CAN-CBX-AI420 - esd electronics, Inc.

CAN-CBX-AI420 

4 A/D-Converter-Inputs, 20 Bit 

CAN-CBX-AI420 Manual Rev. 1.3 

Manual 

to Product C.3030.xx 

esd electronic system design gmbh 

Vahrenwalder Str. 207 • 30165 Hannover • Germany 

www.esd-electronics.com • Fax: 0511/37 29 8-68 

Phone: 0511/37 29 80 • International: +49-5 11-37 29 80

N O T E 

The information in this document has been carefully checked and is believed to be entirely reliable. esd 

makes no warranty of any kind with regard to the material in this document, and assumes no 

responsibility for any errors that may appear in this document. esd reserves the right to make changes 

without notice to this, or any of its products, to improve reliability, performance or design. 

esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product 

of esd gmbh. 

esd does not convey to the purchaser of the product described herein any license under the patent rights 

of esd gmbh nor the rights of others. 

esd electronic system design gmbh 

Vahrenwalder Str. 207 

30165 Hannover 

Germany 

Phone: +49-511-372 98-0 

Fax: +49-511-372 98-68 

E-mail: info@esd-electronics.com 

Internet: www.esd-electronics.com 

USA / Canada: 

esd electronics Inc. 

525 Bernardston Road 

Suite 1 

Greenfield, MA 01301 

USA 

Phone: +1-800-732-8006 

Fax: +1-800-732-8093 

E-mail: us-sales@esd-electronics.com 

Internet: www.esd-electronics.us 

CAN-CBX-AI420 Manual Rev. 1.3

Document-File: I:\texte\Doku\MANUALS\CAN\CBX\AI420\Englisch\CAN-CBX-AI420_13.en9 

Date of print: 10.07.2006 

PCB version: from CAN-CBX-AI420 Rev. 1.0 

Firmware version: from Rev. 1.8 

Changes in the chapters 

The changes in the document listed below affect changes in the hardware and firmware as well as 

changes in the description of facts only. 

Chapter Changes versus previous version 

- First English version 

Technical details are subject to change without further notice. 


This page is intentionally left blank. 


Contents 

1. Overview .................................................................3 

1.1 Description of the Module ..............................................3 

2. Technical Data .............................................................4 

2.1 General technical Data .................................................4 

2.2 CPU-Unit...........................................................4 

2.3 CAN Interface .......................................................5 

2.4 Analogue Inputs......................................................6 

2.5 Software-Support .....................................................6 

2.6 Order Information ....................................................7 

3. Hardware Installation .......................................................8 

3.1 Connecting Diagram...................................................8 

3.2 LED Display ........................................................9 

3.2.1 Indicator States ...............................................9 

3.2.2 Operation of the CAN-Error LED ................................ 10 

3.2.3 Operation of the CANopen-Status LED............................ 10 

3.2.4 Operation of the Error-LED .................................... 11 

3.2.5 Operation of the Power-LED.................................... 11 

3.2.6 Special Indicator States ........................................ 11 

3.3 Coding Switch ...................................................... 12 

3.3.1 Setting the Node-ID via Coding Switch ............................ 12 

3.3.2 Setting the Baud Rate ......................................... 13 

3.4 Installation of the Module Using Optional In-Rail Bus Connector................ 14 

3.4.1 Connecting Power Supply and CAN-Signals to CBX-In-Rail-Bus ........ 16 

3.5 Remove the CAN-CBX Module from the Optional In-Rail Bus ................. 17 

4. Description of the Units ..................................................... 18 

4.1 CAN Interface ...................................................... 18 

4.2 Analogue Inputs..................................................... 19 

5. Connector Assignment ..................................................... 20 

5.1 Power Supply Voltage X100 ........................................... 20 

5.2 CAN-Bus X400 ..................................................... 21 

5.3 CAN and Power Supply Voltage via In-Rail Bus Connector X101 ............... 22 

5.4 Analogue Inputs X500 ................................................ 23 

6. Correctly Wiring Electrically Isolated CAN Networks ............................ 24 

7. CAN-Bus Troubleshooting Guide ............................................. 28 

7.1 Termination ........................................................ 28 

7.2 CAN_H/CAN_L Voltage ............................................. 29 

7.3 Ground ........................................................... 29 

7.4 CAN Transceiver Resistance Test ....................................... 30 

8. Software ................................................................ 31 

8.1 Definition of Terms .................................................. 31 

8.2 NMT-Boot-up ...................................................... 32 

CAN-CBX-AI420 Manual Rev. 1.3 1

2 

8.3 The CANopen-Object Directory......................................... 32 

8.3.1 Access on the Object Directory via SDOs .......................... 32 

8.4 Overview of used CANopen-Identifiers ................................... 36 

8.4.1 Setting the COB-ID........................................... 36 

8.5 Default PDO-Assignment .............................................. 37 

8.6 Reading the Analogue Values........................................... 38 

8.6.1 Messages of the Analogue Inputs................................. 38 

8.6.2 Supported Transmission Types Based on DS-301 .................... 38 

8.7 Implemented CANopen-Objects......................................... 39 

8.7.1 Device Type (1000 h) .......................................... 41 

8.7.2 Error Register (1001 h) ......................................... 42 

8.7.3 Pre-defined Error Field (1003 h) .................................. 43 

8.7.4 COB-ID of SYNC-Message (1005 h) .............................. 45 

8.7.5 Manufacturer’s Device Name (1008 h) ............................. 46 

8.7.6 Manufacturer’s Hardware Version (1009 h).......................... 47 

8.7.7 Manufacturer’s Software Version 100A h ........................... 47 

8.7.8 Guard Time (100C h) and Life Time Factor (100D h) ................... 48 

8.7.9 Node Guarding Identifier (100E h) ................................ 49 

8.7.10 Store Parameters (1010 h)...................................... 50 

8.7.11 Restore Default Parameters (1011 h) .............................. 51 

8.7.12 COB_ID Emergency Message (1014 h)............................ 52 

8.7.13 Inhibit Time EMCY (1015 h).................................... 53 

8.7.14 Consumer Heartbeat Time (1016 h)............................... 54 

8.7.15 Producer Heartbeat Time (1017 h) ............................... 56 

8.7.16 Identity Object (1018 h) ....................................... 57 

8.7.17 Verify Configuration (1020 h) ................................... 59 

8.7.18 Error Behaviour Object (1029 h) ................................. 60 

8.7.19 Object Transmit PDO Communication Parameter 1801 h, 1802 h ......... 61 

8.7.20 Transmit PDO Mapping Parameter 1A01 h, 1A02 h ................... 62 

8.8 Device Profile Area .................................................. 63 

8.8.1 Overview of the Implemented Objects 6401 h ...6426 h .................. 63 

8.8.2 Relationship Between the Implemented Objects for the Analogue Inputs . . . 63 

8.8.3 Read Input 16-Bit (6401 h) ...................................... 64 

8.8.4 Read Input 32-Bit (6402 h) ...................................... 66 

8.8.5 Analogue Input Interrupt Trigger (6421 h) .......................... 67 

8.8.6 Global Interrupt Enable (6423 h) .................................. 68 

8.8.7 Analogue Input Interrupt Delta (6426 h) ............................ 69 

8.9 Manufacturer Specific Profile Area....................................... 70 

8.9.1 Overview of the Manufacturer Specifc Objects 2310 h ... 2405 h ........... 70 

8.9.2 Sample Rate Set Point (2310 h)................................... 71 

8.9.3 Chopping Mode (2311 h) ....................................... 73 

8.9.4 Sample Rate Actual Value (2312 h)................................ 74 

8.9.5 Channel Enabled (2401 h) ....................................... 75 

8.9.6 Accu N (2402 h) .............................................. 76 

8.9.7 Average N (2403 h)............................................ 77 

8.9.8 Calibration Offset Value (2404 h) ................................. 78 

8.9.9 Calibration Gain Value (2405 h) .................................. 79 

8.10 Firmware-Update via DS-302-Objects (1F50 h...1F52 h) ....................... 80 

8.10.1 Download Control via Object 1F51 h .............................. 81 


1. Overview 

1.1 Description of the Module 

C 

A 

N 

B 

U 

S 

CAN Connector 

MC1,5/5-GF-3,81 

ME-MAX 

Bus Connector 

Power Connector 

MSTBO 2,5/4- 

G1L-KMGY 

Electrical Isolation 

Physical 

CAN 

Layer 

Power Supply 

24 V(DC) 

Digital 

Isolator 

+5 V= 

DC/DC 

Converter 

LEDs 

+5 V= 


Microcontroller 

MB90497 

DC/DC- 

Converter 

Overview 

Coding Switches 

CAN Baud Rate 

CANopen Node-ID 

CAN-CBX-AI420 Manual Rev. 1.3 3 

Digital 

Isolator 

IL716-3 

Digital 

Isolator 

IL716-3 

4 Analog Inputs 

2-Channel 

24-bit -ADC 

AD7732BRU 

2-Channel 

24-bit -ADC 

AD7732BRU 

Fig. 1: Block circuit diagram of the CAN-CBX-AI420 module 


I/O-Connector 

MC1,5/12-G-3,81-AU 

The CAN-CBX-AI420 module is equipped with a MB90F497 microcontroller, which buffers the CAN 

data into a local SRAM. The firmware is stored in the flash. Parameters are stored in a serial EEPROM. 

The four differential analogue inputs are converted by two sigma-delta-converters. The -converters 

offer a resolution of up to 24 bit. The resolution achieved during the operation depends essentially on 

the sample rate chosen and on the external circuit. 

The input voltage range of the analogue inputs is ±10 V. 

The inputs are connected via a 12-pin screw-/plug connector. The analogue inputs are electrically 

isolated by digital isolators for the protection of the other components. 

The power supply voltage and the CAN-bus connection can either be fed via the In-Rail bus connector, 

integrated in the top-hat rail or via separate plugs. 

The ISO 11898-compliant CAN interface allows a maximum data transfer rate of 1 Mbit/s. The CAN 

interface is electrically isolated by a dual digital isolator and a DC/DC-converter. 

The CANopen node number and the CAN bit rate can be configured via three coding switches.

Technical Data 

2. Technical Data 

2.1 General technical Data 

4 

Power supply voltage 

Connectors 

nominal voltage: 24 V/DC 

input voltage range: 24 V ±20% 

current consumption (24 V, 20 C): approx. 56 mA 

X100 (4-pin COMBICON connector with spring-cage connection) - 

24 V-power supply voltage 

X101 (5-pin ME-MAX-TBUS-connector, Phoenix Contact) - 

CAN interface and power supply voltage via In-Rail bus 

X500 (12-pin Mini-COMBICON connector) - analogue inputs 

X400 (5-pin Mini-COMBICON connector) - CAN interface 

Only for test and programming purposes: 

X200 (6-pin COMBICON connector) - 

the connector is placed inside the case 

Temperature range -20 C ... +70 C ambient temperature 

Humidity max. 90%, non-condensing 

Dimensions 

Weight approx. 125 g 

2.2 CPU-Unit 

CPU 16 bit C MB90F497 

RAM 2 Kbyte integrated 

Flash 64 Kbyte integrated 

EEPROM min. 256 byte 

width: 2.2 cm, height: 11.2 cm, depth: 11.3 cm 

(including mounting rail fitting and connector projection) 

Table 1: General technical data of the module 

Table 2: Microcontroller 


2.3 CAN Interface 

Number 1 

Connection 

CAN Controller 

Electrical isolation of CAN 

interfaces against other units 

Physical layer CAN 

Bustermination has to be set externally 


5-pin COMBICON with spring-cage connection 

or via Phoenix Contact TBUS-connector (In-Rail-Bus) 

MB90F497, CAN 2.0A/B, 

(CANopen software supports only 11-bit CAN identifier) 

via dual digital isolator (ADUM120BR) and DC/DCconverters 

physical layer according to ISO 11898, transfer rate 

programmable from 10 Kbit/s up to 1 Mbit/s 

Table 3: Data of the CAN interface 



2.4 Analogue Inputs 

6 

Number 4 differential -converter inputs 

Converter-Type AD7732BRU 

Resolution resolution of the converter up to 24 bit 

Input voltage rage ±10 V 

Conversion time programmable 

Electrical isolation against other 

units 

Protective circuit 

2.5 Software-Support 

via magnetic data coupler 

Resistance against overvoltage of the converter inputs: 

- up to ±16,5 V without influence on the adjacent channel 

- absolute maximum ±50 V 

Table 4: Data of the analogue inputs 

The firmware of the module supports the CANopen standards DS-301 and DS-401. 


2.6 Order Information 


Manuals 


Type Features Order-No. 

CAN-CBX-AI420-ME Manual in English 1*) 

CAN-CBX-AI420-ENG 

Accessories 

CAN-CBX-TBUS 

CAN-CBX-TBUS- 

Connector 


4 analogue inputs, 20 bit, 

including 1x CAN-CBX-TBUS (C.3000.01) 

Engineering Manual in English 2*) 

Content: Circuit diagrams, PCB top overlay 

drawing, data sheets of significant components 

Mounting-rail bus connector of the CBX-In- 

Rail bus for CAN-CBX-modules, 

(a bus connector is included in delivery of the 

CAN-CBX module) 

Terminal plug of the CBX-In-Rail bus for the 

connection of the +24 V power supply voltage 

and the CAN interface 

1*) If module and manual are ordered together, the manual is free of charge. 

2*) This manual is liable for costs, please contact our support. 

Table 5: Order information 

C.3030.02 

C.3030.20 

C.3030.25 

C.3000.01 

C.3000.02 


Hardware-Installation 

3. Hardware Installation 

3.1 Connecting Diagram 

8 

Fig. 2: Connections of the CAN-CBX-AI420 module 

The connector pin assignment can be found on page 20 and the following. 


3.2 LED Display 

Fig. 3: Position of the LEDs in the front panel 


The CAN-CBX-AI420 module is equipped with four status LEDs. The terms of the indicator states of 

the LEDs are chosen in accordance with the CANopen Standard DS303-3, V 1.2 (chapter 3.1). The 

indicator states of the LEDs are described in the following chapters. 

3.2.1 Indicator States 

In principle there are 8 indicator states distinguished: 

Indicator state Display 

on LED constantly on 

off LED constantly off 

blinking LED blinking with a frequency of approx. 2.5 Hz 

flickering LED flickering with a frequency of approx. 10 Hz 

1 flash LED 200 ms on, 1400 ms off 

2 flashes LED 200 ms on, 200 ms off, 200 ms on 1000 ms off 

3 flashes LED 2x (200 ms on, 200 ms off) + 1x (200 ms on, 1000 ms off) 

4 flashes LED 3x (200 ms on, 200 ms off) + 1x (200 ms on, 1000 ms off) 

Table 6: Indicator states 

The red LED flashes opposite in phase with the green LED! 



3.2.2 Operation of the CAN-Error LED 

10 

Label Name Colour 

LED indication Display function 

Component 

No. 

E CAN Error red 200A 

Indicator 

state 

off no error 

Description 

1 flash CAN controller is in Error Active state 

on CAN controller state is Bus Off 

2 flashes 

Table 7: Indicator states of the red CAN Error-LED 

3.2.3 Operation of the CANopen-Status LED 

Label Name Colour 

S 

CANopen 

Status 

Heartbeat or Nodeguard error occurred. 

The LED automatically turns off, if 

Nodeguard/Heartbeat-messages are received again. 


Component 

No. 

green 200B 

Indicator 

state 

blinking Pre-operational 

on Operational 

1 flash Stopped 

Description 

3 flashes Module is in bootloader mode 

Table 8: Indicator states of the CANopen Status-LED 


3.2.4 Operation of the Error-LED 



Label Name Colour Component 

No. 

Indicator state Description 

M Error red 200C 

3.2.5 Operation of the Power-LED 

off no error 

on 

2 flashes 

blinking 

CAN Overrun Error 

The sample rate is set so high, that the firmware is not 

able to transmit all data on the CAN bus. 

Internal software error 

e.g.: 

- stored data have an invalid checksum therefore default 

values are loaded 

- internal watchdog has triggered 

- indicator state is continued until the module resets or 

an error occurs at the outputs. 

error of the A/D-input voltage 

input voltage of at least one channel 10V 

Table 9: Indicator state of the Error-LED 


Label Name Colour Component 

No. 

Indicator state Description 

P Power green 200D 

3.2.6 Special Indicator States 

off no power supply voltage 

on power supply voltage is on 

Table 10: Indicator state of the Power-LED 

The indicator states described in the following table are indicated by the four status LEDs together: 

- red CAN-error LED is on 

- all other LEDs are off 

LED indication Description 

Table 11: Special indicator states 

Invalid Node-ID: 

The coding switches for the Node-ID are set to an 

invalid ID-value, the module is stopped 



3.3 Coding Switch 

12 

 

Abb. 4: Position of the coding switches 

Attention! 

At the moment the module is switched ‘on’, the state of the coding switches is 

determined. Changes of the settings therefore have to be made before switching on the 

module, because changes of the settings are not determined during operation. 

After a reset (e.g. NMT reset) the settings are read again. 

3.3.1 Setting the Node-ID via Coding Switch 

The address range of the CAN-CBX-module can be set decimal from 1 to 127 or hexadecimal from 01 h 

to 7F h. 

The four higher-order bits (higher-order nibble) can be set with coding switch HIGH, the four lowerorder 

bits can be set with coding switch LOW. 


3.3.2 Setting the Baud Rate 

The baud rate can be set with the coding switch Baud. 


Values from 0 h to F h can be set via the coding switch. The values of the baud rate can be taken from the 

following table: 

Setting 

[Hex] 

Bit rate 

[Kbit/s] 

0 1000 

1 666.6 

2 500 

3 333.3 

4 250 

5 166 

6 125 

7 100 

8 66.6 

9 50 

A 33.3 

B 20 

C 12.5 

D 10 

E reserved 

F reserved 

Table 12: Index of the baud rate 



3.4 Installation of the Module Using Optional In-Rail Bus Connector 

If the CAN bus signals and the power supply voltage shall be fed via the In-Rail bus, please proceed 

as follows: 

14 

Figure 5: Mounting rail with bus connector 

1. Position the In-Rail bus connector on the mounting rail and snap it onto the mounting rail using 

slight pressure. Plug the bus connectors together to contact the communication and power 

signals (in parallel with one). The bus connectors can be plugged together before or after 

mounting the CAN-CBX modules. 

2. Place the CAN-CBX module with the DIN rail guideway on the top edge of the mounting rail. 

Figure 6 : Mounting CAN-CBX modules 



3. Swivel the CAN-CBX module onto the mounting rail in pressing the module downwards 

according to the arrow as shown in figure 6. The housing is mechanically guided by the DIN rail 

bus connector. 

4. When mounting the CAN-CBX module the metal foot catch snaps on the bottom edge of the 

mounting rail. Now the module is mounted on the mounting rail and connected to the In-Rail 

bus via the bus connector. Connect the bus connectors and the In-Rail bus if not already done. 

Figure 7: Mounted CAN-CBX module 



3.4.1 Connecting Power Supply and CAN-Signals to CBX-In-Rail-Bus 

To connect the power supply and the CAN-signals via the In-Rail bus, a terminal plug (order 

no.:C.3000.02) is needed. The terminal plug is not included in delivery and must be ordered separately 

(see order information). 

16 

Fig. 8: Mounting rail with In-Rail bus and terminal plug 

Plug the terminal plug into the socket on the right of the mounting-rail bus connector of the In-Rail bus, 

as described in Fig. 8. Then connect the CAN interface and the power supply voltage via the terminal 

plug. 

Fig. 9: CAN-CBX station with terminal plug 

A bus termination must be connected to the CAN connector of the CAN-CBX module at the end of the 

CBX station (see Fig. 9), if the CAN bus ends there. 



Generally the CAN signals can be fed via the CAN connector of the first CAN-CBX module of the 

CBX station. The signals are then connected through the CAN-CBX station via the In-Rail bus. To lead 

through the CAN-signals the CAN bus connector of the last CAN-CBX module of the CAN-CBX 

station (see Fig. 10) has to be used. The CAN connectors of the CAN-CBX modules which are not at 

the ends of the CAN-CBX station must not be connected to the CAN bus, because this would lead to 

incorrect branching. 

 

i 

Fig. 10: Connecting the CAN signals through the CAN-CBX station 

Attention! 

A feed through of the power supply voltage is not permissible! A feed through of 

the +24 V power supply voltage can cause damage on the CBX modules. 

3.5 Remove the CAN-CBX Module from the Optional In-Rail Bus 

If the CAN-CBX module is connected to the In-Rail bus please proceed as follows: 

Release the module from the mounting rail in moving the foot catch (see figure 7) downwards (e.g. with 

a screwdriver). Now the module is detached from the bottom edge of the mounting rail and can be 

removed. 

Note: 

It is possible to remove entire individual devices from the whole without interrupting 

the In-Rail bus connection, because the contact chain will not be interrupted. 


18 

Descriptions of the Units 

4. Description of the Units 

4.1 CAN Interface 

An 82C251 is used as driver unit. The differential CAN bus signals are electrically isolated from the 

other signals via a dual digital converter (ADUM120BR) and a DC/DC-converter. 

CAN_Tx 

CAN_Rx 

VCC 

Dual Digital 

Isolator 

ADUM1201BR 

DC/DC 

RSS-0505 

VCC 

+ + 

VC05D150 

5V 

10µF 

GND 

- 

5V 

- 

CAN_GND 

2.2M 

2.2nF/250V~ 

I1 

O1 

TX 

O2 

I2 

RX 

VCC1 VCC2 

VDD 

GND1 GND2 

R/GND 

2x 100nF 

CAN Transceiver 

PCA82C251 

BUSL 

BUSH 

GND 

+5V 

Fig. 11: CAN Interface 

X101 

Bus Connector MEMAX 

Shield 

(FE) 

VBB 

VBB_GND 


CAN_H 

CAN_L 

FE 




Shield 


4 

5 

3 

1 

2 

X400 

COMBICON 

MC 1,5/5-GF-3,81 

S (Connection 

to top hat rail) 

2 

4 

1 

3

4.2 Analogue Inputs 

to/from 

microcontroller 

 

Digital Isolator 

IL716 

Sigma-Delta A/D-Converter 

AD7732BRU 

DOUT 

DIN 

SCLK 

RDY# 


AIN0+ 

AIN0- 

Description of the Units 


100p 

FE (Functional 

earth ground) 

100p 

FE (Functional 

earth ground) 

WE 74279207 

WE 74279207 

1P 

Pin 2 

1M 

Pin 3 

G 

Analog_GND 

Fig. 12: Analogue input circuit (example: channel 1) 

Principle of internal circuit of the 

Sigma-Delta A/D-converter 

AD7732BRU 

Converter 

Ref 

ca. 100k 

AIN+ 

R SOURCE 

Pin 1 

X500 

Socket 

MC1,5/12-G-3,81-AU 

Attention: The internal circuit of the -converter (see figure below) and the wiring of 

the sensor signal cause a gain-error at the measuring. This fault is the smaller, 

the lower the resistance of the sensor is chosen. 

Furthermore the resistors of both measuring lines of the differential analogue 

inputs should be identical. 

Fig. 13: Principle of the internal circuit of the -converter 

The gain-error increases with increasing resistance R SOURCE (see figure above).

Steckerbelegung 

5. Connector Assignment 

5.1 Power Supply Voltage X100 

Device connector: COMBICON MSTBO 2,5/4-G1L-KMGY 

Line connector: COMBICON FKCT 2,5/4-ST, 5.0 mm pitch, spring-cage connection, 

PHOENIX-CONTACT order No.: 19 21 90 0 (included in the scope of 

delivery) 

20 

i 

Pin Position: 

Pin Assignment: 

Pin 4 3 2 1 

Signal 

P24 

(+ 24 V) 

M24 

(GND) 

Please refer also to the connecting diagram on page 8. 

Signal Description: 

M24 

(GND) 

P24 

(+ 24 V) 

Note: The pins 1 and 4 are connected to each other at the PCB. 

The pins 2 and 3 are connected to each other at the PCB. 

P24... power supply voltage +24 V 

M24... reference potential 


5.2 CAN-Bus X400 

1 

2 

3 

4 

5 

Connector Assignment 

Device Connector: COMBICON MC 1,5/5-GF-3,81 

Line Connector: COMBICON FK-MCP 1,5/5-STF-3,81, spring-cage connection (included in the 

scope of delivery) 

Signal description: 

Pin Position: Pin-Assignment: 

(Illustration of device 

connector) 

Pin Signal 

1 CAN_GND 

2 CAN_L 

3 Shield 

4 CAN_H 

5 - 

CAN_L, CAN_H ... CAN signals 

CAN_GND ... reference potential of the local CAN physical layer 

Shield ... pin for line shield connection (using hat rail mounting direct contact to the 

mounting rail potential) 

- ... not connected 

Recommendation of an adapter cable from 5-pin Combicon (here line connector FK-MCP1,5/5- 

STF-3,81 with spring-cage-connection) to 9-pin DSUB: 

Figure 14: Assignment of the 9-pin DSUB-connector according to CiA DS 102. 


Steckerbelegung 

5.3 CAN and Power Supply Voltage via In-Rail Bus Connector X101 

Connector type: Bus connector MEMAX 

ME 22,5 TBUS 1,5/5-ST-3,81 KMGY 

Signal Description: 

22 

Pin Position: 


Pin Signal 

5 M24 (GND) 

4 P24 (+24 V) 

3 CAN_GND 

2 CAN_L 

1 CAN_H 

S FE (PE_GND) 

CAN_L, 

CAN_H ... CAN signals 

CAN_GND ... reference potential of the local CAN-Physical layers 

P24... power supply voltage +24 V 

M24... reference potential 

FE... functional earth contact (EMC)(connected to mounting rail potential) 


5.4 Analogue Inputs X500 

Device connector: COMBICON MC 1,5/12-GF-3,81 

Line connector: COMBICON MC 1,5/12-STF-3,81 (screw connection) 

(included in the scope of delivery) 

Signal description: 


Connector Assignment 

xP... positive input pin of the differential analogue input (x = 1, 2, 3, 4) 

xM... negative input pin of the differential analogue input(x = 1, 2, 3, 4) 

G ... reference potential analogue ground (connected to functional earth ground contact of 

the module) 


24 




Wiring 

6. Correctly Wiring Electrically Isolated CAN Networks 

Generally all instructions applying for wiring regarding an electromagnetic compatible installation, 

wiring, cross sections of wires, material to be used, minimum distances, lightning protection, etc. have 

to be followed. 

The following general rules for the CAN wiring must be followed: 

1. 

2. 

3. 

A CAN net must not branch (exception: short dead-end feeders) and has to be terminated 

by the wave impedance of the wire (generally 120 W ±10%) at both ends (between the 

signals CAN_L and CAN_H and not at GND)! 

A CAN data wire requires two twisted wires and a wire to conduct the reference potential 

(CAN_GND)! 

For this the shield of the wire should be used! 

The reference potential CAN_GND has to be connected to the earth potential (PE) at one 

point. Exactly one connection to earth has to be established! 

4. The bit rate has to be adapted to the wire length. 

5. Dead-end feeders have to kept as short as possible (l < 0.3 m)! 

6. 

7. 

8. 

When using double shielded wires the external shield has to be connected to the earth 

potential (PE) at one point. There must be not more than one connection to earth. 

A suitable type of wire (wave impedance ca. 120 ±10%) has to be used and the voltage 

loss in the wire has to be considered! 

CAN wires should not be laid directly next to disturbing sources. If this cannot be avoided, 

double shielded wires are preferable. 

Wire structure Signal assignment of wire and connection of earthing and terminator 

Shielded wire with 

transposed wires 

120 Ohm 

CAN wire with connectors 

DSUB9 connector 

(female or male) 


DSUB9 connector 

(female or male) 

pin designation 

(at wire shield) 

pin designation 

1 

2 

n.c. 


n.c. 1 

2 

3 

3 

4 n.c. 

n.c. 4 

5 n.c. 

n.c. 5 

6 

7 

n.c. 


n.c. 6 

7 

8 n.c. 

n.c. 8 

9 n.c. 

n.c. 9 

connector case n.c. 

n.c. connector case 

n.c. = not connected 

Figure: Structure and connection of wire 


120 Ohm 

earth (PE)

Cabling 

l < 0,3 m 

CAN-CBM- 

DIO8 


AI4 

Wiring 

for devices which have only one CAN connector per net use T-connector and dead-end feeder 

(shorter than 0.3 m) (available as accessory) 

CAN-Board 

Net 1 

e.g. PCI/405, 

CAN-USB, 

VME-CAN2, etc. 

Net 2 

Connecting 

CAN_GND to 

Protective Conductor PE 

Terminator 

PE 

with PE Connector 

T-Connector 

Order-no.: C.1311.03 

Terminal Resistance 

T-Connector 

C.1311.03 

CAN-Cable 

Order-no.: C.1323.03 

l < 0,3 m 

T-Connector 

C.1311.03 


Order-no.: C.1323.03 





l < 0,3 m 


COM1 

T-Connector 

C.1311.03 

Female Connector 

Male Connector 

Male Terminator 

(Order-no.: C.1302.01) 

Female Terminator 

(Order-no.: C.1301.01) 

l < 0,3 m 


Order-no.: C.1323.03 

Figure: Example for correct wiring (when using single shielded wires) 

use external terminator, because this can later be found again more easily! 

T-Connector 

C.1311.03 

Terminator 

l < 0,3 m 

e.g. 

CAN-SPS Interface 

CSC595/2 

or 

CAN-PC Board 

9-pin DSUB-terminator with male and female contacts and earth terminal are available as 

accessories 

Earthing 

CAN_GND has to be conducted in the CAN wire, because the individual esd modules are 

electrically isolated from each other! 

CAN_GND has to be connected to the earth potential (PE) at exactly one point in the net! 

each CAN user without electrically isolated interface works as an earthing, therefore: do not 

connect more than one user without potential separation! 

Earthing CAN e.g. be made at a connector

Wiring 

Wire Length 

Optical couplers are delaying the CAN signals. By using fast optical couplers and testing each 

board at 1 Mbit/s, however, esd CAN guarantee a reachable length of 37 m at 1 Mbit/s for most 

esd CAN modules within a closed net without impedance disturbances like e.g. longer dead-end 

feeders. (Exception: CAN-CBM-DIO8, -AI4 and AO4 (these modules work only up to 10 m with 

1 Mbit/s)) 

26 

Bit rate 

[Kbit/s] 

1000 

800 

666.6 

500 

333.3 

250 

166 

125 

100 

66.6 

50 

33.3 

20 

12.5 

10 

Typical values of reachable 

wire length with esd 

interface l max [m] 

37 

59 

80 

130 

180 

270 

420 

570 

710 

1000 

1400 

2000 

3600 

5400 

7300 

CiA recommendations 

(07/95) for reachable wire 

lengths l min [m] 

25 

50 

- 

100 

- 

250 

- 

500 

650 

- 

1000 

- 

2500 

- 

5000 

Table: Reachable wire lengths depending on the bit rate when using esd-CAN interfaces 


Examples for CAN Wires 

Manufacturer Type of wire 

U.I. LAPP GmbH 

Schulze-Delitzsch-Straße 25 

70565 Stuttgart 

Germany 

www.lappkabel.de 

ConCab GmbH 

Äußerer Eichwald 

74535 Mainhardt 

Germany 

www.concab.de 

SAB Bröckskes GmbH&Co. KG 

Grefrather Straße 204-212b 

41749 Viersen 

Germany 

www.sab-brockskes.de 

Wiring 

e.g. 

UNITRONIC ®-BUS CAN UL/CSA (UL/CSA approved) 

UNITRONIC ®-BUS-FD P CAN UL/CSA (UL/CSA approved) 

e.g. 

BUS-PVC-C (1 x 2 x 0.22 mm²) Order No.: 93 022 016 (UL appr.) 

BUS-Schleppflex-PUR-C (1 x 2 x 0.25 mm²) Order No.: 94 025 016 (UL appr.) 

e.g. 

SABIX ® CB 620 (1 x 2 x 0.25 mm²) Order No.: 56202251 

CB 627 (1 x 2 x 0.25 mm²) Order No.: 06272251 (UL appr.) 

Note: Completely configured CAN wires can be ordered from esd. 


28 

CAN-Bus Troubleshooting Guide 

7. CAN-Bus Troubleshooting Guide 

The CAN-Bus Troubleshooting Guide is a guide to find and eliminate the most frequent hardware-error 

causes in the wiring of CAN-networks. 

120 




Figure: Simplified diagram of a CAN network 

7.1 Termination 




2 3 

The termination is used to match impedance of a node to the impedance of the transmission line being 

used. When impedance is mismatched, the transmitted signal is not completely absorbed by the load 

and a portion is reflected back into the transmission line. If the source, transmission line and load 

impedance are equal these reflections are eliminated. This test measures the series resistance of the 

CAN data pair conductors and the attached terminating resistors. 

To test it, please 

1. Turn off all power supplies of the attached CAN nodes. 

2. Measure the DC resistance between CAN_H and CAN_L at the middle and ends of 

the network 1 (see figure above). 

The measured value should be between 50 and 70 . The measured value should be nearly the same 

at each point of the network. 

If the value is below 50 , please make sure that: 

- there is no short circuit between CAN_H and CAN_L wiring 

- there are not more than two terminating resistors 

- the nodes do not have faulty transceivers. 

If the value is higher than 70 , please make sure that: 

- there are no open circuits in CAN_H or CAN_L wiring 

- your bus system has two terminating resistors (one at each end) and that they are 120 each. 

V 

120 


V 

 

1

7.2 CAN_H/CAN_L Voltage 


Each node contains a CAN transceiver that outputs differential signals. When the network 

communication is idle the CAN_H and CAN_L voltages are approximately 2.5 volts. Faulty 

transceivers can cause the idle voltages to vary and disrupt network communication. 

To test for faulty transceivers, please 

1. Turn on all supplies. 

2. Stop all network communication. 

3. Measure the DC voltage between CAN_H and GND 2 (see figure above). 

4. Measure the DC voltage between CAN_L and GND 3 (see figure above). 

Normally the voltage should be between 2.0 V and 4.0 V. 

If it is lower than 2.0 V or higher than 4.0 V, it is possible that one or more nodes have faulty 

transceivers. For a voltage lower than 2.0 V please check CAN_H and CAN_L conductors for 

continuity. For a voltage higher than 4.0 V, please check for excessive voltage. 

To find the node with a faulty transceiver please test the CAN transceiver resistance (see next page). 

7.3 Ground 

The shield of the CAN network has to be grounded at only one location. This test will indicate if the 

shielding is grounded in several places. 

To test it, please 

1. Disconnect the shield wire from the ground. 

2. Measure the DC resistance between Shield and ground. 

3. Connect Shield wire to ground. 

The resistance should be higher than 1 M . If it is lower, please search for additional grounding of the 

shield wires. 


30 


7.4 CAN Transceiver Resistance Test 

CAN transceivers have one circuit that controls CAN_H and another circuit that controls CAN_L. 

Experience has shown that electrical damage to one or both of the circuits may increase the leakage 

current in these circuits. 

To measure the current leakage through the CAN circuits, please use an resistance measuring device 

and: 

1. Disconnect the node from the network. Leave the node unpowered 4 (see figure below). 

2. Measure the DC resistance between CAN_H and CAN_GND 5 (see figure below). 

3. Measure the DC resistance between CAN_L and CAN_GND 6 (see figure below). 

Normally the resistance should be between 1 M and 4 M or higher. If it is lower than this range, 

the CAN transceiver is probably faulty. 

CAN-node 

CAN- 

Transceiver 




Power 

4 

Disconnect 

Power ! 

5 6 

 

 

Figure: Simplified diagram of a CAN node 

4 

Disconnect 

CAN ! 


8. Software 

CANopen-Software 

Apart from basic descriptions of the CANopen, this chapter contains the most significant information 

about the implemented functions. 

A complete CANopen description is too extensive for the purpose of this manual. 

Further information can therefore be taken from the CAL/CANopen documentation ‘CiA Draft 

Standard 301, V 4.02’ and ‘CiA Draft Standard Proposal 401, V 2.1’. 

8.1 Definition of Terms 

COB ... Communication Object 

Emergency-Id... Emergency Data Object 

NMT... Network Management (Master) 

Rx... receive 

SDO... Service Data Object 

Sync... Sync(frame) Telegram 

Tx... transmit 

PDOs (Process Data Objects) 

PDOs are used to transmit process data. 

In the ‘Transmit’-PDO (TxPDO) the CAN-CBX-AI420 module transmits data to the CANopen 

network. 

SDOs (Service Data Objects) 

SDOs are used to transmit module internal configuration- and parameter data. In opposition to 

the PDOs SDO-messages are confirmed. A write or read request on a data object is always 

answered by a response telegram with an error index. 



8.2 NMT-Boot-up 

The CAN-CBX-AI420 module can be initialized with the ‘Minimum Capability Device’ boot-up as 

described in CiA-Draft Standard 301 in chapter 9.4. 

Usually a telegram to switch from Pre-Operational status to Operational status after boot-up is 

sufficient. For this the 2-byte telegram ‘01 h’, ‘00 h’, for example, has to be transmitted to CAN-identifier 

‘0000 h’ (= Start Remote Node all Devices). 

8.3 The CANopen-Object Directory 

The object directory is basically a (sorted) group of objects which can be accessed via the CAN 

network. Each object in this directory is addressed with a 16-bit index. The index in the object 

directories is represented in hexadecimal format. 

The index can be a 16-bit parameter in accordance with the CANopen specification (CiA-Draft DS 301) 

or a manufacturer-specific code. By means of the MSBs of the index the object class of the parameter 

is defined. 

Part of the object directory are among others: 

32 

Index 

[Hex] 

Object Example 

0001 ... 009F definition of data types - 

1000 ... 1FFF Communication Profile Area 1001 h : Error register 

2000 ... 5FFF Manufacturer Specific Profile Area 2310 h : Sample rate 

6000 ... 9FFF Standardized Device Profile Area according to Device Profile DS 40x 

A000 ... FFFF reserved - 

8.3.1 Access on the Object Directory via SDOs 

The SDOs (Service Data Objects) are used to get access to the object directory of a device. 

An SDO therefore represents a ‘channel’ to access the parameter of the device. The access via this 

channel can be made in CAN-CBX-AI420 module state Operational and Pre-operational. 

The SDOs are transmitted on ID ‘600 h + NodeID’ (request). The receiver acknowledges the parameter 

on ID ‘580 h + NodeID’ (response). 


An SDO is structured as follows: 

Identifier Command 

code 

Example: 

600 h+ 

Node-ID 

Index 

(low) (high) 


Sub-index LSB Data field MSB 

23 h 00 14 h 01 7F h 04 h 00 00 

(write) 

Description of the SDOs: 

(Index=1400 h) 

(Receive-PDO-Comm-Para) 

(COB-def.) COB = 047F h 

Identifier ....... The parameters are transmitted on ID ‘600 h + NodeID’ (request). 

The receiver acknowledges the parameters on ID ‘580 h + NodeID’ (response). 

Command code . . The command code transmitted consists among other things of the command 

specifier and the length. Frequently required combinations are, for instance: 

40 h = 64 dec : Read Request, i.e. a parameter is to be read 

23 h = 35 dec : Write Request with 32-bit data, i.e. a parameter is to be set 

The CAN-CBX-AI420 module responds to every received telegram with a 

response telegram. This can contain the following command codes: 

43 h = 67 dec : Read Response with 32 bit data, this telegram contains the 

parameter requested 

60 h = 96 dec : Write Response, i.e. a parameter has been set successfully 

80 h = 128 dec : Error Response, i.e. the CAN module reports a communication error 


34 


Frequently Used Command Codes 

The following table summarizes frequently used command codes. The command 

frames must always contain 8 data bytes. Notes on the syntax and further command 

codes can be found in CiA DS 301, chapter “Service Data Object”. 

Command 

Write Request 

(Initiate Domain Download) 

Write Response 

(Initiate Domain Download) 

Read Request 

(Initiate Domain Upload) 

Read Response 

(Initiate Domain Upload) 

Error Response 

(Abort Domain Transfer) 

Number of data 

bytes 

1 

2 

3 

4 

Command code 

[Hex] 

2F 

2B 

27 

23 

- 60 

- 40 

1 

2 

3 

4 

4F 

4B 

47 

43 

- 80 

Index, Sub-Index . Index and sub-index will be described in the chapters “Device Profile Area” and 

“Manufacturer Specific Objects” of this manual. 

Data Field ...... The data field has got a size of a maximum of 4 bytes and is always structured 

‘LSB first, MSB last’. The least significant byte is always in ‘Data 1’. With 16-bit 

values the most significant byte (bits 8...15) is always in ‘Data 2’, and with 32-bit 

values the MSB (bits 24...31) is always in ‘Data 4’. 


Error Codes of the SDO Domain Transfer 


The following error codes might occur (according to CiA DS 301, chapter “Abort SDO Transfer 

Protocol”): 

Abort code 

[Hex] 

Description 

0x05040001 wrong command specifier 

0x06010002 wrong write access 

0x06020000 wrong index 

0x06040041 object can not be mapped to PDO 

0x06060000 access failed due to an hardware error 

0x06070010 wrong number of data bytes 

0x06070012 service parameter too long 

0x06070013 service parameter too small 

0x06090011 wrong sub-index 

0x06090030 transmitted parameter is outside the accepted value range 

0x08000000 undefined cause of error 

0x08000020 data cannot be transferred or stored in the application 

0x08000022 

data cannot be transferred or stored in the application because of the present 

device state 

0x08000024 access to flash failed 



8.4 Overview of used CANopen-Identifiers 

36 

Function 

Identifier 

[Hex] 

Network management 0 NMT 

Description 

SYNC 80 Sync to all, (configurable via object 1005 h) 

Emergency Message 80 + NodeID configurable via object 1014 h 

Tx-PDO2 280 + NodeID PDO2 from CAN-CBX-AI420 (Tx) (object 1801 h) 

Tx-PDO3 380 + NodeID PDO3 from CAN-CBX-AI420 (Tx) (object 1802 h) 

Tx-SDO 580 + Node-ID SDO from CAN-CBX-AI420 (Tx) 

Rx-SDO 600 + Node-ID SDO from CAN-CBX-AI420 (Rx) 

Node Guarding 700 + NodeID configurable via object 100E h 

NodeID: CANopen address [1 h...7F h] 

8.4.1 Setting the COB-ID 

The COB-IDs which can be set (except the one of SYNC), are deduced initially from the setting of the 

Node-ID via the coding switches (see page 12). If the COB-IDs are set via SDO, this setting is valid 

even if the coding switches are set to another Node-ID after that. 

To accept the Node-ID from the coding switches again, the Comm defaults or all defaults have to be 

restored (object 1011 h) 


8.5 Default PDO-Assignment 


PDOs (Process Data Objects) are used to transmit process data. The PDO mapping can be changed. The 

following tables show the default mapping at delivery of the module: 

PDO CAN identifier Length Transmission direction Default assignment 

TxPDO1 n.a. n.a. n.a. TxPDO1 is not used 

TxPDO2 280 h + Node-ID 8 byte 

TxPDO3 380 h + Node-ID 8 byte 

Tx-PDO2 (CAN-CBX-AI420 ->) 

from CAN-CBX-AI420 

(Tx/Transmit-PDO) 

from CAN-CBX-AI420 

(Tx/Transmit-PDO) 

A/D-values channel 1 to 2 

as 32-bit values 

A/D-values channel 3 to 4 

as 32 bit values 

CAN-Identifier: 280h + Node-ID 

Byte 0 1 2 3 4 5 6 7 

Parameter Read_Analogue_Input_32-Bit_1 Read_Analogue_Input_32-Bit_2 

Tx-PDO3 (CAN-CBX-AI420 ->) 

CAN-Identifier: 380h + Node-ID 

Byte 0 1 2 3 4 5 6 7 

Parameter Read_Analogue_Input_32-Bit_3 Read_Analogue_Input_32-Bit_4 


38 


8.6 Reading the Analogue Values 

8.6.1 Messages of the Analogue Inputs 

The transmission types for the analogue inputs are described in the following: 

acyclic, synchronous: The transmission is initiated if a SYNC-message has been received (PDOtransmission 

type 0) and data has changed. 

cyclic, synchronous: The transmission is initiated if a defined number of SYNC-messages has been 

received (PDO-transmission type 1...240). 

synchronous, remote request: The state of the inputs is latched with each SYNC-message and is 

transmitted after the reception of an RTR-frame (PDO-transmission type 252). 

asynchronous, remote request: After the reception of an RTR-frame the last determined state of the 

inputs is transmitted (PDO-transmission type 253). 

event controlled, asynchronous: The transmission is initiated if the state of selected inputs has 

changed (PDO-transmission type 254, 255). 

8.6.2 Supported Transmission Types Based on DS-301 

Transmission 

Type 

cyclic acyclic 

PDO-Transmission 

synchronous 

asynchronous 

RTR 

supported by 


0 X X x 

1...240 X X x 

241...251 reserved - 

252 X X x 

253 X X x 

254 X X x 

255 X X x 


8.7 Implemented CANopen-Objects 

A detailed description of the objects can be taken from CiA DS-301. 

Index 

[Hex] 

Sub-index 

(max.) [Dec] 

Implemented CANopen Objects 

Description Data type R/W Default value 

1000 - Device Type unsigned 32 ro 00040191 h 

1001 - Error Register unsigned 8 ro 00 h 

1003 10 Pre-Defined-Error-Field unsigned32 rw 00 h 

1005 - COB-ID-Sync unsigned32 rw 80 h 

1008 - Manufacturer’s Device Name visible string ro “CAN-CBX-AI420” 

1009 - Manufacturer’s Hardware Version visible string ro 

100A - Manufacturer’s Software Version visible string ro 

100C - Guard Time unsigned 16 rw 0000 h 

100D - Life Time Factor unsigned 8 rw 00 h 

x.yy (depending on 

version) 

x.yy (depending on 

version) 

100E - Node Guarding Identifier unsigned 32 rw Node-ID + 700 h 

1010 3 Store Parameter unsigned 32 rw 

1011 3 Restore Parameter unsigned 32 rw 

1014 - COB-ID Emergency Object unsigned 32 rw 80 h + Node-ID 

1015 - Inhibit Time EMCY unsigned 16 rw 00 h 

1016 1 Consumer Heartbeat Time unsigned 32 rw 00 h 

1017 - Producer Heartbeat Time unsigned 16 rw 00 h 

1018 4 Identity Object unsigned 32 ro 

1029 3 Error Behaviour unsigned 8 ro 00 h 

Vendor Id: 00000017 h 

Prod. Code: 23030002 h 


40 

Index 

[Hex] 


Subindex 

(max.) 

[Dec] 

Description Data type R/W 

1801 5 2. Transmit PDO-Parameter PDO CommPar (20 h) rw 

1802 5 3. Transmit PDO-Parameter PDO CommPar (20 h) rw 

1A01 2 2. Transmit PDO-Mapping PDO Mappping (21 h) rw 

1A02 2 3. Transmit PDO-Mapping PDO Mappping (21 h) rw 


8.7.1 Device Type (1000 h) 

INDEX 1000h Name device type 

Data Type unsigned 32 

Access Type ro 

Default Value 0004 0191 

The value of the device type is: 0004.0191 h 

Example: Reading des Device Type 


(Analogue input: 0004 h 

digital profile number: 0191 h ) 

The CANopen master transmits the read request on identifier ‘603 h’ (600 h + Node-ID) to the CAN- 

CBX-AI420 module with the module no. 3 (Node-ID=3 h): 

ID RTR LEN DATA 

1 2 3 4 5 6 7 8 

603 h 0 h 8 h 40 h 00 h 10 h 00 h 00 h 00 h 00 h 00 h 

Read 

Request 

Index=1000 h 

The CAN-CBX-AI420 module no. 3 responds to the master by means of read response on identifier 

‘583 h’ (580 h + Node-ID) with the value of the device type: 


Sub 

Index 

ID RTR LEN DATA 

1 2 3 4 5 6 7 8 

583 h 0 h 8 h 43 h 00 h 10 h 00 h 91 h 01 h 04 h 00 h 

Read 

Response 

value of device type: 0004.0191 h 

Index=1000 h Sub Index dig. Profile Nr.191 Analogue Input 

The data field is always structured following the rule ‘LSB first, MSB last‘ (see page 34, data field).

42 


8.7.2 Error Register (1001 h) 

The CAN-CBX-AI420 module uses the error register, to indicate error messages. 

INDEX 1001h Name error register 

Data type unsigned 8 

Access type ro 

Default value 0 

The following bits of the error register are being supported at present: 

Bit Meaning 

0 generic 

1 - 

2 voltage 

3 - 

4 communication error (overrun, error state) 

5 - 

6 - 

7 - 

Bits which are not supported (-) are always returned as ‘0’. If an error is active, the according bit is set 

to ‘1’. 

The following messages are possible: 

00h 01h 04h 10h no errors 

generic error 

voltage error 

communication error 


8.7.3 Pre-defined Error Field (1003 h) 

INDEX 1003h Name pre-defined error field 


Access Type ro 

Default Value No 


The pre-defined error field provides an error history of the errors that have occurred on the device and 

have been signalled via the Emergency Object. 

Sub-index 0 contains the current number of errors stored in the list. 

Under sub-index 1 the last error which occurred is stored. If a new error occurs, the previous error is 

stored under sub-index 2 and the new error under sub-index 1, etc. In this way a list of the error history 

is created. 

The error buffer is structured like a ring buffer. If it is full, the oldest entry is deleted for the latest entry. 

This module supports a maximum of 10 error entries. When the 11th error occurs the oldest error entry 

is deleted. In order to delete the entire error list, sub-index ‘0’ has to be set to ‘0’. This is the only 

permissible write access to the object. 

With every new entry to the list the module transmits an Emergency Frame to report the error. 

Index 

[Hex] 

1003 

Subindex 

[Dec] 

Meaning of the variables: 

Description 

Value range 

[Hex] 

Default Data type R/W 

0 number_of_errors_in_list 0, 1...10 - unsigned 8 rw 

1 error-code n 0...FFFFFFFF - unsigned 32 ro 

2 error-code (n-1) 0...FFFFFFFF - unsigned 32 ro 

: : : : : ro 

10 error-code (n-9) 0...FFFFFFFF - unsigned 32 ro 

number_of_errors_in_list 

- contains the number of error codes currently on the list 

n = number of error which occurred last 

- in order to delete the error list this variable has to be set to ‘0’ 

- if number_of_errors_in_list 0, the error register (Object 1001 h) is set 



error-code x The 32-bit long error code consists of the CANopen-emergency error code described in 

DS 301, Table 21 and the error code defined by esd (manufacturer-specific error field). 

Emergency Message 

44 

Bit: 31 ... ... 16 15 ... ... 0 

Contents: 

manufacturer-specific 

error field 

emergency-error-code 

manufacturer-specific error field: for CAN-CBX-AI420 always ‘00’, unless 

emergency-error-code = 2300 h (see below) 

emergency-error-code: The following error-codes are supported: 

3110 h - Input voltage to high 

- Input voltage of at least one channel 10V 

8110 h - CAN overrun error 

- Sample rate is set to high, thus the firmware is not able 

to transmit all data to the CAN bus. 

8120 h - CAN in error passive mode 

8130 h - Lifeguard error / heartbeat error 

8140 h - Recovered from “Bus Off” 

6000 h - Software error: 

-EEPROM checksum error (no transmission of this error 

message as emergency message) 

6110 h - Internal software error 

e.g.: 

- checksum of saved data is invalid and default values are 

loaded 

- internal watchdog has triggered 

FF10 h - Data lost (A/D-data overflow) 

5000 h - Hardware error (e.g. A/D-converter defective) 

manufacturer-specific error field: always ‘00’, unless 

emergency-error-code = 2300 h (see below) 

The data off the emergency frame transmitted by the CAN-CBX-AI420 have the following structure: 

Byte: 0 1 2 3 4 5 6 7 

Content: 

emergency-error-code 

(see above) 

errorregister 

1001 h 

number_of_ 

errors_ in_list 

1003,00 h 

An emergency message is transmitted, if an error occurs. If this error occurs again, no further 

emergency message is generated. If the last error message disappears, again an emergency message is 

transmitted to indicate the error disappearance. 

- 


8.7.4 COB-ID of SYNC-Message (1005 h) 

Structure of the parameter: 

INDEX 1005h Name COB-ID SYNC message 


Access Type rw 

Default Value 80 h 

Bit-No. Value Meaning 

31 (MSB) - do not care 

30 0/1 

29 0 always 0 (11-bit ID) 


0: Device does not generate SYNC message 

1: Device generates SYNC message 

28...11 0 always 0 (29-bit IDs are not supported) 

10...0 (LSB) x Bit 0...10 of the SYNC-COB-ID 

The identifier can take values between 0...7FF h. 


46 


8.7.5 Manufacturer’s Device Name (1008 h) 

INDEX 1008h Name manufacturer’s device name 

Data Type visible string 

Default Value string: ‘CAN-CBX-AI420’ 

For detailed description of the domain uploads, please refer to CiA DS 202-2 (CMS-Protocol 

Specification). 


8.7.6 Manufacturer’s Hardware Version (1009 h) 

INDEX 1009 h 

Name manufacturer’s hardware 

version 


Default Value string: e.g. ‘1.0’ 


The hardware version is read similarly to reading the manufacturer’s device name via the domain 

upload protocol. Please refer to CiA DS 202-2 (CMS-Protocol Specification) for a detailed description 

of the upload. 

8.7.7 Manufacturer’s Software Version 100A h 

INDEX 100A h 

Name manufacturer’s software version 


Default Value string: e.g.: ‘1.2’ 

Reading the software version is similar to reading the manufacturer’s device name via the domain 

upload protocol. Please refer to CiA DS 202-2 (CMS-Protocol Specification) for a detailed description 

of the upload. 



8.7.8 Guard Time (100C h) and Life Time Factor (100D h) 

The CAN-CBX-AI420 module supports the node guarding or alternatively the heartbeat function (see 

page 56). 

48 

i 

Note: 

On the recommendation of the CiA, the heartbeat-function shall be used 

preferentially. Use the node-guarding only for existing systems and not for new 

developments! 

Guard time and life time factors are evaluated together. The life time is the result of multiplying both 

values. The guard time is represented in milliseconds. 

INDEX 100C h 

Name guard time 



Default Value 0 [ms] 

Minimum Value 0 

Maximum Value FFFF h (65,535 s) 

INDEX 100D h 

Name life time factor 



Default Value 0 

Minimum Value 0 

Maximum Value FF h 


8.7.9 Node Guarding Identifier (100E h) 

The module only supports 11-bit identifiers. 

INDEX 100E h 

Name node guarding identifier 



Default Value 700 h + Node-ID 

Structure of the parameter node guarding identifier : 

Bit-No. Meaning 

31 (MSB) 

30 

reserved 

29...11 always 0, because 29-bit-IDs are not supported 

10...0 (LSB) bit 0...10 of the node guarding identifier 




50 


8.7.10 Store Parameters (1010 h) 

This object supports saving of parameters to the EEPROM. 

In order to avoid storage of parameters by mistake, storage is only executed when the specific signature 

as shown below is transmitted. 

Reading the index returns information about the implemented storage functionalities (refer to CiA 

DS 301 for more information). 

Index 

[Hex] 

1010 

Subindex 

INDEX 1010h Name store parameters 


Description Value range Data type R/W 

0 number_of_entries 4 h unsigned 8 ro 

1 

2 

3 

4 

save_all_parameters 

(objects 1000 h ... 9FFF h) 

save_communication_parameter 


save_application_parameter 


save_manufacturer_parameter 


Parameters which can be saved or loaded: 

Communication parameter of the objects 1005 h ... 1029 h 

Application parameter of the objects 6421 h ... 6426 h 

no default, write: 

65 76 61 73 h 

(= ASCII: ‘e’ ‘v’ ‘a’ ‘s’) 

Manufacturer specific parameter of the objects 2310 h, 2311 h, 2401 h ... 2405 h 

unsigned 32 rw 





8.7.11 Restore Default Parameters (1011 h) 


Via this command the default parameters, valid when leaving the manufacturer, are activated again. 

Every individual setting stored in the EEPROM will be lost. Only command ‘Restore all Parameters’ 

is being supported. 

In order to avoid restoring of default parameters by mistake, restoring is only executed when a specific 

signature as shown below is transmitted. 

Reading the index provides information about its parameter restoring capability (refer to CiA DS 301 

for more information). 

Index 

[Hex] 

1011 

INDEX 1011h Name restore default parameters 


Subindex Description Value range Data type R/W 

0 number_of_entries 4 unsigned 8 ro 

1 

2 

3 

4 

load_all_default_parameters 


load_communication_parameter 


load_application_parameter 


load_manufacturer_parameter 


Parameters which can be saved or loaded: 

Communication parameter of the objects 1005 h ... 1029 h 

Application parameter of the objects 6421 h ... 6426 h 

no default, write: 

64 61 6F 6C h 

(= ASCII: ‘d’ ‘a’ ‘o’ ‘l’) 

Manufacturer specific parameter of the objects 2310 h, 2311 h, 2401 h ... 2405 h 






52 


8.7.12 COB_ID Emergency Message (1014 h) 

INDEX 1014h Name COB-ID emergency object 


Default Value 80 h + Node-ID 

This object defines the COB-ID of the emergency object (EMCY). 

The structure of this object is shown in the following table: 

Bit-No. Value Meaning 

31 (MSB) 0/1 

30 0 reserved (always 0) 

29 0 always 0 (11-bit ID) 

0: EMCY exists / is valid 

1: EMCY does not exist / EMCY is not valid 

28...11 0 always 0 (29-bit IDs are not supported) 

10...0 (LSB) x bits 0...10 of COB-ID 



8.7.13 Inhibit Time EMCY (1015 h) 

INDEX 1015h Name inhibit_time_emergency 



Value Range 0-FFFF h 

Default Value 0 


The Inhibit Time for the EMCY message can be specified via this entry. The time is determined as a 

multiple of 100 s. 


54 


8.7.14 Consumer Heartbeat Time (1016 h) 

INDEX 1016h Name consumer heartbeat time 



The heartbeat function can be used for mutual monitoring of the CANopen modules (especially to 

detect connection failures). Unlike node guarding/life guarding the heartbeat function does not require 

RTR-Frames. 

Function: 

A module, the so-called heartbeat producer, cyclically transmits a heartbeat message on the CAN-bus 

on the node-guarding identifier (see object 100E h). One or more heartbeat consumer receive the 

message. It has to be received within the heartbeat time stored on the heartbeat consumer, otherwise 

a heartbeat event is triggered on the heartbeat-consumer module. A heartbeat event generates a heartbeat 

error on the CAN-CBX-AI420 module. 

Each module can act as a heartbeat producer and a heartbeat consumer. The CAN-CBX-AI420 module 

supports maximum one heartbeat producer per CAN net. 

Index 

[Hex] 

1016 

Subindex Description 

Value range 

[Hex] 

Default Data type 

Index 

[Hex] 

0 number_of_entries 1 1 unsigned 8 ro 

1 consumer-heartbeat_time 0...007FFFFF 0 unsigned 32 rw 

Meaning of the variable consumer-heartbeat_time_x: 

consumer-heartbeat_time_x 

Bit 31 ... ...24 23 ... ...16 15 ... ...0 

Assignment 

reserved 

(always ‘0’) 

Node-ID 

(unsigned 8) 

Node-ID Node-Id of the heartbeat producer to be monitored. 

heartbeat_time 

(unsigned 16) 



heartbeat_time Cycle time of heartbeat producer to transmit the heartbeat on the node-guarding ID 

(see object 100E h). 

The consumer-heartbeat time of the monitoring module must always be higher than 

the producer-heartbeat time of the heartbeat-transmitting module. 

Example: 

consumer-heartbeat_time = 0031 03E8 h 

=> Node-ID = 31 h = 49 d 

=> heartbeat time = 3E8 h = 1000 d => 1 s 


56 


8.7.15 Producer Heartbeat Time (1017 h) 

INDEX 1017h Name producer heartbeat time 


Default Value 0 ms 

The producer heartbeat time defines the cycle time with which the CAN-CBX-AI420 module transmits 

a heartbeat-frame to the node-guarding ID. 

If the value of the producer heartbeat time is higher than ‘0’, it is active and stops the node-/ lifeguarding 

(see page 48). 

If the value of the producer-heartbeat-time is set to ‘0’, transmitting heartbeats by this module is 

stopped. 

Index 

[Hex] 

Subindex 

Description 

Value range 

[Hex] 


1017 0 producer-heartbeat_time 0...FFFF 0 ms unsigned 16 rw 

producer-heartbeat_time Cycle time of heartbeat producer to transmit the heartbeat on the nodeguarding 

ID (see object 100E h). 

The consumer-heartbeat time of the monitoring module must always be 

higher than the producer-heartbeat time of the heartbeat-transmitting 

module. 


8.7.16 Identity Object (1018 h) 

INDEX 1018h Name identity object 



This object contains general information to the CAN module. 

Index 

[Hex] 

1018 


Value range 

[Hex] 




1 vendor_id 0...FFFFFFFF 0000 0017 h unsigned 32 ro 

2 product_code 0...FFFFFFFF 2303 0002 h unsigned 32 ro 

3 revision_number 0...FFFFFFFF 0 unsigned 32 ro 

4 serial_number 0...FFFFFFFF - unsigned 32 ro 

Description of the variables: 

vendor_id This variable contains the esd-vendor-ID. This is always 00000017 h. 

product_code Here the esd-article number of the product is stored. 

Example: 

Value ‘2303 0002 h’ corresponds to article number ‘C.3030.02’. 

revision_number Here the software version is stored. In accordance with DS 301 the two MSB 

represent the revision numbers of the major changes and the two LSB show the 

revision number of minor corrections or changes. 

major_revision_no 

31 16 

revision_no 

minor_revision_no 

15 0 

MSB LSB 



serial_number Here the serial number of the hardware is read. The first two characters of the serial 

number are letters which designate the manufacturing lot. The following characters 

represent the actual serial number. 

58 

In the two MSB of serial_no the letters of the manufacturing lot are coded. They 

each contain the ASCII-code of the letter with the MSB set ‘1’ in order to be able to 

differentiate between letters and numbers: 

(ASCII-Code) + 80 h = read_byte 

The two last significant bytes contain the number of the module as BCD-value. 

Example: 

If the value ‘C1C2 0105 h’ is being read, this corresponds to the hardware-serial 

number code ‘AB 0105’. This value has to correspond to the serial number of the 

module. 


8.7.17 Verify Configuration (1020 h) 

INDEX 1020h Name verify configuration 




In this object the date and the time of the last configuration can be stored to check whether the 

configuration complies with the expected configuration or not in the future. 

Index 

[Hex] 

1020 

Subindex 

Parameter Description: 

Description 

Value range 

[Hex] 



1 configuration_date 0...FFFFFFFF 0 unsigned 32 rw 

2 configuration_time 0...FFFFFFFF 0 unsigned 32 rw 

configuration_date Date of the last configuration of the module. The value is defined in 

number of days since the 01.01.1984. 

configuration_time Time in ms since midnight at the day of the last configuration. 


60 


8.7.18 Error Behaviour Object (1029 h) 

If an error event occurs (such as heartbeat error), the module changes into the status which has been 

defined in variable communication_error or output_error. 

Index 

[Hex] 

1029 


Value range 

[Hex] 


0 number_of_error_classes 2 2 unsigned 8 ro 

1 communication_error 0...2 0 unsigned 8 rw 

Meaning of the variables: 

Variable Meaning 

number_of_error_classes number of error-classes (here always ‘2’) 

communication_error heartbeat/lifeguard error and Bus off 

The module can enter the following states if an error occurs. 

Variable Module state 

0 Pre-operational (only if the current state is Operational) 

1 no state change 

2 stopped 



8.7.19 Object Transmit PDO Communication Parameter 1801 h, 1802 h 

This objects define the parameters of the transmit-PDOs. 

Index 

[Hex] 

1801 

1802 

Subindex 

INDEX 1801 h 1802 h 

Name transmit PDO parameter 

Data Type PDOCommPar 

Description 

Value range 

[Hex] 


0 number_of_entries 0...FF 5 unsigned8 ro 

1 COB-ID used by PDO 1...800007FF 280 h +Node-ID unsigned32 rw 

2 transmission type 0...FF 255 unsigned8 rw 

3 inhibit time 0...FFFF 0 unsigned16 rw 

4 reserved 0..FF 0 unsigned8 const 

5 event timer 0...FFFF 0 unsigned16 rw 

0 number_of_entries 0...FF 5 unsigned8 ro 

1 COB-ID used by PDO 1...800007FF 380 h +Node-ID unsigned32 rw 

2 transmission type 0...FF 255 unsigned8 rw 

3 inhibit time 0...FFFF 0 unsigned16 rw 

4 reserved 0..FF 0 unsigned8 const 

5 event timer 0...FFFF 0 unsigned16 rw 

The transmission types 0, 1...240 and 252...255 are supported. 


62 


8.7.20 Transmit PDO Mapping Parameter 1A01 h, 1A02 h 

This objects define the assignment of the transmit data to the Tx-PDOs. 

INDEX 1A01h, 1A02h Name transmit PDO mapping 

Data Type PDO Mapping 

The following table shows the assignment of the transmit PDO mapping parameters: 

Index 

[Hex] 

1A01 

1A02 


Value range 

[Hex] 


0 number of entries 0...FF 2 h unsigned 8 rw 

1 Read_Analogue_Input_32_1 0...FFFFFFFF 6402 0120 h unsigned 32 rw 


0 number of entries 0...FF 2 h unsigned 8 rw 



Note: The local firmware allows every TxPDO-mapping, i.e. combinations of 16-bitand 

32-bit-A/D-values in one frame are also possible. 


8.8 Device Profile Area 

8.8.1 Overview of the Implemented Objects 6401 h ...6426 h 

Analog 

Input 

Channel Enabled 

2401h 

2310h 

Sampling Rate 

Set Point 

Index 

[HEX] 

Chopping Mode 

2311h 

A/D-Converter 

2312h 

Sampling Rate 

Actual Value 

Calibration 

Gain Value 

2405h 

Calibration 

Offset Value 

2404h 

Accu_N 

2402h 

Addition of N 

A/D-Values 

Average N 

2403h 

Average of N 

Summarised 

A/D-Values 

Analog Input 

Interrupt Delta 

Unsigned 

6426h 

Device Profile Area 

Name Data Type 

6401 Read Analogue Inputs 16-Bit signed16 

6402 Read Analogue Inputs 32-Bit signed32 

6421 Analogue Interrupt Trigger Selection unsigned 8 

6423 Analogue Input Global Interrupt Enable boolean 

6426 Analogue Input Interrupt Delta Unsigned unsigned32 

8.8.2 Relationship Between the Implemented Objects for the Analogue Inputs 

Example here: Module is in Operational state. 

Analog Interrupt 

Trigger Selection 

6421h 

Read Analog 

Data 32-Bit 

Read Analog 

Data 16-Bit 

Default 

Mapping 

Parameter 

1A01h 

1A02h 

Default 

Communication 

Parameter 


Transmission 


ENTRY 

into 

6402h 

ENTRY 

into 

6401h 

MAP 

into 

TPDO2 / 

TPDO3 

1801h 

1802h 

TRANSMIT 

TPDO2 / 

TPDO3 

CLOSE 

if 

TRUE 

6423h 

Analog Input 

Global Interrupt Enable

64 


8.8.3 Read Input 16-Bit (6401 h) 

Index 

[Hex] 

6401 

Subindex 

[Dec] 

Description 

Value range 

[Hex] 

Default 

[Dec] 

Data type R/W 


1 Read_Analogue_Input_16_1 8000...7FFF - signed 16 ro 




Assignment of the variable Read_Analogue_Input_16_x (x = 1...4): 

The last digit of the name of the variable is the number of the respective analogue input channel. The 

16 higher-order bits of the A/D-converters are used in two’s complement representation. The values 

of the variables result from the measured values corrected by averaging, offset and gain and if necessary 

addition. 

Calculation of the measured voltage at default setting of the objects: 

In the default-setting of the objects a calculation of the moving average of the last 32 measurement 

values (see object 2403 h, page 77) is made, before object 6401 h is updated. The value range is: 

Value of the variable Read_Analogue_Input_16_x 

Binary (bit 15...0) 

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 

Hexadecimal 

measured voltage 

1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 8000 -10.00 V 

: : : : : : : : : : : : : : : : : : 

1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 FFFF -0.3052 mV 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0000 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0001 +0.3052 mV 

: : : : : : : : : : : : : : : : : : 

0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 7FFF 

Resolution of the measured values: 

1 LSB based on the variable Read_Analogue_Input_16_x (x = 1...4): 

1 LSB VARIABLE => 10 V / 8000 h => 0.3052 mV 

+10.0 V - (1 LSB VARIABLE) 

= 9.99969 V 



Calculation of the measured values: 

The relationship of the objects is described in the figure on page 63. The single steps for the calculation 

of the A/D-value, returned in the objects 6401 h, and 6402 h are described in the following. 

Firmware-internal variables (can not be read by the user): 

AD-value ............measured values of the A/D-converter without correction 

Ana_In_16_og_x ......A/D-value corrected with Offset and Gain 

Ana_In_16_accu_x ....A/D-value resulting from addition of n A/D-values 

x ...................number of the A/D-channel (1, 2, 3, 4) 

Variables accessible via CANopen-objects: 

Gain_x ....................Gain-factor (object 2405 h, see page 79), default: Gain = 1 

Offset_x ...................Offset-value (object 2404 h, see page 78), default: Offset = 0 

n .........................Number of additions (object 2402 h, see page 76), default n = 1 (no additions) 

m .........................Number of the averaged values (object 2403 h, see page 77), 

default: m = 32 (moving average from 32 A/D-values) 

Read_Analogue_Input_16_x . . A/D-converter value, which has been calculated of m A/D-values (which has already 

been corrected by gain, offset and addition) by the moving average method 

(object 6401 h, 6402 h). 

Steps of calculation: 

1. Correction with gain-factor and offset-value: 

2. Addition of the measured values: 

Ana_In_16_og_x = Offset_x + (AD-value Gain_x) 

Ana_In_16_accu_x = Ana_In_16_og_x (1) + Ana_In_16_og_x (2) + ... + Ana_In_16_og_x (n) 

3. Calculation of the moving average: 

Ana_In_16_accu_x (1) + Ana_In_16_accu_x (2) + ... + Ana_In_16_accu_x (m) 

Read_Analogue_Input_16_x = ------------------------------------------------------------------------------------------------n 

m 


66 


8.8.4 Read Input 32-Bit (6402 h) 

Index 

[Hex] 

6402 

Subindex 

[Dec.] 

Description 

Value range 

[Hex] 

Default 

[Dec.] 

Data type R/W 


1 Read_Analogue_Input_32_1 




80000000 ... 

7FFFFFFF 

80000000 ... 

7FFFFFFF 

80000000 ... 

7FFFFFFF 

80000000 ... 

7FFFFFFF 

- signed 32 ro 




Assignment of the variable Read_Analogue_Input_32_x (x = 1...8): 

The last digit of the name of the variable is the number of the respective analogue input channel. 

The 24 data bits of the A/D-converter are corrected by averaging, offset, gain and if necessary addition, 

and then shifted left-aligned in two’s complement representation in the 32-bit variable. 

Calculation of the voltage value: 

Value of the variable Read_Analogue_Input_32_x 

Binary (Bit 31...0) Hexa- Voltage 

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 decimal 

1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 80000000 -10.0 V 

: : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : 

1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 FFFFFFFF -4.6566 nV 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00000000 0 

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 00000001 +4.6566 nV 

: : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : 

0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 7FFFFFFF 

Resolution of the measured values: 

1 LSB based on the variable Read_Analogue_Input_32_x (x = 1...4): 

1 LSB VARIABLE => 10,0 V / 8000 0000 h => 4.6566 nV 

Note: 24-bit resolution of the A/D-converter: 

1 LSB AD-CONVERTER => 10 V / 80 0000 h => 1.19209 V 

+10.0 V 

-(1 LSB VARIABLE) 

The calculation of the measured value corrected by offset, gain, averaging and if necessary addition is 

already described on page 65. 


8.8.5 Analogue Input Interrupt Trigger (6421 h) 

Index 

[Hex] 

6421 

Subindex 

[Dec.] 

Description 

Value range 

[Hex] 


Default 

[Dec.] 

Data type R/W 

0 Number_of analogue_inputs 4 4 unsigned 8 ro 

1 Analogue_Input_IRQ_Trigger_1 00, 04 0 unsigned 8 rw 




This object defines, when an interrupt is triggered. 

Assignment of the variable Analogue_Input_IRQ_Trigger_x (x = 1...4): 

Bit: 7 6 5 4 3 2 1 0 

Meaning: 

Value range: 

reserved for future 

applications 

not supported 

Value changed more than 

Delta (6426 h) 

not supported 

Analogue_Input_IRQ_Trigger_x = 00 => no interrupt trigger 

Analogue_Input_IRQ_Trigger_x = 04 => interrupt trigger, if the change of the A/D-value is higher 

than the value (Delta) defined in object 6426 h. 

Note: Changes of the voltage are evaluated in positive and negative direction, although 

the value in object 6426 h is always entered as a positive value. 



8.8.6 Global Interrupt Enable (6423 h) 

Index 

[Hex] 

68 

Subindex 

[Dec.] 

Description 

Value range 

[Hex] 

Default 

[Dec.] 

Data 

type 

6423 0 Analogue_Input_Global_Interrupt_Enable true, false false boolean rw 

With the object Analogue Input Global Interrupt Enable the interrupt function of the module is enabled 

or disabled. The values in object 6421 h and 6426 h remain unaffected of this. 

In the default-setting the interrupts are disabled. 

Value range: 

Analogue_Input_Global_Interrupt_Enable = true => Global Interrupt enabled 

Analogue_Input_Global_Interrupt_Enable = false => Global Interrupt disabled (default setting) 

R/W 


8.8.7 Analogue Input Interrupt Delta (6426 h) 

Index 

[Hex] 

6426 

Subindex 

[Dec.] 

Description 

Value range 

[Hex] 


Default 

[Dec.] 

Data type R/W 

0 Number_of_Analogue_Inputs 4 4 unsigned8 ro 

1 Analogue_Input_IRQ_Delta_1 0...FFFFFFFF 0 unsigned32 rw 




In this object the difference value of the analogue input voltage (Delta), which can be evaluated for 

triggering the interrupt, is defined. Via object 6421 h the type of evaluation is selected. The interrupt 

function is enabled via object 6423 h. 

Positive and negative changes of the voltage are evaluated, although the value contained in object 6426 h 

is always a positive value. 

Value range: 

Value of the variable 

Analogue_Input_IRQ_Delta_x Change of voltage 

[Hex] 

0 0 

: : 

FFFF FFFF +20.00 V 

Note: For the voltage difference calculation the objects 6401 h, or 6402 h are evaluated, 

which are calculated from gain, offset, Accu_N (object 2402 h) and Average_N 

(object 2403 h). 

It can be expedient, to use the lower-order bits of the 32-bit variable 

Analogue_Input_IRQ_Delta_x, because resolutions higher than 14 bit can be 

achieved by the addition of the measured values. However, the technical limits of 

the hardware have to be taken into account at this. 

Note : If only the 16 higher-order bits of the A/D-converter values are used (object 6401 h 

mapped), then only the 16 higher-order bits of the 32-bit value of the object 6426 h 

are evaluated! 


Manufacturer Specific Profile Area 

8.9 Manufacturer Specific Profile Area 

8.9.1 Overview of the Manufacturer Specifc Objects 2310 h ... 2405 h 

70 

Index 

[HEX] 

Name Data Type 

2310 Sampling Rate Set Point unsigned16 

2311 Chopping Mode unsigned8 

2312 Sampling Rate Actual Value unsigned16 

2401 Channel Enabled unsigned8 

2402 Accu_N unsigned8 

2403 Average_N unsigned8 

2404 Calibration Offset Value signed32 

2405 Calibration Gain Value signed 6 


8.9.2 Sample Rate Set Point (2310 h) 

Index 

[Hex] 

2310 

Subindex 

[Dec.] 

Description 


Value range 

[Hex] 

Default 

[Dec.] 

Data type R/W 

0 Number of entries 1 1 unsigned 8 ro 

1 Sample_Rate_Set_Point 82...14FC 

*) 4994 5 ms; divided by 2, because of two channels (Default-PDO-Mapping) = 2.5 ms 

4994 => 

2.5 ms *) 


This object transfers the setpoint of the sample rate. The setpoint is evaluated for the setting of the 

sample rate of all four A/D-channels. The smaller the sampling rate is chosen, the higher is the 

resolution of the measured values reached. 

The sample rate a channel reaches depends among the setpoint specification essentially on further 

parameters: 

Sample_Rate_per_Channel = f (PDO-Mapping, Chop Mode) 

If e.g. the A/D-data of two A/D-channels are transferred (default setting) on one TxPDO, so the sample 

rate is halved for each of these channels. If a different chopping-mode is chosen for two channels, the 

resulting sample rates will be different. The connections between sample rate and chopping-mode can 

be taken from the data sheet of the A/D-converter AD7732 (e.g. under www.analog.com). 

To check the resulting actual value, it can be read via object 2311 h. 

Assignment of the variable Sample_Rate_Set_Point: 

The setpoint of the sample rate can be set in 0.5 s steps: 


Sample_Rate_Set_Point _x 

[Hex] 

Setpoint of the sample rate 

(at 2 A/D-channels per TxPDO) 

82 65 s 

83 65.5 s 

: : 

1382 2500 s (Default) 

: : 

14FC 2686 s 

Note: The table above shows the technically reasonable limit values. 


72 


Limit values of the sample rate: 

Chopping 

mode 

Sample rate per 

channel 

Minimum value Maximum value 

Entry in object 2310 (at 

default-PDO-mapping) 

[DEC] 

Sample rate per 

channel 

Entry in object 2310 (at 

default-PDO-mapping) 

[DEC] 

inactive 65 s 130 1357 s 2714 

active 82 s 164 2686 s 5372 


8.9.3 Chopping Mode (2311 h) 

Index 

[Hex] 

2311 

Subindex 

[Dec.] 

Description 


Value range 

[Hex] 

Default 

[Dec.] 

Data type R/W 


1 Chop_Mode_1 false, true true boolean rw 




If the chopping mode is activated for the A/D-converter, the offset of the measured value is reduced. 

But the chopping mode reduces also the conversion rate of the A/D-converter. 

Details about the chopping mode can be taken from the data sheet of the A/D-converter AD7732 (e.g. 

under www.analog.com). 

Value range: 

Chop_Mode_x = false => no chopping mode 

Chop_Mode_x = true => chopping mode enabled 


74 


8.9.4 Sample Rate Actual Value (2312 h) 

Index 

[Hex] 

2312 

Subindex 

[Dec.] 

Description 

Value range 

[Hex] 

Default 

[Dec.] 

Data type R/W 


1 Sample_Rate_Actual _1 0...FFFF - unsigned 16 ro 




Via this object the actual value of the sample rate preset can be read. 

(refer to notes on sample rate setting on page 71) 

Assignment of the variable Sample_Rate_Actual_x (x = 1...4): 

The value of the variable read multiplied by 0.5 equals the sample rate [s] in the default setting of the 

objects: 


Sample_Rate_Actual _x 

[Hex] 

Actual value of the 

sample rate 

0 0 s 

1 0.5 s 

: : 

FFFF 32767.5 s 


8.9.5 Channel Enabled (2401 h) 

Index 

[Hex] 

2401 

Subindex 

[Dec.] 

Description 


Value range 

[Hex] 

Default 

[Dec.] 

Data type R/W 


1 Channel_Enabled_1 false, true - boolean ro 




Module in Operational state: 

Depending on whether the channel has been assigned to a TxPDO in the PDO mapping, the firmware 

decides if an A/D-channel is converted or not. Channels which are not mapped, are not converted 

consequently. The data of the objects 6401 h and 6402 h are not updated if no new A/D-conversions are 

made. 

Module in Pre-operational state: 

The objects can be read by means of SDO-transfers. 

If not all channels are converted, the sampling rate of the remaining channels increases. 

The object Channel Enabled returns, whether an A/D-channel is converted or not. 

Value range: 

Channel_Enabled_x = false => A/D-converter channel is not “mapped” 

Channel_Enabled_x = true => A/D-converter channel is “mapped” 


8.9.6 Accu N (2402 h) 

Index 

[Hex] 

76 

2402 


Subindex 

[Dec] 

Description 

Value range 

[Hex] 

Default 

[Dec] 

Data type R/W 


1 Accu_Count_1 0...8 0 unsigned 8 rw 




This object defines, how many analogue values are to be added up. 

By the appropriate pre-processing of the output value of the A/D-converter the result of this addition 

is always a 16-bit value in the two’s complement representation. 

The number of additions is calculated as: 

number of additions = n n = 2 (Accu_Count_x) 

Up to 256 values can be added up. 

Advantage: Filter with decimation, improvement of the resolution, limitation of the data rate. 

Disadvantage: The measured value is not updated until the addition is finished. 


8.9.7 Average N (2403 h) 

Index 

[Hex] 

2403 

Subindex 

[Dec.] 

Description 


Value range 

[Hex] 

Default 

[Dec.] 

Data type R/W 


1 Average_Count_1 0...5 5 unsigned 8 rw 




This object defines, how many buffered analogue values are used to calculate the moving average. With 

a read access on the analogue values the average of the last 2 (Average_Count_x) samples is read. 

After every conversion a new average is available, because the A/D-values are buffered in a ring buffer. 

The number of the averaged values is calculated as: 

number of averaged values = m m = 2 (Average_Count_x) 

It can be averaged from the last 1, 2, 4, 8, 16 or 32 (default) values. 

Note: For input signals with a frequency

78 


8.9.8 Calibration Offset Value (2404 h) 

Index 

[Hex] 

2404 

Subindex 

[Dec.] 

Description 

Value range 

[Hex] 

Default 

[Hex] 

Data type R/W 

0 Number of entries 4 4 unsigned8 ro 

1 Calibration_Offset_1 




80000000 ... 

7FFFFF00 

80000000 ... 

7FFFFF00 

80000000 ... 

7FFFFF00 

80000000 ... 

7FFFFF00 

0 signed 32 rw 




In this object an offset value for the correction of the A/D-value can be specified. The offset affects the 

objects 6401 h and 6402 h. Because the calculation with the offset is done before the addition or averaging 

of the measured values, it does only make sense to evaluate the 24 higher-order bits. 

Value range: 


Calibration_Offset_x 

Voltage offset 

[Hex] 

8000 0000 -10.0 V 

: : 

0 0 

: : 

7FFF FF00 +10,0 V - (1 LSBAD-CONVERTER) => 9.99999 V 

Note: If only the 16 higher-order bits of the A/D-converter values are used (object 

6401 h), then only the 16 higher-order bits of the 32-bit value of the object 2404 h 

are evaluated! 

1 LSB based on the maximum A/D-converter resolution: 

1 LSB AD-CONVERTER => 10 V / 80 0000 h => 1.19209 V 


8.9.9 Calibration Gain Value (2405 h) 

Index 

[Hex] 

2405 

Subindex 

[Dec.] 

Description 


Value range 

[Hex] 

Default 

[Hex] 

Data type R/W 

0 Number of entries 4 4 unsigned8 ro 

1 Calibration_Gain_1 8000...7FFF 0 signed 16 rw 




With this object the gain of the A/D-converter channels can be corrected. The gain value, with which 

the measured A/D-converter value is multiplied, is calculated as: 

with x= 1, 2, 3, 4 

Calibration_Gain_x 

Gain_x = 1+ --------------------------- 

2 18 

The resulting value range for the gain factor is: 0.875 ... 1.125 


Firmware-Update via DS-302-Objects 

8.10 Firmware-Update via DS-302-Objects (1F50 h...1F52 h) 

The objects described below are used for program updates via the object dictionary. 

80 

 

Attention: 

The firmware update must be carried out only by qualified personnel! 

Faulty program update can result in deleting of the memory and loss of the firmware. 

The module then can not be operated further! 

In normal DS 301 mode the objects 1F50 h and 1F52 h can not be accessed. 

The object 1F51 h is available in normal DS 301-mode, too. 

For further information about the objects and the firmware-update please refer to the manual ‘Firmware- 

Update via DS 302 Objects’. 

Index 

[Hex] 

Subindex 

Description Data type R/W 

1F50 0 Boot-Loader: Firmware download domain rw 

1F51 1 Boot-Loader: FLASH command unsigned 8 rw 

1F52 0,1,2 Boot-Loader: Firmware date unsigned 32 ro 


8.10.1 Download Control via Object 1F51 h 

i 

INDEX 1F51 h 

Name Program Control 

Data type unsigned 8 

Access type rw 

Value range 0...FE h 

Default value 0 

Firmware-Update via DS-302-Objects 

Note: 

The value range of this objects in the implementing of the CAN-CBX-AI420 differs 

from the value range specified in the DS 302. 

For further information about object 1F51 h and the firmware-update please refer to the 

manual ‘Firmware Update via DS 302 Objects’

CAN-CBX-AI420 - esd electronics, Inc.

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