Device in Use (CA2A-IM24R)

• CAN-Bus Baud Rate: 20kBit/s to 1Mbit/s
  The baud rate of the CAN interface is determined by the "Baud Rate" DIP switch on the module. Please note that when adjusting the DIP switch settings, the module must be powered off for at least 3 seconds before turning it back on for the changes to take effect.

• Modifying Node Address: The node address range is from 1 to 16 and must be set by adjusting the "Node Address" DIP switch on the module. Similar to baud rate settings, the module must be powered off for at least 3 seconds after adjusting the DIP switch before turning it back on for the changes to take effect. The DIP switch value is from 0 to F, corresponding to device IDs 1 to 16.

Indicator Lights:

The indicator lights provide the status information as shown below.

DP Header Pin Diagram:

A terminal resistor needs to be connected as shown in the diagram above, with CAN_H and CAN_L shorted.

Set the device’s bound knob to 0 and the Addr knob to 3. This means the baud rate is 1M, and the device address is 4. After connecting the CAN interface to the analyzer and powering up the system, the following steps will be carried out.

Upon opening the CAN analyzer, the device sends a message with Frame ID 704 and data 7F at a 200ms interval. Frame ID 700 + NodeID represents a heartbeat message, and data 7F indicates that the device is in the "Pre-Operational" state, i.e., the configuration state, as shown below.

After loading the device dictionary, it is found that the heartbeat interval exists in index 0x1017. Using SDO to read the data from this address, its value is 0xC8, which equals 200 (ms), as shown below.

To facilitate testing of other functions, send SDO to set the value at this address to 0, disabling the heartbeat.

Device Dictionary:
Upon inspecting the device dictionary, it is found that address 0x6100 corresponds to "Read Inputs 16Bit," and address 0x6300 corresponds to "Write Outputs 16 Bits." Their 0x01 sub-addresses are "Read/Write Inputs/Outputs 0x1 to 0x10," corresponding to the 10 IO points of this device. These address definitions comply with the CANopen 401 Sub-Protocol.

Using SDO to write 0xFFF to the 0x01 sub-address of address 0x6300, all the DO outputs are triggered as expected, as shown below.

Next, apply power to the device’s first DI, and the DI light turns on, as shown below.

When reading address 0x6100, sub-address 0x01, its value has indeed changed to 0x01, as shown below.

Next, use PDO to periodically read DI data. Use channel 0x1800 and set its 0x02 sub-address "Transmission Type" to 0xFF for periodic transmission. Then, set the 0x05 sub-address to 0x200, which sets the transmission interval to 512 ms. (The definitions and functions of each sub-address can be found in the previous "CANopen User Guide").

Next, configure the mapping parameters for the PDO data to be sent. The mapping parameter for channel 0x1800 corresponds to address 0x1A00. Write 0x61000110 to the 0x01 sub-address of 0x1A00, indicating that data will be retrieved from address 0x6100, sub-address 0x01, and the data type is 0x10 (16-bit).

Then, send the NMT command to switch the device to the operational state. The device will start sending PDO messages at the configured interval, with the data content being the DI data stored in 0x6100, as shown below.

Alternatively, PDO messages can be triggered using sync frames. Set the 0x02 sub-address of address 0x1800 to 0x02, which means the device will send a PDO message after receiving two sync frames. The mapping parameters do not need to be reconfigured. The host PC can send a sync frame every 500ms, and after re-entering the operational state, the device will return one PDO message after receiving two sync frames, as shown below.

For safety reasons, when configuring PDO in the operational state, it is best to disable the channel to be configured, complete the configuration, and then enable it. Detailed steps for this process can be found in previous documents.