2024年6月5日发(作者：)

广州虹科电子科技有限公司

ｗｗｗ．ｈｋａｃｏ．ｃｏｍ

CANopen µChip – Fact sheet

Overview

The CANopen µChip is a tiny yet cost effective

single Chip CANopen IO. The CANopen µChip

features various IO configurations including digital

and analogue inputs and outputs.

All inputs and outputs are accessible via the

CANopen protocol, which is implemented in the

pre-programmed firmware of the module. Thus the

CANopen µChip can be used in a wide field of

application.

The CANopen µChip implements a CANopen slave

device according CANopen device profile DS401

and CANopen communication profile DS301

V4.02.

Two LED-ports indicate the device state according

to DR-303-3 V1.0.

CANopen features:

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•

•

•

•

•

•

•

•

•

•

•

Device specification:

•

•

•

•

•

•

•

•

•

•

•

•

•

Operating voltage: 5V

±

10%

Current consumption: typically 30mA

storage of configuration data on Non-volatile

memory (provided by customer)

predefined pins for easy configuration of node

ID, baud rate and IO configuration (e.g. by a

DIP-switch)

Seven different IO configurations on 28 IO

pins, selectable via portpins and Object

Dictionary

Digital outputs:

GND < L-level < 0.4V

4.5V < H-level < VCC

Digital inputs:

GND – 0.3V < L-level < 0.8V

0.8 • VCC < H-level < VCC + 0.3V

Analogue inputs:

Input voltage: VAGND … VREF

Logical resolution: 15-bit signed (OD value)

Physical resolution: 10-bit (see manual)

Input capacity: 10.7pF

Reference voltage: +2.7V ... VCC

PWM outputs:

See digital outputs for details

PWM frequency: max. 21kHz

(CAN>10kBit)

PWM frequency: max. 11,5kHz

(CAN=10kBit)

CAN-bus baud rate: 10kBit/s to 1Mbit/s

Operating temperature: -40

°

C to +85

°

C

Storage temperature: -40

°

C to +90

°

C

Package: 64-pin Plastic LQFP

Communication profile according to CiA

standard DS301 in version V4.02

Device profile according to CiA standard

DSP401

State indicators according to CiA standard DR-

303-3 V1.0

Layer Setting Service (LSS) according to CiA

standard DSP305

4 TPDO and 4 RPDO

Dynamic PDO-Linking and –Mapping

2 SDO-Server

Life guarding, Node guarding, Heartbeat

5 Heartbeat Consumers

Emergency Producer

Minimum Boot Up capability

Manufacturer extension for usage as NMT-

boot master

predefined Pins for Chip-configuration

4 bit Node ID:

Allows for configuration of node ID from 40H ... 4EH

The node ID is derived from the pin setting by:

40H + 1*DIP1 + 2*DIP2 + 4*DIP3 + 8*DIP4

Setting the value 0xF causes a reset to factory settings

when the modules get reset. The full range of node ID

is configurable via LSS only.

2 bit Baud rate:

Selectable via pins: 0 = 125kBit/s

1 = 20kBit/s

2 = 500kBit/s

3 = 1000kBit/s

The full range of baud rate is configurable via LSS only.

2 bit IO configuration:

Selectable via pins is IO configuration 0 to 3.

Additionally all IO configurations are selectable via OD

entry on index 2000H in manufacturer specific section.

Site 1 of 5

广州虹科电子科技有限公司

Device pinout and IO configurations

Pin

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

27

28

29

30

31

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

50

51

52

53

54

55

56

57

58

59

60

61

62

63

64

0 1 2 3 4 5 6

VAGND ground signal for reference voltage

VREF reference voltage des AD-Wandlers

DI 0 AI 2 DI 2 DI 2 AI 2 DI 2 AI 2

DI 1 AI 3 DI 3 DI 3 AI 3 DI 3 AI 3

DI 2 AI 4 DI 4 DI 4 AI 4 DI 4 DI 2

DI 3 AI 5 DI 5 DI 5 AI 5 DI 5 DI 3

DI 4 AI 6 DI 6 DI 6 AI 6 DI 6 DI 4

DI 13 AI 7 DI 7 DI 7 AI 7 DI 7 DI 5

DI 12 DO 4 DO 4 DO 4 DI 8 DI 16 DI 14

DI 11 DO 5 DO 5 DO 5 DI 9 DI 17 DI 15

DI 6 DO 6 DO 6 DO 6 DI 10 DI 18 DO 2

DI 5 DO 7 DO 7 DO 7 DI 11 DI 19 DO 3

MRST EEPROM

MTSR EEPROM

SCLK EEPROM

RxDC receive signal of internal CAN-controllers, TTL-level

TxDC transmit signal of internal CAN-controllers, TTL-level

GND ground signal for VCC

reserved

reserved

MD2

MD1

MD0

nc

nc

reserved

reserved

pin 0 for node ID

pin 1 for node ID

pin 2 for node ID

pin 3 for node ID

CS EEPROM

reserved

DO 4 DO 0 DO 0 DO 0 DI 12 DI 20 DI 0

DO 5 DO 1 DO 1 DO 1 DI 13 DI 21 DI 1

pin 0 for baudrate

pin 1 for baudrate

pin 0 for IO configuration

pin 1 for IO configuration

PWM 0 PWM 0 PWM 0 PWM 0 PWM 0 PWM 0 PWM 0

PWM 1 PWM 1 PWM 1 PWM 1 PWM 1 PWM 1 PWM 1

PWM 2 PWM 2 PWM 2 PWM 2 PWM 2 PWM 2 PWM 2

PWM 3 PWM 3 PWM 3 PWM 3 PWM 3 PWM 3 PWM 3

LED green

/RESET Reset input

XTAL1

XTAL2

GND ground signal for VCC

VCC power supply, +5VDC

C

LED red

DO 6 DO 2 DO 2 DO 2 DI 14 DI 22 DO 0

DO 7 DO 3 DO 3 DO 3 DI 15 DI 23 DO 1

DI 10 DI 0 DI 8 DO 8 DI 0 DI 8 DI 6

DI 9 DI 1 DI 9 DO 9 DI 1 DI 9 DI 7

DI 8 DI 2 DI 10 DO 10 DI 2 DI 10 DI 8

DI 7 DI 3 DI 11 DO 11 DI 3 DI 11 DI 9

DO 3 DI 4 DI 12 DO 12 DI 4 DI 12 DI 10

DO 2 DI 5 DI 13 DO 13 DI 5 DI 13 DI 11

DO 1 DI 6 DI 14 DO 14 DI 6 DI 14 DI 12

DO 0 DI 7 DI 15 DO 15 DI 7 DI 15 DI 13

AI 0 AI 0 DI 0 DI 0 AI 0 DI 0 AI 0

AI 1 AI 1 DI 1 DI 1 AI 1 DI 1 AI 1

AVCC power supply, +5VDC

Configuration

0

1

2

3

4

5

6

DI

14

8

16

8

16

24

16

DO

8

8

8

16

-

-

4

AI

2

8

-

-

8

-

4

PWM

4

4

4

4

4

4

4

DI

DO

AI

PWM

Digital Input

Digital Output

Analogue Input

PWM Output

Site 2 of 5

广州虹科电子科技有限公司

PDO Mapping

The following table show the default PDO-mapping of the CANopen ChipF40 for each IO configuration.

Due to the different IO signals available, the available PDO depends on IO configuration. Thus, some PDO

might be set invalid if not used. The PDO-mapping and linking can be changed dynamically by use of a standatd

CANopen configuration tool. The configuration can be saved to non-volatile memory and thus is available after

restart.

ID

configuration 0

200H+Node

1. RPDO

ID

400H+Node

3. RPDO

ID

180H+Node

1. TPDO

ID

280H+Node

2. TPDO

ID

configuration 1

200H+Node

1. RPDO

ID

400H+Node

3. RPDO

ID

180H+Node

1. TPDO

ID

280H+Node

2. TPDO

ID

380H+Node

3. TPDO

ID

configuration 2

200H+Node

1. RPDO

ID

400H+Node

3. RPDO

ID

180H+Node

1. TPDO

ID

configuration 3

200H+Node

1. RPDO

ID

400H+Node

3. RPDO

ID

180H+Node

1. TPDO

ID

Konfiguration 4

400H+Node

3. RPDO

ID

180H+Node

1. TPDO

ID

280H+Node

2. TPDO

ID

380H+Node

3. TPDO

ID

configuration 5

400H+Node

3. RPDO

ID

180H+Node

1. TPDO

ID

configuration 6

200H+Node

1. RPDO

ID

400H+Node

3. RPDO

ID

180H+Node

1. TPDO

ID

280H+Node

2. TPDO

ID

1

8

2

8

DO0_7

6200H/1

Pulse PWM0

6500H/1

DI0_7 DI8_15

6000H/1 6000H/2

AI0

6401H/1

8

3

Pulse PWM0 Pulse PWM1

6500H/1 6500H/2

DI0_7 DI8_15 DI16

_

23

6000H/1 6000H/2 6000H/3

Pulse PWM2

6500H/3

Pulse PWM3

6500H/4

8

2

8

8

Pulse PWM0

6500H/1

DI0_7 DI8_15

6000H/1 6000H/2

AI0

6401H/1

AI4

6401H/5

Pulse PWM1

6500H/2

AI1

6401H/2

AI5

6401H/6

Pulse PWM2

6500H/3

AI2

6401H/3

AI6

6401H/7

Pulse PWM3

6500H/4

AI3

6401H/4

AI7

6401H/8

2

8

1

DO0_7 DO8_15

6200H/1 6200H/2

Pulse PWM0

6500H/1

DI0_7

6000H/1

1

8

2

DO0_7

6200H/1

Pulse PWM0

6500H/1

DI0_7 DI8_15

6000H/1 6000H/2

1

8

1

8

8

DO0_7

6200H/1

Pulse PWM0

6500H/1

DI0_7

6000H/1

AI0

6401H/1

AI4

6401H/5

Lengh

BYTE 0 BYTE 1 BYTE 2 BYTE 3 BYTE 4 BYTE 5 BYTE 6 BYTE 7

1

8

2

4

DO0_7

6200H/1

Pulse PWM0

6500H/1

DI0_7 DI8_15

6000H/1 6000H/2

AI0

6401H/1

Pulse PWM1

6500H/2

Pulse PWM2

6500H/3

Pulse PWM3

6500H/4

AI1

6401H/2

Pulse PWM1

6500H/2

AI1

6401H/2

AI5

6401H/6

Pulse PWM2

6500H/3

AI2

6401H/3

AI6

6401H/7

Pulse PWM3

6500H/4

AI3

6401H/4

AI7

6401H/8

Pulse PWM1

6500H/2

Pulse PWM2

6500H/3

Pulse PWM3

6500H/4

Pulse PWM1

6500H/2

Pulse PWM2

6500H/3

Pulse PWM3

6500H/4

Pulse PWM1

6500H/2

AI1

6401H/2

Pulse PWM2

6500H/3

AI2

6401H/3

Pulse PWM3

6500H/4

AI3

6401H/4

Site 3 of 5

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Object Dictionary

Index

1000H

1001H

1003H

1005H

1007H

1008H

1009H

100AH

100CH

100DH

1010H

1011H

1014H

1016H

1017H

1018H

1029H

1200H

1201H

1400H

1401H

1402H

1403H

1600H

1601H

1602H

1603H

1800H

1801H

1802H

1803H

1A00H

1A01H

1A02H

1A03H

2000H

2001H

6000H

6200H

6206H

6207H

6401H

6421H

6422H

6423H

6424H

6425H

6426H

6500H

6510H

6543H

6544H

Object

Var

Var

Array

Var

Var

Var

Var

Var

Var

Var

Array

Array

Var

Array

Var

Record

Array

Record

Record

Record

Record

Record

Record

Record

Record

Record

Record

Record

Record

Record

Record

Record

Record

Record

Record

Var

Var

Array

Array

Array

Array

Record

Array

Array

Var

Array

Array

Record

Array

Array

Array

Array

Name

Device type number

Error Register

Error Meldung

Identifier SYNC-Message

SYNC window length

Device description

Hardware Version

Software Version

Guard Time

Life Time Factor

User-Parameter save

Default-Parameter reload

Identifier Emergency

Consumer Heartbeat Time

Producer Heartbeat Time

Identity Object

Error Behaviour

1

st

Server SDO Parameter

2

nd

Server SDO Parameter

RPDO1 Communication parameter

RPDO2 Communication parameter

RPDO3 Communication parameter

RPDO4 Communication parameter

RPDO1 Mapping parameter

RPDO2 Mapping parameter

RPDO3 Mapping parameter

RPDO4 Mapping parameter

TPDO1 Communication parameter

TPDO2 Communication parameter

TPDO3 Communication parameter

TPDO4 Communication parameter

TPD01 Mapping parameter

TPD02 Mapping parameter

TPD03 Mapping parameter

TPD04 Mapping parameter

I/O Configuration

NMT-Boot-Configuration

PDO Digital Input

1

PDO Digital Output

1

Error Mode Digital Output

1

Error State Digital Output

1

PDO Analog Input

1

Interrupt Trigger Selection

1

Interrupt Source

1

Global Interrupt Enable

1

Interrupt upper Limit

1

Interrupt lower Limit

1

Input Interrupt Delta

1

PWM Pulse

PWM Period

PWM Output Error Mode

PWM Output Error Value

Data type

Unsigned32

Unsigned8

Unsigned32

Unsigned32

Unsigned32

String

String

String

Unsigned16

Unsigned8

Unsigned32

Unsigned32

Unsigned32

Unsigned32

Unsigned16

Identity

Unsigned8

SDO Parameter

SDO Parameter

PDOComPar

PDOComPar

PDOComPar

PDOComPar

PDOMapping

PDOMapping

PDOMapping

PDOMapping

PDOComPar

PDOComPar

PDOComPar

PDOComPar

PDOMapping

PDOMapping

PDOMapping

PDOMapping

Unsigned8

Unsigned8

Unsigned8

Unsigned8

Unsigned8

Unsigned8

Integer16

Unsigned8

Unsigned32

Boolean

Integer32

Integer32

Unsigned32

Unsigned16

Unsigned16

Unsigned8

Unsigned16

Object is

mappable

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

x

x

-

-

x

-

x

-

-

-

-

x

x

-

-

Object gets Object gets

saved via Restored via

1010H 1011H

- -

- -

auto w 0 auf Sub0

x x

x x

- -

- -

- -

x x

x x

- -

- -

x x

x x

x x

- -

x x

- -

x x

x x

x x

x x

x x

x x

x x

x x

x x

x x

x x

x x

x x

x x

x x

x x

x x

auto Zugriff DIP 0FH

auto Zugriff DIP 0FH

- -

- -

x x

x x

- -

x x

- -

x x

x x

x x

x x

- -

x x

x x

x x

1

Availability of this object depends on IO configuration selected

Site 4 of 5

广州虹科电子科技有限公司

Sample schematics:

Important!

All inputs not used needs to drawn to a defined signal such as GND to avoid any flicker on these inputs and the

unwanted transmission of PDO.

Delivery contents / order number

Manual and corresponding EDS-file.

Also available:

MM-215-Y CANopen Chip164

3301001 CANopen µChip

MM-217-Y CANopen ChipF40

MM-217-V3Y CANopen ChipF40 compatible to

MM-215-Y

4002003 Developmentboard for CANopen ChipF40

KMM-217-Y Development Kit CANopen ChipF40

Site 5 of 5