EM32DX-C1【分布式io】

1设备类型：

电压：DC24V       
输入16点       
输出16点

雷赛 EM32DX-C1 模块是一款基于 ASIC 技术的高性能、高可靠性的 CANopen 总线数字
量输入输出扩展模块，具有 16 路通用输入接口和 16 路通用输出接口。输入输出接口均采用光
电隔离和滤波技术，可以有效隔离外部电路的干扰，以提高系统的可靠性。 
EM32DX-C1 主要用于与雷赛公司支持 CANopen 总线通讯的控制器和支持 CANopen 总线
的控制卡配套使用。

2接线拨码：

名称 功能介绍 
J1 直流 24V 电源输入 
CAN0 CAN0 总线接口 
CAN1 CAN1 总线接口 
P0 通用输入 
P1 通用输出 
SW0 CAN 波特率选择开关 
SW1 CAN ID 站号选择开关 
SW2 终端电阻/输出口初始电平选择开关

网口：

SW0

SW1

SW2

DI

DO

对象字典：

1000H 00H   u32  （设备类型） 初始值：0xF0191 
1001H 00H   u8  （错误寄存器） 初始值：0x00 
                                     00H 没有错误
                                     01H 通用错误
                                     11H CAN 通讯错误
                                     81H 制造商制定错误

1003H 00H，用于表示当前存储的错误个数，本模块中，做大可以存储 4 个错误。
      01H-04H  u32（错误码） 
                0000H 没有错误 
                2310H 输出端口电流过大 
                3120H 主电压过低
                8110H CAN 报文过载
                8120H CAN 控制器处于被动错误模式
                8130H 节点保护或心跳报文错误
                8140H CAN 控制器从关闭状态恢复
                8210H PDO 长度错误
清除方法：向索引 1003H的子索引 00H 中写入 0x00H。

1005H 00H COB-ID SYNC U32 rw Identifier of the synchronizationobject 
1006H 00H Sync time Unsigned32 rw Sync time（同步报文的周期） 
1007H 00H Sync window length Unsigned32 rw Time window for synchronous PDOs in μS（同步PDO 的窗口时间） 
1008H 00H Mfg. device name Vis String8 ro Manufacturer’s designation 初始值：EM32DX-C1 
1009H 00H Mfg. hardware version Vis String8 ro Hardware version 初始值：V1.01 
100AH 00H Mfg. software version Vis String8 ro Software version 初始值：V1.01 
100CH 00H Guard time Unsigned16 rw Time span for Node Guarding [ms]（节点保护时间） 
100DH 00H Life time factor Unsigned8 rw Repeat factor for Node Guarding 
1010H Store parameters Unsigned32 Store parameters（保存参数） 
        00H Largest sub-index Unsigned8 ro Largest sub-index supported» 04h 

1018H Identity ro （设备信息） 
        00H Largest sub-index Unsigned8 ro Largest sub-index supported » 04h 
        01H Vendor ID Unsigned32 ro Vendor ID 初始值：0x00000331 
        02H Product code Unsigned32 ro Product code 初始值：0x00001011 
        03H Revision number Unsigned32 ro Revision number 始值：101 
        04H Serial number Unsigned32 ro Serial number 初始值：0x00001001

输入输出：

6100H read input 16-bit （16位输入） 
        00H U8 子索引总数 
        01H Unsigned16 IN16bit（用于保存16位输入值） 
6300H write output 16-bit 
        00H U8 子索引总数 
        01H Unsigned16 OUT16bit（用于保存16位输出值）

案例：

雷赛 SMC606 控制器的外形如下图 5.1 所示：图 5.1 SMC606 外形

添加主站 CANOpen 总线控制器，驱动总线 IO 模块时，首先添加 CANopen 总线。选择设备右击选择“添加设备”（如图 5.2 所示） => 在弹出的窗口中选择“现场总线” => “CANbus”= > “CANbus-3S Smart software Solutiongs GmbH”，然后点击添加设备，如图 5.3 所示：

选择“CANbus”，右击“添加设备”如图 5.4 所示，在弹出的窗口选择“CANopen” => “CANopen 管理器” => “CANopen_Manager”，然后点击添加设备得到如图 5.5 所示。

总线刷新对象：

eds文件：

[FileInfo]
FileName=EM32DX-C1.eds     
FileVersion=16
FileRevision=100
EDSVersion=100
Description=EDS for Leadshine EM32DX-C1
CreationTime=15:02PM
CreationDate=12-10-2015
CreatedBy=Leadshine
ModificationTime=15:23PM
ModificationDate=2015-12-10
ModifiedBy=Leadshine

[DeviceInfo]
VendorName=Leadshine Technology Co., Ltd.
VendorNumber=0x0331
ProductName=EM32DX-C1
ProductNumber=0x1011
RevisionNumber=101
OrderCode=EM32DX-C1
Baudrate_10=1
Baudrate_20=1
Baudrate_50=1
Baudrate_125=1
Baudrate_250=1
Baudrate_500=1
Baudrate_800=1
Baudrate_1000=1
SimpleBootUpMaster=0
SimpleBootUpSlave=1
Granularity=8
DynamicChannelsSupported=0
GroupMessaging=0
NrOfRXPDO=1
NrOfTXPDO=1
LSS_Supported=0

[DummyUsage]
Dummy0001=0
Dummy0002=0
Dummy0003=0
Dummy0004=0
Dummy0005=1
Dummy0006=1
Dummy0007=1

[Comments]
Lines=0

[MandatoryObjects]
SupportedObjects=3
1=0x1000
2=0x1001
3=0x1018

[1000]
ParameterName=Device Type
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0xF0191
PDOMapping=0x0

[1001]
ParameterName=Error Register
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0x0
PDOMapping=0x0

[1018]
SubNumber=0x5
ParameterName=Identity Object
ObjectType=0x9

[1018sub0]
ParameterName=number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x4
PDOMapping=0x0

[1018sub1]
ParameterName=Vendor-ID
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x0331
PDOMapping=0x0

[1018sub2]
ParameterName=Product code
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x010
PDOMapping=0x0

[1018sub3]
ParameterName=Revision number
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x0101
PDOMapping=0x0

[1018sub4]
ParameterName=Serial number
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x0001
PDOMapping=0x0


[ManufacturerObjects]
SupportedObjects=8
1=0x2000
2=0x2001
3=0x2002
4=0x2003
5=0x2004
6=0x2005
7=0x2006
8=0x2007

[2000]
ParameterName=P1         ˿   ʱ  תʱ  
ObjectType=0x8
SubNumber=17

[2000sub0]
ParameterName=          
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=16
PDOMapping=0

[2000sub1]
ParameterName=P1-01.         ˿ 0    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000sub2]
ParameterName=P1-02.         ˿ 1    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000sub3]
ParameterName=P1-03.         ˿ 2    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000sub4]
ParameterName=P1-04.         ˿ 3    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000sub5]
ParameterName=P1-05.         ˿ 4    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000sub6]
ParameterName=P1-06.         ˿ 5    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000sub7]
ParameterName=P1-07.         ˿ 6    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000sub8]
ParameterName=P1-08.         ˿ 7    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000sub9]
ParameterName=P1-09.         ˿ 8    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000subA]
ParameterName=P1-10.         ˿ 9    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000subB]
ParameterName=P1-11.         ˿ 10    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000subC]
ParameterName=P1-12.         ˿ 11    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000subD]
ParameterName=P1-13.         ˿ 12    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000subE]
ParameterName=P1-14.         ˿ 13    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000subF]
ParameterName=P1-15.         ˿ 14    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0

[2000sub10]
ParameterName=P1-16.         ˿ 15    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0


[2001]
ParameterName=P2         ˿ڵĴ    ˿ں 
ObjectType=0x8
SubNumber=17

[2001sub0]
ParameterName=          
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=16
PDOMapping=0

[2001sub1]
ParameterName=P2-01.         ˿ 0 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001sub2]
ParameterName=P2-02.         ˿ 1 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001sub3]
ParameterName=P2-03.         ˿ 2 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001sub4]
ParameterName=P2-04.         ˿ 3 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001sub5]
ParameterName=P2-05.         ˿ 4 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001sub6]
ParameterName=P2-06.         ˿ 5 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001sub7]
ParameterName=P2-07.         ˿ 6 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001sub8]
ParameterName=P2-08.         ˿ 7 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001sub9]
ParameterName=P2-09.         ˿ 8 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001subA]
ParameterName=P2-10.         ˿ 9 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001subB]
ParameterName=P2-11.         ˿ 10 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001subC]
ParameterName=P2-12.         ˿ 11 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001subD]
ParameterName=P2-13.         ˿ 12 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001subE]
ParameterName=P2-14.         ˿ 13 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001subF]
ParameterName=P2-15.         ˿ 14 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0

[2001sub10]
ParameterName=P2-16.         ˿ 15 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0



[2002]
ParameterName=P3-01
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0


[2003]
ParameterName=P3-02
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0

[2004]
ParameterName=P3-03
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0

[2005]
ParameterName=P3-04
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0

[2006]
ParameterName=P3-05
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0

[2007]
ParameterName=P3-06
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0


[OptionalObjects]
SupportedObjects=19
1=0x1003
2=0x1005
3=0x1007
4=0x1008
5=0x1009
6=0x100A
7=0x100C
8=0x100D
9=0x1010
10=0x1011
11=0x1014
12=0x1017
13=0x1400
14=0x1600
15=0x1800
16=0x1A00
17=0x6100
18=0x6300
19=0x6301

[1003]
SubNumber=0x5
ParameterName=Pre-defined Error Field
ObjectType=0x8

[1003sub0]
ParameterName=number of errors
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0

[1003sub1]
ParameterName=standard error field
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x4
PDOMapping=0x0

[1003sub2]
ParameterName=standard error field
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x4
PDOMapping=0x0

[1003sub3]
ParameterName=standard error field
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x4
PDOMapping=0x0

[1003sub4]
ParameterName=standard error field
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x4
PDOMapping=0x0

[1005]
ParameterName=COB-ID SYNC
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x80
PDOMapping=0x0

[1007]
ParameterName=Sync Windows Length
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0

[1008]
ParameterName=device name
ObjectType=0x7
DataType=0x0009
AccessType=const
DefaultValue=CANopen Slave IO
PDOMapping=0x0

[1009]
ParameterName=hardware version
ObjectType=0x7
DataType=0x0009
AccessType=const
DefaultValue=V1.01
PDOMapping=0x0

[100A]
ParameterName=software version
ObjectType=0x7
DataType=0x0009
AccessType=const
DefaultValue=V1.01
PDOMapping=0x0

[100C]
ParameterName=Guard Time
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0

[100D]
ParameterName=Life Time Factor
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0

[1010]
SubNumber=0x5
ParameterName=Store Parameters
ObjectType=0x8

[1010sub0]
ParameterName=largest supported Sub-Index
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x4
PDOMapping=0x0

[1010sub1]
ParameterName=save all parameters
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0

[1010sub2]
ParameterName=save communication parameters
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0

[1010sub3]
ParameterName=save application parameters
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0

[1010sub4]
ParameterName=save manufactury parameters
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0


[1011]
SubNumber=0x5
ParameterName=restore default parameters
ObjectType=0x8

[1011sub0]
ParameterName=largest supported Sub-Index
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x4
PDOMapping=0x0

[1011sub1]
ParameterName=restore all default para.
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0

[1011sub2]
ParameterName=restore comm. default para.
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0

[1011sub3]
ParameterName=restore app. default para.
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0

[1011sub4]
ParameterName=restore app. default para.
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0


[1014]
ParameterName=COB-ID Emergency message
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+16#80
PDOMapping=0x0

[1017]
ParameterName=Producer Heartbeat Time
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0xC8
PDOMapping=0x0




[1400]
SubNumber=0x4
ParameterName=RPDO1
ObjectType=0x9

[1400sub0]
ParameterName=largest subindex supported
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x3
PDOMapping=0x0

[1400sub1]
ParameterName=COB-Id used
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NodeId + 0x200
PDOMapping=0x0

[1400sub2]
ParameterName=transmission type
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0x01
PDOMapping=0x0

[1400sub3]
ParameterName=inhibit time
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0

[1600]
SubNumber=0x3
ParameterName=RPDO1 mapping parameter
ObjectType=0x9

[1600sub0]
ParameterName=number of mapped objects
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0x2
PDOMapping=0x0

[1600sub1]
ParameterName=PDO mapping 1. app. object
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x63000110
PDOMapping=0x0


[1800]
SubNumber=0x5
ParameterName=TPDO1
ObjectType=0x9

[1800sub0]
ParameterName=largest subindex supported
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x5
PDOMapping=0x0

[1800sub1]
ParameterName=COB-ID used
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NodeId + 0x180
PDOMapping=0x0

[1800sub2]
ParameterName=transmission type
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0x01
PDOMapping=0x0

[1800sub3]
ParameterName=inhibit time
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0

[1800sub5]
ParameterName=event timer
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0


[1A00]
SubNumber=0x3
ParameterName=TPDO1 mapping parameter
ObjectType=0x9

[1A00sub0]
ParameterName=number of mapped objects
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0x2
PDOMapping=0x0

[1A00sub1]
ParameterName=PDO mapping 1. app. object
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x61000110
PDOMapping=0x0


[6100]
SubNumber=0x2
ParameterName=read input 16-bit
ObjectType=0x8

[6100sub0]
ParameterName=number of entries
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x01
PDOMapping=0x0

[6100sub1]
ParameterName=IN16bit
ObjectType=0x7
DataType=0x0006
AccessType=rwr
DefaultValue=0x0
PDOMapping=0x1


[6300]
SubNumber=0x2
ParameterName=write output 16-bit
ObjectType=0x8

[6300sub0]
ParameterName=number of entries
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x01
PDOMapping=0x0

[6300sub1]
ParameterName=OUT16bit
ObjectType=0x7
DataType=0x0006
AccessType=rww
DefaultValue=0x0
PDOMapping=0x1


[6301]
SubNumber=0x2
ParameterName=read real output 16-bit
ObjectType=0x8

[6301sub0]
ParameterName=number of entries
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x01
PDOMapping=0x0

[6301sub1]
ParameterName=read_real_OUT16bit
ObjectType=0x7
DataType=0x0006
AccessType=rwr
DefaultValue=0x0
PDOMapping=0x1