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Technical Description Revision 2...PITAGORA PRELIMINARY MANUAL Technical Description User's Guide...
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S2Tech-DigiTran
PITAGORA
PRELIMINARY MANUAL
Technical Description User's Guide
Configuration and CAN Interface
S2Tech S.R.L. Via Imperia 28 20142 Milano - Italy Phone +39 028910142 Fax +39 0289124848 E-Mail: [email protected] http://www.s2tech.it
CANopen
PITAGORA
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Contents 1. Characteristics ................................................................................................................................... 4
1.1. ELECTRICAL CONNECTIONS .............................................................................................. 5
1.2. Rear terminal boards .................................................................................................................. 5
1.3. Power supply connections .......................................................................................................... 5
1.3.1. Accepted power supply ....................................................................................................... 5
1.4. Connection of RJ-11b connector com port ................................................................................. 6
2. Definitions ......................................................................................................................................... 6
System Description of PITAGORA on CAN-Bus .................................................................................... 7
2.1. PITAGORA ARCHITECTURE – SYSTEM SLOT .................................................................. 7
2.1.1. Slot types that may be part of the internal configuration of a PITAGORA instrument: ..... 8
2.1.2. SPECIAL MODULE COMMAND SEQUENCES ............................................................ 9
2.1.3. PITAGORA CONFIGURATION – Example and reference table - Modbus / CANopen
indexes 10
2.1.4. SYSTEM module (0x10)................................................................................................... 11
2.2. Node Identification ................................................................................................................... 15
2.3. Operating Parameters ............................................................................................................... 15
2.4. System Start .............................................................................................................................. 16
2.4.1. Initialization state .............................................................................................................. 16
2.4.2. Pre-Operational state ......................................................................................................... 16
2.4.3. Operational state ............................................................................................................... 16
2.5. Power-On messages ................................................................................................................. 16
2.6. Estimating transmission time ................................................................................................... 17
3. Measurement data in the TxPDOs .................................................................................................. 17
3.1. Error messages ......................................................................................................................... 18
4. Parameterization of the CANopen interface with SDO Services ................................................... 18
4.1. Assigning baud rate .................................................................................................................. 18
4.2. Assigning NodeID .................................................................................................................... 19
4.3. Saving the settings .................................................................................................................... 19
5. Node configuration ......................................................................................................................... 20
5.1. Node identification ................................................................................................................... 20
5.2. Mode (type of message transmission) ...................................................................................... 20
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5.3. Setting data transmission/update rate ....................................................................................... 20
5.4. Saving the new settings ............................................................................................................ 20
6. Object Directory .............................................................................................................................. 21
6.1. Communication Profile ............................................................................................................ 21
6.1.1. CANopen Setup ................................................................................................................ 21
6.2. CANopen Interface Module (0x22) ....................................................................................... 22
6.2.1. PDO Communication ........................................................................................................ 23
6.3. Communication Profile (Tables) ABSOLUTE ....................................................................... 24
6.4. Application Module (0x30) ..................................................................................................... 30
6.5. A/D Converter CS5532 (0x02) – ABSOLUTE references ................................................... 31
6.5.1. A/D Converter Module calibration and setup ................................................................... 40
6.5.2. Linearization ..................................................................................................................... 41
6.5.3. Auto Zeroing Function ...................................................................................................... 42
6.6. A/D Converter CS5532 (0x02) – RELATIVE index EXAMPLE ....................................... 44
7. Parameterization of the Measuring system with SDO Services ..................................................... 47
7.1. Measure Update Rate setup ...................................................................................................... 47
7.2. Output value measurement units .............................................................................................. 48
7.3. Saving the settings .................................................................................................................... 48
8. Peak value monitoring .................................................................................................................... 48
9. Zero Reset operation ....................................................................................................................... 48
10. APPENDIX .................................................................................................................................. 49
10.1. PITAGORA compatibility for non CANopen networks ....................................................... 49
10.2. Accessing the Object Database using Expedited SDO Protocol .......................................... 50
11. Operating the CANopen device ................................................................................................... 51
12. Operation example ....................................................................................................................... 52
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Notice: The information in this manual is subject to change without notice.
S2Tech shall not be liable for technical or editorial errors or omissions contained herein, nor for
incidental or consequential damages resulting from the furnishing, performance, or use of this
material. This manual contains information protected by copyright. No part of this
manual may be photocopied, or reproduced in any form, or translated without prior written
consent from S2Tech s.r.l.
Critical products (1) used in critical devices or systems (2) must be expressly
authorized for such purpose!
S2Tech products may only be used in critical devices or systems with the express written approval
of S2Tech s.r.l.
(1) A critical product is a product used in a device or system whose failure can reasonably be
expected to cause the failure of that device or system, or to affect the safety or effectiveness
of that device or system.
(2) A critical device or system is any system whose failure can be reasonably assumed to
endanger the life or the health of human persons.
1. Characteristics
PITAGORA instrument allows configuration in a CANopen bus system: For Communication Profile parameterization see Paragraph 4.
Parameterization distinguishes between instrument’s-specific and CAN-specific parameters.
Programmable parameters related to i.e. I2 Input board (for strain gauge based transducers)
installed on the Slots from A to D may be:
– Setting working range
- Setting and activating auto-zeroing function
- Setting and activating linearization function
– Peak value retention (Peak values can be read via SDO)
– Cycle time of the PDO
Other type of boards will provide parameters and variables accordingly to their functions.
CAN communications parameters:
– Sending PDOs
– Setting guard time and life time factor
Bus parameters:
– Setting baud rate
– Setting Node ID
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1.1. ELECTRICAL CONNECTIONS
Warning:
Avoid soldering activities nearby the a PITAGORA instrument or a network of digital units.
1.2. Rear terminal boards
Fig. 1: Rear terminal board view.
1.3. Power supply connections
1.3.1.Accepted power supply
From 10.5 to 35 Vdc.
Power supply must be in position to provide at least 24W power (depending on the number and type of connected
transducers).
On terminal connector is available the earth connection for instrument grounding.
Be careful to avoid earth loops, as this can cause damages to the instrumentation, decrease of the measurement’s accuracy or
error in the digital data communication with the instrument, when using a remote computer.
Terminal Description
+DC DC power supply
GND GND power supply
EARTH Earth connection / Grounding
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1.4. Connection of RJ-11b connector com port
RJ – 11b Cable color Description
1 Blue
WARNING: on this pin is available the POWER SUPPLY
supplied to the Pitagora instrument (reduced from 1 to 2 volts)
2 White CAN_H
3 Red CAN_L
4 Brown GND
NOTE: PITAGORA instruments can be connected to other type of fieldbuses, using specific
gateways that can be provided and configured by S2Tech, allowing a wider use of such products.
It is also possible to use these products with wireless connection, using WiFi / Bluetooth or other
proprietary means of wireless transmission.
In order to have good performances it is strongly suggested to:
Follow connection recommendations from official Technical CAN guidelines
Terminate transmission line with 120 Ohm terminators
Use appropriate shielded cables with twisted pairs used :
One twisted couple for CAN_L and CAN_H
One twisted couple for Power Supply + and Power Supply GND
Can GND can stand alone, using and additional twisted couple
Remember that communication cable must avoid bifurcations and long stubs.
Allowed connection topology is linear connection between all devices
2. Definitions
Baud rate Data transmission speed on the CAN bus
CAN Controller Area Network
CAL CAN Application Layer
CiA CAN in Automation (CiA) International Users and Manufacturers Group e.V.
DS... CiA Draft Standard ...
NodeID Node number for device specific identification
PDO Process Data Object Element for data transfer (process data messages with high
priority)
SDO Service Data Object Element for configuring the bus node (service data
messages)
NMT Network Management Service element for initialization and error handling
(administrative messages)
Index.SubIndex
Or Idx.Sub Used to indicate CAN references as Index and Sub index of constant or variables
that can be accessed from the CAN network. d.ParamName Variable parameters / live measurements
c.ParamName Constant parameters
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System Description of PITAGORA on CAN-Bus
2.1. PITAGORA ARCHITECTURE – SYSTEM SLOT
The system is structured in a modular form, to achieve the maximum configuration flexibility:
the firmware is built around 16 logic SLOTS, where each slot is a handle that can be associated to
a virtual task or to a physical hardware feature.
The system executes the tasks associated to the slot type in a round robin order.
This modular concept can be used to create instruments with internal configuration defined
accordingly to Customer’s needs, or as a fixed configuration when instruments have a hardware
configuration that cannot be changed during production of the unit – like the DIGI Tran line of
transducers.
SLOTs are organized as follows:
SLOT Description
0 Contains the system configuration: SLOT 0 is setup in Factory, to configure the hardware
and software options, as chosen by the Customer. On fixed configuration devices – like
the DigiTran products, this is the slot where the transducer Hw is allocated.
1 Associated to physical SLOT A: it has to be set accordingly to the hardware installed on
the device, in order to fully use the corresponding available features and measured data.
2 Associated to physical SLOT B: it has to be set accordingly to the hardware installed on
the device, in order to fully use the corresponding available features and measured data.
3 Associated to physical SLOT C: it has to be set accordingly to the hardware installed on
the device, in order to fully use the corresponding available features and measured data.
4 Associated to physical SLOT D: it has to be set accordingly to the hardware installed on
the device, in order to fully use the corresponding available features and measured data.
5 Associated to the DISPLAY driver, if present on the device.
6 Associated with the MODBUS serial protocol used on SERIAL0 interface, if accessible.
7 Always present and associated to the APPLICATION that is used to represent/handle
inside the device measurement data.
8….14 Can be associated to a software function / virtual drive, to be used to manipulate data
(i.e. with summing or logic modules).
15 Can be associated to a FIELDBUS protocol driver (CANopen, Profibus).
In this product configuration CAN module is always present.
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2.1.1. Slot types that may be part of the internal configuration of a PITAGORA instrument:
Code Module Type
0x00 Void -
0x02 A/D Converter CS5532 Interface Driver Hardware
0x03 Magnetostrictive Transducer Interface Driver Hardware
0x04 D/A Converter Interface Driver Hardware
0x05 Relays Output Interface Driver Hardware
0x06 Opto Output Interface Driver Hardware
0x10 System Software
0x12 8 LED Display Hardware
0x13 7 segments LED Display Hardware
0x14 LCD Display Hardware
0x20 DSE Net Serial Interface Software
0x21 Modbus Serial Interface Software
0x22 CANopen Interface Software
0x23 Profibus Interface Software
0x30 Application Software
0x31 Level Software
0x32 Adder Software
0x33 Assembly Object 8 elements Software
0x34 Assembly Object 16 elements Software
0x35 Assembly Object 32 elements Software
0x36 Boolean Processor (OR, AND) Software
0x37 Aseko Inclinometer Compensator Software
0x3C Linearization Software PARAMETERS
Each Software Module in the system can interact with others, via Parameters.
A parameter is any variable used in the Slot, to store a value or status related to the Slot process.
For Modbus instruments:
Each Slot has an own space for up to 1000 parameters, numbered z000 to z999, where the “z” is
replaced by the Slot number (for instance, Slot 8 parameters will be numbered 8000 to 8999).
Parameters z000 to z499 are VOLATILE parameters (values are produced at Run Time and NOT
stored in Non Volatile Memory), while parameters z500 to z999 are CONSTANT configuration
parameters and their values are stored in Non Volatile Memory.
Each Slot has his own dedicated parameter database.
For CANopen instruments:
Variables and Constants can be accessed with sub indexes that may range from 0 to 255 (0 to
0xFF), making reference to the object database specific for each product.
If a software or hardware module is installed on a specific SLOT, to access the desired variables
(= measurements or status) or constants (= configuration parameters), You must use table at
paragraph 2.1.3 to locate the INDEX value referable to the SLOT where the module is installed.
Sub-index for VARIABLES: is the value of the “relative” Idx value obtained from the Module
database table, expressed in hexadecimal format.
Sub-index for CONSTANTS: is the result of the (“relative” Modbus Idx -500) value, represented
as hexadecimal number.
In this document, all the tables referable to the CANopen, A/D Converted and Application modules
are given as ABSOLUTE references, already expressing INDEXes and SUB-INDEXES for the
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PITAGORA configuration used as example. USE table at paragraph 2.13 to compute the
references needed for different configurations.
SERVICE PARAMETERS
Every Slot has two special dedicated parameters, at address z000 and z001, that can be accessed
ether through Modbus or CANopen.
First parameter (z000, STATUS) holds the Slot STATUS, while the second one (z001, COMMAND)
is used to operate some standard Slot functions.
Functions can be activated by writing into the COMMAND parameter some special command
codes, corresponding to the desired function.
Commands whose numeric value stands between 0x01 and 0x7F (1 to 127) are Slot specific
commands, while those between 0x80 and 0xFF (128 to 255) are standard commands, whose
meaning is common to all modules.
The Slot is ready to accept a new command only when the COMMAND value reads 0x00; the
User can then write a command value into the COMMAND parameter and the Slot will confirm
command execution by resetting COMMAND parameter back to 0x00.
2.1.2. SPECIAL MODULE COMMAND SEQUENCES
Some particularly critical commands can be executed only by following a special sequence, in
order to keep the risk of undesired operation at a minimum.
Those command sequences work only if the User sequentially specifies the command sequence
bytes: any byte out of sequence will cause the system to refuse the command execution and the
user will be forced to restart the sequence again.
In example, to save on EEprom the new working parameters for the module (i.e. a new baud
rate), the sequence will be:
1. write on MODULE’s COMMAND (CANopen Idx 200F Subindex 1) the 0x80 value
2. wait that the device confirms to have received/executed the first part of the command. by
reading the STATUS (CANopen Idx 200F Subindex 0) until it shows the 0x90 value
3. write on MODULE’s COMMAND (CANopen Idx 200F Subindex 1) the 0x90 value to complete
the command sequence
After the correct execution of the command sequence the device will return on the SYSTEMS’s
STATUS the 0x00 value.
NVM SAVE Command Sequence 0x80, 0x90 (128, 144)
This command sequence is used to save all non-volatile parameters into Non Volatile Memory,
referable to the Module.
DEF LOAD Command Sequence 0x81, 0x91 (129, 145)
This command sequence is used to load the default values into all non-volatile parameters of the
Slot.
This DOES NOT MEAN that default values are SAVED into Non Volatile Memory: to save the
Default values into Non Volatile Memory, after this command an NVM SAVE command should be
executed.
SLOT STOP Command 0xA0 (160)
This command is used to stop the Slot: when this command is received, the Slot is halted.
SLOT RESTART Command 0xA1 (161)
This command is used to reset and restart the Slot: when this command is received, the Slot is
reinitialized and started.
The last two commands can be used to Reset a single Slot; this operation is similar to power cycle
the Pitagora, but limited to a SINGLE Slot. This procedure can be used, for instance, to reset an
A/D Converter channel after a calibration, without interference to other Slots.
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2.1.3. PITAGORA CONFIGURATION – Example and reference table - Modbus / CANopen indexes
SLOT TYPE Internal
Variables
Modbus
Variables
CANopen
Variables
Idx/SubIdx
Internal
Constants
Modbus
Constants
CANopen
Constants
Idx/SubIdx
R/O R/O R/O R/W R/W R/W
SLOT 0 0x10 – System Config 0..499 0..999 2000/0..255 500..999 1000..1999 2100/0..255
SLOT 1 (A) 0x02 – A/D Converter 1000..1499 2000..2999 2001/0..255 1500..1999 3000..3999 2101/0..255
SLOT 2 (B) 0x02 – A/D Converter 2000..2499 4000..4999 2002/0..255 2500..2999 5000..5999 2102/0..255
SLOT 3 (C) 0x00 – Void 3000..3499 6000..6999 2003/0..255 3500..3999 7000..7999 2103/0..255
SLOT 4 (D) 0x00 – Void 4000..4499 8000..8999 2004/0..255 4500..4999 9000..9999 2104/0..255
SLOT 5 0x14 – LCD Display 5000..5499 10000..10999 2005/0..255 5500..5999 11000..11999 2105/0..255
SLOT 6 0x21 – Modbus 6000..6499 12000..12999 2006/0..255 6500..6999 13000..13999 2106/0..255
SLOT 7 0x30 – Application 7000..7499 14000..14999 2007/0..255 7500..7999 15000..15999 2107/0..255
SLOT 8 0x00 – Void 8000..8499 16000..16999 2008/0..255 8500..8999 17000..17999 2108/0..255
SLOT 9 0x00 – Void 9000..9499 18000..18999 2009/0..255 9500..9999 19000..19999 2109/0..255
SLOT 10 0x00 – Void 10000..10499 20000..20999 200A/0..255 10500..10999 21000..21999 210A/0..255
SLOT 11 0x00 – Void 11000..11499 22000..22999 200B/0..255 11500..11999 23000..23999 210B/0..255
SLOT 12 0x00 – Void 12000..12499 24000..24999 200C/0..255 12500..12999 25000..25999 210C/0..255
SLOT 13 0x00 – Void 13000..13499 26000..26999 200D/0..255 13500..13999 27000..27999 210D/0..255
SLOT 14 0x00 – Void 14000..14499 28000..28999 200E/0..255 14500..14999 29000..29999 210E/0..255
SLOT 15 0x22 – CANopen 15000..15499 30000..30999 200F/0..255 15500..15999 31000..31999 210F/0..255
Note: the above are ABSOLUTE references, considering all the available SLOTS
For Modbus and CANopen, Indexes = Idx
Sub Indexes (SubIdx) are to be computed from “relative” Module Parameter Tables
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2.1.4. SYSTEM module (0x10)
Slot = 0 Type = Mandatory Version = 1.0 Parameter Table (Used to describe the internal module organization for the device) (ABSOLUTE) Idx Sub Parameter Name Size Attrib. min Max Default Description
0x2000 0 d.Status INT8U RW 0 1 0
1 d.Command INT8U RW 0 0xFF 0
2 RESERVED
3 d.Fpassword INT32U RW -0x7FFFFFFF 0x7FFFFFFF 0 Set to 4895 to unlock WRITE protect
0x2100 0 c.Producer INT8U RO S2Tech Manufacturer Code
1 c.Product INT8U RO S2Tech Product Code
2 c.SwVersion INT8U RO Firmware Version
3 c.SwRevision INT8U RO Firmware Revision
4 c.Sernum INT32U RWP 0 99999999 Serial Number
0x2100
5 c.SlotType [0] INT8U RO SYSTEM SYSTEM 0x10 SYSTEM
6 c.SlotType [1] INT8U RO 0x02 A/D Converter CS5532
7 c.SlotType [2] INT8U RO 0x02 A/D Converter CS5532
8 c.SlotType [3] INT8U RO
9 c.SlotType [4] INT8U RO
A c.SlotType [5] INT8U RO 0x14 LCD Display
B c.SlotType [6] INT8U RO 0x21 Modbus
C c.SlotType [7] INT8U RO 0x30 APPLICATION
D c.SlotType [8] INT8U RO
E c.SlotType [9] INT8U RO
F c.SlotType [10] INT8U RO
10 c.SlotType [11] INT8U RO
11 c.SlotType [12] INT8U RO
12 c.SlotType [13] INT8U RO
13 c.SlotType [14] INT8U RO
14 c.SlotType [15] INT8U RO 0x22 CANopen
15 c.IniType INT16U RO
Inifile number for configuration
identification
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SYSTEM MODULE SPECIAL COMMAND SEQUENCES
GLB SAVE Command Sequence 0xF0, 0xF8 (240, 248)
This command sequence is used to save all Pitagora nonvolatile parameters into Non Volatile Memory. This Command saves ALL the slots.
GLB DEF Command Sequence 0xF1, 0xF9 (241, 249) This command sequence loads all Pitagora default values into the Slots parameters AND saves them into Non
Volatile Memory. This Command rewrites ALL the slots.
GLB DEF0 Command Sequence 0xF2, 0xFA (242, 250) This command sequence loads all Pitagora default values into all Slots EXCEPT Slot 0 AND saves them into
Non Volatile Memory. This Command rewrites only Slots 1 to 15. SLOT 0 REMAINS UNTOUCHED.
RESET Command Sequence 0xF3, 0xFB (243, 251) This command sequence RESETs the Pitagora, after a delay of 500ms.
ERASE Command Sequence 0xF4, 0xFC (244, 252)
This command sequence completely ERASE the Pitagora Non Volatile Memory.
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SYSTEM module special COMMANDS
Value Name Description
0xF0, 0xF8 GLB SAVE Save all Pitagora non volatile parameters into Non Volatile Memory
0xF1, 0xF9 GLB DEF Loads all Pitagora default values into the Slots parameters AND saves them
into Non Volatile Memory
0xF2, 0xFA GLB DEF0 Loads all Pitagora default values into all Slots EXCEPT Slot 0 AND saves them
into Non Volatile Memory. SLOT 0 REMAINS UNTOUCHED.
0xF3, 0xFB RESET RESETs the Pitagora
0xF4, 0xFC ERASE Completely ERASE the Pitagora Non Volatile Memory
SYSTEM module special STATUS values
Value Description
0xF8 0xF0 received, waiting for Command 0xF8 (sequence)
0xF9 0xF1 received, waiting for Command 0xF9 (sequence)
0xFA 0xF2 received, waiting for Command 0xFA (sequence)
0xFB 0xF3 received, waiting for Command 0xFB (sequence)
0xFC 0xF4 received, waiting for Command 0xFC (sequence)
0xFF Delay phase before RESET
Commands common to all Slots
Value Name Description
0x80, 0x90 NVM SAVE Save all non-volatile parameters into Non Volatile Memory
0x81, 0x91 DEF LOAD Load the default values into all non-volatile parameters
0xA0 SLOT STOP Disable (STOP) the Slot
0xA1 SLOT RESTART Reset and Restart the Slot
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STATUS values common to all Slots
Value Description
0x80 Command >= 0x80 received, processing
0x90 0x80 received, waiting for Command 0x90 (sequence)
0x91 0x81 received, waiting for Command 0x91 (sequence)
0xA0 Slot STOPPED (send 0xA1 to restart Slot)
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2.2. Node Identification
PITAGORA instrument is operated on the CAN bus and represents a node of the bus system.
It works in CAN, CANopen and Layer 2 networks. Unique identification of the unit is done using
the data which are permanently stored in the unit, e.g.:
Manufacturer Device Name: 01-48 S2Tech
Manufacturer Hardware Version: 1.00
Manufacturer Software Version: 1.01
Serial No.: 02000123
The setup of:
Bus parameters
Baud rate
Node ID
can be performed using SDO services, with only the transducer and the CANopen master
connected together.
2.3. Operating Parameters
The settable parameters of the CAN Communication Profile can be changed using the SDO service
(via master).
Setting through the SDO service:
CAN Communication Profile
Mapping (when applicable) and transmission or turning off the PDO
Setting guard time and life time factor
Input board (like i.e. I2) operating parameters
Working range
Linearization points
Auto zeroing
Cycle time of the PDO
Please refer to the specific services/functions available for each different type of
transducer.
The CAN communications module integrated into the transducer converts the data generated into
it into CAN messages and sends them out on the CAN bus.
The following communications objects are used for sending messages on the CAN bus:
– Process Data Objects (PDO)
PITAGPORA’s measured data are sent with up to 4 PDO.
The configuration of the PDOs is fixed and cannot be changed by the User, so it must be
configured when ordering the instrument.
– Service Data Object (SDO)
The SDO is used to send the parameters for configuring the installed input boards or the
existing internal virtual modules .
In addition, the SDO can be used to access information in the Object Directory (OD) (e.g.,
error messages from the error register, measured peak values).
– Emergency Object
Emergency Objects are used to report high priority events.
– Synchronization Object (SYNC)
SYNC is used to establish communications synchronization on the bus.
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2.4. System Start
After Power On (or after a Reset) the CAN communication module is started according to the
following states.
2.4.1. Initialization state
The CAN communication module is initialized in this state.
Loading of device-specific parameters is initiated by the CAN communication module.
The CAN communication module takes over the device-specific configuration parameters.
After this the data are ready for transmitting.
After initialization is concluded, the CAN communication module automatically goes into the Pre-
Operational state. Simultaneously data transmission from the PITAGORA module to the CAN
communication module is enabled.
2.4.2. Pre-Operational state
In this state the measuring system can be configured using a master application/control through
the CAN bus. Communication is done over a 'peer-to-peer' communication channel which is
established by using a Service Data Object (SDO). The ID numbers which the SDO needs are
determined based on the node number according to the ID allocation procedure used in the
CANopen standard.
The ID numbers or the SYNC, Emergency Objects, and Process Data Objects (PDOs) are also
assigned according to the ID allocation procedure used in the CANopen standard. If the system is
being used in a CANopen network, ID assignment is handled by a distributor (DBT master).
When configuring using a Master application, it should be noted that only correct parameters may
be entered in the object directory, since the CAN communication module is not capable of
performing any consistency and value range checks.
Configuration of the node number (NodeID) and the baud rate can be carried out in the Pre-
Operational state. After a change is made, with proper saving of the parameters and a reset, the
system starts with the new parameters and the default settings in the object directory, and then
returns to the Pre-Operational state.
2.4.3. Operational state
After the transition to Operational, communication using Process Data Objects (PDOs) is enabled.
Depending on the parameterization of the object directory (mapping, type of message
transmission), the objects are now sent over the CAN bus.
The PDO is sent in one of two ways. Either the PDO is initiated and sent (continuously) by the
module, or the PDO is initiated when a SYNC is received (query driven).
2.5. Power-On messages
The Power-on message is issued right after power up. It consists of the Nodeguard Message
(identifier 700H) + NodeID with the data field being 0, meaning the node is in Unknown State.
After 1 s wait time, the second message is issued.
Example of Power-On Message:
PITAGORA with NodeId = 1A:
after Power On:
71A 00
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2.6. Estimating transmission time
Since there are dependencies between the CAN bus line length and the baud rate, as well as the
selection of the data interval, it is important to estimate the transmission time for continuous
transmission for the baud rate and data interval settings.
In the PITAGORA Mapping, the total length of the message is about 100 bits:
1. Transmit-PDO 1 = PDO1a (4 bytes for Net measure) + PDO1b (4 bytes for A/D points);
2. Transmit-PDO 2 = PDO2a (4 bytes for Gross measure) + PDO2b (4 bytes for Peak measure)
At a baud rate of 1,000 kBit/sec, a transmission time of 250 µs is required, i.e., the data are
completely sent if, after the shortest data interval, the next data are provided by the instrument.
With a Sync sent by the Master to trigger the data transmission, each measure can be sent every
250 µs, as maximum theoretical update rate.
Baud Rate Transmission Time Possible data intervals
[kbaud] [ms] [ms]
1000 0.250 2
800 0.32 2
500 0.5 2
250 1 2
125 2 4
100 2.5 4
50 5 6
20 12.5 14
Table 1: Relationship between baud rate, transmission time and possible data interval
(sampling rate) per DS 301 for transmitting 1 PDO
3. Measurement data in the TxPDOs Two PDOs are available for sending measure data.
1st TxPDO is 8 bytes long, current Net and Gross measurement data are statically mapped into
the bytes of the PDO and then sent over the bus.
0 .. .. 7 8 .. .. 15 16 .. .. 23 24 .. .. 31 32 .. .. 39 40 .. .. 47 48 .. .. 55 56 .. .. 63
MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB
Low Byte Middle
Byte 1
Middle
Byte 2
High Byte Low Byte Middle
Byte 1
Middle
Byte 2
High Byte
Ch0 Net Measure (Gross-Zdyn) Ch0 A/D points
It can be transmitted asynchronously up to 500 times per second.
In Default configuration asynchronous transmission on data change is DISABLED, it can be
enabled by means of its parameters into the Communication area of the Object Dictionary.
0 .. .. 7 8 .. .. 15 16 .. .. 23 24 .. .. 31 32 .. .. 39 40 .. .. 47 48 .. .. 55 56 .. .. 63
MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB
Low Byte Middle
Byte 1
Middle
Byte 2
High Byte Low Byte Middle
Byte 1
Middle
Byte 2
High Byte
Ch0 Gross Measurement Ch0 Max Peak
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Supposing instead that the measurement form 4 load cells (two I2 boards installed on A
and B SLOTS) is needed:
TPDO1
0 .. .. 7 8 .. .. 15 16 .. .. 23 24 .. .. 31 32 .. .. 39 40 .. .. 47 48 .. .. 55 56 .. .. 63
MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB
Low Byte Middle
Byte 1
Middle
Byte 2
High Byte Low Byte Middle
Byte 1
Middle
Byte 2
High Byte
A SLOT Ch0 Net Measure (Gross-Zdyn) A SLOT Ch1 Net Measure (Gross-Zdyn)
TPDO2
0 .. .. 7 8 .. .. 15 16 .. .. 23 24 .. .. 31 32 .. .. 39 40 .. .. 47 48 .. .. 55 56 .. .. 63
MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB
Low Byte Middle
Byte 1
Middle
Byte 2
High Byte Low Byte Middle
Byte 1
Middle
Byte 2
High Byte
B SLOT Ch0 Net Measure (Gross-Zdyn) B SLOT Ch1 Net Measure (Gross-Zdyn)
3.1. Error messages
The following error messages (see Table 4) are covered by an emergency message (Emergency
Object)
CAN
– Other CAN-specific hard- or software errors. This includes such errors as:
Send or receive queue overflow,
Change of CAN controller from error-active to error-passive state, etc.
Error code
additional
error code
error-
code
Meaning
0000 0000 CAN communication module is error-free, Transducer is ready
0001 5000 CAN controller: data buffer overflow
0101 5000 CAN Error State Set: CAN controller is in the error-passive state
0201 5000 CAN-Bus-Off: CAN controller is not responding
0003 6000 RX-Queue: overflow
0004 6000 TX-Queue: overflow
0005 6000 Node-Guarding failure
Table 4: Emergency Object error messages
4. Parameterization of the CANopen interface with SDO Services PITAGORA CANopen interface can be configured by means of the SDO protocol; instrument must
be the only node connected to a CANopen Master during this operation, this is a mandatory
condition to correctly perform the parameterization.
4.1. Assigning baud rate
The baud rate can be changed using the SDO service, by setting the desired value into the
Baudrate parameter of the S2Tech Manufacturer’s Profile. The selection of the maximum possible
baud rate is determined by the length of the entire CAN bus cable.
Default baud rate is 500kBaud.
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Line length in m Baud rate in
kBaud
Data-byte 3
<25 1000 00
<50 800 01
<100 500 02
<250 250 03
<500 125 04
<500 100 05
<1000 50 06
<2500 20 07
<5000 10 08
Table 5: Baud rate as a function of cable length per DS 301
4.2. Assigning NodeID
Each CAN bus module connected on the CAN bus must have a node number (NodeID) assigned to
it. This number may be used only once in the network. The numbers from 1 to 127 are
permissible. PITAGORA is factory set to NodeID = 26. The NodeID can be changed using the
SDO service, by setting the desired value into the Address parameter of the S2Tech
Manufacturer’s Profile.
4.3. Saving the settings
In order to save all new configuration parameters (of all the product’s modules) it is suggested to
follow the under listed sequence of commands, to be written on the COMMAND address (2000.1) of
the System Config Module:
1) Write GLB SAVE Command 0xF0
2) Verify that System Config’s Status (2000.0) indicates that the unit executed the first part
of the command as its value is now 0xF8
3) Write GLB SAVE Command 0xF8 to end the procedure and verify that the Intsrument
correctly ended the procedure by verifying that the Status value (2000.0) returns to 0
This command sequence is used to save all Pitagora non volatile parameters into Non Volatile
Memory. This Command saves ALL the slots. In order to have the new updated working
parameters applied to the Instrument, it is needed to reset the unit, so that at the boot all the
parameters will be loaded.
4) Write RESET Command 0xF3
5) Verify that System Config’s Status (2000.0) indicates that the unit executed the first part
of the command as its value is now 0xFB
6) Write RESET Command 0xFB, to end the procedure
This command sequence RESETs the Pitagora, after a delay of 500ms.
It is clear that after the reset the Instrument will present itself on the network as described on
paragraph 5.3
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5. Node configuration
5.1. Node identification
The configuration is carried out via SDO accessing the relevant objects in the Object Directory.
5.2. Mode (type of message transmission)
Depending on which conditions apply to using the transducer, Transducer data may be sent
continuously via the PDO or on demand.
PDO continuous:
– This setting is for sending all transducer values every 10 ms.
Communication Profile Index 1800
Subindex 2
254 = continuous
PDO on demand:
– Transmission is started by the master application/controller using the request message
(SYNC).
Communication Profile Index 1800
Subindex 2
1 = using SYNC-Object
5.3. Setting data transmission/update rate
The factory set time interval of 10 ms can be changed in steps of 1 ms.
Use Table 6 as a guide for making these settings.
Data interval Baud rate [kBaud]
1 ms 250
3 ms 100
10 ms 50
Table 6: Baud rate as a function of data interval when sending PDOs
– Communication Profile Index 1800
Subindex 5
x = Event Timer Value in steps of [1 ms]
5.4. Saving the new settings
Once all the settings have been made and the transducer reply was correct each time, i.e., no
error message was sent, the settings are saved to Index 1010H, Subindex 1 using an additional
SDO transfer and the signature 'save'. The power should be on for at least 5 s to make sure all
settings are stored completely.
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6. Object Directory The object directory of the CAN communication module in the PITAGORA is divided into two
ranges which are represented in the following table. The data (measure) as well as the
configuration parameters are placed in the communication object.
6.1. Communication Profile
The parameters which are critical for communication are determined in the communication profile.
This includes the data for manufacturer's product nomenclature, for identification, or the
parameters for object mapping.
Abbreviations used in Tables:
ro = read only
rw = read / write
UI8 = Unsigned8
UI16 = Unsigned16
UI32 = Unsigned32
I32 = Signed32
VS = VisibleString
6.1.1. CANopen Setup
CANopen connection is always internally allocated to slot N.15, thus CANopen volatile parameters
are stored at address 0x200F, while non-volatile parameters are stored at Index 0x210F.
NOTE: ALL PARAMETERS ON CANOPEN ARE ACCESSED AS 32 BITS UNSIGNED
INTEGERS, independently of the internal size.
CANopen standard communication profile is fully implemented, as described in the CiA DS301
document; the Pitagora instrument can be widely configured; an EDS document has to be made
for each instrument’s configuration.
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6.2. CANopen Interface Module (0x22)
Slot = 15 Type = Mandatory Version = 1.02
Parameter Table (ABSOLUTE) Idx Sub Parameter Name Size Attrib. min Max Default Description
200F 0 d.Status INT8U RO 0 1 0
1 d.Command INT8U RW 0 0xFF 0
0x210F 0 c.Baud INT32U RW 0 8 2 0 = 1Mbit/s
1 = 800Kbit/s
2 = 500Kbit/s
3 = 250Kbit/s
4 = 125Kbit/s 5 = 100Kbit/s
6 = 50Kbit/s
7 = 20Kbit/s
8 = 10Kbit/s
1 c.Address INT32U RW 1 127 26 CANopen address
0x210F
2 c.TNum INT8U RO 0 32 1 Number of Valid TPDO Elements
3 c.TPdoParam [0] INT16U RO 0 0xFFFF 1000 TPDO1 A Parameter
4 c.TPdoParam [1] INT16U RO 0 0xFFFF 1000 TPDO1 B Parameter
5 c.TPdoParam [2] INT16U RO 0 0xFFFF 1000 TPDO2 A Parameter
6 c.TPdoParam [3] INT16U RO 0 0xFFFF 1000 TPDO2 B Parameter
7 c.TPdoParam [4] INT16U RO 0 0xFFFF 1000 TPDO3 A Parameter
8 c.TPdoParam [5] INT16U RO 0 0xFFFF 1000 TPDO3 B Parameter
9 c.TPdoParam [6] INT16U RO 0 0xFFFF 1000 TPDO4 A Parameter
A c.TPdoParam [7] INT16U RO 0 0xFFFF 1000 TPDO4 B Parameter
0x210F
B c.RNum INT8U RO 0 32 1 Number of Valid RPDO Elements
C c.RPdoParam [0] INT16U RO 0 0xFFFF 1000 RPDO1 A Parameter
D c.RPdoParam [1] INT16U RO 0 0xFFFF 1000 RPDO1 B Parameter
E c.RPdoParam [2] INT16U RO 0 0xFFFF 1000 RPDO2 A Parameter
F c.RPdoParam [3] INT16U RO 0 0xFFFF 1000 RPDO2 B Parameter
10 c.RPdoParam [4] INT16U RO 0 0xFFFF 1000 RPDO3 A Parameter
11 c.RPdoParam [5] INT16U RO 0 0xFFFF 1000 RPDO3 B Parameter
12 c.RPdoParam [6] INT16U RO 0 0xFFFF 1000 RPDO4 A Parameter
13 c.RPdoParam [7] INT16U RO 0 0xFFFF 1000 RPDO4 B Parameter
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6.2.1. PDO Communication
CANopen connection is embedded into the instrument, default speed is 500 Kbit/s, node 26; 4 synchronous TxPDOs are preset
for Synchronous transmission, mapped as follows:
TxPDO1 Value A Value B
TxPDO2 Value A Value B
4 synchronous RxPDOs are preset for Synchronous transmission, mapped as follows:
RxPDO1 Value A Value B
RxPDO2 Value A Value B
RxPDO3 Value A Value B
RxPDO4 Value A Value B
Measurement data in the four Tx and Rx PDOs
Four PDOs are available to send measured data and to receive data or commands.
Each PDO is 8 bytes long, it is statically mapped and always contains 2 values.
It can be transmitted synchronously up to 500 times per second.
0 .. .. 7 8 .. .. 15 16 .. .. 23 24 .. .. 31 32 .. .. 39 40 .. .. 47 48 .. .. 55 56 .. .. 63
MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB
Low Byte Middle
Byte 1
Middle
Byte 2
High Byte Low Byte Middle
Byte 1
Middle
Byte 2
High Byte
Value A Value B
Data are provided as data type Int.32.
Content for each TPDO must be defined before delivery of the instrument, among the available measurements.
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6.3. Communication Profile (Tables) ABSOLUTE
Index Sub-
index
Name Type Attrib
ute
Default-
value
Meaning
0x1000 0 Device Type UI32 ro Value per
DS301
0x1001 0 Error Register UI8 ro 0 TBD
0x1003 0
1
...
10H
Predefined error
field
Error array
UI8
UI32
UI32
ro
ro
ro
0
no
no
TBD
Number of different errors which occurred
A maximum of 16 different errors are managed.
0x1005 0 COB ID Sync
messg.
UI32 rw 80H COB-ID of the SYNC object
0x1008 0 Manufacturer
Device Name
VS ro 01-48
S2Tech
Device name of the communication module
0x1009 0 Manufacturer
Hardware Version
VS ro 1.00 Hardware version number
0x100A 0 Manufacturer
Software Version
VS ro 1.01 Software version number
0x100C 0 Guard Time
Cycle time for node
monitoring
UI16 rw 0 Cycle time in ms, set by the NMT Master or the configuration tool.
0x100D 0 Life Time Factor
Wait time if no
guarding
UI8 rw 0 Wait time is set by the NMT Master or the configuration tool.
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Index Sub-
index
Name Type Attrib
ute
Default-
value
Meaning
0x1010 0 Store parameter UI8 ro 3 Number of Store options
1 Save all parameters UI32 rw 1 By writing the signature 'save' 0x73617665, all settings are saved on
the module.
2 Save
Communication
Parameters
UI32 rw 1 By writing the signature 'save' 0x73617665, the Communication
Parameters are saved on the module.
3 Save Application
Parameters
UI32 rw 1 By writing the signature 'save' 0x73617665, the Application Parameters
are saved on the module.
0x1011 0 Restore parameter UI8 ro 2 Number of Store options
1 Restore all
parameters
UI32 rw 1 By writing the signature 'load' 0x64616F6C, all the factory default
settings are loaded.
2 Restore
Communication
Parameters
UI32 rw 1 By writing the signature 'load' 0x64616F6C, the factory default settings
of the communication area are loaded.
0x1012 0 COB-ID Time Stamp
Object
UI32 rw 100H COB-ID of the Time Stamp Object
0x1014 0 COB-ID Emergency
message
UI32 rw 80H +
NodeID
COB-ID of the Emergency Object
0x1015 0 Emergency Inhibit
Time
UI16 rw 0 Emergency Object Inhibit time in multiples of 100uS
0x1016 0 Consumer Heartbeat
Time
UI16 rw 0 Cycle Time of the Heartbeat in multiples of 1mS
0x1017 0 Producer Heartbeat
Time
UI16 rw 0 Cycle Time of the Heartbeat in multiples of 1mS
0x1018 0 Identity Object UI8 ro 4 Number of Entries
1 Vendor ID UI32 ro Vendor ID
2 Product Code UI32 ro Product Code
3 Revision Number UI32 ro Revision Number
4 Serial Number UI32 ro Serial Number
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Index Sub-
index
Name Type Attrib
ute
Default-
value
Meaning
0x1200 0 Server SDOs UI8 ro 1 Number of server SDOs
1 COB-ID
Client->Server(rx)
UI32 ro 600H +
NodeID
COB-ID request for server (Request)
2 COB-ID
Server->Client(tx)
UI32 ro 580h +
NodeID
COB-ID response to client (Response)
0x1400 0 Number of
elements
UI8 ro 2 Communication parameters of 1st Receive PDO
1 COB-ID UI32 rw 200H +
NodeID
Determined using the CANopen minimum system ID assignment
procedure.
2 Transmission type UI8 rw FFH Indicate transmission type
0: Transmit on demand using SYNC object after timer runs out.
1: Transmit after each SYNC object.
2..240d: Transmit after 2..240 SYNC objects.
252d: Update PDO on SYNC, transmit PDO only on RTR
253d: Update PDO asynchronously, transmit PDO only on RTR
254d: Continuous transmission.
255d: Continuous transmission.
0x1401 0 Number of
elements
UI8 ro 2 Communication parameters of 2nd Receive PDO
1 COB-ID UI32 rw 300H +
NodeID
Determined using the CANopen minimum system ID assignment
procedure.
2 Transmission type UI8 rw FFH Indicate transmission type
0: Transmit on demand using SYNC object after timer runs out.
1: Transmit after each SYNC object.
2..240d: Transmit after 2..240 SYNC objects.
252d: Update PDO on SYNC, transmit PDO only on RTR
253d: Update PDO asynchronously, transmit PDO only on RTR
254d: Continuous transmission.
255d: Continuous transmission.
0x1402 0 Number of
elements
UI8 ro 2 Communication parameters of 3rd Receive PDO
1 COB-ID UI32 rw 400H +
NodeID
Determined using the CANopen minimum system ID assignment
procedure.
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2 Transmission type UI8 rw FFH Indicate transmission type
0: Transmit on demand using SYNC object after timer runs out.
1: Transmit after each SYNC object.
2..240d: Transmit after 2..240 SYNC objects.
252d: Update PDO on SYNC, transmit PDO only on RTR
253d: Update PDO asynchronously, transmit PDO only on RTR
254d: Continuous transmission.
255d: Continuous transmission.
0x1403 0 Number of
elements
UI8 ro 2 Communication parameters of 4th Receive PDO
1 COB-ID UI32 rw 500H +
NodeID
Determined using the CANopen minimum system ID assignment
procedure.
2 Transmission type UI8 rw FFH Indicate transmission type
0: Transmit on demand using SYNC object after timer runs out.
1: Transmit after each SYNC object.
2..240d: Transmit after 2..240 SYNC objects.
252d: Update PDO on SYNC, transmit PDO only on RTR
253d: Update PDO asynchronously, transmit PDO only on RTR
254d: Continuous transmission.
255d: Continuous transmission.
0x1600 0 Number of
elements
UI8 ro 1 Mapping parameters of the 1st Receive-PDO
1 1st object UI32 ro
2 2nd object UI32 ro
0x1601 0 Number of
elements
UI8 ro 1 Mapping parameters of the 2nd Receive-PDO
1 1st object UI32 ro
2 2nd object UI32 ro
0x1602 0 Number of
elements
UI8 ro 1 Mapping parameters of the 3rd Receive-PDO
1 1st object UI32 ro
2 2nd object UI32 ro
0x1603 0 Number of
elements
UI8 ro 1 Mapping parameters of the 4th Receive-PDO
1 1st object UI32 ro
2 2nd object UI32 ro
Note: currently RTR is unimplemented
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Index Sub-
index
Name Type Attri-
bute
Default-
value
Meaning
0x1800 0 Number of
elements
UI8 ro 5 Communication parameters of 1st Transmit PDO
1 COB-ID UI32 rw 180H +
NodeID
Determined using the CANopen minimum system ID assignment
procedure.
2 Transmission type UI8 rw 1 Indicate transmission type
0: Transmit on demand using SYNC object after timer runs out.
1: Transmit after each SYNC object.
2..240d: Transmit after 2..240 SYNC objects.
252d: Update PDO on SYNC, transmit PDO only on RTR
253d: Update PDO asynchronously, transmit PDO only on RTR
254d: Continuous transmission.
255d: Continuous transmission.
3 Inhibit Time UI16 rw 300 Transmit inhibit time of PDO in 100 µs steps. A repeated transmission
of the PDO is prevented within the defined interval of the inhibit time.
5 Event timer UI16 rw 0 Cyclic sending of PDO value (Default 10 ms)
0x1801 0 Number of
elements
UI8 ro 5 Communication parameters of 2nd Transmit PDO
1 COB-ID UI32 rw 280H +
NodeID
Determined using the CANopen minimum system ID assignment
procedure.
2 Transmission type UI8 rw 1 Indicate transmission type
0: Transmit on demand using SYNC object after timer runs out.
1: Transmit after each SYNC object.
2..240d: Transmit after 2..240 SYNC objects.
252d: Update PDO on SYNC, transmit PDO only on RTR
253d: Update PDO asynchronously, transmit PDO only on RTR
254d: Continuous transmission.
255d: Continuous transmission.
3 Inhibit Time UI16 rw 10 Transmit inhibit time of PDO in 100 µs steps. A repeated transmission
of the PDO is prevented within the defined interval of the inhibit time.
5 Event timer UI16 rw 10 Cyclic sending of PDO value (Default 10 ms)
0x1802 0 Number of
elements
UI8 ro 5 Communication parameters of 3rd Transmit PDO
1 COB-ID UI32 rw 380H +
NodeID
Determined using the CANopen minimum system ID assignment
procedure.
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2 Transmission type UI8 rw 1 Indicate transmission type
0: Transmit on demand using SYNC object after timer runs out.
1: Transmit after each SYNC object.
2..240d: Transmit after 2..240 SYNC objects.
252d: Update PDO on SYNC, transmit PDO only on RTR
253d: Update PDO asynchronously, transmit PDO only on RTR
254d: Continuous transmission.
255d: Continuous transmission.
3 Inhibit Time UI16 rw 300 Transmit inhibit time of PDO in 100 µs steps. A repeated transmission
of the PDO is prevented within the defined interval of the inhibit time.
5 Event timer UI16 rw 0 Cyclic sending of PDO value (Default 10 ms)
0x1803 0 Number of
elements
UI8 ro 5 Communication parameters of 4th Transmit PDO
1 COB-ID UI32 rw 480H +
NodeID
Determined using the CANopen minimum system ID assignment
procedure.
2 Transmission type UI8 rw 1 Indicate transmission type
0: Transmit on demand using SYNC object after timer runs out.
1: Transmit after each SYNC object.
2..240d: Transmit after 2..240 SYNC objects.
252d: Update PDO on SYNC, transmit PDO only on RTR
253d: Update PDO asynchronously, transmit PDO only on RTR
254d: Continuous transmission.
255d: Continuous transmission.
3 Inhibit Time UI16 rw 10 Transmit inhibit time of PDO in 100 µs steps. A repeated transmission
of the PDO is prevented within the defined interval of the inhibit time.
5 Event timer UI16 rw 10 Cyclic sending of PDO value (Default 10 ms)
0x1A00 0 Number of
elements
UI8 ro 2 Mapping parameters of the 1st Transmit-PDO
1 1st object UI32 ro Measure
2 2nd object UI32 ro Measure
0x1A01 0 Number of
elements
UI8 ro 2 Mapping parameters of the 2nd Transmit-PDO
1 1st object UI32 ro Measure
2 2nd object UI32 ro Measure
0x1A02 0 Number of
elements
UI8 ro 2 Mapping parameters of the 3rd Transmit-PDO
1 1st object UI32 ro Measure
2 2nd object UI32 ro Measure
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0x1A03 0 Number of
elements
UI8 ro 2 Mapping parameters of the 4th Transmit-PDO
1 1st object UI32 ro Measure
2 2nd object UI32 ro Measure
6.4. Application Module (0x30)
Slot = 7 Type = Mandatory Version = 1.0
Parameter Table (ABSOLUTE) Idx Sub Parameter Name Size Attrib. min Max Default Description
0x2007
0 d.Status INT8U RO 0 1 0
1 d.Command INT8U RO 0 0xFF 0
2 d.Delay INT16U RO 0 0xFFFF 0 RESERVED FOR INTERNAL USE
3 d.Maint INT8U RO 0 0xFF 0 RESERVED FOR INTERNAL USE
4 d.xStatus INT8U RESERVED FOR INTERNAL USE
5 d.tValue INT32S RESERVED FOR INTERNAL USE
6 d.VPeak INT32S RESERVED FOR INTERNAL USE
7 d.VPeakT INT32S RESERVED FOR INTERNAL USE
8 d.VPeakL INT32S RESERVED FOR INTERNAL USE
9 d.VNewton INT32S RESERVED FOR INTERNAL USE
A d.VNewtonP INT32S RESERVED FOR INTERNAL USE
B d.dParam INT8U RW 0 11 0 Index of currently displayed Parameter.
0x2107
0 c.OpMode INT8U RW 0 1 1 RESERVED FOR INTERNAL USE
1 c.Param [0] INT16U RW 0 65535 0 Index of Parameter 0
2 c.Param [1] INT16U RW 0 65535 0 Index of Parameter 1
3 c.Param [2] INT16U RW 0 65535 0 Index of Parameter 2
4 c.Param [3] INT16U RW 0 65535 0 Index of Parameter 3
5 c.Param [4] INT16U RW 0 65535 0 Index of Parameter 4
6 c.Param [5] INT16U RW 0 65535 0 Index of Parameter 5
7 c.Param [6] INT16U RW 0 65535 0 Index of Parameter 6
8 c.Param [7] INT16U RW 0 65535 0 Index of Parameter 7
9 c.PosDp [0] INT16U RW 0 65535 0 Decimal point position for Parameter 0
A c.PosDp [1] INT16U RW 0 65535 0 Decimal point position for Parameter 1
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B c.PosDp [2] INT16U RW 0 65535 0 Decimal point position for Parameter 2
C c.PosDp [3] INT16U RW 0 65535 0 Decimal point position for Parameter 3
0x2107
D c.PosDp [4] INT16U RW 0 65535 0 Decimal point position for Parameter 4
E c.PosDp [5] INT16U RW 0 65535 0 Decimal point position for Parameter 5
F c.PosDp [6] INT16U RW 0 65535 0 Decimal point position for Parameter 6
10 c.PosDp [7] INT16U RW 0 65535 0 Decimal point position for Parameter 7
11 c.nParam INT8U RW 0 12 0 Number of valid elements
12 c.Unit INT8U RW 0 0 RESERVED FOR INTERNAL USE
13 c.tValue INT32U RW 0 0 RESERVED FOR INTERNAL USE
14 c.mUnit INT32U RW 0 0x7FFFFFFF 0x4D4D RESERVED FOR INTERNAL USE
15 c.Param [8] INT16U RW 0 65535 0 Index of Parameter 8
16 c.Param [9] INT16U RW 0 65535 0 Index of Parameter 9
17 c.Param [10] INT16U RW 0 65535 0 Index of Parameter 10
18 c.Param [11] INT16U RW 0 65535 0 Index of Parameter 11
19 c.PosDp [8] INT16U RW 0 65535 0 Decimal point position for Parameter 8
1A c.PosDp [9] INT16U RW 0 65535 0 Decimal point position for Parameter 9
1B c.PosDp [10] INT16U RW 0 65535 0 Decimal point position for Parameter 10
1C c.PosDp [11] INT16U RW 0 65535 0 Decimal point position for Parameter 11
6.5. A/D Converter CS5532 (0x02) – ABSOLUTE references
Slot = 1 Type = Mandatory Version = 1.03
Parameter Table Idx Parameter Name Size Attrib. min Max Default Description
0x2001 0 d.Status INT8U RO 0 1 0
1 d.Command INT8U RW 0 0xFF 0
2 d.TempTara INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF RESERVED FOR INTERNAL USE
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0x2001
3 d.Ch0.ValoreAD INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF A/D Converter Ch 0 Value
4 d.Ch0.ValoreADf INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF A/D Converter Ch 0 filtered Value
5 d.Ch0.ValoreML INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Gross Value in Mech Units Ch 0
6 d.Ch0.ValoreMN INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Net Value (Gross - Zdyn) in Mech Units Ch 0
7 d.Ch0.ValoreMT INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Net Value (Gross - Tare) in Mech Units Ch 0
8 d.Ch0.ValoreLin INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF
Linearized Value in Mech Units Ch 0
(See c.Ch0.Inclin)
9 d.Ch0.ZeroDyn INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in A/D Converter Units Ch 0
A d.Ch0.VZeroDyn INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in Mech Units Ch 0
0x2001
B d.Ch0.VPeakMinN INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Net Min Peak Ch 0
C d.Ch0.VPeakMaxN INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Net Max Peak Ch 0
D d.Ch0.VPeakMinL INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Gross Min Peak Ch 0
E d.Ch0.VPeakMaxL INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Gross Max Peak Ch 0
F d.Ch0.Error INT8U RO Error Indication A/D Converter Ch 0
10 d.Ch0.TimeOut INT8U RO Timeout Time Ch 0
11 d.Ch0.NewData INT8U RO RESERVED FOR INTERNAL USE
12 d.Ch0.TimeStamp INT16U RO Timestamp Current Measure Ch 0
0x2001 13 d.Ch1.ValoreAD INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF A/D Converter Ch 1 Value
14 d.Ch1.ValoreADf INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF A/D Converter Ch 1 Value
15 d.Ch1.ValoreML INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Gross Value in Mech Units Ch 1
16 d.Ch1.ValoreMN INT32S RO - 0x7FFFFFFF Net Value (Gross - Zdyn) in Mech Units Ch 1
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0x7FFFFFFF
17 d.Ch1.ValoreMT INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Net Value (Gross - Tare) in Mech Units Ch 1
18 d.Ch1.ValoreLin INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF
Linearized Value in Mech Units Ch 1
(See c.Ch1.Inclin)
19 d.Ch1.ZeroDyn INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in A/D Converter Units Ch 1
1A d.Ch1.VZeroDyn INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in Mech Units Ch 1
1B d.Ch1.VPeakMinN INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Net Min Peak Ch 1
1C d.Ch1.VPeakMaxN INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Net Max Peak Ch 1
1D d.Ch1.VPeakMinL INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Gross Min Peak Ch 1
1E d.Ch1.VPeakMaxL INT32S RO
-
0x7FFFFFFF 0x7FFFFFFF Gross Max Peak Ch 1
1F d.Ch1.Error INT8U RO Error Indication A/D Converter Ch 1
20 d.Ch1.TimeOut INT8U RO Timeout Time Ch 1
21 d.Ch1.NewData INT8U RO RESERVED FOR INTERNAL USE
22 d.Ch1.TimeStamp INT16U RO Timestamp Current Measure Ch 1
23 d.Ch0.PeakEnable INT8U RO 0 1 1
Set to 1 to enable Peak Measurement on Ch
0
24 d.Ch1.PeakEnable INT8U RO 0 1 1
Set to 1 to enable Peak Measurement on Ch
1
0x2101
0 c.Vref INT8U RW 0 1 0
A/D Converter Ref Voltage
FACTORY CONFIGURED – DO NOT MODIFY
1
c.Continuous INT8U RW 0 1 0 0 – Dual channel
1 – High Speed Continuous (single channel)
FACTORY CONFIGURED – DO NOT MODIFY
0x2101 2 c.Ch0.ADSpeed INT8U RW 0 9 8 Ch 0 service parameter- See note
3 c.Ch0.Unipolar INT8U RW 0 1 0
Ch 0 service parameter
FACTORY CONFIGURED – DO NOT MODIFY
4 c.Ch0.GainPGIA INT8U RW 0 6 6
Ch 0 service parameter
FACTORY CONFIGURED – DO NOT MODIFY
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5 c.Ch0.Offset INT32U RWT
-
0x7FFFFFFF 0x7FFFFFFF 0x00000000
Ch 0 service parameter
FACTORY CONFIGURED – DO NOT MODIFY
0x2101
6 c.Ch0.Gain INT32U RWT
-
0x7FFFFFFF 0x7FFFFFFF 0x01000000
Ch 0 service parameter
FACTORY CONFIGURED – DO NOT MODIFY
7 c.Ch0.Outputs INT8U, RW 0 3 0
Ch 0 service parameter
FACTORY CONFIGURED – DO NOT MODIFY
0x2101
8 c.Ch0.Vmin INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Minimum in Eng Units Ch 0
9 c.Ch0.VMax INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 10000 Maximum in Eng Units Ch 0
A c.Ch0.VTara INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Tare in Eng Units Ch 0
B c.Ch0.min INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Minimum in A/D Converter Units Ch 0
C c.Ch0.Max INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Maximum in A/D Converter Units Ch 0
D c.Ch0.Tara INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Tare in A/D Converter Units Ch 0
E c.Ch0.PosDp INT8U RW 0 7 0 Decimal point position for Ch 0
0x2101 F c.Ch0.POffscale INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Max Positive Offscale Ch 0 (Gross)
10 c.Ch0.NOffscale INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Max Negative Offscale Ch 0 (Gross)
11 c.Ch0.nPOffscale INT8U RW 0 255 0 Number of Positive Offscale seen on Ch 0
12 c.Ch0.nNOffscale INT8U RW 0 255 0 Number of Negative Offscale seen on Ch 0
0x2101
13 c.Ch1.ADSpeed
(1) INT8U RW 0 9 8 Ch 1 service parameter
14 c.Ch1.Unipolar INT8U RW 0 1 0
Ch 1 service parameter
FACTORY CONFIGURED – DO NOT MODIFY
15 c.Ch1.GainPGIA INT8U RW 0 6 6
Ch 1 service parameter
FACTORY CONFIGURED – DO NOT MODIFY
16 c.Ch1.Offset INT32U RWT
-
0x7FFFFFFF 0x7FFFFFFF 0x00000000
Ch 1 service parameter
FACTORY CONFIGURED – DO NOT MODIFY
17 c.Ch1.Gain INT32U RWT
-
0x7FFFFFFF 0x7FFFFFFF 0x01000000
Ch 1 service parameter
FACTORY CONFIGURED – DO NOT MODIFY
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18 c.Ch1.Outputs (1) INT8U RW 0 3 0
Ch 1 service parameter
FACTORY CONFIGURED – DO NOT MODIFY
0x2101
19 c.Ch1.Vmin INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Minimum in Eng Units Ch 1
1A c.Ch1.VMax INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 10000 Maximum in Eng Units Ch 1
1B c.Ch1.VTara INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Tare in Eng Units Ch 1
1C c.Ch1.min INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Minimum in A/D Converter Units Ch 1
1D c.Ch1.Max INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Maximum in A/D Converter Units Ch 1
1E c.Ch1.Tara INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Tare in A/D Converter Units Ch 1
1F c.Ch1.PosDp INT8U RW 0 7 0 Decimal point position for Ch 1
0x2101 20 c.Ch1.POffscale INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Max Positive Offscale Ch 1 (Gross)
21 c.Ch1.NOffscale INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Max Negative Offscale Ch 1 (Gross)
22 c.Ch1.nPOffscale INT8U RW 0 255 0 Number of Positive Offscale seen on Ch 1
23 c.Ch1.nNOffscale INT8U RW 0 255 0 Number of Negative Offscale seen on Ch 1
0x2101 24 c.Ch0.nvZdyn INT8U RW 0 1 0 1 = Dynamic Zero is saved in NVM Ch 0
25 c.Ch1.nvZdyn INT8U RW 0 1 0 1 = Dynamic Zero is saved in NVM Ch 1
26 c.Ch0.Inclin INT8U RW 0 1 1 1 = Sine Linearization in ValoreLin Ch 0
27 c.Ch1.Inclin INT8U RW 0 1 1 1 = Sine Linearization in ValoreLin Ch 1
0x
21
01
01 28 c.Ch0.NPLin INT8U RW 0 8 0 Number of Linearization Points used on Ch 0
29 c.Ch0.ValLin INT8U RW 0 4 0 RESERVED
0x2101 2A c.Ch0.Vlin0 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 1 in Eng Units Ch 0
2B c.Ch0.Vlin1 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 2 in Eng Units Ch 0
2C c.Ch0.Vlin2 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 3 in Eng Units Ch 0
2D c.Ch0.Vlin3 INT32S RW - 0x7FFFFFFF 0 Linearization Point 4 in Eng Units Ch 0
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0x7FFFFFFF
2E c.Ch0.Vlin4 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 5 in Eng Units Ch 0
2F c.Ch0.Vlin5 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 6 in Eng Units Ch 0
30 c.Ch0.Vlin6 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 7 in Eng Units Ch 0
31 c.Ch0.Vlin7 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 8 in Eng Units Ch 0
0x
21
01 32 c.Ch1.NPLin INT8U RW 0 8 0 Number of Linearization Points used on Ch 1
33 c.Ch1.ValLin INT8U RW 0 4 0 RESERVED
0x2101
34 c.Ch1.Vlin0 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 1 in Eng Units Ch 1
35 c.Ch1.Vlin1 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 2 in Eng Units Ch 1
36 c.Ch1.Vlin2 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 3 in Eng Units Ch 1
37 c.Ch1.Vlin3 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 4 in Eng Units Ch 1
38 c.Ch1.Vlin4 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 5 in Eng Units Ch 1
39 c.Ch1.Vlin5 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 6 in Eng Units Ch 1
3A c.Ch1.Vlin6 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 7 in Eng Units Ch 1
3B c.Ch1.Vlin7 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 8 in Eng Units Ch 1
0x2101
3C c.Ch0.Vmis0 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 1 in A/D Converter Units
Ch 0
3D c.Ch0.Vmis1 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 2 in A/D Converter Units
Ch 0
3E c.Ch0.Vmis2 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 3 in A/D Converter Units
Ch 0
3F c.Ch0.Vmis3 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 4 in A/D Converter Units
Ch 0
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40 c.Ch0.Vmis4 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 5 in A/D Converter Units
Ch 0
41 c.Ch0.Vmis5 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 6 in A/D Converter Units
Ch 0
42 c.Ch0.Vmis6 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 7 in A/D Converter Units
Ch 0
43 c.Ch0.Vmis7 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 8 in A/D Converter Units
Ch 0
0x2101
44 c.Ch1.Vmis0 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 1 in A/D Converter Units
Ch 1
45 c.Ch1.Vmis1 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 2 in A/D Converter Units
Ch 1
46 c.Ch1.Vmis2 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 3 in A/D Converter Units
Ch 1
47 c.Ch1.Vmis3 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 4 in A/D Converter Units
Ch 1
48 c.Ch1.Vmis4 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 5 in A/D Converter Units
Ch 1
49 c.Ch1.Vmis5 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 6 in A/D Converter Units
Ch 1
4A c.Ch1.Vmis6 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 7 in A/D Converter Units
Ch 1
4B c.Ch1.Vmis7 INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0
Linearization Point 8 in A/D Converter Units
Ch 1
0x2101 4C c.Ch0.TAutoZero INT16U RW 0 36000 0
Time interval for Autozero in 1/10 seconds
Ch0
4D c.Ch0.MaxAutoTara INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Max value allowed for Autozero Ch 0
4E c.Ch0.Ripple INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Autozero allowed Ripple Ch 0
0x2101 4F c.Ch1.TAutoZero INT16U RW 0 36000 0
Time interval for Autozero in 1/10 seconds
Ch1
50 c.Ch1.MaxAutoTara INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Max value allowed for Autozero Ch 1
51 c.Ch1.Ripple INT32S RW
-
0x7FFFFFFF 0x7FFFFFFF 0 Autozero allowed Ripple Ch 1
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Module specific Commands
Value Command Description
0x01 CH0_SELF_OFFST_CMD Ch0 Offset Calibration
0x02 CH1_SELF_OFFST_CMD Ch1 Offset Calibration
0x03 CH0_SELF_GAIN_CMD Ch0 Gain Calibration
0x04 CH1_SELF_GAIN_CMD Ch1 Gain Calibration
0x71 Ch0 TARE Reset
0x72 Ch1 TARE Reset
0x73 Ch0 and Ch1 TARE Reset
0x75 Ch0 MIN PEAK Reset
0x76 Ch1 MIN PEAK Reset
0x77 Ch0 and Ch1 MIN PEAK Reset
0x79 Ch0 MAX PEAK Reset
0x7A Ch1 MAX PEAK Reset
0x7B Ch0 and Ch1 MAX PEAK Reset
0x7C PEAK function disable
0x7D Reset PEAK values and enable PEAK function
0x7F Simultaneously Reset PEAK and TARE on both Ch0 and Ch1
Module specific States
Value Status Description
0x00 START_UP Module is starting
0x01 Measuring Ch0
0x02 Measuring Ch1
0x10 Ch0 Continuous Conversion Mode
0x11 Wait for Continuous Mode to stop
0x20 Setup A/D to Calibration Function
0x21 Waiting for End of Calibration
0x30 Error during Calibration
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Sampling Frequency related to ADSPEED and Continuous Values
Value Continuous = 1 Continuous = 0
0x00 3840 Hz 320 Hz
0x01 1920 Hz 160 Hz
0x02 960 Hz 80 Hz
0x03 480 Hz 40 Hz
0x04 240 Hz 20 Hz
0x05 120 Hz 10 Hz
0x06 60 Hz 5 Hz
0x07 30 Hz 2.5 Hz
0x08 15 Hz 1.25 Hz
0x09 7.5 Hz 0.625 Hz
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6.5.1. A/D Converter Module calibration and setup
A/D Converter Module calibration is split in two steps:
A/D Converter internal calibration.
Measurement of the Min and Max A/D values to be used for Eng Units interpolation.
A/D Converter Calibration:
A Calibration Command is issued. (for instance CH0_SELF_OFFST_CMD).
The system operates the internal A/D Converter Calibration procedure.
If the Calibration process ends up successfully, the resulting Calibration value is written into the TempTara variable and into the
proper Module register; the A/D Converter Chip is then restarted (NOT the Module, just the A/D Converter Chip); in case of Er-
ror, the Module will be halted and Status will show an Error (0x30, see Status table), the system must then be restarted by the
user.
After the Calibration Procedure, the User can save the Calibration parameters in Non Volatile Memory or can Reset to 0 the
Converter Status to restart the Module.
Calibration for measurement in engineering units
Min|Vmin and Max|VMax values setup:
Min|Vmin e Max|VMax pairs are used by the Firmware to
interpolate the Eng Units measure value.
The User must set the A/D Converter input to the Min volt-
age value corresponding to the VMin Eng Unit value
With the A/D Converter running in normal operation, the
User must copy the desired Chx.ValoreAD value into the
proper Chx.min register, then the User must setup Vmin to
the corresponding Eng Units value, this same procedure
has to be repeated for the Max and VMax values too, for
the interpolation algorithm to work properly.
After that, the User can save the Calibration parameters in
Non Volatile Memory.
The following cross reference table applies on the Ch0 but
applies also to Ch1, if active.
Drawing reference Corresponding parameter
A/DZero c.Ch0.min
A/D FullScale c.Ch0.Max
Meas Zero c.Ch0.Vmin
Meas FullScale c.Ch0.VMax
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6.5.2. Linearization
The A/D Converter module provides up to 8 linearization points; the number of active linearization points used MUST be set in
c.Ch0.NPLin. If c.Ch0.NPLin=0 the function is not active.
Linearization points MUST stay between min (c.Ch0.Vmin) and Max (c.Ch0.VMax) values, the following rules apply:
o If min < Max, then min < Lin0 < Lin1 < …< Lin7 < Max
o If min > Max, then min > Lin0 > Lin1 > …> Lin7 > Max
If the units detects that the over-mentioned “min Max” rule is violated, the system upon reset disables Linearization function by
setting NPLin = 0
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6.5.3. Auto Zeroing Function
Working parameters: 1. c.Ch0.TAutoZero
2. c.Ch0.MaxAutoTara
3. c.Ch0.Ripple
The function effect applies on the measurements expressed in engineering units and not on the A/D raw data.
Use of the function: autozeroing is active when these conditions are met at the same time
measurement < MaxAutoTara
measurement < Ripple (within the time interval TAutoZero)
Example 1
= auto zeroing ACTIVE = auto zeroing INACTIVE
Measurement
MaxAutoTara
-MaxAutoTara
Ripple
-Ripple Time
TAutoZero TAutoZero
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Example 2
After a series of zeroing there could be the following situation:
= auto zeroing ACTIVE = auto zeroing INACTIVE
measurement MaxAutoTara
-MaxAutoTara
Ripple
-Ripple
Time
TAutoZero TAutoZero
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6.6. A/D Converter CS5532 (0x02) – RELATIVE index EXAMPLE
Slot = 1 Type = Mandatory Version = 1.04
Parameter Table Idx Parameter Name Size Attrib. min Max Default Description
0 d.Status INT8U RO 0 1 0
1 d.Command INT8U RW 0 0xFF 0
2 d.TempTara INT32S RW -0x7FFFFFFF 0x7FFFFFFF RESERVED FOR INTERNAL USE
3 d.Ch0.ValoreAD INT32S RO -0x7FFFFFFF 0x7FFFFFFF A/D Converter Ch 0 Value
4 d.Ch0.ValoreADf INT32S RO -0x7FFFFFFF 0x7FFFFFFF A/D Converter Ch 0 Value
5 d.Ch0.ValoreML INT32S RO -0x7FFFFFFF 0x7FFFFFFF Gross Value in Mech Units Ch 0
6 d.Ch0.ValoreMN INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Value (Zdyn) in Mech Units Ch 0
7 d.Ch0.ValoreMT INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Value (Tare) in Mech Units Ch 0
8 d.Ch0.ValoreLin INT32S RO -0x7FFFFFFF 0x7FFFFFFF Linearized Value in Mech Units Ch 0
9 d.Ch0.ZeroDyn INT32S RO -0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in A/D Converter Units Ch 0
10 d.Ch0.VZeroDyn INT32S RO -0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in Mech Units Ch 0
11 d.Ch0.VPeakMinN INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Min Peak Ch 0
12 d.Ch0.VPeakMaxN INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Max Peak Ch 0
13 d.Ch0.VPeakMinL INT32S RO -0x7FFFFFFF 0x7FFFFFFF Gross Min Peak Ch 0
14 d.Ch0.VPeakMaxL INT32S RO -0x7FFFFFFF 0x7FFFFFFF Gross Max Peak Ch 0
15 d.Ch0.Error INT8U RO Error Indication A/D Converter Ch 0
16 d.Ch0.TimeOut INT8U RO Timeout Time Ch 0
17 d.Ch0.NewData INT8U RO RESERVED FOR INTERNAL USE
18 d.Ch0.TimeStamp INT16U RO Timestamp Current Measure Ch 0
19 d.Ch1.ValoreAD INT32S RO -0x7FFFFFFF 0x7FFFFFFF A/D Converter Ch 1 Value
20 d.Ch1.ValoreADf INT32S RO -0x7FFFFFFF 0x7FFFFFFF A/D Converter Ch 1 Value
21 d.Ch1.ValoreML INT32S RO -0x7FFFFFFF 0x7FFFFFFF Gross Value in Mech Units Ch 1
22 d.Ch1.ValoreMN INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Value (Zdyn) in Mech Units Ch 1
23 d.Ch1.ValoreMT INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Value (Tare) in Mech Units Ch 1
24 d.Ch1.ValoreLin INT32S RO -0x7FFFFFFF 0x7FFFFFFF Linearized Value in Mech Units Ch 1
25 d.Ch1.ZeroDyn INT32S RO -0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in A/D Converter Units Ch 1
26 d.Ch1.VZeroDyn INT32S RO -0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in Mech Units Ch 1
27 d.Ch1.VPeakMinN INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Min Peak Ch 1
28 d.Ch1.VPeakMaxN INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Max Peak Ch 1
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29 d.Ch1.VPeakMinL INT32S RO -0x7FFFFFFF 0x7FFFFFFF Gross Min Peak Ch 1
30 d.Ch1.VPeakMaxL INT32S RO -0x7FFFFFFF 0x7FFFFFFF Gross Max Peak Ch 1
31 d.Ch1.Error INT8U RO Error Indication A/D Converter Ch 1
32 d.Ch1.TimeOut INT8U RO Timeout Time Ch 1
33 d.Ch1.NewData INT8U RO RESERVED FOR INTERNAL USE
34 d.Ch1.TimeStamp INT16U RO Timestamp Current Measure Ch 1
35 d.Ch0.PeakEnable INT8U RO 0 1 1 Set to 1 to enable Peak Measurement on Ch 0
36 d.Ch1.PeakEnable INT8U RO 0 1 1 Set to 1 to enable Peak Measurement on Ch 1
500 c.Vref (1) INT8U RW 0 1 0 0 – 5V, 1 – 2.5V A/D Converter Ref Voltage
501 c.Continuous (1) INT8U RW 0 1 0 0 – Dual channel
1 – High Speed Continuous (single channel)
502 c.Ch0.ADSpeed (1) INT8U RW 0 9 8 Ch 0 service parameter- See note
503 c.Ch0.Unipolar (1) INT8U RW 0 1 0 Ch 0 service parameter- See note
504 c.Ch0.GainPGIA (1) INT8U RW 0 6 6 Ch 0 service parameter- See note
505 c.Ch0.Offset (1) INT32U RWT -0x7FFFFFFF 0x7FFFFFFF 0x00000000 Ch 0 service parameter- See note
506 c.Ch0.Gain (1) INT32U RWT -0x7FFFFFFF 0x7FFFFFFF 0x01000000 Ch 0 service parameter- See note
507 c.Ch0.Outputs (1) INT8U, RW 0 3 0 Ch 0 service parameter- See note
508 c.Ch0.Vmin INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Minimum in Eng Units Ch 0
509 c.Ch0.VMax INT32S RW -0x7FFFFFFF 0x7FFFFFFF 10000 Maximum in Eng Units Ch 0
510 c.Ch0.VTara INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Tare in Eng Units Ch 0
511 c.Ch0.min INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Minimum in A/D Converter Units Ch 0
512 c.Ch0.Max INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Maximum in A/D Converter Units Ch 0
513 c.Ch0.Tara INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Tare in A/D Converter Units Ch 0
514 c.Ch0.PosDp INT8U RW 0 7 0 Decimal point position for Ch 0
515 c.Ch0.POffscale INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Max Positive Offscale Ch 0 (Gross)
516 c.Ch0.NOffscale INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Max Negative Offscale Ch 0 (Gross)
517 c.Ch0.nPOffscale INT8U RW 0 255 0 Number of Positive Offscale seen on Ch 0
518 c.Ch0.nNOffscale INT8U RW 0 255 0 Number of Negative Offscale seen on Ch 0
519 c.Ch1.ADSpeed (1) INT8U RW 0 9 8 Ch 1 service parameter- See note
520 c.Ch1.Unipolar (1) INT8U RW 0 1 0 Ch 1 service parameter- See note
521 c.Ch1.GainPGIA (1) INT8U RW 0 6 6 Ch 1 service parameter- See note
522 c.Ch1.Offset (1) INT32U RWT -0x7FFFFFFF 0x7FFFFFFF 0x00000000 Ch 1 service parameter- See note
523 c.Ch1.Gain (1) INT32U RWT -0x7FFFFFFF 0x7FFFFFFF 0x01000000 Ch 1 service parameter- See note
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524 c.Ch1.Outputs (1) INT8U RW 0 3 0 Ch 1 service parameter- See note
525 c.Ch1.Vmin INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Minimum in Eng Units Ch 1
526 c.Ch1.VMax INT32S RW -0x7FFFFFFF 0x7FFFFFFF 10000 Maximum in Eng Units Ch 1
527 c.Ch1.VTara INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Tare in Eng Units Ch 1
528 c.Ch1.min INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Minimum in A/D Converter Units Ch 1
529 c.Ch1.Max INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Maximum in A/D Converter Units Ch 1
530 c.Ch1.Tara INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Tare in A/D Converter Units Ch 1
531 c.Ch1.PosDp INT8U RW 0 7 0 Decimal point position for Ch 1
532 c.Ch1.POffscale INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Max Positive Offscale Ch 1 (Gross)
533 c.Ch1.NOffscale INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Max Negative Offscale Ch 1 (Gross)
534 c.Ch1.nPOffscale INT8U RW 0 255 0 Number of Positive Offscale seen on Ch 1
535 c.Ch1.nNOffscale INT8U RW 0 255 0 Number of Negative Offscale seen on Ch 1
536 c.Ch0.nvZdyn INT8U RW 0 1 1 1 = Dynamic Zero is saved in NVM Ch 0
537 c.Ch1.nvZdyn INT8U RW 0 1 1 1 = Dynamic Zero is saved in NVM Ch 1
538 c.Ch0.Inclin INT8U RW 0 1 1 1 = Sine Linearization in ValoreLin Ch 0
539 c.Ch1.Inclin INT8U RW 0 1 1 1 = Sine Linearization in ValoreLin Ch 1
540 c.Ch0.TAutoZero INT16U RW 0 36000 0 Time interval for Autozero in 1/10 seconds Ch0
541 c.Ch0.MaxAutoTara INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Max value allowed for Autozero Ch 0
542 c.Ch0.Ripple INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Autozero allowed Ripple Ch 0
543 c.Ch1.TAutoZero INT16U RW 0 36000 0 Time interval for Autozero in 1/10 seconds Ch1
544 c.Ch1.MaxAutoTara INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Max value allowed for Autozero Ch 1
545 c.Ch1.Ripple INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Autozero allowed Ripple Ch 1
Supposing that the module is installed on SLOT B, this means that the ABSOLUTE indexing references will be:
RELATIVE Index ABSOLUTE Index / Sub-Index d.Ch0.ValoreAD 3 0x2002 / 3 d.Ch0.ValoreMN 6 0x2002 / 6
c.Ch0.ADSpeed 502 0x2102 / 2
c.Ch0.Vmin 508 0x2102 / 8
c.Ch0.VMax 509 0x2102 / 9
c.Ch1.min 525 0x2102 / 19
c.Ch1.Max 526 0x2102 / 1A
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7. Parameterization of the Measuring system with SDO Services PITAGORA internal A/D converter can operate at different Output Data Rates, depending on the desired bandwidth and resolution.
NOTE: The Output Data Rate indicates the frequency at which the Measure data is internally refreshed and is independent from
any of the CANopen network settings.
I.e.: an Output Data Rate of 15 Hz means that the transducer produces 15 measure samples per second; if the CANopen master
reads the transducer at 150 Hz (150 PDO readings per second), the master will read the same sample 10 times.
7.1. Measure Update Rate setup
The Output Data Rate can be changed using the SDO service, by setting the desired value into the AD Speed parameter.
Following table relates the AD Speed setup to typical Instrument’s performances, based on S2Tech system’s design (table based on
0x02 A/D module – Continuous =1 and Gain = x64).
AD Speed
parameter
AD converter
output data rate
Internal A/D filter
frequency (Hz) @ -3dB
AD Resolution (bit)
0 3840 780 13
1 1920 390 16
2 960 230 16
3 480 122 17
4 240 62 17
5 120 31 18
6 60 15.5 19
7 30 7.75 19
8 15 3.88 20
9 7.5 1.94 20
As shipped, the AD Output Data Rate corresponds to the default value = 8.
Data of the above table are referred to a product configuration where only Ch0 A/D measurements are handled as data generated
by the AD converter. Two channels product are possible, if hardware is configured accordingly.
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7.2. Output value measurement units
Measurement data obtainable from the PITAGORA unit can be obtained as:
PDO (example, PDO content customized at order, among the available instruments)
In example, first PDO may be Net and A/D measurements, expressed in the engineering units and resolution used during
calibration of the transducer. Second PDO could contain Gross and Peak measurements.
Other measurements can be transmitter with the PDO, upon Customization request from the Customer, having the possibility to
transmit up to 4 PDOs.
SDO
Measurements can be obtained in engineering units or in internal raw data, deeding from the Index.Subindex of the variable of
interest.
7.3. Saving the settings
Saving of the modified settings as per the procedure described in paragraph 9.3.
8. Peak value monitoring
Instantaneous positive and negative peak values (Max peak and Min peak) are continuously monitored and stored into the
variables at Index.SubIndex 0x2001.C and 0x2001.B.
Peak values are not PDO mappable and can be accessed only via SDO.
User can selectively reset and/or enable the peak values by means of the available commands, as described on the specific
module.
9. Zero Reset operation
Zeroing on the available channels can be performed writing on the COMMAND, of the A/D module, the appropriate value (example
from the 0x02 module):
Value Description
0x71 Ch0 TARE Reset
0x72 Ch1 TARE Reset
0x73 Ch0 and Ch1 TARE Reset
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10. APPENDIX
10.1. PITAGORA compatibility for non CANopen networks
A CANopen device needs only few CANopen messages to be operational in a non CANopen network.
First of all, CAN message assignment rules must be checked, to ensure that COB-IDs used by the
CANopen node are free for network usage.
Should any conflict between COB-IDs occur, the Layer2 Network COB-IDs must be remapped to avoid
any interference with the CANopen node.
Note that COB-IDs - on the CANopen node - can be remapped too, but this solution is less practical, since
CANopen protocol knowledge is needed; furthermore, it can be a good practice, for the Layer2 Network,
to use a CANopen compatible COB-ID numbering scheme, even if no CANopen protocol is used: the
resulting Layer2 Network will thus be “friendly” with any connected CANopen device.
The following table contains the COB-ID numbering scheme for the CANopen protocol Predefined
Connection Set.
CANopen Message Type Message COB-ID (Hex)
Network Management (NMT) 0x0000
Sync 0x0080
Emergency (EMCY) 0x0080 + Node Id
Time Stamp 0x0100
TxPDO1 0x0180 + Node Id
RxPDO1 0x0200 + Node Id
TxPDO2 0x0280 + Node Id
RxPDO2 0x0300 + Node Id
TxPDO3 0x0380 + Node Id
RxPDO3 0x0400 + Node Id
TxPDO4 0x0480 + Node Id
RxPDO4 0x0500 + Node Id
TxSDO 0x0580 + Node Id
RxSDO 0x0600 + Node Id
Node Status 0x0700 + Node Id
NOTE: Node Id 0 is not allowed, valid Node Id’s are in the range from 1
to 127 (0x7F)
Table 1: The CANopen Predefined Connection Set
A CANopen device can be seen on the network as a collection of Objects, organized in a Database.
Database objects can be individually addressed, by means of an Index and a Subindex.
The Object Database can be fully accessed by means of the SDO Protocol, which can read and write each
Database entity, by means of its Index and Subindex.
SDO protocol is modeled as a Master/Slave protocol, so for each Master message a Slave reply is sent on
the SDO channel.
Some information may be necessary for User’s process, with the need of a more flexible and quicker way
to reach their final destination and a second protocol, called PDO, serves this purpose.
PDO doesn’t contain any information about Database location of data it delivers, it just delivers data, and it
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is User’s responsibility to keep track of data meaning inside of the PDO message; from a certain point of
view, the PDO message is just like any Layer2 message, meaning of data depends on User’s environment.
From the above definitions, it can be excerpted that the SDO protocol can be used to access seldom used
or configuration data, while PDO protocol is used to exchange Process Data.
We will use SDO protocol to access the Device database for Configuration purposes and we will use
the PDO protocol to collect process data from the device.
10.2. Accessing the Object Database using Expedited SDO Protocol
SDO protocol is used to access objects into the Database, Expedited SDO protocol is a shorthand used to
access database Objects, up to 4 bytes long, as the data used inside the PITAGORA instrument.
Protocol consist of a Master to Slave transmission, followed by a Slave to Master response.
NOTE: all SDO must be 8 bytes long, even when sending only one byte.
Command Message, sent from Master to Slave, has the following format:
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
RxSDO + Slave
Node Id
Command Index
Low
Index
High
Subindex Data0 Data1 Data2 Data3
COB-ID RxSDO + Slave Node Id
The Master writes into the device’s RxSDO, i.e. a Master SDO write to device with Node
Id 7, use a CAN message with COB-ID 0x0600 + 7 = 0x0607.
Command Byte0 of the CAN message contains the SDO protocol command code (read, write….)
Valid command codes are:
0x40 Read
0x2F Write BYTE (8 bit)
0x2B Write WORD (16 bit)
0x23 Write LONG (32 bit)
Index Byte1 and Byte2 of the CAN message contain the Index, expressed as a 16 bit number in
little endian format, Byte1 contains LOW byte, while Byte2 contains HIGH byte.
Subindex Byte3 of the CAN message contains the Subindex, expressed as an 8 bit number
Data In case of a write command, Byte4 to Byte7 of the CAN message contain the value to be
written into the Object addressed by Index and Subindex, in little endian format, Byte4
contains LOW byte, Byte7 contains HIGH byte.
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Reply Message sent from Slave to Master has the following format:
COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
TxSDO + Slave
Node Id
Answer Index
Low
Index
High
Subindex Data0 Data1 Data2 Data3
COB-ID TxSDO + Node Id The Slave sends its TxSDO to Master, i.e. a Slave SDO with Node Id 7 use a CAN
message with COB-ID 0x0580 + 7 = 0x0587.
Answer Byte0 of the CAN message contains the SDO protocol reply code (read, write….)
Among others, valid command codes are:
0x60 Write OK
0x4F Read BYTE (8 bit)
0x4B Read WORD (16 bit)
0x43 Read LONG (32 bit)
Index Byte1 and Byte2 of the CAN message contain the Index, expressed as a 16 bit number in
little endian format, Byte1 contains LOW byte, while Byte2 contains HIGH byte.
Subindex Byte3 of the CAN message contains the Subindex, expressed as an 8 bit number
Data In case of a read command, Byte4 to Byte7 of the CAN message contain the value read
from the Object addressed by Index and Subindex, in little endian format, Byte4 contains
LOW byte, Byte7 contains HIGH byte.
11. Operating the CANopen device A CANopen device, following the DS301 specifications from a connection point of view, can be in two
different connection states, called PreOperational and Operational.
After Reset, at power on or after a restart command, the device is by default in PreOperational state.
It transmits a Node Guarding message and, optionally, some Emergency messages (EMCY), indicating its
“wakeup” conditions. (Message COB-IDs are assigned according Table 1).
Unless the Network Master needs to keep track of unexpected reset or error conditions, these messages can
be totally ignored, otherwise their meaning can be found into the CANopen DS301 specification (Node
Guarding) and into the specific device User’s Manual (Emergency Message).
A device can exchange Service Data (SDO) in any state, while Process Data (PDO) can be exchanged
only when the network is in Operational state.
Some PDO attributes define how the PDO data are exchanged with the network.
A simple and deterministic method of exchanging PDO data is to configure the PDO attributes so that PDO
can be sent on receiving the Master SYNC message: this means that the Network Master must generate a
SYNC message at a fixed frequency (e.g. 100 Hz), upon which the device will transmit its PDO.
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This is, in detail, a simple CANopen network start, as seen on a Layer2 Network
1. System power on.
2. On the network, each CANopen device transmits its Node Guarding Message.
Devices are in Pre Operational state.
3. (OPTIONAL) Some CANopen devices on the network may transmit Emergency Messages.
4. Network Master configures - via SDO - the device’s PDO transmit options, if not already stored in-
to the device.
SDO reply from the CANopen device can be ignored by the Master.
5. Network Master sends the Start Network NMT message to the CANopen devices.
6. Devices are in Operational state, data can be exchanged.
7. Each time the Network Master sends the SYNC message, the CANopen device sends PDO data
messages.
12. Operation example Now, a practical example: suppose we have only ONE CANopen node on our Layer2 Network, a S2Tech
DigiTran Load Cell, with the following configuration data:
Node Id 26 (0x1A);
1st TxPDO COB-ID 0x019A
2nd TxPDO COB-ID 0x029A
3rd TxPDO COB-ID 0x039A
4th TxPDO COB-ID 0x049A
1st RxPDO COB-ID 0x021A
One Server SDO Channel
Rx COB-ID 0x061A
Tx COB-ID 0x059A
NOTE:
In the following examples, the Tx Dir. Column indicates the Transmission Direction
S->M indicates Slave transmission to Master
M->S indicates Master transmission to Slave
Network start will be as follows:
1. System power on
2. The DigiTran CANopen device sends its Node Guarding Message (all values in Hex)
Tx Dir. COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
S->M 71A 00
3. After 1s the DigiTran CANopen device sends two Emergency Messages (only COB-ID is correct,
real message data may be different)
Tx Dir. COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
S->M 09A 00 00 00 00 00 00 00 00
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S->M 09A 00 F0 00 05 00 00 00 00
4. Network Master sends the PDO transmit options to the device, via SDO channel
SDO Write Byte, Index 0x1800, Subindex 0x02, Tx Type = After each SYNC = 01 (Byte4)
Tx Dir. COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
M->S 61A 2F 00 18 02 01 00 00 00
S->M 59A 60 00 18 02
5. Network Master sends the Start Network NMT message to the CANopen device
Tx Dir. COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
M->S 000 01 1A
6. Device is now in Operational state, data can be exchanged on the network
7. Each time the Network Master sends the SYNC message, the CANopen device sends PDO data
messages
Tx
Dir.
COB-
ID
Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
M->S 080 S->M 19A Net
LowByte
Net
MidByte1
Net
MidByte2
Net
HighByte
Gross
LowByte
Gross
MidByte1
Gross
MidByte2
Gross
HighByte
8. If needed, the Master can send PDO data to the Slave (PDO data depends on Device configuration)
Tx Dir. COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
M->S 21A Data0 …. …. Data3 …. …. …. Data7
9. If ever needed, a Device can be returned back in PreOperational state by means of another NMT mes-
sage.
Tx Dir. COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
M->S 000 80 1A