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IP 67 CANopen IO Bloc i User’s Manual Compact IO Modules (M8) for CANopen BradControl from Woodhead Release 1.4 28 April 2008

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Page 1: CanOpen IO IP67 M8-1 - Molex IO IP67_M8-1.4.pdfThe compact design allows space saving for direct machine mount application, with M8 connectors. ... IO Connector M8 (female) M8 (female)

IP 67 CANopen IO Bloc • i •

User’s Manual

Compact IO Modules (M8) for CANopen BradControl from Woodhead

Release 1.4 28 April 2008

Page 2: CanOpen IO IP67 M8-1 - Molex IO IP67_M8-1.4.pdfThe compact design allows space saving for direct machine mount application, with M8 connectors. ... IO Connector M8 (female) M8 (female)

IP 67 CANopen IO Bloc • ii •

Although every effort has been made to ensure the accuracy of this document, all information is

subject to change without notice. Woodhead L.P. takes no liability for any errors in this document or for direct, indirect, or consequential damage resulting from the use of this manual.

Copyright Notice

Adresse a changer

[email protected] www.woodhead.com

Page 3: CanOpen IO IP67 M8-1 - Molex IO IP67_M8-1.4.pdfThe compact design allows space saving for direct machine mount application, with M8 connectors. ... IO Connector M8 (female) M8 (female)

IP 67 CANopen IO Bloc • iii •

Table of contents

1. – General Description.............................. ......................................4

- Introduction ...........................................................................................................4

2. – Hardware Characteristics......................... ..................................5

Mechanical Characteristics .....................................................................................6 Pin assignment........................................................................................................8 Baudrate assignment ..............................................................................................9 Led assignment .....................................................................................................10 Net Led assignment ..............................................................................................11 Mod Led assignment .............................................................................................11 IO assignment .......................................................................................................12

3. Configuration ...................................... .........................................13

EDS file..................................................................................................................13 Node Id Address....................................................................................................13 CANopen Objects description ...............................................................................14 Table of Objects ....................................................................................................14 IO Mapping............................................................................................................38 Define a new IO configuration Pin assignment .....................................................39 PDO Mapping........................................................................................................40 Appendix 1 : Classic Pin assignment ....................................................................41

Page 4: CanOpen IO IP67 M8-1 - Molex IO IP67_M8-1.4.pdfThe compact design allows space saving for direct machine mount application, with M8 connectors. ... IO Connector M8 (female) M8 (female)

IP 67 CANopen IO Bloc • 4 •

1. – General Description

- Introduction IP67 Compact Block modules are robust CANopen stations, for harsh environment, providing

connectivity to you sensors/actuators through CANopen network. The compact design allows space saving for direct machine mount application, with M8 connectors. Various combinations are possible with this format:

- 8 Inputs - 8 Outputs - 4 Inputs / 4 Outputs - 6 Inputs / 2 Outputs. - 8 Universal & user configurable Input/output channels

For each combination, the inputs format can be specified as NPN or PNP (see Part numbers). Part Numbers Table

Part Number Product Description

TBDCO-880P-804 8 inputs PNP

TBDCO-862P-804 6 inputs PNP, 2 outputs sourcing

TBDCO-844P-804 4 inputs PNP, 4 outputs sourcing

TBDCO-808P-804 8 outputs sourcing

TBDCO-880N-804 8 inputs NPN

TBDCO-862N-804 6 inputs NPN, 2 outputs sourcing

TBDCO-844N-804 4 inputs NPN, 4 outputs sourcing

TBDCO-8YYX-804 8 Universal or User configurable input / output channels

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IP 67 CANopen IO Bloc • 5 •

2. – Hardware Characteristics

Technical Data 8I PNP 4I PNP, 4O 6I PNP, 2O 8 O Number of Inputs 8 4 6 0 Number of Outputs 0 4 2 8 CANopen Input connector M12 (male) M12 (male) M12 ( male) M12 (male) CANopen Output connector M12 (female) M12 (female) M12 (female) M12 (female) IO Connector M8 (female) M8 (female) M8 (female) M8 (female) Nominal Voltage for Bus Power (L1) 24 VDC

(13 –28V) 24 VDC (13 –28V)

24 VDC (13 –28V)

24 VDC (13 –28V)

Nominal Voltage for Auxilliary power (L2)

NA 24 VDC (13 –28V)

24 VDC (13 –28V)

24 VDC (13 –28V)

Output Current NA 2 A / channel ∑ = 4A Switching frequency NA 300 Hz 300 Hz 300 Hz Output type NA PNP PNP PNP Input Signal voltage (“0”) < 5V < 5V < 5V NA Input Signal voltage (“1”) 10V … 28V 10V … 28V 10V … 28V NA Input filter 2.5 ms 2.5 ms 2.5 ms NA Input short circuit 600mA 600mA 600mA NA Input Type PNP PNP PNP PNP Operating temperature -20°c … +70°c -20°c … +70°c - 20°c … +70°c -20°c … +70°c Storage temperature -25°c … +90°c -25°c … +90°c -25 °c … +90°c -25°c … +90°c Vibration resistance IEC68-2-6 IEC68-2-6 IEC68-2-6 IEC68-2-6 EMC EN 61000-6-2 EN 61000-6-2 EN 61000-6-2 EN 61000-6-2 MTBF 100 000 h 100 000 h 100 000 h 100 000 h

Technical Data 8I NPN 4I NPN, 4O 6I NPN, 2O Universal Number of Inputs 8 4 6 Configurable

(Max 8) Number of Outputs 0 4 2 Configurable

(Max 8) CANopen Input connector M12 (male) M12 (male) M12 ( male) M12 (male) CANopen Output connector M12 (female) M12 (female) M12 (female) M12 (female) IO Connector M8 (female) M8 (female) M8 (female) M8 (female) Nominal Voltage for Bus Power (L1) 24 VDC

(13 –28V) 24 VDC (13 –28V)

24 VDC (13 –28V)

24 VDC (13 –28V)

Nominal Voltage for Auxilliary power (L2)

NA 24 VDC (13 –28V)

24 VDC (13 –28V)

24 VDC (13 –28V)

Output Current NA 2 A / channel ∑ = 4A Switching frequency NA 300 Hz 300 Hz Configurable Output type NA PNP PNP PNP Input Signal voltage (“0”) < 5V < 5V < 5V < 5V Input Signal voltage (“1”) 10V … 28V 10V … 28V 10V … 28V 10V … 28V Input filter 2.5 ms 2.5 ms 2.5 ms Configurable Input short circuit 600mA 600mA 600mA 600mA Input Type NPN NPN NPN Configurable

(NPN or PNP) Operating temperature -20°c … +70°c -20°c … +70°c - 20°c … +70°c -20°c … +70°c Storage temperature -25°c … +90°c -25°c … +90°c -25 °c … +90°c -25°c … +90°c Vibration resistance IEC68-2-6 IEC68-2-6 IEC68-2-6 IEC68-2-6 EMC EN 61000-6-2 EN 61000-6-2 EN 61000-6-2 EN 61000-6-2 MTBF 100 000 h 100 000 h 100 000 h 100 000 h

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IP 67 CANopen IO Bloc • 6 •

Mechanical Characteristics

Cable Orientation The orientation of the different cable is shown on the picture below.

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IP 67 CANopen IO Bloc • 7 •

Size and dimensions

Page 8: CanOpen IO IP67 M8-1 - Molex IO IP67_M8-1.4.pdfThe compact design allows space saving for direct machine mount application, with M8 connectors. ... IO Connector M8 (female) M8 (female)

IP 67 CANopen IO Bloc • 8 •

Pin assignment CAN connectors ( M12)

Female receptacle

Male receptacle

I/O connectors (M8)

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IP 67 CANopen IO Bloc • 9 •

Baudrate assignment

Properties Specify with the dip switch placed into the window box allow to fix the baudrate on the CAN network. Requirements

� A change of Baudrate is only valid after the Brad Control module has been powered up (power ON).

Baudrate Dip 1 Dip 2 Dip 3 Dip 4

No Baudrate OFF OFF OFF OFF 20 k ON OFF OFF OFF 50 k OFF ON OFF OFF 100 k ON ON OFF OFF 125 k OFF OFF ON OFF 250 k ON OFF ON OFF 500 k OFF ON ON OFF 800 k ON ON ON OFF 1000 k

(Factory Value)

OFF

OFF

OFF

ON

See below the dip switch position.

Page 10: CanOpen IO IP67 M8-1 - Molex IO IP67_M8-1.4.pdfThe compact design allows space saving for direct machine mount application, with M8 connectors. ... IO Connector M8 (female) M8 (female)

IP 67 CANopen IO Bloc • 10 •

Led assignment

Net Led See net led assignment

Mod Led See mod led assignment

Channel LED Operating Overload or short circuit

Auxilliary power Operating

Bus power Operating

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IP 67 CANopen IO Bloc • 11 •

Net Led assignment Net Led Description

Green The block is in OPERATIONAL state.

Single Flash (Red)

The block is in STOP state.

Blinking

The block is in PRE-OPERATIONAL state.

Mod Led assignment

Mod Led Description

Green The block is in working condition.

Single Flash (Red)

At least one of error counters of the CAN controller has reached or exceeded the warning limit.

Double Flash (Red)

An error NMT guarding event has occurred.

Triple Flash (Red)

The Sync message has not been received in the communication period time out.

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IP 67 CANopen IO Bloc • 12 •

IO assignment

8 Out 8 In 4In / 4Out 6In / 2Out

Out 1

In 1

In 1

In 1

Out 2

In 2

In 2

In 2

Out 3

In 3

In 3

In 3

Out 4

In 4

In 4

In 4

Out 5

In 5

Out 1

In 5

Out 6

In 6

Out 2

In 6

Out 7

In 7

Out 3

Out 1

Out 8

In 8

Out 4

Out 2

Page 13: CanOpen IO IP67 M8-1 - Molex IO IP67_M8-1.4.pdfThe compact design allows space saving for direct machine mount application, with M8 connectors. ... IO Connector M8 (female) M8 (female)

IP 67 CANopen IO Bloc • 13 •

3. Configuration

EDS file Configure the Brad Control IP67 station via the EDS file. In this EDS file, the Brad Control device is implemented as standard slave in your system. You can download the EDS files

� under the Internet URL http//www.Woodhead.com EDS filename for Bard control M12 30mm devices:

Eds File Product Description

TBDCO-880P-804.eds 8 inputs PNP

TBDCO-862P-804.eds 6 inputs PNP, 2 outputs sourcing

TBDCO-844P-804.eds 4 inputs PNP, 4 outputs sourcing

TBDCO-808P-804.eds 8 outputs sourcing

TBDCO-880N-804.eds 8 inputs NPN

TBDCO-862N-804.eds 6 inputs NPN, 2 outputs sourcing

TBDCO-844N-804.eds 4 inputs NPN, 4 outputs sourcing

TBDCO-8YYX-804.eds 8 Universal or User configurable input / output channels

Node Id Address

Properties Specify the Node Id address under which the Brad Control station is accessed on CANopen. Requirements

� The Node Id address for Brad Control is set via rotary switches � All Node Id addresses must be unique. � A change of Node Id address is only valid after the Brad Control station has been powered up

(power ON). � The station number cannot exceed 100 (*) Ex : Station 39

X 10 X 1

- (*) If the rotary value is equal to 0 then the node Id value is 100.

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IP 67 CANopen IO Bloc • 14 •

CANopen Objects description

• Communication Segment • Manufacturer specific Segment • Device Profile Segment

Table of Objects

• 1000 - Device Type • 1001 - Error Register • 1003 - Pre-defined Error Field • 1005 - COB-ID SYNC • 1008 - Manufacturer Device Name • 1009 - Manufacturer Hardware Version • 100A - Manufacturer Software Version • 100C - Guard Time • 100D - Life Time Factor • 1014 - COB-ID EMCY • 1015 - Inhibit Time Emergency • 1018 - Identity Object • 1200 - Server SDO Parameter 1 • 1400 - Receive PDO Communication Parameter 1 • 1600 - Receive PDO Mapping Parameter 1 • 1800 - Transmit PDO Communication Parameter 1 • 1A00 - TPDO Mapping Parameter 1 • 2400 - IO_Save_Configuration • 2500 - IO_Configuration_Type • 2600 - IO_Behavior • 2700 - IO_STATUS • 6000 - Read State 8 Input Lines • 6002 - Polarity 8 Input Lines • 6003 - Filter Constant 8 Input Lines • 6005 - Enable Digital Input Interrupts • 6006 - Input Interrupt Mask 8 - any change • 6200 - Write State 8 Output Lines • 6202 - Polarity 8 Output Lines

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IP 67 CANopen IO Bloc • 15 •

Communication Segment Object 1000h: Device Type The device type specifies the kind of device. The lower 16 bit contains the device profile number and the upper 16 bit additional information. Object Description

INDEX 1000 Name Device Type Object Code Variable Data Type UNSIGNED32 Category Mandatory

Entry Description

Access CONST PDO Mapping No Default Value 0x00030191 Lower Limit 0x00000000 Upper Limit 0xFFFFFFFF Unit -

Object 1001h: Error Register The error register is a field of 8 bits, each for a certain error type. If an error occurs the bit has to be set.

Bit Meaning 0 generic error 1 current 2 voltage 3 temperature 4 communication error (overrun, error state) 5 device profile specific 6 reserved 7 manufacturer specific

Object Description

INDEX 1001 Name Error Register Object Code Variable Data Type UNSIGNED8 Category Mandatory

Entry Description

Access RO PDO Mapping No Default Value 0x00 Lower Limit 0x00 Upper Limit 0xFF Unit -

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IP 67 CANopen IO Bloc • 16 •

Object 1003h: Pre-defined Error Field This object holds errors that have occurred on the device and have been signalled via Emergency Object. It is an error history. Writing to sub index 0 deletes the entire error history. Object Description

INDEX 1003 Name Pre-defined Error Field Object Code Array Data Type UNSIGNED32 Category Optional

Entry Description

Sub-Index 000 Description Number of Errors Entry Category Mandatory Access RW PDO Mapping No Default Value 0x00000000 Lower Limit 0x00000000 Upper Limit 0x000000FE Unit -

Sub-Index 001 Description Standard Error Field Entry Category Mandatory Data Type UNSIGNED32 Access RO PDO Mapping No Default Value 0x00000000 Lower Limit 0x00000000 Upper Limit 0xFFFFFFFF Unit -

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IP 67 CANopen IO Bloc • 17 •

Object 1005h: COB-ID SYNC COB-ID of the Synchronization object. The device generates a SYNC message if bit 30 is set. The meaning of other bits is equal to the other communication objects. Object Description

INDEX 1005 Name COB-ID SYNC Object Code Variable Data Type UNSIGNED32 Category Optional

Entry Description

Access RW PDO Mapping No Default Value 0x80000080 Lower Limit 0x00000001 Upper Limit 0xFFFFFFFF Unit -

Object 1008h: Manufacturer Device Name Contains the device name. Object Description

INDEX 1008 Name Manufacturer Device Name Object Code Variable Data Type VISIBLE_STRING Category Optional

Entry Description

Access CONST PDO Mapping No Default Value Brad_M8_CANopen Lower Limit - Upper Limit - Unit -

Object 1009h: Manufacturer Hardware Version Contains the device hardware version. Object Description

INDEX 1009 Name Manufacturer Hardware Version Object Code Variable Data Type VISIBLE_STRING Category Optional

Entry Description

Access CONST PDO Mapping No Default Value 1.0 Lower Limit - Upper Limit - Unit -

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IP 67 CANopen IO Bloc • 18 •

Object 100Ah: Manufacturer Software Version Contains the device software version. Object Description

INDEX 100A Name Manufacturer Software Version Object Code Variable Data Type VISIBLE_STRING Category Optional

Entry Description

Access CONST PDO Mapping No Default Value 1.0 Lower Limit - Upper Limit - Unit -

Object 100Ch: Guard Time This entry contains the guard time in milliseconds. It is 0, if not used. Object Description

INDEX 100C Name Guard Time Object Code Variable Data Type UNSIGNED16 Category Optional

Entry Description

Access RW PDO Mapping No Default Value 0x00000000 Lower Limit 0x0 Upper Limit 0xFFFF Unit ms

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IP 67 CANopen IO Bloc • 19 •

Object 100Dh: Life Time Factor The life time factor multiplied with the guard time gives the life time for the device. It is 0, if not used. Object Description

INDEX 100D Name Life Time Factor Object Code Variable Data Type UNSIGNED8 Category Optional

Entry Description

Access RW PDO Mapping No Default Value 0x00000000 Lower Limit 0x0 Upper Limit 0xFF Unit -

Object 1014h: COB-ID EMCY COB-ID used for emergency message (Emergency Server). Object Description

INDEX 1014 Name COB-ID EMCY Object Code Variable Data Type UNSIGNED32 Category Optional

Entry Description

Access RO PDO Mapping No Default Value 0x00000080 Lower Limit 0x00000001 Upper Limit 0xFFFFFFFF Unit -

Object 1015h: Inhibit Time Emergency Inhibit Time used for emergency message (Emergency Server). The time has to be a multiple of 100 msec. Object Description

INDEX 1015 Name Inhibit Time Emergency Object Code Variable Data Type UNSIGNED16 Category Optional

Entry Description

Access RW PDO Mapping No Default Value 0x0000 Lower Limit 0x0 Upper Limit 0xFFFF Unit -

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IP 67 CANopen IO Bloc • 20 •

Object 1018h: Identity Object This object contains general information about the device.

� Sub-Index 1 contains a unique value allocated each manufacturer. � Sub-Index 2 identifies the manufacturer specific product code (device version). � Sub-Index 3 contains the revision number. Bit 31-16 is the major revision number and Bit 15-0

the minor revision number. � Sub-Index 4 identified a manufacturer specific serial number.

Object Description

INDEX 1018 Name Identity Object Object Code Record Data Type IDENTITY Category Mandatory

Entry Description

Sub-Index 000 Description number of entries Entry Category Mandatory Access RO PDO Mapping No Default Value 0x4 Lower Limit 0x1 Upper Limit 0x4 Unit -

Sub-Index 001 Description Vendor Id Entry Category Mandatory Data Type UNSIGNED32 Access RO PDO Mapping No Default Value 0x20 Lower Limit 0x0 Upper Limit 0xFFFFFFFF Unit -

Sub-Index 002 Description Product Code Entry Category Optional Data Type UNSIGNED32 Access RO PDO Mapping No Default Value Depend on IO Part Number Lower Limit 0x0 Upper Limit 0xFFFFFFFF Unit -

Sub-Index 003 Description Revision number Entry Category Optional Data Type UNSIGNED32 Access RO

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IP 67 CANopen IO Bloc • 21 •

PDO Mapping No Default Value 0x00010000 Lower Limit 0x0 Upper Limit 0xFFFFFFFF Unit -

Sub-Index 004 Description Serial number Entry Category Optional Data Type UNSIGNED32 Access RO PDO Mapping No Default Value 0x1234 Lower Limit 0x0 Upper Limit 0xFFFFFFFF Unit -

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IP 67 CANopen IO Bloc • 22 •

Object 1200h: Server SDO Parameter 1 The object contains the parameters for the SDOs for which the device is the server. Object Description

INDEX 1200 Name Server SDO Parameter 1 Object Code Record Data Type SDO_PARAMETER Category Optional

Entry Description

Sub-Index 000 Description Number of Entries Entry Category Optional Access RO PDO Mapping No Default Value 2 Lower Limit 0x02 Upper Limit 0x02 Unit -

Sub-Index 001 Description COB-ID Client -> Server Entry Category Mandatory Data Type UNSIGNED32 Access RO PDO Mapping No Default Value 0x00000600 Lower Limit 0x00000600 Upper Limit 0xBFFFFFFF Unit -

Sub-Index 002 Description COB-ID Server -> Client Entry Category Mandatory Data Type UNSIGNED32 Access RO PDO Mapping No Default Value 0x00000580 Lower Limit 0x00000580 Upper Limit 0xBFFFFFFF Unit -

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IP 67 CANopen IO Bloc • 23 •

Object 1400h: Receive PDO Communication Parameter 1 It contains the communication parameters of the current PDO the device is able to receive.

� Sub-index 0 contains the number of PDO-parameters implemented. � Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.

The transmission mode is defined by sub-index 2. An inhibit time can be defined on sub-index 3 in 100 us. At the 5th sub-index can be defined a event time for asynchron pdos. Object Description

INDEX 1400

Name Receive PDO Communication Parameter 1

Object Code Record Data Type PDO_COMM_PAR Category Optional

Entry Description

Sub-Index 000 Description Number of Entries Entry Category Optional Access RO PDO Mapping No Default Value 0x02 Lower Limit 0x02 Upper Limit 0x05 Unit -

Sub-Index 001 Description COB-ID Entry Category Optional Data Type UNSIGNED32 Access RW PDO Mapping No Default Value 0x00000200 Lower Limit 0x00000001 Upper Limit 0xFFFFFFFF Unit -

Sub-Index 002 Description Transmission Type Entry Category Optional Data Type UNSIGNED8 Access RW PDO Mapping No Default Value 0xFF Lower Limit 0x00 Upper Limit 0xFF Unit -

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IP 67 CANopen IO Bloc • 24 •

Object 1600h: Receive PDO Mapping Parameter 1 The sub-indices contain the indices, the sub-indices and the lengths of the mapped sub-indices. Their structure is as follows: index (16bit) sub-index (8bit) length (8bit) Object Description

INDEX 1600

Name Receive PDO Mapping Parameter 1

Object Code Record Data Type PDO_MAPPING Category Optional

Entry Description

Sub-Index 000 Description Number of Entries Entry Category Mandatory Access RW PDO Mapping No Default Value 0x1 Lower Limit 0x0 Upper Limit 0x40 Unit -

Sub-Index 001- Description Mapping Entry 1 Entry Category Optional Data Type UNSIGNED32 Access RW PDO Mapping No Default Value 0x62000108 Lower Limit 0x0 Upper Limit 0xFFFFFFFF Unit -

Sub-Index 002- 8 Description Mapping Entry 2-8 Entry Category Optional Data Type UNSIGNED32 Access RW PDO Mapping No Default Value 0x00000000 Lower Limit 0x0 Upper Limit 0xFFFFFFFF Unit -

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IP 67 CANopen IO Bloc • 25 •

Object 1800h: Transmit PDO Communication Parameter 1 It contains the communication parameters of the current PDO the device is able to transmit.

� Sub-index 0 contains the number of PDO-parameters implemented. � Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.

The transmission mode is defined by sub-index 2. An inhibit time can be defined on sub-index 3 in 100 us. At the 5th sub-index can be defined a event time for asynchron pdos. Object Description

INDEX 1800

Name Transmit PDO Communication Parameter 1

Object Code Record Data Type PDO_COMM_PAR Category Optional

Entry Description

Sub-Index 000 Description Number of Entries Entry Category Optional Access RO PDO Mapping No Default Value 0x02 Lower Limit 0x02 Upper Limit 0x06 Unit -

Sub-Index 001 Description COB-ID Entry Category Optional Data Type UNSIGNED32 Access RW PDO Mapping No Default Value 0x00000180 Lower Limit 0x00000001 Upper Limit 0xFFFFFFFF Unit -

Sub-Index 002 Description Transmission Type Entry Category Optional Data Type UNSIGNED8 Access RW PDO Mapping No Default Value 0xFF Lower Limit 0x00 Upper Limit 0xFF Unit -

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IP 67 CANopen IO Bloc • 26 •

Object 1A00h: TPDO Mapping Parameter 1 Contains the mapping for the PDOs the device is able to transmit. The type of the PDO mapping parameter is at index 21h. The sub-index 0h contains the number of valid entries within the mapping record. This number of entries is also the number of the application variables which shall be transmitted with the corresponding PDO. The sub-index from 1h to number of entries contain the information about the mapped application variables. These entries describe the PDO contents by their index, subindex and length. All three values are hexadecimal coded. The length entry contains the length of the object in bits (1..40h). This parameter can be used to verify the overall mapping length. It is mandatory. Object Description

INDEX 1A00 Name TPDO Mapping Parameter 1 Object Code Record Data Type PDO_MAPPING Category Optional

Entry Description

Sub-Index 000 Description Number of Entries Entry Category Mandatory Access RW PDO Mapping No Default Value 0x2 Lower Limit 0x0 Upper Limit 0xFF Unit -

Sub-Index 001 Description Mapping Entry 1 Entry Category Optional Data Type UNSIGNED32 Access RW PDO Mapping No Default Value 0x60000108 Lower Limit 0x00000000 Upper Limit 0xFFFFFFFF Unit -

Sub-Index 002 Description Mapping Entry 2 Entry Category Optional Data Type UNSIGNED32 Access RW PDO Mapping No Default Value 0x27000008 Lower Limit 0x00000000 Upper Limit 0xFFFFFFFF Unit -

Sub-Index 003-8

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IP 67 CANopen IO Bloc • 27 •

Description Mapping Entry 3-8 Entry Category Optional Data Type UNSIGNED32 Access RW PDO Mapping No Default Value 0x00000000 Lower Limit 0x00000000 Upper Limit 0xFFFFFFFF Unit -

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IP 67 CANopen IO Bloc • 28 •

Manufacturer Segment Object 2400h: IO_Save_Configuration Write 1 in this object to save a new IO configuration in flash. To write in this object, the module has to be in PRE-OPERATIONAL state. Only the TBDCO-8YYX-804 part number reference has a Write access in this object. Object Description

INDEX 2400 Name IO_Save_Configuration Object Code Variable Data Type UNSIGNED8 Category Optional

Entry Description

Access RW PDO Mapping No Default Value 0x00 Lower Limit 0x00 Upper Limit 0xFF Unit -

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IP 67 CANopen IO Bloc • 29 •

Object 2500h: IO_Configuration_Type It contains the parameters to configure each IO Pin in input, output or universal. The sub-Index 1 to 8 allow to configure the IO pin.

� 0 means input. � 1 means output. � 1 means Universal.

To write in this object, the module has to be in PRE-OPERATIONAL state. Only the TBDCO-8YYX-804 part number reference has a Write access in this object. The others parts numbers have a Read-Only object. Object Description

INDEX 2500 Name IO_Configuration_Type Object Code Array Data Type UNSIGNED8 Category Optional

Entry Description

Sub-Index 000 Description Number of Entries Entry Category Optional Access RW PDO Mapping No Default Value 0x08 Lower Limit 0x00 Upper Limit 0xFF Unit -

Sub-Index 001-8 Description Configuration_Port1-8 Entry Category Optional Data Type UNSIGNED8 Access RW PDO Mapping No Default Value Depend on IO Part Number Lower Limit 0x00 Upper Limit 0xFF Unit -

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IP 67 CANopen IO Bloc • 30 •

Object 2600h: IO_Behavior It contains the parameters to configure the IO Pin behavior. The sub-Index 1 configures all inputs in pnp or npn mode.

� 0: PNP. � 1: NPN.

The sub-Index 2 configures the input filter. � 0: no filter. � 1: 1 ms. � 2: 2.5 ms. � 3: 5 ms.

To write in this object, the module has to be in PRE-OPERATIONAL state. Only the TBDCO-8YYX-804 part number reference can write in this object. The others parts numbers can just read the object. Object Description

INDEX 2600 Name IO_Behavior Object Code Array Data Type UNSIGNED8 Category Optional

Entry Description

Sub-Index 000 Description Number of Entries Entry Category Optional Access RW PDO Mapping No Default Value 0x02 Lower Limit 0x00 Upper Limit 0xFF Unit -

Sub-Index 001 Description PNP_NPN_Mode Entry Category Optional Data Type UNSIGNED8 Access RW PDO Mapping No Default Value Depend on IO Part Number Lower Limit 0x00 Upper Limit 0xFF Unit -

Sub-Index 002 Description Input_Filter Entry Category Optional Data Type UNSIGNED8 Access RW PDO Mapping No Default Value Depend on IO Part Number Lower Limit 0x00 Upper Limit 0x03 Unit -

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IP 67 CANopen IO Bloc • 31 •

Object 2700h: IO_STATUS It informs on the short circuit and the overload of each IO pin. IO Pin 1 IO Pin 2 IO Pin 3 IO Pin 4 IO Pin 5 IO Pin 6 IO Pin 7 IO Pin 8 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7

� 0 : No short circuit or overload � 1 : Short circuit or overload on the IO pin.

An emergency voltage message is sent when a short circuit is occurred. The first byte data of this message informs which IO pin are is in short-circuit or overload. Object Description

INDEX 2700 Name IO_STATUS Object Code Variable Data Type UNSIGNED8 Category Optional

Entry Description

Access RO PDO Mapping Yes Default Value 0x00 Lower Limit 0x00 Upper Limit 0xFF Unit -

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IP 67 CANopen IO Bloc • 32 •

Device Profile Segment Object 6000h: Read State 8 Input Lines Reads a group of 8 input lines as a byte of information. Object Description

INDEX 6000 Name Read State 8 Input Lines Object Code Array Data Type UNSIGNED8 Category Optional

Entry Description

Sub-Index 000 Description Number of Elements Entry Category Mandatory Access RO PDO Mapping No Default Value 1 Lower Limit 0x01 Upper Limit 0xFF Unit -

Sub-Index 001 Description digital Inputs 1-8 Entry Category Optional Data Type UNSIGNED8 Access RO PDO Mapping Yes Default Value 0x00 Lower Limit 0x00 Upper Limit 0xFF Unit -

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Object 6002h: Polarity 8 Input Lines

Defines the polarity of a group of 8 input lines. Object Description

INDEX 6002 Name Polarity 8 Input Lines Object Code Array Data Type UNSIGNED8 Category Optional

Entry Description

Sub-Index 000 Description Number of Elements Entry Category Mandatory Access RO PDO Mapping No Default Value 0x1 Lower Limit 0x01 Upper Limit 0xFF Unit -

Sub-Index 001 Description Polarity for digital Inputs 1-8 Entry Category Mandatory Data Type UNSIGNED8 Access RW PDO Mapping No Default Value 0x00 Lower Limit 0x00 Upper Limit 0xFF Unit -

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IP 67 CANopen IO Bloc • 34 •

Object 6003h: Filter Constant 8 Input Lines

Filter constant for input modules. This defines that an additional configurable filter constant can be enabled or disabled. This behavior of this object is not implemented, it’s reserved for future use. Object Description

INDEX 6003 Name Filter Constant 8 Input Lines Object Code Array Data Type UNSIGNED8 Category Optional

Entry Description

Sub-Index 000 Description Number of Elements Entry Category Mandatory Access RO PDO Mapping No Default Value 0x2 Lower Limit 0x01 Upper Limit 0xFE Unit -

Sub-Index 001

Description Enable Filter for digital Inputs 1-8

Entry Category Mandatory Data Type UNSIGNED8 Access RW PDO Mapping No Default Value 0x0 Lower Limit 0 Upper Limit 0xFF Unit -

Sub-Index 002

Description Enable Filter for digital Inputs 9-16

Entry Category Optional Data Type UNSIGNED8 Access RW PDO Mapping No Default Value 0x0 Lower Limit 0 Upper Limit 0xFF Unit -

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Object 6005h: Enable Digital Input Interrupts Globally enable or disable input interrupts.

Object Description

INDEX 6005 Name Enable Digital Input Interrupts Object Code Variable Data Type BOOLEAN Category Optional

Entry Description

Access RW PDO Mapping No Default Value 1 Lower Limit 0x0 Upper Limit 0x1 Unit -

Object 6006h: Input Interrupt Mask 8 - any change Determines which input port lines activate an interrupt. Done for groups of 8 lines and for any change of a digital input line. By default, every input activates an interrupt. Object Description

INDEX 6006

Name Input Interrupt Mask 8 - any change

Object Code Array Data Type UNSIGNED8 Category Optional

Entry Description

Sub-Index 000 Description Number of Elements Entry Category Mandatory Access RO PDO Mapping No Default Value 0x2 Lower Limit 0x01 Upper Limit 0xFE Unit -

Sub-Index 001

Description Input Interrupt Mask any change for digital Inputs 1-8

Entry Category Mandatory Data Type UNSIGNED8 Access RW PDO Mapping No Default Value 0xFF Lower Limit 0x00 Upper Limit 0xFF Unit -

Sub-Index 002 Description Input Interrupt Mask any

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change for digital Inputs 9-16 Entry Category Optional Data Type UNSIGNED8 Access RW PDO Mapping No Default Value 0xFF Lower Limit 0x00 Upper Limit 0xFF Unit -

Object 6200h: Write State 8 Output Lines Sets a group of 8 output lines as a byte of information. Object Description

INDEX 6200 Name Write State 8 Output Lines Object Code Array Data Type UNSIGNED8 Category Optional

Entry Description

Sub-Index 000 Description Number of Elements Entry Category Mandatory Access RO PDO Mapping No Default Value 1 Lower Limit 0x01 Upper Limit 0xFF Unit -

Sub-Index 001 Description digital Outputs 1-8 Entry Category Mandatory Data Type UNSIGNED8 Access RWW PDO Mapping Yes Default Value 0x00 Lower Limit 0x00 Upper Limit 0xFF Unit -

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IP 67 CANopen IO Bloc • 37 •

Object 6202h: Polarity 8 Output Lines

Defines the polarity of a group of 8 output lines. Object Description

INDEX 6202 Name Polarity 8 Output Lines Object Code Array Data Type UNSIGNED8 Category Optional

Entry Description

Sub-Index 000 Description Number of Elements Entry Category Mandatory Access RO PDO Mapping No Default Value 1 Lower Limit 0x01 Upper Limit 0xFF Unit -

Sub-Index 001 Description Polarity for digital Outputs 1-8 Entry Category Mandatory Data Type UNSIGNED8 Access RW PDO Mapping No Default Value 0x00 Lower Limit 0x00 Upper Limit 0xFF Unit

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IP 67 CANopen IO Bloc • 38 •

IO Mapping

The inputs and output are mapped respectively in the object 6000h and 6200h.

NOTE: The universal configuration type (define a Pin as a n Input AND an Output) allows the user to not define a specific behavior of the I/O pin. You can then connect a sensor (PNP) or an actuator. Each pin defined as an IN/OUT, appears in both proc ess image (input and output). 1 – If the pin is used for an actuator, the output state is mirrored in the corresponding Input bit in the Input Process image. 2 – If the pin is used with a sensor, do not write in the corresponding output bit of the process image, as it can conflict with the current state of the sensor.

Mapping Detail for object 6000h � One bit is reserved by Pin. � If the IO pin is configured as input then the input value is read. � If the IO pin is configured as output then the output mirror value is read.

Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7 PORT 1 2 3 4 5 6 7 8

Mapping Detail for object 6200h � One bit is reserved by Pin. � If the IO pin is configured as output then the value written drive the IO pin. � If the IO pin is configured as input then there is no effect on the IO pin.

Note: If a Pin is configured as an universal, no protection are defined and a conflict can occur if you write in the corresponding bit, in case of using a sensor.

Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7

PORT 1 2 3 4 5 6 7 8

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Define a new IO configuration Pin assignment

The module offers the possibility to change each IO pin as Input, Output or Universal.

This functionality is available only for the part number TBDCO-8YYX-804.

For others parts numbers, it’s just possible to read the information contained into the 2500h & 2600 in order to know the IO configuration if need it.

Set the Module in PRE-OPERATIONNAL State.

(In using the NMT command)

Change IO configuration by writing

Into the object 2500h

Save IO configuration by writing

Into the object 2400h

Set the Module in OPERATIONNAL Mode

(In using the NMT command)

Change IO behavior by writing

Into the object 2600h

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PDO Mapping At the power up, the module is configured with default PDO mapping. One TPDO is configured with the Input and status and one RPDO is configured to receive the output value.

This configuration is always the same for all reference even if 8 outputs are configured then 8 inputs will be mapped. In this case, inputs are mirror of outputs.

See below a mapping sample:

TPDO COBID: Value = 0x180 + Nodeid

RPDO COBID: Value = 0x200 + Nodeid

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IP 67 CANopen IO Bloc • 41 •

Appendix 1 : Classic Pin assignment See below, others classics pin assignment used.

9-Pin D-SUB

M23 connector

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IP 67 CANopen IO Bloc • 42 •

Open style connector