1. Introduction.................................................................................3 2

1. Introduction.................................................................................3 2

Index
1. Introduction.................................................................................3
2. Specifications.............................................................................3
3. DICO 908/A module.....................................................................3
JUMPERS...............................................................................3
POWER SUPPLY CONNECTION...............................................4
CANBUS CONNECTION...........................................................4
RS232 CONNECTION (manufacture's use only).................4
DICO 908/A I/O C0NNECTIONS.............................................4
DICO 908/A-I CONNECTIONS................................................4
DICO 908/A-O CONNECTIONS...............................................5
CONNECTION OF SENSORS....................................................5
4. Filtering V/I analog inputs........................................................5
5. CANopen......................................................................................6
6. Object Dictionary: Entries supported by DICO 908/A.............7
DICO Unit - DICO 908/A
Revisions
Rev.
First draft
1.1
Pages
8
The manual present applies itself to the following produced codes:
5906515101 DICO 908/A 4 OUT e 8 IN (V/I/Temp)
5906515102 DICO 908/A-I 8 IN (V/I)
5906515103 DICO 908/A-O 4 OUT
2E000257 DICO 908/A 8ANIN (V + T ) + 4 ANOUT 12/24 V IN
This product meets the EMC requirements
of EEC Directive 89/336.
SYSTEM s.p.a. Div. Electronics
via Ghiarola Vecchia, 73
SYSTEM SPA (Electronics Div.) reserves the right to
make changes to the specifications at any time without
giving prior notice. The information contained herein is
correct and reliable. No part of this publication may be
reproduced in any form without prior authorisation from
SYSTEM SPA (Electronics Div.).
41042 Fiorano (MO) - Italy
tel. 0536/836111 - fax 0536/830901
www.system-group.it
e-mail: [email protected]
October 2014 - Rev. 1.1
page
Order Code 5906515101
DICO Unit - DICO 908/A
1. Introduction
ANALOG OUTPUTS
• Number of outputs: 4 bipolar/unipolar
DICO 908/A units are proposed by SYSTEM Electronics as a family of reliable and low cost CANopen slaves
implementing analog inputs and outputs compliant to
DS-401 specifications.
• Output impedance: 0.1 Ω
• Output range: 0…5 V, 0…10 V, -5…5 V, -10…10 V
(selectable by jumpers)
• Max output current: 2mA
Full version units implement 4 analog outputs and 8
analog inputs (4 of type V/I + 4 of type V or 4 for temperature measures).
• Conversion: 12-bit
• Max setting time: 10usec.
• Encoding: Binary Code
• Output frequency: 1KHz
• Accuracy: ±1% FS
2. Specifications
• Short Circuit protection: yes
• 89C51CC01 40MHz microprocessor
• 1 CAN port (2.0A and 2.0B compliant)
3. DICO 908/A
module
• 1 RS232 port
• 32KB FLASH memory
• 1280 bytes volatile RAM
• 2KB E2Prom memory
• 2KB BOOTLOADER memory
• Conversion: 12-bit (Binary Code)
• Sampling frequency: 1KHz
C2
3
2
1
J BIT RATE
C1
J Node Id (Nid)
1 2 3 4 5
• Passband: from 25Hz to 500Hz (depending upon
digital filter parameters)
1
• Range: 0-10 V, 4-20 mA, 0-20 mA
2
1
2
3
4
5
6
7
3
• Number of inputs: 8 single-ended (4 are selectable for current measurements)
C3
XP3
7
8
9
VOLTAGE/CURRENT INPUTS
4
• I/O are insulated from power supply
J SLOPE
J TERM
1
• Mounting: DIN EN50035
2
XP2
4
5
6
AV-1/2
3
• Dimensions: 110×76×30 mm
BIP
4
• Operating temperature: 0-60 °C
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
XP4
XP1
1
2
3
• Power supply: 12..24Vdc 0.6A max
C0
N3 P3
N2 P2
N1 P1
N0 P0
XP5
1
2
3
Figure 3.1
• Accuracy: ±0.5% FS
• Input resistance: 124 KΩ
JUMPERS
• Input protection: ±2000V (electrostatic discharge)
J Node Id (NId) CANopen 1 … 127 address
TEMPERATURE/RESISTANCE INPUTS
• Number of inputs: 4 (alternate to V/I input)
• Type of configurable inputs:
Termocouples J, K, T, R, S
2 or 3 wires Termoresistances (Pt100-Pt200-Pt500Pt1000)
Resistances
• Conversion: 16-bit
• Passband: 0-10 Hz
• Measurement range: Termocouples: J 0-850 °C
K 0-1200 °C
T 0-450 °C
R 0-1500 °C
S 0-1700 °C
7
OFF
OFF
OFF
OFF
OFF
…
6
OFF
OFF
OFF
OFF
OFF
…
5
OFF
OFF
OFF
OFF
OFF
…
4
OFF
OFF
OFF
OFF
OFF
…
3
OFF
OFF
OFF
OFF
ON
…
2
OFF
OFF
ON
ON
OFF
…
1
OFF
ON
OFF
ON
OFF
…
NId
1
1
2
3
4
…
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
ON
OFF
ON
126
127
Table 3.1
Pt100: -230 °C - 700 °C
Ohm: 0-10 KΩ
mV: ±100mV
V: 0-5 V
• Resolution: 0.1 °C / 0.1 Ω
• Accuracy: < 0.2% FS (25 °C)
• Input protection: ±2000V (electrostatic discharge)
October 2014 - Rev. 1.1
page
Order Code 5906515101
DICO Unit - DICO 908/A
DICO 908/A I/O C0NNECTIONS
J BIT RATE
3
OFF
OFF
OFF
OFF
ON
ON
ON
ON
BIT
1 Mbps
800 Kbps
500 Kbps
250 Kbps
125 Kbps
50 Kbps
20 Kbps
10 Kbps
2
OFF
OFF
ON
ON
OFF
OFF
ON
ON
1
OFF
ON
OFF
ON
OFF
ON
OFF
ON
J TERM
CANbus termination
J SLOPE
Slope Control (> 500Kbps to be inser-
ted for transmission speed)
Temperature Voltage
2-3
1-2
OFF
OFF
In 0 +
XP4.2 In 1 (V only) In 0 -
XP4.3 Analog Input Common 0-1 Common 0
XP4.4 In 2 (V/I)
In 1 +
XP4.5 In 3 (V only) In 1 -
XP4.6 Analog Input Common 2-3
Common 1
XP4.7 In 4 (V/I)
In 2 +
XP4.8 In 5 (V only) In 2 -
XP4.9 Analog Input Common 4-5
Common 2
XP4.10 In 6 (V/I)
In 3 +
XP4.11 In 7 (V only) In 3 -
UNIPOLAR
0…10 V
0…5V
OFF
OFF
OFF
ON
Common 3
XP4.14 Analog Output common
XP4.15 Analog Output 1
XP4.16 Analot Output common
XP4.17 Analog Output 2
XP4.18 Analog Output common
J ANALOG OUTPUT
Temperature input
XP4.13 Analog Output 0
Current
2-3
ON
Table 3.3
BIP
AV ½
V/I input
XP4.12 Analog Input Common 6-7 J ANALOG INPUT
Px - Nx
Cx
XP4.1 In 0 (V/I)
Table 3.2
XP4.19 Analog Output 3
BIPOLAR
-10 … +10 V -5 … +5 V
ON
ON
OFF
ON
All Analog Input Common points are connected together
inside the board.
All Analog Output Common points are connected together inside the board.
Table 3.4
ON: jumper is inserted
OFF: jumper is not inserted
DICO 908/A-I CONNECTIONS
POWER SUPPLY CONNECTION
V/I input
Temperature
input
In 0 +
XP4.2 In 1 (V only) In 0 -
XP4.1 In 0 (V/I)
XP1.1 +24VDC (15 … 28 Vdc 0.2A)
XP1.2 GND
XP1.3 GROUND (PE)
CANBUS CONNECTION
XP2.4 CANH
XP2.5 CANL
XP2.6 REF
XP3.7 CANH
XP4.3 Analog Input Common 0-1 Common 0
XP4.4 In 2 (V/I)
In 1 +
XP4.5 In 3 (V only) In 1 -
XP4.6 Analog Input Common 2-3
Common 1
XP4.7 In 4 (V/I)
In 2 +
XP4.8 In 5 (V only) In 2 -
XP4.9 Analog Input Common 4-5
Common 2
XP4.10 In 6 (V/I)
In 3 +
XP4.11 In 7 (V only) In 3 -
XP4.12 Analog Input Common 6-7 XP3.8 CANL
Common 3
XP4.13 Not used
XP3.9 REF
XP4.14 Not used
XP4.15 Not used
XP4.16 Not used
RS232 CONNECTION (manufacture's use only)
XP4.17 Not used
XP4.18 Not used
XP5.1 TX
XP4.19 Not used
XP5.2 RX
XP5.3 GND
All Analog Input Common points are connected together
inside the board.
XP5.4 NC
XP5.5 +5V
October 2014 - Rev. 1.1
page
Order Code 5906515101
DICO Unit - DICO 908/A
4. Filtering V/I
analog inputs
DICO 908/A-O CONNECTIONS
XP4.1 Not used
XP4.2 Not used
XP4.3 Not used
XP4.4 Not used
XP4.5 Not used
XP4.6 Not used
XP4.7 Not used
XP4.8 Not used
XP4.9 Not used
XP4.10
Not used
XP4.11
Not used
XP4.12
Not used
XP4.13
Analog output 0
XP4.14
Analog Output Common
XP4.15
Analog Output 1
XP4.16
Analog Output Common
XP4.17
Analog Output 2
XP4.18
Analog Output Common
XP4.19
Analog Output 3
Each analog input has an hardware anti-aliasing filter
(cut-off frequency = 500Hz).
An infinite response digital filter (IIR) can be activated
writing to object 0x2100:
yn = xn + byn-1
; b = 0, 1, 3, 7
b +1
Default value for filter weight: b = 0.
Based on the value of the parameter "b" cut-off frequency of the filter moves from 500Hz to 25Hz as can be see
in Figures 4.1, 4.2, 4.3.
All Analog Output Common points are connected together inside the board.
CONNECTION OF SENSORS
• 2 wires Termoresistance
Input +
Figure 4.1 Parameter b = 1
Input Common
Figure 3.1.1
• 3 wires Termoresistance
Input +
Input -
Common
Figure 3.1.2
Figure 4.2 Parameter b = 3
• Termocouples
Input +
Input Common
Figure 3.1.3
October 2014 - Rev. 1.1
page
Order Code 5906515101
DICO Unit - DICO 908/A
Figure 4.3 Parameter b = 7
5. CANopen
Figure 5.1
October 2014 - Rev. 1.1
page
Order Code 5906515101
DICO Unit - DICO 908/A
6. Object Dictionary: Entries supported by
DICO 908/A
Index
(hex)
1000
1001
1008
1009
100A
100C
100D
1010
Sub
index
Object
VAR
VAR
VAR
VAR
VAR
VAR
VAR
ARRAY
1
2
3
4
1011
ARRAY
1
2
3
4
1017
1018
VAR
RECORD
1
2
1029
ARRAY
1
2
1200
RECORD
1
2
1400
RECORD
1
2
3
5
1600
RECORD
1
2
3
4
1800
RECORD
1
2
3
5
1801
RECORD
1
2
3
5
1A00
RECORD
1
2
3
4
1A01
RECORD
1
2
3
4
2000
VAR
2002
RECORD
1
2
3
2003
ARRAY
1…10
2020
ARRAY
1
2
3
4
October 2014 - Rev. 1.1
Name
Device type (0x191 = 401)
Error register
Manufacturer device name
Manufacturer hardware version
Manufacturer software version
Guard time
Life time factor
Store parameters
Save All parameters
Save Communication parameters
Save Application parameters
Save Manufacturer parameters
Restore default parameters
restore all parameters
restore default communication parameters
restore default application parameters
restore default manufacturer parameters
Producer heartbeat time
Identity
Vendor-ID (System S.p.A.)
Product code
Error behaviour
Communication error
Device profile or Manufacturer specific
1 st Server SDO parameters
COB-ID client -> server
COB-ID server -> client
RPDO1 communication parameters
COB-ID
Transmission type
Inhibit time
Event timer
RPDO1 mapping parameters
1 st mapped object
2 nd mapped object
3 rd mapped object
4 th mapped object
TPDO1 communication parameters
COB-ID
Transmission type
Inhibit time
Event timer
TPDO2 communication parameters
COB-ID
Transmission type
Inhibit time
Event timer
TPDO1 mapping parameters
1 st mapped object
2 nd mapped object
3 rd mapped object
4 th mapped object
TPDO2 mapping parameters
1 st mapped object
2 nd mapped object
3 rd mapped object
4 th mapped object
H/W configuration:
Bit 7 = 1
Analog Outputs
Bit 6 = 1
Analog Inputs for A/D
Bit 5 = 1
Analog Inputs for Sigma-Delta A/D
Bits 4..0 = FPGA Version
could junction parameters
n_coldj
ntc_sel (0 = user table, 1=ntc 1K, 2=ntc 2K, 3=ntc 2.2K)
cold junction channel (9 -> cold junction temp. = temp.chip)
user table ntc
table [i]
temperature (0,1 °C) / resistance (0,1 Ohm)
temperature / input resistance 1
temperature / input resistance 2
temperature / input resistance 3
temperature / input resistance 4
page
Type
Access
Default value
UNSIGNED32
UNSIGNED8
Vis-String4
Vis-String4
Vis-String4
UNSIGNED16
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED16
Identity (23H)
UNSIGNED32
UNSIGNED32
UNSIGNED8
UNSIGNED8
UNSIGNED8
SDO Parms (22H)
UNSIGNED32
UNSIGNED32
PDO CommPar (20H)
UNSIGNED32
UNSIGNED8
UNSIGNED16
UNSIGNED16
PDO MapPar (21H)
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
PDO CommPar (20H)
UNSIGNED32
UNSIGNED8
UNSIGNED16
UNSIGNED16
PDO CommPar (20H)
UNSIGNED32
UNSIGNED8
UNSIGNED16
UNSIGNED16
PDO MapPar (21H)
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
PDO MapPar (21H)
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED8
ro
ro
ro
ro
ro
ro
ro
0x000C0191
0
“908A”
“0.00”
“2.40”
0
0
ro
ro
ro
rw
0x00000000
0x00000000
0x00000000
0x00000001
ro
ro
ro
rw
rw
0x00000000
0x00000000
0x00000000
0x00000001
0
ro
ro
0x0000008A
0x59065151
ro
rw
1
2
ro
ro
0x40000600+NId
0x40000580+NId
rw
ro
ro
rw
0x40000200+NId
255
0
0
rw
rw
rw
rw
0x64110110
0x64110210
0x64110310
0x64110410
ro
ro
rw
rw
0x40000180+NId
255
10
0
ro
ro
rw
rw
0x40000280+NId
255
10
0
ro
ro
ro
ro
0x64010110
0x64010210
0x64010310
0x64010410
ro
ro
ro
ro
ro
0x64010510
0x64010610
0x64010710
0x64010810
UNSIGNED16
UNSIGNED8
UNSIGNED8
rw
rw
rw
5266
1
9
UNSIGNED16
rw
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED16
ro
ro
ro
ro
Order Code 5906515101
DICO Unit - DICO 908/A
Index
(hex)
2030
Sub
index
Object
ARRAY
1
2031
ARRAY
1
2033
1
2041
1
2
2100
ARRAY
RECORD
ARRAY
1
2
3
4
5
6
7
8
6401
ARRAY
1..8
6411
ARRAY
1..4
6443
ARRAY
1..4
6444
parameters for input 1
input type (*)
parameters for input 2
input type (*)
parameters for input 3
input type (*)
parameters for input 4
input type
Check connection (solo per ingressi temperatura)
flag check connection (1 x fare il check)
status canali (bitmask: 00=ok, 01=corto, 11=aperto)
Parametro di peso del filtro IIR per le letture analogiche
(val. possibili 0,1,3,7)
parameter for input 1
parameter for input 2
parameter for input 3
parameter for input 4
parameter for input 5
parameter for input 6
parameter for input 7
parameter for input 8
16-bit analog inputs
input 1..8 (*)
16-bit analog outputs
output 1..4
Analog Output Error Mode
Error Mode Analog Output 1..4
Analog Output Error Value
Error Value Analog Output 1..4
ARRAY
1
2032
Name
ARRAY
1..4
Type
Access
Default value
UNSIGNED8
rw
0
UNSIGNED8
rw
0
UNSIGNED8
rw
0
UNSIGNED8
rw
0
UNSIGNED8
UNSIGNED8
wo
ro
0
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
rw
rw
rw
rw
rw
rw
rw
rw
0
0
0
0
0
0
0
0
UNSIGNED16
ro
UNSIGNED16
rw
UNSIGNED8
rw
0
UNSIGNED32
rw
0
Table 6.1
(*) Enconding of analog Input values depends upon input type, as shown in the following list:
Input type:
Encoding/measure unit
0 = analog input
binary (0 … 4095)
1 = pt100
0.1 °C
2 = pt200
0.1 °C
3 = pt500
0.1 °C
4 = pt1000
0.1 °C
6 = resistance 0 - 380 Ohm
0.1 Ω
7 = resistance 0 - 3 Kohm
0.1 Ω
9 = termocouple J 0.1 °C
10 = termocouple K
0.1 °C
11 = termocouple T
0.1 °C
12 = termocouple R
0.1 °C
13 = termocouple S
0.1 °C
14 = custom NTC
0.1 °C
15 = NTC 1K Ohm 0.1 °C
16 = NTC 2K Ohm 0.1 °C
17 = NTC 2.2K Ohm
0.1 °C
22 = input voltage ±2500 mV
binary (0 … 65535)
23 = input voltage ±1250 mV
binary (0 … 65535)
24 = input voltage ±625 mV binary (0 … 65535)
25 = input voltage ±312,5 mV
binary (0 … 65535)
26 = input voltage ±156,25 mV
binary (0 … 65535)
27 = input voltage ±78,125 mV
binary (0 … 65535)
28 = input voltage ±39,0625 mv
binary (0 … 65535)
29 = input voltage ±19,531 mV
binary (0 … 65535)
For analog input types 22 to 29, the value read in object 0x6401 is the binary value (N); if the network master
wants to translate to mV, the following formula must be used:
Value_mV =
N * (2*Max_mV)
65536
Example: Type = 26
Value_mV = [10500 * (2*156,25)]/65536 = 50,07 mV
N = 10500
October 2014 - Rev. 1.1
page
Order Code 5906515101