ETC CO4011SRL-F

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
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Features
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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
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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.
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
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
IO1
IO0
OUT11
OUT10
OUT9
OUT8
OUT7
OUT6
OUT5
OUT4
OUT3
OUT2
OUT1
OUT0
BD2
BD1
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
Pin Assignment
Pin Listing continued
VSS
49
32
BD0
IO2
50
31
ID6
IO3
51
30
ID5
IO4
52
29
ID4
IO5
53
28
ID3
IO6
54
27
ID2
IO7
55
26
ID1
VCC
56
25
ID0
CF
57
24
VSS
CFG3/WD
58
23
X1
CFG2
59
22
X0
OLIRQ#
60
21
VSS
6
7
8
9
10
11
12
13
14
15
16
IN3
IN2
IN1
IN0
AVCC
AVREF
AVSS
CFG0
VSS
TEST
CFG1
IN4
17
5
64
IN5
CANRX
4
VCC
IN6
18
3
63
IN7
RES#
CANTX
1
VCC
19
2
20
62
IN8/WUII
61
IN9/RPDI
IN11
IN10
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
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
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
Pin Listing
Handling the Device
Pin No.
1 to 2
Pin Name
IN9 to IN8
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
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.
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
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
CFG0 to CFG2: Configuration input pins / LED
output pins
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#.
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
Design example for programming adaptor.
VCC
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.
CO4011
1k
Jx
21
1k
VCC
18
Jy
25
26
5
CO4011
VCC
21
4
6
VSS
25
VCC
VCC
OVL#
3
ID0
ID0
ID1
4k7
7
8
VSS
VSS
VCC
RXD (TTL)
60
TXD (TTL)
62
OVL#
ID0
2
26
ID1
D-Sub 9
ID1
VSS
18
RS232 adapter with a Cable and
a D-Sub-Connector to PC (Com X)
VCC
VCC
RXD
60
MAX232
IN10
4k7
IN10
Application with Co4011
OVL#
OVL#
62
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.
IN10
IN10
TXD / RXD whith
TTL-Level (0-5V)
Programming
Normal operation
Pin
No.
21
18
25
26
60
62
Pin
Name
VSS
VCC
ID0
ID1
OVL#
IN10
For optimised programming adapter design, the
programming adapter should close the jumpers Jx
and Jy directly by plugging the adaptor into the
application board.
Pin Setting for in circuit
programming
Level = High
Level = Low
Level = Low
Level = Low
RXD (TTL – logic level)
TXD (TTL – logic level)
For normal operation mode the programming
adapter must be removed.
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
Analog Input Selection
With configuration bits CFG0 and CFG1 the number
and resolution of analog inputs are set.
CFG CFG
1
0
The CAN Identifier will be set with Pins ID0 to ID6.
This configuration pins use internal inverter. The ID
is set as follows:
1
1
Nr of
analog
channels
0
1
0
8
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
0
1
4
0
0
CAN Identifier
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
Resolution
-
Analog Digital
Inputs Inputs
-
8 Bit
IN0 to
*1)
IN7
10 Bit
IN 0 to
*2)
IN 3
Reserved
IN0 to
IN11
IN8 to
IN11
IN4 to
IN11
*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
BD2 BD1 BD0 CAN-Baud Rate / Bus length
1
1
1 1
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)
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
*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.
Enable additional CAN features
CFG2 I/O Port is used for
1
Digital Input
0
Digital Output
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.
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.
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.
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
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
2000
2100
2101
2102
2110
2180
0
1
2
3
-
Name
Acc.
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
ro
ro
ro
ro
ro
ro
rw
*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
rw
rw
ro
rw
rw
rw
wo
wo
rw
rw
rw
ro
ro
ro
ro
ro
rw
ro
rw
rw
rw
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.
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
DS401: Digital Input 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
5001 0 to n
5002 0 to n
5003 0 to n
Index SubIndex
1400 0
1
2
3
4
5
1401
…
1403
1600
0
1 to n
1601
…
1603
1800
0
1
2
3
4
5
1801
…
1803
1A00
0
1 to n
1A01
…
1A03
Name
Acc.
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
ro
rw
rw
rw
rw
rw
rw
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
Acc.
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
rw
rw
rw
ro
rw
rw
rw
rw
rw
rw
ro
ro
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.
rw
rw
rw
ro
rw
rw
rw
rw
rw
rw
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.
rw
rw
rw
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"
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Page 9 of 9
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Single Chip CANopen Controller for Remote I/O
Description of Object Dictionary
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
Acc.
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
rw
rw
rw
rw
rw
wo
wo
Index 0005
This object is implemented to enable reservation of
data space in PDOs by mapping dummy entries.
DS401: Analog Input Objects
Index SubIndex
6400 0 to n
6401 0 to n
6421 0 to n
6423
6424
6425
6426
6427
0 to n
0 to n
0 to n
0 to n
6428
0 to n
6431
0 to n
The following list gives da short description of all
dictionary entries.
Name
Acc.
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
ro
ro
rw
rw
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
0005
Dummy 8
Unsigned 8
RO
Yes
0
Index 0006
rw
rw
rw
rw
This object is implemented to enable reservation of
data space in PDOs by mapping dummy entries.
rw
rw
*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
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
0006
Dummy 16
Unsigned 16
RO
Yes
0
Additional Objects for Power Down
Index SubIndex
2FF9 0
2FFA 0
2FFB 0
2FFC 0
2FFD 0
2FFE 0
2FFF 0
Index 0007
Name
Acc.
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
Rw
Rw
rw
rw
rw
rw
rw
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
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Page 10 of 10
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CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index 1002 : Status Register
DS301: Global Objects
This object gives additional information for the device
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
1002h
Status Register
Unsigned 32
RO
Yes
-
The status register bits have the following meaning
Bit
Meaning
31
The device is in operational state
30
Node guarding error
23
Value of Index
0003 0191 h
0007 0191 h
0007 0191 h
0003 0191 h
0007 0191 h
0007 0191 h
This object holds an error of the device.
1001h
Error Register
Unsigned 8
RO
Yes
-
I/O error output overload error
Index 1005 : COB-ID Sync
Index 1001 : Error Register
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
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
-
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
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Page 11 of 11
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Single Chip CANopen Controller for Remote I/O
Index 1008 : Device Name
Index 100B : Node-ID
This object shows the name of the device as visible
string.
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
1008h
Device Name
Visible String
RW
No
The maximum string length is 20
characters
CO4011A
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
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
-
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.
100Bh
Node ID
Unsigned 8
Not accessible
No
1 to 127
See below
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.
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Page 12 of 12
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Single Chip CANopen Controller for Remote I/O
Index 100C : Guard Time
Index 1010 : Store Parameters
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.
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.
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
100Ch
Guard Time
Unsigned 16
RW
No
0
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
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
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
1010h
Store Parameters
Structure
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
1010h Subindex 0
Largest SubIndex supported
Unsigned char
RO
No
1
1
Index
Name
Description
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 -
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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
1011h Subindex 0
Largest SubIndex supported
Unsigned char
RO
No
1
1
Index
Name
Description
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
Index 1014 : COB-ID 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
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Identifier of
messages.
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Can
Object
for
the
emergency
1014h
COB-ID Emergency
Unsigned 32
RW
No
80h + Node-ID
1011h
Restore Default Parameters
Structure
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Page 14 of 14
Revision 1.39
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Single Chip CANopen Controller for Remote I/O
Index 1015 : Inhibit Time Emergency
Index 1018 : Identity Object
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.
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
Access modes
PDO Mapping
Value Range
Default Value
Index
Name
Description
Data Type
1018h
Identity Object
Structure
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
1018h Subindex 0
Largest SubIndex supported
Unsigned char
RO
No
3
1015h
Inhibit Time Emergency
Unsigned 16
RW
No
0
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
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.
Index
Name
Description
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
Index
Name
Description
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
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Page 15 of 15
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Single Chip CANopen Controller for Remote I/O
Index 2000 : Device Manufacturer
Index 2110 : Enable Boot Up Message
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).
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
2000h
Device Manufacturer
Visible String
RO
No
"Frenzel + Berg"
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
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 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)
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
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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
0
1-240
241-251
252
253
254
255
X
PDO transmission
acyclic Sync
Async. Only
related
on
remote
X
X
X
Reserved
X
X
X
X
X
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).
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
1400h
Receive PDO1
Communication Parameters
Structure
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
1400h Subindex 0
Largest SubIndex supported
Unsigned 8
RO
No
5
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
1400h Subindex 1
COB-ID
Identifier for CAN-Object for PDO1
Unsigned 32
RW
No
200h + Node-Id
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
1400h Subindex 2
Transmission Type
Unsigned 8
RW
No
0FFh
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
1400h Subindex 3
Inhibit Time
Unsigned 16
RW
No
0
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Page 17 of 17
Revision 1.39
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CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
1400h Subindex 4
Reserved
No
-
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
1400h Subindex 5
Event Time
Unsigned 16
RW
No
0
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
1800h
1801h
LSB
Byte0
Length
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
The PDO communication parameter objects have
the same structure for all PDOs. The following
Objects are used.
Index
1400h
1401h
Byte1
Subindex
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.
Description
Data Type
1600h
Receive PDO1
Mapping Parameters
Array
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
1600h Subindex 0
Largest SubIndex supported
Number of mapped objects
Unsigned 8
RW
No
According to operation mode
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
1600h Subindex 1 to 8
Mapped object
Unsigned 32
RW
No
According to operation mode
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)
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The PDO mapping objects have the same structure
for all PDOs. The following Objects are used.
Index
1600h
1601h
1A00h
1A01h
DS401: Digital Input Objects
PDO
Receive PDO1 (digital output)
Receive PDO2 (analog output)
Not implemented in CO4011A
Transmit PDO1 (digital input)
Transmit PDO2 (analog input)
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
5001h (5002h)
Write 1 to digital input
(Write 0 to digital input)
Array
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 0
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 1 to Nr of input bytes
Number of mapped objects
Unsigned 8
RO
NO
Number of digital input bytes
Bitmap to mask input byte with
Unsigned 8
RW
YES
0 for 5001 (0FFh for 5002)
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Index 5003 : Filter Time Digital Input
Index 6000 : Read Digital Input 8 Bit
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.
This object represents the digital input bytes. The
value of the input lines is written to this object.
Index
Name
Description
Data Type
5003h
Filter Time Digital Input
Array
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 0
Nr of Subobjects
Index
Name
Description
Unsigned 8
RO
No
Number of digital input lines
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
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
6000h
Digital Input 8 Bit
Array
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 0
Nr of Subobjects
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 1 to Nr of input bytes
Digital Input 8 Bit Byte n
Unsigned 8
RO
No
Number of digital input bytes
Unsigned 8
RO
Yes
-
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Index 6100 : Read Digital Input 16 Bit
Index 6003 : Filter Enable Input 8 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.
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 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
6002h
Polarity Input 8 Bit
Array
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 0
Nr of Subobjects
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
RO
No
Number of digital input bytes
Unsigned 8
RW
No
0
Index
Name
Description
Data Type
6002h
Polarity Input 8 Bit
Array
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 0
Nr of Subobjects
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
RO
No
Number of digital input bytes
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
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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
6006h
Interrupt Mask any change
Array
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 0
Nr of Subobjects
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 1 to Nr of input bytes
Interrupt Mask any change
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.
Unsigned 8
RO
No
Number of digital input bytes
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Unsigned 8
RW
No
0FFh (interrupt enabled)
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.
5200h
Output Reset on Error Option
Unsigned 8
RW
No
1
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.
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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
6200h
Write to digital output
Array
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 0
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 1 to Nr of output bytes
Write to digital output
Index 6202 : Polarity Output 8 Bit
With this object, the digital outputs may be inverted.
See also Index 6200 for additional information.
Number of mapped objects
Unsigned 8
RO
NO
Number of digital output bytes
Unsigned 8
RW
YES
0
Index
Name
Description
Data Type
6202h
Polarity Output 8 Bit
Array
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 0
Nr of Subobjects
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 1 to Nr of input bytes
Polarity Output 8 Bit Byte n
Unsigned 8
RO
No
Number of digital output bytes
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 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 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
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
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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
DS401: Analog Input Objects
Unsigned 8
RW
No
0FFh
(Take error condition from object
6207)
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.
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.
Index
Name
Description
Data Type
6207h
Error Value Output 8 Bit
Array
The mapping of the I/O lines to object 6400 is explained in chapter "Mapping I/O to Object Dictionary"
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 0
Nr of Subobjects
Note:
Object 6400 is only valid if operation mode
selects 8 Bit resolution of A/D converter.
Unsigned 8
RO
No
Number of digital output bytes
Index
Name
Description
Data Type
6400h
Read Analog Input
Array
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 1 to Nr of input bytes
Error Value Output 8 Bit Byte n
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 0
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 1 to Nr of input lines
Read Analog Input
Unsigned 8
RW
No
0 (Inactive, high level)
Number of mapped objects
Unsigned 8
RO
NO
Number of analog input bytes
Signed 8
RO
YES
-
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Index 6401 : Read Analog Input 16 Bit
Index 6421 : Analog Input Interrupt Trigger
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.
Object 6421 selects the event that shall cause a
transmission interrupt for the selected analog
channel.
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
Name
Description
Data Type
6401h
Read Analog Input
Array
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 0
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 1 to Nr of input lines
Read Analog Input
Number of mapped objects
Unsigned 8
RO
NO
Number of analog input bytes
Signed 16
RO
YES
-
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
6421h
Analog Input Interrupt Trigger
Array
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 0
Number of mapped objects
Unsigned 8
RO
NO
Number of analog input lines
Index
Name
Description
Data Type
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
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Single Chip CANopen Controller for Remote I/O
Index 6424/5/6/7/8 :
Analog Input Interrupt Limits
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
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
6425
6426
6427
6428
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
Index
Name
Description
Data Type
6424/5/6/7/8/9
See table above
Array
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 0
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 1 to Nr of input lines
See table above
Number of mapped objects
Unsigned 8
RO
NO
Number of analog input lines
Integer 32
RW
No
0
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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
6431h
Analog Input Offset
Array
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 0
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
Subindex 1 to Nr of input lines
Analog Input Offset
Number of mapped objects
Unsigned 8
RO
NO
Number of analog input lines
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
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Index 2FFD :
Reset Power Down Input Pin Enable
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
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
2FFB
Power-Down-Delay-Time
Unsigned 16
RW
NO
0 .. 20000
500
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
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.
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
2FFC
Wake-Up-Counter
Unsigned 32
RW
YES
0
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
2FFE
Power-Down-Enable
Unsigned 32
RW
NO
0
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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.
Index
Name
Description
Data Type
Access modes
PDO Mapping
Value Range
Default Value
2FFF
Switch To Power Down Mode
Unsigned 32
WO
NO
0
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).
Summary of operation modes
The following table shows a summary of possible
operation modes.
Description
2
1
1
CFG
1
1
1
Mode
3
1
1
0
1
0
0
1 *2)
1
1
0
1
2
1
1
1
1
0
0
0
1
1
0
1
0
3
4
5 *2)
1
0
0
1
6
1
0
0
x
0
x
0
X
7
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)
*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.
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CO4011A-FL
Single Chip CANopen Controller for Remote I/O
20 digital in / 12 digital out
16 dig. in / 12 dig. out / 4 analog in 16 bit
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
7 6 5 4 3 2 1 0
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
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
7 6 5 4 3 2 1 0
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)
I/O Port is used for digital Input.
.
12 digital in / 20 digital out
8 dig. in / 20 dig. out / 4 analog in 16 bit
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
7 6 5 4 3 2 1 0
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
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
7 6 5 4 3 2 1 0
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)
.
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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
7 6 5 4 3 2 1 0
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
7 6 5 4 3 2 1 0
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)
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Page 31 of 31
Revision 1.39
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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
-40
-40
-55
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
CO4011A
CO4011AE
Recommended Operation Conditions and Characteristics
Functional operation should be restricted to recommended operation conditions.
Parameter
Symbol
Rated Value
Min.
Typ.
4.5
5.0
VCC
3.0
35
Units Remarks
Max.
5.5
VCC
VCC
50
Power supply voltage
Analog power supply voltage
Analog reference voltage
Power supply current
VCC
AVCC
AVREF
ICC
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
VIH
VIL
VOH
VOL
ILKC
fosc
tres
tRESLH
tDITB
0.8 * VCC
VSS – 0.3
VCC – 0.5
10
0.05
0.05
0.5
30
2
V
V
V
V
uA
MHz
us
ms
ms
tDBTO
0.05
0.5
2
ms
fWDT
100
1000
2000
Hz
Maximum Power dissipation
Operating temperature
PMAX
TA
TA
-40
-40
300
+85
+105
mW
o
C
o
C
VCC + 0.3
0.2 * VCC
0.4
5
-5
4
V
V
V
mA
All inputs VIL or VIH
All outputs open
IOH = -4.0 mA
IOL = 4.0 mA
No additional bus
distribution delay
Delayed max. 500
ms after reset
CO4011A
CO4011AE
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Page 32 of 32
Revision 1.39
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CO4011A-FL
Single Chip CANopen Controller for Remote I/O
Package Dimension CO4011A
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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
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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.
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Page 35 of 35
Revision 1.39
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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
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
Power Down Mode.................................................... 7
Activate Power-Down.................................................. 7
Return from Power-Down ........................................... 7
Emergency-Message.................................................. 7
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
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
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
Description of Object Dictionary ........................... 10
Index 0005 ................................................................ 10
Index 0006 ................................................................ 10
Index 0007 ................................................................ 10
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
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Page 36 of 36
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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
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Revision 1.39
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