View CO4011A-FL_418321.PDF datasheet online --- IC-ON-LINE

Datasheet File OCR Text:

CO4011A-FL
Single Chip CANopen Controller for Remote I/O
General Description
The CO4011 is a low cost, high performance Single Chip solution for CANopen remote I/O modules and especially designed for automotive and industrial applications. The device offers the complex implementation of the CANopen standards DS301 and DS401 in a single chip. It is suitable for simple low cost applications like sensor interfacing as well as for complex I/O systems. CO4011 provides up to 32 digital I/O lines, 0, 4 or 8 channels may be set for analog input operation with a resolution of 8 or 10 bit. To support output overload monitoring, a special error interrupt input is provided. All usual baud rates up to 1 MBit are supported. The CO4011 Chip requires only few external components, just like a crystal, a CAN transceiver and capacitors. To minimize external interface recommendations all output pins have high current drive capability of 4 mA. For interfacing optoisolators no external drivers are required. CO4011 is a software solution to run on Fujitsu MB90F497 micro controller. It is offered either as software runtime licence or as ready programmed chip (runtime licence included). * * * *
CANopen Features
2 Transmit- and 1 Receive PDOs Dynamic PDO mapping Variable PDO identifier All CANopen specific PDO transmission types supported: synchronous, asynchronous, event driven, cyclic, acyclic and remote frame dependent. Additional manufacturer specific transmission mode for CAN-EASY applications. Event timer and inhibit timer features for all transmit PDOs. Storing and restoring of object dictionary to non-volatile memory Nodeguarding Lifeguarding Heartbeat Variable SYNC identifier Emergency messages Minimum boot up
Features
* * * * * * * * * * Single Chip CANopen Controller According to CiA Draft Standards DS301 Version 4.0 and DS401 Version 2.0 Baudrate up to 1MBit Various I/O configurations Internal noise filtering for all inputs with individual setting for each channel Error interrupt input for output overload monitoring Output drivers with 4mA Watchdog output o Temperature ranges up to -40 to 105 C Package QFP64 * * * * * * * * *
Applications
The CO4011 CANopen Controller is optimised for automotive and industrial applications such as: * Remote I/O Modules for CANopen * CANopen Interface for keyboards and control panels * Low Cost CANopen Interface for sensors like photoelectric reflex switches photo interrupters * Low Cost CANopen Interface for actors like pneumatic valves, warning panels etc.
Ordering Information
CO4011 Chip (programmed, licence included) Part Temp. Range Package o o CO4011A-FL -40 C to 85 C QFP64 o o CO4011AE-FL -40 C to 105 C QFP64 Software licence Part Description CO4011SRL-F Software runtime licence for Fujitsu MB90F497 controller
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 1 of 1 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Pin Assignment
OUT10 OUT11 OUT9 OUT8 OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0
Pin Listing continued
BD2
BD1
IO1
IO0
VSS IO2 IO3 IO4 IO5 IO6 IO7 VCC CF CFG3/WD CFG2 OLIRQ# IN11 IN10 CANTX CANRX
49 50 51 52 53 54 55 56 57 58 59 60 61 62 63
10 12 13 14 11 15
32 31 30 29 28 27 26 25 24 23 22 21 20 19 18
16
BD0 ID6 ID5 ID4 ID3 ID2 ID1 ID0 VSS X1 X0 VSS VCC RES# VCC CFG1
Pin No. 25*, 26*, 27 to 31 32 to 34
Pin Name ID0*, ID1* ID2 to ID6 BD0 to BD2 35 to 46 OUT0 to OUT11 47, 48, 50 IO0 to IO7 to 55 57 60* 61, 62* 63 64
Funktion Identifier selection input Baud rate selection input Digital output active low
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
64
1 2 3 4 5 6 7 8 9
17
15, 21*, 24, 49 18*, 20, VCC Power supply 56 * Pins may be used for in circuit programming. See "in circuit programming manual" for further information
Digital input or output according to configuration setting. Active low CF Filter capacitor OLIRQ# * Output overload interrupt input active low IN11, IN10* Digital input CANTX Transmitter output of CAN module CANRX Receiver input of CAN module VSS Ground
IN9/RPDI
IN8/WUII
IN7
IN6
IN5
IN4
IN3
IN2
IN1
IN0
AVREF
CFG0
AVSS
AVCC
Pin Listing Handling the Device
Pin No. 1 to 2 Pin Name IN9 to IN8 Funktion Digital input active low IN8 additional feature: Wake Up Interrupt Input IN9 additional feature: Reset Power Down Input Analog or digital input according to setting of CFG0 .. CFG3 active low Supply for A/D-Converter Reference Voltage for A/DConverter Ground for A/D-Converter Configuration bits 0 to 2 for I/O setting / LED output Enable additional CAN features input and watchdog output Do not connect this pin Reset input active low Crystal oscillator input Crystal oscillator output Preventing latch up The CO4011 is a CMOS device and may suffer latch up under the following conditions: 1) A voltage higher than VCC or lower than VSS is applied to any pin. 2) Absolute maximum ratings are exceeded 3) AVCC power is provided before VCC supply Handling unused Pins Do not leave unused input pins open. This might cause malfunction of the device. Power Supply Pins Make sure that all ground and power supply pins are connected to the same potential. Do not leave any ground or power pins open. Connect at least two ceramic capacitors of 100 nF and a tantalium capacitor of 1 uF between VCC and VSS as close as possible to the device.
3 to 10
IN7 to IN0
11 12
AVCC AVREF
13 AVSS 14, 17, 59 CFG0 to CFG2 58 CFG3
16 19 22 23
TEST RES# X0 X1
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 2 of 2 Revision 1.39 May/19/2003
TEST
VSS
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Power Supply for A/D converter The power supply for the A/D converter must not be turned on before the power supply VCC. If the A/D converter is not used, connect the pins as follows: AVCC = AVREF = VCC, AVSS = VSS. Input / output pins All input and output pins for digital signals are active low. This means for input pins, that inverted pin level is mapped to PDO. For output pins the inverted byte value from received PDO is written to the ouput pins. Additional inverting capabilities are supported. Pull up/down resistors The CO4011 does not support internal pull up/down resistors. Use external components where needed.
Pin Description
All input / output pins are high impedance during reset. The CO4011 does not support internal pull up/down resistors. Use external components where needed. All input pins have Schmitt trigger characteristics. See chapter "Typical Applications" for additional information. IN0 to IN11: Digital or analog input pins The function of IN0 to IN7 depends on setting of configuration bits CFG0 to CFG2. See also chapter "Mapping I/O to Object Dictionary" for details. Note: Digital input pins are active low. This means that digital input pins are mapped with inverted values to transmit PDO data. All digital inputs use internal Schmitt trigger circuits. The CO4011 provides optional input inverters and internal noise filtering for all inputs with individual setting for each channel. See chapter "Object Dictionary" for details. OUT0 to OUT12: Digital output pins All output pins have high current drive capabilities of approximate 4 mA for direct interfacing for optocouplers without additional drivers. Note: Digital output pins are active low. This means that received output data from PDO is written with inverted values to output pins. The CO4011 provides optional output inverters with individual setting for each channel. See chapter "Object Dictionary" for details. IO0 to IO7: Digital input or output pins The function of IO0 to IO7 depends on the settiong of CFG2. See also chapters "Device Configuration" and "Mapping I/O to Object Dictionary" for details. For IOx the description of INx or OUTx is valid, dependant to CFG2 setting. CF: Filter Capacitor input For correct operation of the CO4011 a ceramic capacitor of 100 nF or 220 nF must be connected between Pin 57 (CF) and VSS. Place this component as close as possible to the CO4011. X0, X1: Crystal oscillator input Connect a crystal of 4 MHz between X0 and X1. Use additional ceramic capacitors of 22 pF between X0 and X1 to VSS.
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 3 of 3 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
TEST: Reserved pin Leave pin TEST unconnected. OLIRQ#: Output Overload Interrupt This active low input pin is provided to support output overload monitoring. Connect output from output overload control circuit to this input pin. If the CO4011 scans a low level on pin OLIRQ#, the device automatic enters the error state given in Object 67FE.02 (default enter preoperational state). Further more the Error Register (index 1001) is set to 0x03, indicating a current error. Last but not least the device will send an emergency telegram with error code 0x2310 indicating an overload error. If output overload monitoring is not to be used in your application, make sure, that pin OLIRQ# is forced to logic high level. VCC, AVCC, VSS, AVSS: Power Supply Pins Make sure that all ground and power supply pins are connected to the same potential. Do not leave any ground or power supply pins open. Connect decoupling capacitors as close as possible to the device. See chapter "Recommended Operation Conditions" for details RES#: Reset input pin For a correct device reset, provide an active low reset signal according to recommended operation conditions to input RES#.
CFG0 to CFG2: Configuration input pins / LED output pins Set device configuration to preferred operation mode using CFG0 to CFG3. Leaving any configuration input unconnected may cause malfunction of the device. It is strongly recommended forcing all configuration input bits to either high or low level by using external pull up/down resistors. Do not use direct connection to VCC or VSS. LED-Functions (active low): CFG0 Chip-Status LED shows the Chip status Always blinking: 10 % Duty cycle indicates no error 90 % Duty cycle indicates error CFG1 CANopen RUN LED shows NMT state according to DRP303-3 CFG2 CANopen Error LED shows Error state according to DRP303-3 Note: CFGx are input pins during start up and output pins in normal operation mode. In order to prevent short circuit overload a series resistor between CFGx and configuration device (example DIP switch) should be used. See also "typical application" for details. CFG3/WD: Configuration input / watchdog output CFG3/WD is scanned during reset to switch the CO4011 to enable additional CAN features. Then CFG3/WD is switched to output and drives the watchdog trigger. To monitor correct device operation, this feature may be used in combination with an external watchdog timer. Note: CFGx are input pins during start up and output pins in normal operation mode. In order to prevent short circuit overload a series resistor between CFGx and configuration device (example DIP switch) should be used. See also "typical application" for details. CANRX, CANTX: CAN interface pins The CAN interface pins may be used for direct connection to CAN transceivers like the 80C251. For longer bus length or noisy or disturbed environments it is strongly recommended to use galvanic isolation with optocouplers between bus interface and CANopen application, to improve system reliability.
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 4 of 4 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
In Circuit programming of MB90F497
If you want to enable in circuit programming of the Fujitsu MB90F497 micro controller for CO4011 software download or update, the following conditions must be met.
Design example for programming adaptor.
VCC
CO4011
1k 1k VCC Jy Jx 21 18 VSS VCC
5
CO4011
VCC VSS 25 ID0 21 VSS
25 26 VCC VCC 4k7 OVL# RXD (TTL) TXD (TTL) 60 62
ID0 ID1
4 6 7 8 3 2
ID0
OVL# IN10
26 ID1 VSS VCC RXD OVL# 62 IN10 TXD / RXD whith TTL-Level (0-5V) 60 18
ID1
D-Sub 9
MAX232
4k7 IN10 Application with Co4011
VCC
RS232 adapter with a Cable and a D-Sub-Connector to PC (Com X)
OVL#
IN10
Programming Normal operation
To enable the programming condition chose an identifier that forces the Pins ID0 and ID1 to low level. For example identifiers ID= 3, 7, 0x0B, 0x0F ... might be used. Close the jumpers Jx and Jy. For optimised programming adapter design, the programming adapter should close the jumpers Jx and Jy directly by plugging the adaptor into the application board. For normal operation mode the programming adapter must be removed.
Pin No. 21 18 25 26 60 62
Pin Name VSS VCC ID0 ID1 OVL# IN10
Pin Setting for in circuit programming Level = High Level = Low Level = Low Level = Low RXD (TTL - logic level) TXD (TTL - logic level)
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 5 of 5 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Device Configuration
The following sections describe the device configuration with meaning: 1: ViH logic high level 0: ViL logic low level CAN Identifier The CAN Identifier will be set with Pins ID0 to ID6. This configuration pins use internal inverter. The ID is set as follows: ID6 ID5 ID4 ID3 ID2 ID1 ID0 CAN-Identifier 1 1 1 1 1 1 1 Programmable ID 1 1 1 1 1 1 0 1 = 0x01 1 1 1 1 1 0 1 2 = 0x02 1 1 1 1 1 0 0 3 = 0x03 1 1 1 1 0 1 1 4 = 0x04 .... .... 1 0 0 0 0 0 0 63 = 0x3F 0 1 1 1 1 1 1 64 = 0x40 0 1 1 1 1 1 0 65 = 0x41 .... .... 0 0 0 0 0 1 0 125 = 0x7C 0 0 0 0 0 0 1 126 = 0x7E 0 0 0 0 0 0 0 127 = 0x7F All Identifiers from 1 to 127 are valid settings. Identifier 0 is used to load the ID from object 2100. Baud rate The baud rate configuration will be done with configuration inputs BD0 to BD2 BD2 BD1 BD0 CAN-Baud Rate / Bus length 1 1 11 Mbit/sec 25 m *1) 1 1 0 800 kbit/sec 50 m *1) 1 0 1 500 kbit/sec 100 m *2) 1 0 0 250 kbit/sec 250 m *2) 0 1 1 125 kbit/sec 500 m *3) 0 1 0 50 kbit/sec 1000 m *3) 0 0 1 20 kbit/sec 2500 m *3) 0 0 0 10 kbit/sec 5000 m *3) *1) Calculation without optocouplers. For optocouplers bus length is reduced for about 4m per 10 nsec propagation delay of employed optocoupler type *2) Calculation with 40 nsec optocoupler propagation delay *3) Calculation with 100 nsec optocoupler propagation delay The calculation of the bus length is based on a line propagation delay of 5 nsec/m.
Analog Input Selection With configuration bits CFG0 and CFG1 the number and resolution of analog inputs are set. CFG CFG 1 0 1 1 0 0 1 0 1 0 Nr of analog channels 0 8 4 Resolution Analog Digital Inputs Inputs IN0 to IN11 IN8 to IN11 IN4 to IN11
8 Bit IN0 to *1) IN7 10 Bit IN 0 to *2) IN 3 Reserved
*1) The analog inputs are mapped as unsigned 8 values into a single transmit PDO (TPDO2). *2) The analog inputs are mapped as signed 16 values into one transmit PDO (TPDO2. If analog inputs are enabled, the corresponding input channels are not scanned for digital signals. The digital input signals for those channels are always set to 0 without taking care of the analog input level. If analog inputs are disabled (CFG1 = 1, CFG0 = 1) the analog input voltage of input IN0 to IN3 is not scanned. Do not apply higher voltages than VCC and AVCC to any input pin. If the A/D converter is not used, connect the power supply pins as follows: AVCC = AVREF = VCC, AVSS = VSS. Configuration of IO-Port Device pins IO0 to IO7 may be used as digital inputs or digital outputs. This selection must be done with CFG2. See also section "Mapping I/O to Object Dictionary" for additional information CFG2 I/O Port is used for 1 Digital Input 0 Digital Output Enable additional CAN features With setting CFG3 to 0 the following special features may be enabled: - Easy Mapping of Objects to PDO CFG3 I/O Port is used for 1 Normal operation mode 0 Enable additional features. These features might be incompatible with CANopen conformance Test.
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 6 of 6 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Power Down Mode
During power down, the CO4011 stops working completely. The oscillator is stopped. The CO4011 keeps its NMT state (operational, preoperational). The complete power down extension is switchable on and off, so that the same chip can be used for standard applications as well. In power down configuration a Wake-Up-InterruptInput (WUII pin2) can be used for wake up by CAN bus line and optional an additional Reset-PowerDown-Input (RPDI: pin1) may be used for system wake up by a push button or something like that. Both inputs are active low. WUII must be directly connected to CANRX (pin 64) on the application board if wake up by CAN bus line (telegram) is wanted. A counter is implemented which counts the number of the return from power down operations. All output lines keep unchanged during the power down state. For power down control 6 objects are added to the object dictionary of the CO4011: Power-Down Enable Switch to Power-Down Mode Reset Power Down Input Enable Wake Up Counter Power-Down Delay Time Wake-Up-Confirm-Time
If Object "Power Down with Stop Node" (2FF9) is set to its valid signature 0x454E534E, the Chip is also switched to Power down with the NMT Telegram Stop Node.
Return from Power-Down
If pin WUII (Wake-Up-Interrupt-Input) is connected to CANRX the CO4011 can be waked up by any CAN telegram. Even a level change on the CAN bus line is enough. The CO4011 restarts the CAN module after handling the interrupt and scans incoming telegrams. If a valid NMT telegram is received on identifier 0 during a time out corresponding the "Wake-Up-Confirm-Time" object, the CO4011 switches back to normal operation mode. Otherwise the power down state is activated again. Attention: Because of the different start up times of the oscillator during wake up it could happen, that the CO4011 already interprets the wake up telegram as a valid CAN message. This can not be guaranteed. That's why an identifier should be selected for wake up, which isn't used by a CAN message in the application. An emergency telegram is sent during wake up by Reset Power Down Input pin and so the normal run is started up without any additional CAN message needed. The wake up counter is incremented by each wake up event. That is irrespective of whether a correct NMT telegram also will be recognized or not after a wake up interrupt by CAN bus. Therefore a definite handling how many wake up events were done is possible.
Activate Power-Down
To enable the power down mode the following actions are necessary The object Power-Down-Enable (2FFE) has to be written to with the signature 0x5044454E ("PDEN"). With that the pin WUII is configured at the same time. The signature can be written by SDO transfer but it may also stay saved together with the object dictionary in the chips non-volatile memory. The activation of Power-Down is done by writing the signature 0x504F4646 ("POFF") to the object "Switch to Power-Down-Mode" (2FFF). This access must be done by SDO transfer. After the CO4011 has recognized a power down instruction, it is waiting until the SDO answer telegram was sent to the bus. After an additional waiting time corresponding to the "Power-Down Delay Time" object, the CO4011 switches in powerdown mode.
Emergency-Message
The CO4011 sends the emergency telegram after wake up by pin "Reset Power Down Input" with the following content: Error-Code Error Register Manufacturer specific Error Field 0xF000 0x01 0
After an additional waiting time which corresponds to the "Wake-Up-Confirm-Time" object, an additional emergency telegram with content 0 is sent. This indicates the reset of all errors.
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 7 of 7 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
*2) This objects are enabled for read/write access in order to give OEMs the possibility to ship their own hardware based on the CO4011A with individual device names and hardware versions. *3) This Objects shows "Frenzel + Berg" as visible string data type. If OEMs do not want to give access to this entry, it may be removed from the EDS (electronic data sheet). *4) The New Node Id object gives the possibility to set a Node-Nr independent from the Node-Id Input Bits. With this feature the device may be configured by CAN bus line. *5) The New Baud Rate object gives the possibility to set a baud rate independent from the baud rate input bits. With this feature the device may be configured by CAN bus line. This feature will not be implemented in the first step of the device The data type entries Index 0005 to 0007 are implemented for compatibility reasons. They may be mapped to PDOs in order to define the appropriate space in the PDO. For the read only objects following data is set: Index Sub. Name 1000 Device Type 1018 0 Identity Object 1 Vendor ID 2 Product Code 3 Revision Number 2101 System Configuration Value in Hex. 0007 0191 h 03h 0000 0058 h 0104 0111 h 0 .. 0xFFFFFFFF Set according to the setting of the configuration input bits.
Object Dictionary
The CO4011 Single Chip CANopen Controller implements a complex object dictionary for CANopen I/O devices. For detailed information about CANopen objects see additional brochure "Introduction to CANopen" For the Object tables all values are shown in hexadecimal way. For access type the following settings are valid ro read only wo write only rw read and write access enabled DS301: global Objects Index SubIndex 0005 0006 0007 1000 1001 1002 1005 1008 1009 100B 100C 100D 100E 1010 1011 1014 1015 1017 1018 0 1 2 3 Name Dummy 8 Dummy 16 Dummy 32 Device Type Error Register Manufacturer Status Register COB-ID Sync Identifier Sync Object Device Name *2) Hardware Version *2) Node Id Guard Time Life Time Factor COB-ID Guard Store Parameters *1) Reload Default Parameter *1) COB ID Emergency Inhibit Time Emergency Producer Heartbeat Time Identity Object Vendor ID Product Code Revision Number Device Manufacturer *3) New Node Id *4) System Configuration New Baud Rate *5) Enable Boot Up Message CAN Restart Time Acc. ro ro ro ro ro ro rw rw rw ro rw rw rw wo wo rw rw rw ro ro ro ro ro rw ro rw rw rw
2000 2100 2101 2102 2110 2180
Notes: *1) This object cannot be written to in operational device state. Only use this command in preoperational device state, otherwise the CO4011 will answer requests with SDO abort telegrams.
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 8 of 8 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
DS301: PDO Parameter Objects Description of PDO Parameter objects: These Objects enable dynamic PDO mapping, variable identifier distribution for PDOs and setting of the transmission mode, inhibit and event times. For the CO4011 setting of all parameters may be done in the device state "operational" as well as in "preoperational" state. Index SubIndex 1400 0 1 2 3 4 5 1401 ... 1403 1600 Name Receive PDO1 Communication Parameter COB-ID Transmission Type Inhibit Time (not used) Reserved Event Timer Receive PDO2 to RPDO4 Communication Parameter same as 1400.00 .. 1400.05 Receive PDO1: Parameter mapping Mapped Object (max. 8 objects mappable) Receive PDO2 to RPDO4 Parameter mapping Same as 1600 Transmit PDO1 Communication Parameter COB-ID Transmission Type Inhibit Time Reserved Event Timer Transmit PDO2 to TPDO4 Communication Parameter same as 1800.00 .. 1800.05 Transmit PDO1 Parameter mapping Mapped Object (max. 8 objects mappable) Transmit PDO2 to TPDO4 Parameter mapping Same as 1A00 Acc. ro rw rw rw rw rw rw
DS401: Digital Input Objects Index SubIndex 5001 0 to n 5002 0 to n 5003 0 to n 6000 6002 6003 6005 6006 6007 6008 6100 6120 0 to n 0 to n 0 to n 0 to n 0 to n 0 to n 0 to n 0 to n Name Write 1 to digital input 8 bit Write 0 to digital input 8 bit Filter time for each digital input Read digital input 8 bit Polarity input 8-bit Filter constant enable 8 bit Global interrupt enable Interrupt mask: any change Interrupt mask rising edge Interrupt mask falling edge Read digital input 16 bit Read digital input 32 bit Acc. rw rw rw ro rw rw rw rw rw rw ro ro
0 1 to n
rw rw rw
1601 ... 1603 1800
0 1 2 3 4 5
ro rw rw rw rw rw rw
The objects 5001 and 5002 are implemented for debug purposes, because the CANopen object 6000 does not allow write access to an input line. With objects 5001 and 5002 a debug environment may simulate setting or resetting of input lines. The CO4011 first scans the physical input lines and then processes the scanned values with the debug parameters. Index 5001 and 5002 make direct bit manipulation of single bits possible. Index 5001 enables bit setting by using a bit wise logical OR conjunction with index 6000 while index 5002 performs a logical AND conjunction with index 6000 and therefore enables resetting of single bits. Objects 5001 and 5002 are always working in continuous execution mode. This means that logical operations with object 6000 are performed in each internal input scan cycle With object 5003 an individual filter constant (value in msec) may be assigned to each input line. This gives great flexibility to prevent inputs from distortion. The default value for filter constant is 5msec. The filter constants enable object is at index 6003.
1801 ... 1803 1A00
0 1 to n
rw rw rw
1A01 ... 1A03
Note: The CO4011A supports only 1 receive and 2 transmit PDOs. All Objects for higher PDO numbers are not implemented. Note: For detailed information about CANopen objects see additional brochure "Introduction to CANopen"
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 9 of 9 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
DS401: Digital Output Objects Index SubIndex 5200 6200 0 to n 6202 0 to n 6206 0 to n 6207 0 to n 6300 0 to n 6320 0 to n Name Reset Output on Error Option Write Output 8 Bit Change Polarity Output 8 bit Error Mode Output Error State Output Write digital output 16 bit Write digital output 32 bit Acc. rw rw rw rw rw wo wo
Description of Object Dictionary
The following list gives da short description of all dictionary entries.
Index 0005
This object is implemented to enable reservation of data space in PDOs by mapping dummy entries. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 0005 Dummy 8 Unsigned 8 RO Yes 0
DS401: Analog Input Objects Index SubIndex 6400 0 to n 6401 0 to n 6421 0 to n 6423 6424 6425 6426 6427 6428 6431 0 to n 0 to n 0 to n 0 to n 0 to n 0 to n Name Read Analog Input 8 Bit *1) Read Analog Input 16 Bit *2) Analog Input Interrupt Trigger Analog Input global Interrupt Enable Analog Input Upper Limit Analog Input Lower Limit Analog Input Interrupt Delta Analog Input Interrupt Negative Delta Analog input interrupt positive delta Analog input offset integer Acc. ro ro rw rw rw rw rw rw rw rw
Index 0006
This object is implemented to enable reservation of data space in PDOs by mapping dummy entries. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 0006 Dummy 16 Unsigned 16 RO Yes 0
*1) These objects are only valid for configuration bits CFG1= 1 and CFG0= 0 *2) These objects are only valid for configuration bits CFG1= 0 and CFG0= x Additional Objects for Power Down Index SubIndex 2FF9 0 2FFA 0 2FFB 0 2FFC 0 2FFD 0 2FFE 0 2FFF 0 Name Power Down with Stop Node Wake Up Confirm Time Power Down Delay Time Wake Up Counter Reset Power Down Input Enable Power Down Mode Enable Switch To Power Down Mode Acc. Rw Rw rw rw rw rw rw
Index 0007
This object is implemented to enable reservation of data space in PDOs by mapping dummy entries. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 0007 Dummy 32 Unsigned 32 RO Yes 0
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 10 of 10 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
DS301: Global Objects
Index 1002 : Status Register
This object gives additional information for the device Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 1002h Status Register Unsigned 32 RO Yes -
Index 1000 : Device Type
Description of the device type. The Object gives the CiA device profile number and additionally the functionality of the device. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 1000h Device Type Unsigned 32 RO No Operation Mode CO4011A0 CO4011A1 CO4011A2 CO4011A4 CO4011A5 CO4011A6
The status register bits have the following meaning Bit Meaning 31 The device is in operational state 30 Node guarding error Value of Index 0003 0191 h 0007 0191 h 0007 0191 h 0003 0191 h 0007 0191 h 0007 0191 h 23 I/O error output overload error
Index 1005 : COB-ID Sync
Identifier of Can Object for the Synchronisation message. The CO4011 may only operate in Sync consumer mode. Generating of Sync messages is not possible. Nevertheless is the Identifier for the Sync message programmable. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 1005h COB-ID Sync Unsigned 32 RW No -
Index 1001 : Error Register
This object holds an error of the device. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 1001h Error Register Unsigned 8 RO Yes -
The error register has the following structure Bit Meaning 0 Generic error. This bit is set, if any error is active 1 0 2 0 3 0 4 CAN bus or communication error 5 0 6 0 7 Device Error
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 11 of 11 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index 1008 : Device Name
This object shows the name of the device as visible string. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 1008h Device Name Visible String RW No The maximum string length is 20 characters CO4011A
Index 100B : Node-ID
This object keeps the actual node Id. The Object is not represented in the object dictionary because of standard conforming reasons. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 100Bh Node ID Unsigned 8 Not accessible No 1 to 127 See below
This object is enabled for read/write access in order to give OEMs the possibility to ship their own hardware based on the CO4011A with individual device names.
Index 1009 : Hardware Version
This object shows the name of the device as visible string. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 1009h Hardware Version Visible String RW No The maximum string length is 20 characters -
There are several modes to select a valid node ID. Setting the configuration input bits ID0 to ID6 to any combination other than zero will take the configuration input setting of bits ID0 to ID6 as valid Node-ID. If setting the configuration input bits ID0 to ID6 to the combination zero (all input bits at high level) will activate the Node-ID object 2100h. With this object a Node-ID may be set independent from the configuration input bits. If Object 2100h has value 0 (default factory setting if not written to by your application or CANopen configuration tool) the Node ID will be forced to 126 (7Eh). For applications without any configuration switches the following configuration method must be used: All configuration input bits ID0 to ID6 must be forced to HIGH level. This will select Node-ID 0 (zero). When starting the device for the first time the Node ID will be set to 126 (7Eh). Now the Object 2100h may be set to the desired Node ID by using a CANopen configuration toll. The last step is to save this setting by using object 1010h. If the device will be restarted the Node ID will be taken from object 2100h and will be copied to object 100Bh. Additionally the COB-Ids for the Sync-, Emergency-, SDO- and PDO- messages will be modified according to the new Node ID.
This object is enabled for read/write access in order to give OEMs the possibility to ship their own hardware based on the CO4011A with individual Hardware Version string.
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 12 of 12 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index 100C : Guard Time
The objects at index 100Ch (Guard Time in milliseconds) and 100Dh (Life Time Factor) are used to implement the life guarding protocol. The Guard Time multiplied with the Life Time Factor gives the Life Time in milliseconds. It is 0 (zero) if not used. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 100Ch Guard Time Unsigned 16 RW No 0
Index 1010 : Store Parameters
This object supports the saving of parameters in non-volatile memory. By read access the device provides information about its saving capabilities. Several parameter groups are distinguished: Sub-Index 0 contains the largest Sub-Index that is supported. Writing to Sub-Index 1 means that all parameters shall be stored on the device. In order to avoid storage of parameters by mistake, storage is only executed when a specific signature is written to the appropriate Sub-Index. (This means that the signature is transferred as data bytes 4 to 7 in the CAN message of the corresponding SDO protocol. The signature is "save". MSB e v a 65h 76h 61h
Index 100D : Life Time Factor
The objects at index 100Ch (Guard Time in milliseconds) and 100Dh (Life Time Factor) are used to implement the life guarding protocol. The Guard Time multiplied with the Life Time Factor gives the Life Time in milliseconds. It is 0 (zero) if not used. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 100Dh Life Time Factor Unsigned 16 RW No 0
LSB s 73h
On reception of the correct signature on sub-index 1 the device stores the parameters and then confirms the SDO transmission (initiate download response). If the storing failed, the device responds with an Abort SDO Transfer (abort code: 0606 0000 h). If a wrong signature is written, the device refuses to store and responds with Abort SDO Transfer (Abort code: 0800 002x h). Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description 1010h Store Parameters Structure 1010h Subindex 0 Largest SubIndex supported Unsigned char RO No 1 1
Index 100E : COB-ID Guard
Identifier of Can Object for the Node Guarding protocol. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 100Eh COB-ID Guard Unsigned 32 RW No 700h + Node-ID
1010h Subindex 1 Store All Parameters Writing to this object stores the dictionary to non-volatile memory. Data Type Unsigned 32 Access modes RW PDO Mapping No Value Range Signature "save" Default Value -
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 13 of 13 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
By read access to object 1010h Subindex 1, the device responds with SDO data 00000001h indicating that storing of data is only done on command. Note: Writing to this objected is only allowed in preoperational mode.
Index 1011 : Restore Default Parameters
With this object the default values of parameters according to the communication or device profile are restored. By read access the device provides information about its capabilities to restore these values. Several parameter groups are distinguished: Sub-Index 0 contains the largest Sub-Index that is supported. Writing to Sub-Index 1 restores all parameters that can be restored. In order to avoid the restoring of default parameters by mistake, restoring is only executed when a specific signature is written to the appropriate subindex. (This means that the signature is transferred as data bytes 4 to 7 in the CAN message of the corresponding SDO protocol. The signature is "load". MSB d a o 64h 61h 6Fh
Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description
1011h Subindex 0 Largest SubIndex supported Unsigned char RO No 1 1
1011h Subindex 1 Restore All Parameters Writing to this object restores the default values to the dictionary. Data Type Unsigned 32 Access modes RW PDO Mapping No Value Range Signature "load" Default Value By read access to object 1011h Subindex 1, the device responds with SDO data 00000001h indicating that restoring of default data is available. Note: Writing to this objected is only allowed in preoperational mode.
LSB l 6Ch Identifier of messages. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value
Index 1014 : COB-ID Emergency
Can Object for the emergency
On reception of the correct signature on sub-index 1 the device restores the parameters and then confirms the SDO transmission (initiate download response). If the storing failed, the device responds with an abort SDO transfer (abort code: 0606 0000h). If a wrong signature is written, the device refuses to store and responds with Abort SDO Transfer (Abort code: 0800 002x h). The default values are set valid after the device is reset (reset node) or power cycled. If the device requires storing on command (see Object 1010h), the appropriate command has to be executed after the reset if the default parameters are to be stored permanently. Index Name Description Data Type 1011h Restore Default Parameters Structure
1014h COB-ID Emergency Unsigned 32 RW No 80h + Node-ID
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 14 of 14 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index 1015 : Inhibit Time Emergency
Inhibit Time for emergency messages. If the Inhibit Time is set to 0, inhibit delay is disabled. The Inhibit Time is a multiple of 100usec, but the CO4011A offers a maximum resolution of 1 millisecond. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 1015h Inhibit Time Emergency Unsigned 16 RW No 0
Index 1018 : Identity Object
The object at index 1018h contains general information about the device and the manufacturer frenzel + berg elektronik. It cannot be modified.
Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description
1018h Identity Object Structure 1018h Subindex 0 Largest SubIndex supported Unsigned char RO No 3
Index 1017 : Producer Heartbeat Time
The producer heartbeat time defines the cycle time of the heartbeat. The producer heartbeat time is 0 if it not used. The time has to be a multiple of 1ms. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 1017h Producer Heartbeat Time Unsigned 16 RW No 0
1018h Subindex 1 Vendor ID Registration Code of frenzel + berg elektronik at the CiA Data Type Unsigned 32 Access modes RO PDO Mapping No Value Range Default Value 58h 1018h Subindex 2 Product Code Internal Product Code for CO4011A at frenzel + berg elektronik Data Type Unsigned 32 Access modes RO PDO Mapping No Value Range Default Value 0104 0111 h Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 1018h Subindex 3 Revision Code Unsigned 32 RO No Revision of the device Index Name Description
Note: Either Heartbeat or node guarding may be allowed at the same time. Do not use both protocols at the same time. See additional brochure for further information about heartbeat protocol.
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 15 of 15 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index 2000 : Device Manufacturer
This Object shows "Frenzel + Berg" as visible string. If OEMs do not want to give access to this entry, it may be removed from the EDS (electronic data sheet). Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 2000h Device Manufacturer Visible String RO No "Frenzel + Berg"
Index 2110 : Enable Boot Up Message
This Object enables or disables sending of the boot up message. The boot up message is CAN object with the identifier of the node guarding object and only one data byte with value 0 (zero). If object 2110h is set to 0 the boot up message is disabled otherwise it is enabled. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 2110h Enable Boot Up Message Unsigned 8 RW No 1 (enabled)
Index 2100 : New Node ID
This Object is implemented to enable applications without any switches for setting the node ID. This object enables setting of the node ID by using SDO transfer. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 2100h New Node ID Unsigned 8 RW No 0
Index 2180 : CAN Restart Time
This Object gives the restart time out for the CAN communication layer in case of bus off errors in milliseconds. If the restart time is set to 0 automatic restart of the device in case of bus off is prohibited. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 2180h CAN Restart Time Unsigned 16 RW No 0 (restart disabled)
If no node ID is selected with configuration input bits ID0 to ID6. The New Node ID object is enabled. See Index 100B for details in setting the node ID.
Index 2101 : System Configuration
This Object returns the operation mode of the CO4011A. It represents the inverted Setting of the configuration input bits CFG0 to CFG3. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 2101h System Configuration Unsigned 32 RO No Depends on CFG0 to CFG3
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 16 of 16 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
DS301: PDO Parameter Objects
Communication Parameter Objects
The following table shows the communication parameter objects for Index 140x (Receive PDOs) and Index 180x (Transmit PDOs). The tables show Index 1400 as an example for all PDOs The transmission type (sub-index 2) defines the mode for transmission / reception of the PDO. See table for detailed description of this entry. Description of transmission type: Type cyclic PDO transmission acyclic Sync Async. Only related on remote X X X Reserved X X X X X X
Sub-index 3h contains the inhibit time. This time is a minimum interval for PDO transmission. The value is defined as multiple of 100ms. Sub-index 4h is reserved. In mode 254/255 additionally an event time can be used for TPDO. If an event timer exists for a TPDO (value not equal to 0) the elapsed timer is considered to be an event. The event time is a multiple of 1 ms. This event will cause the transmission of this TPDO in addition to otherwise defined events. Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 1400h Receive PDO1 Communication Parameters Structure 1400h Subindex 0 Largest SubIndex supported Unsigned 8 RO No 5 1400h Subindex 1 COB-ID Identifier for CAN-Object for PDO1 Unsigned 32 RW No 200h + Node-Id 1400h Subindex 2 Transmission Type Unsigned 8 RW No 0FFh 1400h Subindex 3 Inhibit Time Unsigned 16 RW No 0
0 1-240 241-251 252 253 254 255
X
Synchronous (transmission types 0-240 and 252) means that the transmission of the PDO shall be related to the SYNC object. Asynchronous means that the transmission of the PDO is not related to the SYNC object. A transmission type of zero means that the message shall be transmitted synchronously with the SYNC object but not periodically but only in case of data change. A value between 1 and 240 means that the PDO is transferred synchronously and cyclically, the transmission type indicating the number of SYNC signals, which are necessary to trigger PDO transmissions or receptions. The transmission types 252 and 253 mean that the PDO is only transmitted on reception of a remote frame. At transmission type 252, the data is updated (but not sent) immediately after reception of the SYNC object. At transmission type 253 the data is updated at the reception of the remote frame. These values are only possible for transmit PDOs. Transmission type 254 selects the CanEASY mode. Transmission type 255 means, the application event is defined in the device profile. For receive PDOs the reception of a PDO will update the mapped data (normally the analog or digital outputs).
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 17 of 17 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Subindexes 1 to 8 keep the pointers of the mapped objects as unsigned 32 values. The value is 0 if there is no mapped object. The structure for these pointers is as follows. MSB Byte3 Byte2 Mapped index LSB Byte0 Length
Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value
1400h Subindex 4 Reserved No 1400h Subindex 5 Event Time Unsigned 16 RW No 0
Byte1 Subindex
Mapped Index and Subindex together are the Pointer to the Object dictionary data to be mapped at this location. Length gives the length of the mapped object in bits. The following mapping object uses index 1600 as an example for all mapping objects. Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 1600h Receive PDO1 Mapping Parameters Array 1600h Subindex 0 Largest SubIndex supported Number of mapped objects Unsigned 8 RW No According to operation mode 1600h Subindex 1 to 8 Mapped object Unsigned 32 RW No According to operation mode
The PDO communication parameter objects have the same structure for all PDOs. The following Objects are used. Index 1400h 1401h 1800h 1801h PDO Receive PDO1 (digital output) Receive PDO2 (analog output) Not implemented in CO4011A Transmit PDO1 (digital input) Transmit PDO2 (analog input)
PDO Mapping Objects
The following table shows the PDO Mapping Objects. The principle of PDO mapping is the same for all PDOs. The PDO Mapping table is the cross reference between the Object dictionary entries (for example the data of an digital output byte) and the data field inside an PDO data field (position in the data field of a CAN message for PDO transfer). Subindex 0 determines the valid number of objects that have been mapped. The CO4011 allows a maximum of 8 mapped objects for each PDO. For changing the PDO mapping first subindex 0 must be set to 0 (mapping is deactivated). Then the objects can be remapped. When a new object is mapped by writing a subindex between 1 and 8, the device may check whether the object specified by index /subindex exists. If the object does not exist or the object cannot be mapped, the SDO transfer will be aborted. If the special CAN features are enabled (CFG3=0), the CO4011 allows adding of additional mapping entries without resetting subindex 0. In this case the device calculates the number of mapped objects by itself and modifies subindex 0 respectively.
Example: As an example for PDO mapping, the following table shows the default mapping for transmit PDO1 in operation mode 0 (20 digital in/12 digital out). Index Entry 1A00.00 3 Explanation There are 3 mapped objects in transmit PDO1 1A00.01 60000108h First mapped object: Input Byte0 1A00.02 60000208h First mapped object: Input Byte1 1A00.03 60000308h First mapped object: Input Byte2 The data of the transmit PDO1 for this example will be three bytes. (Input Bytes 0 to 3)
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 18 of 18 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
The PDO mapping objects have the same structure for all PDOs. The following Objects are used. Index 1600h 1601h 1A00h 1A01h PDO Receive PDO1 (digital output) Receive PDO2 (analog output) Not implemented in CO4011A Transmit PDO1 (digital input) Transmit PDO2 (analog input)
DS401: Digital Input Objects
The following objects are describing the functionality of the digital input lines of the CO4011A
All objects with PDO mapping capabilities (not only digital or analog I/O) may be mapped to one of the PDOs.
Index 5001/2 : Write to Digital Input
The object 5001 and 5002 are implemented for debug purposes, because the CANopen object 6000 does not allow write access to an input line. With objects 5001 and 5002 a debug environment may simulate setting or resetting of input lines. The CO4011 first scans the physical input lines and then processes the scanned values with the debug parameters. Index 5001 and 5002 make direct bit manipulation of single bits possible. Index 5001 enables bit setting by using a bit wise logical OR conjunction with index 6000 while index 5002 performs a logical AND conjunction with index 6000 and therefore enables resetting of single bits. Objects 5001 and 5002 are always working in continuous execution mode. This means that logical operations with object 6000 are performed in each internal input scan cycle Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 5001h (5002h) Write 1 to digital input (Write 0 to digital input) Array Subindex 0 Number of mapped objects Unsigned 8 RO NO Number of digital input bytes Subindex 1 to Nr of input bytes Bitmap to mask input byte with Unsigned 8 RW YES 0 for 5001 (0FFh for 5002)
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 19 of 19 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index 5003 : Filter Time Digital Input
The CO4011A offers noise filtering for each digital input line. With object 5003 an individual filter time may be assigned to each input line. The filtering function enable object is at index 6003h. The filter time is set in milliseconds. A value of 0 disables the filtering function. Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description 5003h Filter Time Digital Input Array Subindex 0 Nr of Subobjects Unsigned 8 RO No Number of digital input lines
Index 6000 : Read Digital Input 8 Bit
This object represents the digital input bytes. The value of the input lines is written to this object. Before writing the level of the input lines to object 6000, the input data is processed in the following way: 1) The digital input lines are active low. This means, the input level is inverted at first. 2) At the next stage, the CO4011A processes the filtering function. Object 5003 gives the filtering time and object 6003 enables or disables the channels. 3) Then the input lines are inverted again according to the setting of object 6002h (polarity input) 4) At last the debug function calculates a logical OR conjunction between the input lines and object 5001 and a logical AND with object 5002 and then writes the result to object 6000h The number of digital input bytes depends on the selected operation mode. The mapping of the I/O lines to object 6000 is explained in chapter "Mapping I/O to Object Dictionary" Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 6000h Digital Input 8 Bit Array Subindex 0 Nr of Subobjects Unsigned 8 RO No Number of digital input bytes Subindex 1 to Nr of input bytes Digital Input 8 Bit Byte n Unsigned 8 RO Yes -
Subindex 1 to Nr of input lines Filter Time There is a individual Time for each input line. Data Type Unsigned 8 Access modes RW PDO Mapping No Value Range Default Value 5
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 20 of 20 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index 6100 : Read Digital Input 16 Bit
This object enables 16-Bit access to the digital input bytes. The Object addresses the same data area as object 6000 but using unsigned integer data type. See Index 6000 for further details.
Index 6003 : Filter Enable Input 8 Bit
With this object, the additional input filtering may be enabled individual for each input. 0 at the input line corresponding bit position means filter is disabled. See also Index 5003. The number of digital input bytes depends on the selected operation mode. Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 6002h Polarity Input 8 Bit Array Subindex 0 Nr of Subobjects Unsigned 8 RO No Number of digital input bytes
Index 6120 : Read Digital Input 32 Bit
This object enables 32-Bit access to the digital input bytes. The Object addresses the same data area as object 6000 but using unsigned long data type. See Index 6000 for further details.
Index 6002 : Polarity Input 8 Bit
With this object, the digital inputs may be inverted. See also Index 6000 for additional information. The number of digital input bytes depends on the selected operation mode. Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 6002h Polarity Input 8 Bit Array Subindex 0 Nr of Subobjects Unsigned 8 RO No Number of digital input bytes Subindex 1 to Nr of input bytes Polarity Input 8 Bit Byte n Unsigned 8 RW No 0
Index Name Description Data Type Access modes PDO Mapping Value Range Default Value
Subindex 1 to Nr of input bytes Polarity Input 8 Bit Byte n Unsigned 8 RW No 0
Index 6005 : Global Interrupt Enable
This object enables or disables globally the interrupt behaviour without changing the interrupt masks. In event-driven mode the device transmits the input values depending on the interrupt masks in objects 6006h, 6007h, and 6008h and the PDO transmission type. TRUE (1)= global interrupt enabled FALSE (0)= global interrupt disabled Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 6005h Global Interrupt Enable Boolean RW No TRUE
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 21 of 21 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index 6006 : Interrupt Mask Any Change
This object determines, which input lines shall activate an interrupt by any change of the input line. Both negative and positive edge will cause an interrupt, if enabled. An interrupt will cause a PDO transmission in case of event driven transmission mode. 1 = interrupt enabled 0 = interrupt disabled Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 6006h Interrupt Mask any change Array Subindex 0 Nr of Subobjects Unsigned 8 RO No Number of digital input bytes Subindex 1 to Nr of input bytes Interrupt Mask any change Unsigned 8 RW No 0FFh (interrupt enabled)
DS401: Digital Output Objects
The following objects are describing the functionality of the digital output lines of the CO4011A. The CO4011A supports only 8bit access. The number of digital output bytes depends on the selected operation mode.
Index 5200 : Output Reset on Error Option
This Object selects the function for error handling if a critical error is detected. If the value is 0, the Outputs objects 6200.xx will keep unchanged. The ports will be set to their error state given in object 6207 as long as the error is active. If error ends, the outputs will return to the state according to the output object 6200h. If the value is 1, the Outputs error handling depends on the objects 6206h and 6207h and the output object 6200 will be overwritten with the error output state according to objects 6206 and 6207. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 5200h Output Reset on Error Option Unsigned 8 RW No 1
Index 6007 : Interrupt Mask Low to High
This object has the same structure and behaviour as object 6006h but will cause interrupts only on rising edge of object index 6000. Note that input lines are active low, so rising edge of input data (object 6000) means falling edge of input port line. Default value is 0.
Index 6200 : Write to Digital Output
With object 6200, the digital outputs of the CO4011A can be written to. Before writing to the output ports, the value of the bitmap of object 6200 is processed with object 6202 (Change polarity output 8 bit) and the inverted. (Output port bits of the CO4011A device are active low)
Index 6008 : Interrupt Mask High to Low
This object has the same structure and behaviour as object 6006h but will cause interrupts only on falling edge of object index 6000. Note that input lines are active low, so falling edge of input data (object 6000) means rising edge of input port line. Default value is 0.
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 22 of 22 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
The mapping of the I/O lines to object 6200 is explained in chapter "Mapping I/O to Object Dictionary" Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 6200h Write to digital output Array Subindex 0 Number of mapped objects Unsigned 8 RO NO Number of digital output bytes Subindex 1 to Nr of output bytes Write to digital output Unsigned 8 RW YES 0
Index 6202 : Polarity Output 8 Bit
With this object, the digital outputs may be inverted. See also Index 6200 for additional information. Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 6202h Polarity Output 8 Bit Array Subindex 0 Nr of Subobjects Unsigned 8 RO No Number of digital output bytes Subindex 1 to Nr of input bytes Polarity Output 8 Bit Byte n Unsigned 8 RW No 0
Index 6300 : Write Digital Output 16 Bit
This object enables 16-Bit access to the digital output bytes. The Object addresses the same data area as object 6200 but using unsigned integer data type. See Index 6200 for further details.
Index 6206 : Error Mode Output 8 Bit
This object indicates, whether an output is forced to a predefined value (given in object 6207) in case of a device error. 1 = Output will be forced to the value selected in object 6207 0 = Output will be unchanged even in case of an error condition. Index Name Description Data Type 6206h Error Mode Output 8 Bit Array
Index 6320 : Write Digital Output 32 Bit
This object enables 32-Bit access to the digital output bytes. The Object addresses the same data area as object 6200 but using unsigned long data type. See Index 6200 for further details.
Index Name Description Data Type Access modes PDO Mapping Value Range Default Value
Subindex 0 Nr of Subobjects Unsigned 8 RO No Number of digital output bytes
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 23 of 23 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index Name Description Data Type Access modes PDO Mapping Value Range Default Value
Subindex 1 to Nr of input bytes Error Mode Output 8 Bit Byte n Unsigned 8 RW No 0FFh (Take error condition from object 6207)
DS401: Analog Input Objects
The following objects are describing the functionality of the analog input lines of the CO4011A. The number of analog input bytes depends on the selected operation mode.
Index 6400 : Read Analog Input 8 Bit Index 6207 : Error Value Output 8 Bit
This object selects the level the outputs are forced to in case of device error mode if the error mode (object 6206 is enabled) 1 = Output will be forced to active state 0 = Output will be forced to inactive state. Note: Outputs of CO4011 are active low. Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 6207h Error Value Output 8 Bit Array Subindex 0 Nr of Subobjects Unsigned 8 RO No Number of digital output bytes Subindex 1 to Nr of input bytes Error Value Output 8 Bit Byte n Unsigned 8 RW No 0 (Inactive, high level) Object 6400, represents the value of the analog channels. The 8 bit conversion result of the analog input voltage is a signed value. Therefore voltages less then 2.5V are read as negative input voltage. An input of 2.5V is read as 0 and an input voltage higher than 2.5V is converted into positive values. If the application requires reading of the analog input voltage as unsigned values, the object 6431 may be used for adding an offset to the conversion result. The mapping of the I/O lines to object 6400 is explained in chapter "Mapping I/O to Object Dictionary" Note: Object 6400 is only valid if operation mode selects 8 Bit resolution of A/D converter.
Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value
6400h Read Analog Input Array Subindex 0 Number of mapped objects Unsigned 8 RO NO Number of analog input bytes Subindex 1 to Nr of input lines Read Analog Input Signed 8 RO YES -
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 24 of 24 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index 6401 : Read Analog Input 16 Bit
Object 6401, represents the value of the analog channels. The 16 bit conversion result of the analog input voltage is a signed value. Therefore voltages less then 2.5V are read as negative input voltage. An input of 2.5V is read as 0 and an input voltage higher than 2.5V is converted into positive values. If the application requires reading of the analog input voltage as unsigned values, the object 6431 may be used for adding an offset to the conversion result. The mapping of the I/O lines to object 6401 is explained in chapter "Mapping I/O to Object Dictionary" Note: Object 6401 is only valid if operation mode selects 16 Bit resolution of A/D converter.
Index 6421 : Analog Input Interrupt Trigger
Object 6421 selects the event that shall cause a transmission interrupt for the selected analog channel. There is one Subindex for each channel to enable individual setting according to application requirements. Table of possible Trigger Conditions: Bit Nr 0 1 2 3 4 5 to 7 Interrupt Trigger Selection Input voltage greater than Upper Limit Input voltage less than Lower Limit Input changed by more than Delta Input reduced more than Negative Delta Input increased more than Positive Delta Reserved (must be forced to zero)
Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value
6401h Read Analog Input Array Subindex 0 Number of mapped objects Unsigned 8 RO NO Number of analog input bytes Subindex 1 to Nr of input lines Read Analog Input Signed 16 RO YES -
Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type
6421h Analog Input Interrupt Trigger Array Subindex 0 Number of mapped objects Unsigned 8 RO NO Number of analog input lines
Subindex 1 to Nr of input lines Analog Input Interrupt Trigger Selects trigger condition Unsigned 8 (See Table of Trigger Conditions) Access modes RW PDO Mapping No Value Range Default Value 7
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 25 of 25 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index 6423 : Analog Input Interrupt Enable
This object enables or disables globally the interrupt behaviour without changing the interrupt masks. The interrupt is disabled by default, in order to avoid transmission of analog input values. TRUE (1)= global interrupt enabled FALSE (0)= global interrupt disabled Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 6423h Analog Input Interrupt Enable Boolean RW No FALSE
Index 6424/5/6/7/8 : Analog Input Interrupt Limits
These objects give the Limit for generation of interrupts. All objects have the same structure. The function of the interrupt limit is only enabled, if the corresponding bit of object 6421 is set. All values of limit parameters are signed 32. So the user must take care not to exceed the range of the input data objects. Table of Limit Function Object 6424 Object Name and Function Analog Input Upper Limit Generate interrupt if input voltage is greater than Upper Limit (6424) Analog Input Lower Limit Generate interrupt if input voltage is less than Lower Limit (6425) Analog Input Interrupt Delta Generate interrupt if input voltage changed by more than Interrupt Delta Analog Input Negative Delta Generate interrupt if input voltage reduced by more than Negative Delta Analog Input Positive Delta Generate interrupt if input voltage increased by more than Positive Delta 6424/5/6/7/8/9 See table above Array Subindex 0 Number of mapped objects Unsigned 8 RO NO Number of analog input lines Subindex 1 to Nr of input lines See table above Integer 32 RW No 0
6425
6426
6427
6428
Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 26 of 26 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index 6431 : Analog Input Offset
Object 6431 adds an offset value to the analog input data object (6400 / 6401). The normal input scaling for analog data objects 6400 and 6401 considers conversion of negative input voltages (input amplifier must shift to positive voltages because input port pin is 0 to 5V only) by placing the zero point (of data) to 2.5V. (middle of input voltage range) If application requires only positive input values an offset may be add with object 6431, in order to adjust the zero point for data to an input voltage of 0V. For 8 Bit analog conversion (object 6400) the offset value (object 6431) must be 80h. For 16 Bit analog conversion (object 6401) the offset value must be set to 8000h. Index Name Description Data Type Index Name Description Data Type Access modes PDO Mapping Value Range Default Value Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 6431h Analog Input Offset Array Subindex 0 Number of mapped objects Unsigned 8 RO NO Number of analog input lines Subindex 1 to Nr of input lines Analog Input Offset Signed 32 RW No 0
Power Down Control Objects
For control of the Power-Down-Mode several objects are applied in the object dictionary of the CO4011.
Index 2FF9 : Power Down with Stop Node
This object enables switching the device to power down state by using the NMT command stop node. This feature is enabled by writing the value 0x454E534E ("ENSN") to this object and additionally object 2FFE ("Enable Power Down") must be set with the valid signature. As soon as this two signatures are set, the Stop Node Command will switch the Chip to Power down mode. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 2FFD Reset Power Down Input Enable Unsigned 32 RW NO 0
Note: Using the NMT command STOP NODE for power down control is not compatible with the CANopen draft standard.
Index 2FFA : Wake-Up-Confirm-Time
Wake-Up-Confirm-Time The CO4011 switches to the active run mode after a wake up event by pin WUII (Wake-Up-InterruptInput). If it doesn't receive a valid NMT telegram during the Wake-Up-Confirm-Time, so it automatically switches back to the Power-Down-Mode. The time is given in milliseconds. The access is done by SDO. Index Name Description Data Type Access modes PDO Mapping Value Range Default Value 2FFA Wake-Up-Confirm-Time Unsigned 16 RW NO 200 .. 20000 1000
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 27 of 27 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index 2FFB : Power-Down-Delay-Time
Power-Down-Delay-Time After reception of Power-Down instruction the CO4011 waits for the period Power-Down Delay Time and than switches over in Power-Down-Mode. The time is given in milliseconds. The access is done by SDO.
Index 2FFD : Reset Power Down Input Pin Enable
Enable "Reset Power Down Input" Reset Power Down Input is configured by writing the value 0x5250454E ("RPEN") to this object. As soon as this signature will be written pin1 (IN9) is used as Reset Power Down Input (RPDI). Then it cannot be used as digital input line any more.
Index Name Description Data Type Access modes PDO Mapping Value Range Default Value
2FFB Power-Down-Delay-Time Unsigned 16 RW NO 0 .. 20000 500
Index Name Description Data Type Access modes PDO Mapping Value Range Default Value
2FFD Reset Power Down Input Enable Unsigned 32 RW NO 0
Index 2FFC : Wake-Up-Counter Index 2FFE : Power-Down-Enable
Wake-Up-Counter The Wake Up Counter counts all wake up events of Power-Down-Mode. The access to the counter is done by SDO. Power-Down-Enable The use of Power-Down-Mode is enabled by writing the value 0x5044454E ("PDEN") to this object. As soon as this signature will be written, pin2 (IN8) is configured as Wake-Up-Interrupt-Input (WUII). Then it cannot be used as digital input pin any more. The correct signature is the requirement for acceptance of all further power down instructions.
Index Name Description Data Type Access modes PDO Mapping Value Range Default Value
2FFC Wake-Up-Counter Unsigned 32 RW YES 0
Index Name Description Data Type Access modes PDO Mapping Value Range Default Value
2FFE Power-Down-Enable Unsigned 32 RW NO 0
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 28 of 28 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index 2FFF : Switch-To-Power-Down-Mode
Switch-To-Power-Down-Mode Setting the value 0x504F4646 ("POFF") (see above) will force the device to power down mode. After receiving the Switch-To-Power-Down-Mode command, the chip will continue working for the Power-Down-Delay-Time and then will enter power down mode. The correct signature in object 2FFE is the requirement for acceptance of the Switch-To-PowerDown-Mode instruction.
Mapping I/O to Object Dictionary
The mapping of the I/O channels depends on the setting of configuration bits CFG0 to CFG2. All possible configurations are shown in individual tables. Select the table for your application according to I/O requirements. Note for A/D converter the maximum resolution is 10 bit. Tables that show analog input with 16-bit mean, that dictionary entry is made as signed integer (16 bit wide).
Index Name Description Data Type Access modes PDO Mapping Value Range Default Value
2FFF Switch To Power Down Mode Unsigned 32 WO NO 0
Summary of operation modes
The following table shows a summary of possible operation modes. CFG 1 1 1 0 0 1 1 0 0 x Mode 0 1 0 1 0 1 0 1 0 X 0 1 *2) 2 3 4 5 *2) 6 7 Description 20 digital In / 12 dig. Out 12 dig. In / 12 dig. Out. 8 analog In 8 bit 16 dig. In / 12 dig. Out. 4 analog In 16 bit reserved *1) 12 digital In / 20 dig. Out 4 dig. In / 20 dig. Out. 8 analog In 8 bit 8 dig. In / 20 dig. Out. 4 analog In 16 bit reserved *1) reserved *1)
3 1 1 1 1 1 1 1 1 0
2 1 1 1 1 0 0 0 0 x
*1) These modes are reserved for future use and must not be set. Selecting the reserved modes may cause improper operation of the device. *2) This modes have default PDO mapping which is not according to CiA standard DS401. The selected operation mode may be read via object 2101h from the object dictionary. Note: Setting of configuration must be fixed. The CO4011 scans the setting of CFG0 to CFG3 only during reset. Changing of configuration on the fly is not allowed and may cause improper operation of the device. Note that configuration pins are input during reset but may be switched to output during operation. See Pin Description for additional information.
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 29 of 29 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
20 digital in / 12 digital out
Operation mode 0 CFG 2 = 1 CFG1 = 1 CFG0 = 1 EDS-file: CO4011A0.EDS Data Mapping to Dictionary Index. Mapped I/O Signal bit/value SubIndex 76543210 6000.01 IN7 to IN0 6000.02 IO3 to IO0 IN11 to IN8 6000.03 IO7 to IO4 6200.01 OUT7 to OUT0 6200.02 OUT11 to 8 6401.01 Conversion result IN0 (16 bit) 6401.02 Conversion result IN1 (16 bit) 6401.03 Conversion result IN2 (16 bit) 6401.04 Conversion result IN3 (16 bit) Default PDO Mapping PDO Mapped Data RPDO1 6200.01 digital output OUT0 to 7 6200.02 digital output OUT8 to 11 TPDO1 6000.01 digital input IN0 to IN7 6000.02 digital input IN8 to IN11 6000.03 digital input IO0 to IO7 I/O Port is used for digital Input. .
16 dig. in / 12 dig. out / 4 analog in 16 bit
Operation mode 2 CFG 2 = 1 CFG1 = 0 CFG0 = 1 EDS-file: CO4011A2.EDS Data Mapping to Dictionary Index. Mapped I/O Signal bit/value SubIndex 76543210 6000.01 IN11 to IN8 IN7 to IN4 6000.02 IO7 to IO0 used as digital inputs 6200.01 OUT7 to OUT0 6200.02 OUT11 to 8 6401.01 Conversion result IN0 (16 bit) 6401.02 Conversion result IN1 (16 bit) 6401.03 Conversion result IN2 (16 bit) 6401.04 Conversion result IN3 (16 bit) Default PDO Mapping PDO Mapped Data RPDO1 6200.01 digital output OUT0 to 7 6200.02 digital output OUT8 to 11 TPDO1 6000.01 digital input IN4 to IN11 6000.02 digital input IO0 to IO7 TPDO2 6401.01 analog input IN0 (16 bit) 6401.02 analog input IN1 (16 bit) 6401.03 analog input IN2 (16 bit) 6401.04 analog input IN3 (16 bit)
12 digital in / 20 digital out
Operation mode 4 CFG 2 = 0 CFG1 = 1 CFG0 = 1 EDS-file: CO4011A4.EDS Data Mapping to Dictionary Index. Mapped I/O Signal bit/value SubIndex 76543210 6000.01 IN7 to IN0 6000.02 IN11 to IN8 6200.01 OUT7 to OUT0 6200.02 IO3 to IO0 OUT11 to 8 6200.03 IO7 to IO4 6401.01 Conversion result IN0 (16 bit) 6401.02 Conversion result IN1 (16 bit) 6401.03 Conversion result IN2 (16 bit) 6401.04 Conversion result IN3 (16 bit) Default PDO Mapping PDO Mapped Data RPDO1 6200.01 digital output OUT0 to 7 6200.02 digital output OUT8 to 11 6200.03 digital output IO0 to IO7 TPDO1 6000.01 digital input IN0 to IN7 6000.02 digital input IN8 to IN11 .
8 dig. in / 20 dig. out / 4 analog in 16 bit
Operation mode 6 CFG 2 = 0 CFG1 = 0 CFG0 = 1 EDS-file: CO4011A6.EDS Data Mapping to Dictionary Index. Mapped I/O Signal bit/value SubIndex 76543210 6000.01 IN11 to IN8 IN7 to IN4 6200.01 OUT7 to OUT0 6200.02 IO3 to IO0 OUT11 to 8 6200.03 IO7 to IO4 6401.01 Conversion result IN0 (16 bit) 6401.02 Conversion result IN1 (16 bit) 6401.03 Conversion result IN2 (16 bit) 6401.04 Conversion result IN3 (16 bit) Default PDO Mapping PDO Mapped Data RPDO1 6200.01 digital output OUT0 to 7 6200.02 digital output OUT8 to 11 6200.03 digital output IO0 to IO7 TPDO1 6000.01 digital inputs IN4 to IN11 TPDO2 6401.01 analog input IN0 (16 bit) 6401.02 analog input IN1 (16 bit) 6401.03 analog input IN2 (16 bit) 6401.04 analog input IN3 (16 bit)
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 30 of 30 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
12 dig. in / 12 dig. out / 8 analog in 8 bit
Operation mode 1 CFG 2 = 1 CFG1 = 1 CFG0 = 0 EDS-file: CO4011A1.EDS Data Mapping to Dictionary Index. Mapped I/O Signal bit/value SubIndex 76543210 6000.01 IO3 to IO0 IN11 to IN8 6000.02 IO7 to IO4 6200.01 OUT7 to OUT0 6200.02 OUT11 to 8 6400.01 Conversion result IN0 (8 bit) ... .... 6400.08 Conversion result IN7 (8 bit) Default PDO Mapping PDO Mapped Data RPDO1 6200.01 digital output OUT0 to 7 6200.02 digital output OUT8 to 11 TPDO1 6000.01 digital inputs IN8 to IN11 6000.02 digital input IO0 to IO7 TPDO2 6400.01 analog input IN0 (8 bit) 6400.02 analog input IN1 (8 bit) .... 6400.08 analog input IN7 (8 bit)
4 dig. in / 20 dig. out / 8 analog in 8 bit
Operation mode 5 CFG 2 = 0 CFG1 = 1 CFG0 = 0 EDS-file: CO4011A5.EDS Data Mapping to Dictionary Index. Mapped I/O Signal bit/value SubIndex 76543210 6000.01 IN11 to IN8 6200.01 OUT7 to OUT0 6200.02 IO3 to IO0 OUT11 to 8 6200.03 IO7 to IO4 6400.01 Conversion result IN0 (8 bit) .... .... 6400.08 Conversion result IN7 (8 bit) Default PDO Mapping PDO Mapped Data RPDO1 6200.01 digital output OUT0 to 7 6200.02 digital output byte 1 6200.03 digital output byte 2 TPDO1 6000.01 digital inputs IN8 to IN11 TPDO2 6400.01 analog input IN0 (8 bit) 6400.02 analog input IN1 (8 bit) .... 6400.08 analog input IN7 (8 bit)
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 31 of 31 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Absolute Maximum Ratings
Stresses greater than those listed parameters may cause permanent damage to the device. Functional operation should be restricted to recommended operation conditions. Exposure to absolute maximum rating conditions for extended times may affect reliability. Parameter Power supply voltage Analog power supply voltage Analog reference voltage Input voltage Output voltage L level maximum output current L level maximum output current H level maximum output current H level maximum output current Maximum Power dissipation Operating temperature Storing temperature Symbol VCC AVCC AVREF Vi Vo IOLMAX IOL IOHMAX IOH PMAX TA TA TA Rated Value Min. VSS - 0.3 VSS - 0.3 VSS - 0.3 VSS - 0.3 VSS - 0.3 Units Remarks Max. VSS + 6.0 VCC VCC VSS + 6.0 VSS + 6.0 15 4 15 4 300 +85 +105 +150 V V V V V mA mA mA mA mW o C o C o C
Vi < VCC + 0.3V Vo < VCC + 0.3V Time < 20 msec Time < 20 msec
-40 -40 -55
CO4011A CO4011AE
Recommended Operation Conditions and Characteristics
Functional operation should be restricted to recommended operation conditions. Parameter Power supply voltage Analog power supply voltage Analog reference voltage Power supply current Input H voltage Input L voltage Output H voltage Output L voltage Input leakage current Crystal frequency Reset pulse width Power on rise time Maximum CANopen Delay input pin to bus telegram Maximum CANopen Delay bus telegram to output pin Watchdog trigger frequency Maximum Power dissipation Operating temperature Symbol VCC AVCC AVREF ICC VIH VIL VOH VOL ILKC fosc tres tRESLH tDITB tDBTO fWDT PMAX TA TA Rated Value Min. Typ. 4.5 5.0 VCC 3.0 35 0.8 * VCC VSS - 0.3 VCC - 0.5 -5 4 10 0.05 0.05 0.05 100 30 2 2 2000 300 +85 +105 Units Remarks Max. 5.5 VCC VCC 50 VCC + 0.3 0.2 * VCC 0.4 5 V V V mA V V V V uA MHz us ms ms ms Hz mW o C o C Delayed max. 500 ms after reset CO4011A CO4011AE
All inputs VIL or VIH All outputs open
IOH = -4.0 mA IOL = 4.0 mA
0.5 0.5 1000
No additional bus distribution delay
-40 -40
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 32 of 32 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Package Dimension CO4011A
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 33 of 33 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Typical Application: EVA board for CO4011
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 34 of 34 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Version History and Notes
Version 1.37
Date July/11/2002
1.38 1.39
Dez/10/2002 May/19/2003
Changes Objects 6100, 6120, 6300, 6320 added 16 / 32 Bit access to digital I/O Object 2FF9 added Power down mode can be activated with NMT command "Stop Node" Transmission for PDOs keeping analog input data improved Object 5200 added In case of an emergency condition that forces the output pins to the error state, The error state is copied into object 6200. So a return from error condition does not set the output stages to their active levels, but keeps the error condition.
The information herein is given to describe certain components and shall not be considered as warranted characteristics. Terms of delivery and all rights to technical changes are reserved. We hereby disclaim any and all warranties, including but not limited to warranties of non-infringement, regarding circuits, descriptions and charts stated herein.
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 35 of 35 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
General Description.................................................. 1 Features..................................................................... 1 Applications .............................................................. 1 CANopen Features.................................................... 1 Ordering Information ................................................ 1 Pin Assignment......................................................... 2 Pin Listing ................................................................. 2 Pin Listing continued ............................................... 2 Handling the Device.................................................. 2 Preventing latch up ..................................................... 2 Handling unused Pins................................................. 2 Power Supply Pins...................................................... 2 Power Supply for A/D converter.................................. 3 Input / output pins ....................................................... 3 Pull up/down resistors................................................. 3 Pin Description ......................................................... 3 IN0 to IN11: Digital or analog input pins...................... 3 OUT0 to OUT12: Digital output pins ........................... 3 IO0 to IO7: Digital input or output pins........................ 3 CF: Filter Capacitor input ............................................ 3 X0, X1: Crystal oscillator input .................................... 3 TEST: Reserved pin.................................................... 4 OLIRQ#: Output Overload Interrupt ............................ 4 VCC, AVCC, VSS, AVSS: Power Supply Pins............ 4 RES#: Reset input pin................................................. 4 CFG0 to CFG2: Configuration input pins / LED output pins ............................................................................. 4 CFG3/WD: Configuration input / watchdog output ...... 4 CANRX, CANTX: CAN interface pins ......................... 4 In Circuit programming of MB90F497 ..................... 5 Device Configuration................................................ 6 CAN Identifier ............................................................. 6 Baud rate .................................................................... 6 Analog Input Selection................................................ 6 Configuration of IO-Port .............................................. 6 Enable additional CAN features.................................. 6 Power Down Mode.................................................... 7 Activate Power-Down.................................................. 7 Return from Power-Down ........................................... 7 Emergency-Message.................................................. 7 Object Dictionary ...................................................... 8 DS301: global Objects ................................................ 8 DS301: PDO Parameter Objects ................................ 9 DS401: Digital Input Objects....................................... 9 DS401: Digital Output Objects .................................. 10 DS401: Analog Input Objects.................................... 10 Additional Objects for Power Down .......................... 10 Description of Object Dictionary ........................... 10 Index 0005 ................................................................ 10 Index 0006 ................................................................ 10 Index 0007 ................................................................ 10
DS301: Global Objects ............................................ 11 Index 1000 : Device Type.......................................... 11 Index 1001 : Error Register ....................................... 11 Index 1002 : Status Register ..................................... 11 Index 1005 : COB-ID Sync ........................................ 11 Index 1008 : Device Name ........................................ 12 Index 1009 : Hardware Version ................................. 12 Index 100B : Node-ID................................................ 12 Index 100C : Guard Time .......................................... 13 Index 100D : Life Time Factor ................................... 13 Index 100E : COB-ID Guard...................................... 13 Index 1010 : Store Parameters.................................. 13 Index 1011 : Restore Default Parameters ................. 14 Index 1014 : COB-ID Emergency .............................. 14 Index 1015 : Inhibit Time Emergency ........................ 15 Index 1017 : Producer Heartbeat Time ..................... 15 Index 1018 : Identity Object....................................... 15 Index 2000 : Device Manufacturer............................. 16 Index 2100 : New Node ID ........................................ 16 Index 2101 : System Configuration ........................... 16 Index 2110 : Enable Boot Up Message ..................... 16 Index 2180 : CAN Restart Time................................. 16 DS301: PDO Parameter Objects............................. 17 Communication Parameter Objects........................... 17 PDO Mapping Objects............................................... 18 DS401: Digital Input Objects .................................. 19 Index 5001/2 : Write to Digital Input .......................... 19 Index 5003 : Filter Time Digital Input......................... 20 Index 6000 : Read Digital Input 8 Bit ......................... 20 Index 6100 : Read Digital Input 16 Bit ....................... 21 Index 6120 : Read Digital Input 32 Bit ....................... 21 Index 6002 : Polarity Input 8 Bit................................. 21 Index 6003 : Filter Enable Input 8 Bit ........................ 21 Index 6005 : Global Interrupt Enable......................... 21 Index 6006 : Interrupt Mask Any Change .................. 22 Index 6007 : Interrupt Mask Low to High ................... 22 Index 6008 : Interrupt Mask High to Low................... 22 DS401: Digital Output Objects ............................... 22 Index 5200 : Output Reset on Error Option ............... 22 Index 6200 : Write to Digital Output........................... 22 Index 6300 : Write Digital Output 16 Bit..................... 23 Index 6320 : Write Digital Output 32 Bit..................... 23 Index 6202 : Polarity Output 8 Bit.............................. 23 Index 6206 : Error Mode Output 8 Bit ........................ 23 Index 6207 : Error Value Output 8 Bit........................ 24 DS401: Analog Input Objects ................................. 24 Index 6400 : Read Analog Input 8 Bit........................ 24 Index 6401 : Read Analog Input 16 Bit...................... 25 Index 6421 : Analog Input Interrupt Trigger............... 25 Index 6423 : Analog Input Interrupt Enable ............... 26 Index 6424/5/6/7/8 : Analog Input Interrupt Limits .... 26 Index 6431 : Analog Input Offset ............................... 27 Power Down Control Objects ................................. 27 Index 2FF9 : Power Down with Stop Node............... 27 Index 2FFA : Wake-Up-Confirm-Time ....................... 27 Index 2FFB : Power-Down-Delay-Time ..................... 28 Index 2FFC : Wake-Up-Counter................................ 28
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 36 of 36 Revision 1.39 May/19/2003
CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index 2FFD : Reset Power Down Input Pin Enable . 28 Index 2FFE : Power-Down-Enable ........................... 28 Index 2FFF : Switch-To-Power-Down-Mode............. 29 Mapping I/O to Object Dictionary .......................... 29 Summary of operation modes................................... 29 20 digital in / 12 digital out ........................................ 30 12 digital in / 20 digital out ........................................ 30 16 dig. in / 12 dig. out / 4 analog in 16 bit ................. 30 8 dig. in / 20 dig. out / 4 analog in 16 bit ................... 30 12 dig. in / 12 dig. out / 8 analog in 8 bit ................... 31 4 dig. in / 20 dig. out / 8 analog in 8 bit ..................... 31 Absolute Maximum Ratings................................... 32 Recommended Operation Conditions and Characteristics........................................................ 32 Package Dimension CO4011A ............................... 33 Typical Application: EVA board for CO4011 ........ 34 Version History and Notes ..................................... 35
frenzel + berg elektronik - Maximilianstr. 28 - 89231 Neu-Ulm - Germany - phone +49(0)731/970 570 - fax +49(0)731/970 5739 - www.frenzel-berg.de Page 37 of 37 Revision 1.39 May/19/2003

▲Up To Search▲

Price & Availability of CO4011A-FL

	To Download CO4011A-FL Datasheet File
If you can't view the Datasheet, Please click here to try to view without PDF Reader .