User Manual for ICP DAS models including: CAN-2019C, CAN-2019CCAN-2019C CANopen Slave DeviceCAN-2019C CANopen Slave Device, CAN-2019C, CANopen Slave Device-S CR, Slave Device-S CR
CAN-2019C/S CR | ICPDAS-EUROPE
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DocumentDocumentCANopen Slave Device CAN-2019C Application User's Manual Warranty All products manufactured by ICP DAS are under warranty regarding defective materials for a period of one year from the date of delivery to the original purchaser. Warning ICP DAS assumes no liability for damages resulting from the use of this product. ICP DAS reserves the right to change this manual at any time without notice. The information furnished by ICP DAS is believed to be accurate and reliable. However, no responsibility is assumed by ICP DAS for its use, or for any infringements of patents or other rights of third parties resulting from its use. Copyright Copyright @2014 is reserved by ICP DAS. Trademark The names used for identification only may be registered trademarks of their respective companies. CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 1 Table of Contents 1. Introduction ..........................................................................................................3 1.1 Overview ........................................................................................... 3 1.2 Features ............................................................................................ 5 1.3 Hardware Specifications .................................................................. 5 1.4 Application........................................................................................ 7 2. Hardware...............................................................................................................8 2.1 Structure............................................................................................ 8 2.2 Node ID & Baud Rate Rotary Switch ............................................... 9 2.3 LED Description.............................................................................. 10 2.4 PIN Assignment .............................................................................. 11 2.5 Wire Connection ............................................................................. 12 3. Application.......................................................................................................... 13 3.1 Object Dictionary............................................................................ 13 3.2 Store and Restore Object............................................................... 19 3.3 Application Object.......................................................................... 20 3.4 Default PDO Mapping ..................................................................... 23 3.5 EMCY Communication ................................................................... 24 Appendix: Type Code Definition ............................................................................. 25 CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 2 1. Introduction 1.1 Overview CANopen is one kind of the network protocols based on CAN bus and mainly used for embedded system, such as industrial machine control, vehicle control system, factory automation, medical equipments control, remote data acquisition, environment monitoring and package machines control. The CAN-2019C is a CANopen slave which follows the CiA 301 version 4.02 and CiA 401 version 2.1. This module provides 6 analog input channels, 2 analog output channels, 2 digital input channels and 1 digital output channel. Users can obtain the those data or configure the CAN-2019C via the standard CANopen protocol. In order to be fully compatible with other CANopen devices, the CAN-2019C has passed the validation of the CiA CANopen Conformance Test tool. Therefore, it is very easy to integrate the CAN-2019C with the standard CANopen master by applying the EDS file. Combining with the CANopen masters of ICP DAS, you can quickly build a CANopen network to approach your requirements. CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 3 Figure 1-1 CAN-2019C CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 4 1.2 Features Standard CANopen general I/O slave devices. Provide 10 differential thermocouple input channels Support NMT, PDO, SDO, EMCY, SYNC, Guarding, and Heartbeat protocol. Pass the validation of the CANopen Conformance Test Provide EDS file for the CANopen master interfaces 1.3 Hardware Specifications CANopen Interface Connector 5-pin screwed terminal block (CAN_GND, CAN_L, CAN_SHLD, CAN_H, CAN_V+) Baud Rate (bps) 10 k, 20 k, 50 k, 125 k, 250 k, 500 k, 800 k, 1 M, selected by rotary switch Terminator Resistor DIP switch for the 120 terminator resistor Protocol CANopen CiA 301 ver4.02, CiA 401 ver2.1 Node ID 1~99 selected by rotary switch NMT Slave Error Control Node Guarding protocol / Heartbeat Producer SDOs 1 server, 0 client PDOs 10 RxPDO, 10 TxPDO (Supports dynamic PDO) PDO Modes Event-triggered, remotely-requested, synchronous (cyclic), synchronous (acyclic) Emergency Message Yes EDS file Yes Analog Input Channels Input Type Sampling Rate 10 (Differential) Voltage : ±15 mV, ±50 mV, ±100 mV, ±500 mV, ±1 V, ±2.5 V, ±5 V, ±10 V Current : ±20 mA (External resistor is required) Thermocouple : J, K, T, E, R, S, B, N, C 10 Hz (Total) Zero Drift +/-20 V/°C Span Drift +/-25 ppm/ °C Common Mode Rejection 86 dB Min. Normal Mode Rejection 100 dB Resolution 16-bit CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 5 Input Impedance >400 k Individual channel configuration Yes Open Thermocouple Detection Yes Over voltage protection 240 Vrms ESD Protection +/-4kV, Contact for each terminal. Intra-module Isolation, Field to Logic 3000 VDC Hardware ESD Protection LED Contact 4 kV class A CANopen Status Power 3 LEDs to PWR, RUN and ERR Power Supply Unregulated +10 ~ +30 VDC Power Consumption Mechanism 1.5 W Installation DIN-Rail Dimensions Environment 33 mm x 99 mm x 78 mm ( W x L x H ) Operating Temp. Storage Temp. -25 ~ 75 -30 ~ 80 Humidity 10 ~ 90% RH, non-condensing CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 6 1.4 Application Measuring Temperature Medical technology Utility vehicles CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 7 2. Hardware 2.1 Structure (Top View) (Bottom View) CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 8 2.2 Node ID & Baud Rate Rotary Switch The rotary switches for node ID configure the node ID of the CAN-2019C module. These two switches are for the tens digit and the units digit of node ID. The node ID value of this demo picture is 32. The rotary switch for baud rate handles the CAN baud rate of the CAN-2019C module. The relationship between the rotary switch value and the practical baud rate is presented in the following table. Rotary Switch Value Baud rate (k BPS) 0 10 1 20 2 50 3 125 4 250 5 500 6 800 7 1000 Baud rate and rotary switch CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 9 2.3 LED Description Power LED The CAN-2019C needs a 10V~30V power supply. Under a normal DC connection, a good power supply and a correct voltage selection, as the unit it turned on, the LED will light up in red. Run LED The Run LED indicates the CANopen operation state. The description of the LED state is shown below. About the details, please refer to the section 2.3.1 of the CAN-2000C user manual. LED Signal No Light Single Flash Blinking State Non-power Stopped Pre-operation Continuing Light Operation Description Power Supply is not ready The device is in Stopped state The device is in the preoperation state The device is in the operational state Error LED The Error LED indicates the CANopen error state. The description of the LED state is shown below. About the details, please refer to the section 2.3.2 of the CAN-2000C user manual. LED Signal No Light State Non error Single Flash Error Warning Blinking Guarding fail Continuing Light Bus Off Description Device is in working condition At least one error of the CAN controller has occurred Guard event happened The CAN controller is bus off Terminal Resistor LED When the switch of the 120 terminal resistor is turned on, the terminal resistor LED will be lightening. CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 10 2.4 PIN Assignment CAN-2019C + DB-1820(transformation connector) CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 11 2.5 Wire Connection CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 12 3. Application 3.1 Object Dictionary General Communication Entries Idx Sidx Description 1000h 0h device type 1001h 0h error register 1003h 0h largest sub-index supported for "predefine error field" 1h actual error (the newest one) ... ... 5h actual error (the oldest one) 1005h 0h COB-ID of Sync message 1008h 0h manufacturer device name 1009h 0h manufacturer hardware version 100Ah 0h manufacturer software version 100Ch 0h guard time 100Dh 0h life time factor 1010h 0h largest subindex supported 1010h 1h save all parameters 1011h 0h largest subindex supported 1011h 1h restore all default parameters 1014h 0h COB-ID of EMCY 1015h 0h Inhibit time of EMCY 1017h 0h Heartbeat time 1018h 0h largest sub-index supported for "identity object" 1h vender ID 2h Produce Code 3h Revision_number 4h Serial_number Type Attr UNSIGNED 32 RO UNSIGNED 8 RO UNSIGNED 8 RO Default ----0h UNSIGNED 32 RO ... ... UNSIGNED 32 RO UNSIGNED 32 RW VISIBLE_STRING RO VISIBLE_STRING RO VISIBLE_STRING RO UNSIGNED 16 RW UNSIGNED 8 RW UNSIGNED 8 RO UNSIGNED 32 RW UNSIGNED 8 RO UNSIGNED 32 RW UNSIGNED 32 RW UNSIGNED 16 RW UNSIGNED 16 RW UNSIGNED 8 RO ------80h ----0 0 1 0 1 0 80h+Node-ID 0 0 4 UNSIGNED 32 UNSIGNED 32 UNSIGNED 32 UNSIGNED 32 RO 0x0000013C RO 0x00002019 RO 0x00030001 RO 0x6cd3683c CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 13 SDO Communication Entries Idx Sidx Description 1200h 0h largest sub-index supported for "server SDO parameter" 1h COB-ID form client to server (RxSDO) 2h COB-ID form server to client (TxSDO) Type Attr UNSIGNED 8 RO Default 2 UNSIGNED 32 RO 600h+Node-ID UNSIGNED 32 RO 580h+Node-ID RxPDO Communication Entries Idx Sidx Description 1400h 0h Number of entries 1h COB-ID used by RxPDO 2h Transmission type 1401h 0h Number of entries 1h COB-ID used by RxPDO 2h Transmission type 1402h 0h Number of entries" 1h COB-ID used by RxPDO 2h Transmission type 1403h 0h Number of entries 1h COB-ID used by RxPDO 2h Transmission type 1404h 0h Number of entries 1h COB-ID used by RxPDO 2h Transmission type ... ...... 1409h 0h Number of entries 1h COB-ID used by RxPDO 2h Transmission type Type Attr UNSIGNED 8 RO UNSIGNED 32 RW UNSIGNED 8 RW UNSIGNED 8 RO UNSIGNED 32 RW UNSIGNED 8 RW UNSIGNED 8 RO UNSIGNED 32 RW UNSIGNED 8 RW UNSIGNED 8 RO UNSIGNED 32 RW UNSIGNED 8 RW UNSIGNED 8 RO UNSIGNED 32 RW UNSIGNED 8 RW ... ... UNSIGNED 8 RO UNSIGNED 32 RW UNSIGNED 8 RW Default 2 200h+Node-ID FFh 2 300h+Node-ID FFh 2 400h+Node-ID FFh 2 500h+Node-ID FFh 2 C0000000h --... 2 C0000000h --- RxPDO Mapping Communication Entries Idx Sidx Description Type Attr 1600h 0h Number of entries UNSIGNED 8 RW 1601h 0h Number of entries UNSIGNED 8 RW 1602h 0h Number of entries UNSIGNED 8 RW ... ...... ... ... 1609h 0h Number of entries UNSIGNED 8 RW Default 0 0 0 ... 0 CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 14 TxPDO Communication Entries Idx Sidx Description 1800h 0h Number of entries 1h COB-ID used by TxPDO 2h Transmission type 3h Inhibit time 4h Reversed 5h Event timer 1801h 0h Number of entries 1h COB-ID used by TxPDO 2h Transmission type 3h Inhibit time 4h Reversed 5h Event timer 1802h 0h Number of entries 1h COB-ID used by TxPDO 2h Transmission type 3h Inhibit time 4h Reversed 5h Event timer 1803h 0h Number of entries 1h COB-ID used by TxPDO 2h Transmission type 3h Inhibit time 4h Reversed 5h Event timer 1804h 0h Number of entries 1h COB-ID used by TxPDO 2h Transmission type 3h Inhibit time 4h Reversed 5h Event timer ... ...... 1809h 0h Number of entries 1h COB-ID used by TxPDO 2h Transmission type 3h Inhibit time 4h Reversed 5h Event timer Type Attr UNSIGNED 8 RO UNSIGNED 32 RW UNSIGNED 8 RW UNSIGNED 16 RW --- --- UNSIGNED 16 RW UNSIGNED 8 RO UNSIGNED 32 RW UNSIGNED 8 RW UNSIGNED 16 RW --- --- UNSIGNED 16 RW UNSIGNED 8 RO UNSIGNED 32 RW UNSIGNED 8 RW UNSIGNED 16 RW --- --- UNSIGNED 16 RW UNSIGNED 8 RO UNSIGNED 32 RW UNSIGNED 8 RW UNSIGNED 16 RW --- --- UNSIGNED 16 RW UNSIGNED 8 RO UNSIGNED 32 RW UNSIGNED 8 RW UNSIGNED 16 RW --- --- UNSIGNED 16 RW ... ... UNSIGNED 8 RO UNSIGNED 32 RW UNSIGNED 8 RW UNSIGNED 16 RW ... ... UNSIGNED 16 RW Default 5 180h+Node-ID FFh 0 --0 5 280h+Node-ID FFh 0 --0 5 380h+Node-ID FFh 0 --0 5 480h+Node-ID FFh 0 --0 5 80000000h FFh 0 --0 ... 5 80000000h FFh 0 ... 0 CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 15 TxPDO Mapping Communication Entries Idx Sidx Description Type Attr 1A00h 0h Number of entries UNSIGNED 8 RO 1A01h 0h Number of entries UNSIGNED 8 RO 1h Read Analog input 1h UNSIGNED 16 RW 2h Read Analog input 2h UNSIGNED 16 RW 3h Read Analog input 3h UNSIGNED 16 RW 4h Read Analog input 4h UNSIGNED 16 RW 1A02h 0h Number of entries UNSIGNED 8 RO 1h Read Analog input 5h UNSIGNED 16 RW 2h Read Analog input 6h UNSIGNED 16 RW 3h Read Analog input 7h UNSIGNED 16 RW 4h Read Analog input 8h UNSIGNED 16 RW 1A03h 0h Number of entries UNSIGNED 8 RO 1h Read Analog input 9h UNSIGNED 16 RW 2h Read Analog input Ah UNSIGNED 16 RW 1A04h 0h Number of entries UNSIGNED 8 RO 1A05h 0h Number of entries UNSIGNED 8 RO ... .. ... ... ... 1A09h 0h Number of entries UNSIGNED 8 RO Default 0 4 6401 0110h 6401 0210h 6401 0310h 6401 0410h 4 6401 0510h 6401 0610h 6401 0710h 6401 0810h 2 6401 0910h 6401 0A10h 0 0 ... 0 Analog Input range Entry Idx Sidx Description 2004h 0h Number of entries 1h Input range of AI channel 0 ... ... 6h Input range of AI channel 5 7h Input range of AI channel 6 Ah Input range of AI channel 9 Type Attr UNSIGNED 8 RO UNSIGNED 8 RW ... ... UNSIGNED 8 RW UNSIGNED 8 RW UNSIGNED 8 RW Default 10 0x0E ... 0x0E 0x0E 0x0E CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 16 Cold Junction Compensation (CJC) Function Idx 2021h Sidx 0h 1h 2h 3h Description Number of entries CJC Enable/Disable CJC Value User defined CJC Offset Value Type UNSIGNED 8 Boolean INTEGER 16 INTEGER 16 Attr Default RO 3 RW 0 RO --RW 0 Object 2021h Sidx Range 1h False: Disable CJC True: Enable CJC 2h Appendix 3h Appendix Parameter Description Enable or disable CJC function (0: false, other value: true) CJC temperature value (Valid when CJC Enabled) User-defined CJC temperature value Default 1 Measured by CJC element 0 Note: Users can apply the CJC temperature value from the CJC element or the constant value configured by the users. If the CJC function is on, the CJC temperature value from the CJC element will be obtained in the object with the index 2021h and the subindex 2h. In this case the value from the object with index 2021h and subindex 3h is useless. If the CJC function is off, the users can define a CJC constant value in the object with the index 2021h and subindex 3h. No matter the practical applied CJC temperature value is from the subindex 2h or 3h, the CJC value will be added into the practical AI values when the users read these AI data. About the CJC value scaling, please refer to the following table. Input Range -30 to +100 () Data Format Max Value Min Value Engineer Unit +100 -30 2's Complement HEX 03E8h FED4h CJC (cold junction compensation) Scaling CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 17 Analog Input DeviceEntries Idx Sidx Description 6401h 0h Number of entries 1h Read Analog Input channel 0 ... ... Ah Read Analog Input channel 9 Type Attr UNSIGNED 8 RO UNSIGNED 16 RO ... ... UNSIGNED 16 RO Default 10 ... - Analog Input Interrupt Upper Limit Integer Idx Sidx Description Type Attr 6424h 0h Number of entries UNSIGNED 8 RO 1h AI upper limit of channel 0 UNSIGNED 32 RW ... ... ... ... Ah AI upper limit of channel 9 UNSIGNED 32 RW Note: Please refer to "Appendix" for AI upper limit range Analog Input Interrupt Lower Limit Interger Idx Sidx Description Type Attr 6425h 0h Number of entries UNSIGNED 8 RO 1h AI lower limit of channel 0 UNSIGNED 32 RW ... ... ... ... Ah AI lower limit of channel 9 UNSIGNED 32 RW Note: Please refer to "Appendix" for AI lower limit range Default 10 --... --- Default 10 --... --- Analog Input Interrupt Delta Unsigned Idx Sidx Description Type Attr Default 6426h 0h Number of entries UNSIGNED 8 RO 10 1h AI delta value of channel 0 UNSIGNED 32 RW --- ... ... ... ... ... Ah AI delta value of channel 9 UNSIGNED 32 RW --- Note: These values are used to define the acceptable AI change ranges for each AI channels and may have different range for the physical value because of the settings of the type code. Please refer to the appendix or the type code definition. CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 18 3.2 Store and Restore Object The user can write the value 65766173h to object with index 1010h and subindex 1 to save the application setting, or write the value 64616F6Ch to the object with index 1011h and subindex 1 and reboot the module to load the factory default. The following table lists the relative objects which will be stored or restored after writing these two objects. The factory default for these objects is also shown below: Index Subindex Description 2004h 1~A Analog Input type code for channel 0 ~ 9 2100h 1 Set Module to Operation Mode when powering on 6421h 1~A AI interrupt trigger selections for channel 0~9 6423h 1 AI global interrupt enable 6424h 1~A AI interrupt upper limit for channel 0~9 6425h 1~A AI interrupt lower limit for channel 0~9 6426h 1~A AI interrupt delta values for channel 0~9 1400h 1~2 RxPDO1 parameter ... ... ... 1409h 1~2 RxPDO10 parameter 1600h 0~8 RxPDO1 mapping information ... ... ... 1609h 0~8 RxPDO10 mapping information 1800h 1~5 TxPDO1 parameter ... ... ... 1809h 1~5 TxPDO10 parameter 1A00h 0~8 TxPDO1 mapping information ... ... ... 1A09h 0~8 TxPDO10 mapping information Factory Default 08h 0 07h 0 ----... --... --... --... -- CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 19 3.3 Application Object Type code of CAN-2019C module (0x2004) The user can read the object with index 6401h and subindex 1~10 to get the AI value of the channel 0~9, and the range for each AI type code are listed in Appendix. If the user wants to change the AI input type, write the type code to the object with index 2004h and subindex 1~10. For example, if the node ID of CAN-2019C is 1, the following command would be used: 11-bit COB-ID (bit) Func Code Node ID RTR Data Length 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1000000001 0 8 2F 04 20 01 09 00 00 00 SDO client SDO server (CAN-2019C) 11-bit COB-ID (bit) Func Code Node ID RTR Data Length 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0110000001 0 8 60 04 20 01 00 00 00 00 SDO client SDO server (CAN-2019C) Analogue Input module (0x6401) Writing object with index 2004h and subindex 1 with Ah means to change the type code of the AI channel 0 with 9h. 11-bit COB-ID (bit) Func Code Node ID RTR Data Length 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1000000001 0 8 40 01 64 01 00 00 00 00 SDO client SDO server (CAN-2019C) 11-bit COB-ID (bit) Func Code Node ID RTR Data Length 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 1 0 0123 4 567 1 0110000001 0 8 4B 01 64 01 FF 3F 00 00 SDO client SDO server (CAN-2019C) CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 20 Reading object with index 6401h and subindex 1 means to get the value of the AI channel 0. According to the type code 9h set before, the replied value of the AI channel 0 is 3FFFh. Set Module to Operation Mode when powering on (0x2100) This object 0x2100 with subindex 1 defines if the module will enter operation mode automatically when powering on. For example, if the node id of CAN-2019C is 1, the commands are as below: 11-bit COB-ID (bit) Func Code Node ID RTR Data Length 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1000000001 0 8 2F 00 21 01 01 00 00 00 SDO client SDO server (CAN-2019C) 11-bit COB-ID (bit) Func Code Node ID RTR Data Length 10 9 8 7 6 5 4 3 2 1 0 0 8-byte Data (byte) 1 2 3 4567 1 1000000001 0 8 60 00 21 01 -- -- -- -- SDO client SDO server (CAN-2019C) Write object index 0x2100 with subindex 1 to 0x01 then store the setting as below. Module will enter operation mode when powering on. CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 21 11-bit COB-ID (bit) Func Code Node ID RTR Data Length 8-byte Data (byte) 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1000000001 0 8 23 10 10 01 73 61 76 65 SDO client SDO server (CAN-2019C) 11-bit COB-ID (bit) Func Code Node ID RTR Data Length 10 9 8 7 6 5 4 3 2 1 0 0 8-byte Data (byte) 1 2 3 4567 1 1000000001 0 8 60 10 10 01 -- -- -- -- SDO client SDO server (CAN-2019C) CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 22 3.4 Default PDO Mapping RxPDO mapping list: ID 200h+x 300h+x 400h+x 500h+x Len D0 D1 D2 D3 D4 D5 D6 D7 0 Reserved 0 Reserved 0 Reserved 0 Reserved TxPDO mapping list: ID Led 180h+x 0 280h+x 8 380h+x 8 480h+x 4 D0 D1 Reserved AI ch0 AI ch4 AI ch8 D2 D3 AI ch1 AI ch5 AI ch9 D4 D5 AI ch2 AI ch6 -- D6 D7 AI ch3 AI ch7 -- CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 23 3.5 EMCY Communication The data format of the emergency object data follows the structure below. Byte 0 1 2 3 4 5 6 7 Content Emergency Error code Error register Manufacturer specific Error Field Each bit on the error register is defined as follows. Bit Meaning 0 Generic error 1 Current 2 Voltage 3 Temperature 4 Communication error (Overrun, error state) 5 Device profile specific 6 Reserved (Always 0) 7 Manufacturer specific The Emergency error codes and the error register are specified in the following table. Emergency Error Manufacture Specific Error Field Description Error Code Register High Low First Last Four Bytes Byte Byte Byte 00 00 00 00 00 00 00 00 Error Reset or No Error 10 00 81 01 00 00 00 00 CAN controller Error Occur 50 00 81 02 00 00 00 00 EEPROM Access Error 81 01 11 04 00 00 00 00 Soft Rx Buffer Overrun 81 01 11 05 00 00 00 00 Soft Tx Buffer Overrun 81 01 11 06 00 00 00 00 CAN controller Overrun 81 30 11 07 00 00 00 00 Lift Guarding Fail 81 40 11 08 00 00 00 00 Recover From Bus Off 82 10 11 09 00 00 00 00 PDO Data Length Error FF 00 80 0A 00 00 00 00 Request To Reset Node or Communication FF 00 2E 0B 00 00 00 00 Upper/Lower limit alarm for Upper limit Lower limit Each channel alarm alarm CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 24 Appendix: Type Code Definition Analog Input Type code Definition for CAN-2019C Type Input Type Data Format Code 00h -15 to +15mV Engineer Unit 2's complement HEX 01h -50 to +50mV Engineer Unit 2's complement HEX 02h -100 to +100mV Engineer Unit 2's complement HEX 03h -500 to +500mV Engineer Unit 2's complement HEX 04h -1 to +1V Engineer Unit 2's complement HEX 05h -2.5 to +2.5V Engineer Unit 2's complement HEX 06h -20 to +20mA Engineer Unit (with 125 resistor) 2's complement HEX 08h -10 to +10V Engineer Unit 2's complement HEX 09h -5 to +5V Engineer Unit 2's complement HEX 0Eh J Type () Engineer Unit (Default) 0Fh K Type () 2's complement HEX Engineer Unit 2's complement HEX 10h T Type () Engineer Unit 2's complement HEX 11h E Type () Engineer Unit 2's complement HEX 12h R Type () Engineer Unit 2's complement HEX 13h S Type () Engineer Unit 2's complement HEX 14h B Type () Engineer Unit 2's complement HEX 15h N Type () Engineer Unit 2's complement HEX Max Value +15 7FFFh +50 7FFFh +100 7FFFh +500 7FFFh +1 7FFFh +2.5 7FFFh +20 7FFFh +10 7FFFh +5 7FFFh +1200 7FFFh +1372 7FFFh +400 7FFFh +1000 7FFFh +1765 7FFFh +1765 7FFFh +1820 7FFFh +1300 7FFFh Min Value -15 8000h -50 8000h -100 8000h -500 8000h -1 8000h -2.5 8000h -20 8000h -10 8000h -5 8000h -210 E99Ah -270 E6D0h -270 A99Ah -270 DD71h -50 FC60h -50 FC60h 0 0000h -270 E56Bh CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 25 16h C Type () Engineer Unit +2320 0 2's complement HEX 7FFFh 0000h CJC (cold junction compensation) Definition for CAN-2019C Input Range Data Format Max Value Min Value -30 to +100 () Engineer Unit 2's Complement HEX +100 03E8h -30 FED4h CAN-2019C User's Manual (Version 1.20, Dec/2016) ------------- 26PDFium PDFium