and press toward the hole. Then, insert the wire into the hole.
After plugging in, pull out the screwdriver and the wire can be firmly locked in
the hole.
Figure 2.3 GCAN-8000 module installation
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Vhandy technology GCAN-IO-8000 user manual
Figure 2.4 GCAN-8000 module, wiring terminal block
The wiring terminal block of the GCAN-8000CANopen bus coupler is
shown in Figure 2.4, including 8 terminals. The number corresponding to each
terminal and its meaning are shown in Table 2.1.
Note: connecting between terminal 3 and terminal 4, terminal 5 and terminal 6,
terminal7 and terminal 8 inside the module.
Terminal
Number
Definition
24V
1
Input 24V power
0V
2
GND power
+
3
IO positive power
+
4
IO positive power
-
5
IO negative power
-
6
IO negative power
PE
7
shield
PE
8
shield
Table 2.1 GCAN-8000 module, wiring terminal definition
Figure 2.5 CAN bus terminal block of GCAN-IO-8000 module
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Vhandy technology GCAN-IO-8000 user manual
The CAN bus terminal block of GCAN-IO-8000 CANopen bus coupler is
shown in Figure 2.5.
The CAN bus terminal block of GCAN-IO-8000 contains 4 terminals, and
the corresponding serial number of each terminal and its meaning are shown in
Table 2.2
Terminal
Serial number
Meaning
CAN-H
1
CAN bus-high
SHIELD
2
Shield
CAN-L
3
CAN bus-low
CAN-G
4
CAN bus-GND
Table 2.2 CAN bus terminal definition of GCAN-IO-8000 module
Figure 2.6 GCAN-IO-8000 module RS-232 interface definition
The RS-232 interface definition of GCAN-IO-8000 CANopen bus coupler
is shown in Figure 2.6. The RS-232 interface of GCAN-IO-8000 only defines 3
signal lines, RXD, TXD and GND.
2.3 System status indicator
GCAN-8000CANopen bus coupler has two sets of status indicators,
contains 6 circular status indicators in the left area and 2 power indicators in
the right area. The specific indicating function of the indicator is shown in table
2.3.
Indicator
Color
Status
PWR
green
Power
SYS
green
System
RUN
green
Run
ERR
green
Error
IO RUN
green
GC-Bus run
IO ERR
green
GC-Bus error
NO.1 on the right
green
Power
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Vhandy technology GCAN-IO-8000 user manual
NO.3 on the right
green
GC-Bus power
Table 2.3 GCAN-8000 module, indicators
Indicator
Status
Meaning
PWR
bright
Power supply normally
not bright
Power supply abnormally
SYS
Blinking
Working status
not bright
Initialization error
RUN
Blinking
Run normal
not bright
stop
ERR
bright
System error
not bright
System normal
IO RUN
Blinking
GC-Bus run normally
not bright
GC-Bus stop
IO ERR
bright
GC-Bus error
not bright
GC-Bus normal
Terminal module
NO.1 on the right
bright
Power supply normally
not bright
Power supply abnormally
NO.3 on the right
bright
Internal power supply
normally
not bright
Internal Power supply
abnormally
Table 2.4 GCAN-8000 module, indicators status
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