Pixsys ETD1644 HMI Digital and Analog Extension Board User Manual

Main Features:
- Dimensions: 87 x 93 x 35 mm
- Material: Box – steel 10/10, Ral 7016
- Protection: IP20 (contenitore and terminal blocks)
- Weight: Approx. 200 g
- Power supply: Consumption – 100 W max
- Analogue input: 4 AI1..4 Configurable via thermocouple types K,
  S, R, J, T, E, N, B, thermoresistor

Product Usage Instructions

1. Introduction

Thank you for selecting the Pixsys I/O module ETD1644. This
expansion board allows for plug-in connection to Pixsys HMI,
enabling the acquisition and control of analogue/digital I/O on the
HMI via RS485/Modbus RTU or high-speed bus CANopen.

2. Safety Guidelines

2.1 Policies and Procedures

It is essential to adhere to the safety guidelines outlined in
the manual to prevent any potential risks to life or property.

2.2 Installation Guidelines

Follow the installation guidelines provided in the manual to
ensure proper setup and functionality of the I/O module.

2.3 Organization of Safety Notices

The safety notices in the manual are categorized based on the
level of risk associated with disregarding them. Make sure to pay
attention to all safety notices to avoid any accidents or
damage.

2.4 Spacing for Air Circulation and Ventilation

Ensure proper air circulation around the device by following the
specified spacing requirements. Failure to do so may lead to
overheating and affect device performance.

3. Model Identification

The model identified is ETD1644-AD.

Frequently Asked Questions (FAQ)

Q: What types of thermocouples can be used with the analogue
inputs?

A: The analogue inputs AI1..4 are configurable via thermocouple
types K, S, R, J, T, E, N, B, and thermoresistor.

“`

View Fullscreen

ETD1644-AD
I/O module
User manual

Table of contents
1 Introduction…………………………………………………………………………………………………………………………..8 2 Safety guidelines …………………………………………………………………………………………………………………..8
2.1 Policies and procedures …………………………………………………………………………………………… 8 2.2 Installation guidelines………………………………………………………………………………………………9 2.3 Organization of safety notices…………………………………………………………………………………9 2.4 Spacing for air circulation and ventilation……………………………………………………………..9 3 Model identification ……………………………………………………………………………………………………………10 4 Technical data……………………………………………………………………………………………………………………..10 4.1 Main features…………………………………………………………………………………………………………..10 4.2 Hardware features…………………………………………………………………………………………………..10 5 Dimensions and Installation……………………………………………………………………………………………… 11 6 Electrical wirings …………………………………………………………………………………………………………………12 6.1 Wiring diagram ……………………………………………………………………………………………………….12 6.2 Meaning of status lights (LED)………………………………………………………………………………..15 6.3 Dip switch ………………………………………………………………………………………………………………..15 7 Serial communication ………………………………………………………………………………………………………..17 7.1 SET-UP as RS485 Modbus slave node …………………………………………………………………….18 8 Configuration parameters table ………………………………………………………………………………………..21 8.1 GROUP A – ANALOGUE INPUT…………………………………………………………………………………21 8.2 GROUP B – ANALOGUE OUTPUTS……………………………………………………………………………24 8.3 GROUP C – DIGITAL INPUTS …………………………………………………………………………………….25 8.4 GROUP D – SERIAL ……………………………………………………………………………………………………26 9 CANopen ……………………………………………………………………………………………………………………………..26 9.1 SET-UP as CANopen slave node ……………………………………………………………………………..27 9.2 Operation as CANopen slave node………………………………………………………………………..28 9.3 Object Dictionary ……………………………………………………………………………………………………28 9.4 Communication Profile Area ………………………………………………………………………………….28 9.5 Manufacturer Specific Parameter Area – ETD1644-AD…………………………………………31 9.6 Standard Device Profile Area ………………………………………………………………………………….36 9.7 EDS Files……………………………………………………………………………………………………………………40 10 CANopen in details ……………………………………………………………………………………………………………..40 10.1 Object Dictionary ……………………………………………………………………………………………………41
10.1.1 CANopen communication model…………………………………………………………….42 10.1.2 CANopen Pre-defined Connection Set …………………………………………………….43 10.1.3 CANopen identifier distribution ……………………………………………………………….44 10.1.4 CANopen boot-up process………………………………………………………………………..45 10.1.5 Communication profile: initialization ……………………………………………………..45 10.2 Communication Profile Area ………………………………………………………………………………….45 10.2.1 Device Type ………………………………………………………………………………………………..46 10.2.2 Error Register ……………………………………………………………………………………………..47 10.2.3 Pre-defined Error Field……………………………………………………………………………….47 10.2.4 COB-ID SYNC message………………………………………………………………………………48 10.2.5 Communication Cycle Period……………………………………………………………………48
User manual – EDT1644-AD – 3

10.2.6 Manufacturer Device Name ……………………………………………………………………..48 10.2.7 Manufacturer Hardware Version ……………………………………………………………..48 10.2.8 Manufacturer Software Version……………………………………………………………….48 10.2.9 Node ID……………………………………………………………………………………………………….48 10.2.10 Guard Time…………………………………………………………………………………………………48 10.2.11 Life Time Factor………………………………………………………………………………………….49 10.2.12 Store Parameters ……………………………………………………………………………………….49 10.2.13 Restore Default Parameters………………………………………………………………………49 10.2.14 COB-ID Emergency Object………………………………………………………………………..49 10.2.15 Inhibit Time Emergency Object ………………………………………………………………..50 10.2.16 Producer Heartbeat Time………………………………………………………………………….50 10.2.17 Identity Object……………………………………………………………………………………………50 10.2.18 Error Behaviour………………………………………………………………………………………….50 10.2.19 Receive PDO Communication Parameter………………………………………………..51 10.2.20 Receive PDO Mapping Parameter…………………………………………………………….52 10.2.21 Transmit PDO Communication Parameter ……………………………………………..52 10.2.22 Transmit PDO Mapping …………………………………………………………………………….54 10.3 Manufacturer Specific Parameter Area …………………………………………………………………55 10.3.1 Device specification…………………………………………………………………………………..55 10.3.2 ETD1644-AD Parameters…………………………………………………………………………..56
10.3.2.1 GROUP A – ANALOGUE INPUT ……………………………………………………..56 10.4 GROUP B – ANALOGUE OUTPUTS……………………………………………………………………………59 10.5 GROUP C – DIGITAL INPUTS …………………………………………………………………………………….60 10.6 GROUP D – SERIAL ……………………………………………………………………………………………………61
10.6.1 Encoder/counters counts…………………………………………………………………………..61 10.6.2 Encoder/counters preset counts ……………………………………………………………….61 10.6.3 Encoder/counters commands…………………………………………………………………..62 10.6.4 Encoder/counters counts – 1s…………………………………………………………………….62 10.6.5 Encoder/counters counts – 100ms…………………………………………………………….62 10.7 Standard Device Profile Area ………………………………………………………………………………….63 10.7.1 Digital Input……………………………………………………………………………………………….63 10.7.2 Global Interrupt Enable digital…………………………………………………………………63 10.7.3 Interrupt Mask Any Change………………………………………………………………………64 10.7.4 Interrupt Mask Low-to-High……………………………………………………………………..64 10.7.5 Interrupt Mask High-to-Low……………………………………………………………………..64 10.7.6 Digital Output ……………………………………………………………………………………………65 10.7.7 Error Mode Output 8bit……………………………………………………………………………..65 10.7.8 Error Value Output 8bit……………………………………………………………………………..65 10.7.9 Analogue Input 16bit…………………………………………………………………………………66 10.7.10 Analogue Output 16bit……………………………………………………………………………..66 10.7.11 Analogue Input Interrupt Trigger Selection …………………………………………….66 10.7.12 Analogue Input Global Interrupt Enable …………………………………………………67 10.7.13 Analogue Input Interrupt Upper Limit Integer ………………………………………..67 10.7.14 Analogue Input Interrupt Lower Limit Integer ………………………………………..67 10.7.15 Analogue Input Interrupt Delta Unsigned……………………………………………….67
4 – EDT1644-AD – User manual

10.7.16 Analogue Input Interrupt Negative Delta Unsigned……………………………….68 10.7.17 Analogue Input Interrupt Positive Delta Unsigned …………………………………68 10.7.18 Analogue Output Error Mode …………………………………………………………………..68 10.7.19 Analogue Output Error Value Integer ………………………………………………………69 10.7.20 Error Behaviour………………………………………………………………………………………….69 10.8 PDO Transmission……………………………………………………………………………………………………69 10.8.1 PDO Mapping…………………………………………………………………………………………….69 10.9 SYNC Monitoring …………………………………………………………………………………………………….70 10.10 Node Guarding………………………………………………………………………………………………………..70 10.11 Heartbeat Monitoring …………………………………………………………………………………………….70 10.12 Emergency……………………………………………………………………………………………………………….71
Sommario
1 Introduzione………………………………………………………………………………………………………………………..74 2 Norme di sicurezza ……………………………………………………………………………………………………………..74
2.1 Regolamenti e procedure ……………………………………………………………………………………….74 2.2 Linee guida per l’installazione ……………………………………………………………………………….75 2.3 Organizzazione delle note di sicurezza…………………………………………………………………75 2.4 Spazi per la circolazione dell’aria e la ventilazione………………………………………………75 3 Identificazione del modello………………………………………………………………………………………………..76 4 Dati tecnici …………………………………………………………………………………………………………………………..76 4.1 Caratteristiche generali ………………………………………………………………………………………….76 4.2 Caratteristiche hardware ……………………………………………………………………………………….76 5 Dimensioni ed installazione……………………………………………………………………………………………….77 6 Collegamenti elettrici………………………………………………………………………………………………………….78 6.1 Schema di collegamento………………………………………………………………………………………..78 6.2 Significato delle spie di stato (led)………………………………………………………………………….81 6.3 Dip switch ………………………………………………………………………………………………………………..81 7 Comunicazione Seriale……………………………………………………………………………………………………….83 7.1 SET-UP nodo RS485 Modbus slave…………………………………………………………………………84 8 Tabella parametri di configurazione …………………………………………………………………………………87 8.1 GRUPPO A – INGRESSI ANALOGICI ………………………………………………………………………….87 8.2 GRUPPO B – USCITE ANALOGICHE ………………………………………………………………………….90 8.3 GRUPPO C – INGRESSI DIGITALI……………………………………………………………………………….91 8.4 GRUPPO D – SERIALE………………………………………………………………………………………………..92 9 CANopen ……………………………………………………………………………………………………………………………..92 9.1 SET-UP nodo CANopen slave………………………………………………………………………………….93 9.2 Funzionamento nodo CANopen slave…………………………………………………………………..94 9.3 Object Dictionary ……………………………………………………………………………………………………94 9.4 Communication Profile Area ………………………………………………………………………………….94 9.5 Manufacturer Specific Parameter Area – ETD1644-AD…………………………………………98 9.6 Standard Device Profile Area ………………………………………………………………………………..103 9.7 EDS Files………………………………………………………………………………………………………………….107 10 CANopen nel dettaglio ……………………………………………………………………………………………………..107 10.1 Object Dictionary ………………………………………………………………………………………………… 108
Manuale d’uso – EDT1644-AD – 5

10.1.1 CANopen communication model…………………………………………………………. 109 10.1.2 CANopen Pre-defined Connection Set …………………………………………………..110 10.1.3 CANopen identifier distribution …………………………………………………………….. 111 10.1.4 Procedura di boot-up CANopen……………………………………………………………..112 10.1.5 Communication profile: inizializzazione……………………………………………….112 10.2 Communication Profile Area ………………………………………………………………………………..113 10.2.1 Device Type ………………………………………………………………………………………………114 10.2.2 Error Register ……………………………………………………………………………………………114 10.2.3 Pre-defined Error Field……………………………………………………………………………..115 10.2.4 COB-ID SYNC message…………………………………………………………………………….115 10.2.5 Communication Cycle Period………………………………………………………………….115 10.2.6 Manufacturer Device Name ……………………………………………………………………115 10.2.7 Manufacturer Hardware Version ……………………………………………………………116 10.2.8 Manufacturer Software Version……………………………………………………………..116 10.2.9 Node ID……………………………………………………………………………………………………..116 10.2.10 Guard Time……………………………………………………………………………………………….116 10.2.11 Life Time Factor………………………………………………………………………………………..116 10.2.12 Store Parameters ……………………………………………………………………………………..116 10.2.13 Restore Default Parameters…………………………………………………………………….117 10.2.14 COB-ID Emergency Object………………………………………………………………………117 10.2.15 Inhibit Time Emergency Object ………………………………………………………………117 10.2.16 Producer Heartbeat Time………………………………………………………………………..117 10.2.17 Identity Object………………………………………………………………………………………….118 10.2.18 Error Behaviour………………………………………………………………………………………..118 10.2.19 Receive PDO Communication Parameter………………………………………………118 10.2.20 Receive PDO Mapping Parameter…………………………………………………………..120 10.2.21 Transmit PDO Communication Parameter ……………………………………………120 10.2.22 Transmit PDO Mapping …………………………………………………………………………..122 10.3 Manufacturer Specific Parameter Area ……………………………………………………………….122 10.3.1 Device specification…………………………………………………………………………………123 10.3.2 ETD1644-AD Parameters…………………………………………………………………………123
10.3.2.1 GRUPPO A – INGRESSI ANALOGICI……………………………………………..124 10.3.2.2 GRUPPO B – USCITE ANALOGICHE……………………………………………..127 10.3.2.3 GRUPPO C – INGRESSI DIGITALI………………………………………………….128 10.3.2.4 GRUPPO D – SERIALE…………………………………………………………………..129 10.3.3 Conteggi encoder/contatori ……………………………………………………………………129 10.3.4 Preset conteggi encoder/contatori …………………………………………………………129 10.3.5 Comandi encoder/contatori……………………………………………………………………130 10.3.6 Conteggi encoder/contatori – 1s ……………………………………………………………..130 10.3.7 Conteggi encoder/contatori – 100ms ……………………………………………………..130 10.4 Standard Device Profile Area ………………………………………………………………………………..131 10.4.1 Digital Input……………………………………………………………………………………………..131 10.4.2 Global Interrupt Enable digital……………………………………………………………….131 10.4.3 Interrupt Mask Any Change…………………………………………………………………….132 10.4.4 Interrupt Mask Low-to-High……………………………………………………………………132
6 – EDT1644-AD – Manuale d’uso

10.4.5 Interrupt Mask High-to-Low……………………………………………………………………132 10.4.6 Digital Output ………………………………………………………………………………………….133 10.4.7 Error Mode Output 8bit……………………………………………………………………………133 10.4.8 Error Value Output 8bit……………………………………………………………………………133 10.4.9 Analogue Input 16bit……………………………………………………………………………….134 10.4.10 Analogue Output 16bit……………………………………………………………………………134 10.4.11 Analogue Input Interrupt Trigger Selection …………………………………………..134 10.4.12 Analogue Input Global Interrupt Enable ……………………………………………….135 10.4.13 Analogue Input Interrupt Upper Limit Integer ………………………………………135 10.4.14 Analogue Input Interrupt Lower Limit Integer ………………………………………135 10.4.15 Analogue Input Interrupt Delta Unsigned……………………………………………..136 10.4.16 Analogue Input Interrupt Negative Delta Unsigned……………………………..136 10.4.17 Analogue Input Interrupt Positive Delta Unsigned ……………………………….136 10.4.18 Analogue Output Error Mode …………………………………………………………………137 10.4.19 Analogue Output Error Value Integer …………………………………………………….137 10.4.20 Error Behaviour………………………………………………………………………………………..137 10.5 Trasmissione PDO ………………………………………………………………………………………………….138 10.5.1 PDO Mapping…………………………………………………………………………………………..138 10.6 Monitoraggio tramite SYNC …………………………………………………………………………………138 10.7 Node Guarding………………………………………………………………………………………………………138 10.8 Monitoraggio tramite Heartbeat …………………………………………………………………………139 10.9 Emergency……………………………………………………………………………………………………………..139
Manuale d’uso – EDT1644-AD – 7

1 Introduction
Thanks for choosing a Pixsys I/O module. ETD1644 is an I/O expansion board with plug-in connection to Pixsys HMI, allowing acquisition and control of analogue/digital I/O on the HMI via RS485/Modbus RTU or high-speed bus CANopen.
2 Safety guidelines
Programmable logic controllers (PLCs), operating/monitoring devices (industrial PCs, HMI) have been designed, developed and manufactured for conventional use in industrial environments. They were not designed, developed and manufactured for any use involving serious risks or hazards that could lead to death, injury, serious physical damage or loss of any kind without the implementation of exceptionally stringent safety precautions. In particular, such risks and hazards include the use of these devices to monitor nuclear reactions in nuclear power plants, their use in flight control or flight safety systems as well as in the control of mass transportation systems, medical life support systems or weapons systems.
2.1 Policies and procedures
Electronic devices are never completely failsafe. If the programmable control system, operating/monitoring device or uninterruptible power supply fails, the user is responsible for ensuring that other connected devices, e.g. motors, are brought to a secure state. When using programmable logic controllers or operating/monitoring devices as control systems together with a soft PLC, safety precautions relevant to industrial control systems must be observed in accordance with applicable national and international regulations. The same applies for all other devices connected to the system, such as drives. All tasks such as the installation, commissioning and servicing of devices are only permitted to be carried out by qualified personnel. Qualified personnel are those familiar with the transport, mounting, installation, commissioning and operation of devices who also have the appropriate qualifications (e.g. IEC 60364). National accident prevention regulations must be observed. The safety notices, information on connection conditions (type plate and documentation) and limit values specified in the technical data are to be read carefully before installation and commissioning and must always be observed.
8 – EDT1644-AD – User manual

2.2 Installation guidelines
· These devices are not ready for use upon delivery and must be installed and wired according to the specifications in this documentation in order for the EMC limit values to apply.
· Installation must be performed according to this documentation using suitable equipment and tools.
· Devices are only permitted to be installed by qualified personnel without voltage applied. Before installation, voltage to the control cabinet must be switched off and prevented from being switched on again.
· General safety guidelines and national accident prevention regulations must be observed.
· Electrical installation must be carried out in accordance with applicable guidelines (e.g. line cross sections, fuses, protective ground connections).

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

Safety notice

Description

Danger! Warning! Caution!

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

Information! This information is important for preventing errors.

2.4 Spacing for air circulation and ventilation
In order to guarantee sufficient air circulation, allow 5cm of empty space above, below, to the side and behind the device. No other ventilation system is required. The ETD1644 device is self-ventilated and approved for inclined mounting at angles up to ±35°in stationary cabinets.

Information! If additional space is needed to operate or maintain the device, this must be taken into consideration during installation.

Caution! The spacing specifications for air circulation are based on the worst-case scenario for operation at the maximum specified ambient temperature. The maximum specified ambient temperature must not be exceeded!

User manual – EDT1644-AD – 9

3 Model identification

ETD1644-AD

Power supply 24 VDC ±15% 16 digital I/O 4 analogue input 4 analogue output RS485 serial port with Modbus RTU slave protocol CAN port with CanOpen protocol

4 Technical data 4.1 Main features

Operating temperature Temperature: 0-45°C; Humidity 35..95 RH%

Dimensions

87 x 93 x 35 mm

Material

Box: steel 10/10, Ral 7016;

Protection

IP20 (contenitore and terminal blocks)

Weight

Approx. 200 g

4.2 Hardware features

Power supply

12..24 VDC ±15%

Consumption: 100 W max

4: AI1..4 Configurable via

Tolerance (25 °C)

software. Input: Thermocou- +/-0.3% ±1 digit (su F.s.) for

ple type K, S, R, J, T, E, N, B. thermocouple, thermoresi-

Analogue input

Automatic compensation of cold junction from 0..50°C. Thermoresistance: PT100, PT500, PT1000, Ni100, PTC1K, NTC10K ( 3435K). Input V/I: 0-1V, 0-5V, 0-10 V,

stance and V / mA. Cold junction accuracy 0.1 °C/°C Impedence: 0-10 V: Ri>110 k 0-20 mA: Ri<50

Digital input /

0-20 o 4-20 mA, 0-60 mV. Pot. input: Configurable 1..150k Up to 16 selectable as 24VDC static outputs (up to 700mA

4-20 mA: Ri<50 0-60 mV: Ri>500 k

output

per output and maximum 3A total for all outputs*) Up to 4 mono / bidirectional

encoders overlapped on 12

Encoder inputs / PNP inputs (32bit, up to 80Khz,

Counters

counting mode x1 for the

mono-directional meters and x2 for the encoders)

10 – EDT1644-AD – User manual

4 0..10V o 4..20 mA. Analogue output Configurable via software

0..10V 16000 points, ±0.3% su F.S. 4..20 mA 15000 points, ±0.3% su F.S.

Caution! 24VDC power supply line must be protected by a 5A fuse.
Warning! * up to 700mA per output and maximum 3A total for all outputs.
5 Dimensions and Installation
87,5 mm

Cod. ETD1644-AD

93,5 mm 17,5 mm 35 mm

User manual – EDT1644-AD – 11

6 Electrical wirings
This device has been designed and manufactured in conformity to Low Voltage Directive 2006/95/EC , 2014/35/EU (LVD) and EMC Directive 2004/108/EC, 2014/30/ EU (EMC). For installation in industrial environments please observe following safety guidelines: · Separate control line from power wires. · Avoid proximity of remote control switches, electromagnetic contactors,
powerful engines and use specific filters. · Avoid proximity of power groups, especially those with phase control. · It is strongly recommended to install adequate mains filter on power supply of
the machine where the controller is installed, particularly if supplied 230 VAC. The controller is designed and conceived to be incorporated into other machines, therefore CE marking on the controller does not exempt the manufacturer of machines from safety and conformity requirements applying to the machine itself.
6.1 Wiring diagram
ETD1644-AD

6.1.a Power Supply + 32
12..24 VDC 31

Power supply 12..24 VDC ±15% 100 VA max (all outputs active)

12 – EDT1644-AD – User manual

6.1.b Analogue Inputs

For thermocouples K, S, R, J, T, E, N, B.

AI1 AI2 AI3 AI4 · Comply with polarity

+
16

· For possible extensions, use compensated cable

Shield / Schermo

TC 17 20 23 26

and terminals suitable for the thermocouples used(compensated) · When shielded cable is used, it should be grounded

at one side only

For thermoresistances PT100, Ni100.

Shield / Schermo
Rosso
Red

· For the three-wire connection use wires with the AI1 AI2 AI3 AI4 same section 16 19 22 25 · For the two-wire connection short-circuit terminals

16 and 18 (AI1), 19 and 21 (AI2), 22 and 24 (AI3), 25

PT/NI100

Bianco White

17 20 23 26 and 27 (AI4). · When shielded cable is used, it should be grounded

Rosso Red

at one side only

18 21 24 27

RED ROSSO

WHITE BIANCO

RED ROSSO

PTC/NTC

AI
Shield / Schermo

AI1 AI2 AI3 AI4 For thermoresistances NTC, PTC, PT500, PT1000 17 20 23 26 and linear potentiometers
When shielded cable is used, it should be grounded 18 21 24 27 at one side only to avoid ground loop currents

V mA

Shield / Schermo

AI1 AI2 AI3 AI4 For linear signals in Volt and mA 16 19 22 25 Comply with polarity
When shielded cable is used, it should be grounded 17 20 23 26 at one side only to avoid ground loop currents

6.1.c Connection examples for Volt and mA inputs

OUT : 4…20mA IN :9…33V DC P :0…100mbar Pmax :3bar T :0..70°C

PRESSURE TRANSMITTER /

SENSORE DI PRESSIONE
C 16

4…20mA B

For linear signals 0/4..20 mA with three-wires sensors. Comply with polarity: C = Sensor output B = Sensor ground A = Sensor supply (12..24VDC)

A 32 Short circuit pins 31 and 17.

User manual – EDT1644-AD – 13

OUT : 4…20mA IN :9…33V DC P :0…100mbar Pmax :3bar T :0..70°C

PRESSURE TRANSMITTER /
SENSORE DI PRESSIONE C 16
4…20mA
B 17
External supply / Alimentazione esterna

For linear signals 0/4..20 mA with external power supply for sensor.
Comply with polarity: C = Sensor output B= Sensor ground

C 16 17
4…20mA
31 A 32
PRESSURE TRANSMITTER / SENSORE DI PRESSIONE

For linear signals 0/4..20 mA with two-wires sensors.
Comply with polarity: A= Sensor output C= Sensor supply (12..24VDC)
Short circuit pins 31 and 17.

OUT : 4…20mA IN :9…33V DC P :0…100mbar Pmax :3bar T :0..70°C

6.1.d Analogue outputs

AO1 AO2 AO3 AO4 + 40 38 36 34 0/4..20mA
39 37 35 33

Analogue outputs (galvanically isolated from analogue inputs and communication ports) configurable by parameter as outputs 0..10V or 4..20mA.

6.1.e Digital inputs
12..24 VDC
0 1 .. 14 15

PNP inputs (connect a positive signal to the PIN to activate the corresponding input) VIL = 4,3 V VIH = 8,0 V

6.1.f

Digital outputs

0 1 .. 14 15

Digital outputs 24VDC ±15%/ 700mA (Max 3A totals)

6.1.g

ENCODER

Connection examples for incremental encoders

ENC1 ENC2 ENC3 ENC4

A0 2
B1 3
Z8 9 +- SUPPLY

46 57 10 11

Use push-pull encoders only Max frequency 80KHz

14 – EDT1644-AD – User manual

6.1.h

Connection examples for monodirectional counters
CNT1 CNT2 CNT3 CNT4
0 2 4 6 PNP input Max frequency 80KHz
+- SUPPLY

6.1.i
(A)
RS485
(B) +

Serial communication

Shield / Schermo
29
30

RS485 Modbus RTU Slave communication galvanically insulated from the sensor. When shielded cable is used, it should be grounded at the Master side only.

6.1.j
CANL
CAN
CANH

CAN communication

Shield / Schermo
29
30

CAN communication with CANopen protocol galvanically isolated.

6.2 Meaning of status lights (LED)

COM

· Indicates that serial communication is active

RUN

· ON indicates the standard module functioning · Blinks during the program starting

6.3 Dip switch
Dip-switch setting must be done only with device OFF. Dip-switch status reading is executed only at power ON, all modifications done later will not have any effect.

6.3.a Communication protocol selection
ON
Modbus RTU slave
123456 ON
CANopen
123456

User manual – EDT1644-AD – 15

6.3.b Communication address selection
ON
Address 1
123456 ON
Address 2
123456

6.3.c Communication speed selection
Modbus
ON

CANopen

4800 baud

50 kbit/s

123456 ON

9600 baud

62.5 kbit/s

123456 ON

19200 baud

100 kbit/s

123456 ON

28800 baud

125 kbit/s

123456 ON

38400 baud

250 kbit/s

123456 ON

57600 baud

500 kbit/s

123456 ON

115200 baud

1 Mbit/s

123456 ON

Loads all default parameters and values.

123456

16 – EDT1644-AD – User manual

6.3.d Terminator Line setting
ON
Terminator line disconnected
123456 ON
Terminator line connected (120)
123456
7 Serial communication
ETD1644-AD is equipped with RS485, it can receive and broadcast data via serial communication using Modbus RTU protocol. The device can be configured only as a Slave. The device address is selected by dip-switch and there must not be controllers with the same address on the same serial line. Address 255 can be used by the master to communicate with all the connected equipment (broadcast mode), while with 0 all the devices receive the command, but no response is expected. Also the communication speed is determined by dip-switch. ETD1644-AD can introduce a delay (in milliseconds) in response to the master request. This delay must be set on parameter 77 (word 2077). Each parameter change is stored by the controller so it can be kept even in case of power failure. NB: changes made to Words that are different from those reported in the following table can lead to malfunction.
User manual – EDT1644-AD – 17

7.1 SET-UP as RS485 Modbus slave node
A RS485 Modbus network must have a 120 terminal line resistance. If more devices have to be connected in cascade, that resistance has to be connected to the last device of network, at the end of the line only.

Connection example of

an ETD1644, in RS485

Modbus mode (EXP1 –

EXP1

DIP6: ON)

EXP2

EXP1

Connection example of an ETD1644, in RS485 Modbus mode (EXP1 DIP6: OFF, EXP2 – DIP6: ON)

EDT1644-AD are provided with a terminator line resistance activable by dip-switch (paragraph 6.3.d).
18 – EDT1644-AD – User manual

Baud-rate
Format Supported features

Modbus RTU protocol features

Selectable by dip-switch

Value 0: 4800bit/s

Value 4: 38400bit/s

Value 1: 9600bit/s

Value 5: 57600bit/s

Value 2: 19200bit/s

Value 6: 115200bit/s

Value 3: 28800bit/s

Selectable by parameter 76

Value 0: 8,n,1

Value 3: 8,n,2

Value 1: 8,o,1

Value 4: 8,o,2

Value 2: 8,e,1

Value 5: 8,e,2

WORD READING (max 100 word) (0x03, 0x04)

SINGLE WORD WRITING (0x06)

MULTIPLE WORDS WRITING (max 100 word) (0x10)

The following is a list of all the addresses available and the functions supported:

RO = Read Only

R/W = Read/Write

WO = Write Only

Modbus address 0 1 2 3 4 5
6
7

Device type Software version Boot version Dip-switch status

Description

Address slave Error flags: bit 0 = Incorrect parameters bit 1 = Incorrect status data bit 2 = Incorrect calibration data bit 3 = Wrong calibration data bit 4 = Incorrect status CANopen data bit 5 = Missing calibration bit 6 = Parameter out of range bit 7 = FRam failure bit 8 = Cold junction failure bit 9 = bit 10 = bit 11 = bit 12 = Input AI1 out of range bit 13 = Input AI2 out of range bit 14 = Input AI3 out of range bit 15 = Input AI4 out of range Cold junction temperature (degree.tenth)

Read Write RO RO RO RO

Reset value 510 Flash Flash dip

dip

–

User manual – EDT1644-AD – 19

Modbus
address 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028

Description
Status data digital inputs I0..I15 AI1 input value (degrees with tenth) AI2 input value (degrees with tenth) AI3 input value (degrees with tenth) AI4 input value (degrees with tenth) Encoder Counter 1 H Encoder Counter 1 L Encoder Counter 2 H Encoder Counter 2 L Encoder Counter 3 H Encoder Counter 3 L Encoder Counter 4 H Encoder Counter 4 L Counts per 1s Encoder 1 H Counts per 1s Encoder 1 L Counts per 1s Encoder 2 H Counts per 1s Encoder 2 L Counts per 1s Encoder 3 H Counts per 1s Encoder 3 L Counts per 1s Encoder 4 H Counts per 1s Encoder 4 L Counts per 100ms Encoder 1 H Counts per 100ms Encoder 1 L Counts per 100ms Encoder 2 H Counts per 100ms Encoder 2 L Counts per 100ms Encoder 3 H Counts per 100ms Encoder 3 L Counts per 100ms Encoder 4 H Counts per 100ms Encoder 4 L

1100

Digital output status O0..O15

1101

AO1 output value

1102

AO2 output value

1103

AO3 output value

1104

AO4 output value

1105

Encoder/Counter 1 commands

1106

Encoder/Counter 2 commands

1107

Encoder/Counter 3 commands

Encoder/Counter 4 commands

1108

Bit0 = Loads preset value

Bit1 = Loads preset value at the next Z impulse

Read
Write RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO RO R/W R/W R/W R/W R/W R/W R/W R/W

Reset value –
EEprom EEprom EEprom EEprom EEprom EEprom EEprom EEprom 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

R/W

20 – EDT1644-AD – User manual

Modbus address 2001 2002 … 2100

Parameter 1 Parameter 2 Parameter … Parameter 100

Description

Read Write R/W R/W R/W R/W

Reset value Eeprom Eeprom Eeprom Eeprom

4001 4002 …
4100

Parameter 1

R/W

Parameter 2

R/W

Parameter …

R/W

Parameter 100

The device stores parameters in eeprom memory R/W

with a delay of 10 seconds after last modification.

Eeprom Eeprom Eeprom
Eeprom

8 Configuration parameters table

8.1 GROUP A – ANALOGUE INPUT

1 AI1 Sensor Type (Word modbus )

2 AI2 Sensor Type (Word modbus )

3 AI3 Sensor Type (Word modbus )

4 AI4 Sensor Type (Word modbus )

Analogue input configuration / sensor selection

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

Potenziometer (set the value on parameters 14..17)

User manual – EDT1644-AD – 21

5 Degrees type (Word modbus )

°C

Centigrade (Default)

°F

Fahrenheit

Kelvin

6 AI1 Lower Linear Input (Word modbus ) 7 AI2 Lower Linear Input (Word modbus ) 8 AI3 Lower Linear Input (Word modbus ) 9 AI4 Lower Linear Input (Word modbus )
Range lower limit only for linear input. Ex: with input 4..20 mA this parameter takes value associated to 4 mA. -32767..+32767, Default: 0.

10 AI1 Upper Linear Input (Word modbus ) 11 AI2 Upper Linear Input (Word modbus ) 12 AI3 Upper Linear Input (Word modbus ) 13 AI4 Upper Linear Input (Word modbus )
Range upper limit only for linear input. Ex: with input 4..20 mA this parameter takes value associated to 20 mA. -32767..+32767. Default:1000 (on DRR460 is 10000)

14 AI1 Potentiometer Value (Word modbus ) 15 AI2 Potentiometer Value (Word modbus ) 16 AI3 Potentiometer Value (Word modbus ) 17 AI4 Potentiometer Value (Word modbus )
Select potentiometer value 1..150 kohm. Default: 10kohm

18 AI1 Linear Input over Limits (Word modbus )

19 AI2 Linear Input over Limits (Word modbus )

20 AI3 Linear Input over Limits (Word modbus )

21 AI4 Linear Input over Limits (Word modbus )

If linear input, allows process to go over limits (Parameters 6..9 and 10..13).

Disabled (Default)

Enabled

22 AI1 Offset Calibration (Word modbus ) 23 AI2 Offset Calibration (Word modbus ) 24 AI3 Offset Calibration (Word modbus ) 25 AI4 Offset Calibration (Word modbus )
Value added / subtracted to the process visualization (usually correcting the value of environmental temperature). -10000..+10000 [digit] (degrees.tenths for temperature sensors). Default 0.

22 – EDT1644-AD – User manual

26 AI1 Gain Calibration (Word modbus ) 27 AI2 Gain Calibration (Word modbus ) 28 AI3 Gain Calibration (Word modbus ) 29 AI4 Gain Calibration (Word modbus )
Percentage value that is multiplied for the process value (allows to calibrated the working point). Ex: to correct the range from 0..1000°C showing 0..1010°C, set the par. to -1.0. -1000 (100.0%)…+1000 (+100.0%), Default: 0.0.

30 Reserved (Word modbus ) 31 Reserved (Word modbus ) 32 Reserved (Word modbus ) 33 Reserved (Word modbus )

34 AI1 input filter (Word modbus ) 35 AI2 input filter (Word modbus ) 36 AI3 input filter (Word modbus ) 37 AI4 input filter (Word modbus )
Analogue input reading filter: increases process stability on word 1001, 1002, 1003, 1004. Indicates the number of samplings to be mediated during the process calculation. 1…50. (Default: 5)

38 AI1 and AI2 conversion frequency (Word modbus )

39 AI3 and AI4 conversion frequency (Word modbus )

Sampling frequency of the analog / digital converter.

NB: Low conversion speeds increase reading stability while high conversion

speeds will decrease reading stability (example: for fast transients, as pressure,

it is advisable to increase sampling frequency).

4 Hz

33 Hz

6 Hz

39 Hz

8 Hz

50 Hz

10 Hz

62 Hz

12 Hz

123 Hz

17 Hz (Default)

242 Hz

20 Hz

470 Hz

User manual – EDT1644-AD – 23

8.2 GROUP B – ANALOGUE OUTPUTS

40 AO1 output type (Word modbus )

41 AO2 output type (Word modbus )

42 AO3 output type (Word modbus )

43 AO4 output type (Word modbus )

Select the type of analogue output.

0..10 V (Default)

4..20 mA.

44 AO1 lower limit analogue output (Word modbus ) 45 AO2 lower limit analogue output (Word modbus ) 46 AO3 lower limit analogue output (Word modbus ) 47 AO4 lower limit analogue output (Word modbus )
Analogue output lower limit range (value related to 0/4 mA) -32767..+32767 [digit] Default: 0.

48 AO1 upper limit analogue output (Word modbus ) 49 AO2 upper limit analogue output (Word modbus ) 50 AO3 upper limit analogue output (Word modbus ) 51 AO4 upper limit analogue output (Word modbus )
Analogue output upper limit range (value related to 10 V / 20 mA) -32767..+32767 [digit] Default: 1000.

52 AO1 output value error (Word modbus ) 53 AO2 output value error (Word modbus ) 54 AO3 output value error (Word modbus ) 55 AO4 output value error (Word modbus )
Determine the analogue output value in case of error or anomaly. The value must be included between the upper and lower limit output values. -32767..+32767 [digit], Default: 0.

56 Reserved (Word modbus ) 57 Reserved (Word modbus ) 58 Reserved (Word modbus ) 59 Reserved (Word modbus )

24 – EDT1644-AD – User manual

8.3 GROUP C – DIGITAL INPUTS
60 Digital inputs filter (Word modbus ) Define the time during which the digital input must be steady before being considered valid 0..250 [ms], Default: 5 ms.

61 Encoder/counter 1 setup (Word modbus )

62 Encoder/counter 2 setup (Word modbus )

63 Encoder/counter 3 setup (Word modbus )

64 Encoder/counter 4 setup (Word modbus )

Determine the operatin mode of the encoder or the undirectional counter

input.

Disabled (Default).

Encoder phase A-B.

Encoder pase A-B-Z.

Counter Up.

Counter Down.

65 Encoder/counter 1 H preset value (Word modbus ) 66 Encoder/counter 1 L preset value(Word modbus ) 67 Encoder/counter 2 H preset value(Word modbus ) 68 Encoder/counter 2 L preset value(Word modbus ) 69 Encoder/counter 3 H preset value (Word modbus ) 70 Encoder/counter 3 L preset value(Word modbus ) 71 Encoder/counter 4 H preset value(Word modbus ) 72 Encoder/counter 4 L preset value(Word modbus )
Determine the value that will be loaded to the encoder/counter registry in case of “load preset value” command (see address 1108). This register is a 32bit value so, in case of Modbus communication, It will be assigned using two concecutives 16bit words. -32767..+32767 [digit], Default: 0.

73 Digital outputs status in offline (Word modbus ) Determine the digital outputs state in case the module goes offline (only in Modbus communication, see param. 75). Disabled = 0, Enabled = 1. bit 0 Output O1 status (Default 0). … bit 15 Output O15 status.

74 Reserved (Word modbus )

User manual – EDT1644-AD – 25

8.4 GROUP D – SERIAL

75 Modbus offline time (Word modbus )

If Modbus protocol is active, determine the time of serial inactivity before

offline status.

Offline disabled (Default)

1..60000 [ms]

Inactivity before offline.

76 Modbus serial format (Word modbus )

Determine the data format for the Modbus port.

8,n,1 (Default).

8,o,1

8,e,1

8,n,2

8,o,2

8,e,2

77 Modbus serial delay (Word modbus ) Determine the dealy between the answer of the module after an interrogation of the master (only in Modbus communication). 0..+100 [ms], Default: 5.

9 CANopen

Each LED RUN blinking type indicates a specific CANopen status.

Blinking name LED COM

Blinking type

Blink_fast

Fast blinking 50msec

Blink_medium Blink_slow

Blinking 200msec Blinking 600msec

LED_on Blink_3_on Blink_1_off Blink_3_off

LED always on LED on for 1sec, 3 blink 150msec Slow blink 40msec every 1.2sec LED off for 1sec, 3 blink 150msec

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

Led RUN blinking Blink_fast Blink_slow LED_on Blink_1_off Blink_medium Blink_3_on Blink_3_off

26 – EDT1644-AD – User manual

9.1 SET-UP as CANopen slave node
A CANopen network must have a 120 terminal line resistance. If more devices have to be connected in cascade, that resistance has to be connected to the last device of network, at the end of the line only.

Connection example

of an ETD1644, in

CANOpen mode (EXP1

EXP1

– DIP6: ON)

EXP2

EXP1

Connection example of an ETD1644, in CANOpen mode (EXP1 – DIP6: OFF, EXP2 – DIP6: ON)

EDT1644-AD are provided with a termnator line resistance activable by dip-switch (paragraph 6.3.d).
User manual – EDT1644-AD – 27

9.2 Operation as CANopen slave node
After boot-up, device will be in Pre-Operational status automatically (LED RUN Blink_slow blinking). PDO transmission/reception aren’t allowed, SDO transmission/ reception are only allowed. To change into Operational status, an NMT1 messages from a master is needed.

9.3 Object Dictionary
The following object dictionary table is divided in 3 parts. The first one is Communication Profile Area, where all parameters necessary for communication like setting identifier and PDO configuration are described. The second one is Manufacturer Specific Parameter Area, where all special manufacturer features are described. The third one is Standard Device Profile Area, where digital/Analogue input/output transmission type is described.

9.4 Communication Profile Area

Idx S – Idx Name

Type

Default

Description

0x1000 0

Device type

32bit unsigned

0x000F0191

ETD1644-AD

0x1001 0

Error register

8bit unsigned

–

Emergency messages

0x1003 0

Pre-defined Error Field

Array 8bit unsigned

–

Numero di Sub-index

Array

Standard error

32bit –

field (sempre

unsigned

ultimo errore)

…

–

Array

Standard error

32bit –

field (always first

unsigned

error)

0x1005 0

COB-ID SYNC 32bit message unsigned

0x00000080

COB-ID per messaggi SYNC

0x1006 0

Communication Cycle Period

32bit unsigned

Time between 2 SYNC messages

Manufactu-

0x1008 0 rer Device String ETD1

–

Name

Manufactu-

Current

0x1009 0 rer Hardware String hardware –

Version

version

Manufactu-

Current

0x100A 0 rer Software String hardware –

Version

version

1 For details on CANopen, see Chapter 11. 28 – EDT1644-AD – User manual

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

Idx S – Idx Name 0x100B 0 Node ID
0x100C 0 Guard Time

Type

8bit unsigned

16bit unsigned

Default

0x100D 0 0x1010 0
1 0x1011 0
1 0x1014 0
0x1015 0
0x1017 0 0x1018 0
1 2 3

Life Time Factor

8bit unsigned

Store Parameters
Restore default Parameter
COB-ID Emergency Object

Array 8bit unsigned

Array

32bit 1

unsigned

Array 8bit unsigned

Array 32bit 1 unsigned

32bit 0x80 + unsigned module-ID

Inhibit time Emergency Object

16bit unsigned

Producer Heartbeat Time
Identity Object

16bit unsigned

Record

8bit

unsigned

Record

32bit PIX

unsigned

Record

32bit ETD1

unsigned

Record

32bit –

unsigned

Description
Node address
Time between 2 Guard time interrogations If this value is 0, the Node Guarding is not monitored Number of Sub-index Write “save” to save user parameters
Number of Sub-index
Write “load” to load default parameters
–

R/W R R/W
R/W R R/W R R/W R

Time to be

spent before sending another

R/W

Emergency

Time between

2 Heartbeat

R/W

messages

Number of Sub-index

Manufacturer ID R

Device description R

Revision number R
User manual – EDT1644-AD – 29

Idx
0x1029
0x1400 0x1401 0x1402 0x1403

S – Idx Name

Error Behaviour

Type

Record

32bit –

unsigned

Array 8bit unsigned

Receive PDO communication parameter

Record 8bit unsigned

Default

Description

R/W

Serial number R

Number of Sub-index

Communication error

R/W

Number of Sub-index

– Idx 0x1400

0x200 +

module-ID

– Idx 0x1401

Record 32bit unsigned

0x300 + module-ID – Idx 0x1402 0x400 +

COB-ID used by PDO

R/W

module-ID

– Idx 0x1403

0x500 +

module-ID

Record

32bit 255

Transmission type R/W

unsigned

0x1600

0x1601 0x1602

0x1603

Receive PDO Record

mapping 8bit

–

parameter unsigned

Number of Sub-index

R/W

1 to 8

Record 32bit unsigned

PDO mapping object1 to object

R/W

0x1800

0x1801 0x1802

0x1803

Transmit PDO communication parameter

Record 8bit unsigned

Number of Sub-index

30 – EDT1644-AD – User manual

Idx S – Idx Name 1

0x1A00

0x1A01 0x1A02

0x1A03

Transmit PDO mapping parameter

1…8

Type

Default

– Idx 0x1800

0x180 +

module-ID

– Idx 0x1801

Record 32bit unsigned

0x280 + module-ID – Idx 0x1802 0x380 +

module-ID

– Idx 0x1803

0x480 +

module-ID

Record

8bit

255

unsigned

Record

16bit 0

unsigned

Record

16bit 0

unsigned

Description

R/W

COB-ID used by PDO

R/W

Transmission type R/W

Inhibit time

R/W

Event timer

R/W

Record

8bit

–

unsigned

Number of Sub-index

R/W

Record 32bit unsigned

PDO mapping object

R/W

9.5 Manufacturer Specific Parameter Area – ETD1644-AD

Idx S – Idx

Name

Type Default

Description

R/W

0x2000 0

Device specifications

Array 8bit unsigned

Number of Sub-index

Array 16bit signed

6 (1Mbps) Canbus speed

Array 16bit signed

120

Boot-up time

R/W

Array 16bit signed

0x7F (Pre-Operational)

CANopen status after boot-up

4 … 19

Reserved

R/W

0x3000 0

ETD1644-AD parameters

Array 8bit unsigned

100

Number of Sub-index

User manual – EDT1644-AD – 31

Idx S – Idx 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21

Name

32 – EDT1644-AD – User manual

Type Default

Description

R/W

Array 16bit signed

AI1 Sensore type R/W

Array 16bit signed

AI2 Sensore type R/W

Array 16bit signed

AI3 Sensore type R/W

Array 16bit signed

AI4 Sensore type R/W

Array 16bit signed

Degres type

R/W

Array 16bit signed

AI1 lower limit

R/W

Array 16bit signed

AI2 lower limit

R/W

Array 16bit signed

AI3 lower limit

R/W

Array 16bit signed

AI4 lower limit

R/W

Array 16bit signed

1000

AI1 upper limit

R/W

Array 16bit signed

1000

AI2 upper limit

R/W

Array 16bit signed

1000

AI3 upper limit

R/W

Array 16bit signed

1000

AI4 upper limit

R/W

Array 16bit signed

AI1 potentiometer value

R/W

Array 16bit signed

AI2 potentiometer value

R/W

Array 16bit signed

AI3 potentiometer value

R/W

Array 16bit signed

AI4 potentiometer value

R/W

Array 16bit signed

AI1 linear input beyond the limits

R/W

Array 16bit signed

AI2 linear input beyond the limits

R/W

Array 16bit signed

AI3 linear input beyond the limits

R/W

Array 16bit signed

AI4 linear input beyond the limits

R/W

Idx S – Idx 22 23 24 25 26 27 28 29 30 .. 33 34 35 36 37
38
39
40 41 42 43 44

Name

Type Default

Array 16bit signed

Description

R/W

AI1 offset calibration

R/W

AI2 offset calibration

R/W

AI3 offset calibration

R/W

AI4 offset calibration

R/W

AI1 gain calibration R/W

AI2 gain calibration R/W

AI3 gain calibration R/W

AI4 gain calibration R/W

Reserved

R/W

AI1 input filter

R/W

AI2 input filter

R/W

AI3 input filter

R/W

AI4 input filter

R/W

AI1 and AI2

conversion

R/W

frequency

AI3 and AI4

conversion

R/W

frequency

AO1 output type R/W

AO2 output type R/W

AO3 output type R/W

AO4 output type R/W

AO1 lower limit R/W

User manual – EDT1644-AD – 33

Idx S – Idx 45 46 47 48 49 50 51 52 .. 59 60 61 62 63 64 65 66 67 68 69

Name

71 72
34 – EDT1644-AD – User manual

Type Default

Array 16bit signed

1000

Array 16bit signed

1000

Array 16bit signed

1000

Array 16bit signed

1000

Array 16bit signed

Description

R/W

AO2 lower limit R/W

AO3 lower limit R/W

AO4 lower limit R/W

AO1 upper limit R/W

AO2 upper limit R/W

AO3 upper limit R/W

AO4 upper limit R/W

Reserved

R/W

Digital inputs filter R/W

Encoder/counter 1 setup

R/W

Encoder/counter 2 setup

R/W

Encoder/counter 3 setup

R/W

Encoder/counter 4 setup

R/W

Encoder/counter 1 H preset value

R/W

Encoder/counter 1 L preset value

R/W

Encoder/counter 2 H preset value

R/W

Encoder/counter 2 L H preset value

R/W

Encoder/counter 3 H preset value

R/W

Array 16bit signed

Encoder/counter 3 L preset value

R/W

Array 16bit signed

Encoder/counter 4 H preset value

R/W

Encoder/counter 4 L preset value

R/W

Idx S – Idx

Name

Type Default

Description

R/W

73 .. 100

Array 16bit signed

Reserved

R/W

0x3001 0

Encoder/

Array 8bit

counter counts signed

Sub-index number R

Array 32bit signed

Encoder/counter 1 counts

Array 32bit signed

Encoder/counter 2 counts

Array 32bit signed

Encoder/counter 3 counts

Array 32bit signed

Encoder/counter 4 counts

0x3002 0

Encoder/ counter preset counts

Array 8bit signed

Sub-index number R

Array 32bit signed

Encoder/counter 1 preset counts

R/W

Array 32bit signed

Encoder/counter 2 preset counts

R/W

Array 32bit signed

Encoder/counter 3 preset counts

R/W

Array 32bit signed

Encoder/counter 4 preset counts

R/W

0x3003 0

Encoder/ counter commands

Array 8bit unsigned

Sub-index number R

Array 8bit unsigned

Encoder/counter 1 commands

R/W

Array 8bit unsigned

Encoder/counter 2 commands

R/W

Array 8bit unsigned

Encoder/counter 3 commands

R/W

Array 8bit unsigned

Encoder/counter 4 commands

R/W

0x3004 0

Counts per 1 sec Encoder/ counter

Array 8bit signed

Sub-index number R

Array 32bit signed

Encoder/counter 1 counts per 1 sec

R/W

Array 32bit signed

Encoder/counter 2 counts per 1 sec

R/W

Array 32bit signed

Encoder/counter 3 counts per 1 sec

R/W

User manual – EDT1644-AD – 35

Idx S – Idx

Name

0x3005 0

Counts per 100ms Encoder/ counter

Type Default

Description

R/W

Array 32bit signed

Encoder/counter 4 counts per 1 sec

R/W

Array 8bit signed

Sub-index number R

Array 32bit signed

Encoder/counter 1 counts per 100ms

R/W

Encoder/counter 2 counts per 100ms

R/W

Encoder/counter 3 counts per 100ms

R/W

Encoder/counter 4 counts per 100ms

R/W

9.6 Standard Device Profile Area

Idx S – Idx

Name

0x6000 0 Digital inputs

Type Array 8bit unsigned

Array 8bit unsigned

0x6005

Global Interrupt 8 bit Enable Digital 8 bit signed

0x6006 0 1

Interrupt Mask Any Array 8 bit

Change 8 bit

unsigned

Array 8 bit unsigned

2 0x6007 0

Interrupt Mask Low-to-High 8 bit

Array 8 bit unsigned
Array 8 bit unsigned

Array 8 bit unsigned

Default 2 0 0
1
2 255
255 2
0

Description R/W

Sub-index number R

1° digital inputs block

2° digital inputs block

Enables the

retransmission of digital inputs on

R/W

PDO

Sub-index number R

Inputs 1..8 transmission in R/W case of variation Inpust 9..16 transmission in R/W case of variation

Sub-index number R

Inputs 1..8

transmission in case of positive

R/W

transition

36 – EDT1644-AD – User manual

Idx S – Idx

Name

0x6008 0

Interrupt Mask High-to-Low 8 bit

0x6200 0 1 2
0x6206 0

Digital Output
Error Mode Output 8bit

0x6207 0

Error Value Output 8bit

Type
Array 8 bit unsigned
Array 8 bit unsigned
Array 8 bit unsigned
Array 8 bit unsigned
Array 8bit unsigned Array 8bit unsigned Array 8bit unsigned Array 8bit unsigned
Array 8bit unsigned
Array 8bit unsigned
Array 8bit unsigned
Array 8bit unsigned
Array 8bit unsigned

Default Description R/W

Inputs 9..16

transmission in case of positive

R/W

transition

Sub-index number R

Inputs1..8

transmission in case of negative

R/W

transition

Inputs 9..16

transmission in case of negative

R/W

transition

Sub-index number R

1° outputs block R/W

2° outputs block R/W

Sub-index number R

1° outputs block

(Outputs 1..8

255 loaded with

R/W

default value in

case of error)

2° outputs block

(Outputs 9..16

255 loaded with

R/W

default value in

case of error)

Sub-index number R

1° outputs block

(Default values outputs 1..8 in

R/W

case of error)

2° outputs block

(Default values outputs 9..16 in

R/W

case of error)

User manual – EDT1644-AD – 37

Idx S – Idx

Name

0x6401 0

Analogue Input 16bit

4 0x6411 0
1

Analogue Output 16bit

4 0x6421 0
1

Analogue Input Interrupt Trigger Selection

4 0x6423 0 0x6424 0
1

Analogue Input Global Interrupt Enable Analogue Input Interrupt Upper Limit Integer

38 – EDT1644-AD – User manual

Type Default Description R/W

Array 8bit unsigned

Number of analogue inputs

Array 16bit unsigned

–

Input AI1

Array 16bit unsigned

–

Input AI2

Array 16bit unsigned

–

Input AI3

Array 16bit unsigned

–

Input AI4

Array 8bit unsigned

Number of analogue outputs

Array 16bit unsigned

Output AO1

R/W

Array 16bit unsigned

Output AO2

R/W

Array 16bit unsigned

Output AO3

R/W

Array 16bit unsigned

Output AO4

R/W

Array 8bit unsigned

Number of analogue inputs

Array 8bit unsigned

Boolean 0

AI1 Input trigger R/W
AI2 Input trigger R/W
AI3 Input trigger R/W
AI4 Input trigger R/W Enable/Disable analogue inputs R/W transmission

Array 8bit unsigned

Number of analogue inputs

Array 16bit unsigned

AI1 Upper limit R/W AI2 Upper limit R/W AI3 Upper limit R/W

Idx S – Idx

Name

0x6425 0

Analogue Input Interrupt Lower Limit Integer

4 0x6426 0
1

Analogue Input Interrupt Delta Unsigned

4 0x6427 0
1

Analogue Input Interrupt Negative Delta Unsigned

4 0x6428 0
1

Analogue Input Interrupt Positive Delta Unsigned

Type Default Description R/W

Array 16bit unsigned

AI4 Upper limit R/W

Array 8bit unsigned

Number of analogue inputs

Array 16bit unsigned

AI1 Lower limit R/W AI2 Lower limit R/W AI3 Lower limit R/W AI4 Lower limit R/W

Array 8bit unsigned

Number of analogue inputs

Array 16bit unsigned

AI1 Delta

R/W

Array 16bit unsigned

AI2 Delta

R/W

Array 16bit unsigned

AI3 Delta

R/W

Array 16bit unsigned

AI4 Delta

R/W

Array 8bit unsigned

Number of analogue inputs

Array 16bit unsigned

AI1 Negative Delta R/W AI2 Negative Delta R/W AI3 Negative Delta R/W AI4 Negative Delta R/W

Array 8bit unsigned

Number of analogue inputs

Array 16bit unsigned

AI1 Positive Delta R/W AI2 Positive Delta R/W

User manual – EDT1644-AD – 39

Idx S – Idx

Name

4 0x6443 0
1

Analogue Output Error Mode

4 0x6444 0
1

Analogue Output Error Value Integer

0x67FE 0 Error Behaviour

Type Default Description R/W

Array 16bit unsigned

AI3 Positive Delta R/W

Array 16bit unsigned

AI4 Positive Delta R/W

Array 8bit unsigned

Number of analogue outputs

Array 16bit unsigned

AO1 Error Mode R/W

Array 16bit unsigned

AO2 Error Mode R/W

Array 16bit unsigned

AO3 Error Mode R/W

Array 16bit unsigned

AO4 Error Mode R/W

Array 8bit unsigned

Number of analogue outputs

Array 16bit unsigned

AO1 Error Value R/W

Array 8bit unsigned

AO2 Error Value R/W

Array 8bit unsigned

AO3 Error Value R/W

Array 8bit unsigned

AO4 Error Value R/W

Array 8bit unsigned

Sub-index number

Array 8bit unsigned

Communication error (see object R/W 0x1029)

9.7 EDS Files
EDS files of the different models are available on the download area of www.pixsys.net.

10 CANopen in details
CAN (Controller Area Network) is a Multimaster bus system. Messages are sent to the bus with a certain priority, defined by COB ID (Communication Object Identifier). CANopen is a networking concept defined as an application layer by DS 301 CIA specification (CAN in automation). CANopen is built on top of CAL (CAN Application Layer, an high layer communication protocol for CAN-based network). CAL defines 4 application layer service elements: · CMS (CAN-based Message Specification): it defines a set of objects (Variable,
Event, Domain) to specify how CAN interface can access to the network node features.
40 – EDT1644-AD – User manual

· NMT (Network Management): it defines all typical services of a master-slave concept network as initialisation, start and stop node, detection of failures.
· DBT (Distributor): it defines a dynamic distribution of CAN identifiers to the nodes of the network, called COB-ID (Communication Object Identifier)
· LMT (Layer Management): it offers the possibility to change parameters as NMT address of a node, bit-timing and baud rate of CAN interface.
CMS defines 8 priority levels, 220 COB-ID each. Others identifiers are reserved for NMT, DBT and LMT.

CAN Application Layer (CAL)

COB-ID 0 1..220 221..440 441..660 661..880 881..1100 1101..1320 1321..1540 1541..1760 1761..2015 2016..2031

Description NMT start/stop services CMS object priority 0 CMS object priority 1 CMS object priority 2 CMS object priority 3 CMS object priority 4 CMS object priority 5 CMS object priority 6 CMS object priority 7 NMT Node Guarding NMT, LMT, DBT services

10.1 Object Dictionary
The object dictionary is the most important point of a CANopen device where all configuration information and data are stored. It is an ordered group of objects, where each one is addressed using a 16bit index. Organization of dictionary is based on tables and contains three areas of CANopen objects: · Communication Profile Area (addresses 0x1000-0x1FFF): this profile contains
all parameters relevant for CANopen communication and it is common for all CANopen devices. · Manufacturer Specific Profile Area (addresses 0x2000-0x5FFF): in this profile, each manufacturer can implement its own company specific objects. · Standardized Device Profile Area (addresses 0x6000-0x9FFF): this profile contains all objects which are assisted by a certain device profile. The bus coupler assists the device profile DS-401 (Device Profile for Generic I/O Modules).

In the object dictionary, a logical addressing scheme is used for the access to communication and device parameters, data and functions. Each entry into the dictionary is identified by a 16 bit index which indicates the row address of the table. A maximum of 65536 entries are permitted. If an object is composed of several components, the components are identified by means of an 8 bit sub-index. The sub-index indicates the individual column address of the table allowing a maximum of 256 entries.
User manual – EDT1644-AD – 41

If index only consists of simple variables (8bit unsigned, 16bit unsigned, ecc.), sub-index is always zero. For more objects, as array, records, ecc. sub-index 0 indicates the maximum number of the following sub-indexes.

Data are encoded in these sub-index: · Name of the object: describe funtions · Attribute: indicates the data type · Access attribute: read only, wirte only. read/write.

CANopen object dictionary structure

Index (Exadecimal) 0x0000

Not used

Object

0x0001- 0x001F 0x0020 – 0x003F

Static data types Complex data types

0x0040 – 0x005F 0x0060 – 0x007F

Manufacturer specific data types Profile specific static data types

0x0080 – 0x009F 0x00A0 – 0x0FFF 0x1000 – 0x1FFF 0x2000 – 0x5FFF 0x6000 – 0x9FFF

Profile specific complex data types Reserved Communication Profile (DS-301) Manufacturer specific parameters Parameters from standardized device profiles

0xA000 – 0xFFFF

Reserved

10.1.1 CANopen communication model
CANopen defines 4 message types: 1 Administrative message: layer management, network management and
identifier distribution services (initialisation, configuration and supervision network). Services and protocols are according to LMT, NMT and DBT elements. 2 Service Data Object (SDO): it provides client access to objects of object dictionary of the device (server) using index and subindex. A replay is generated for every CAN message: one SDO requires 2 CANidentifiers. SDO request and reply message always contains 8 bytes. 3 Process Data Object (PDO): it provides transfer real-time data. Data transfer is limited from 1 to 8 bytes, and it’s content is defined by its CAN-identifier only. Each PDO is described by 2 object in the object dictionary: · PDO Communication Parameter: it contains COB-ID used, transmission type,
inhibit time and time period · PDO Mapping Parameter: it contains a list of entries of object dictionary
mapped in PDO. It’s configurable using SDO messages if “variable PDO mapping” is supported by devices. There are 2 types of PDO transmission: 1 Synchronous: it’s regulated by receipt of a SYNC object (acyclic, means not periodically, or cyclic, means that transmission is periodically triggered every 1,2,..,240 by SYNC messages).
42 – EDT1644-AD – User manual

2 Asynchronous: transmission is triggered by a remote transmission request from another device, or it’s triggered by configuration of an object specific event specified in the device profile (input change of value, or a timer event…)
· Inhibit time for a PDO defines minimum time between two consecutive PDO transmission. It’s a part of PDO Communication Parameter and it’s defined as an unsigned 16bit integer (unit is 100µsec).
· Event time period for a PDO defines where PDO transmission is periodically triggered when a specific time has elapsed. It’s defined as an unsigned 16bit integer (unit is millisecond). PDO transmit data without overhead and messages aren’t confirmed: one PDO requires one CAN-identifier (no more than 8 bytes can be transferred with 1 PDO).

4 Predefined Messages or Special Function Objects. It’s a list of predefined and important messages: · Synchronization (SYNC): it regulates input/output transmission and update through PDO synchronization. It is in the highest priority COBID and no data bytes are transferred to ensure message as short as possible. · Time Stamp: It provides application devices a common time frame reference. · Emergency: the event is triggered by device internal errors. · Node/Life Guarding: NMT master monitors nodes status (node guarding). Nodes optionally monitor NMT master status (life guarding): it starts on the NMT slave after it has received the first node guarding message from NMT master. It detects errors in the network interfaces of devices: a remote transmission request from NMT master to a particular node triggers a reply containing node status. · Boot-up: NMT slave send this message when it has transitioned from Initialising to Pre-Operational status.

SDO is typically used for device configuration in a CANopen network, while PDO is used for fast data transfer. All CANopen devices should have at least one PDO, all other communication objects are optional.

10.1.2 CANopen Pre-defined Connection Set
When a device has to reply a master request, a default CAN-identifier scheme is used. It’s based on a 11bit frame, where the first 7bit (LSB) are used for Node-ID (range 1…127, defined by specific manufacturer configuration), and the last 4bit (MSB) are used for Function Code.

MSB

LSB

10 9 8 7 6 5 4 3 2 1

Function code

Node-ID

User manual – EDT1644-AD – 43

Pre-defined connection set defines 4 Rx PDOs, 4 TX PDOs, 1 SDO, 1 Emergency Object and 1 Node-Error-Control Identifier1. It also support broadcasting of non-confirmed NMT Module Control Services, SYNC and Time Stamp objects.

Complete CAN-identifier scheme is shown below:
Broadcast objects of CANopen Pre-defined Connection Set

Object NMT Module Control

Function Code (bit 7…10)

COB-ID

0000

0x000

Communication parameters –

SYNC Time Stamp

0001 0010

0x080 0x100

0x1005, 0x1006, 0x1007 0x1012, 0x1013

Peer-to-Peer objects of CANopen Pre-defined Connection Set

Object
Emergency PDO1 (transmit) PDO1 (receive) PDO2 (transmit) PDO2 (receive) PDO3 (transmit) PDO3 (receive) PDO4 (transmit) PDO4 (receive) SDO (transmit/receive) SDO (receive/client) NMT Error Control

Function Code (bit 7…10)

COB-ID

0000

0x81 0xFF

0011

0x181 0x1FF

0100

0x201 0x27F

0101

0x281 0x2FF

0110

0x301 0x37F

0111

0x381 0x3FF

1000

0x401 0x47F

1001

0x481 0x4FF

1010

0x501 0x57F

1011

0x581 0x5FF

1100

0x601 0x67F

1110

0x701 0x77F

Communication parameters
0x1024, 0x1015 0x1800 0x1400 0x1801 0x1401 0x1802 0x1402 0x1803 0x1403 0x1200 0x1200 0x1016, 0x1017

All peer-to-peer identifiers are different so only one master device can communicate to each slave node (up to 127 nodes). Two slaves aren’t able to communicate because they don’t know each other’s node-ID, master only knows them.

10.1.3 CANopen identifier distribution
COB-ID’s allocation can be made in 3 ways: · Pre-defined Connection Set: it’s mode shown in the previous section. Allocation
is default setting, no others configuration is needed. · PDO identifiers (COB-IDs): can be modified after powering-up device, when it’s
in Pre-Operational status (see next section). In this status, it’s possible to write new values to Object Dictionary allocation by SDO. · Using DBT (Distributor, a CAL service): nodes are initially identified by their configured node-ID. Node-ID of slave nodes may be configured by internal dip-switches or LMT (Layer Management, a CAL service). When network initialises and boots, master provides a connectionì with each connected slave with a `telegram’ (NMT service). Once this connection has been established, DBT

44 – EDT1644-AD – User manual

provides allocation of CAN identifiers for communication of SDOs and PDOs to the node.
10.1.4 CANopen boot-up process
Networks initialisation supports two boot-up process: Minimum boot-up and Extended boot-up. The first one is a pre-required process for a CANopen device, the second one is optional, but necessary if COB-IDs have to be allocated by DBT services1. State-transition diagram shows a CANopen minimum bootup 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

NMT services allow changing status nodes at any time. NMT message consists of CAN-header (COB-ID = 0) and 2 data bytes. One byte contains the requested service (NMT command specifier) and other byte contains Node-ID (0 for broadcasting mode). A CANopen network can only have one NMT master, which brings NMT messages and controls initialisation process. CANopen device supporting only minimum boot-up enter Pre-Operational status automatically after ending device initialisation. In this status setting device parameters and COB-ID allocation are possible by SDO only. ETD1644-AD module switches automatically to Pre-Operational status when boot-up is completed.

10.1.5 Communication profile: initialization
In the most common case, a default configuration is assigned to Object dictionary, if there aren’t other configuration saved by user. ETD1644-AD module has no mapped PDO by default.

10.2 Communication Profile Area
The following table shows all the supported communication profile objects:

Index

Name

0x1000 Device type

0x1001 Error register

Type 32bit unsigned 8bit unsigned

R/W CONST R

User manual – EDT1644-AD – 45

0x1003 Pre-defined Error Field

Array 32bit unsigned

0x1005 COB-ID SYNC message

32bit unsigned

0x1006 Communication Cycle Period

32bit unsigned

0x1008 Manufacturer Device Name

String

0x1009 Manufacturer Hardware Version String

0x100A Manufacturer Software Version

String

0x100B Node ID

8bit unsigned

0x100C Guard Time

16bit unsigned

0x100D Life Time Factor

8bit unsigned

0x1010 Store Parameters

Array 32bit unsigned

0x1011 Restore default Parameter

Array 32bit unsigned

0x1014 COB-ID Emergency Object

32bit unsigned

0x1015 Inhibit time Emergency Object

16bit unsigned

0x1017 Producer Heartbeat Time

16bit unsigned

0x1018 Identity Object

Record 32bit unsigned

0x1029 Error Behaviour

Array 8bit unsigned

0x1400

Receive PDO1 communication parameter

Record 32bit unsigned

0x1401 Receive PDO2 commun. parameter Record 32bit unsigned

0x1402 Receive PDO3 commun. parameter Record 32bit unsigned

0x1403 Receive PDO4 commun. parameter Record 32bit unsigned

0x1600 Receive PDO1 mapping parameter Record 32bit unsigned

0x1601 Receive PDO2 mapping parameter Record 32bit unsigned

0x1602 Receive PDO3 mapping parameter Record 32bit unsigned

0x1603 Receive PDO4 mapping parameter Record 32bit unsigned

0x1800

Transmit PDO1 communication parameter

Record 32bit unsigned

0x1801 Transmit PDO2 commun. parameter Record 32bit unsigned

0x1802 Transmit PDO3 commun. parameter Record 32bit unsigned

0x1803 Transmit PDO4 commun. parameter Record 32bit unsigned

0x1A00 Transmit PDO1 mapping parameter Record 32bit unsigned

0x1A01 Transmit PDO2 mapping parameter Record 32bit unsigned

0x1A02 Transmit PDO3 mapping parameter Record 32bit unsigned

0x1A03 Transmit PDO4 mapping parameter Record 32bit unsigned

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

10.2.1 Device Type

This object indicates device type profile:

Index Subindex

Name

0x1000 0

Device type

Type 32bit unsigned

Default R/W

–

CONST

Structure: Bit 24…31 MSB

Bit 16…23

0x00

0000b19 b18 b17 b16

46 – EDT1644-AD – User manual

Bit 8…15 0x01

Bit 0…7 LSB 0x91

b16

If no digital input is connected

If at least one digital input is connected

b17

If no digital output is connected

If at least one digital output is connected

b18

If no analogue input is connected

If at least one analogue input is connected

b19

If no analogue output is connected

If at least one analogue output is connected

For ETD1644-AD the value is 0x000E0191. Least significant word (LSW) is always 0x0191 = 401decCAN DS standard.

10.2.2 Error Register

This object contains internal errors and it’s a subset of emergency message.

Index Sub – index

Nome

0x1001 0

Error register

Tipo 8bit unsigned

Default R/W

–

Structure:

Bit number

Meaning

General error

Current

Voltage

Temperature

If an error occurs, bit 0 is always set 1.

Bit number

Meaning

Communication

Device profile specific

Reserved

Manufacturer specific

10.2.3 Pre-defined Error Field
This object contains information about last 10 errors occurred. New errors will be entered in subindex 1, and error in subindex 10 will be lost.

Index Subindex

Name

0x1003 0

Number of error

Standard error field (always last error)

…

Standard error field (first error)

Type Array 8bit unsigned
Array 32bit unsigned … Array 32bit unsigned

Default R/W

–

R/W

–

…

–

Structure:

Bit 16..31 MSW Additional info

Bit 0..15 LSW Error code

Additional info are first 2 bytes of additional code of Emergency telegram.

Error code is error code in the Emergency telegram.

User manual – EDT1644-AD – 47

10.2.4 COB-ID SYNC message

This object contains COB-ID for synchronization message.

Index Subindex

Name

Type

0x1005 0

COB-ID SYNC 32bit unsigned

Default R/W 0x00000080 R

Structure:
Bit 16..31 MSW 0 (reserved)

COB-ID

Bit 0..15

10.2.5 Communication Cycle Period

This object contains maximum time (msec) between 2 SYNC messages (resolution

2msec). If value is 0, no SYNC monitoring is realized.

Index Subindex

Name

Type

0x1006 0

Communication Cycle Period

32bit unsigned

Default R/W

R/W

10.2.6 Manufacturer Device Name

Index Subindex

Name

0x1008 0

Manufacturer Device Name

Type String

Default R/W

ETD1

CONST

10.2.7 Manufacturer Hardware Version

Index Subindex

Name

Type

0x1009 0

Manufacturer Hardware Version

String

Default Actual hardware version

R/W CONST

10.2.8 Manufacturer Software Version

Index Subindex

Name

Type

0x100A 0

Manufacturer Software Version

String

Default Actual software version

R/W CONST

10.2.9 Node ID

Index Subindex

Name

0x100B 0

Node ID

Type 8bit unsigned

Default R/W

10.2.10 Guard Time
This object defines Guarding Time (time between 2 interrogation, in msec).

Index Subindex

Name

0x100C 0

Guard Time

Type 16bit unsigned

Default R/W

R/W

48 – EDT1644-AD – User manual

10.2.11 Life Time Factor

This object is a part of Node Guarding Protocol. If it’s equal to 0, no monitoring is

realized.

Index Subindex

Name

Type

Default R/W

0x100D 0

Life Time Factor

8bit unsigned

R/W

10.2.12 Store Parameters

This object stores user’s setting parameters permanently, if signature “save” (ASCII 0x65766173) is written into subindex 1.

Index Subindex

Name

Type

Default R/W

0x1010 0

Number of sub-index Array 8bit unsigned 1

Store all parameters

Array 32bit unsigned

1 (string “save” to R/W store)

10.2.13 Restore Default Parameters

This object allows to reset user stored parameters and load default values. If signature “load” (ASCII 0x64616F6C) is written on Sub-index 1, standard default parameters are loaded each power on (until next “save” command is written).

Index Subindex

Name

Type

Default R/W

0x1011 0

Number of sub-index Array 8bit unsigned 2

Load standard default Array 32bit

parameters

unsigned

1 (string

“load” for standard

R/W

default)

10.2.14 COB-ID Emergency Object

Index Subindex

Name

Type

0x1014 0

COB-ID EMCY

32bit unsigned

Default R/W 0x80 + module R – ID

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

Bit 11…30 0 Reserved

Bit 0…10 COB-ID

User manual – EDT1644-AD – 49

10.2.15 Inhibit Time Emergency Object

This object indicates time have to be elapsed before sending another Emergency

(minutes).

Index Subindex

Name

Type

Default R/W

0x1015 0

Inhibit Time EMCY

16bit unsigned

R/W

10.2.16 Producer Heartbeat Time

This object contains time between two Heartbeat messages (milliseconds). If it’s equal to 0, no Heartbeat is sent.

Index Subindex

Name

0x1017 0

Producer Heartbeat Time

Type 16bit unsigned

Default R/W

R/W

10.2.17 Identity Object

This object specifies device and manufacturer.

Index Subindex

Name

Type

0x1018 0

Number of Sub-index Record 8bit unsigned

Manufacturer ID

Record 32bit unsigned

Device description

Record 32bit unsigned

Revision number

Record 32bit unsigned

Serial number

Record 32bit unsigned

Default R/W

PIX R

ETD1 R

–

10.2.18 Error Behaviour

This object specifies into which states modules changes in case of communication

error.

Index Subindex

Name

Type

0x1029 0

Number of Sub-index Array 8bit unsigned

Communication error Array 8bit unsigned

Default R/W

R/W

Structure: Communication error
0
1 2

Action Change into status PRE-OPERATIONAL (only if actual status were OPERATIONAL) No status change Change into status STOPPED

50 – EDT1644-AD – User manual

10.2.19 Receive PDO Communication Parameter

This object set communication parameters of Rx PDO supported. Default COB-ID of

PDO is set by DS301 standard.

Index Subindex Name

Type

Default

R/W

0x1400

0x1401 0x1402

Number of Sub-index

Record 8bit unsigned

0x1403

– 0x1400 0x200 +

Module-ID

– 0x1401 0x300 +

COB-ID

Record 32bit unsigned

Module-ID – 0x1402 0x400 +

R/W

Module-ID

– 0x1403 0x500 +

Module-ID

Transmission Record 8bit

type

unsigned

255

R/W

COB-ID Structure:
Bit 31 0(valid) / 1(invalid)

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

Bit 29…11 Bit 0…10 0 Reserved COB-ID

Digital and Analogue inputs are transmitted as Change Of Value (COV). Type of transmission depending upon set transmission type and it’s explained in the following table (RTR = Remote Transmission Request received):

Transmission Type

cyclic

PDO transmission

acyclic

synchro- asynchronous nous

only RTR

TxPDO (inputs)

If COV is

RxPDO (outputs) Set outputs after each

transmitted SYNC as

with each requested

SYNC

by last PDO

Transmis-

received Set outputs after each

1…240 X

sion with SYNC as each i SYNC requested (i = 1…240) by last PDO

241..251 Reserved

received

User manual – EDT1644-AD – 51

Data is read

again with

252

a SYNC, but Not not sent, supported

request via

RTR

253

Request via RTR

COV

254

COV

255

COV

10.2.20 Receive PDO Mapping Parameter

This object defines data transmitted by PDO. Subindex 0 contains number of objects valid for PDO.

Index Subindex

Name

0x1600

0x1601 0x1602

Number of object

0x1603

1…8 PDO mapping object

Type

Default R/W

Record 8bit unsigned –

R/W

Record 32bit unsigned –

R/W

Object structure:

Bit 16..31 Index

Bit 8..15 Sub-index

Bit 0..7 Object size

Index: object index to be transmitted

Subindex: object subindex to be transmitted Object size: object size in bits (no more than 8 bytes can be transmitted in a PDO, so sum of valid object lengths have not to exceed 64.

10.2.21 Transmit PDO Communication Parameter

This object set communication parameters of Tx PDO supported. Default COB-ID of PDO is set by DS301 standard.

Index Subindex Name

Type

0x1800

Default

R/W

0x1801 0x1802

Number of Sub-index

Record 8bit unsigned

0x1803

52 – EDT1644-AD – User manual

– 0x1800 0x180 +

Module-ID

– 0x1801 0x280 +

COB-ID

Record 32bit unsigned

Module-ID – 0x1802 0x380 +

R/W

Module-ID

– 0x1803 0x480 +

Module-ID

Transmission Record 8bit

type

unsigned

255

R/W

Inhibit Time

Record 16bit unsigned

R/W

Event Timer

Record 16bit unsigned

R/W

COB-ID Structure:

Bit 31

Bit 30

Bit 29…11 Bit 0…10

0(valid) / 1(invalid) 0(RTR allowed) / 1(RTR not allowed) 0 Reserved COB-ID

Digital and Analogue inputs are transmitted as Change Of Value (COV). Type of

transmission depending upon set transmission type and it’s explained in the following table:

Transmission Type

cyclic

PDO transmission

acyclic

synchro- asynchronous nous

only RTR

TxPDO (inputs)

RxPDO (outputs)

Set outputs

If COV is after each

transmitted SYNC as

with each requested

SYNC

by last PDO

received

Set outputs

Transmissi after each

1…240 X

on with each SYNC as

i SYNC (i = requested

1…240)

by last PDO

241..251 Reserved

received

User manual – EDT1644-AD – 53

Data is read

again with

252

a SYNC, but Not not sent, supported

request via

RTR

253

Request via RTR

COV

254

COV

255

COV

Inhibit Time is minimum time between two consecutive PDOs with same COB-ID (unit time 100msec). Event Timer defines time after the elapsed of a sent PDO, even if no change of data has occured (millisecond). It can be used only for transmission types 254 and 255.

10.2.22 Transmit PDO Mapping

This object defines data transmitted by PDO. Subindex 0 contains number of objects

valid for PDO.

Index Subindex

Name

Type

Default R/W

0x1A00

0x1A01 0x1A02

Number of object

Record 8bit unsigned –

R/W

0x1A03 1…8

PDO mapping object

Record 32bit unsigned –

R/W

Object structure:

Bit 16…31 Index

Bit 8…15 Sub-index

Bit 0…7 Object size

Index: object index to be transmitted

Subindex: object subindex to be transmitted Object size: object size in bits (no more than 8 bytes can be transmitted in a PDO, so sum of valid object lengths have not to exceed 64.

54 – EDT1644-AD – User manual

10.3 Manufacturer Specific Parameter Area

The following table shows all Pixsys specific parameters objects supported:

Index

Name

0x2000 Device specifications

Type Array 16bit signed

R/W R/W

0x3000 ETD1644-AD Parameters 0x3001 Encoder/counters counts

Array 16bit signed R/W Array 32bit signed R/W

0x3002 Encoder/counters preset counts 0x3003 Encoder/counters counts

Array 32bit signed R/W Array 8bit unsigned R/W

0x3004 Encoder/counters counts per 1s 0x3005 Encoder/counters counts per 100ms

Array 32bit signed R/W Array 32bit signed R/W

10.3.1 Device specification
This object defines some EDT1644-AD configuration parameters:

Index Subindex

Name

Type

0x2000 0

Number of Sub-index Array 16bit signed

Baud rate

Array 16bit signed

Boot-up time

Array 16bit signed

CANopen state after boot-up

Array 16bit signed

4…7 …

Reserved

Default R/W

120 R/W

0x7F R/W

R/W

1 Baud rate (idx x, s-idx )

Only reading. Can be modified by dip switch.

50 kbit/s

62.5 kbit/s

100 kbit/s

125 kbit/s

250 kbit/s

500 kbit/s

1 Mbit/s (Default)

2 Tempo boot-up (idx x, s-idx ) Defines boot-up time duration (units of 10 ms) 10..1000 centimes of s (10 = 100ms .. 100 = 1s). (Default: 120)

3 Stato CANopen dopo boot-up (idx x, s-idx )

CANopen standard defines that, once ended boot-up, the device will

automatically switch to Pre-Operational status. This is the default configuration

(0x7F), but it is possible to switch to other status:

Boot-up

Stopped

Operational

0x7F Pre-operational (Default)

User manual – EDT1644-AD – 55

10.3.2 ETD1644-AD Parameters

The object index 0x3000 defines all ETD1644-AD configuration parameters.

The sub-index (1..143) identifies each parameter described below:

Index Subindex

Name

Type

Default R/W

0x3000 0 1..100

Number of Sub-index ETD1644-AD parameters

Array 16bit signed Array 16bit signed

100 R

–

R/W

10.3.2.1 GROUP A – ANALOGUE INPUT

1 AI1 Sensor type (idx x, s-idx )

2 AI2 Sensor type (idx x, s-idx )

3 AI3 Sensor type (idx x, s-idx )

4 AI4 Sensor type (idx x, s-idx )

Analogue input configuration / sensor selection

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

Potenziometer (set the value on parameters 14..17)

5 Degrees type (idx x, s-idx )

°C

Centigrade (Default)

°F

Fahrenheit

Kelvin

56 – EDT1644-AD – User manual

6 AI1 Lower Linear Input (idx x, s-idx ) 7 AI2 Lower Linear Input (idx x, s-idx ) 8 AI3 Lower Linear Input (idx x, s-idx ) 9 AI4 Lower Linear Input (idx x, s-idx )
Range lower limit only for linear input. Ex: with input 4..20 mA this parameter takes value associated to 4 mA. -32767..+32767, Default: 0.

10 AI1 Upper Linear Input (idx x, s-idx ) 11 AI2 Upper Linear Input (idx x, s-idx ) 12 AI3 Upper Linear Input (idx x, s-idx ) 13 AI4 Upper Linear Input (idx x, s-idx )
Range upper limit only for linear input. Ex: with input 4..20 mA this parameter takes value associated to 20 mA. -32767..+32767. Default:1000

14 AI1 Potentiometer Value (idx x, s-idx ) 15 AI2 Potentiometer Value (idx x, s-idx ) 16 AI3 Potentiometer Value (idx x, s-idx ) 17 AI4 Potentiometer Value (idx x, s-idx )
Select potentiometer value 1..150 kohm. Default: 10kohm

18 AI1 Linear Input over Limits (idx x, s-idx )

19 AI2 Linear Input over Limits (idx x, s-idx )

20 AI3 Linear Input over Limits (idx x, s-idx )

21 AI4 Linear Input over Limits (idx x, s-idx )

If linear input, allows process to go over limits (Parameters 6..9 and 10..13).

Disabled (Default)

Enabled

22 AI1 Offset Calibration (idx x, s-idx ) 23 AI2 Offset Calibration (idx x, s-idx ) 24 AI3 Offset Calibration (idx x, s-idx ) 25 AI4 Offset Calibration (idx x, s-idx )
Value added / subtracted to the process visualization (usually correcting the value of environmental temperature). -10000..+10000 [digit] (degrees.tenths for temperature sensors). Default 0.

User manual – EDT1644-AD – 57

26 AI1 Gain Calibration (idx x, s-idx ) 27 AI2 Gain Calibration (idx x, s-idx ) 28 AI3 Gain Calibration (idx x, s-idx ) 29 AI4 Gain Calibration (idx x, s-idx )
Percentage value that is multiplied for the process value (allows to calibrated the working point). Ex: to correct the range from 0..1000°C showing 0..1010°C, set the par. to -1.0. -1000 (100.0%)…+1000 (+100.0%), Default: 0.0.

30 Reserved (idx x, s-idx ) 31 Reserved (idx x, s-idx ) 32 Reserved (idx x, s-idx ) 33 Reserved (idx x, s-idx ) 34 AI1 input filter (idx x, s-idx ) 35 AI2 input filter (idx x, s-idx ) 36 AI3 input filter (idx x, s-idx ) 37 AI4 input filter (idx x, s-idx )
Analogue input reading filter: increases process stability on word 1001, 1002, 1003, 1004. Indicates the number of samplings to be mediated on the process calculation. 1…50. (Default: 5)

38 AI1 and AI2 conversion frequency (idx x, s-idx )

39 AI3 and AI4 conversion frequency (idx x, s-idx )

Sampling frequency of the analog / digital converter.

NB: Low conversion speeds increase reading stability while high conversion

speeds will decrease reading stability (example: for fast transients, as pressure,

it is advisable to increase sampling frequency).

4 Hz

6 Hz

8 Hz

10 Hz

12 Hz

17 Hz (Default)

20 Hz

33 Hz

39 Hz

50 Hz

62 Hz

123 Hz

242 Hz

470 Hz

58 – EDT1644-AD – User manual

10.4 GROUP B – ANALOGUE OUTPUTS

40 AO1 output type (idx x, s-idx )

41 AO2 output type (idx x, s-idx )

42 AO3 output type (idx x, s-idx )

43 AO4 output type (idx x, s-idx )

Select the type of analogue output.

0..10 V (Default)

4..20 mA.

44 AO1 lower limit analogue output (idx x, s-idx ) 45 AO2 lower limit analogue output (idx x, s-idx ) 46 AO3 lower limit analogue output (idx x, s-idx ) 47 AO4 lower limit analogue output (idx x, s-idx )
Analogue output lower limit range (value related to 0/4 mA) -32767..+32767 [digit] Default: 0.

48 AO1 upper limit analogue output (idx x, s-idx ) 49 AO2 upper limit analogue output (idx x, s-idx ) 50 AO3 upper limit analogue output (idx x, s-idx ) 51 AO4 upper limit analogue output (idx x, s-idx )
Analogue output upper limit range (value related to 10 V / 20 mA) -32767..+32767 [digit] Default: 1000.

52 Reserved (idx x, s-idx ) 53 Reserved (idx x, s-idx ) 54 Reserved (idx x, s-idx ) 55 Reserved (idx x, s-idx )

56 Reserved (idx x, s-idx ) 57 Reserved (idx x, s-idx ) 58 Reserved (idx x, s-idx ) 59 Reserved (idx x, s-idx )

User manual – EDT1644-AD – 59

10.5 GROUP C – DIGITAL INPUTS
60 Digital inputs filter (idx x, s-idx ) Define the time during which the digital input must be steady before being considered valid 0..250 [ms], Default: 5 ms.

61 Encoder/counter 1 setup (idx x, s-idx )

62 Encoder/counter 2 setup (idx x, s-idx )

63 Encoder/counter 3 setup (idx x, s-idx )

64 Encoder/counter 4 setup (idx x, s-idx )

Determine the operating mode of the encoder or the undirectional counter

input.

Disabled (Default).

Encoder phase A-B.

Encoder phase A-B-Z.

Counter Up.

Counter Down.

65 Encoder/counter 1 H preset value(idx x, s-idx ) 66 Encoder/counter 1 L preset value(idx x, s-idx ) 67 Encoder/counter 2 H preset value(idx x, s-idx ) 68 Encoder/counter 2 L preset value(idx x, s-idx ) 69 Encoder/counter 3 H preset value (idx x, s-idx ) 70 Encoder/counter 3 L preset value(idx x, s-idx ) 71 Encoder/counter 4 H preset value(idx x, s-idx ) 72 Encoder/counter 4 L preset value(idx x, s-idx )
Determine the value that will be loaded to the encoder/counter registry in case of “load preset value” command (see address 1108). This register is a 32bit value so, in case of Modbus communication, It will be assigned using two concecutives 16bit words. -32767..+32767 [digit], Default: 0.

73 Reserved (idx x, s-idx )

74 Reserved (idx x, s-idx )

60 – EDT1644-AD – User manual

10.6 GROUP D – SERIAL

75 Modbus offline time (idx x, s-idx ))

If Modbus protocol is active, determine the time of serial inactivity before

offline status.

Offline disabled (Default)

1..60000 [ms]

Inactivity before offline.

76 Modbus serial format (idx x, s-idx ))

Determine the data format for the Modbus port.

8,n,1 (Default).

8,o,1

8,e,1

8,n,2

8,o,2

8,e,2

77 Modbus serial delay (idx 0x00, s-idx 77 Determine the dealy between the answer of the module after an interrogation of the master (only in Modbus communication). 0..+100 [ms], Default: 5.

78÷100 Reserved (idx x, s-idx ..)
10.6.1 Encoder/counters counts
Number of encoder/counters (idx x, s-idx ) 8bit unsigned Encoder/counter 1 counts (idx x, s-idx ) 32bit signed Encoder/counter 2 counts (idx x, s-idx ) 32bit signed Encoder/counter 3 counts (idx x, s-idx ) 32bit signed Encoder/counter 4 counts (idx x, s-idx ) 32bit signed This object contains the registers of encoder/counters counts -2147483648…2147483647 [digit] 10.6.2 Encoder/counters preset counts
Number of encoder/counters (idx x, s-idx ) 8bit unsigned Encoder/counter 1 preset counts (idx x, s-idx ) 32bit signed Encoder/counter 2 preset counts (idx x s-idx ) 32bit signed Encoder/counter 3 preset counts (idx x, s-idx ) 32bit signed Encoder/counter 4 preset counts (idx x, s-idx ) 32bit signed This object contains the registers of the preset values of encoder/counters -2147483648…2147483647 [digit]

User manual – EDT1644-AD – 61

10.6.3 Encoder/counters commands

Number of encoder/counters (idx x, s-idx ) 8bit unsigned

Encoder/counter 1 commands (idx x, s-idx ) 8bit signed

Encoder/counter 2 commands (idx x s-idx ) 8bit signed

Encoder/counter 3 commands (idx x, s-idx ) 8bit signed

Encoder/counter 4 commands (idx x, s-idx ) 8bit signed

This object contains the registers of all commands to control encoder/counters

No command

Loading encoder with preset value

Loading encoder with preset value at the next Z signal

10.6.4 Encoder/counters counts – 1s
Number of encoder/counters (idx x, s-idx ) 8bit unsigned Encoder/counter 1 counts – 1s (idx x, s-idx ) 32bit signed Encoder/counter 2 counts – 1s (idx x s-idx ) 32bit signed Encoder/counter 3 counts – 1s (idx x, s-idx ) 32bit signed Encoder/counter 4 counts – 1s (idx x, s-idx ) 32bit signed This object contains the registers of the values in counts of the encoder / counters variation detected each 1s -2147483648…2147483647 [digit]

10.6.5 Encoder/counters counts – 100ms
Number of encoder/counters (idx x, s-idx ) 8bit unsigned Encoder/counter 1 counts – 100ms (idx x, s-idx ) 32bit signed Encoder/counter 2 counts – 100ms (idx x s-idx ) 32bit signed Encoder/counter 3 counts – 100ms (idx x, s-idx ) 32bit signed Encoder/counter 4 counts – 100ms (idx x, s-idx ) 32bit signed This object contains the registers of the values in counts of the encoder / counters variation detected each 100ms -2147483648…2147483647 [digit]

62 – EDT1644-AD – User manual

10.7 Standard Device Profile Area

The table below indicates all supported Pixsys parameters:

Index 0x6000 Digital Input

Name

Type

R/W

Array 8bit unsigned R

0x6005 Global Interrupt Enable Digital 0x6006 Interrupt Mask Any Change

Array 8bit unsigned R/W Array 8bit unsigned R/W

0x6007 Interrupt Mask Low-to-High 0x6008 Interrupt Mask High-to-Low

Array 8bit unsigned R/W Array 8bit unsigned R/W

0x6200 Digital Output 0x6206 Digital Output Error Mode 0x6207 Digital Output Error Value 0x6401 Read Analogue input 16bit 0x6411 Write Analogue output 16bit

Array 8bit unsigned R/W Array 8bit unsigned R/W Array 8bit unsigned R/W Array 16bit unsigned R Array 16bit unsigned R/W

0x6421 Analogue input Trigger Selection

Array 8bit unsigned R/W

0x6423 Analogue input Global Interrupt Selection Boolean

R/W

0x6424

Analogue input Interrupt Upper Limit Integer

0x6425

Analogue input Interrupt Lower Limit Integer

0x6426 Analogue input Interrupt Delta Unsigned

Array 16bit unsigned R/W
Array 16bit unsigned R/W Array 16bit unsigned R/W

0x6427 Analogue input Negative Delta Unsigned Array 16bit unsigned R/W 0x6428 Analogue input Positive Delta Unsigned Array 16bit unsigned R/W

0x6443 Analogue Output Error Mode 0x6444 Analogue Output Error Value 0x67FE Error Behaviour

Array 16bit unsigned R/W Array 16bit unsigned R/W Array 8bit unsigned R/W

10.7.1 Digital Input

This object contains data of digital output modules. Sub-index 1 first 8 inputs (1..8) Sub-index 2 last 8 inputs (9..16).

Index Subindex

Name

Type

Default R/W

0x6000 0

Number of entries Array 8bit unsigned –

1st output block Array 8bit unsigned 0

R/W

2nd output block Array 8bit unsigned 0

R/W

10.7.2 Global Interrupt Enable digital

This object allows digital input transmission by PDO. If value is 1, transmission is generally released and it’s regulated by objects 0x6006, 0x6007, 0x6008 and type of PDO transmission. If value is 0, digital input isn’t transmitted.

Index Subindex

Name

Type

0x6005 0

Global Interrupt Enable Analogue input 16bit

Boolean

Default R/W

R/W

User manual – EDT1644-AD – 63

10.7.3 Interrupt Mask Any Change

This object is used to define digital input channel, which will send its data in a event

of a change (Global Interrupt has to be enabled, 0x6005=1).

Index Subindex

Name

Type

Default R/W

0x6006 0 1

Number of entries 1st output block

Array 8bit unsigned 2

Array 8bit unsigned 255 R/W

2nd output block

Array 8bit unsigned 255 R/W

bi 0 Transmission channel i blocked in a bi event of a change 1 Transmission channel i released in a event of a change

Example: if Subindex 0 = 1, Subindex 1 = 57 = 0x41 = 001110012 means that channel 1, 4, 5 and 6 will transmit their data in the event of a change.

10.7.4 Interrupt Mask Low-to-High

This object defines which digital input channel will send its data in a event of a

positive transition (Global Interrupt has to be enabled, 0x6005=1).

Index Subindex

Name

Type

Default R/W

0x6007 0 1

Number of entries

Array 8bit unsigned 2

1st output block

Array 8bit unsigned 0

R/W

2nd output block

Array 8bit unsigned 0

R/W

bi 0 Transmission channel i blocked with a positive transition 1 Transmission channel i released with a positive transition

Example: if 0x6006, Subindex 0 = 1, Subindex 1 = 57 = 0x41 = 001110012 0x6007, Subindex 0 = 1, Subindex 1 = 11 = 0xB = 000010112 means that channel 1, 4, 5 and 6 will transmit their data in the event of a change, while channel 2 will only transmit with a positive transition. If Sub 0x6006 Sub-index 0 = 1, Sub-index 1 = 57 = 0x41 = 001110012 means that inputs 1, 4, 5, 6 will transmit their status after the commutation.

10.7.5 Interrupt Mask High-to-Low

This object defines which digital input channel will send its data in a event of a negative transition (Global Interrupt has to be enabled, 0x6005=1).

Index Subindex

Name

0x6008 0

Number of entries

Type Array 8bit unsigned

Default R/W

1st output block

Array 8bit unsigned 0

R/W

2nd output block

Array 8bit unsigned 0

R/W

bi 0 Transmission channel i blocked with a negative transition 1 Transmission channel i released with a negative transition
64 – EDT1644-AD – User manual

10.7.6 Digital Output

This object contains data of digital output modules.

Index Subindex

Name

Type

Default

0x6200 0 1

Number of entries Array 8bit unsigned 1st output block Array 8bit unsigned 0

2nd output block Array 8bit unsigned 0

R/W R R/W R/W

10.7.7 Error Mode Output 8bit

This object defines if output change to a pre-defined error status in a event of an error or not. If error is eliminated, outputs are maintained in their pre-defined error

status.

Index Subindex

Name

Type

Default R/W

0x6206 0 1

Number of entries Array 8bit unsigned –

1st output block Array 8bit unsigned 255

R/W

2nd output block Array 8bit unsigned 255

R/W

0 1

Output channel i doesn’t change in a event of an error Output channel i change to a pre-defined error

10.7.8 Error Value Output 8bit

This objects defines values outputs have to change to in a event of an error

(corresponding bit in Error Mode Output has to be enabled, 0x6206).

Index 0x6207

Subindex

Name

Number of entries

1st output block

2nd output block

Type

Default

Array 8bit unsigned –

Array 8bit unsigned 0

R/W R R/W R/W

0 1

Output channel i change to 0 in case of an error Output channel i change to 1 in case of an error

Example: if 0x6206, Subindex 0 = 1, Subindex 1 = 57 = 0x41 = 001110012 0x62607, Subindex 0 = 1, Subindex 1 = 11 = 0xB = 000010112 means that channels 1 and 4 are set to 1, channels 5 and 6 are set to 0, while all other output doesn’t change in an event of an error.

User manual – EDT1644-AD – 65

10.7.9 Analogue Input 16bit

This object contains the value of Analogue 16 bit input channels.

Index Subindex

Name

0x6401 0

Number of Analogue input channels

1st channel (AI1)

Type Array 8bit unsigned Array 16bit unsigned

2nd channel (AI2)

Array 16bit unsigned

3rd channel (AI3)

Array 16bit unsigned

4th channel (AI4)

Array 16bit unsigned

Default R/W

–

10.7.10 Analogue Output 16bit

This object contains the value of Analogue 16 bit output channels.

Index Subindex

Name

0x6411 0

Number of Analogue output channels

Type Array 8bit unsigned

1st channel (AO1)

Array 8bit unsigned

2nd channel (AO2)

Array 8bit unsigned

3rd channel (AO3)

Array 8bit unsigned

4th channel (AO4)

Array 8bit unsigned

Default R/W

R/W

10.7.11 Analogue Input Interrupt Trigger Selection

This object defines condition of transmission: when 1 is entered in object 0x6423, then transmission is released.

Index Subindex

Name

0x6421 0

Number of Analogue input channels

Type Array 8bit unsigned

Default R/W

Trigger 1st channel Array 8bit unsigned 7

Trigger 2nd channel Array 8bit unsigned 7

Trigger 3rd channel Array 8bit unsigned 7

Trigger 4th channel Array 8bit unsigned 7

Sub-index structure:

Bit

Transmission conditions

Index

0 Threshold value exceeded (>) 1 Threshold value fallen short (<)

0x6424 0x6425

2 Change of input value exceeding delta value for last transmission 0x6426

Reduction of input value by more than delta value for last transmission

0x6427

Increase of input value by more than delta value for last transmission

0x6428

5..7 Reserved

–

66 – EDT1644-AD – User manual

10.7.12 Analogue Input Global Interrupt Enable

This object is used to control Analogue input transmission by PDO. If its value is 1,

transmission is released and it only depends on object 0x6421 and PDO transmission type. If value is 0, Analogue input transmission is not allowed.

Index Subindex

Name

Type

0x6423 0

Global Interrupt Enable Analogue input 16bit

Boolean

Default R/W

R/W

10.7.13 Analogue Input Interrupt Upper Limit Integer

This object allows a threshold value monitoring for Analogue input transmission. If it’s configured in object 0x6423, transmission will take place if input value is

threshold value when a trigger condition is set.

Index Subindex

Name

Type

Default R/W

0x6424 0 1

Number of Analogue input channels

Array 8bit unsigned

Upper limit 1st channel Array 16bit unsigned 0

R/W

Upper limit 2nd channel Array 16bit unsigned 0

R/W

Upper limit 3rd channel Array 16bit unsigned 0

R/W

Upper limit 4th channel Array 16bit unsigned 0

R/W

10.7.14 Analogue Input Interrupt Lower Limit Integer

This object allows a threshold value monitoring for Analogue input transmission.

If it’s configured in object 0x6423, transmission will take place if input value is £ threshold value when a trigger condition is set.

Index Subindex

Name

0x6425 0

Number of Analogue input channels

Type Array 8bit unsigned

Default R/W

Lower limit 1st channel Array 16bit unsigned 0

R/W

Lower limit 2nd channel Array 16bit unsigned 0

R/W

Lower limit 3rd channel Array 16bit unsigned 0

R/W

Lower limit 4th channel Array 16bit unsigned 0

R/W

10.7.15 Analogue Input Interrupt Delta Unsigned
If this object is allowed, it conditions actual Analogue input transmission with previously sent value. New value is transmitted only if it’s larger than previously sent value + Delta, or if it’s smaller than previously sent value Delta.

Index Subindex

Name

0x6426 0

Number of Analogue input channels

Delta 1st channel

Delta 2nd channel

Delta 3rd channel

Delta 4th channel

Type
Array 8bit unsigned
Array 16bit unsigned Array 16bit unsigned Array 16bit unsigned Array 16bit unsigned

Default R/W

R/W

User manual – EDT1644-AD – 67

10.7.16 Analogue Input Interrupt Negative Delta Unsigned

If this object is allowed, it conditions actual Analogue input transmission with

previously sent value. New value is transmitted only it’s smaller than previously sent value Delta.

Index Subindex

Name

0x6427 0

Number of Analogue input channels

Type Array 8bit unsigned

Default R/W

Delta 1st channel

Array 16bit unsigned 0

R/W

Delta 2nd channel

Array 16bit unsigned 0

R/W

Delta 3rd channel

Array 16bit unsigned 0

R/W

Delta 4th channel

Array 16bit unsigned 0

R/W

10.7.17 Analogue Input Interrupt Positive Delta Unsigned

If this object is allowed, it conditions actual Analogue input transmission with previously sent value. New value is transmitted only if it’s larger than previously sent value + Delta.

Index Subindex

Name

0x6428 0

Number of Analogue input channels

Delta 1st channel

Type Array 8bit unsigned Array 16bit unsigned

Default R/W

R/W

Delta 2nd channel

Array 16bit unsigned 0

R/W

Delta 3rd channel

Array 16bit unsigned 0

R/W

Delta 4th channel

Array 16bit unsigned 0

R/W

10.7.18 Analogue Output Error Mode

This object defines if the output must assume a pre-selected state in case of error (see object 0x6444). If error is solved, the outputs will keep the pre-selected state.

Index Subindex

Name

0x6443 0

Number of Analogue output channels

Error Mode 1st output

Type Array 8bit unsigned Array 8bit unsigned

Default R/W

R/W

Error Mode 2nd output Array 8bit unsigned 1

R/W

Error Mode 3rd output Array 8bit unsigned 1

R/W

Error Mode 4th output Array 8bit unsigned 1

R/W

0 1

Output state bi remains unchanged Output state changes in case of error

68 – EDT1644-AD – User manual

10.7.19 Analogue Output Error Value Integer

Value assumed by analog output in case of error. For this purpose the object 0x6443

must be set to 1.

Index Subindex

Name

Type

Default R/W

0x6444 0
1 1 1

Number of Analogue output channels

Array 8bit unsigned

Error Value 1st output Array 16bit signed

R/W

Error Value 2nd output Array 16bit signed

R/W

Error Value 3rd output Array 16bit signed

R/W

Error Value 4th output Array 16bit signed

R/W

10.7.20 Error Behaviour

This object has the same functionality of Error Behaviour 0x1029.

Index Subindex

Name

Type

0x67FE 0

Number of entries

Array 8bit unsigned

Communication error Array 8bit unsigned

Default R/W

R/W

Structure: Communication error
0
1 2

Action Change into status PRE-OPERATIONAL (only if actual status was OPERATIONAL) No status change Change into status STOPPED

10.8 PDO Transmission
Data transmission with PDO is only allowed in Operational status. When device changes its status into Operational, TX PDO is transmitted once with transmission type 254 and 255. In order to prevent CAN bus overflow, default value for object 0x6423 is false, so Analogue changes aren’t transmitted. To prevent overflow with 0x6423=true, a long Inhibit Time can be selected, or properly values for Threshold and Delta (0x6421…0x6428) can be set.
10.8.1 PDO Mapping
If stored customer specific configuration isn’t used, object dictionary is assigned with default configuration according to standard device profile DS401 (see paragraph 6.1.5). If device is in Pre-Operational status, its mapping can be modified via SDO.

User manual – EDT1644-AD – 69

10.9 SYNC Monitoring
In Operational status, if communication cycle period isn’t equal to 0, monitoring is released with the first SYNC message. If SYNC message isn’t received within monitoring time (communication cycle period), a blink code is provided and status doesn’t change. An emergency message (Error Code:0x8100, Error Register: 0x81, Additional Code 00 04 00 00 00) is sent. Failure of SYNC message will be displayed even if master provides a status change. LEDs return to their normal operating status only after new SYNC message receipt in Operational status, and another emergency message is sent to show SYNC monitoring works correctly again (Error Code:0x0000, Error Register: 0x81, Additional Code 00 04 00 00 00).
10.10 Node Guarding
Node Guarding starts when the first remote transmit request message (RTR) is received on the COB-ID for Node Guarding (0x700+ Module-ID). If device doesn’t receive corresponding message, Node Guarding isn’t monitored. Default configuration provides Node Guarding is deactivated (Guard Time 0x100C=0, Life Time Factor 0x100D=0). NMT master polls other devices at regular intervals, triggered by Guard Time 0x100C, and reply message contains device internal status. In a event of an RTR request with Guard Time not set, Node Guarding isn’t monitored, anyway device replies with its internal status.

Status codes:

Code 127

Status Pre-Operational

Operational

Stopped

If Node Guarding message isn’t received within Life Time, a blink code is provided.

An emergency message (Error Code:0x8130, Error Register: 0x11, Additional Code 00 04 00 00 00) is sent and device changes to predefined status according to object 0x67FE.

As soon as Node Guarding is restored, another emergency message is sent (Error Code:0x0000, Error Register: 0x11, Additional Code 00 04 00 00 00), and device

status doesn’t change.

N.B. It’s only possible to use Node Guarding protocol or Heartbeat protocol.

10.11 Heartbeat Monitoring
Heartbeat generator cyclically provides a message (triggered by object 0x1017). During this time it transmits device status. Monitoring start when the first Heartbeat message occurs. If corresponding Heartbeat message isn’t received within time configured in object 0x1016, a blink code is provided. An emergency message (Error Code:0x8130, Error Register: 0x11, Additional Code 00 05 JJ 00 00, where JJ is the node number which
70 – EDT1644-AD – User manual

has triggered EMCY) is sent and device changes to pre-defined status according to object 0x67FE. As soon as Heartbeat protocol is restored, another emergency message is sent (Error Code:0x0000, Error Register: 0x11, Additional Code 00 05 JJ 00 00) to display Heartbeat works correctly again, and device status doesn’t change. Heartbeat protocol is always used if (and only if) producer time is configured 0x1017. (Producer Heartbeat Time).

10.12 Emergency
There are four type of event which provides emergency messages: · Critical error situation occurred / overcome in the device · Important information has to be communicated to other devices · Restore from an error · Power-on with loaded settings equal to default settings (when setting haven `t
yet been saved or when saved settings were discarded by device)

Structure of emergency object are shown in the table below:

Error Code

Error Register

Additional Code

0x0000 0x00 00 00 00 00 00

Meaning
Pre-defined Error Field 0x1003 Subindex0 set to 0 or all error are cleared

0x5000 0x81

00 01 00 00 00

Changed hardware configuration after power-on or reset node / communication

0x5000 0x81

00 02 00 00 00

Flash errors An error has occurred when configuration has been saved in flash memory

0x5000 0x81

00 03 AA BB CC

Programmed configuration doesn’t coincide with actual one AA: physical module where error has
occurred BB: logic module where error has occurred CC: Cause of error

0x5000 0x81 0x8100 0x81
0x8110 0x11

00 09 00 00 00 00 04 00 00 00
00 01 00 00 00

Queue overflow for emergency messages Time between two SYNC is longer than Communication Cycle Period Internal receive buffer overflow Status changes as defined in object 0x67FE

0x8110 0x11

00 02 00 00 00

Internal receive buffer overflow Status changes as defined in object 0x67FE

0x8120 0x11 0x8130 0x11

00 03 00 00 00 00 04 00 00 00

CAN Controller in Error Passive Mode Time between two Node Guarding telegrams is greater than Guard Time x Life

Time Factor

User manual – EDT1644-AD – 71

0x8130 0x11 0x8210 0x81
0x8220 0x81 0xFF00 0x81 0xFF00 0x81

Time between two Heartbeat telegrams is

00 05 DD 00 00 greater than configured one

DD: node has tripped time overflow

PDO was sent with a number of bytes

smaller than configured one in communica-

00 05 EE FF GG

tion profile PDO data is discarded EE: configured value

FF: actual value, number of bytes sent

GG: number of PDO

PDO was sent with a number of bytes larger

than configured one in communication

profile

00 06 HH II JJ

Only the first n data is used (n = total length configured in object dictionary)

HH: configured value

II: actual value, number of bytes sent

JJ: number of PDO

Module bus error Status is changed to

00 06 KK 00 00 Stopped

PP: Module position

Diagnosis message

LL: diagnosis byte

LL 07 MM NN PP MM: Module position

NN: Error status and channel number

PP: Number of actual module error

Note / Updates

72 – EDT1644-AD – User manual

User manual – EDT1644-AD – 73

Read carefully the safety guidelines and programming instructions contained in this manual before using/connecting the device.
Prima di utilizzare il dispositivo leggere con attenzione le informazioni di sicurezza e settaggio contenute in questo manuale.
PIXSYS s.r.l.
www.pixsys.net sales@pixsys.net – support@pixsys.net
online assistance: http://forum.pixsys.net
2300.10.262-RevE Software Rev. 1.06
101218

Documents / Resources

Pixsys ETD1644 HMI Digital and Analog Extension Board [pdf] User Manual
ETD1644 HMI Digital and Analog Extension Board, ETD1644, HMI Digital and Analog Extension Board, Analog Extension Board, Extension Board

References

User Manual

ETD1644 HMI Digital and Analog Extension Board

Specifications

Product Usage Instructions

1. Introduction

2. Safety Guidelines

2.1 Policies and Procedures

2.2 Installation Guidelines

2.3 Organization of Safety Notices

2.4 Spacing for Air Circulation and Ventilation

3. Model Identification

Frequently Asked Questions (FAQ)

Q: What types of thermocouples can be used with the analogue
inputs?

Documents / Resources

References

Leave a comment

Cancel reply