MicroControl uCAN.8.dio-BOX Manual de usuario
Systemhaus fr Automatisierung
µCAN.8.dio-BOX
Manual Digital I/O-Module
Version 2.00
MicroControl GmbH & Co. KG
Junkersring 23
D-53844 Troisdorf
Fon: 02241 / 25 65 9 - 0
Fax: 02241 / 25 65 9 - 11
http://www.microcontrol.net
Table of contents
μCAN.8.dio-BOX 2
1. Safety Regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1 General Safety Regulations . . . . . . . . . . . . . . . . . 6
2. Operation of μCAN.8.dio-BOX . . . . . . . . . . . . . . . . . . . 8
2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3. Project Planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1 Module Layout. . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2 Operation Area. . . . . . . . . . . . . . . . . . . . . . . . . 11
3.3 Maximum System Layout. . . . . . . . . . . . . . . . . 12
3.4 Case Dimensions . . . . . . . . . . . . . . . . . . . . . . . 14
4. Assembly and Disassembly . . . . . . . . . . . . . . . . . . . . . 16
4.1 Safety Regulations . . . . . . . . . . . . . . . . . . . . . . 16
4.2 General Information . . . . . . . . . . . . . . . . . . . . . 17
4.3 Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.4 Disassembly . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.1 Potential Basics. . . . . . . . . . . . . . . . . . . . . . . . . 20
5.2 EMC Considerations . . . . . . . . . . . . . . . . . . . . . 21
5.2.1 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.2.2 Shielding of cables . . . . . . . . . . . . . . . . . . . 22
5.2.3 CAN Cable . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.3 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.4 CAN Bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.5 Address Selection . . . . . . . . . . . . . . . . . . . . . . . 27
5.6 Baudrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.7 Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6. Digital Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.1 Function principle / High Side Version . . . . . . . 30
6.2 Function principle / Low Side Version. . . . . . . . 31
6.3 Pinning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7. Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.1 Network Status. . . . . . . . . . . . . . . . . . . . . . . . . 35
7.1.1 Signalling of CAN controller status . . . . . . . 35
Table of contents
3μCAN.8.dio-BOX
7.1.2 Signalling of Network and CAN status . . . . . 36
7.2 Module Status . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.3 Signal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.3.1 High Side Version . . . . . . . . . . . . . . . . . . . . . 37
7.3.2 Low Side Version . . . . . . . . . . . . . . . . . . . . . 37
8. CANopen Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
8.2 Network Management . . . . . . . . . . . . . . . . . . . 40
8.3 SDO Communication . . . . . . . . . . . . . . . . . . . . 42
8.3.1 SDO Abort Protocol . . . . . . . . . . . . . . . . . . . 43
8.4 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . 44
8.4.1 Communication Profile. . . . . . . . . . . . . . . . . 45
8.4.2 Device Profile . . . . . . . . . . . . . . . . . . . . . . . . 52
8.4.3 Manufacturer Specific Objects . . . . . . . . . . . 56
8.5 Heartbeat Protocol . . . . . . . . . . . . . . . . . . . . . . 57
8.6 PDO Communication . . . . . . . . . . . . . . . . . . . . 59
8.6.1 Transmission Modes . . . . . . . . . . . . . . . . . . . 60
8.6.2 Receive-PDO . . . . . . . . . . . . . . . . . . . . . . . . 61
8.6.3 Transmit PDO. . . . . . . . . . . . . . . . . . . . . . . . 63
8.6.4 Synchronisation Message . . . . . . . . . . . . . . . 65
8.7 Emergency Message . . . . . . . . . . . . . . . . . . . . . 66
9. Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
μCAN.8.dio-BOX MicroControl Version 2.00 Page 4
1
Remarks on CE-conformance of μCAN-modules
μCAN-modules which have CE-conformance label, have passed
test specifications of EU-criteria 89/336/EWG "Electromagnetic
Emission and Immunitiy" and standardized European norms
(EN).
Papers of declaration for EU-conformance, according to Art.10 of
EN, are available at:
MicroControl GmbH & Co. KG
Junkersring 23
D-53844 Troisdorf
Germany
MicroControl reserves the right to modify this manual and/or
product described herein without further notice. Nothing in this
manual, nor in any of the data sheets and other supporting doc-
umentation, shall be interpreted as conveying an express or im-
plied warranty, representation, or guarantee regarding the
suitability of the products for any particular purpose. MicroCon-
trol does not assume any liability or obligation for damages, ac-
tual or otherwise of any kind arising out of the application, use of
the products or manuals.
The products described in this manual are not designed, intend-
ed, or authorized for use as components in systems intended to
support or sustain life, or any other application in which failure of
the product could create a situation where personal injury or
death may occur.
© 2016 MicroControl GmbH & Co. KG, Troisdorf
No part of this documentation may be copied, transmitted or
stored in a retrieval system or reproduced in any way including,
but not limited to, photography, magnetic or other recording
means, without prior written permission from MicroControl
GmbH & Co. KG.
Page 5MicroControl Version 2.00 μCAN.8.dio-BOX
1
General Safety Regulations Safety Regulations
μCAN.8.dio-BOX MicroControl Version 2.00 Page 6
1
1. Safety Regulations
Symbol Explanation
Attention !
This symbol marks a paragraph which explains possible danger.
This danger might cause a damage to the system / plant or dam-
age to personnel.
Note
This symbol marks a paragraph which contains useful informa-
tion for the work with the device or which gives just a hint.
1.1 General Safety Regulations
Attention !
Please read the following chapter in any case, because it con-
tains important information about the secure handling of
electrical devices.
This paragraph gives important information about the conditions
of use. It was written for personnel which is qualified and trained
on electrical devices.
Qualified and trained personnel are persons who fulfil at least
one of the following conditions:
You know the safety regulations for automated machines and
you are familiar with the machine.
You are the operator for the machine and you have been trai-
ned on operation modes. You are familiar with the operation
of devices described in this manual.
You are responsible for setting into operation or service and
you are trained on repairing automated machines. In additi-
on you are trained in setting electrical devices into operation,
to connect the earthing conductor and to label these devices.
Terms of use The devices described in this manual can only be used for the
mentioned applications. Other devices used in conjunction have
to meet the safety regulations and EMI requirements.
Safety Regulations General Safety Regulations
Page 7MicroControl Version 2.00 μCAN.8.dio-BOX
1
To
Attention !
ensure a trouble free and safe operation of the device please
take care of proper transport, appropriate storage, proper assem-
bly as well as careful operation and maintenance.
Hints for Installati-
on
Please take care to observe the actual local safety regulations.
If devices are used in a fixed machine without a mains switch for
all phases or fuses, this equipment has to be installed. The fixed
machine must be connected to safety earth.
If devices are supplied by mains please take care that the select-
ed input voltage fits to the local mains.
Safety Notice If devices are supplied by 24V DC, this voltage has to be isolated
from other voltages.
The cables for power supply, signal lines and sensor lines must
be installed in a way that the device function is not influenced by
EMI.
Devices or machines for industrial automation must be construct-
ed in a manner that an unintentional operation is impossible.
By means of hardware and software safety precautions have to
be taken
Attention !
in order to avoid undefined operation of a automated
machine in case of a cable fraction.
If automated machines can cause damage of material or person-
nel in case of a malfunction the system designer has to take care
for safety precautions. Possible safety precautions might be a
limit switch or locking.
Overview Operation of μCAN.8.dio-BOX
μCAN.8.dio-BOX MicroControl Version 2.00 Page 8
2
2. Operation of μCAN.8.dio-BOX
2.1 Overview
The μCAN.8.dio-BOX is the right solution for digital I/O-signals
via CAN.
Fig. 1: Digital I/O-Module μCAN.8.dio-BOX
The development in automation towards decentralized „intelli-
gent“ systems makes the communication between these com-
ponents quite important.
Modern automated systems require the possibility to integrate
components from different manufacturers. The solution for this
problem is a common bus system.
All these requirements are fulfilled by the μCAN.8.dio-BOX mo-
dule. The μCAN.8.dio-BOX runs on the standard fieldbus CAN.
Typical applications for the μCAN.8.dio-BOX are industrial auto-
mation, transportation, food industry and environmental techno-
logy.
Operation of μCAN.8.dio-BOX Overview
Seite 9MicroControl Version 2.00 μCAN.8.dio-BOX
2
The μCAN.8.dio-BOX runs with the protocol
according to the device profile CiA 401. Other protocol stacks are
available on request.
space saving and
compact
The μCAN.8.dio-BOX is designed for heavy duty applications.
The aluminium cast ensures protection class IP65. The compact,
space saving case gives the freedom to mount the module in
many places.
inexpensive and
service friendly
The quick and easy integration of the μCAN.8.dio-BOX in your
application reduces the development effort. Costs for material
and personnel are reduced. The easy installation makes mainte-
nance and replacement quite simple.
Module Layout Project Planning
μCAN.8.dio-BOX MicroControl Version 2.00 Page 10
3
3. Project Planning
The chapter Project Planning contains information which are im-
portant for the system engineer when using the μCAN.8.dio-
BOX. These information include case dimensions and conditions
of use.
3.1 Module Layout
The following figure shows the top view of the μCAN.8.dio-BOX
PCB. Use the figure to identify the terminal blocks, LED’s and DIP-
switches.
1: Baudrate switch
2: Module address / ID
3: Bi-color LED for module status
4: Bi-color LED for network status
5: Terminal block for Power / CAN
6: Switch for CANbus termination
7: Bi-color LED for signal status
8: Terminal block for digital signals
Modul IDBaud
Term
Off/On
CAN_H
CAN_L
GND
V+
V-PWR
V+PWR
I/O_1
I/O_2
I/O_3
I/O_4
I/O_5
I/O_6
I/O_7
I/O_8
NS
MS
12
4
3
6
5
7
8
Abb. 2: Top view of the μCAN.8.dio-BOX PCB
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