38 CANOPEN SLAVE M1. Technical Document. Epec Oy

Technical Document Epec Oy

2 / 57 DOCUMENT VERSION HISTORY Date Notes Updated Sections 10.1 Protection and 11.1 Mounting 23.11.2009 Updated Sections 6.2.1 6200h Write Output 8 bit and 4.16.3 1800h-1807h Transmit PDO Communication Parameter 26.05.2009 First released version

3 / 57 TABLE OF CONTENTS 1 GENERAL... 5 1.1 Purpose of This Document... 5 1.2 Use of Symbols... 5 1.3 About Manufacturer... 5 1.4 Epec CAN Module Family... 5 1.5 Basic skills required... 6 1.6 Safety guidelines... 6 1.7 Warranty... 6 1.8 Limited liability... 7 1.9 Environmental statement... 7 1.10 References... 7 2 CANOPEN SLAVE UNIT GENERAL DESCRIPTION... 8 2.1 Software Description... 9 3 INPUT / OUTPUT SPECIFICATIONS... 10 3.1 I/O Amounts... 10 3.2 Closed Loops Wiring... 10 3.3 AMPSEAL Connectors... 10 3.4 AMPSEAL Cable Dimensions... 11 4 COMMUNICATION PROFILE OBJECTS... 12 4.1 1000h Device Type... 16 4.2 1001h Error Register... 16 4.3 1003h Pre-defined Error Field... 17 4.4 1005h COB-ID SYNC message... 17 4.5 1008h Manufacturer Device Name... 18 4.6 1009h Manufacturer Hardware Version... 18 4.7 100Ah Manufacturer Software Version... 18 4.8 1010h Store Parameters... 19 4.9 1011h Restore Default Parameters... 20 4.10 1014h COB-ID EMCY... 20 4.11 1015h Inhibit Time EMCY... 20 4.12 1016h Consumer Heartbeat Time... 21 4.13 1017h Producer Heartbeat Time... 21 4.14 1018h Identity Object... 21 4.15 1200h Server SDO Parameter... 22 4.16 PDOs... 23 4.16.1 1400h-1402h Receive PDO Communication Parameter... 24 4.16.2 1600h-1602h Receive Parameter... 24 4.16.3 1800h-1807h Transmit PDO Communication Parameter... 25 4.16.4 1A00h-1A07h Transmit Parameter... 25 5 MANUFACTURER SPECIFIC PROFILE AREA... 26 5.1 2003h Communication Parameters... 26 5.2 2501h Configuration of AI type... 27 5.3 2502h PWM Frequency... 27 5.4 2503h Pulse Input Configuration... 28 6 STANDARDISED DEVICE PROFILE... 29 6.1 Digital Inputs... 30 6.1.1 6000h Read Input 8 bit... 31

4 / 57 6.1.2 6002h Polarity Input 8 bit... 31 6.2 Digital Outputs... 32 6.2.1 6200h Write Output 8 bit... 32 6.2.2 6202h Change Polarity Output 8 bit... 33 6.2.3 6206h Error Mode Output 8 bit... 33 6.2.4 6207h Error Value Output 8 bit... 33 6.3 Analogue Inputs... 34 6.3.1 6401h Read Analogue Input 16 bit... 34 6.3.2 6423h Analogue Input Global Interrupt Enable... 35 6.3.3 642Eh Analogue Input Offset Float... 36 6.3.4 642Fh Analogue Input Pre-Scaling Float... 36 6.4 Analogue Output... 37 6.4.1 6411h Write Analogue Output 16 bit... 37 6.5 Analogue Output Set-ups... 38 6.5.1 6443h Analogue Output Error Mode... 38 6.5.2 6444h Analogue Output Error Value Integer... 38 7 POWER SUPPLY... 39 7.1 Overvoltage... 39 7.2 Power Consumption... 39 7.3 Power Supply Pins... 39 8 I/O CHARACTERISTICS... 40 8.1 DI/DO/PWM... 40 8.2 DI/DO/PWM/PI... 42 8.3 FB-... 42 8.4 DI/PI... 43 8.5 AI/DI... 45 8.6 DI/DO-... 46 9 BUS CONNECTIONS... 47 9.1 Bus Connection Pins... 47 9.2 CAN Interface... 47 10 ENVIRONMENTAL CHARACTERS... 48 10.1 Protection... 48 10.2 EMC Tests... 48 10.3 Environmental Tests... 52 11 HOUSING... 54 11.1 Mounting... 54 11.2 Unit Dimensions... 55 12 ADDITIONAL DOCUMENTS... 56 13 TERMINOLOGY & ABBREVIATIONS... 57

5 / 57 1 GENERAL 1.1 Purpose of This Document This technical document is meant to be used in system development. This document contains necessary data concerning the unit in question, which system designer needs in system development work. Copying of this document without permission is prohibited. All trademarks mentioned in this document are owned by their manufacturers. 1.2 Use of Symbols This manual uses the following icons to point out important information or safety-related issues: The (electrical) warning icon indicates a hazard which could cause an electrical danger and/or a personal injury. The caution icon indicates very important information or a warning. If the advices are ignored, it can result in personal injury or damage to software or equipment. The information icon indicates important information and issues to be noted for the reader. 1.3 About Manufacturer Epec Oy helps its customers to manufacture efficient, safe and environmental friendly mobile working machines and special vehicles which help their customers to maximise their productivity. Epec is a solution provider specialized in embedded control systems, vehicle computers and information logistics systems for mobile machines. We believe that we know control systems for challenging conditions and we are able to offer a total solution from control units to project services and designing. 1.4 Epec CAN Module Family Epec CAN Module Family is designed to operate in extreme environments, where vibration, wide temperature changes and moisture are normal conditions. The requirements for the system s reliability and safety have been the key words in module family development. A small and protective module casing keeps inside high performance microcontroller with lots of control capabilities.

6 / 57 1.5 Basic skills required The user of this document must have professional skills on machine controlling and CAN communication. Please refer CAN and CANopen documentation from CAN in Automation (CiA) for further information on communication issues. 1.6 Safety guidelines The user of this documentation should follow general machine safety guidelines, directives and regulation appropriate to his/her country or market area. This product does not comply with SIL2 or SIL3 classifications and should not be used in such applications, e.g. lifting people, where SIL 2 or SIL3 are required by directives or other regulations. A separate safety analysis is always recommended for the machine and its control system. The features of this product should be well documented in machine and control system documents so that the machine operator has the right information how to operate the machine correctly and safely. This product is designed to be used only for machine controlling purposes. The manufacturer does not assume any responsibility for this product being fit for any particular application, unless otherwise expressly stated in writing by the manufacturer. This product complies with those certifications and standards that are listed below. The manufacturer does not guarantee that this product complies any other certification, standard or test than listed below. This product is not field serviceable, so it should not be opened at any situation. An external fuse should be installed for the product or the system power supply. The system should be designed and constructed according to the Epec general mounting and cabling instruction document. Epec Oy reserves a right to improve its products without a further notice. 1.7 Warranty The manufacturer does not assume any responsibility for the products being fit for any particular purpose, unless otherwise expressly stated in writing by the manufacturer. The manufacturer gives the warranty of twelve (12) months to the products and thereto related firmware from commissioning or eighteen (18) months from the date of delivery of the products which ever occurs first The manufacturer is during the warranty period responsible for defects in the products and thereto related firmware resulting from faults in material, design or workmanship. The manufacturer s only obligation under this warranty is to, at its sole discretion, either to replace the products and/or thereto related firmware or to repair the defective products. The manufacturer shall, at its sole option, repair the products at its manufactory in Seinäjoki, Finland. The warranty does not cover any costs related to removing or fastening of devices related to the products. Neither does the warranty cover the expenses of sending devices to or from the

7 / 57 manufacturer for repairs. The warranty does not cover possible expenses relating to travelling, accommodation, daily benefits, etc. of installers. The warranty becomes null and void if the buyer and/or a third party alters the products or the firmware in any way or if they are not used in accordance with the Manufacturer s operating instructions. All claims with respect to defects in the products shall be made to the manufacturer without delay and no later than on the seventh (7th) day after the defect has been or should have been discovered by the buyer. The manufacturer strives to reply to the claim in writing within two (2) weeks from the receipt of the claim. The buyer shall attach to the claim a possible error report or equivalent explanation of the grounds for the claim. The manufacturer gives no other warranties whatsoever for the products than the warranty set out in this section and thus the warranty given in this section sets forth the warranty given by the manufacturer in its entirety. 1.8 Limited liability The manufacturer shall under no circumstances be liable for loss of production, loss of profit, loss of use or any other consequential damages and/or indirect losses, whatever their cause may be. In case claims based on product liability are brought against the Manufacturer for which claims the manufacturer may be liable, the manufacturer s liability is limited to the extent normally covered under normal product liability insurances. The buyer shall compensate the manufacturer to the extent that the manufacturer might be liable to pay damages as a result of claims based on product liability according to paragraph above. 1.9 Environmental statement The manufacturer uses ISO14001 environmental certified processes and materials to manufacture products. The manufacturer undertakes to arrange for the recycling and scrapping of the products that are returned to the manufacturer by the buyer and/or the products that are received by the Manufacturer in connection with maintenance services performed as a result of that repairing of the products is deemed by the manufacturer to be inappropriate. The manufacturer will charge a scrapping fee from the buyer according to the manufacturer's price list in force from time to time. No scrapping fee will, however, be charged for products that are received by the manufacturer during the warranty period. 1.10 References [1] CiA DS301: Application Layer and Communication Profile [2] CiA DS401: Device Profile for Generic I/O Modules

8 / 57 2 CANOPEN SLAVE UNIT GENERAL DESCRIPTION 38 CANopen Slave M1 is part of the Epec CAN Module Family. Module is equipped with several input and output pins such as PWM outputs for proportional controls and some feedback inputs for better accuracy of proportional controls. Versatile analogue inputs can be used for example for joystick connection and pulse inputs for frequency measuring or for pulse counting. In addition, the module has some digital inputs and outputs for digital controlling. The unit has one CAN bus. Features ISO High Speed CAN interface, CANopen compatible Based on standards CiA DS301: Application Layer and Communication Profile and CiA DS401: Device Profile for Generic I/O Modules CANopen slave Communication interface CAN1 Operating voltage 12 30 VDC Recommended operating voltage 24 VDC Operating temperature -40 ºC +70 ºC Storage temperature -50 ºC +85 ºC Protection IP67 (classification according to IEC 60529) Overheating and short-circuit protection for outputs Overload protection for outputs Gold plated, locked and sealed connectors: 8-pin AMPSEAL for module connection 23-pin AMPSEAL for I/O Small outline dimensions: 147,5 x 63 x 53 mm Weight 0,5 kg Applications Forest Machines Road Maintenance Construction Machines Crushing Stations Industrial Machines Agricultural applications Automation applications Mining Machines Monitoring Functions Following issues can be monitored by the application Heartbeat monitoring RPDO event time monitoring Low voltage (12 V) /High voltage (30 V) monitoring Bus-passive monitoring Bus-off monitoring Software deadlock is monitored by the hardware watchdog that reboots the module automatically after 300 ms software deadlock. Do not use DO and PWM at the same time with the same pin in any case. After flash operations, wait for the module s SDO response before shutting the power down to protect the flash from possible corruption. If the module is shut down before the SDO response, send a restore command to the module to continue normal operation.

9 / 57 2.1 Software Description The software runs in an infinite loop. At the beginning of each loop, the PDOs are received and at the end of each loop, the PDOs are sent. The cycle time varies according to PI and PWM load, minimum cycle time is 6 ms.

10 / 57 3 INPUT / OUTPUT SPECIFICATIONS 38 CANopen Slave M1 contains inputs and outputs or, in other words, I/O pins of different types. There are, for example, outputs which source current and outputs which sink current. Furthermore, there are I/O pins which can be used as inputs or as outputs. 3.1 I/O Amounts Max Amount DI PI AI PWM DO Pulse Current Digital Pulse Analog Width Measuring Output Input Input Modulation Feedback (sourcing) Capability Digital Input Digital Output (sinking) 2 X X X 4 X X X X 4 X X 3 X (current controlled) X 6 X X 1 X X 20 20 8 9 6 7 The usage of each I/O pin is determined by the application. 3.2 Closed Loops Wiring It is strongly recommended to use closed loops for connecting all sensors, actuators etc. devices to I/O modules. Closed loops wiring can be achieved by connecting the GND wire from the sensor, actuator etc. device into the GND pin of module connector. If it is not possible to use closed loops, use DI/PI pins or DI/AI pins instead. 3.3 AMPSEAL Connectors Epec uses gold plated, locked and sealed AMPSEAL heavy duty connectors for all Epec CAN Module Family products to ensure the endurance of extreme conditions. 8-pin AMPSEAL for power and system CAN connections 23-pin AMPSEAL for I/Os All connectors are mechanically keyed to mate only with identical colours AMPSEAL connector AMP 23-pin grey plug (female) AMP 23-pin black plug (female) AMP 23-pin blue plug (female) AMP 8-pin black plug (female) Epec ordering code KX0007 KX0008 KX0009 KX0187

11 / 57 3.4 AMPSEAL Cable Dimensions Size Insulation diameter range mm 2 AWG Strip length ±0,4 0,5 20 1,7 5,1 0,8 18 to 5,1 1,4 16 2,7 5,1 Typical hand crimping tool e.g.: AMP Procrimper 58529-1, Epec ordering code TT0018 All applied cables should be properly shielded, bundled and grounded See the General Mounting and Cabling Instructions for Epec Modules for more detailed information about the cabling

12 / 57 4 COMMUNICATION PROFILE OBJECTS Index Sub- Description Index Type Acc Object Default 1000h Device type UNSIGNED32 RO VAR 000F0191h 1001h Error register UNSIGNED8 RO VAR 0 Pre-defined error field ARRAY 0 Number of errors UNSIGNED8 RW 0 1003h 1 Standard error field UNSIGNED32 RO 0 2 Standard error field UNSIGNED32 RO 0 50 Standard error field UNSIGNED32 RO 0 1005h COB-ID SYNC UNSIGNED32 RO VAR 80h 1008h Manufacturer device name Vis-String RO VAR 38 CANopen Slave M1 1009h Manufacturer hardware version Vis-String RO VAR 38 M1 100Ah Manufacturer software version Vis-String RO VAR 1.0 Store Parameters ARRAY 0 Largest sub-index supported UNSIGNED8 RO 4 1 Save all parameters UNSIGNED32 RW 1 1010h 2 Save communication parameters UNSIGNED32 RW 1 3 Save application parameters UNSIGNED32 RW 1 4 Save manufacturer defined parameters UNSIGNED32 RW 1 Restore Default Parameters ARRAY 0 Largest sub-index supported UNSIGNED8 RO 4 1 Restore all default parameters UNSIGNED32 RW 1 1011h Restore communication 2 default parameters UNSIGNED32 RW 1 3 Restore application default parameters UNSIGNED32 RW 1 4 Restore manufacturer defined default UNSIGNED32 RW 1 parameters 1014h COB-ID emergency message UNSIGNED32 RO VAR 80h +NodeID 1015h Inhibit Time EMCY UNSIGNED16 RW VAR 0 1016h Consumer heartbeat time ARRAY 0 Largest subindex supported UNSIGNED8 RO 4 1 Consumer heartbeat time UNSIGNED32 RW 0 2 Consumer heartbeat time UNSIGNED32 RW 0 3 Consumer heartbeat time UNSIGNED32 RW 0 4 Consumer heartbeat time UNSIGNED32 RW 0 1017h Producer Heartbeat Time UNSIGNED16 RW 0 Identity Object IDENTITY RO RECORD 0 Number of entries UNSIGNED8 RO 4 1018h 1 Vendor ID UNSIGNED32 RO 30h 2 Product code UNSIGNED32 RO 7F6h 3 Revision number UNSIGNED32 RO 133h 4 Serial number UNSIGNED32 RO

13 / 57 1200h 1400h 1401h 1402h 1600h 1601h 1602h 1800h Server SDO Parameter SDO PARAMETER RECORD 0 Number of supported entries UNSIGNED8 RO 2 1 COB-ID client server UNSIGNED32 RO 600h + NodeID 2 COB-ID server client UNSIGNED32 RO 580h + NodeID Receive PDO 1 PDO Parameter COMMPAR RECORD Digital outputs 0 Number of supported entries UNSIGNED8 RO 2 1 COB-ID used by PDO UNSIGNED32 RW 0000200h + NodeID 2 Transmission type UNSIGNED8 RW 255 3 Inhibit time UNSIGNED16 RW 0 4 Reserved UNSIGNED8 RW 5 Event timer UNSIGNED16 RW 0 Receive PDO 2 PDO Communication COMMPAR Parameter RECORD Analogue outputs 0 Largest sub-index supported UNSIGNED8 RO 5 1 COB-ID used by PDO UNSIGNED32 RW 0000300h + NodeID 2 Transmission type UNSIGNED8 RW 255 3 Inhibit time UNSIGNED16 RW 0 4 Reserved UNSIGNED8 RW 5 Event timer UNSIGNED16 RW 0 Receive PDO 3 Communication Parameter PDO COMMPAR RECORD Analogue outputs 0 Largest sub-index supported UNSIGNED8 RO 5 1 COB-ID used by PDO UNSIGNED32 RW 0000400h + NodeID 2 Transmission type UNSIGNED8 RW 255 3 Inhibit time UNSIGNED16 RW 0 4 Reserved UNSIGNED8 RW 5 Event timer UNSIGNED16 RW 0 Receive PDO MAPPING Parameter RECORD Digital outputs 0 Number of mapped objects in PDO UNSIGNED8 RW 1 1 1 st object to be mapped UNSIGNED32 RW 6200 01 08h Receive PDO 2 Mapping PDO MAPPING Parameter RECORD Analogue outputs 0 Number of mapped objects UNSIGNED8 RW 4 1 Write analogue output 1h UNSIGNED32 RW 6411 01 10h 2 Write analogue output 2h UNSIGNED32 RW 6411 02 10h 3 Write analogue output 3h UNSIGNED32 RW 6411 03 10h 4 Write analogue output 4h UNSIGNED32 RW 6411 04 10h Receive PDO 3 Mapping PDO MAPPING Parameter RECORD 0 Number of mapped objects UNSIGNED8 RW 4 1 Write analogue output 1h UNSIGNED32 RW 6411 05 10h 2 Write analogue output 2h UNSIGNED32 RW 6411 06 10h 3 Write analogue output 3h UNSIGNED32 RW 6411 07 10h 4 Write analogue output 4h UNSIGNED32 RW 6411 08 10h Transmit PDO Communication Parameter PDO COMMPAR RECORD Analogue outputs Digital inputs 0 Number of supported entries UNSIGNED8 RO 5 1 COB-ID used by PDO UNSIGNED32 RO 40000180h + NodeID 2 Transmission type UNSIGNED8 RW 255

14 / 57 1801h 1802h 1803h 1804h 1805h 1806h 3 Inhibit time UNSIGNED16 RW 0 4 Reserved UNSIGNED8 RW 5 Event timer UNSIGNED16 RW 0 Transmit PDO 2 Communication Parameter PDO COMMPAR RECORD Analogue inputs 0 Largest sub-index supported UNSIGNED8 RO 5 1 COB-ID used by PDO UNSIGNED32 RW 40000280h + NodeID 2 Transmission type UNSIGNED8 RW 255 3 Inhibit time UNSIGNED16 RW 0 4 Reserved RW 5 Event timer UNSIGNED16 RW 0 Transmit PDO3 Communication Parameter PDO COMMPAR RECORD Analogue inputs 0 Largest sub-index supported UNSIGNED8 RO 5 1 COB-ID used by PDO UNSIGNED32 RW 40000380h + NodeID 2 Transmission type UNSIGNED8 RW 255 3 Inhibit time UNSIGNED16 RW 0 4 Reserved RW 5 Event timer UNSIGNED16 RW 0 Transmit PDO4 Communication Parameter PDO COMMPAR RECORD Analogue inputs 0 Largest sub-index supported UNSIGNED8 RO 5 1 COB-ID used by PDO UNSIGNED32 RW 40000480h + NodeID 2 Transmission type UNSIGNED8 RW 255 3 Inhibit time UNSIGNED16 RW 0 4 Reserved RW 5 Event timer UNSIGNED16 RW 0 Transmit PDO5 Communication Parameter PDO COMMPAR RECORD 0 Largest sub-index supported UNSIGNED8 RO 5 1 COB-ID used by PDO UNSIGNED32 RW C00001A0h + NodeID 2 Transmission type UNSIGNED8 RW 255 3 Inhibit time UNSIGNED16 RW 0 4 Reserved RW 5 Event timer UNSIGNED16 RW 0 Transmit PDO6 Communication Parameter PDO COMMPAR RECORD 0 Largest sub-index supported UNSIGNED8 RO 1 COB-ID used by PDO UNSIGNED32 RW C00002A0h + NodeID 2 Transmission type UNSIGNED8 RW 255 3 Inhibit time UNSIGNED16 RW 0 4 Reserved RW 5 Event timer UNSIGNED16 RW 0 Transmit PDO7 Communication Parameter PDO COMMPAR RECORD 0 Largest sub-index supported UNSIGNED8 RO 1 COB-ID used by PDO UNSIGNED32 RW C00003A0h + NodeID 2 Transmission type UNSIGNED8 RW 255 3 Inhibit time UNSIGNED16 RW 0 4 Reserved RW 5 Event timer UNSIGNED16 RW 0

15 / 57 1807h 1A00h 1A01h 1A02h 1A03h 1A04h 1A05h 1A06h 0 Transmit PDO8 Communication Parameter Largest sub-index PDO COMMPAR UNSIGNED8 RECORD supported 1 COB-ID used by PDO UNSIGNED32 RW C00004A0h + NodeID 2 Transmission type UNSIGNED8 RW 255 3 Inhibit time UNSIGNED16 RW 0 4 Reserved RW 5 Event timer UNSIGNED16 RW 0 Transmit RECORD PDO MAPPING Parameter 0 Number of mapped objects in PDO UNSIGNED8 RW 4 1 1 st object to be mapped UNSIGNED32 RW 6000 01 08h 2 2 nd object to be mapped UNSIGNED32 RW 6000 02 08h 3 3 rd object to be mapped UNSIGNED32 6000 03 08h 4 4 th object to be mapped UNSIGNED32 RW 6000 04 08h Transmit PDO 2 Mapping Parameter PDO MAPPING RECORD Analogue inputs 0 Number of mapped objects UNSIGNED8 RW 4 1 Read analogue input 1h UNSIGNED32 RW 6401 01 10h 2 Read analogue input 2h UNSIGNED32 RW 6401 02 10h 3 Read analogue input 3h UNSIGNED32 RW 6401 03 10h 4 Read analogue input 4h UNSIGNED32 RW 6401 04 10h Transmit PDO 3 Mapping Parameter PDO MAPPING RECORD Analogue inputs 0 Number of mapped objects UNSIGNED8 RW 4 1 Read analogue input 5h UNSIGNED32 RW 6401 05 10h 2 Read analogue input 6h UNSIGNED32 RW 6401 06 10h 3 Read analogue input 7h UNSIGNED32 RW 6401 07 10h 4 Read analogue input 8h UNSIGNED32 RW 6401 08 10h Transmit PDO 4 Mapping Parameter PDO MAPPING RECORD Analogue inputs 0 number of mapped objects UNSIGNED8 RW 4 1 Read analogue input 9h UNSIGNED32 RW 6401 09 10h 2 Read analogue input Ah UNSIGNED32 RW 6401 0A 10h 3 Read analogue input Bh UNSIGNED32 RW 6401 0B 10h 4 Read analogue input Ch UNSIGNED32 RW 6401 0C 10h Transmit PDO 4 Mapping Parameter PDO MAPPING RECORD Analogue inputs 0 number of mapped objects UNSIGNED8 RW 4 1 Read analogue input Dh UNSIGNED32 RW 6401 0D 10h 2 Read analogue input Eh UNSIGNED32 RW 6401 0E 10h 3 Read analogue input Fh UNSIGNED32 RW 6401 0F 10h 4 Read analogue input 10h UNSIGNED32 RW 6401 10 10h Transmit PDO 4 Mapping Parameter PDO MAPPING RECORD Analogue inputs 0 Number of mapped objects UNSIGNED8 RW 4 1 Read analogue input 11h UNSIGNED32 RW 6401 11 10h 2 Read analogue input 12h UNSIGNED32 RW 6401 12 10h 3 Read analogue input 13h UNSIGNED32 RW 6401 13 10h 4 Read analogue input 14h UNSIGNED32 RW 6401 14 10h Transmit PDO 4 Mapping Parameter PDO MAPPING RECORD Analogue inputs 0 number of mapped objects UNSIGNED8 RW 4 1 Read analogue input 15h UNSIGNED32 RW 6401 15 10h RO

16 / 57 1A07h 2 Read analogue input 16h UNSIGNED32 RW 6401 16 10h 3 Read analogue input 17h UNSIGNED32 RW 6401 17 10h 4 Read analogue input 18h UNSIGNED32 RW 6401 18 10h Transmit PDO 4 Mapping Parameter PDO MAPPING RECORD Analogue inputs 0 Number of mapped RW UNSIGNED8 objects 4 1 Read analogue input 19h UNSIGNED32 RW 6401 19 10h 2 Read analogue input 1Ah UNSIGNED32 RW 6401 1A 10h 3 Read analogue input 1Bh UNSIGNED32 RW 6401 1B 10h 4 Read analogue input 1Ch UNSIGNED32 RW 6401 1C 10h 4.1 1000h Device Type This object describes the implemented device type and its functionality. Data Type Access Default Value VAR UNSIGNED32 RO No 0xF0191 Structure: Byte: MSB LSB Additional Information Device Profile Number 4.2 1001h Error Register This object shows the error status of the unit. If an error occurs, bit gets the value 1. Errors are signalled with an EMCY message as soon as they occur. VAR Data Type UNSIGNED8 Access RO No Default Value 0 Structure: Bit Meaning 0 Generic error 1 Current 2 Voltage 3 Temperature 4 Communication error (overrun, error state) 5 Device profile specific 6 Reserved (always 0) 7 Manufacturer specific

17 / 57 4.3 1003h Pre-defined Error Field This object stores the errors that have been reported via EMCY object. Sub-index 0 registers the number of stored errors. Every new error is stored in sub-index 1 and the older ones are moved down the list. If consecutive messages are the same, they are only counted once. Error history is deleted by writing 0 to sub-index 1. When the error is corrected, the code of the error is removed from the list. Object can store maximum of 50 errors. ARRAY No Structure: Byte: MSB LSB Additional Information Error Code Supported EMCYs: 3220h: Internal voltage too low 3210h: Internal voltage too high 8120h: CAN bus passive error 8140h: Recovered from CAN bus-off error 8130h: Life guard error or heartbeat error 8250h: RPDO not received in time interval 4.4 1005h COB-ID SYNC message This object defines the COB-ID used by the SYNC and whether or not the device generates the SYNC. Data Type Access Default Value VAR UNSIGNED32 RO No 80h + Node-ID Bit number Value Meaning 31 (MSB) X Do not care 30 0 1 Device does not generate SYNC message Device generates SYNC message 29 0 1 11-bit ID (CAN 2.0A) 29-bit ID (CAN 2.0B, not supported) 28-11 0 X if bit 29=0 if bit 29=1: bits 28-11 of 29-bit-SYNC-COB-ID 10-0 (LSB) X bits 10-0 of SYNC-COB-ID

18 / 57 4.5 1008h Manufacturer Device Name Manufacturer device name is defined in this object. Data Type Access Default Value VAR Visible String RO No 38 CANopen Slave M1 4.6 1009h Manufacturer Hardware Version Manufacturer hardware version is defined in this object. Data Type Access Default Value VAR Visible String RO No 38 M1 4.7 100Ah Manufacturer Software Version Manufacturer software version is defined in this object. VAR Data Type Visible String Access RO No Default Value 1.0

19 / 57 4.8 1010h Store Parameters The configurations made in the object directory are saved in the flash-memory by using this object. Sub-index 1 saves the complete object dictionary, sub-index 2 saves the communication objects (1000h-1FFFh), sub-index 3 saves the application parameters and sub-indexes 0-4 save manufacturer defined parameters 2000h-5FFFh. ARRAY No Storage write access signature: Signature MSB LSB ISO 8859 ( ASCII ) e v a s Hex 65h 76h 61h 73h Sub-Indexes: Sub- Index Description Access Data type Default 0h Largest sub-index supported RO UNSIGNED8 4 1h Saves all parameters (ie. includes 2h, 3h,4h) RW UNSIGNED32 1 2h Saves communication parameters (1000h-1FFFh) Does not save: 1008h 1009h 100Ah RW UNSIGNED32 1 1010h 1011h 1018h 1200h 3h Saves application parameters (6000h-7FFFh) Does not save: 6200h RW UNSIGNED32 1 6000h 6401h 6411h 4h Saves manufacturer defined parameters (2000h-5FFFh) RW UNSIGNED32 1

20 / 57 4.9 1011h Restore Default Parameters The default parameter values can be restored using this object. ARRAY No Restoring write access signature: Signature MSB LSB ASCII d a o l Hex 64h 61h 6Fh 6Ch Sub- Index Description Access Data type Default 0h Largest sub-index supported RO UNSIGNED8 4 1h Restores all parameters (ie. includes 2h, 3h,4h) RW UNSIGNED32 1 2h Restores communication parameters (1000h-1FFFh) RW UNSIGNED32 1 3h Restores application parameters ( 6000h- 7FFFh) RW UNSIGNED32 1 4h Restores manufacturer defined parameters (2000h-5FFF) RW UNSIGNED32 1 4.10 1014h COB-ID EMCY This object indicates the capability of transmitting emergency messages. Data Type Access Default VAR UNSIGNED32 RO No 80h+NodeID 4.11 1015h Inhibit Time EMCY The inhibit time for emergency messages is set in this object. Setting the inhibit time prevents blocking the bus with too many emergency messages. VAR Data Type UNSIGNED16 Access RW No Default 0 Note The time is multiple of 100 μs.

21 / 57 4.12 1016h Consumer Heartbeat Time The consumer heartbeat time is defined in this object. The heartbeat consumer monitors received heartbeats and if one is not received within the set consumer heartbeat time, an EMCY will be generated. If the consumer heartbeat is set to 0, the unit does not monitor consumer heartbeat. The indexes are read starting from 1 until value 0 is found. Value 0 terminates the reading. ARRAY No Structure: MSB LSB Bits 31-24 23-16 15-0 Value Reserved Node-ID Heartbeat time (value: 00h) Encoded as - UNSIGNED8 UNSIGNED16 4.13 1017h Producer Heartbeat Time This object defines the producer heartbeat time. Heartbeat producer transmits heartbeat messages with the frequency defined in this object. The heartbeat is received by one or more heartbeat consumer(s). VAR Data Type UNSIGNED16 Access RW No Default 0 Note The time is multiple of 1 ms. 4.14 1018h Identity Object This object contains general information about the device that is present on the network. RECORD No Sub- Index Description Access Data Type Default 0h Number of supported entries RO UNSIGNED8 4 1h Consumer heartbeat time RW UNSIGNED32 0 2h Consumer heartbeat time RW UNSIGNED32 0 3h Consumer heartbeat time RW UNSIGNED32 0 4h Consumer heartbeat time RW UNSIGNED32 0 Sub- Index Description Access Data Type Default 0h Number of supported entries RO UNSIGNED8 4 1h Vendor-ID RO UNSIGNED32 30h 2h Product code RO UNSIGNED32 7F6h 3h Revision number RO UNSIGNED32 133h 4h Serial number RO UNSIGNED32

22 / 57 4.15 1200h Server SDO Parameter The information for configuring an SDO for the CANopen communication is defined in this object. RECORD No Sub- Index Description Access Data Type Default 0h Number of supported entries RO UNSIGNED8 2 1h COB-ID client server RO UNSIGNED32 600h+NodeID 2h COB-ID server client RO UNSIGNED32 580h+NodeID

23 / 57 4.16 PDOs Process Data Objects, knowns as PDOs, are used for transmitting and receiving data in the network. PDOs have higher priority than SDOs because SDOs are used for configuration purpose while PDOs are used for the data communication required for the device operation. There are two types of PDOs: transmit PDOs that send data to the bus and receive PDOs that receive and process data from the bus. Default values for the PDOs are: RPDO COBID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 1 200h+NodeID 62000108h 2 300h+NodeID 64110110h 64110210h 64110310h 64110410h 3 400h+NodeID 64110510h 64110610h 64110710h 64110810h TPDO COBID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 1 180h+NodeID 60000108h 60000208h 60000308h 60000408h 2 280h+NodeID 64010110h 64010210h 64010310h 64010410h 3 380h+NodeID 64010510h 64010610h 64010710h 64010810h 4 480h+NodeID 64010910h 64010A10h 64010B10h 64010C10h 5 1A0h+NodeID 64010D10h 64010E10h 64010F10h 64011010h 6 2A0h+NodeID 64011110h 64011210h 64011310h 64011410h 7 3A0h+NodeID 64011510h 64011610h 64011710h 64011810h 8 4A0h+NodeID 64011910h 64011A10h 64011B10h 64011C10h DO bit0: X1.18 bit1: X1.20 bit2: X1.01 bit3: X1.03 bit4: X1.04 bit5: X1.07 bit6: X1.08 bit7: X1.09 AO subindex 1: X1.10 subindex 2: X1.17 subindex 3: X1.20 subindex 4: X1.21 subindex 5: X1.22 subindex 6: X1.23 subindex 7: X1.02 subindex 8: X1.05 subindex 9: X1.06 (Grey coloured: pins not connected) DI subindex 1: bit0-4: not connected bit 5: X1.07 bit 6: X1.01 bit 7: X1.18 subindex 2: bit0: X1.11 bit1: X1.12 bit2: X1.13 bit3: X1.14 bit4: X1.09 bit5: X1.04 bit6: X1.03 bit7: X1.08 subindex 3: bit0: X1.10 bit1: X1.17 bit2: X1.20 bit3: X1.21 bit4: X1.22 bit5: X1.23 bit6: X1.02 bit7: X1.05 subindex 4: bit0: X1.06 AI subindex 1: AI_X1.10 subindex 2: AI_X1.17 subindex 3: AI_X1.20 subindex 4: AI_X1.21 subindex 5: AI_X1.22 subindex 6: AI_X1.23 subindex 7: AI_X1.02 subindex 8: AI_X1.05 subindex 9: AI_X1.06 subindex A: AI_Temperature subindex B: AI_Supply subindex C: AI_Ref X1.16 subindex D: FI_X1.11 subindex E: FI_X1.12 subindex F: FI_X1.13 subindex 10: FI_X1.14 subindex 11: FI_X1.09 subindex 12: FI_X1.04 subindex 13: FI_X1.03 subindex 14: FI_X1.08 subindex 15: PI_X1.11 subindex 16: PI_X1.12 subindex 17: PI_X1.13 subindex 18: PI_X1.14 subindex 19: PI_X1.09 subindex 1A: PI_X1.04 subindex 1B: PI_X1.03 subindex 1C: PI_X1.08 If there are no PDOs that include analogue inputs transmitted to the bus, switch on the bit in index 6423h. See chapter 6.3.2 6423h Analogue Input Global Interrupt Enable.

24 / 57 4.16.1 1400h-1402h Receive PDO Communication Parameter RPDOs receive the data sent by other devices to the CANopen network. RECORD Yes 4.16.2 1600h-1602h Receive Parameter The objects that are mapped for available receive PDOs, are indicated in this object. RECORD Yes Structure: Byte: MSB LSB Index (16bit) Sub-Index Object length (8bit) (8bit) Sub- Index Description Access Data Type Default 0h Number of supported RO UNSIGNED8 5 entries in the record 1h COB-ID RO UNSIGNED32 1400h: 0000200h+NodeID 1401h: 0000300h+NodeID 1402h: 0000400h+NodeID 2h Transmission type RW UNSIGNED8 255 3h Inhibit time RW UNSIGNED16 0 4h Reserved RW UNSIGNED8 5h Event timer RW UNSIGNED16 0 Sub- Index Description Access Data Type 0h Number of mapped objects in PDO RO UNSIGNED8 1h 1 st object to be mapped RO UNSIGNED32 2h 2 nd object to be mapped RO UNSIGNED32 3h 3 rd object to be mapped RO UNSIGNED32 4h 4 th object to be mapped RO UNSIGNED32 Defaults: 1600h 1601h 1602h Sub0 1 4 4 Sub1 6200 01 08h 6411 01 10h 6411 05 10h Sub2 n/a 6411 02 10h 6411 06 10h Sub3 n/a 6411 03 10h 6411 07 10h Sub4 n/a 6411 04 10h 6411 08 10h

25 / 57 4.16.3 1800h-1807h Transmit PDO Communication Parameter The transmit PDO communication parameters correspond to the transmit PDOs. Manufacturer specific transmission type FE is transmitted according to event timer, if 6432h = 0. If 6432h = 1, the manufacturer specific transmission type FE is transmitted after a change or according to event timer. RECORD Yes Description Access Data Type 0h Number of supported entries in the record RO UNSIGNED8 1h COB-ID RW UNSIGNED32 2h Transmission type RW UNSIGNED8 3h Inhibit time RW UNSIGNED16 4h Reserved RW UNSIGNED8 5h Event timer RW UNSIGNED16 Defaults: 1800h 1801h 1802h 1803h 1804h 1805h 1806h 1807h Sub0 5 5 5 5 5 5 5 5 Sub1 40000180h + NodeID 40000280h + NodeID 40000380h + NodeID 40000480h + NodeID C00001A0h + NodeID C00002A0h + NodeID C00003A0h + NodeID Sub2 255 255 255 255 255 255 255 255 Sub3 0 0 0 0 0 0 0 0 Sub4 Sub5 0 0 0 0 0 0 0 0 C00004A0h + NodeID 4.16.4 1A00h-1A07h Transmit Parameter The objects that are mapped for available transmit PDOs, are indicated in this object. RECORD Yes Structure: Byte: MSB LSB Index (16bit) Sub-Index Object length (8bit) (8bit) Sub- Index Sub- Index Description Access Data Type 0h Number of mapped objects in PDO RW UNSIGNED8 1h 1 st object to be mapped RW UNSIGNED32 2h 2 nd object to be mapped RW UNSIGNED32 3h 3 rd object to be mapped RW UNSIGNED32 4h 4 th object to be mapped RW UNSIGNED32 Defaults: 1A00h 1A01h 1A02h 1A03h 1A04h 1A05h 1A06h 1A07h Sub0 4 4 4 4 4 4 4 4 Sub1 60000108h 64010110h 64010510h 64010910h 64010D10h 64011110h 64011510h 64011910h Sub2 60000208h 64010210h 64010610h 64010A10h 64010E10h 64011210h 64011610h 64011A10h Sub3 60000308h 64010310h 64010710h 64010B10h 64010F10h 64011310h 64011710h 64011B10h Sub4 60000408h 64010410h 64010810h 64010C10h 64011010h 64011410h 64011810h 64011C10h

26 / 57 5 MANUFACTURER SPECIFIC PROFILE AREA In order to store the newly set configuration of PWM frequency in non-volatile memory, the parameters storing operation must be executed using Object 1010h. The manufacturer can define the indexes 2000h-5FFFh including the type and the function for each object. Epec CANopen Slave Unit has the following indexes implemented: 5.1 2003h Communication Parameters Epec specific parameter index. ARRAY No Index Subindex Name Data Type Acc Object Default Comment 2003h Communication UNSIGNED8 RW ARRAY 0 Number of entries UNSIGNED8 RO 4 1 Node-ID UNSIGNED8 RW 127 1-127 2-3 Reserved UNSIGNED8 RO 4 Bit rate UNSIGNED8 RW 250 Supported bit rates: 50, 125, 250, 500, 1000 2501h Configuration of AI UNSIGNED8 RW VAR 0 type 2502h PWM frequency ARRAY 0 Number of entries UNSIGNED8 RO 1 PWM Group1 INTEGER16 RW 140 X1.08, X1.09 2 PWM Group2 INTEGER16 RW 140 X1.01 3 PWM Group3 INTEGER16 RW 140 X1.03 4 PWM Group4 INTEGER16 RW 140 X1.04 5 PWM Group5 INTEGER16 RW 140 X1.07 2503h Pulse input ARRAY configuration 0 Number of entries UNSIGNED8 RO 1 Channel0 UNSIGNED8 RW 0 X1.11 2 Channel1 UNSIGNED8 RW 1 X1.12 3 Channel2 UNSIGNED8 RW 2 X1.13 4 Channel3 UNSIGNED8 RW 3 X1.14 5 Channel4 UNSIGNED8 RW 4 X1.9 6 Channel5 UNSIGNED8 RW 5 X1.4 7 Channel6 UNSIGNED8 RW 6 X1.3 8 Channel7 UNSIGNED8 RW 7 X1.8 Sub- Index Description Access Data Type Default 0h Number of entries RO UNSIGNED8 4 1h Node-ID RW UNSIGNED8 127 2h Reserved RO UNSIGNED8 3h Reserved RO UNSIGNED8 4h Bit rate RW UNSIGNED8 250

27 / 57 5.2 2501h Configuration of AI type The AI type (voltage/current) is configured with this object. Value 0 is for voltage and 1 is for current. VAR Data Type UNSIGNED8 No Default 0 A bit corresponds to a specific analogue input as follows: Bit0=X1.10 Bit1=X1.17 Bit2=X1.20 Bit3=X1.21 Bit4=X1.22 Bit5=X1.23 5.3 2502h PWM Frequency Analogue output PWM frequency can be configured by writing Object 2502. Entry at sub-index 0 contains the number of device PWM groups and can not be written. Each consequent subindex of object 2502h contains 16-bit value defining PWM group frequency. Frequencies should be given in Hz (40 2550Hz). The default value is 140Hz. ARRAY No Sub- Index Name/Connector Access Data Type Default 0h Number of device PWM groups RO UNSIGNED8 5 1h X1.08 RW UNSIGNED16 140 X1.09 2h X1.01 RW UNSIGNED16 140 3h X1.03 RW UNSIGNED16 140 4h X1.04 RW UNSIGNED16 140 5h X1.07 RW UNSIGNED16 140

28 / 57 5.4 2503h Pulse Input Configuration Configuration of pulse input channels can be done by writing Object. Entry at sub-index 0 contains the number of device pulse inputs channels and cannot be written. Each consequent sub-index of object 2503h contains an 8-bit value determining channel B of particular pulse input channel. The following values of pulse input channel mode are allowed: Subindex-1 channel is used in a single channel mode (for example, if value 0 is written to subinex1, the channel is used in a single channel mode) {0,,15} - channel is used in a double channel mode and the provided value determines channel B When the single channel mode is used, the pulse count counts the rising and falling pulse edges. In order to store the newly set configuration of Pulse input channels in non-volatile memory the parameters storing operation must be executed using Object 1010h. Channel Sub-Index Connector CH0 1 X1.11 CH1 2 X1.12 CH2 3 X1.13 CH3 4 X1.14 CH4 5 X1.9 CH5 6 X1.4 CH6 7 X1.3 CH7 8 X1.8

29 / 57 6 STANDARDISED DEVICE PROFILE The following table shows the connectors and related objects/entries: Pin DI DO AI FI PI AO/PWM X1.01 6000h sub1 bit6 6200h sub1 bit2 6411h sub5 X1.02 6000h sub3 bit6 6401h sub7 X1.03 6000h sub2 bit6 6200h sub1 bit3 6401h sub13 6401h sub1b 6411h sub6 X1.04 6000h sub2 bit5 6200h sub1 bit4 6401h sub12 6401h sub1a 6411h sub7 X1.05 6000h sub3 bit7 6401h sub8 X1.06 6000h sub4 bit0 6401h sub9 X1.07 6000h sub1 bit5 6200h sub1 bit5 6411h sub8 X1.08 6000h sub2 bit7 6200h sub1 bit6 6401h sub14 6401h sub1c 6411h sub1 X1.09 6000h sub2 bit4 6200h sub1 bit7 6401h sub11 6401h sub19 6411h sub2 X1.10 6000h sub3 bit0 6401h sub1 X1.11 6000h sub2 bit0 6401h subd 6401h sub15 X1.12 6000h sub2 bit1 6401h sube 6401h sub16 X1.13 6000h sub2 bit2 6401h subf 6401h sub17 X1.14 6000h sub2 bit3 6401h sub10 6401h sub18 X1.15 X1.16 X1.17 6000h sub3 bit1 6401h sub2 X1.18* 6000h sub1 bit7 6200h sub1 bit0 X1.19 X1.20 6000h sub3 bit2 6401h sub3 X1.21 6000h sub3 bit3 6401h sub4 X1.22 6000h sub3 bit4 6401h sub5 X1.23 6000h sub3 bit5 6401h sub6 *) Pin X1.18 is sinking whereas other output pins are sourcing. The implemented standardised device profile objects are listed in the following table: Index Sub index Name Type Acc Object Default Digital Input 6000h Read Input 8-bit ARRAY 0 Number of Inputs 8-Bit UNSIGNED8 RO 4 1 Read Input 1h to 8h UNSIGNED8 RO - 2 Read Input 9h to Eh UNSIGNED8 RO - 3 Read Input Fh to 27h UNSIGNED8 RO - 4 Read Input 28h to 31h UNSIGNED8 RO - 6002h Polarity Input 8-bit ARRAY 0 Number of Inputs 8-Bit UNSIGNED8 RO 4 1 Polarity Input 1h to 8h UNSIGNED8 RW 0 2 Polarity Input 9h to Eh UNSIGNED8 RW 0 3 Polarity Input Fh to 27h UNSIGNED8 RW 0 4 Polarity Input 28h to 31h UNSIGNED8 RW 0 Digital Output 6200h Write Output 8-Bit ARRAY 0 Number of Outputs 8-Bit UNSIGNED8 RO 2 1 Write Output 1h to 8h UNSIGNED8 RW 0 6202h Change Polarity Output 8-Bit ARRAY 0 Number of Outputs 8-Bit UNSIGNED8 RO 2 1 Change Polarity Output 1h to UNSIGNED8 RW 0 8h 2 Change Polarity Output 9h to UNSIGNED8 RW 0 Ah 6206h Error mode output 8-bit ARRAY 0 Number of outputs 8-bit UNSIGNED8 RO 2

30 / 57 1 Error mode output 01h to 08h UNSIGNED8 RW FFh 2 Error mode output 09h to 10h UNSIGNED8 RW FFh 6207h Error value output 8-bit ARRAY 0 Number of outputs 8-bit UNSIGNED8 RO 2 1 Error value output 01h to 08h UNSIGNED8 RW 0 2 Error value output 09h to 10h UNSIGNED8 RW 0 Analogue Input 6401h Read Analogue Input 16-Bit ARRAY 0 Number of Analogue Inputs UNSIGNED8 RO 28 6423h 642Eh 642Fh 1-1Ch 16-Bit Analogue Input 1-1Ch INTEGER16 RO - Analogue Input Global Interrupt Enable BOOLEAN RW VAR FALSE Analogue input offset float 0 Number of Analogue Inputs UNSIGNED8 RO 28 Analogue Input 1-1Ch REAL32 RW 0 1-1Ch Analogue input pre-scaling float 0 Number of Analogue Inputs UNSIGNED8 RO 28 1-1Ch Analogue Input 1-1Ch REAL32 RW 1 Analogue Output 6411h Write Analogue Output 16-Bit ARRAY 0 Number of Analogue Outputs UNSIGNED8 RO 8 16-Bit 1-8 Analogue Output 1-5 INTEGER16 RW 0 Analogue output set-ups 6443h Analogue Output Error Mode ARRAY 0 Number of Analogue Outputs UNSIGNED8 RO 8 1-8 Error Mode Analogue Output UNSIGNED8 RW 1 1-5 6444h Analogue Output Error Value ARRAY Integer 0 Number of Analogue Outputs UNSIGNED8 RO 8 1-8 Analogue Output 1..5 INTEGER32 RW 0 6.1 Digital Inputs The block diagram for digital inputs is displayed in the following figure:

31 / 57 6.1.1 6000h Read Input 8 bit This object reads groups of 8 input lines as 8-bit information. The value of the input lines is written to this object. ARRAY Yes Subindex 1: Subindex 2: Subindex 3: Subindex 4: bit0-4: not connected bit 5: X1.07 bit 6: X1.01 bit 7: X1.18 bit0: X1.06 bit0: X1.11 bit1: X1.12 bit2: X1.13 bit3: X1.14 bit4: X1.09 bit5: X1.04 bit6: X1.03 bit7: X1.08 bit0: X1.10 bit1: X1.17 bit2: X1.20 bit3: X1.21 bit4: X1.22 bit5: X1.23 bit6: X1.02 bit7: X1.05 6.1.2 6002h Polarity Input 8 bit This object defines the polarity of a group of 8 input lines. The inputs can be inverted individually with this object. 1 = input inverted 0 = input not inverted ARRAY No Sub- Index Description Access Data Type Default 0h Number of inputs 8 bit RO UNSIGNED8 4 1h Read input 01h to 08h RO UNSIGNED8-2h Read input 09h to 0Eh RO UNSIGNED8-3h Read input 0Fh to 27h RO UNSIGNED8-4h Read input 28h to 31h RO UNSIGNED8 - Sub- Index Description Data Type Acc Default 0h Number of inputs 8 bit UNSIGNED8 RO 4 1h Polarity input 01h to 08h UNSIGNED8 RW 0 2h Polarity input 09h to 0Eh UNSIGNED8 RW 0 3h Read input 0Fh to 27h UNSIGNED8 RW 0 4h Read input 28h to 31h UNSIGNED8 RW 0

32 / 57 6.2 Digital Outputs The block diagram for digital outputs is displayed in the following figure: 6.2.1 6200h Write Output 8 bit This object sets a group of 8 output lines as 8-bit information, ie. with this object the digital outputs can be written to. ARRAY Yes Sub- Index Description Data Type Acc Default 0h Number of outputs 8 bit UNSIGNED8 RO 2 1h Write output 01 h to 08 h UNSIGNED8 RW 0 Subindex 1: bit0: X1.18 bit1: not connected bit2: X1.01 bit3: X1.03 bit4: X1.04 bit5: X1.07 bit6: X1.08 bit7: X1.09

33 / 57 6.2.2 6202h Change Polarity Output 8 bit This object defines the polarity of a group of 8 output lines. Output polarity can be inverted individually. 1 = output inverted 0 = output not inverted. ARRAY No 6.2.3 6206h Error Mode Output 8 bit This object indicates, whether an output is set to a pre-defined error value (given in object 6207h) in case of a device error. 1 = output value will be changed to the pre-defined value specified in object 6207h 0 = output value will not be changed even if an error occurs ARRAY No 6.2.4 6207h Error Value Output 8 bit On condition that the corresponding Error mode is active, device failures will set the outputs to the value configured by this object. 1 = output is set to 1 (active state) in case of fault, if object 6206h is enabled 0 = output is set to 0 (inactive state) in case of fault, if object 6206h is enabled ARRAY No Sub- Index Description Data Type Acc Default 0h Number of outputs 8 bit UNSIGNED8 RO 2 1h Change polarity output 01h to 08 h UNSIGNED8 RW 0 2h Change polarity output 09h to 10 h UNSIGNED8 RW 0 Sub- Index Description Data Type Acc Default 0h Number of outputs 8 bit UNSIGNED8 RO 2 1h Error mode output 01h to 08h UNSIGNED8 RW FFh 2h Error mode output 09h to 10h UNSIGNED8 RW FFh Sub- Index Description Data Type Acc Default 0h Number of outputs 8 bit UNSIGNED8 RO 2 1h Error value output 01 h to 08 h UNSIGNED8 RW 0 2h Error value output 09 h to 10 h UNSIGNED8 RW 0

34 / 57 6.3 Analogue Inputs The block diagram for analogue inputs is displayed in the following figure: If there are no PDOs that include analogue inputs transmitted to the bus, switch on the bit in index 6423h. See chapter 6.3.2 6423h Analogue Input Global Interrupt Enable. 6.3.1 6401h Read Analogue Input 16 bit This object reads the value of the input channel 'n'. Value is 16-bit wide or less. The value is always left adjusted. ARRAY Yes Sub- Index Description Data Type Acc Actual/Real Value 0h Number of analogue UNSIGNED8 RO 28 inputs 16 bit 1h subindex 1: AI_X1.10 INTEGER16 RO With voltage inputs 0-5 V; with current inputs 0-22,7 ma; linear 0-32767 2h subindex 2: AI_X1.17 INTEGER16 RO With voltage inputs 0-5 V; with current inputs 0-22,7 ma; linear 0-32767 3h subindex 3: AI_X1.20 INTEGER16 RO With voltage inputs 0-5 V; with current inputs 0-22,7 ma; linear 0-32767 4h subindex 4: AI_X1.21 INTEGER16 RO With voltage inputs 0-5 V; with current inputs 0-22,7 ma; linear 0-32767 5h subindex 5: AI_X1.22 INTEGER16 RO With voltage inputs 0-5 V; with current inputs 0-22,7 ma; linear 0-32767

35 / 57 6h subindex 6: AI_X1.23 INTEGER16 RO With voltage inputs 0-5 V; with current inputs 0-22,7 ma; linear 0-32767 7h subindex 7: AI_X1.02 (feedback) INTEGER16 RO Value scale 0-32767, range 0-1023 ma 8h subindex 8: AI_X1.05 (feedback) INTEGER16 RO Value scale 0-32767, range 0-1023 ma 9h subindex 9: AI_X1.06 INTEGER16 RO Value scale 0-32767, (feedback) Ah subindex A: AI_Temperature INTEGER16 RO range 0-1023 ma TEMP (º C) = Value - 5177 81,3 Bh subindex B: AI_Supply INTEGER16 RO 0-46 V, linear 0-32767 Ch subindex C: GND INTEGER16 RO ~0 Dh subindex D: FI_X1.11 INTEGER16 RO Frequency with 1 Hz accuracy Eh subindex E: FI_X1.12 INTEGER16 RO Fh subindex F: FI_X1.13 INTEGER16 RO 10h subindex 10: FI_X1.14 INTEGER16 RO 11h subindex 11: FI_X1.09 INTEGER16 RO 12h subindex 12: FI_X1.04 INTEGER16 RO 13h subindex 13: FI_X1.03 INTEGER16 RO 14h subindex 14: FI_X1.08 INTEGER16 RO 15h subindex 15: PI_X1.11 INTEGER16 RO Pulse count 16h subindex 16: PI_X1.12 INTEGER16 RO 17h subindex 17: PI_X1.13 INTEGER16 RO 18h subindex 18: PI_X1.14 INTEGER16 RO 19h subindex 19: PI_X1.09 INTEGER16 RO 1Ah subindex 1A: PI_X1.04 INTEGER16 RO 1Bh subindex 1B: PI_X1.03 INTEGER16 RO 1Ch subindex 1C: PI_X1.08 INTEGER16 RO Scaling is done individually for every channel. Sub indexes correlate to each other, so that 632Esub2 controls X1.17. 6.3.2 6423h Analogue Input Global Interrupt Enable With this object the interrupt behaviour can be enabled and disabled without changing the interrupt mask. By default no analogue input activates an interrupt. If there are no PDOs that include analogue inputs transmitted to the bus, switch on the bit in this index. TRUE = Global interrupt is enabled FALSE = Global interrupt is disabled Data Type Access Default VAR BOOLEAN RW No FALSE

36 / 57 6.3.3 642Eh Analogue Input Offset Float This object sets the offsets in float format for input data (6403h object) for channel 'n'. ARRAY No 6.3.4 642Fh Analogue Input Pre-Scaling Float This object sets the pre-scaling in float format for input data (6403h object). ARRAY No Sub- Index Description Data Type Acc Default 0h Number of analogue inputs UNSIGNED8 RO 28 1h Analogue input 01 h REAL32 RW 0 2h Analogue input 02 h REAL32 RW 0 1Ch Analogue input 1C h REAL32 RW 0 Sub- Index Description Data Type Acc Default 0h Number of analogue inputs UNSIGNED8 RO 28 1h Analogue input 01 h REAL32 RW 1 2h Analogue input 02 h REAL32 RW 1 1Ch Analogue input 1C h REAL32 RW 1

37 / 57 6.4 Analogue Output The block diagram for analogue outputs is displayed in the following figure: 6.4.1 6411h Write Analogue Output 16 bit This object writes an integer16 value to the output channel 'n'. The value is always left adjusted. Values 0-32767 describe the approximate pulse width. With 140Hz frequency the approximation is about 94% correct; with larger frequencies the approximation varies more. Linear scale (approximately): 0 = 0%, 16k = 50%, 32k = 100%. ARRAY Yes Sub- Index Description Data Type Acc Default 0h Number of analogue outputs 16 bit UNSIGNED8 RO 8 1h Analogue output 01h INTEGER16 RW 0 subindex1: X1.08 2h Analogue output 02h INTEGER16 RW 0 subindex2: X1.09 3h Analogue output 03h INTEGER16 RW 0 subindex3: not connected 4h Analogue output 04h INTEGER16 RW 0 subindex4: not connected 5h Analogue output 05h subindex5: X1.01 INTEGER16 RW 0

6h 7h 8h Epec CAN Module Family Analogue output 06h subindex6: X1.03 Analogue output 07h subindex7: X1.04 Analogue output 08h subindex8: X1.07 38 / 57 INTEGER16 RW 0 INTEGER16 RW 0 INTEGER16 RW 0 6.5 Analogue Output Set-ups 6.5.1 6443h Analogue Output Error Mode This object defines, whether an output is set to a pre-defined error value (see 6444h object) in case of an internal device failure or a 'Stop remote node' indication. 0h = actual value rest 1h = reverts to error value integer (6444h) others = reserved ARRAY No 6.5.2 6444h Analogue Output Error Value Integer On condition that the corresponding Error mode is active, device failures force the outputs to the value configured by this object. ARRAY No Sub- Index Description Data Type Acc Default 0h Number of analogue outputs UNSIGNED8 RO 8 1h Error mode analogue output 01h UNSIGNED8 RW 1 2h Error mode analogue output 02h UNSIGNED8 RW 1 3h Error mode analogue output 03h UNSIGNED8 RW 1 4h Error mode analogue output 04h UNSIGNED8 RW 1 5h Error mode analogue output 05h UNSIGNED8 RW 1 6h Error mode analogue output 06h UNSIGNED8 RW 1 7h Error mode analogue output 07h UNSIGNED8 RW 1 8h Error mode analogue output 08h UNSIGNED8 RW 1 Sub- Index Description Data Type Acc Default 0h Number of analogue outputs UNSIGNED8 RO 8 1h Analogue output 01h INTEGER32 RW 0 2h Analogue output 02h INTEGER32 RW 0 3h Analogue output 03h INTEGER32 RW 0 4h Analogue output 04h INTEGER32 RW 0 5h Analogue output 05h INTEGER32 RW 0 6h Analogue output 06h INTEGER32 RW 0 7h Analogue output 07h INTEGER32 RW 0 8h Analogue output 08h INTEGER32 RW 0

39 / 57 7 POWER SUPPLY Nominal supply voltage 24 VDC Operating range 12 30 VDC No saving operations into permanent memory can be done under 11,5 VDC. Undervoltage reset V SUPPLY < 9,0 VDC 7.1 Overvoltage Max. 34 VDC (stresses above this value may cause permanent damage to the module) Module can handle only short period transients of greater voltages than 34 V. The complete protection can be achieved with Hub Module (EPEC 2021). The Hub Module is designed to protect the system against power line transients. 7.2 Power Consumption Approximately 1 W (+24 VDC, no external load) Supply Voltage (V SUPPLY ) maximum continuous current 10 A (with full external load) 7.3 Power Supply Pins Designation Connector / pin number Potential Supply voltage (V SUPPLY ) X2.4 +24 VDC (+12 30 VDC) X2.5 Ground X2.1 GND X2.3 Ref+ 47Ω X1.16 +12 VDC Ref- 47Ω X1.19 GND

40 / 57 8 I/O CHARACTERISTICS 38 CANopen Slave M1 contains the following types of pins: Type Pin AI DI DO PWM PI DI/DO/PWM X1.1 DI1 DO1 PWM X1.7 DI1 DO1 PWM X1.3 DI1 DO1 PWM PI1 X1.4 DI1 DO1 PWM PI1 DI/DO/PWM/PI X1.8 DI1 DO1 PWM PI1 X1.9 DI1 DO1 PWM PI1 AI1 X1.2 (FB) DI2 FB- AI1 X1.5 (FB) DI2 AI1 X1.6 (FB) DI2 X1.11 DI1 PI1 DI/PI X1.12 DI1 PI1 X1.13 DI1 PI1 X1.14 DI1 PI1 X1.20 AI2 DI1 X1.21 AI2 DI1 AI/DI X1.22 AI2 DI1 X1.23 AI2 DI1 X1.17 AI2 DI1 X1.10 AI2 DI1 DI/DO- X1.18 DI1 DO2 (sink) Different pin types are described in detail in the following sections. 8.1 DI/DO/PWM These kinds of pins are current sourcing outputs. In other words, pin connects the load to positive supply voltage. The application program can also simultaneously monitor the actual state of the pin. This feature makes it possible to detect short circuits to the ground. Open loads can not be detected because the internal load resistor is connected to the ground. This kind of outputs are also capable to generate pulse width modulated (PWM) output signals. This feature is useful when driving proportionally controlled loads, e.g. proportional hydraulic valves. Monitoring the state of the pin is generally not possible when the pin is used as a PWM signal output. PWM frequencies can be configured under software control in groups of outputs. The setting is done by a PWM channel but setting the frequency of one channel sets also the frequencies of all the other channels in the same groups. In very carefully selected applications a pin of this type can also be used as an input by using the output state monitoring feature. In those cases the output functionality of the pin must of course be kept in off state. It must be taken care in system design that the output unintentionally switching to on state causes no harm to the system.

41 / 57 PWM Frequency Control Groups (PFCG) Group Channel Output pin 0 X1.8 1 X1.9 A 2-3 - B 4 X1.1 C 5 X1.3 D 6 X1.4 E 7 X1.7 For more information refer to Section 5.3 2502h PWM Frequency. Electrical Characteristics Symbol Parameter Conditions Min Max Units R O Output Resistance Output On 0,2 Ω I O Output Current Output On 3 A f PWM PWM Frequency for (Note 1) 40 2550 Hz 40 MHz module Group A 5 MHz/ f PWM Group B, C, D and E 625 khz/ f (Note 1) PWM PWM Resolution Group A; f for 40 MHz module PWM =100 Hz 50000 (Note 1) Group B, C, D, and E; f PWM =100 Hz (Note 1) 6250 R I Input Resistance Output Off 2,8 7,5 KΩ V IH Input High Voltage 4,8 V SUPPLY V V IL Input Low Voltage Output Off -0,5 4,2 V f I Input frequency t C =10 ms (Note 2, 3, 4) Variable t C (Note 2, 4) 12 1/8t C Hz t I Input Pulse Width t C =10 ms (Note 2, 3, 4) 40 ms Variable t C (Note 2, 4) 4t C Connection Principle: +24V Connection Principle (when used as input): +24V/+12V +24V Module Load Module Note 1: PWM capable outputs are divided into five groups. All outputs in same group share the same PWM frequency (default value 140 Hz) Note 2: Violating this rating may lead to system not recognizing all input state transitions Note 3: These parameters depend on software cycle time Note 4: t C denotes software cycle time.

42 / 57 8.2 DI/DO/PWM/PI These pins are included with a pulse counting (PI) feature. All other features are described in Section 8.1 DI/DO/PWM. For more information refer to Section 5.3 2502h PWM Frequency and concerning pulse counting refer to Section 8.4 DI/PI. 8.3 FB- These kinds of pins are normally used as a return path for the loads of PWM outputs. These pins have a small shunt resistor connected to ground. The shunt resistor is used to measure the current flowing through the load. Nothing prevents using these pins to measure currents from other sources as well. Digital Input state is true when the current is over 250 ma, for more information refer to Section 5.2 2501h Configuration of AI type. Electrical Characteristics Symbol Parameter Conditions Min Max Units R I Input Resistance 0,21 0,23 Ω I I Input Current Analog measuring range 0,0 1,0 A (Note 1) 1,7 A TIRE Total Input Referred Error 50 ma Note 1: Exceeding the max value might cause damage to input. Connection Principle +24V Load Module A pin where the upper wire of the load is connected is PWM output / digital output. This illustrates the normal way to connect loads when load current measurement is desired.

43 / 57 8.4 DI/PI These kinds of pins are ground referenced inputs (DI) including pulse counting (PI) feature. These pins have 10 kω resistor connected to GND. The application program is provided with frequency and number of the pulses seen in the input in addition to the normal input state. After starting up the module measures only the pulse frequency. The pulse counting competes with the application program and other processes for the CPU time. This makes it rather hard to estimate the actual maximum frequency of the pulses that the module is able to count reliably. The maximum frequencies given in the table below are such frequencies which make the module to freeze in practice if all inputs are connected to their maximum frequencies. It means that to be able to reach the maximum frequencies, there is no room for any other processes like CAN traffic. So, the practical limits are lower but the maximum values of the table still give the basis for the estimation. Inputs of this type are also suitable for quadrature sensor position counting. Any of these inputs can be logically paired with another similar input. The result is a two channel pulse counter which is capable of detecting the direction of the movement of the sensor. The pairing is done in application program. For more information, refer to Section 5.4 2503h Pulse Input Configuration. Electrical Characteristics Symbol Parameter Conditions Min Max Units V I greater than 4.3 V (Note 1) 9,0 11 kω R I Input Resistance Referenced to 1.3 V; V I less than 4.3 V (Note 1) 6,2 7,6 kω V IH Input High Voltage 4,8 30 V V IL Input Low Voltage -0,5 4,2 V Input Frequency (Note 2, 3, 6, 8) (frequency 5 khz measurement and f I pulse counting) Input Frequency t C =10 ms (Note 3, 4, 5, 7) 12 Hz (normal inputs) Variable t C (Note 3, 5, 7) 1/8t C (Note 3, 6) 50 µs t I Input Pulse Width t C =10 ms (Note 3, 4, 5, 7) 40 ms Variable t C (Note 3, 5, 7) 4t C C I Input Capacitance 0,8 12 nf Connection Principle +24V/+12V Module Note 1: With input voltages below 4,3 V it seems like the internal input resistance was connected to a 1,3 V voltage source

44 / 57 Note 2: All conditions must be respected. Even if some of the inputs were not used for frequency measurement or pulse counting, these conditions must nevertheless be respected regarding those inputs too. Otherwise operation of other inputs may be interfered Note 3: Violating this rating may lead to system not recognizing all input state transitions Note 4: These parameters depend on software cycle time Note 5: t C denotes software cycle time Note 6: Applies to inputs used for frequency measurement and pulse counting. Violating this rating may lead to incorrect measurement or counting Note 7: Applies to inputs used as normal digital inputs. Violating this rating may lead to application program not noticing all input state transitions Note 8: The maximum sum of the frequencies of all the digital input/pulse input pins (in this Section/Type) is 40 khz

45 / 57 8.5 AI/DI These kinds of pins are analogue inputs. Each pin can be configured either as a current input or as a voltage input. Pins of this kind are used to measure analog signals. They can be used as high impedance voltage inputs for signals from 0 to 5 volts or low impedance current inputs for signals from 0 to 22,7 milliamperes. When an input like this is configured as a low impedance current input, it can t withstand the normal maximum input voltage rating. The maximum rating is lowered in this case to 15 volts. In carefully selected applications these pins can also be used as digital inputs. Generally, it is not recommended. In high impedance voltage input configuration they have low threshold voltage which is quite sensitive to interference signals. In low impedance current input configuration they are subject to damage if they are connected to for example 24 volt system voltage. For more information, refer to Section 5.2 2501h Configuration of AI type. Electrical Characteristics Symbol Parameter Conditions Min Max Units V I Input Voltage Analog measuring range 0,0 5,0 V I I Input Current Analog measuring range 0,0 22,7 ma V IH Input High Voltage (Note 1) 2,0 30 V (Note 2) 2,0 15 V V IL Input Low Voltage -0,5 1,0 V I IH Input High Current (Note 2) 9,0 27 ma I IL Input Low Current (Note 2) -2,3 4,5 ma R I TIRE π I Input Resistance Total Input Referred Error Time Constant of Input Low Pass Filter (Note 1) 81 83 kω (Note 2) 219 225 Ω (Note 1) 0,12 V (Note 2) 0,7 ma (Note 1) 3,1 4,7 ms Connection Principle; High Impedance Voltage Input: +24V Connection Principle; Low Impedance Current Input: +24V Module "0" Module "1" Note 1: Input Configured for Voltage Measurement (220 Ω Input Resistor Disconnected) Note 2: Input Configured for Current Measurement (220 Ω Input Resistor Connected)

46 / 57 8.6 DI/DO- This kind of pin is current sinking output. In other words, pin connects the load to ground. The application program can also simultaneously monitor the actual state of the pin. This feature makes it possible to detect open load and short circuit to the supply voltage. In very carefully selected applications a pin of this type can also be used as an input by using the output state monitoring feature. In those cases the output functionality of the pin must of course be kept in off state. It must be taken care in system design that the output unintentionally switching to on state causes no harm to the system. Electrical Characteristics Symbol Parameter Conditions Min Max Units R O Output Resistance Output On 0,12 Ω I O Output Current Output On 3 A R I Input Resistance Output Off 9 11 kω V IH Input High Voltage Output Off 4,8 30 V V IL Input Low Voltage -0,5 4,2 V f I Input frequency t C =10 ms (Note 1, 2, 3) Variable t C (Note 1, 3) 12 1/8t C Hz t I Input Pulse Width t C =10 ms (Note 1, 2, 3) 40 ms Variable t C (Note 1, 3) 4t C Connection Principle: +24V Connection Principle (when used as input): +24V Module Load Module Note 1: Violating this rating may lead to system not recognizing all input state transitions Note 2: These parameters depend on software cycle time Note 3: t C denotes software cycle time

47 / 57 9 BUS CONNECTIONS 9.1 Bus Connection Pins The communication pins are connected in the module s connectors as follows: Designation CAN interface Factory use only, this pin must be left open Connector / pin number X2.2 (CAN H) X2.6 (CAN L) X1.15 X2.7 X2.8 9.2 CAN Interface CANopen compatible Physical interface ISO 11898 Protocol CAN 2.0B There is no internal terminal resistor in CANopen Slave unit. For detailed information concerning the use of terminal resistors, see the General Mounting and Cabling Instructions for Epec Modules.

48 / 57 10 ENVIRONMENTAL CHARACTERS Epec CAN module family is designed for extreme environments and the product family is certified with normal automotive (e17) EMC standards and has shock and vibration endurance up to 100 G. Operating temperature -40 C +70 C Storage temperature -50 C +85 C 10.1 Protection IP67 (classification according to IEC 60529) Module is equipped with Oil Rating 7 (according to test method AATCC 118-1997ASTM) hydrophobic and oleophobic Gore HPM Membrane Vent Protection for plugs depends on cable processing All cables, connectors and tools must be of correct type and sufficiently high quality. Also the environmental suitability of equipment should be checked (protection for moisture, mechanical stability, power durability, coupling resistance, etc.) Additional module cover for wires and connectors is also available 10.2 EMC Tests Epec 4G modules are certified according to following tests: ISO/DIS 14982 (1998) Agricultural and forestry machines-electromagnetic compatibility-test methods and acceptance criteria Electrostatic discharge (ESD) immunity test Test method EN61000-4-2 (1995) Performance criterion B Discharge mode Test level (kvp) Contact ± 2, ± 4, ± 6 Air ± 2, ± 4, ± 8 Transient and surges in vehicular environment immunity test Note: and the Mini display (2029) need the Hub module (2021) in order to reach the full transient immunity. Test method ISO 7637-2 (1990), pulse 5 Performance criterion B Pulse Pulse parameters 5 Us=+70V, tr=10ms, td=600ms Commission directive 72/245/EEC, as last amended by commission directive 2006/28/EC Requirements to be met by vehicles and electrical/electronic sub-assemblies fitted to a vehicle

49 / 57 Radiated disturbance emission test Test method 2005/83/EC, ANNEXES VII and VIII Frequency (MHz) 30 1000 30 1000 Limit value (dbµv/m) 62/52/63 (Broadband QP) 52/42/53 (Narrowband AVE) Conducted disturbances emission test Test method 2005/83/EC, ANNEX X Port 24V DC input Limit level (V) +150-450 Immunity to transient disturbances conducted along supply lines test Note: and the Mini display (2029) need the Hub module (2021) in order to have the full transient immunity. Test method 2005/83/EC, ANNEX X Performance criterion: Pulse Criterion 1 C 2a B 2b C 3a A 3b A 4 C Pulse Pulse parameters 1 3/2000µs, -600V, 1000 pulses 2a 1/50µs, +100V, 1000 pulses 2b 20V, 220ms, 2 pulses 3a 5/100ns, -200V, 60minutes 3b 5/100ns, +150V, 60minutes 4 100ms -20,5(8,0)V, 20s - 16,5(12,0)V, 2 pulses

50 / 57 Radiated radio-frequency electromagnetic field immunity test Test method 2005/83/EC, ANNEX IX Performance criterion: No degradation of Immunity-related functions Specification Modulation AM80% 1kHz Sweep step 1%, time/step 3s PM 577/4600µs Frequency Range (MHz) Test level 20-800 30V/m 800-2000 30V/m EN 61000-6-3 (2001) Electromagnetic compatibility-generic emission standard part6-3: residential, commercial and light industry Radiated disturbance emission test Test method EN 55022 (1994) Note: The Color display (2040) needs extra facilities in order to have the limit B covered. Limit Frequency (MHz) Limit value (dbµv/m) A 30 1000 40/47 (QP) B 30 1000 30/37 (QP) Conducted disturbance at main ports emission test Test method EN 55022 (1994) Frequency (MHz) Limit value (dbµv) 0,15-30 66/56/60 (QP) 0,15 30 56/46/50 (AVE) EN 61000-6-2 (2005) Electromagnetic compatibility-generic immunity standard part6-2: industrial environment

51 / 57 Conducted radio-frequency common mode immunity test Test method EN 61000-4-6 (1996) Performance criterion A Specification Port Test level Frequency range 0.150-80MHz DC input 10Vemf Modulation port AM80% 1kHz Sweep step 1%, Signal 10Vemf time/step 3s ports Radiated radio-frequency electromagnetic field immunity test Test method EN 61000-4-3 Performance criterion A Specification Frequency range 80-2700MHz Modulation AM80% 1kHz Sweep step 1%, time/step 3s Range (MHz) Test level 80-1000 20V/m 1000-2700 3V/m Electrical fast transient (EFT/B) immunity test Test method EN 61000-4-4 (1995) Performance criterion B Test pulse Port Test level 5(Tr)/50(Th) ns, DC input ± 2,0kVp repetition port frequency 5kHz, duration Signal ± 2,0kVp 1 minute ports CFR 47 Part 15, Subpart B, Class A and B Code of federal requlations (cfr) title 47 telecommunication, part15 radio frequency devices, subpart b unintentional radiators Class a intended for use in industrial/commercial environments Class b intended for use in residential/small office environments

52 / 57 Radiated emissions Note: The Color display (2040) needs extra facilities in order to have the class B covered. Test method ANSI C63.4 and EN55022 Class Frequency (MHz) Limit value (dbµv) A 30 1000 40/47 (QP) B 30 1000 30/37 (QP) CLASSIFICATION OF PERFORMANCE CRITERION A: All functions of a device/system perform as designed during and after exposure to disturbance. B: All functions of a device/system perform as designed during and after exposure to disturbance. However, one or more of them can go beyond specified tolerance. All functions return automatically to within normal limits after exposure is removed. Memory functions shall remain class A. C: One or more functions of a device/system do not perform as designed during exposure but return automatically to normal operation after exposure is removed. D: One or more functions of a device/system do not perform as designed during exposure and do not return to normal operation until exposure is removed and a device/system is reset by simple operator/use action. E: One or more functions of a device/system do not perform as designed during exposure and cannot be returned to operation without repairing the device/system. 10.3 Environmental Tests The following environmental tests have been performed to Epec 4G modules: Temperature Test Cold IEC 60068-2-1, Test Ab Dry heat IEC 60068-2-2, Test Bb Temperature Duration/ Exposure time -45 C 16 h - 70 C 16 h - Remarks Damp heat cycling IEC 60068-2-30, Test Db Change of temperature IEC 60068-2-14, Test Na Change of temperature IEC 60068-2-14, Test Nb +25 C/+55 C -50 C/+60 C 3 h -40 C/+70 C 3 h rel. humidity >90% six test cycles change time between extreme temperatures 1-2 min 5 test cycles change of temperature 10 C/min 2 test cycles

53 / 57 Mechanical resistance Test Shock/Bump test IEC 60068-2-27, and - 29, Tests Ea and Eb Vibration, random IEC 60068-2-64, Test Fh Free fall, IEC 60068-2-32, Test Ed Duration and direction pulse duration 6 ms 500 impulses in every six directions test duration 60 min in every three test direction one fall / direction on each surface and corner Remark half sine pulse shape peak acceleration 500 m/s 2 ASD-level 0,5 m 2 /s 3, 10 200 Hz ASD-level 1,0 m 2 /s 3, 200 500 Hz total spectral acceleration 3,54 grms fall height 100 cm Corrosion Test Temperature Duration Concentration Salt spray test ISO 9227 +35 C 24 h 50 g/l, NaCl

54 / 57 11 HOUSING Closed light cast aluminium housing Powder-painted, hexavalent chromium free passivation for aluminium Puncture hole fastening 11.1 Mounting 2 pieces of M6 screws to DIN 912 If a separate Epec module shock protection cover is mounted, it is recommended to use Epec fastening bolts which are delivered with the cover Recommended mounting position horizontal or vertical to allow water etc. flowing away from connectors: Module position Mounting base Mounting base Module position See the General Mounting and Cabling Instructions for Epec Modules for more detailed information about the module mounting

55 / 57 11.2 Unit Dimensions 147.50 mm X1 X2 63 mm 136.00 mm 53 mm

56 / 57 12 ADDITIONAL DOCUMENTS For more information on Epec control system products, assembly and programming please refer to the following documents: Document ID Document name Document description MAN000101 MountingInstructions General mounting and cabling instructions for Epec modules

57 / 57 13 TERMINOLOGY & ABBREVIATIONS Abbreviation / Termword CAN CANopen COB COB-ID LSB MSB NMT OD PDO PWM RPDO TPDO Explanation Controller Area network Communication protocol and device profile specification for embedded systems used in automation Communication Object (CAN message). A unit of transportation in a CAN network. Data must be sent across a network inside a COB. Communication Object Identifier (11-bit id of a CAN-frame, used in CANopen) Least Significant Bits Most Significant Bits Network Management. COBs designated for network management ie. initialize, start, stop nodes etc.; this service is implemented according to master-slave concept. Object Dictionary. Common representation of device parameters, process variables, configuration, communication settings and device data types. Accessible as SDO objects from CANopen network. The textual description of OD is called EDS file. Process Data Object used in CANopen for broadcasting high-priority control- and status information Pulse-width modulation Receive-PDO Transmit-PDO