Questo prodotto soddisfa i requisiti di protezione EMC della direttiva 89/336/CEE e successive modifiche.

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1 DICO 9 UNITA DI I/O REMOTO Manuale d uso e manutenzione Codice oine: 9 Data: / - Rev:. Sommario. Intduzione.... Specifiche tecniche.... Modulo DICO Mappatura dispositivi... JUMPERS... CONNESSIONE ALIMENTAZIONE... CONNESSIONE BUS CAN... CONNESSIONE RS PER DEBUG... CONNESSIONI DICO 9 IN + OUT... CONNESSIONI DICO 9/I IN PNP... CONNESSIONI DICO 9/I IN NPN... CONNESSIONI DICO 9/O OUT... CONNESSIONI DICO 9/R OUT RELÈ... CONNESSIONI DICO 9/D IN + OUT... CONNESSIONI DICO 9/I IN Vac.... CANopen.... Dictionary of DICO 9 in aa mode.... Dictionary of DICO 9 in pwm mode.... Dictionary of DICO 9/I in aa mode...9. Dictionary of DICO 9/O a 9/R in aa mode. Dictionary of DICO 9/O a 9/R in pwm mode.... Dictionary of DICO 9/D in aa mode.... Dictionary of DICO 9/D in pwm mode.... Esempio di file.eds (Electnics Data Sheet) per DICO 9...

2 Unità DICO - DICO 9 Unità di I/O remoto CANopen Storico Revisioni Pagine Rev.. Stesura Rev.. Modifica Figura. Rev.. Inserite Tabelle..,..,..,..,.. 9 Rev.. Modifica Tabelle..,..,..,..,.. 9 Rev.. Aggiunto nuovo codice 9 Rev.. Aggiunto nuovo codice 9 Rev.. Aggiunto nuovo codice Rev.. Aggiunto nuovo codice Rev.. Modifica paragrafo. Rev..9 Aggiunto nuovi codici Rev.. Aggiunto nuovo codice 9 Rev.. Modifiche 9 Rev.. Aggiunto nuovo codice 9 Il presente manuale si applica ai seguenti codici pdotto: 9 DICO 9 IN NPN/PNP OUT PNP 9 DICO 9 IN NPN/PNP OUT PNP A 9 DICO 9/I IN PNP 9 DICO 9/I IN PNP/DIODI 9 DICO 9/I IN NPN/DIODI 9 DICO 9/O OUT PNP 9 DICO 9/R OUT RELE' 9 DICO 9/D IN NPN/PNP OUT PNP 9 DICO 9/D /V OUT A IN PNP/NPN 9 DICO 9/I IN V AC Queo pdotto soddisfa i requisiti di ptezione EMC della direttiva 9//CEE e successive modifiche. SYSTEM s.p.a. Div. Electnics via Ghiala Vecchia, Fiorano (MO) - Italy tel. / - fax /9 info.electnics@syem-gup.it SYSTEM s.p.a. Div. Electnics si riserva il diritto di apportare variazione di qualunque tipo alle specifiche tecniche in qualunque momento e senza alcun preavviso. Le informazioni contenute in quea documentazione sono ritenute corrette e atteibili. La ripduzione anche se parziale, del contenuto di queo catalogo, è permessa solo diet autorizzazione di SYSTEM s.p.a. Div. Electnics. Giugno - Rev.. pag. Codice Oine 9

3 Unità DICO - DICO 9 Unità di I/O remoto CANopen. Intduzione L'unità di I/O remoto CANopen DICO 9 è la soluzione ppoa da SYSTEM Electnics per la geione di I/O remoto su bus di campo CANbus che concilia l'alto livello di aa elettrici necessari per un ambiente iuriale e l'iispensabile riduzione dei coi. Due degli ingressi digitali hanno baa passante più elevata degli altri, in modo da poter contare le due fasi di un encoder incrementale (modo quadruplo, bidirezionale) o i fnti di una singola fase (modo doppio, monodirezionale) o i fnti positivi di una singola fase (modo singolo, monodirezionale). Se si configura un modulo in modalità PWM, le sue uscite digitali possono essere usate anche come uscite analogiche (per comaare, ad esempio, riscaldatori elettrici). I moduli DICO 9 implementano il device pfile DS- dello aa CANopen.. Specifiche tecniche CPU T9CCC MHz Interfaccia full CAN. A e B Interfaccia RS Memoria EEPROM Kbyte Memoria RAM byte Memoria FLASH EPROM + Kbyte Alimentazione V.A - 9: A A I/O per singolo modulo: - 9: ingressi + uscite PNP V.A - 9: ingressi NPN/PNP + uscite PNP V.A - 9: ingressi NPN/PNP + uscite PNP V A (max A totali) - 9, 9: ingressi digitali PNP V - 9: ingressi digitali NPN V - 9: uscite digitali PNP V.A - 9: uscite digitali Vdc max A Vdc max.a Vac max.a (nel caso di utilizzo di un unico COM la corrente max =.A) - 9: ingressi NPN/PNP + uscite PNP V.A - 9: ingressi AC V con neut comune - 9: inputs PNP/NPN outputs PNP V A fattore di contemporaneità, Ingressi aa Hz Ingressi veloci per contatori Hz Ingressi con diodo serie per blocco correnti inverse (9, 9) Temperatura di lavo: C Dimensioni: DICO 9-9/I - 9/O: 9 mm DICO 9/R: DICO 9/D: Montaggio su barra C-DIN EN. Modulo DICO 9 9 XP XP XP J SLOPE J TERM J BIT RATE J RESERVED (OFF) J Node Id (Nid) PNP/NPN (#) XP J Figura. (#) Solo per codici 9, 9 ($) Solo per codice 9 9 XP XP XP J SLOPE J TERM J BIT RATE J RESERVED (OFF) J Node Id (Nid) XP Figura. Scheda codice 9 9 XP XP XP J SLOPE J TERM J BIT RATE J RESERVED (OFF) J Node Id (Nid) XP PNP/NPN J Figura. Scheda codice 9 CB=CC PNP/NPN J XP JC ($) JC ($) JC ($) CA=CB 9 9 XP 9 9 PE 9 9 XP 9 9 XP Giugno - Rev.. pag. Codice Oine 9

4 Unità DICO - DICO 9 Unità di I/O remoto CANopen. Mappatura dispositivi JUMPERS J Node Id (NId) Iirizzo CANopen Nid Disinserito Disinserito Disinserito Disinserito Disinserito Disinserito Disinserito Disinserito Disinserito Disinserito Disinserito Disinserito Disinserito Inserito Disinserito Disinserito Disinserito Disinserito Disinserito Tabella.. J BIT RATE J (#)( ) J (#)( ) J ( ) J ( ) J TERM J SLOPE Tabella.. - ingressi modalità PNP - ingressi modalità NPN - ingressi modalità PNP - ingressi modalità PNP Terminazione rete CANBUS Slope Contl (da inserire per velocità di trasmissione > Kbps (#) Solo per codice 9 ( ) Solo per codice 9 JC + JC ($) unisce COMA con COMB JC ($) unisce COMB con COMC ($) Solo per codice 9 Inserito Disinserito Disinserito Disinserito Disinserito Disinserito Disinserito Inserito Inserito Disinserito Disinserito Disinserito Disinserito Inserito Disinserito Disinserito Inserito Inserito Inserito Inserito Inserito Inserito Disinserito Inserito Inserito Inserito Inserito Inserito Inserito Inserito BIT Mbps Disinserito Disinserito Disinserito Kbps Disinserito Disinserito Inserito Kbps Disinserito Inserito Disinserito Kbps Disinserito Inserito Inserito Kbps Inserito Disinserito Disinserito Kbps Inserito Disinserito Inserito Kbps Inserito Inserito Disinserito Kbps Inserito Inserito Inserito CONNESSIONE BUS CAN XP. XP. XP. XP. XP. XP.9 CANH CANL REF CANH CANL REF CONNESSIONE RS PER DEBUG XP. XP. XP. XP. TX RX GND NC XP. +V CONNESSIONI DICO 9 IN + OUT (9; 9) XP. COM +Vdc XP. COM +Vdc XP. REF GND XP. In PNP/NPN( # ) XP. In PNP/NPN( # ) XP. In PNP/NPN( # ) XP. In PNP/NPN( # ) XP. In PNP/NPN( # ) XP.9 In PNP/NPN( # ) XP. In PNP ( * )( # )/NPN ( # ) XP. In PNP ( * )( # )/NPN ( # ) XP. XP. XP. XP. XP. XP. XP. XP.9 Out PNP Out PNP Out PNP Out PNP Out PNP Out PNP Out PNP Out PNP ( * ) Ingressi veloci quao usati come contatori ( # ) Solo per codice 9 CONNESSIONE ALIMENTAZIONE XP. +VDC ( Vdc.A) XP. GND XP. GROUND (PE) CONNESSIONI DICO 9/I IN PNP (9; 9) XP. COM A +VDC XP. COM B +VDC XP. REF GND XP. XP. XP. XP. XP. XP.9 XP. XP. In PNP In PNP In PNP In PNP In PNP In PNP In PNP In PNP Giugno - Rev.. pag. Codice Oine 9

5 Unità DICO - DICO 9 Unità di I/O remoto CANopen XP. In9 PNP XP. In PNP XP. In PNP XP. In PNP XP. In PNP XP. In PNP XP. In PNP ( * ) XP.9 In PNP ( * ) ( * ) Ingressi veloci quao usati come contatori XP. XP. XP. XP. XP. XP. XP. XP.9 OUT9 OUT OUT OUT OUT OUT OUT OUT CONNESSIONI DICO 9/I IN NPN (9) XP. XP. XP. XP. XP. XP. XP. XP. XP.9 XP. XP. XP. XP. XP. XP. XP. XP. NC NC +VDC In NPN In NPN In NPN In NPN In NPN In NPN In NPN In NPN In9 NPN In NPN In NPN In NPN In NPN In NPN XP. In NPN ( * ) XP.9 In NPN ( * ) ( * ) Ingressi veloci quao usati come contatori CONNESSIONI DICO 9/O OUT (9) XP. XP. XP. XP. XP. XP. XP. XP. XP.9 XP. XP. +VDC +VDC GND OUT OUT OUT OUT OUT OUT OUT OUT CONNESSIONI DICO 9/R OUT RELÈ (9) Le uscite Relè sono riferite a comuni: COM_A per le uscite da OUT a OUT COM_B per le uscite da OUT a OUT COM_C per le uscite da OUT a OUT Mediante i jumpers JC, JC e JC è possibile riferire tutte le uscite allo esso COM con corrente max =.A per canale (JC e JC cortocircuitano COM_A e COM_B e JC cortocircuita COM_B e COM_C). XP. XP. XP. XP. XP. XP. XP. XP. XP.9 XP. XP. XP. XP. XP. XP. XP. XP. XP. XP.9 COM_A COM_B COM_C OUT OUT OUT OUT OUT OUT OUT OUT OUT9 OUT OUT OUT OUT OUT OUT OUT CONNESSIONI DICO 9/D IN + OUT (9) XP. COM +Vdc XP. COM +Vdc XP. REF GND XP. XP. XP. XP. XP. XP.9 XP. In PNP/NPN In PNP/NPN In PNP/NPN In PNP/NPN In PNP/NPN In PNP/NPN In PNP/NPN Giugno - Rev.. pag. Codice Oine 9

6 Unità DICO - DICO 9 Unità di I/O remoto CANopen XP. XP. XP. XP. XP. XP. XP. XP. XP.9 In PNP/NPN Out PNP Out PNP Out PNP Out PNP Out PNP Out PNP Out PNP Out PNP XP. IN XP. IN XP. IN XP. IN XP. IN XP.9 IN Connettore PE (solo per 9) Connettore di terra supplementare collegato a XP. XP. COM +Vdc XP. COM +Vdc XP. REF GND XP. In9 PNP/NPN XP. In PNP/NPN XP. In PNP/NPN XP. In PNP/NPN XP. In PNP/NPN XP.9 In PNP/NPN XP. In PNP ( * )/NPN XP. In PNP ( * )/NPN XP. Out9 PNP XP. Out PNP XP. Out PNP XP. Out PNP XP. Out PNP XP. Out PNP XP. Out PNP XP.9 Out PNP. CANopen Figura. Interazioni con CANbus e con gli I/O ( * ) Ingressi veloci quao usati come contatori Connessioni DICO 9/I IN Vac (9) XP. N Neut, comune per tutti i canali XP. N Neut, comune per tutti i canali XP. XP. XP. XP. XP. XP. XP.9 XP. XP. XP. XP. NC non collegato IN IN IN IN IN IN IN IN IN9 IN Giugno - Rev.. pag. Codice Oine 9

7 . Dictionary of DICO 9 in aa mode Iex (hex) 9 A C D Sub iex Tabella.. VAR VAR VAR VAR VAR VAR VAR VAR VAR 9 Name Device type (Pfile = x9) Err regier Manufacturer device name Manufacturer haware version Manufacturer software version Gua time Life time factor Store parameters Reore default parameters COB-ID EMCY Pducer heartbeat time Identity Veor-ID (Syem S.p.A.) Pduct code Revision number Err behaviour Communication err Device pfile or Unità DICO - DICO 9 Unità di I/O remoto CANopen Access Default value x9 9. x x x x x x x x x RECORD RPDOs Timeout RECORD Server SDO parameters SDO Parms (H) COB-ID client -> server COB-ID server -> client RECORD RPDO communication parameters PDO CommPar (H) COB-ID Transmission type Inhibit time UNSIGNED Event timer UNSIGNED. RECORD RECORD RECORD RPDO mapping parameters mapped object to mapped object TPDO communication parameters COB-ID Transmission type Inhibit time Event timer TPDO communication parameters COB-ID Transmission type Inhibit time Event timer Type Vis-String Vis-String Vis-String UNSIGNED UNSIGNED Identity (H) PDO MapPar (H) PDO CommPar (H) UNSIGNED UNSIGNED PDO CommPar (H) UNSIGNED UNSIGNED xa x9 x x+nid x+nid x+nid x unmapped x+nid x+nid A RECORD TPDO mapping parameters PDO MapPar (H) mapped object mapped object (initially unmapped) x x mapped object x mapped object x A RECORD TPDO mapping parameters PDO MapPar (H) mapped object (initially unmapped) x mapped object x mapped object x FFB VAR CANopen ate FFE VAR Operating mode = aa = pwm (analog outputs) -bit digital inputs Digital inputs to -bit digital outputs Digital outputs to Err mode for -bit digital outputs Err mode for digital outputs to Err value for -bit digital outputs Err value for digital outputs to -bit analog inputs Quadruple counter of inputs a Counter of edges of input Counter of raising edges of input x x x INTEGER INTEGER INTEGER INTEGER Giugno - Rev.. pag. Codice Oine 9

8 . Dictionary of DICO 9 in pwm mode Tabella.. Unità DICO - DICO 9 Unità di I/O remoto CANopen Iex Sub (hex) iex Name Type Access Default value VAR Device type (Pfile = x9) xd9 VAR Err regier VAR Manufacturer device name Vis-String 9 9 VAR Manufacturer haware version Vis-String A VAR Manufacturer software version Vis-String. C VAR Gua time UNSIGNED D VAR Life time factor Store parameters x x x x Reore default parameters x x x x VAR COB-ID EMCY x VAR Pducer heartbeat time UNSIGNED RECORD Identity Identity (H) Veor-ID (Syem S.p.A.) Pduct code Revision number 9 xa x9 x Err behaviour Communication err Device pfile or RPDOs Timeout RECORD Server SDO parameters SDO Parms (H) COB-ID client -> server COB-ID server -> client RECORD RPDO communication parameters PDO CommPar (H) COB-ID Transmission type Inhibit time UNSIGNED Event timer UNSIGNED x+nid x+nid x+nid RECORD RPDO mapping parameters PDO MapPar (H) mapped object mapped object mapped object mapped object mapped object mapped object mapped object mapped object FFB VAR CANopen ate FFE VAR Operating mode = aa x x x x x x x x = pwm (analog outputs) -bit digital inputs Digital inputs to Err mode for -bit digital outputs Err mode for digital outputs to x Err value for -bit digital outputs Err value for digital outputs to x -bit analog inputs INTEGER Quadruple counter of inputs a INTEGER Counter of edges of input INTEGER Counter of raising edges of input INTEGER -bit analog output (pwm) Duty cycle of Pwm output [%] Analog outputs scaling integer (Tb <= x msec) Time base of Pwm output [millisecos x ] Giugno - Rev.. pag. Codice Oine 9

9 Unità DICO - DICO 9 Unità di I/O remoto CANopen. Dictionary of DICO 9/I in aa mode Iex Sub (hex) iex Name Type Access Default value VAR Device type (Pfile = x9) x9 VAR Err regier VAR Manufacturer device name Vis-String 9I 9 VAR Manufacturer haware version Vis-String A VAR Manufacturer software version Vis-String. C VAR Gua time UNSIGNED D VAR Life time factor Store parameters x x x x Tabella.. Reore default parameters VAR COB-ID EMCY VAR Pducer heartbeat time UNSIGNED RECORD Identity Identity (H) Veor-ID (Syem S.p.A.) Pduct code Revision number 9 RECORD RECORD RECORD Err behaviour Communication err Device pfile or Server SDO parameters COB-ID client -> server COB-ID server -> client TPDO communication parameters COB-ID Transmission type Inhibit time Event timer TPDO communication parameters COB-ID Transmission type Inhibit time Event timer SDO Parms (H) PDO CommPar (H) UNSIGNED UNSIGNED PDO CommPar (H) UNSIGNED UNSIGNED x x x x x xa x9 x x+nid x+nid x+nid x+nid A RECORD TPDO mapping parameters PDO MapPar (H) mapped object mapped object (initially unmapped) x x mapped object mapped object x x A RECORD TPDO mapping parameters PDO MapPar (H) mapped object (initially unmapped) x mapped object mapped object x x FFB VAR CANopen ate FFE VAR Operating mode = aa -bit digital inputs Digital inputs to Digital inputs 9 to -bit digital outputs UNSIGNED Digital inputs to UNSIGNED -bit analog inputs INTEGER Quadruple counter of inputs a INTEGER Counter of edges of input Counter of raising edges of input INTEGER INTEGER Giugno - Rev.. pag. Codice Oine 9

10 Unità DICO - DICO 9 Unità di I/O remoto CANopen. Dictionary of DICO 9/O a 9/R in aa mode Iex Sub (hex) iex Name Type Access Default value VAR Device type (Pfile = x9) x9 VAR Err regier VAR Manufacturer device name Vis-String 9O 9 VAR Manufacturer haware version Vis-String A VAR Manufacturer software version Vis-String. C VAR Gua time UNSIGNED D VAR Life time factor Store parameters x x x x Reore default parameters x x x x VAR COB-ID EMCY x VAR Pducer heartbeat time UNSIGNED RECORD Identity Identity (H) Veor-ID (Syem S.p.A.) Pduct code Revision number Tabella.. xa x9 x 9 Err behaviour Communication err Device pfile or RPDOs Timeout RECORD Server SDO parameters SDO Parms (H) COB-ID client -> server COB-ID server -> client RECORD RPDO communication parameters PDO CommPar (H) COB-ID Transmission type Inhibit time UNSIGNED Event timer UNSIGNED RECORD RPDO mapping parameters PDO MapPar (H) mapped object mapped object to mapped object FFB VAR CANopen ate FFE VAR Operating mode = aa = pwm (analog outputs) -bit digital outputs Digital outputs to Digital outputs 9 to Err mode for -bit digital outputs Err mode for digital outputs to Err mode for digital outputs 9 to Err value for -bit digital outputs Err value for digital outputs to Err value for digital outputs 9 to -bit digital outputs Digital outputs to Err mode for -bit digital outputs Err mode for digital outputs to Err value for -bit digital outputs Err value for digital outputs to UNSIGNED x+nid x+nid x+nid x x unmapped x x x x x x UNSIGNED x UNSIGNED UNSIGNED x UNSIGNED UNSIGNED x Giugno - Rev.. pag. Codice Oine 9

11 Unità DICO - DICO 9 Unità di I/O remoto CANopen. Dictionary of DICO 9/O a 9/R in pwm mode Iex Sub (hex) iex Name Type Access Default value VAR Device type (Pfile = x9) x9 VAR Err regier VAR Manufacturer device name Vis-String 9O 9 VAR Manufacturer haware version Vis-String A VAR Manufacturer software version Vis-String. C VAR Gua time UNSIGNED D VAR Life time factor Store parameters x x x x Reore default parameters x x x x VAR COB-ID EMCY x VAR Pducer heartbeat time UNSIGNED RECORD Identity Identity (H) Veor-ID (Syem S.p.A.) Pduct code Revision number 9 RECORD Tabella.. Err bahaviour Communication err Device pfile or RPDOs Timeout RECORD Server SDO parameters COB-ID client -> server COB-ID server -> client RPDO communication parameters COB-ID Transmission type Inhibit time Event timer RECORD RPDO communication parameters COB-ID Transmission type Inhibit time Event timer xa x9 x SDO Parms (H) PDO CommPar (H) UNSIGNED UNSIGNED PDO CommPar (H) UNSIGNED UNSIGNED x+nid x+nid x+nid x+nid RECORD RPDO mapping parameters PDO MapPar (H) mapped object mapped object mapped object mapped object mapped object mapped object mapped object mapped object RECORD RPDO mapping parameters PDO MapPar (H) mapped object mapped object mapped object mapped object mapped object mapped object mapped object mapped object FFB VAR CANopen ate FFE VAR Operating mode = aa = pwm (analog outputs) Err mode for -bit digital outputs Err mode for digital outputs to Err mode for digital outputs 9 to Err value for -bit digital outputs Err value for digital outputs to Err value for digital outputs 9 to Err mode for -bit digital outputs Err mode for digital outputs to Err value for -bit digital outputs Err value for digital outputs to -bit analog outputs (pwm) Duty cycle of Pwm output [%] Analog outputs scaling integer (Tb <= x msec) Time base of Pwm output [millisecos x ] UNSIGNED UNSIGNED UNSIGNED UNSIGNED x x x x x x x x x9 xa xb xc xd xe xf x x x x x x x Giugno - Rev.. pag. Codice Oine 9

12 Unità DICO - DICO 9 Unità di I/O remoto CANopen. Dictionary of DICO 9/D in aa mode Iex Sub (hex) iex Name Type Access Default value VAR Device type (Pfile = x9) x9 VAR Err regier VAR Manufacturer device name Vis-String 9D 9 VAR Manufacturer haware version Vis-String A VAR Manufacturer software version Vis-String. C VAR Gua time UNSIGNED D VAR Life time factor Store parameters x x x x Reore default parameters x x x x VAR COB-ID EMCY x VAR Pducer heartbeat time UNSIGNED RECORD Identity Identity (H) Veor-ID (Syem S.p.A.) xa Pduct code x9 Revision number x 9 Err behaviour Communication err Device pfile or RPDOs Timeout RECORD Server SDO parameters SDO Parms (H) COB-ID client -> server x+nid COB-ID server -> client x+nid RECORD RPDO communication parameters PDO CommPar (H) COB-ID x+nid Transmission type Inhibit time UNSIGNED Event timer UNSIGNED RECORD RPDO mapping parameters PDO MapPar (H) mapped object x mapped object x.. to mapped object unmapped RECORD TPDO communication parameters PDO CommPar (H) COB-ID x+nid Transmission type Inhibit time UNSIGNED Event timer UNSIGNED RECORD TPDO communication parameters PDO CommPar (H) COB-ID x+nid Transmission type Inhibit time UNSIGNED Event timer UNSIGNED A RECORD TPDO mapping parameters PDO MapPar (H) mapped object x mapped object (initially unmapped) x mapped object (initially unmapped) x mapped object (initially unmapped) x A RECORD TPDO mapping parameters PDO MapPar (H) mapped object (initially unmapped) x mapped object (initially unmapped) x mapped object (initially unmapped) x FFB VAR CANopen ate FFE VAR Operating mode = aa = pwm (analog outputs) -bit digital inputs Digital inputs to Digital inputs 9 to -bit digital inputs UNSIGNED Digital inputs to UNSIGNED -bit digital outputs Digital outputs to x Digital outputs 9 to x Err mode for -bit digital outputs Err mode for digital outputs to x Err mode for digital outputs 9 to x Err value for -bit digital outputs Err value for digital outputs to x Err value for digital outputs 9 to x -bit digital outputs UNSIGNED Digital outputs to UNSIGNED x Err mode for -bit digital outputs UNSIGNED Err mode for digital outputs to UNSIGNED x Err value for -bit digital outputs UNSIGNED Err value for digital outputs to UNSIGNED x -bit analog inputs INTEGER Quadruple counter of inputs a INTEGER Counter of edges of input INTEGER Counter of raising edges of input INTEGER Tabella.. Giugno - Rev.. pag. Codice Oine 9

13 . Dictionary of DICO 9/D in pwm mode Unità DICO - DICO 9 Unità di I/O remoto CANopen Iex Sub (hex) iex Name Type Access Default value VAR Device type (Pfile = x9) xd9 VAR Err regier VAR Manufacturer device name Vis-String 9D 9 VAR Manufacturer haware version Vis-String A VAR Manufacturer software version Vis-String. C VAR Gua time UNSIGNED D VAR Life time factor Store parameters x x x x Reore default parameters x x x x VAR COB-ID EMCY x VAR Pducer heartbeat time UNSIGNED RECORD Identity Identity (H) Veor-ID (Syem S.p.A.) xa Pduct code x9 Revision number x 9 Err behaviour Communication err Device pfile or RPDOs Timeout RECORD Server SDO parameters SDO Parms (H) COB-ID client -> server x+nid COB-ID server -> client x+nid RECORD RPDO communication parameters PDO CommPar (H) COB-ID x+nid Transmission type Inhibit time UNSIGNED Event timer UNSIGNED RECORD RPDO communication parameters PDO CommPar (H) COB-ID x+nid Transmission type Inhibit time UNSIGNED Event timer UNSIGNED RECORD RPDO mapping parameters PDO MapPar (H) mapped object x mapped object x mapped object x mapped object x mapped object x mapped object x mapped object x mapped object x RECORD RPDO mapping parameters PDO MapPar (H) mapped object x9 mapped object xa mapped object xb mapped object xc mapped object xd mapped object xe mapped object xf mapped object x RECORD TPDO communication parameters PDO CommPar (H) COB-ID x+nid Transmission type Inhibit time UNSIGNED Event timer UNSIGNED RECORD TPDO communication parameters PDO CommPar (H) COB-ID x+nid Transmission type Inhibit time UNSIGNED Event timer UNSIGNED A RECORD TPDO mapping parameters PDO MapPar (H) mapped object x mapped object (initially unmapped) x mapped object (initially unmapped) x mapped object (initially unmapped) x A RECORD TPDO mapping parameters PDO MapPar (H) mapped object (initially unmapped) x mapped object (initially unmapped) x mapped object (initially unmapped) x FFB VAR CANopen ate FFE VAR Operating mode: = aa = pwm (analog outputs) -bit digital inputs Digital inputs to Digital inputs 9 to Giugno - Rev.. pag. Codice Oine 9

14 Unità DICO - DICO 9 Unità di I/O remoto CANopen Iex Sub (hex) iex Name Type Access Default value -bit digital inputs UNSIGNED Digital inputs to UNSIGNED Err mode for -bit digital outputs Err mode for digital outputs to x Err mode for digital outputs 9 to x Err value for -bit digital outputs Err value for digital outputs to x Err value for digital outputs 9 to x Err mode for -bit digital outputs UNSIGNED Err mode for digital outputs to UNSIGNED x Err value for -bit digital outputs UNSIGNED Err value for digital outputs to UNSIGNED x -bit analog inputs INTEGER Quadruple counter of inputs a INTEGER Counter of edges of input INTEGER Counter of raising edges of input INTEGER -bit analog outputs (pwm).. Duty cycle of Pwm output.. [%] Analog outputs scaling integer (Tb <= x msec).. Time base of Pwm output.. [millisecos x ] Tabella... Esempio di file.eds (Electnics Data Sheet) per DICO 9 [FileInfo] FileName=DICO9.eds FileVersion=. FileRevision=. Description=EDS for DICO9 CreationTime=: CreationDate=/9/ CreatedBy=Interlai Matteo ModificationTime= ModificationDate= ModifiedBy= EDSVersion=. [DeviceInfo] VeorName=Syem S.p.A. VeorNumber=xA PductName=9 PductNumber=x9 OerCode=9 BaudRate_= BaudRate_= BaudRate_= BaudRate_= BaudRate_= BaudRate_= BaudRate_= BaudRate_= BaudRate_= SimpleBootUpMaer= SimpleBootUpSlave= Granularity= DynamicChannelsSupported= GupMessaging= NrOfRXPDO= NrOfTXPDO= LSS_Supported= [DummyUsage] Dummy= Dummy= Dummy= Dummy= Dummy= Dummy= Dummy= [Comments] Lines= [Maatorys] Supporteds= =x =x =x [] ParameterName=Device Type AccessType= DefaultValue=x9 SubNumber= [] ParameterName=Err Regier DataType=x AccessType= DefaultValue=x SubNumber= Giugno - Rev.. pag. Codice Oine 9

15 Unità DICO - DICO 9 Unità di I/O remoto CANopen [] ParameterName=Identity Type=x9 SubNumber= [sub] DataType=x AccessType= DefaultValue=x [sub] ParameterName=Veor ID AccessType= DefaultValue=xA [sub] ParameterName=Pduct Code AccessType= DefaultValue=x9 [sub] ParameterName=Revision Number AccessType= DefaultValue=x [Optionals] Supporteds= =x =x9 =xa =xc =xd =x =x =x 9=x =x9 =x =x =x =x =x =xa =xa =x [] 9=x ParameterName=Store Parameters =x Type=x =x SubNumber= =x [sub] [] ParameterName=Large Subiex ParameterName=Manufacturer Device Name Type=x Supported DataType=x9 AccessType= AccessType= DefaultValue=x DefaultValue=9 SubNumber= [sub] ParameterName= Parameters [9] Type=x ParameterName=Manufacturer Haware Version AccessType= DefaultValue=x DataType=x9 AccessType= DefaultValue= [sub] ParameterName=Communication SubNumber= Related Type=x [A] ParameterName=Manufacturer Software Version DefaultValue=x AccessType= DataType=x9 AccessType= [sub] DefaultValue=. ParameterName=Application Related Type=x SubNumber= AccessType= [C] DefaultValue=x ParameterName=Gua Time DataType=x [sub] AccessType= ParameterName=Manufacturer DefaultValue= Specific Type=x SubNumber= AccessType= [D] DefaultValue=x ParameterName=Life Time Factor DataType=x [] AccessType= ParameterName=Reore Default DefaultValue= Parameters Type=x SubNumber= SubNumber= Giugno - Rev.. pag. Codice Oine 9

16 Unità DICO - DICO 9 Unità di I/O remoto CANopen [sub] ParameterName=Large Supported Subiex Type=x DataType=x AccessType= DefaultValue=x [] ParameterName=Heartbeat Time DataType=x AccessType= DefaultValue= SubNumber= [sub] [9] ParameterName= Parameters ParameterName=Err Behaviour Type=x Type=x SubNumber= AccessType= DefaultValue=x [9sub] [sub] DataType=x ParameterName=Communication AccesType= Related DefaultValue=x Type=x AccessType= [9sub] DefaultValue=x ParameterName=Communication Err [sub] DataType=x ParameterName=Application Related AccesType= Type=x DefaultValue= AccessType= DefaultValue=x [9sub] ParameterName=Device Pfile or Manufacturer Specific [sub] ParameterName=Manufacturer Related AccesType= DataType=x Type=x DefaultValue= AccessType= DefaultValue=x [] ParameterName=Server SDO parameter [] Type=x9 ParameterName=COB-ID EMCY SubNumber= [sub] AccessType= DefaultValue=x DataType=x SubNumber= AccessType= DefaultValue=x [sub] ParameterName=COB_ID Client- >Server AccessType= DefaultValue=x+$NOD EID [sub] ParameterName=COB_ID Server- >Client AccessType= DefaultValue=x+$NOD EID [] ParameterName=RPDO Communication Parameters Type=x9 SubNumber= [sub] DataType=x AccessType= DefaultValue=x [sub] ParameterName=COB-ID PDO AccessType= DefaultValue=x+$NOD EID [sub] ParameterName=Transmission Type DataType=x AccessType= DefaultValue=xFF [sub] ParameterName=Inhibit Time DataType=x AccessType= DefaultValue= Giugno - Rev.. pag. Codice Oine 9

17 Unità DICO - DICO 9 Unità di I/O remoto CANopen [sub] ParameterName=Event Timer DataType=x AccessType= DefaultValue= [] ParameterName=RPDO Mapping Parameters Type=x9 SubNumber=9 [sub] [sub] ParameterName= Mapped ParameterName=COB-ID PDO AccessType= AccessType= DefaultValue= DefaultValue=x+$NOD EID [sub] [sub] ParameterName=Number of Mapped ParameterName= Mapped s DataType=x AccessType= AccessType= DefaultValue= DefaultValue=x LowLimit=x HighLimit=x [sub] ParameterName= Mapped [sub] ParameterName= Mapped AccessType= DefaultValue= AccessType= DefaultValue=x [sub] ParameterName= Mapped [sub] ParameterName= Mapped AccessType= DefaultValue= AccessType= DefaultValue= [] ParameterName=TPDO Communication Parameters [sub] Type=x9 ParameterName= Mapped SubNumber= [sub] AccessType= DefaultValue= DataType=x AccessType= DefaultValue=x [sub] ParameterName= Mapped [sub] ParameterName=Transmission Type AccessType= DataType=x DefaultValue= AccessType= DefaultValue=xFF [sub] ParameterName=Inhibit Time DataType=x AccessType= DefaultValue=xA [sub] ParameterName=Event Timer DataType=x AccessType= DefaultValue= [] ParameterName=TPDO Communication Parameters Type=x9 SubNumber= [sub] DataType=x AccessType= DefaultValue=x [sub] ParameterName=COB-ID PDO AccessType= DefaultValue=x+$NOD EID Giugno - Rev.. pag. Codice Oine 9

18 Unità DICO - DICO 9 Unità di I/O remoto CANopen [sub] ParameterName=Transmission Type DataType=x AccessType= DefaultValue=xFF [sub] ParameterName=Inihibit Time DataType=x AccessType= DefaultValue=xA [sub] ParameterName=Event Timer DataType=x AccessType= DefaultValue= [A] ParameterName=TPDO Mapping Parameters Type=x9 SubNumber= [Asub] ParameterName=Number of Mapped s DataType=x AccessType= LowLimit=x HighLimit=x DefaultValue=x [Asub] ParameterName= Mapped AccessType= DefaultValue=x [Asub] ParameterName= Mapped AccessType= DefaultValue=x [Asub] ParameterName= Mapped AccessType= DefaultValue=x [Asub] ParameterName= Mapped AccessType= DefaultValue=x [A] ParameterName=TPDO Mapping Parameters Type=x9 SubNumber= [Asub] ParameterName=Number of Mapped DataType=x AccessType= LowLimit=x HighLimit=x DefaultValue= [sub] [Asub] ParameterName= Mapped DataType=x AccessType= AccessType= DefaultValue=x DefaultValue=x [Asub] ParameterName= Mapped AccessType= DefaultValue=x [Asub] ParameterName= Mapped AccessType= DefaultValue=x [] ParameterName=-bit Digital Inputs Type=x SubNumber= [sub] DataType=x AccessType= DefaultValue=x [sub] ParameterName=Digital Inputs to DataType=x AccessType= DefaultValue= PDOMapping= [] ParameterName=-bit Digital Output Type=x9 SubNumber= [sub] ParameterName=Digital Outputs to DataType=x AccessType= DefaultValue=x PDOMapping= [] ParameterName=Err Mode for - bit Digital Outputs Type=x SubNumeber= Giugno - Rev.. pag. Codice Oine 9

19 Unità DICO - DICO 9 Unità di I/O remoto CANopen [Sub] DataType=x AccesType= DefaultValue=x [sub] ParameterName=Err Mode for Digital [sub] Outputs to ParameterName=Counter of edges of input Datatype=x AccessType= DataType=x DefaultValue=x AccessType= DefaultValue= PDOMapping= [] ParameterName=Err Value for -bit Digital Outputs Type=x SubNumber= [sub] Datatype=x AccessType= DefaultValue=x [sub] ParameterName=Quadruple Counter of Inputs a DataType=x AccessType= DefaultValue= PDOMapping= [sub] ParameterName=Counter of raising edges of input DataType=x AccessType= DefaultValue= PDOMapping= [Manufacturers] Supporteds= =xffe [sub] ParameterName=Err Value for Digital Outputs to Datatype=x AccessType= DefaultValue=x [] ParameterName=-bit Analog Inputs Type=x SubNumber= [FFE] ParameterName=Operating Mode DataType=x AccesType= LowLimit=x HighLimit=x DefaultValue=x SubNumber= [sub] DataType=x AccessType= DefaultValue=x Giugno - Rev.. pag. 9 Codice Oine 9