Pixsys ELECTRONIC MCM260X CANopen Expansion Module User Manual

Contents hide

1 Pixsys ELECTRONIC MCM260X CANopen Expansion Module

2 Specifications

3 Safety Guidelines

4 Documents / Resources

4.1 References

Pixsys ELECTRONIC MCM260X CANopen Expansion Module

Specifications

Product Name: MCM260X Modbus RTU – CANopen expansion module
Interface: Modbus RTU with RS485 or CANopen

Versions: 6 versions available
Input Types: Digital, Analog, Relay outputs, Analog inputs/outputs

Operating Voltage: Continuous and alternating voltage

Safety Guidelines

Before using the device, read and understand the safety guidelines outlined in the manual. Ensure to disconnect the power supply before making any hardware settings or electrical connections to prevent electric shock, fire, or malfunction. Do not operate the device in environments with flammable or explosive gases.

Operating Conditions
The device is designed for industrial use and should only be operated by qualified personnel following the technical data provided in the manual. Avoid applications that pose a risk to life or involve critical systems like medical devices, nuclear power plants, weapon systems, flight control, or mass transportation.

Installation
Do not modify or repair internal components of the device. Ensure that the device is installed and operated within specified environmental conditions to prevent overheating and potential fire hazards.

Safety Notices

Danger! Disregarding these safety guidelines can be life-threatening.

Warning! Disregarding safety guidelines can result in severe injury or property damage.
Information! Important information for error prevention.

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Read carefully the safety guidelines and programming instructions contained in this manual before

connecting/using the device.

Disconnect power supply before proceeding to hardware settings or electrical wirings to avoid risk of

electric shock, fire, malfunction.

Do not install/operate the device in environments with flammable/explosive gases.

This device has been designed and conceived for industrial environments and applications that rely

on proper safety conditions in accordance with national and international regulations on labour

and personal safety. Any application that might lead to serious physical dama ge/ life risk or involve

medical life support devices should be avoided.

Device is not conceived for applications related to nuclear power plants, weapon systems, flight

control, mass transportation systems.

Only qualified personnel should be allowed to use device and/or service it and only in accordance to

technical data listed in this manual.

Do not dismantle/modify/repair any internal component.

Device must be installed and can operate only within the allowed environmental conditions.

Overheating may lead to risk of fire and can shorten the lifecycle of electronic components.

1.1 Organization of safety notices
Safety notices in this manual are organized as follows:

Safety notice Description

Danger!

Disregarding these safety guidelines and notices can be life-threatening.

Warning!

Disregarding these safety guidelines and notices can result in severe injury or substantial damage to property.

Information! This information is important for preventing errors.

1.2
Danger!
Danger!
Warning! Warning!

Safety Precautions
CAUTION – Risk of Fire and Electric Shock This product is UL listed as DIN-rail mounting process control equipment. It must be mounted in an enclosure that does not allow fire to escape externally. If the output relays are used past their life expectancy, contact fusing or burning may occasionally occur. Always consider the application conditions and use the output relays within their rated load and electrical life expectancy. The life expectancy of output relays varies considerably with the output load and switching conditions. Devices shall be supplied with limited energy according to UL 61010-1 3rd Ed, section 9.4 or LPS in conformance with UL 60950-1 or SELV in conformance with UL 60950-1 or Class 2 in compliance with UL 1310 or UL 1585. Loose screws may occasionally result in fire. For screw terminals, tighten screws to tightening torque is 0.5 Nm for 5 mm Pitch terminal blocks or 0.25 Nm for 3.81 mm Pitch terminal blocks.

Manuale d’uso – MCM260X – 7

Warning!

A malfunction in the Digital Controller may occasionally make control operations impossible or prevent alarm outputs, resulting in property damage. To maintain safety in the event of malfunction of the Digital Controller, take appropriate safety measures, such as installing a monitoring device on a separate line.

1.3 Precautions for safe use

Be sure to observe the following precautions to prevent operation failure, malfunction, or adverse

affects on the performance and functions of the product. Not doing so may occasionally result in

unexpected events. Do not handle the Digital Controller in ways that exceed the ratings.

· The product is designed for indoor use only. Do not use or store the product outdoors or in any of

the following places.

– Places directly subject to heat radiated from heating equipment.

– Places subject to splashing liquid or oil atmosphere.

– Places subject to direct sunlight.

– Places subject to dust or corrosive gas (in particular, sulfide gas and ammonia gas).

– Places subject to intense temperature change.

– Places subject to icing and condensation.

– Places subject to vibration and large shocks.

· Installing two or more controllers in close proximity might lead to increased internal temperature

and this might shorten the life cycle of electronic components. It is strongly recommended to

install cooling fans or other air-conditioning devices inside the control cabinet.

· Always check the terminal names and polarity and be sure to wire properly. Do not wire the

terminals that are not used.

· To avoid inductive noise, keep the controller wiring away from power cables that carry high voltages

or large currents. Also, do not wire power lines together with or parallel to Digital Controller

wiring. Using shielded cables and using separate conduits or ducts is recommended. Attach a

surge suppressor or noise filter to peripheral devices that generate noise (in particular motors,

transformers, solenoids, magnetic coils or other equipment that have an inductance component).

When a noise filter is used at the power supply, first check the voltage or current, and attach the

noise filter as close as possible to the Digital Controller. Allow as much space as possible between

the Digital Controller and devices that generate powerful high frequencies (high-frequency

welders, high-frequency sewing machines, etc.) or surge.

· A switch or circuit breaker must be provided close to device. The switch or circuit breaker must be

within easy reach of the operator, and must be marked as a disconnecting means for the controller.

· Wipe off any dirt from the Digital Controller with a soft dry cloth. Never use thinners, benzine,

alcohol, or any cleaners that contain these or other organic solvents. Deformation or discoloration

may occur.

· The number of non-volatile memory write operations is limited. Therefore, use EEprom write mode

when frequently overwriting data, e.g.: through communications.

· The device must be protected by:

MCM260X-1AD: 4A Fast Fuse (F)

MCM260X-4AD: 1A Fast Fuse (F)

MCM260X-2AD: 1A Fast Fuse (F)

MCM260X-5AD: 1A Fast Fuse (F)

MCM260X-3AD: 4A Fast Fuse (F)

MCM260X-9AD: 5A Fast Fuse (F)

1.4 Environmental policy / WEEE
Do not dispose electric tools together with household waste material. According to European Directive 2012/19/EU on waste electrical and electronic equipment and its implementation in accordance with national law, electric tools that have reached the end of their life must be collected separately and returned to an environmentally compatible recycling facility.

8 – MCM260X – Manuale d’uso

Composition of acronym

The MCM260X series includes the following models:

MCM260XMCM260X-1AD MCM260X-2AD MCM260X-3AD
MCM260X-4AD MCM260X-5AD MCM260X-9AD

Power supply 12..24 Vdc 16 Static Outputs 12..24Vdc Power supply 12..24 Vdc 16 Digital inputs PNP 12..24Vdc 2 Analog inputs 0…10V 3 Encoders/Counters Power supply 12..24 Vdc 8 Digital inputs PNP 12..24Vdc 8 Static Outputs 12..24Vdc 3 Encoders/Counters Power supply 12..24 Vdc/Vac 8 Digital inputs PNP 12..24Vdc 8 Relay outputs 2 Analog inputs 0…10V 3 Encoders/Counters Power supply 12..24 Vdc/Vac 4 Universal analog inputs 2 Analog outputs 0..10V / 4..20mA Power supply 12..24 Vdc 4 Universal analog inputs 2 Analog outputs 0..10V / 4..20mA 16 Static outputs 12..24Vdc / Digital inputs PNP 12..24Vdc 4 Encoders/Counters

Technical data

3.1 General characteristics

Displays

4 0.52 inch displays RUN, COM LEDs and I/O status LEDs

Operating

Temperature: 0-50 °C -Humidity 35..95 Rh%

conditions

Max. altitude: 2000m

Protection

IP30 container

Materials

Container: Self-extinguishing polycarbonate Front: Self-extinguishing polyamide

Weight

Approximately 250 g

3.2 Hardware characteristics

3.2.a

MCM260X-1AD

Power supply 12..24 Vdc ± 15%

Digital outputs 16 static outputs 12-24Vdc

Communication port

2 modes to select: – RS485 with Modbus RTU protocol – CAN with CANopen protocol

Consumption 100VA max Max 700mA per output Max 3A in total for all the outputs Galvanically isolated Up to 115200 baud Up to 1Mbit

Manuale d’uso – MCM260X – 9

3.2.b

MCM260X-2AD

Power supply 12..24 Vdc ± 15%

Digital inputs 16 inputs PNP 12-24Vdc

Encoder/Counter 3 encoders/counters superimposed on

inputs

the PNP digital inputs

Analog inputs

2 inputs 0..10V superimposed on the digital inputs

Communication port

2 modes to select: – RS485 with Modbus RTU protocol – CAN with CANopen protocol

Consumption 10VA max

V3V2IILL

= 4.3V = 8.0V bit resolution

Maximum frequency 80KHz

45000 points resolution

Galvanically isolated Up to 115200 baud Up to 1Mbit

3.2.c

MCM260X-3AD

Power supply 12..24 Vdc ± 15%

Digital inputs 8 inputs PNP 12-24Vdc

Encoder/Counter 3 encoders/counters superimposed on

inputs

the PNP digital inputs

Digital outputs 8 static outputs 12-24Vdc

Communication port

2 modes to select: – RS485 with Modbus RTU protocol – CAN with CANopen protocol

Consumption 50VA max

VVIILL

= =

4.3V 8.0V

32 bit resolution

Maximum frequency 80KHz

Max 700mA per output

Max 3A in total for all the outputs

Galvanically isolated

Up to 115200 baud

Up to 1Mbit

3.2.d

MCM260X-4AD

Power supply 12..24 Vdc/Vac ± 15%

Digital inputs 8 inputs PNP 12-24Vdc

Encoder/Counter 3 encoders/counters superimposed on

inputs

the PNP digital inputs

Analog inputs

2 inputs 0..10V superimposed on the digital inputs

Relay outputs 8 relay outputs with single in common

Communication port

2 modes to select: – RS485 with Modbus RTU protocol – CAN with CANopen protocol

Consumption 20VA max

V3V2IILL

= 4.3V = 8.0V bit resolution

Maximum frequency 80KHz

45000 points resolution

Contact data: 5A at 250Vac, 30Vdc resistive load 2A at 250Vac, 30Vdc inductive load Max exchange power 1250 VA, 150W resistive load 500 VA, 60W inductive load Max 10A in total
Galvanically isolated Up to 115200 baud Up to 1Mbit

10 – MCM260X – Manuale d’uso

3.2.e

MCM260X-5AD

Power supply 12..24 Vdc/Vac ± 15%

4 inputs that can be configured via

software

Thermocouples: type K, S, R, J, T, E,

N, B; automatic compensation of cold

junction at 0..50°C.

Analog inputs Resistance thermometers: PT100,

PT500, PT1000, Ni100, PTC1K, NTC10K

(ß 3435K)

V/I input: 0-10V, 0-20 or 4-20mA,

0-60mV, 0-1V, 0-5V.

Potentiometer: 1..150K

2 outputs that can be configured via

Analog outputs software:

0-10V or 4-20mA

Sensor power supply output

Output to power supply 0-10V or 4-20mA normalized sensors to be connected to analog inputs

Communication port

2 modes to select: – RS485 with Modbus RTU protocol – CAN with CANopen protocol

Consumption 20VA max
Galvanically insulated from power supply and communication port
16 bit resolution Tolerance (25 °C) +/-0.2% ±1 digit (on F.s.)
16 bit resolution
Galvanically insulated from power supply and communication port 24 Vdc, 100mA max Galvanically isolated Up to 115200 baud Up to 1Mbit

3.2.f

MCM260X-9AD

Power supply 12..24 Vdc ± 15%

Digital inputs

16 inputs PNP 12-24Vdc (Superimposed on the digital outputs)

Encoder/Counter 4 encoders/counters superimposed on

inputs

the PNP digital inputs

4 inputs that can be configured via

software

Thermocouples: type K, S, R, J, T, E,

N, B; automatic compensation of cold

junction at 0..50°C.

Analog inputs Resistance thermometers: PT100,

PT500, PT1000, Ni100, PTC1K, NTC10K

(ß 3435K)

V/I input: 0-10V, 0-20 or 4-20mA,

0-60mV, 0-1V, 0-5V.

Potentiometer: 1..150K

Digital outputs

16 static outputs 12-24Vdc (superimposed on the digital inputs)

Analog outputs
Sensor power supply output
Communication port

2 outputs that can be configured via software: 0-10V or 4-20mA Output to power supply 0-10V or 4-20mA normalized sensors to be connected to analog inputs 2 modes to select: – RS485 with Modbus RTU protocol – CAN with CANopen protocol

Consumption 100VA max

VVIILL

= =

4.3V 8.0V

32 bit resolution

Maximum frequency 80KHz

Galvanically insulated from power supply and communication port
16 bit resolution Tolerance (25 °C) +/-0.2% ±1 digit (on F.s.)

Max 700mA per output Max 2A in total for each group of 8 outputs (Q.1-Q.8 and Q.9-Q.16)
16 bit resolution
Galvanically insulated from power supply and communication port 24 Vdc, 100mA max Galvanically isolated Up to 115200 baud Up to 1Mbit

Manuale d’uso – MCM260X – 11

3.3 Software features

Manual configuration via terminal

It is possible to manually configure the parameters related to the communication of each device using the terminal with display and buttons present on the inside of the top cover of the instrument, accessible through the opening towards the bottom of the cover itself

It is possible to configure the parameters relating to the communication of each

device using the MyPixsys app and transferring the data via NFC. Simply move

your smartphone close to the antenna present on the cover of the instrument, in

Configuration via app MyPixsys via NFC

the point marked by the symbol . Configuration via the MyPixsys app is possible with the instrument both on and off.
When activated by a reader/interrogator supporting NFC-V protocol, the

controller is to be considered a VICC (Vicinity Inductively Coupled Card)

according to ISO/IEC 15693 and it operates at a frequency of 13.56 MHz.

The device does not intentionally emit radio waves.

Termination

You can automatically activate a termination resistance of the communication

resistance

line by setting a specific parameter

Communication protocol

The device can operate in two communication modes. The mode is selected in the configuration phase, via terminal or using the MyPixsys app. Only the selected mode will be active

Dimension and installation

72 mm

108 mm

64 mm

13 14 15 16 17 18 19 20 21 22 23 24 25

RUN COM

.10

.11

.12

.13 .14

.15

.16

2 –

6 27 V/I

28 RTD

29 30 – V/I

31 RTD

32V33-

AI3

AI4

AO2

RUN COM

AO1 AO2

34 35 36 37 38 39 40 41 42

I/Q.9 I/Q.10 I/Q.11 I/Q.12 I/Q.13 I/Q.14 I/Q.15 I/Q.16 +VDC

.10 .11

.12

.13

.14

.15 .16

90 mm CANH (B) CANL (A) (C) Q-ID I-ID Q.9 Q.10 Q.12 Q.13 Q.14 Q.15 Q.16 CANH (B) CANL (A) (C) 120 OHM

MCM260X 1AD B-T +V Q.1 Q.2 Q.3 Q.4 Q.5 Q.6 Q.7 Q.8
MCM260X 9AD -V +V

.1 .2 .3 .4 .5 .6 .7 .8
12…24V + 1VDC2 3 4 5 6 7 8 9 10 11 12

AI1 AI2 AI3 AI4

.1 .2 .3 .4 .5 .6 .7 .8

12…24V + 1VDC2 3

AI1

AI2

AO1

–

V/I TC

RTD

–

V/I TC

RTD

V mA

–

4 5 6 7 8 9 10 12

I/Q.1 I/Q.2 I/Q.3 I/Q.4 I/Q.5 I/Q.6 I/Q.7 I/Q.8 +VDC

13 14 15 16 17 18 19 20 21

Morsettiere Estraibili Extractable terminal blocks

Attacco a guida DIN EN50022 Din rail mounting guide EN50022

12 – MCM260X – Manuale d’uso

4.1 Electric connections Caution! This regulator was designed and built in compliance with the Low Voltage 2014/35/UE (LVD) and Electromagnetic compatibility 2014/30/UE (EMC) Directives. For installation in industrial environments it is advisable to take the precautions below: · Distinguish the power supply line from the power lines. · Avoid proximity with contactor units, electromagnetic contactors, high power motors and use
filters in any event. · Avoid proximity with power units, particularly if with phase control. · The use of network filters is recommended on the power supply of the machine in which the
instrument will be installed, particular in case of 230Vac power supply. The regulator is devised to be assembled with other machines. Therefore, the EC marking of the regulator does not exempt the manufacturer of the system from the safety and conformity obligations imposed for the machine as a whole. · Wiring of 3.81 mm terminal block: use crimped tube terminals or flexible/rigid copper wire with diameter up to 1.5 mm² / 16 AWG. Cable stripping lenght max 7 mm. Operating temperature: -40°C ÷ +130°C. · Wiring of 5 mm terminal block: use crimped tube terminals or flexible/rigid copper wire with diameter up to 2.5 mm² / 14 AWG. Cable stripping lenght max 9 mm. Operating temperature: -40°C ÷ +130°C. · It is possible to connect on a single terminal two wires with same diameter comprised between 0.14 and 0.75mm2.

4.1.a

MCM260X-1/2/3AD

+1 12..24 VDC
2

Power supply 12..24Vdc ±15% · 1: +Vdc · 2: -Vdc

+ VDC B-T 3

Power supply of the logic part of the device only. If the +Vdc voltage is taken to clip 3 and not to clip 1, the outputs are not active.

+V 4

Common clip for digital inputs 12..24Vdc

MCM260X-2AD, MCM260X-3AD

Digital inputs PNP 24Vdc

5: Input 1

6: Input 2

I.1 I.2 I.7 I.8 7: Input 3

5 6 .. 11 12 8: Input 4

9: Input 5

10:Input 6

11: Input 7

12: Input 8

MCM260X-1AD

Static Outputs 24Vdc

5: Output 1

6: Output 2

Q.1 Q.2 Q.7 Q.8 7: Output 3 5 6 .. 11 12 8: Output 4

9: Output 5

10:Output 6

11: Output 7

12: Output 8

Manuale d’uso – MCM260X – 13

I.9 I.10 I.15 I.16

18 19 .. 24 25

Q.9 Q.10 Q.15 Q.16
18 19 .. 24 25

Q.1 Q.2 Q.7 Q.8
18 19 .. 24 25

+
AI V

Shield / Schermo

I.2 I.3
67
22

ENCODER

ENCODER1 COUNTER1

A 12

B 11

Z5 +- SUPPLY

ENCODER

ENCODER2 COUNTER2

Z 19 +- SUPPLY

ENCODER3 COUNTER3

A 10

ENCODER

B 18

Z 20 +- SUPPLY

CANH (B)

CAN

RS485

CANL (A)

(C)

Shield / Schermo

MCM260X-2AD Digital inputs PNP 24Vdc 18:Input 9 19: Input 10 20:Input 11 21: Input 12 22:Input 13 23:Input 14 24:Input 15 25:Input 16 MCM260X-1AD Static Outputs 24Vdc 18:Output 9 19:Output 10 20:Output 11 21: Output 12 22:Output 13 23:Output 14 24:Output 15 25:Output 16 MCM260X-3AD Static Outputs 24Vdc 18:Output 1 19:Output 2 20:Output 3 21: Output 4 22:Output 5 23:Output 6 24:Output 7 25:Output 8
Analog inputs 0…10V 16bit (MCM260X-2AD only)* 6: Input 1 7: Input 2 2: Input reference
MCM260X-2AD, MCM260X-3AD Encoder/Counter 1 inputs 12: Encoder 1 phase A / Counter 1 input 11: Encoder 1 phase B 5: Encoder 1 phase Z MCM260X-2AD, MCM260X-3AD Encoder/Counter 2 inputs 9: Encoder 2 phase A / Counter 2 input 8: Encoder 2 phase B 19:Encoder 2 phase Z (available on MCM260X-2AD only) MCM260X-2AD, MCM260X-3AD Encoder/Counter 3 inputs 10:Encoder 3 phase A / Counter 3 input 18:Encoder 3 phase B (available on MCM260X-2AD only) 20:Encoder 3 phase Z (available on MCM260X-2AD only)
Field bus: 13: CANH / (B) RS485+ 14:CANL / (A) RS48515: (C) GND for CANbus and Modbus RTU

14 – MCM260X – Manuale d’uso

Q-ID 16 I-ID 17

Automatic routing clips (Modbus RTU only) 16:Automatic routing output 17: Automatic routing input

4.1.b

MCM260X-4AD

+1 12..24 VAC / VDC
2

Power supply 12..24Vac/Vdc ±15% 1: +Vdc 2: -Vdc

+V 3 4 5 .. 10 11 12

Q.7 Q.8

Q.2

Q.1

I.1 I.2 I.7 I.8

18 19 .. 24 25

+
AI V

Shield / Schermo

I.2 I.3
19 20
22

Common clip for digital inputs 12..24Vdc
Relay outputs 4: Output 1 5: Output 2 6: Output 3 7: Output 4 8: Output 5 9: Output 6 10:Output 7 11: Output 8 12: Common relay Digital inputs PNP 24Vdc 18:Input 1 19: Input 2 20:Input 3 21: Input 4 22:Input 5 23:Input 6 24:Input 7 25:Input 8
Analog inputs 0..10V / 16bit 19: Input 1 20:Input 2 2: Input reference

ENCODER

ENCODER1 COUNTER1

A 25

B 24

Z 18 +- SUPPLY
ENCODER2
A 22

COUNTER2
22

B 21

+- SUPPLY COUNTER3 23

COUNTER ENCODER

CANH (B) CAN RS485
CANL (A) (C)

+- SUPPLY
13

Shield / Schermo

Q-ID 16 I-ID 17

Encoder/Counter 1 inputs 25:Encoder 1 phase A / Counter 1 input 24:Encoder 1 phase B 18:Encoder 1 phase Z
Encoder/Counter 2 inputs 22:Encoder 2 phase A / Counter 2 input 21: Encoder 2 phase B
Counter 3 input 23:Counter 3 input
Field bus: 13: CANH / (B) RS485+ 14:CANL / (A) RS48515: (C) GND for CANbus and Modbus RTU Automatic routing clips (Modbus RTU only) 16:Automatic routing output 17: Automatic routing input

Manuale d’uso – MCM260X – 15

4.1.c

MCM260X-5AD

+1 12..24 VAC / VDC
2

Power supply 12..24Vac/dc ±15% 1: +Vdc 2: -Vdc

-V 3

+V 4

Power supply for normalized sensors

AI1 AI2 AI3 AI4 Analog inputs for thermocouples K, S, R, J, T, E, N, B.

+
6

9 19 22

Respect the polarity

· To avoid extensions use a compensating cable and clips that suit the

5 8 18 21 thermocouple used (compensating)

Analog inputs for resistance thermometers PT100, Ni100.

AI1 AI2 AI3 AI4 · For the three wire connection use cables with the same section

Rosso Red

7 10 20 23 · For the two wire connection short circuit clips 6 and 7 (AI1), 9 and 10 (AI2),

19 and 20 (AI3), 22 and 23 (AI4).

PT/NI100

Bianco White

5 8 18 21

RED ROSSO

Rosso Red

6 9 19 22

WHITE BIANCO

RED ROSSO

AI1 AI2 AI3 AI4

7 10 20 23 Analog inputs for resistance thermometers NTC, PTC, PT500, PT1000 and

PTC/NTC

linear potentiometers.

5 8 18 21

AI1 AI2 AI3 AI4

6 9 19 22 Analog inputs for normalized current and voltage signals.

V mA

· Respect the polarity.

5 8 18 21

AO1 AO2 + 11 24 V / mA 12 25

CANH (B)

CAN

RS485

CANL (A)

(C)

Shield / Schermo

Q-ID 16 I-ID 17

Analog outputs AO1 and AO2
Field bus: 13: CANH / (B) RS485+ 14:CANL / (A) RS48515: (C) GND for CANbus and Modbus RTU Automatic routing terminals (Modbus RTU only) 16:Automatic routing output 17: Automatic routing input

16 – MCM260X – Manuale d’uso

4.1.d +1
12..24 VDC 2

MCM260X-9AD
Power supply 12..24Vdc ±15% 1: +Vdc 2: -Vdc

-V 3

+V 4

Power supply for normalized sensors

AI1 AI2 AI3 AI4 Analog inputs for thermocouples K, S, R, J, T, E, N, B.

+
6

9 27 30

Respect the polarity

· To avoid extensions use a compensating cable and clips that suit the

5 8 26 29 thermocouple used (compensating)

Analog inputs for resistance thermometers PT100, Ni100.

AI1 AI2 AI3 AI4 · For the three wire connection use cables with the same section

Rosso Red

7 10 28 31 · For the two wire connection short circuit clips 6 and 7 (AI1), 9 and 10 (AI2),

27 and 28 (AI3), 30 and 31 (AI4).

PT/NI100

Bianco White

5 8 26 29

RED ROSSO

Rosso Red

6 9 27 30

WHITE BIANCO

RED ROSSO

AI1 AI2 AI3 AI4

7 10 28 31 Analog inputs for resistance thermometers NTC, PTC, PT500, PT1000 and

PTC/NTC

linear potentiometers.

5 8 26 29

AI1 AI2 AI3 AI4

6 9 27 30 Analog inputs for normalized current and voltage signals.

V mA

· Respect the polarity. Power supply of sensor with clips 3 and 4.

5 8 26 29

I/Q.9

I/Q.1

AO1 AO2 + 11 32 V / mA 12 33
12..24 VDC
13 14 .. 19 20
12..24 VDC +VDC 21
12..24 VDC
34 35 .. 40 41
12..24 VDC +VDC 42

I/Q.10

I/Q.2

I/Q.15

I/Q.7

I/Q.16

I/Q.8

Analog outputs AO1 and AO2
Digital inputs PNP 24Vdc / Static outputs 24Vdc 13: Input / Output 1 14: Input / Output 2 15: Input / Output 3 16:Input / Output 4 17: Input / Output 5 18:Input / Output 6 19:Input / Output 7 20:Input / Output 8
Positive for power supply of static outputs 1..8
Digital inputs PNP 24Vdc / Static outputs 24Vdc 34:Input / Output 9 35:Input / Output 10 36:Input / Output 11 37: Input / Output 12 38:Input / Output 13 39:Input / Output 14 40:Input / Output 15 41: Input / Output 16
Positive for power supply of static outputs 9..16

Manuale d’uso – MCM260X – 17

ENCODER

ENC1 ENC2 ENC3 ENC4

A 13 B 14 Z 34

15 16 35

17 18 36

19 20 37

Use push-pull encoders only Max frequency 80KHz

+ –

SUPPLY

CNT1 CNT2 CNT3 CNT4
13 15 17 19

PNP input

+- SUPPLY

Max frequency 80KHz

CANH (B)

CAN

RS485

CANL (A)

(C)

Shield / Schermo

Field bus: 22:CANH / RS485+ 23:CANL / RS48524:C GND for CANbus and Modbus RTU

CANL (A) 23 120 OHM 25

Terminator of the communication line in manual mode. To permanently insert the 120 ohm termination resistance through wiring, connect clip 25 to clip 23 using a wire.

4.2 Connection to the communication line

RS485+ RS485- REF

CANH

CANL

CANH (B)
CANL (A) (C) Q-ID I-ID Q.9 Q.10 Q.12 Q.13 Q.14 Q.15 Q.16
CANH (B)
CANL (A) (C) Q-ID I-ID Q.9 Q.10 Q.12 Q.13 Q.14 Q.15 Q.16

13 14 15 16 17

18 19 20 21 22 23 24 25

RUN COM

.9 .10 .11 .12 .13 .14 .15 .16

.1 .2 .3 .4 .5 .6 .7 .8
12…24V +
VDC 1 2 3 4 5 6 7 8 9 10 11 12

13 14 15 16 17

18 19 20 21 22 23 24 25

RUN COM

.9 .10 .11 .12 .13 .14 .15 .16

.1 .2 .3 .4 .5 .6 .7 .8
12…24V +
VDC 1 2 3 4 5 6 7 8 9 10 11 12

CANH (B)
CANL (A) (C) Q-ID I-ID Q.9 Q.10 Q.12 Q.13 Q.14 Q.15 Q.16

13 14 15 16 17

18 19 20 21 22 23 24 25

RUN COM

.9 .10 .11 .12 .13 .14 .15 .16

.1 .2 .3 .4 .5 .6 .7 .8
12…24V +
VDC 1 2 3 4 5 6 7 8 9 10 11 12

MCM260X 1AD B-T +V Q.1 Q.2 Q.3 Q.4 Q.5 Q.6 Q.7 Q.8

MCM260X 1AD B-T +V Q.1 Q.2 Q.3 Q.4 Q.5 Q.6 Q.7 Q.8
MCM260X 1AD B-T +V Q.1 Q.2 Q.3 Q.4 Q.5 Q.6 Q.7 Q.8

Below is the diagram for the connection of more than one MCM260X to a RS485 line or CAN network.

Device SET-UP

To be used as I/O module, the MCM260X needs a configuration procedure to set the correct parameters

that manage the communication. This configuration procedure may be run through the terminal

(display and keys) or via the MyPixsys app. Below is the procedure to change the parameters via the

terminal.

5.1 Numeric indicators (internal display)

The internal display, in combination with the pushbuttons §, ¶ and | is used to configure the module. In the power on phase the display shows the firmware version while in normal operation, in the absence of anomalies, the display remains off. In case of anomalies it shows the number of the active error. In the configuration phase it shows the parameter being entered.

18 – MCM260X – Manuale d’uso

5.2 Meaning of the status lights (LED)

RUN LED (green)

indicates that the device is on and distinguished the various operating phases

COM LED (amber) indicates the effective communication of the MCM260X with other devices

MCM260X-1AD

.1 .. .16 indicate the status of the outputs Q.1 .. Q.16

MCM260X-2AD

.1 .. .16 indicate the status of the inputs I.1 .. I.16

MCM260X-3/4AD

.1 .. .8 indicate the status of the inputs I.1 .. I.8 .1 .. .8 indicate the status of the outputs Q.1 .. Q.8

AI1 .. AI4 indicate the status of the analog inputs AI1..AI4 (on: active input

MCM260X-5AD

working correctly, flashing: input in error, off: input not activate. AO1 .. AO2 indicates the status of the analog outputs AO1 and AO2 (on: active

output).

.1 .. .16 indicate the status of the inputs/output I/Q.16

AI1 .. AI4 indicate the status of the analog inputs AI…AI4 (on: active input

MCM260X-9AD

working correctly, flashing: input in error, off: input not activate.

AO1 .. AO2 indicates the status of the analog outputs AQ1 and AO2 (on: active

output).

5.3 Changing the configuration parameters from the

terminal

Press
One of the buttons 1 when the display
is on

2 § or ¶

| to confirm the password

4 § or ¶

6 |+§o¶

7 §+¶

Effect

Execute

0000 appears on the display with the

first number flashing, to indicate

that the instrument is waiting for the

entry of the password to access the

parameters.

The flashing number changes and the next number can now be changed with |.

Enter the password (default value 1234)

The display shows the name of the first

configuration parameter

The available parameters are scrolled

down

The display shows the value of the

selected parameter.

Enter the new data that will be

The value of the parameter is increased saved when releasing the keys.

or decreased

To change another parameter

go back to point 4

The configuration procedure is left, the

display will turn off.

The configuration is left automatically

after 20 sec from last pressing a key.

Manuale d’uso – MCM260X – 19

5.4 Changing to the configuration parameters from the MyPixsys app
Scan the Qr-Code to download the app from Google Play Store®
The MCM260X modules are supported by the MyPixsys App and through an AndroidTM smartphone with NFC antenna you can configure the instruments without the need for wiring and without the aid of dedicated hardware. The App allows you to read, view and change the parameters related to addressing and communication. It can also save them, send them by email, restore them from previous backups or restore them to factory values. Procedure: · Identify the position of the NFC antenna in the phone (usually centrally, behind the rear cover, or at
one of the ends in case of metal chassis). The MCM260X antenna is located at the front, below the symbol . · Make sure that the NFC sensor of the phone is enabled and that there are no metal materials between the telephone and the instrument (e.g. aluminum cover or cover with magnetic stand) · It may also be useful to enable the system sounds on the phone, since the notification sound confirms the successful detection of the instrument by the phone. The initial screen of the App shows a bar with four tabs: SCAN, DATA, WRITE, EXTRA. Move to the first SCAN tab to read the data already present on the instrument; the phone must be put into contact with the front of the module, making sure that the position of the phone antenna coincides with that of the instrument as much as possible. The App emits a notification sound as soon as the presence of the instrument is detected and then identifies the model and reads the set of parameters. The graphic interface shows the progress of the procedure and moves to the second DATA tab. You can now move the smartphone away from the instrument and make the changes requested more comfortably. The parameters of the instruments are broken down into collapsible groups and are displayed with name, current value and index of reference to the manual. Click the row in line with the parameter to open the relevant setting screen, displaying the available options in detail (in case of multiple choice parameters) or the minimum/maximum/decimal limits (for numeric parameters), including the text description. Once the desired value is set, the relevant row is updated and highlighted in the DATA tab (keep pressed above the row to cancel the changes). To download the changed modification in the device move to the third WRITE tab, position the phone again in contact with the instrument as you did for the reading mode and wait for the notification of operation complete. After writing the parameters, the MCM260X will run a restart procedure, needed to update the configuration with the changes just written. In addition to the operation for read -> change -> write parameters, MyPixsys App also provides additional functionalities that can be accessed from the EXTRA tab, like saving / uploading and sending via email of the entire configuration and the reset to factory values of the device.
20 – MCM260X – Manuale d’uso

5.5 Table of the configuration parameters that can be accessible from the terminal and via the MyPixsys app
COMM Communication interface It selects the communication interface that will be used by the instrument for the connection to the communication bus. Depending on the interface selected, the CANopen (slave) protocol or the Modbus RTU protocol (slave) will be activated. CAN 485 (default)
SL.Ad Slave CANopen address Indicates the address assigned to the communication module in a CANopen network. 1.1. 27 (default 1)
bd.rtCANopen bus speed Indicates the communication speed of the module in CANopen mode. 50K 62.5k 100k 125k 250k 500k 1Mb (default)
SL.AD Modbus slave address Indicates the address assigned to the communication module in a Modbus network. 1…254 (default 1)
bd.rtModbus bus speed Indicates the communication speed of the module in Modbus mode. 2400 4800 9600 19.2 28.8 38.4 57.6 (default) 115.2
S.P.P. Modbus data format Indicates the format of the serial data of the module in Modbus mode. 8.n1. (default) 8.o1. 8.E1. 8.n.2 8.o.2 8.E.2
SE.dE Response delay in Modbus (ms) Indicates the minimum time from receiving the query after which the module will forward its response to the master in Modbus mode. 0…250 (default 1)
Manuale d’uso – MCM260X – 21

TerM Line termination resistance status Indicates the status of the line terminator of the module. The terminator must be activated in the last module present on the communication line (both in CAN and in RS485). OFF (default) 120
100

Old.C Compatibility mode with the old version of MCM260

Only for MCM260X-1,2,3,4,5AD.

Indicates whether the module must work in compatibility mode with the old MCM260-xAD

version. By setting the compatibility to YES, the module will behave exactly like the corresponding

MCM260-xAD; therefore, to use it please refer to the manual of the old model (code: 2300.10.070).

This mode is useful when replacing modules that no longer work in existing systems.

no.L.L. = No-compatibility with the old MCM260 version. Use this selection in system with

LogicLab CAN/Modbus master

YES

= Full-compatibility with the old MCM260 version

no.C.o. = No-compatibility with the old MCM260 version. This selection activate the standard

CANopen slave mode

Comp. CAN Compatibility mode Only for MCM260X-9AD. Indicates if the module must work in systems with Master CAN LogicLab or Master CANopen. L.LAb. = Use this selection in systems with LogicLab CAN master CAMo. = Use this selection in systems with standard CANopen master. This selection activate the standard CANopen slave mode

PASS Password to access the configuration parameters Indicates the password that must be entered when accessing next, to change the configuration parameters through both the terminal and the MyPixsys app. Set a personalized password, different from the default one (1234). It may be useful to prevent access to the configuration of the module to unauthorized personnel.
Pay close attention when changing this parameter and keep the set password in a safe
place.
If you do not know the password it will not be possible to access and change the parameters! OOOO…8888 (default 1234)

nFc.L NFC functionality block Indicates whether the NFC functionality block (change of the parameters through the MyPixsys app) is active (Enab) or not (diS). Blocking the NFC functionality may be useful to increase the level of security of the module configuration and prevent unauthorized people from accessing and changing the data. diS (default)
Enab

5.6 Restore to factory settings
You can restore the configuration parameters to their factory settings by entering the password 9999. Warning: using this procedure in a module present in a plant could compromise the operation of the entire system.

Table of the configuration parameters for the models

MCM260X-1/2/3/4AD
In addition to the parameters that can be accessed from the terminal or the MyPixsys app, each MCM260X module features a series of parameters that regulate its operation. Below is the table with a complete list of the parameters.

22 – MCM260X – Manuale d’uso

6.1 UNIT A – GENERAL CONFIGURATION
1 Communication interface (Word modbus 2001) See paragraph 6.3

2 CANopen slave address (Word modbus 2002) See paragraph 6.3

3 CANopen slave speed (Word modbus 2003) See paragraph 6.3

4 Modbus slave address (Word modbus 2004) See paragraph 6.3

5 Modbus slave speed (Word modbus 2005) See paragraph 6.3

6 Modbus data format (Word modbus 2006) See paragraph 6.3

7 Modbus response delay (Word modbus 2007) See paragraph 6.3

8 Modbus offline time (Word modbus 2008)

In case of Modbus protocol enabled, it determines the time of inactivity of the serial before

stating the offline condition.

Offline management disabled (Default)

1..60000 [ms]

Inactivity time before the offline.

9 Reserved (Word modbus 2009)

10 Line termination resistance status (Word modbus 2010) See paragraph 6.3

11 Compatibility mode with the old version of MCM260 (Word modbus 2011) See paragraph 6.3

12 Digital outputs status offline (Word modbus 2012) It determines the status of the digital outputs Q1..Q16 when the module offline conditions occurs or when starting in case of Modbus protocol enabled. Disabled = 0, Enabled = 1. bit 0 Output Q1 status (Default 0). … bit 15 Output Q16 status.

13 Password to access the configuration parameters (Word modbus 2013) See paragraph 6.3

14 NFC functionality block (Word modbus 2014) See paragraph 6.3

15 Reserved (Word modbus 2015) 16 Reserved (Word modbus 2016) 17 Reserved (Word modbus 2017) 18 Reserved (Word modbus 2018) 19 Reserved (Word modbus 2019) 20 Reserved (Word modbus 2020)

Manuale d’uso – MCM260X – 23

6.2 UNIT B – ANALOG INPUTS
21 AI1 input lower limit (Word modbus 2021)
22 AI2 input lower limit (Word modbus 2022) Analog input lower limit. E.g.: with input 0..10 V this parameter indicates the value assumed by the input in line with 0V -32767..+32767, Default: 0.

23 AI1 input upper limit (Word modbus 2023)
24 AI2 input upper limit (Word modbus 2024) Analog input upper limit. E.g.: with input 0..10 V this parameter indicates the value assumed by the input in line with 10V -32767..+32767. Default:10000

25 Liner limit beyond limits AI1 (Word modbus 2025)

26 Liner limit beyond limits AI2 (Word modbus 2026)

In case of linear input, it allows the process to exceed the limits (Par. 21..22 and 23..24).

Disabled (Default).

Enabled

27 AI1 offset calibration (Word modbus 2027)
28 AI2 offset calibration (Word modbus 2028) Offset calibration. Value added to or taken from the process displayed -10000..+10000 [digit]. Default 0.

29 AI1 gain calibration (Word modbus 2029)
30 AI2 gain calibration (Word modbus 2030) Gain calibration. Value to be multiplied by the process to calibrate on the operating point. E.g.: to correct the 0..1000 operating scale that displays 0..1010, set the parameter to -1.0 -1000 (100.0%)…+1000 (+100.0%), Default: 0.0.

31 Reserved (Word modbus 2031) 32 Reserved (Word modbus 2032)

33 AI1 input filter (Word modbus 2033)
34 AI2 input filter (Word modbus 2034) Analog input reading filter: it increases the stability of the reading of the corresponding analog input. Indicates the number of samples to average in the process calculation. 1…30. (Default: 10)

24 – MCM260X – Manuale d’uso

6.3 UNIT C – DIGITAL INPUTS
35 Digital input filter (Word modbus 2035) It defines the time during which the digital input must remain stable before being considered valid. 0..200 [0.5 ms basis], Default: 2 x 0.5 = 1 ms.

36 Encoder/counter setup 1 (Word modbus 2036)

37 Encoder/counter setup 2 (Word modbus 2037)

38 Encoder/counter setup 3 (Word modbus 2038)

It determines the mode of operation of the encoder input or mono-directional counter.

Disabled (Default).

Encoder x2 phase A-B.

Encoder x4 phase A-B

Encoder x2 phase A-B-Z

Encoder x4 phase A-B-Z

Counter Up.

Counter Down.

39 Encoder/counter preset value 1 (Word modbus 2039)
40 Encoder/counter preset value 1 L (Word modbus 2040)
41 Encoder/counter preset value 2 (Word modbus 2041)
42 Encoder/counter preset value 2 L (Word modbus 2042)
43 Encoder/counter preset value 3 (Word modbus 2043)
44 Encoder/counter preset value 3 L (Word modbus 2044) It determines the value that will be loaded in the register of the calculations for the encoder or counter when the loading command is given. The register value is at 32 bit. Access via the Modbus protocol thus takes place through two consecutive words (16 bit). -32767..+32767 [digit], Default: 0.

45 Reserved (Word modbus 2045) 46 Reserved (Word modbus 2046) 47 Reserved (Word modbus 2047) 48 Reserved (Word modbus 2048) 49 Reserved (Word modbus 2049) 50 Reserved (Word modbus 2050)

Manuale d’uso – MCM260X – 25

Table of the configuration parameters for the model

MCM260X-5AD

7.1 UNIT A – GENERAL CONFIGURATION

1 Communication interface (Word modbus 2001)

See paragraph 6.3

2 CANopen slave address (Word modbus 2002) See paragraph 6.3

3 CANopen slave speed (Word modbus 2003) See paragraph 6.3

4 Modbus slave address (Word modbus 2004) See paragraph 6.3

5 Modbus slave speed (Word modbus 2005) See paragraph 6.3

6 Modbus data format (Word modbus 2006) See paragraph 6.3

7 Modbus response delay (Word modbus 2007) See paragraph 6.3

8 Modbus offline time (Word modbus 2008)

In case of Modbus protocol enabled, it determines the time of inactivity of the serial before

stating the offline condition.

Offline management disabled (Default)

1..60000 [ms]

Inactivity time before the offline.

9 Reserved (Word modbus 2009)

10 Line termination resistance status (Word modbus 2010) See paragraph 6.3

11 Reserved (Word modbus 2011)

12 Reserved (Word modbus 2012)

13 Password to access the configuration parameters (Word modbus 2013) See paragraph 6.3

14 NFC functionality block (Word modbus 2014) See paragraph 6.3

15 Reserved (Word modbus 2015) 16 Reserved (Word modbus 2016) 17 Reserved (Word modbus 2017) 18 Reserved (Word modbus 2018) 19 Reserved (Word modbus 2019) 20 Reserved (Word modbus 2020)

26 – MCM260X – Manuale d’uso

7.2 UNIT B – ANALOG INPUTS

21 AI1 sensor type (Word modbus 2021)

22 AI2 sensor type (Word modbus 2022)

23 AI3 sensor type (Word modbus 2023)

24 AI4 sensor type (Word modbus 2024)

Sensor selection / analog input configuration

Disabled (Default).

Tc-K

-260 °C..1360 °C

Tc-S

-40 °C..1760 °C

Tc-R

-40 °C..1760 °C

Tc-J

-200 °C..1200 °C

Tc-T

-260 °C..400 °C

Tc-E

-260 °C..980 °C

Tc-N

-260 °C..1280 °C

Tc-B

100 °C..1820 °C

Pt100

-100 °C..600 °C

Ni100

-60 °C..180 °C

NTC10K

-40 °C..125 °C

PTC1K

-50 °C..150 °C

Pt500

-100 °C..600 °C

Pt1000

-100 °C..600 °C

0..1V

0..5V

0..10 V

0..20 mA

4..20 mA

0..60 mV

Potentiometer (set the value in parameter 34..37)

25 Degree type (Word modbus 2025)

°C

Degrees centigrade (Default)

°F

Degrees Fahrenheit

Kelvin

26 AI1 input lower limit (Word modbus 2026)
27 AI2 input lower limit (Word modbus 2027)
28 AI3 input lower limit (Word modbus 2028)
29 AI4 input lower limit (Word modbus 2029) Analog input lower limit only if normalized. E.g.: with input 4..20 mA V this parameter indicates the value associated to 4 mA -32767..+32767, Default: 0.

30 AI1 input upper limit (Word modbus 2030)
31 AI2 input upper limit (Word modbus 2031)
32 AI3 input upper limit (Word modbus 2032)
33 AI4 input upper limit (Word modbus 2033) Analog input upper limit only if normalized. E.g.: with input 4..20 mA V this parameter indicates the value associated to 20 mA -32767..+32767. Default:1000

Manuale d’uso – MCM260X – 27

34 AI1 potentiometer value (Word modbus 2034)
35 AI2 potentiometer value (Word modbus 2035)
36 AI3 potentiometer value (Word modbus 2036)
37 AI4 potentiometer value (Word modbus 2037) It selects the value of the potentiometer connected to the analog input 1..150 kohm. Default: 10kohm

38 Liner limit beyond limits AI1 (Word modbus 2038)

39 Liner limit beyond limits AI2 (Word modbus 2039)

40 Liner limit beyond limits AI3 (Word modbus 2040)

41 Liner limit beyond limits AI4 (Word modbus 2041)

In case of linear input, it allows the process to exceed the limits (Par. 26..29 and 30..33).

Disabled (Default).

Enabled

42 AI1 offset calibration (Word modbus 2042)
43 AI2 offset calibration (Word modbus 2043)
44 AI3 offset calibration (Word modbus 2044)
45 AI4 offset calibration (Word modbus 2045) Offset calibration. Value added to or taken from the process displayed (e.g. it normally corrects the ambient temperature value). -10000..+10000 [digit] (decimal.degrees for temperature sensors). Default 0.

46 AI1 gain calibration (Word modbus 2046)
47 AI2 gain calibration (Word modbus 2047)
48 AI3 gain calibration (Word modbus 2048)
49 AI4 gain calibration (Word modbus 2049) Gain calibration. Value to be multiplied by the process to calibrate on the operating point. E.g.: to correct the 0..1000°C operating scale that displays 0..1010°C, set the parameter to -1.0 -1000 (100.0%)…+1000 (+100.0%), Default: 0.0.

50 Reserved (Word modbus 2050) 51 Reserved (Word modbus 2051) 52 Reserved (Word modbus 2052) 53 Reserved (Word modbus 2053)

54 AI1 input filter (Word modbus 2054)
55 AI2 input filter (Word modbus 2055)
56 AI3 input filter (Word modbus 2056)
57 AI4 input filter (Word modbus 2057) Analog input reading filter: it increases the stability of the value of the analog reading. Indicates the number of samples to average in the process calculation. 1…50. (Default: 10)

70 Maximum difference for new AI1 sampling (Word modbus 2070)
71 Maximum difference for new AI2 sampling (Word modbus 2071)
72 Maximum difference for new AI3 sampling (Word modbus 2072)
73 Maximum difference for new AI4 sampling (Word modbus 2073) Defines the maximum absolute difference between the current process value and the new sampling to consider this acceptable value (and therefore inserted in the average managed by the parameter “54..57 Input filter”) or discard it. 1..32767 [thents of °C or digit], Default: 30

28 – MCM260X – User manual

74 Max duration rejection of AI1 sampling (Word modbus 2074)
75 Max duration rejection of AI2 sampling (Word modbus 2075)
76 Max duration rejection of AI3 sampling (Word modbus 2076)
77 Max duration rejection of AI4 sampling (Word modbus 2077) Defines the maximum absolute difference between the current process value and the new sample, in order to determine if the value should be discarded or accepted as valid (and therefore considered while calculating the average managed by the parameter “54..57 Input filter”) 0..200 [thents of second], Default: 45

58 AI1and AI2 conversion frequency (Word modbus 2058)

59 AI3and AI4 conversion frequency (Word modbus 2059)

Conversion frequency of the digital analog converter. Lower frequencies slow down the sampling

but increase the reading precision; on the contrary, higher frequencies increase the sampling

time to the detriment of the reading precision of the analog input.

4 Hz

17 Hz (Default)

62 Hz

6 Hz

20 Hz

123 Hz

8 Hz

33 Hz

242 Hz

10 Hz

39 Hz

470 Hz

12 Hz

50 Hz

7.3 UNIT C – ANALOG OUTPUTS

60 AO1 output type (Word modbus 2060)

61 AO2 output type (Word modbus 2061) It selects the operating mode of the analog output.

0..10 V (Default)

4..20 mA.

62 AO1 output lower limit (Word modbus 2062)
63 AO2 output lower limit (Word modbus 2063) Continuous output range lower limit (value associated to 0 V / 4 mA). -32767..+32767 [digit], Default: 0.

64 AO1 output upper limit (Word modbus 2064)
65 AO2 output upper limit (Word modbus 2065) Continuous output range upper limit (value associated to 10 V / 20 mA). -32767..+32767 [digit], Default: 1000.

66 AO1 output value in error (Word modbus 2066)
67 AO2 output value in error (Word modbus 2067) It determines the value of the analog output in case of error or anomaly. The value must range between the minimum and maximum limits of the output. -32767..+32767 [digit], Default: 0.

68 Output mode in AO1 error (Word modbus 2068)

69 Output mode in AO2 error (Word modbus 2069)

It determines the analogue outputs management in case a “device out of line” error occurs.

No action on the exit

Set the output with the parameter value 66..67 “Valore uscita in errore”. (Default)

78..100

Reserved (Word modbus 2078..2100)

Manuale d’uso – MCM260X – 29

Table of the configuration parameters for the model

MCM260X-9AD

8.1 UNIT A – GENERAL CONFIGURATION

1 Communication interface (Word modbus 2001)

See paragraph 6.3

2 CANopen slave address (Word modbus 2002) See paragraph 6.3

3 CANopen slave speed (Word modbus 2003) See paragraph 6.3

4 Modbus slave address (Word modbus 2004) See paragraph 6.3

5 Modbus slave speed (Word modbus 2005) See paragraph 6.3

6 Modbus data format (Word modbus 2006) See paragraph 6.3

7 Modbus response delay (Word modbus 2007) See paragraph 6.3

8 Modbus offline time (Word modbus 2008)

In case of Modbus protocol enabled, it determines the time of inactivity of the serial before

stating the offline condition.

Offline management disabled (Default)

1..60000 [ms]

Inactivity time before the offline.

9 Reserved (Word modbus 2009)

10 Line termination resistance status (Word modbus 2010) See paragraph 6.3

11 Reserved (Word modbus 2011)

13 Password to access the configuration parameters (Word modbus 2013) See paragraph 6.3

14 NFC functionality block (Word modbus 2014) See paragraph 6.3

15 Reserved (Word modbus 2015) 16 Reserved (Word modbus 2016) 17 Reserved (Word modbus 2017)

30 – MCM260X – Manuale d’uso

18 Reserved (Word modbus 2018) 19 Reserved (Word modbus 2019) 20 Reserved (Word modbus 2020)

8.2 UNIT B – ANALOG INPUTS

21 AI1 sensor type (Word modbus 2021)

22 AI2 sensor type (Word modbus 2022)

23 AI3 sensor type (Word modbus 2023)

24 AI4 sensor type (Word modbus 2024) Sensor selection / analog input configuration

Disabled (Default).

Tc-K

-260 °C..1360 °C

Tc-S

-40 °C..1760 °C

Tc-R

-40 °C..1760 °C

Tc-J

-200 °C..1200 °C

Tc-T

-260 °C..400 °C

Tc-E

-260 °C..980 °C

Tc-N

-260 °C..1280 °C

Tc-B

100 °C..1820 °C

Pt100

-100 °C..600 °C

Ni100

-60 °C..180 °C

NTC10K

-40 °C..125 °C

PTC1K

-50 °C..150 °C

Pt500

-100 °C..600 °C

Pt1000

-100 °C..600 °C

0..1V

0..5V

0..10 V

0..20 mA

4..20 mA

0..60 mV

Potentiometer (set the value in parameter 34..37)

25 Degree type (Word modbus 2025)

°C

Degrees centigrade (Default)

°F

Degrees Fahrenheit

Kelvin

Manuale d’uso – MCM260X – 31

38 Liner limit beyond limits AI1 (Word modbus 2038)

39 Liner limit beyond limits AI2 (Word modbus 2039)

40 Liner limit beyond limits AI3 (Word modbus 2040)

41 Liner limit beyond limits AI4 (Word modbus 2041)

In case of linear input, it allows the process to exceed the limits (Par. 26..29 and 30..33).

Disabled (Default).

Enabled

50 Reserved (Word modbus 2050) 51 Reserved (Word modbus 2051) 52 Reserved (Word modbus 2052) 53 Reserved (Word modbus 2053)

85 Maximum difference for new AI1 sampling (Word modbus 2085)
86 Maximum difference for new AI2 sampling (Word modbus 2086)
87 Maximum difference for new AI3 sampling (Word modbus 2087)
88 Maximum difference for new AI4 sampling (Word modbus 2088) Defines the maximum absolute difference between the current process value and the new sampling to consider this acceptable value (and therefore inserted in the average managed by the parameter “54..57 Input filter”) or discard it. 1..32767 [thents of °C or digit], Default: 30

32 – MCM260X – Manuale d’uso

89 Max duration rejection of AI1 sampling (Word modbus 2089)
90 Max duration rejection of AI2 sampling (Word modbus 2090)
91 Max duration rejection of AI3 sampling (Word modbus 2091)
92 Max duration rejection of AI4 sampling (Word modbus 2092) Defines the maximum absolute difference between the current process value and the new sample, in order to determine if the value should be discarded or accepted as valid (and therefore considered while calculating the average managed by the parameter “54..57 Input filter”) 0..200 [thents of second], Default: 45

58 AI1and AI2 conversion frequency (Word modbus 2058)

59 AI3and AI4 conversion frequency (Word modbus 2059)

Conversion frequency of the digital analog converter. Lower frequencies slow down the sampling

but increase the reading precision; on the contrary, higher frequencies increase the sampling

time to the detriment of the reading precision of the analog input.

4 Hz

17 Hz (Default)

62 Hz

6 Hz

20 Hz

123 Hz

8 Hz

33 Hz

242 Hz

10 Hz

39 Hz

470 Hz

12 Hz

50 Hz

8.3 UNIT C – ANALOG OUTPUTS

60 AO1 output type (Word modbus 2060)

61 AO2 output type (Word modbus 2061) It selects the operating mode of the analog output.

0..10 V (Default)

4..20 mA.

62 AO1 output lower limit (Word modbus 2062)
63 AO2 output lower limit (Word modbus 2063) Continuous output range lower limit (value associated to 0 V / 4 mA). -32767..+32767 [digit], Default: 0.

68 Reserved (Word modbus 2068) 69 Reserved (Word modbus 2069) 70 Reserved (Word modbus 2070) 71 Reserved (Word modbus 2071)

Manuale d’uso – MCM260X – 33

8.4 UNIT D – DIGITAL INPUTS
72 Digital input filter (Word modbus 2072) It defines the time during which the digital input must remain stable before being considered valid. 0..200 [0.5 ms basis], Default: 2 x 0.5 = 1 ms.

73 Encoder/counter setup 1 (Word modbus 2073)

74 Encoder/counter setup 2 (Word modbus 2074)

75 Encoder/counter setup 3 (Word modbus 2075)

76 Encoder/counter setup 4 (Word modbus 2076)

It determines the mode of operation of the encoder input or mono-directional counter.

Disabled (Default).

Encoder x2 phase A-B.

Encoder x4 phase A-B

Encoder x2 phase A-B-Z

Encoder x4 phase A-B-Z

Counter Up.

Counter Down.

77 Encoder/counter preset value 1 (Word modbus 2077)
78 Encoder/counter preset value 1 L (Word modbus 2078)
79 Encoder/counter preset value 2 (Word modbus 2079)
80 Encoder/counter preset value 2 L (Word modbus 2080)
81 Encoder/counter preset value 3 (Word modbus 2081)
82 Encoder/counter preset value 3 L (Word modbus 2082)
83 Encoder/counter preset value 4 (Word modbus 2083)
84 Encoder/counter preset value 4 L (Word modbus 2084) It determines the value that will be loaded in the register of the calculations for the encoder or counter when the loading command is given. The register value is at 32 bit. Access via the Modbus protocol thus takes place through two consecutive words (16 bit). -32767..+32767 [digit], Default: 0.

85 Reserved (Word modbus 2085) 86 Reserved (Word modbus 2086) 87 Reserved (Word modbus 2087) 88 Reserved (Word modbus 2088) 89 Reserved (Word modbus 2089) 90 Reserved (Word modbus 2090) 91 Reserved (Word modbus 2091) 92 Reserved (Word modbus 2092) 93 Reserved (Word modbus 2093) 94 Reserved (Word modbus 2094) 95 Reserved (Word modbus 2095) 96 Reserved (Word modbus 2096) 97 Reserved (Word modbus 2097) 98 Reserved (Word modbus 2098) 99 Reserved (Word modbus 2099) 100 Reserved (Word modbus 2100)

34 – MCM260X – Manuale d’uso

Modbus RTU

Depending on the type of flashing, the RUN LED indicates all the operating statuses of the Modbus

RTU protocol.

RUN LED flashing Blink_fast Blink_medium Blink_slow LED_on Blink_3_on Blink_1_off Blink_3_off

Type of flashing Rapid flashing at 50msec Flashing at 200msec Flashing at 600msec LED always on LED on for 1sec, 3 flashes for 150msec Slow flashing of 40msec every 1.2sec LED off for 1sec, 3 flashes for 150msec

Status Boot-up Normal operating module Off-line signal

RUN LED flashing Blink_fast LED_on Blink_medium

9.1 Characteristics of the Modbus RTU slave protocol

The support provided for the slave Modbus RTU mode is an isolated RS485 serial with the possibility of

activating the line terminator from 120 to 100 ohm automatically from the parameter.

It can be selected from the parameter

2400 bits/s

28800 bits/s

Baud-rate

4800 bits/s

38400 bits/s

9600 bits/s

57600 bits/s

19200 bits/s

115200 bits/s

It can be selected from the parameter

8, n, 1 (8bit, no parity, 1 stop)

8, o, 1 (8bit, odd parity, 1 stop)

Format

8, e, 1 (8bit, even parity, 1 stop)

8, n, 2 (8bit, no parity, 2 stop)

8, o, 2 (8bit, odd parity, 2 stop)

8, e, 2 (8bit, even parity, 2 stop)

WORD READING (max. 50 word)

(code 0x03, 0x04)

Functions supported SINGLE WORD WRITING

(code 0x06)

MULTIPLE WORD WRITING (max 50 word)

(code 0x10)

9.2 Modbus RTU communication areas

9.2.a

MCM260X-1AD, MCM260X-2AD, MCM260X-3AD, MCM260X-4AD

Modbus address 0
1 2 3

Description
Device type It contains the device identification code 521: MCM260X-1AD, 522: MCM260X-2AD 523: MCM260X-3AD, 524: MCM260X-4AD Firmware version It contains the device firmware version Boot version It contains the device boot program version Compatibility with old MCM260 Indicates whether the device is running in compatibility mode with the old MCM260 series active (1) or not (0)

Read Reset Write value RO
RO RO R/W

Manuale d’uso – MCM260X – 35

Modbus address

Description

Read Reset Write value

Slave address

It contains the slave address set for the communication on the network RO

with Modbus protocol

Status/error flag

Bit 0: incorrect configuration parameters

Bit 1: incorrect encoder calculation values

Bit 2: –

Bit 3: incorrect calibration data

Bit 4: incorrect calibration constants

Bit 5: incorrect CANopen memory data

Bit 6: calibration missing

Bit 7: out of range parameter

Bit 8: FRam memory error

Bit 9: offline terminal

Bit 10: NFC password not set

Bit 11: low power supply voltage

Bit 12: AI1 out of range

Bit 13: AI2 out of range

Bit 14: –

Bit 15: –

Terminal status/error flag

Bit 0: eeprom memory reading error Bit 1: eeprom memory writing error

Bit 2: incorrect parameters

999 I-ID input status

Digital input status

It contains the logic status of the digital inputs:

Bit 0: Input 1

Bit 1: Input 2

Bit 2: Input 3

Bit 3: Input 4

Bit 4: Input 5

Bit 5: Input 6

1000 Bit 6: Input 7 1050 Bit 7: Input 8

Bit 8: Input 9

Bit 9: Input 10

Bit 10: Input 11

Bit 11: Input 12

Bit 12: Input 13

Bit 13: Input 14

Bit 14: Input 15

Bit 15: Input 16

1001 Analog input 1 1051 It contains the rescaled value of the analog input 0..10V no. 1

1002 Analog input 2 1052 It contains the rescaled value of the analog input 0..10V no. 2

1003 1054

Encoder/Counter calculations no. 1 H Most significant word of the double-word that contains the calculations of RO encoder/counter no. 1

36 – MCM260X – Manuale d’uso

Modbus address

Description

Read Reset Write value

1004 1053

Encoder/Counter calculations no. 1 L Least significant word of the double-word that contains the calculations of RO encoder/counter no. 1

1005 1056

Encoder/Counter calculations no. 2 H Most significant word of the double-word that contains the calculations of RO encoder/counter no. 2

1006 1055

Encoder/Counter calculations no. 2 L Least significant word of the double-word that contains the calculations of RO encoder/counter no. 2

1007 1058

Encoder/Counter calculations no. 3 H Most significant word of the double-word that contains the calculations of RO encoder/counter no. 3

1008 1057

Encoder/Counter calculations no. 3 L Least significant word of the double-word that contains the calculations of RO encoder/counter no. 3

1009 1060

Calculations detected 1 s encoder/counter no. 1 H Most significant word of the double-word that contains the number of calculations of encoder/counter detected in 1 s

1010 1059

Calculations detected 1 s encoder/counter no. 1 L Least significant word of the double-word that contains the number of calculations of encoder/counter detected in 1 s

1011 1062

Calculations detected 1 s encoder/counter no. 2 H Most significant word of the double-word that contains the number of calculations of encoder/counter detected in 1 s

1012 1061

Calculations detected 1 s encoder/counter no. 2 L Least significant word of the double-word that contains the number of calculations of encoder/counter detected in 1 s

1013 1064

Calculations detected 1 s encoder/counter no. 3 H Most significant word of the double-word that contains the number of calculations of encoder/counter detected in 1 s

1014 1063

Calculations detected 1 s encoder/counter no. 3 L Least significant word of the double-word that contains the number of calculations of encoder/counter detected in 1 s

1015 1066

Calculations detected 100 ms encoder/counter no. 1 H Most significant word of the double-word that contains the number of calculations of encoder/counter detected in 100 ms

1016 1065

Calculations detected 100 ms encoder/counter no. 1 L Least significant word of the double-word that contains the number of calculations of encoder/counter detected in 100 ms

1017 1068

Calculations detected 100 ms encoder/counter no. 2 H Most significant word of the double-word that contains the number of calculations of encoder/counter detected in 100 ms

1018 1067

Calculations detected 100 ms encoder/counter no. 2 L Least significant word of the double-word that contains the number of calculations of encoder/counter detected in 100 ms

1019 1070

Calculations detected 100 ms encoder/counter no. 3 H Most significant word of the double-word that contains the number of calculations of encoder/counter detected in 100 ms

1020 1069

Calculations detected 100 ms encoder/counter no. 3 L Least significant word of the double-word that contains the number of calculations of encoder/counter detected in 100 ms

1099 Q-ID output status

R/W

Manuale d’uso – MCM260X – 37

Modbus address

Description

Read Reset Write value

Digital output status

It contains the logic status of the digital outputs (default 0):

Bit 0: output 1

Bit 1: output 2

Bit 2: output 3

Bit 3: output 4

Bit 4: output 5

Bit 5: output 6

1100

Bit 6: output 7 Bit 7: output 8

R/W

Bit 8: output 9

Bit 9: output 10

Bit 10: output 11

Bit 11: output 12

Bit 12: output 13

Bit 13: output 14

Bit 14: output 15

Bit 15: output 16

1101 Encoder/Counter commands no. 1 H

R/W

1102 Encoder/Counter commands no. 2 H

R/W

Encoder/Counter commands no. 3 H

Bit0 = Preset value loading

1103 Bit1 = Loading preset at next impulse Z

R/W

The bits of the commands are taken automatically to 0 once the command

is executed.

Logic status of the outputs of the slaves on the bus

These words contain the logic status of the digital outputs of all the slaves

1201.. ..1454

on the bus: based on the set slave address the instrument determines its reference word (e.g. Slave 1-word 1201 .. Slave 10-word 1210…) and sets the outputs based on the value of the word.

It is used to set all the outputs by writing in broadcast on the slaves on the

bus

Access to the Slave Address Automatic Assignment function.

To use the Slave Address Automatic Assignment function you need to

connect the Q-ID clip to the I-ID clip of the next module: the first will have

I-ID free, while in the last one the clip Q-ID will be free.

1502 For the entry (exit) of all the modules connected to the bus, in the Slave R/W

Address Automatic Assignment function you need to write 1 (0) on this

word in broadcast. Once the address is assigned (see following word), exit

from the procedure by writing 0 on this word, obviously with the slave

address just assigned.

Slave address assignment

In order to assign the address write the password 1234 on this word: the

1503

address used to write will be one that the slave will assign to itself. The new address will be assigned only with the module with the I-ID input

R/W

disabled and currently still with the assignment procedure active, and will

respond to the writing command.

2001 Parameter 1

R/W

…

R/W

Parameter 50

2050 The parameters written in these addresses (2001..2050) are saved in the R/W

memory at every writing on this area.

38 – MCM260X – Manuale d’uso

Modbus address 4001 …
4050

Description
Parameter 1 (10 s delay) … Parameter 50 (10 s delay) The parameters written in these addresses (4001..4050) are saved in the memory after 10 seconds from the last writing on this area.

Read Reset Write value R/W R/W
R/W

9.2.b

MCM260X-5AD

Modbus address 0 1 2 3 5
6
7 8 9 1000 1001 1002 1003 1100 1101

Description
Device type It contains the device identification code 525: MCM260X-5AD Firmware version It contains the device firmware version Boot version It contains the device boot program version Compatibility with old MCM260 Indicates whether the device is running in compatibility mode with the old MCM260 series active (1) or not (0) Slave address It contains the slave address set for the communication on the network with Modbus protocol. Status/error flag Bit 0: incorrect configuration parameters Bit 1: incorrect encoder calculation values Bit 2: Bit 3: incorrect calibration data Bit 4: incorrect calibration constants Bit 5: incorrect CANopen memory data Bit 6: calibration missing Bit 7: out of range parameter Bit 8: FRam memory error Bit 9: offline terminal Bit 10: NFC password not set Bit 11: low power supply voltage Bit 12: AI1 out of range Bit 13: AI2 out of range Bit 14: AI3 out of range Bit 15: AI4 out of range Terminal status/error flag Bit 0: eeprom memory reading error Bit 1: eeprom memory writing error Bit 2: incorrect parameters AI1..2 input cold junction temperature AI3.4 input cold junction temperature AI1 analog input value AI2 analog input value AI3 analog input value AI4 analog input value AO1 analog output value AO2 analog output value

Read Reset Write value RO RO RO R/W RO
RO
RO RO RO RO RO RO RO R/W R/W

Manuale d’uso – MCM260X – 39

Modbus address 2001 …
2100
4001 …
4100

Description
Parameter 1 … Parameter 100 The parameters written in these addresses (2001..2100) are saved in the memory at every writing on this area. Parameter 1 (10 s delay) … Parameter 100 (10 s delay) The parameters written in these addresses (4001..4100) are saved in the memory after 10 seconds from the last writing on this area.

Read Reset Write value R/W R/W
R/W
R/W R/W
R/W

9.2.c

MCM260X-9AD

Modbus address 0 1 2 5
6
7 8 9

Description
Device type It contains the device identification code 529: MCM260X-9AD Firmware version It contains the device firmware version Boot version It contains the device boot program version Slave address It contains the slave address set for the communication on the network with Modbus protocol. Status/error flag Bit 0: incorrect configuration parameters Bit 1: incorrect encoder calculation values Bit 2: Bit 3: incorrect calibration data Bit 4: incorrect calibration constants Bit 5: incorrect CANopen memory data Bit 6: calibration missing Bit 7: out of range parameter Bit 8: FRam memory error Bit 9: offline terminal Bit 10: NFC password not set Bit 11: low power supply voltage Bit 12: AI1 out of range Bit 13: AI2 out of range Bit 14: AI3 out of range Bit 15: AI4 out of range Terminal status/error flag Bit 0: eeprom memory reading error Bit 1: eeprom memory writing error Bit 2: incorrect parameters AI1..2 input cold junction temperature AI3.4 input cold junction temperature

Read Reset Write value RO RO RO RO
RO
RO RO RO

40 – MCM260X – Manuale d’uso

Modbus address
1000 1050
1001 1051 1002 1052 1003 1053 1004 1054 1005 1056 1006 1055 1007 1058 1008 1057 1009 1060 1010 1059 1011 1062 1012 1061

Description
Digital input status It contains the logic status of the digital inputs: Bit 0: Input 1 Bit 1: Input 2 Bit 2: Input 3 Bit 3: Input 4 Bit 4: Input 5 Bit 5: Input 6 Bit 6: Input 7 Bit 7: Input 8 Bit 8: Input 9 Bit 9: Input 10 Bit 10: Input 11 Bit 11: Input 12 Bit 12: Input 13 Bit 13: Input 14 Bit 14: Input 15 Bit 15: Input 16
AI1 analog input value

Read Reset Write value
RO
RO

AI2 analog input value

AI3 analog input value

AI4 analog input value

Encoder/Counter calculations no. 1 H Most significant word of the double-word that contains the calculations RO of encoder/counter no. 1 Encoder/Counter calculations no. 1 L Least significant word of the double-word that contains the calculations RO of encoder/counter no. 1 Encoder/Counter calculations no. 2 H Most significant word of the double-word that contains the calculations RO of encoder/counter no. 2 Encoder/Counter calculations no. 2 L Least significant word of the double-word that contains the calculations RO of encoder/counter no. 2 Encoder/Counter calculations no. 3 H Most significant word of the double-word that contains the calculations RO of encoder/counter no. 3 Encoder/Counter calculations no. 3 L Least significant word of the double-word that contains the calculations RO of encoder/counter no. 3 Encoder/Counter calculations no. 4 H Most significant word of the double-word that contains the calculations RO of encoder/counter no. 4 Encoder/Counter calculations no. 4 L Least significant word of the double-word that contains the calculations RO of encoder/counter no. 4

Manuale d’uso – MCM260X – 41

Modbus address 1013 1064
1014 1063
1015 1066
1016 1065
1017 1068
1018 1067
1019 1070
1020 1069
1021 1072
1022 1071
1023 1074
1024 1073
1025 1076
1026 1075
1027 1078
1028 1077

Description
Calculations detected 1 s encoder/counter no. 1 H Most significant word of the double-word that contains the number of calculations of encoder/counter detected in 1 s Calculations detected 1 s encoder/counter no. 1 L Least significant word of the double-word that contains the number of calculations of encoder/counter detected in 1 s Calculations detected 1 s encoder/counter no. 2 H Most significant word of the double-word that contains the number of calculations of encoder/counter detected in 1 s Calculations detected 1 s encoder/counter no. 2 L Least significant word of the double-word that contains the number of calculations of encoder/counter detected in 1 s Calculations detected 1 s encoder/counter no. 3 H Most significant word of the double-word that contains the number of calculations of encoder/counter detected in 1 s Calculations detected 1 s encoder/counter no. 3 L Least significant word of the double-word that contains the number of calculations of encoder/counter detected in 1 s Calculations detected 1 s encoder/counter no. 4 H Most significant word of the double-word that contains the number of calculations of encoder/counter detected in 1 s Calculations detected 1 s encoder/counter no. 4 L Least significant word of the double-word that contains the number of calculations of encoder/counter detected in 1 s Calculations detected 100 ms encoder/counter no. 1 H Most significant word of the double-word that contains the number of calculations of encoder/counter detected in 100 ms Calculations detected 100 ms encoder/counter no. 1 L Least significant word of the double-word that contains the number of calculations of encoder/counter detected in 100 ms Calculations detected 100 ms encoder/counter no. 2 H Most significant word of the double-word that contains the number of calculations of encoder/counter detected in 100 ms Calculations detected 100 ms encoder/counter no. 2 L Least significant word of the double-word that contains the number of calculations of encoder/counter detected in 100 ms Calculations detected 100 ms encoder/counter no. 3 H Most significant word of the double-word that contains the number of calculations of encoder/counter detected in 100 ms Calculations detected 100 ms encoder/counter no. 3 L Least significant word of the double-word that contains the number of calculations of encoder/counter detected in 100 ms Calculations detected 100 ms encoder/counter no. 4 H Most significant word of the double-word that contains the number of calculations of encoder/counter detected in 100 ms Calculations detected 100 ms encoder/counter no. 4 L Least significant word of the double-word that contains the number of calculations of encoder/counter detected in 100 ms

Read Reset Write value RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO

42 – MCM260X – Manuale d’uso

Modbus address
1100
1101 1102 1103 1104 1105 1106
1201.. ..1454
2001 … 2100 4001 … 4100

Description

Read Reset Write value

Digital output status

It contains the logic status of the digital outputs (default 0):

Bit 0: output 1

Bit 1: output 2

Bit 2: output 3

Bit 3: output 4

Bit 4: output 5

Bit 5: output 6

Bit 6: output 7 Bit 7: output 8

R/W

Bit 8: output 9

Bit 9: output 10

Bit 10: output 11

Bit 11: output 12

Bit 12: output 13

Bit 13: output 14

Bit 14: output 15

Bit 15: output 16

AO1 analog output value

R/W

AO2 analog output value

R/W

Encoder/Counter commands no. 1 H

R/W

Encoder/Counter commands no. 2 H

R/W

Encoder/Counter commands no. 3 H

R/W

Encoder/Counter commands no. 4 H

Bit0 = Preset value loading

Bit1 = Loading preset at next impulse Z

R/W

The bits of the commands are taken automatically to 0 once the

command is executed.

Logic status of the outputs of the slaves on the bus

These words contain the logic status of the digital outputs of all the slaves

on the bus: based on the set slave address the instrument determines its

reference word (e.g. Slave 1-word 1201… Slave 10-word 1210…) and sets WO

the outputs based on the value of the word.

It is used to set all the outputs by writing in broadcast on the slaves on

the bus

Parameter 1

R/W

…

R/W

Parameter 100

The parameters written in these addresses (2001..2100) are saved in the R/W

memory at every writing on this area.

Parameter 1 (10 s delay)

R/W

…

R/W

Parameter 100 (10 s delay)

The parameters written in these addresses (4001..4100) are saved in the R/W

memory after 10 seconds from the last writing on this area.

Manuale d’uso – MCM260X – 43

10 CANopen
Depending on the type of flashing, the RUN LED indicates all the operating statuses of the CANopen protocol.

RUN LED flashing name Blink_fast Blink_medium Blink_slow LED_on Blink_3_on Blink_1_off Blink_3_off

Status Boot-up Pre-Operational Operational Stopped Pre-Operational with Emergency Operational with Emergency Stopped with Emergency

RUN LED flashing Blink_fast Blink_slow LED_on Blink_1_off Blink_medium Blink_3_on Blink_3_off

10.1 SET-UP of slave CANopen node
A CANopen network requires a 120 end of line resistance. If more devices are to be connected in cascade, it is necessary to insert in the last MCM260 of the network, at the end of the line.
10.2 Slave CANopen node operation
At power on, after boot-up, the module will switch to the Pre-Operational status automatically (RUN LED Blink_slow blinking). In this status no transmission/reception of PDO is admitted, but only of SDO. To change from Pre-Operational to Operational, an NMTfrom a master.
10.3 EDS Files
EDS files of the various models are available in the download area at www.pixsys.net.
11 CANopen in detail
CAN (Controller Area Network) is a Multimaster bus system. The messages are sent to the bus with a certain priority, defined by the COB ID (Communication Object Identifier). CANopen is a protocol defined by the DS 301 CIA specifications (CAN in automation). The CANopen is formed above the CAL (CAN Application Layer, a high level communication protocol for CAN-based networks). The CAL defines 4 types of service elements: · CMS: (CAN-based Message Specification): defines a set of objects (Variables, Events, Domains) that
determine how the CAN interface can access the functions of the network nodes. · NMT: (Network Management): defines all the master-slave type services of a network, such as node
initialization, start and stop, error detection. · DBT: (Distributor): defines a dynamic distribution of the CAN identifiers for the network nodes,
called COB-ID (Communication Object Identifier) · LMT: (Layer Management): offers the possibility to change parameters such as the NMT address of
a node, bit-timing and baud-rate of a CAN interface. CMS defines 8 priority levels, each with 220 COB-ID. The other identifies are reserved for NMT, DBT and LMT.

44 – MCM260X – Manuale d’uso

11.a CAN Application Layer (CAL)

COB-ID 0

Description NMT start/stop services

1..220

CMS priority object 0

221..440

CMS priority object 1

441..660

CMS priority object 2

661..880

CMS priority object 3

881..1100

CMS priority object 4

1101..1320

CMS priority object 5

1321..1540

CMS priority object 6

1541..1760

CMS priority object 7

1761..2015

NMT Node Guarding

2016..2031

NMT, LMT, DBT services

CAL does not define the content of the CMS objects; it defines how but not what. CANopen provides

the implementation of a system control distributed using the CAL protocols and services.

11.1 Object Dictionary
The Object dictionary is fundamental for a CANopen device. All the data and information regarding the configuration are saved in it. It is an orderly group of objects, where each is addressed by a 16 bit ID. The object dictionary is divided into 3 areas, where each area is represented by a table that lists all of its objects:

Communication Profile Area (0x1000-0x1FFF addresses): contains all the fundamental communication parameters and is common to all the CANopen devices.

Manufacturer Specific Profile Area (0x2000-0x5FFF address): in this area each manufacturer may implement its specific functionalities.

Standardized Device Profile Area (0x6000-0x9FFF addresses): defines the input/output transmission/ reception modes. It is defined by the DS-401 standard (Device Profile for I/O devices)

In the object dictionary, an addressing scheme is used to access the device parameters, communication, functions and data. Each address is defined by a 16 bit number that indicates the address row of the table. A maximum of 65536 addresses are permitted. If an object is composed of several elements, these are identified by means of sub-indexes. Each sub-index indicates the individual column address of the object, allowing a maximum of 256 sub-indexes. If the address consists of simple variables (8bit unsigned, 16bit unsigned, etc.), the sub-index is always zero. For the other objects, such as arrays, records, etc., sub-index 0 will indicate the maximum number of sub-indexes of the object.

Data is coded in the following sub-indexes: · object name describing the functions · a data type attribute · an access attribute: read only, write only or read/write

Manuale d’uso – MCM260X – 45

11.b CANopen object dictionary structure

Index (Exadecimal) 0x0000

Object Not used

0x0001- 0x001F

Static data types

0x0020 – 0x003F

Complex data types

0x0040 – 0x005F

Manufacturer specific data types

0x0060 – 0x007F

Profile specific static data types

0x0080 – 0x009F

Profile specific complex data types

0x00A0 – 0x0FFF

Reserved

0x1000 – 0x1FFF

Communication Profile (DS-301)

0x2000 – 0x5FFF

Manufacturer specific parameters

0x6000 – 0x9FFF

Parameters from standardized device profiles

0xA000 – 0xFFFF

Reserved

11.1.1 CANopen communication model
CALopen defines 4 types of messages: 1 Administrative message: Layer management, network management and identification services (network initialization, configuration and supervision). Services and protocols are according to LMT, NMT and DBT elements. 2 Service Data Object (SDO): provides client access to objects of the object dictionary of the device (server) using indexes and sub-indexes. A response is generated
for every CAN message: one SDO requires 2 identifiers. SDO requests and responses always contain 8 bytes. 3 Process Data Object (PDO): transfers data in real-time data. The transfer is limited from 1 to 8 bytes and its content is defined by its CAN-identifier only. Each PDO is described by 2 objects in the object dictionary: · PDO Communication Parameter: it contains the COB-ID used, the type of transmission, inhibit time and period. · PDO Mapping Parameter: contains a list of allocations of objects in the object dictionary mapped
in the PDO. It can be configured via SDO messages if the mapping is supported by the device.
There are 2 types of PDO transmission: · Synchronous: it is regulated by the reception of a SYNC object (acyclic, non periodical, or cyclic,
which means that the transmission is periodically controlled every 1,2,…,240 by SYNC messages). · Asynchronous: the transmission is regulated by a remote transmission request from another
device or by a specific event defined in the device profile (change of the input value, timer, etc.)
· Inhibit time for a PDO defines the minimum time between the transmission of two consecutive PDOs. It is a part of the PDO Communication Parameter and is defined as an unsigned 16bit integer (unit is 100µsec).
· Event time period defines how the PDO transmission is regulated when a specific time has elapsed. It is defined as an unsigned 16bit integer (unit is milliseconds). The PDO transmits data without overloading and the messages are not confirmed: one PDO requires a CAN-identifier (no more than 8 bytes can be
transmitted with 1PDO.
4 Predefined Messages or Special Function Objects: it is a list of important pre-defined messages: · Synchronization (SYNC): it regulates the transmission of inputs/outputs synchronizing the PDOs. It is one of the COB-IDs with the highest priority. · Time Stamp: it gives the devices a common time reference. · Emergency: the event is regulated by errors within the device. · Node/Life Guarding: the NMT master monitors the status of the slave nodes (node guarding). The
46 – MCM260X – Manuale d’uso

nodes may monitor the status of the NMT master (life guarding): it starts in the NMT slave after receiving a first node guarding message from the NMT master. It detects errors in the network interface of the devices: a remote transmission request from the NMT master to a particular node triggers a response containing the node status. · Boot-up: an NMT slave transmits a message after the transition from the Initialising status to the Pre-Operational status. SDOs are typically used to configure the devices of a CANopen network, while PDOs are used for fast data transfer. All the CANopen devices should have at least one PDO, all the other communication objects are optional.

11.1.2 CANopen Pre-defined Connection Set
When a device must respond to a request from the master, a default frame is used. It comprises 11 bits, with the first 7 bits (LSB) used for the Node-ID (node address, range 1..127, defined by the manufacturer’s specific configurations), and the last 4 bits (MSB) used for the Function Code.

MSB

LSB

10 9 8 7 6 5 4 3 2 1

Function code

Node-ID

Pre-defined connection set defines 4 Rx PDO, 4 TX PDO, 1 SDO, 1 Emergency Object and 1 Node-Error-Control Identifier. It also supports the transmission in broadcast of NMT Module Control Services, SYNC and Time Stamp objects. The complete CAN identifier assignment scheme is shown below:

11.1.2.a Broadcast objects of the CANopen Pre-defined Connection Set

Object NMT Module Control

Function Code
(bit 7…10) 0000

COB-ID 0x000

Communication parameters –

SYNC

0001

0x080

0x1005, 0x1006, 0x1007

Time Stamp

0010

0x100

0x1012, 0x1013

11.1.2.b Peer-to-Peer objects of the CANopen Pre-defined Connection Set

Object
Emergency PDO1 (transmitted) PDO1 (received)

Function Code (bit
7…10) 0000 0011 0100

COB-ID

Communication parameters

0x81 0xFF 0x1024, 0x1015 0x181 0x1FF 0x1800 0x201 0x27F 0x1400

PDO2 (transmitted)

0101

0x281 0x2FF 0x1801

PDO2 (received)

0110

0x301 0x37F 0x1401

PDO3 (transmitted) PDO3 (received) PDO4 (transmitted) PDO4 (received) SDO (transmitted/received) SDO (received/client) NMT Error Control

0111 1000 1001 1010 1011 1100 1110

0x381 0x3FF 0x1802 0x401 0x47F 0x1402 0x481 0x4FF 0x1803 0x501 0x57F 0x1403 0x581 0x5FF 0x1200 0x601 0x67F 0x1200 0x701 0x77F 0x1016, 0x1017

All the peer-to-peer identifiers are different; as a result, only one master device can communicate with each slave node (up to 127 nodes). Two slaves cannot communicate because they do not know the node-ID of the other, only the master knows them.

Manuale d’uso – MCM260X – 47

11.1.3 CANopen identifier distribution
The COB-ID can be determined in 3 ways: · Pre-defined Connection Set: it is the way shown in the previous section. Allocation is by default
and other configurations are not necessary. · PDO identifiers (COB-ID): they can be modified after powering on the instrument, when it is in the
Pre-Operational status (see next section). In this status, new values can be written in the Object Dictionary only with the SDO. · Using DBT (Distributor, a service CAL): the nodes are initially identified by their node-ID. The Node-ID of the slave node can be configured by internal dip-switches or by LMT (Layer Management, a CAL service). When the network initializes and boots, the master communicates with each connected slave with a `telegram’ (an NMT service). Once this connection has been established, DBT provides allocation of CAN identifiers for communication of SDOs and PDOs to the nodes.

11.1.4 CANopen boot-up procedure
Network initialization supports two boot-up processes: Minimum boot-up and Extended boot-up. The first is a pre-requisite for a CANopen device, the second is optional but is necessary if the COB-ID must be allocated by the DBT services. The transition diagram below shows a minimum boot-up procedure for a CANopen node.
Power-On

Reset
Communication Initialization

Reset Node

Initialization finished

Pre-Operational Enter Pre-Operational
Stop Remote Node

Start Remote Node

Enter Operational Error

Stopped

Start Remote Node

Operational

Stop Remote Node

The NMT services allow the status to be changed in each condition. NMT messages are formatted by a CAN-header (COB-ID = 0) and 2 data byte. A byte contains the requested service (NMT command specifier) and the other contains the Node-ID (0 for broadcast mode). A CANopen network can only have an NMT master, which brings NMT messages and controls the initialization processes. The CANopen devices supporting only the minimum boot-up enter the Pre-Operational status automatically, immediately after ending the initialization. In this status, COB-ID allocation and parameter setting are possible from SDOs only. The MCM260X module moves automatically to the Pre-Operational status after ending the boot-up.
11.1.5 Communication profile: initialization
In most cases, a default configuration is assigned to the Object dictionary, if there are no other user configurations saved. The default configuration does not provide for any pre-set PDO. To use the PDO, both Tx and Rx, in the module initialization phase it is necessary for the CANopen master to execute the correct mapping.

48 – MCM260X – Manuale d’uso

11.1 Communication Profile Area
The table below shows all the objects of the Communication Profile Area:

Index 0x1000 0x1001 0x1003 0x1005 0x1006 0x1008 0x1009 0x100A 0x100B 0x100C 0x100D 0x1010 0x1011 0x1014 0x1015 0x1017 0x1018 0x1029 0x1400 0x1401 0x1402 0x1403 0x1600 0x1601 0x1602 0x1603 0x1800 0x1801 0x1802 0x1803 0x1A00 0x1A01 0x1A02 0x1A03

Name Device type Error register Pre-defined Error Field COB-ID SYNC message Communication Cycle Period Manufacturer Device Name Manufacturer Hardware Version Manufacturer Software Version Node ID Guard Time Life Time Factor Store Parameters Restore default Parameter COB-ID Emergency Object Inhibit time Emergency Object Producer Heartbeat Time Identity Object Error Behaviour Receive PDO communication parameter 1 Receive PDO communication parameter 2 Receive PDO communication parameter 3 Receive PDO communication parameter 4 Receive PDO mapping parameter 1 Receive PDO mapping parameter 2 Receive PDO mapping parameter 3 Receive PDO mapping parameter 4 Transmit PDO communication parameter 1 Transmit PDO communication parameter 2 Transmit PDO communication parameter 3 Transmit PDO communication parameter 4 Transmit PDO mapping parameter 1 Transmit PDO mapping parameter 2 Transmit PDO mapping parameter 3 Transmit PDO mapping parameter 4

Type 32bit unsigned 8bit unsigned Array 32bit unsigned 32bit unsigned 32bit unsigned String String String 8bit unsigned 16bit unsigned 8bit unsigned Array 32bit unsigned Array 32bit unsigned 32bit unsigned 16bit unsigned 16bit unsigned Record 32bit unsigned Array 8bit unsigned Record 32bit unsigned Record 32bit unsigned Record 32bit unsigned Record 32bit unsigned Record 32bit unsigned Record 32bit unsigned Record 32bit unsigned Record 32bit unsigned Record 32bit unsigned Record 32bit unsigned Record 32bit unsigned Record 32bit unsigned Record 32bit unsigned Record 32bit unsigned Record 32bit unsigned Record 32bit unsigned

R/W CONST R R/W R R/W CONST CONST CONST R R/W R/W R/W R/W R R/W R/W R R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W

Manuale d’uso – MCM260X – 49

11.1.1 Device Type
This object indicates the device type:

Index

Subindex

0x1000 0

Name Device type

Type 32bit unsigned

Default –

R/W CONST

Structure:

Bit 24…31 MSB Bit 16…23

Bit 8…15

0x00

0000b19 b18 b17 b16

0x01

b16

If there are no digital inputs

If there is at least one digital input

b17

If there are no digital outputs

If there is at least one digital output

b18

If there are no analog inputs

If there is at least one analog input

b19

If there are no analog outputs

If there is at least one analog output

For MCM260X-1AD the value is 0x00020191 For MCM260X-2AD the value is 0x00050191 For MCM260X-3AD the value is 0x00030191 For MCM260X-4AD the value is 0x00030191 For MCM260X-9AD the value is 0x000F0191

Bit 0…7 LSB 0x91

Least significant word (LSW) is always 0x0191 = 401dec corresponding to the DS standard of the CAN.

11.1.2 Error Register

This object contains an indication regarding the internal errors and is a sub-set of the emergency type messages.

Index

Sub – index

0x1001 0

Name Error register

Type 8bit unsigned

Default R/W

–

Structure:

Number of bits 0 1 2 3

Meaning Generic error Current Voltage Temperature

If there is an error, bit 0 is always set to 1.

Number of bits 4 5 6 7

Meaning Communication Specific device profile Reserved Specific of the manufacturer

11.1.3 Pre-defined Error Field

This object contains information about the last 10 errors detected. The new error will be entered in Sub-index 1 and the information regarding the error in Sub-index 10 will be lost.

Index

Subindex

0x1003 0

Name Number of errors

Type Array 8bit unsigned

Default R/W

–

R/W

Standard error field (always the last error)

Array 32bit unsigned

–

…

–

…

Standard error field (first error)

Array 32bit unsigned

–

50 – MCM260X – Manuale d’uso

Structure:

Bit 16..31 MSW Additional info

Bit 0..15 LSW Error code

Additional info refers to the first 2 bytes of the additional code of the Emergency telegram. Error code is an error code in the Emergency telegram.

11.1.4 COB-ID SYNC message
This object contains the COB-ID for the synchronization messages.

Index

Subindex Name

0x1005 0

COB-ID SYNC

Type 32bit unsigned

Default

R/W

0x00000080

Structure:

Bit 16..31 MSW 0 (reserved)

Bit 0..15 COB-ID

11.1.5 Communication Cycle Period
This message contains the maximum time (msec) between two SYNC messages (2msec resolution). If the value is 0, there is no monitoring with SYNC.

Index

Subindex Name

Type

Default

R/W

0x1006 0

Communication Cycle Period

32bit unsigned

R/W

11.1.6
Index
0x1008

Manufacturer Device Name

Subindex 0

Name

Type

Manufacturer Device Name

String

Default M260

R/W CONST

11.1.7
Index
0x1009

Manufacturer Hardware Version

Subindex 0

Name Manufacturer Hardware Version

Type String

Default

R/W

Actual hardware version

CONST

11.1.8
Index
0x100A

Manufacturer Software Version

Subindex 0

Name Manufacturer Software Version

Type String

Default

R/W

Actual software version

CONST

11.1.9 Node ID

Index

Subindex Name

0x100B 0

Node ID

Type

Default

R/W

8bit unsigned

11.1.10 Guard Time
This object defines the Guarding Time (time between two queries, in msec).

Index

Subindex Name

Type

Default

R/W

0x100C 0

Guard Time

16bit unsigned

R/W

Manuale d’uso – MCM260X – 51

11.1.11 Life Time Factor
This object is part of the Node Guarding protocol. No monitoring if equal to 0.

Index

Subindex Name

Type

Default

R/W

0x100D 0

Life Time Factor

8bit unsigned

R/W

11.1.12 Store Parameters
This object saves the user parameters permanently if the “save” string (ASCII 0x65766173) is written in Sub-index 1.

Index 0x1010

Subindex 0
1

Name Number of sub-indexes
Store all parameters

Type Array 8bit unsigned
Array 32bit unsigned

Default

R/W

1 (“save” string to save)

R/W

11.1.13 Restore Default Parameters

This object allows the user parameters saved to be reset and the default values to be loaded. If the

“load” string (ASCII 0x64616F6C) is written in Sub-index 1, the standard default parameters will be

loaded at each power on (until the new “save” command is written).

Index

Subindex Name

Type

Default

R/W

0x1011 0

Number of sub-indexes

Array 8bit unsigned

Load standard default parameters

Array 32bit unsigned

1 (“load” string for standard default)

R/W

11.1.14 COB-ID Emergency Object

Index

Subindex Name

Type

0x1014 0

COB-ID EMCY

32bit unsigned

Default

R/W

0x80 + module – ID

Structure:
Bit 31 0(valid) / 1(invalid)

Bit 11…30 0 Reserved

Bit 0…10 COB-ID

11.1.15 Inhibit Time Emergency Object

This object indicates the time that must have elapsed before transmitting another Emergency (in minutes).

Index

Subindex Name

Type

Default

R/W

0x1015 0

Inhibit Time EMCY 16bit unsigned

R/W

11.1.16 Producer Heartbeat Time
This message contains the time between two Heartbeat messages (msec). No monitoring if equal to Heartbeat.

Index

Subindex Name

Type

Default

R/W

0x1017 0

Producer Heartbeat Time

16bit unsigned

R/W

52 – MCM260X – Manuale d’uso

11.1.17 Identity Object
This object lists the specifications of the device’s manufacturer.

Index

Subindex Name

Type

Default

R/W

0x1018 0

Number of sub-indexes

Record 8bit unsigned 4

Manufacturer ID

Record 32bit unsigned PIX

Device description Record 32bit unsigned 260

Review number

Record 32bit unsigned –

Serial number

Record 32bit unsigned –

11.1.18 Error Behaviour
This object specifies which status the module must switch to in case of communication error.

Index

Subindex Name

Type

Default

R/W

0x1029 0

Number of sub-indexes

Array 8bit unsigned

Communication error Array 8bit unsigned

R/W

Structure: Communication error
0
1 2

Action Change to the PRE-OPERATIONAL status (only if the status was OPERATIONAL) There are no status changes Change to the STOPPED status

11.1.19 Receive PDO Communication Parameter

This object sets the communication parameters of the supported Rx PDO. The COB-ID of the default PDO is set by the DS301 standard.

Index

Subindex Name

Type

0x1400

Default

R/W

0x1401 0x1402

Number of sub-indexes

Record 8bit unsigned 2

0x1403

0x1400

0x200 + Module-ID 0x1401

0x300 +

COB-ID

Record 32bit unsigned

Module-ID 0x1402

R/W

0x400 +

Module-ID

0x1403

0x500 + Module-ID

Type of transmission Record 8bit unsigned 255

R/W

Structure of the COB-ID:

Bit 31 0(valid) / 1(invalid)

Bit 30 0(RTR permitted) / 1(RTR not permitted)

Bit 29…11 0 Reserved

Bit 0…10 COB-ID

Manuale d’uso – MCM260X – 53

Digital and analog inputs are transmitted in case of Change Of Value (COV). The transmission modes are explained in the following table (RTR = Remote Transmission Request received):

Type of

PDO transmission

transmission cyclic

acyclic

1…240

241..251 Reserved
252
253 254 255

synchro- nous

asynchronous

X
X X X

RTR only
X X

TxPDO (inputs)

RxPDO (outputs)

It sets

outputs

If COV is after each

transmitted SYNC as

with each requested

SYNC

by the

last PDO

received

It sets

outputs

Transmission every i SYNC (i = 1…240)

after each SYNC as requested by the

last PDO

received

Data is still

read with

the SYNC, Not

but not sent, supported

as requested

by RTR

Requested by RTR

COV

11.1.20 Receive PDO Mapping Parameter
This object defines the data transmitted by the PDO. Sub-index 0 contains the number of valid objects for the PDO.

Index

Subindex Name

Type

Default

R/W

0x1600

0x1601 0x1602

Number of objects Record 8bit unsigned –

R/W

0x1603

1…8

Object mapped in the PDO

Record 32bit unsigned –

R/W

Object structure:

Bit 16..31 Index

Bit 8..15 Sub-index

Bit 0..7 Object length

Index: object address that must be transmitted Sub-index: Object sub-index that must be transmitted Object length: length in bit (not more than 8 bytes may be transmitted with a PDO; therefore the sum of the object length must not exceed 64.

54 – MCM260X – Manuale d’uso

11.1.21 Transmit PDO Communication Parameter
This object sets the communication parameters for the supported Tx PDO. The default COB-ID of the PDO is set by the DS301 standard.

Index

Subindex Name

Type

Default

R/W

0x1800

0x1801 0x1802

Number of sub-indexes

Record 8bit unsigned 5

0x1803

0x1800

0x180 +

Module-ID

0x1801

0x280 +

COB-ID

Record 32

Documents / Resources

Pixsys ELECTRONIC MCM260X CANopen Expansion Module [pdf] User Manual
MCM260X CANopen Expansion Module, MCM260X, CANopen Expansion Module, Expansion Module, Module

References

User Manual

Pixsys ELECTRONIC MCM260X CANopen Expansion Module

Specifications

Safety Guidelines

Documents / Resources

References

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