Operating instructions RFID read/write head with CANopen

706404 / 01
07 / 2017
Operating instructions
RFID read/write head
with CANopen interface
UK
Read/write head with CANopen interface
Contents
1 Preliminary note��������������������������������������������������������������������������������������������������� 4
1.1 Symbols used��������������������������������������������������������������������������������������������� 4
2 Safety instructions����������������������������������������������������������������������������������������������� 4
2.1 General������������������������������������������������������������������������������������������������������� 4
2.2 Target group ����������������������������������������������������������������������������������������������� 4
2.3 Electrical connection����������������������������������������������������������������������������������� 4
2.4 Tampering with the device��������������������������������������������������������������������������� 5
3 General information��������������������������������������������������������������������������������������������� 5
3.1 CANopen technology ��������������������������������������������������������������������������������� 5
3.2 References ������������������������������������������������������������������������������������������������� 5
4 Functions and features ��������������������������������������������������������������������������������������� 6
5 Installation����������������������������������������������������������������������������������������������������������� 6
5.1 General installation instructions ����������������������������������������������������������������� 6
5.2 Notes on the tag installation ����������������������������������������������������������������������� 6
5.3 Avoiding interference����������������������������������������������������������������������������������� 6
6 Indicators of the DTM424 / 425 / 428 / 434 / 435 ����������������������������������������������� 7
7 Indicators of the DTC510������������������������������������������������������������������������������������� 7
8 CANopen interface ��������������������������������������������������������������������������������������������� 8
8.1 CANopen functions������������������������������������������������������������������������������������� 8
8.2 Change the node ID and bit rate����������������������������������������������������������������� 9
8.2.1 Change the node ID and bit rate in the object directory��������������������� 9
8.2.2 Set the note ID and bit rate via LSS��������������������������������������������������� 9
8.3 Set-up������������������������������������������������������������������������������������������������������� 10
8.4 Communication types of the process data object (PDO) ��������������������������11
8.5 Object directory (OD) ������������������������������������������������������������������������������� 12
8.6 Error messages����������������������������������������������������������������������������������������� 16
8.7 Monitoring activity via heartbeat��������������������������������������������������������������� 19
8.8 Change objects ��������������������������������������������������������������������������������������� 19
8.9 Process data objects��������������������������������������������������������������������������������� 19
8.9.1 Transmit process data objects (TPDO)��������������������������������������������� 20
8.9.2 Receive process data objects (RPDO)��������������������������������������������� 20
8.10 Device status������������������������������������������������������������������������������������������� 21
8.11 Deactivate antenna��������������������������������������������������������������������������������� 22
8.12 Select tag type����������������������������������������������������������������������������������������� 23
8.13 Read information of a tag ����������������������������������������������������������������������� 24
8.14 RSSI value ��������������������������������������������������������������������������������������������� 24
8.15 Tag Erkennungsfilter������������������������������������������������������������������������������� 24
8.15.1 Objekt UID Filter Depth������������������������������������������������������������������� 25
8.15.2 Objekt Null ID Filter Depth ������������������������������������������������������������� 25
9 Data transfer with the tag���������������������������������������������������������������������������������� 26
9.1 Read UID (Unique Identification Number) of the tag��������������������������������� 26
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Read/write head with CANopen interface
9.2 Read data from the tag via PDO transfer ������������������������������������������������� 26
9.2.1 Example 1����������������������������������������������������������������������������������������� 27
9.2.2 Example 2����������������������������������������������������������������������������������������� 27
9.3 Write data to the tag via PDO transfer ����������������������������������������������������� 28
9.3.1 Example 1����������������������������������������������������������������������������������������� 29
9.3.2 Example 2����������������������������������������������������������������������������������������� 29
9.4 Error handling for PDO transfer����������������������������������������������������������������� 30
9.5 Read data from the tag via SDO transfer ������������������������������������������������� 30
9.5.1 Example ������������������������������������������������������������������������������������������� 30
9.6 Write data to the tag via SDO transfer ����������������������������������������������������� 31
9.6.1 Example ������������������������������������������������������������������������������������������� 31
9.7 Lock data ranges on the tag via SDO transfer ����������������������������������������� 31
9.7.1 Example ������������������������������������������������������������������������������������������� 32
9.8 Error handling for SDO transfer����������������������������������������������������������������� 32
10 EDS data��������������������������������������������������������������������������������������������������������� 34
11 Maintenance, repair and disposal ������������������������������������������������������������������� 34
12 Glossary���������������������������������������������������������������������������������������������������������� 34
Licences and trademarks
All trademarks and company names used are subject to the copyright of the respective companies.
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UK
Read/write head with CANopen interface
1 Preliminary note
This document applies to devices of the type "RFID read/write head with CANopen
interface" (e.g. art. no.: DTM425). This document is part of the device.
This document is intended for specialists. These specialists are people who are
qualified by their appropriate training and their experience to see risks and to
avoid possible hazards that may be caused during operation or maintenance of
the device. The document contains information about the correct handling of the
device.
Read this document before use to familiarise yourself with operating conditions,
installation and operation. Keep this document during the entire duration of use of
the device.
Adhere to the safety instructions.
1.1 Symbols used
►
>
[…]
→
Instructions
Reaction, result
Designation of keys, buttons or indications
Cross-reference
Important note
Non-compliance may result in malfunction or interference.
Information
Supplementary note
2 Safety instructions
2.1 General
These instructions are an integral part of the device. They contain texts and figures
concerning the correct handling of the device and must be read before installation
or use.
Observe the operating instructions. Non-observance of the instructions, operation
which is not in accordance with use as prescribed below, wrong installation or
incorrect handling can seriously affect the safety of operators and machinery.
2.2 Target group
These instructions are intended for authorised persons according to the EMC
and low-voltage directives. The device must be installed, connected and put into
operation by a qualified electrician.
2.3 Electrical connection
Disconnect the unit externally before handling it.
4
Read/write head with CANopen interface
The connection pins may only be supplied with the signals indicated in the
technical data and/or on the device label and only the approved accessories of ifm
may be connected.
The device does not have an internal CAN terminating resistor. A
connection cable without terminating resistor can cause interference on the
CAN bus.
►► Use 120 Ω terminating resistors or a connection cable with integrated
terminating resistor, e.g. article EVC492.
UK
2.4 Tampering with the device
In case of malfunctions or uncertainties please contact the manufacturer. Any
tampering with the device can seriously affect the safety of operators and
machinery. This is not permitted and leads to the exclusion of any liability and
warranty claims.
3 General information
3.1 CANopen technology
The CANopen communication profile is based on the CAN Application Layer (CAL)
specification of the CiA organisation. CANopen is considered as a robust fieldbus
with highly flexible configuration options. It is used in many various applications
which are based on different application profiles. CANopen comprises a concept to
configure and communicate real-time data using synchronous and asynchronous
messages. Four message types (objects) are distinguished.
1. Administration messages (layer management, network management and
identifier distribution)
2. Service Data Objects (SDO)
3. Process Data Objects (PDO)
4. Predefined Objects (emergency)
For further information please refer to the CiA-CAN specification (CiA 301 CANopen).
3.2 References
http://www.can-cia.org
CAN Application Layer, DS 201 …207
LSS profile
CAN-based communication profile
CAN specification version 2.0 A
CiA
DS305 CiA
DS 301 CiA
Robert Bosch GmbH
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Read/write head with CANopen interface
4 Functions and features
The RFID read/write head is used for reading and describing RFID tags. The
read/write head is configured and data is exchanged via the integrated CANopen
interface.
Typical applications are for example the identification of interchangeable tools and
attachments on mobile machines.
5 Installation
5.1 General installation instructions
Observe the separate mounting instructions.
When mounting several read/write heads adhere to the minimum distances
between the systems.
The immediate vicinity of powerful HF emission sources such as welding
transformers or converters can affect operation of the read/write heads.
5.2 Notes on the tag installation
Installation of the tags in or on metal reduces the read and write distances.
The orientation of the read/write head antenna axis must correspond with the
axis of the tag coil.
5.3 Avoiding interference
The device generates a modulated electrical field with a frequency of 13.56 MHz.
To avoid interference of the data communication no other devices generating
interference emission in this frequency band must be operated in its vicinity. Such
devices are for example frequency converters and switched-mode power supplies.
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Read/write head with CANopen interface
6 Indicators of the DTM424 / 425 / 428 / 434 / 435
Operating status
LED red
LED green
LED yellow
Preoperational
off
lights permanently
off
Preoperational and
tag detected
off
flashes alternately with
yellow LED (every 1.6 s)
flashes alternately with
green LED (every 1.6 s)
Operational
off
flashes (every 0.4 s)
off
Operational and tag detected
off
off
lights permanently
Configuration error
flashes (every 0.4 s)
Error in the CAN network
flashes (every 1.2 s)
CAN: Bus OFF
lights permanently
off
off
LSS service active
flashes
off
off
Hardware error detected in
the device
off
off
flashes
UK
LED reacts according to the current operating status
7 Indicators of the DTC510
1: green (operating status) / red (error)
2: yellow (ID tag)
Operating status
LED red
LED green
LED yellow
Preoperational
off
on
off; on if a tag has been
detected in the reading field
Operational
off
flashes (2.5 Hz)
off; on if a tag has been
detected in the reading field
Configuration error
flashes alternately with
green LED (2.5 Hz)
flashes alternately
with red LED (2.5 Hz)
off; on if a tag has been
detected in the reading field
Error in the CAN
network
flashes alternately with
green LED (0.8 Hz)
flashes alternately
with red LED (0.8 Hz)
off; on if a tag has been
detected in the reading field
CAN Bus off
on
off
off; on if a tag has been
detected in the reading field
LSS service active
flickers irregularly
off
off; on if a tag has been
detected in the reading field
Hardware error
detected in the
device
off
off
flickers irregularly
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Read/write head with CANopen interface
8 CANopen interface
The RFID read/write head has a standardised CANopen interface according to
CiA DS-301. All measured values and parameters can be accessed via the object
directory (OD). The individual configuration can be saved in the internal permanent
memory.
8.1 CANopen functions
The following CANopen functions are available:
●● 64 transmit and receive process data objects (TPDO1..64, RPDO1..64) in two
possible operating modes:
–– individual check via a remote transmit-request telegram (RTR)
–– event-controlled transmission
●● Error messages via emergency object (EMCY) with support of the:
–– general error register
–– manufacturer-specific register
–– error list (Pre-defined Error Field)
●● Monitoring mechanism heartbeat
●● Status and error indication via LED
●● In addition to the CiA DS-301 functionality there are more manufacturer and
profile-specific characteristics:
–– setting of the node ID and the bit rate via object directory entry (SDO)
–– configuration and reading/writing of operational data via service data objects
(SDO)
●● Support of the layer settings service (LSS)
●● Support of synchronous process data transmission (SYNC)
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Read/write head with CANopen interface
8.2 Change the node ID and bit rate
The device supports several options how to change the node ID and the bit rate.
The device is delivered with the node ID 32 and a bit rate of 125 Kbits/s.
Each node ID must only be assigned once in the CANopen network. If a node
ID is assigned several times, malfunction in the CANopen network will result.
8.2.1 Change the node ID and bit rate in the object directory
UK
The node ID is entered in the object directory in the objects 0x20F0 and 0x20F1.
If the two values are identical, the setting is stored and is active after a software
reset of the device. Values between 1 and 127 may be used as node ID.
The bit rate is entered in the objects 0x20F2 and 0x20F3. If the two values are
identical, the setting is stored and is active after a software reset of the device. The
following values may be used as bit rate:
Value
Bit rate
0
1000 Kbits/s
1
800 Kbits/s
2
500 Kbits/s
3
250 Kbits/s
4
125 Kbits/s
5
100 Kbits/s
6
50 Kbits/s
7
20 Kbits/s
If a master is used in the CANopen network for central storage of parameters,
the changed values for node ID (0x20F0 and 0x20F1) and bit rate (0x20F2
and 0x20F3) must be additionally entered in the master.
Otherwise the values will be reset during each start of the CANopen network.
8.2.2 Set the note ID and bit rate via LSS
Using the layer setting service (LSS) an LSS master can change the node ID and
bit rate of the device (LSS slave) via the CAN bus. The LSS master sets all LSS
slaves to a configuration mode. Each LSS slave can be unambiguously identified
via the device data (vendor ID, product code, revision number and serial number).
To change the bit rate the LSS master transfers the new bit rate in the
configuration mode with the service "Configure timing bit". The LSS slave replies
to the LSS master if the new bit rate is supported. Then the LSS master transmits
the time "Switch delay" via the service "Activate bit timing" after which the new bit
rate should be activated. After activation the LSS master switches the LSS slave
again to the operating mode.
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Read/write head with CANopen interface
To change the node ID the LSS master transfers the new node ID in the
configuration mode. The LSS slave replies to the master if the new node ID is
valid. After changing the node ID the LSS master switches the LSS slave again to
the operating mode.
The new bit rate and node ID become active after a software reset of the LSS
slave.
8.3 Set-up
The CANopen standard CiA301 defines three possible operating states:
Pre-Operational
In the pre-operational state no PDO messages (process data) can be transmitted.
The pre-operational state is used to set the sensor parameters or as standby
mode.
During booting in the pre-operational mode on the CAN bus the device reports with
the bootUP message "0x700+Node-ID".
Operational
In the operational state all communication services are carried out. The operational
state is used to exchange the process data while in operation.
Stopped
In the stopped state only NMT messages (network management) are possible.
This allows almost complete separation of redundant or faulty sensors from the
bus.
The master or network manager can request the sensor via NMT messages to
change the state accordingly.
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Read/write head with CANopen interface
8.4 Communication types of the process data object (PDO)
The TPDO can be checked at any time by transmitting a remote transmit-request
telegram (RTR). Otherwise the TPDOs are sent automatically as soon as their
value changes (event-driven).
As an option, the CANOpen service "SYNC" can be used (see CiA 301, 7.2.5
Synchronization object (SYNC)). For the synchronised transmission CANopen
provides the SYNC object at which the TPDOs are transmitted after every "nth"
reception of a SYNC telegram.
A total of 64 TPDOs and 64 RPDOs is available; on delivery only the first 4 of each
are active. If the configuration of the CANopen network allows it, the remaining
process data objects can also be activated.
The process data is assigned to the linear address range in the standard settings
of the RFID tag. The TPDO1 maps e.g. the first 8 bytes of the user data memory of
the RFID tag.
Reading of the memory and transmission of the data via TPDO is effected
automatically as soon as a new RFID tag is detected.
Writing of the data is effected in the same way by write access to the respective
RPDO.
Data transfer per process data object is only possible in the "Operational"
operating mode (→ 8.3 Set-up).
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UK
Read/write head with CANopen interface
8.5 Object directory (OD)
Index
Subindex
Name (object)
Type
Access
Default
value
PDO
mapping
capability
Save
object
value
CANopen communication (CiA 301)
0x1000
0x00
Device type
u32
ro
0x00000000
-
-
0x1001
0x00
Error register
u8
ro
0x00
-
-
0x1003
0x01
0x02
Predefined error field
032
ro
0x00000000
0x1005
0x00
COB ID SYNC
u32
rw
0x00000000
-
yes
0x1008
0x00
Manufacturer device name
vSTR
ro
Article
number of
the device
-
-
0x1009
0x00
Manufacturer hardware
version
vSTR
ro
Current
hardware
version
-
-
0x100A
0x00
Manufacturer software
version
vSTR
ro
Current
software
version
-
-
0x1010
0x01
Save parameters
(save device parameters
in non-volatile memory)
u32
rw
0x00000000
-
-
0x1011
0x01
Load the default
communication parameter
u32
rw
0x00000000
-
-
0x1014
0x00
COB ID EMCY
(COB ID emergency
message)
u32
rw
Node ID+
0x80
-
0x1015
0x00
Inhibit time EMCY
(inhibit time between
EMCY messages)
u16
rw
0x0000
-
yes
0x1017
0x00
Producer heartbeat time
(time difference between
heartbeats sent in ms)
u16
rw
0x0000
-
yes
0x1018
0x01
Vendor ID
u32
ro
0x0069666D
-
-
0x02
Product code
u32
ro
Product
code of the
unit version
-
-
0x03
Revision number
u32
ro
Main
revision
and current
software
version
-
-
0x04
Serial number
u32
ro
Serial
number of
the device
-
-
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Read/write head with CANopen interface
Index
Subindex
Name (object)
Type
Access
Default
value
PDO
mapping
capability
Save
object
value
0x1200
0x01
COB ID client to server
u32
ro
Node ID+
0x600
-
-
0x02
COB ID client to server
u32
ro
Node ID+
0x580
-
-
0x14000x143F
0x01
RPDO parameter: COB ID
u32
rw
(→ 8.9.2)
-
yes
0x02
RPDO parameter:
transmission type
u8
ro
0xFF
-
yes
0x16000x163F
0x010x08
RPDO mapping
u32
rw
(→ 8.9.2)
-
yes
0x18000x183F
0x01
TPDO parameter: COB ID
u32
rw
(→ 8.9.1)
-
yes
0x02
TPDO parameter:
transmission type
u8
ro
0xFF
-
yes
0x03
TPDO parameter: inhibit
time
u16
rw
0x00
-
yes
0x010x08
TPDO mapping
u32
rw
(→ 8.9.1)
-
yes
0x1A000x1A3F
UK
Bus configuration
0x20F0
0x00
NODE ID setting A
(Node ID for CANopen
communication)
u8
rw
32
-
Autosave
0x20F1
0x00
NODE ID setting B
(Node ID for CANopen
communication)
u8
rw
32
-
Autosave
0x20F2
0x00
Bit rate setting A
(CAN bus bit rate)
u8
rw
4
-
Autosave
0x20F3
0x00
Bit rate setting B
(CAN bus bit rate)
u8
rw
4
-
Autosave
yes
-
Status and control of the reader
0x2150
0x00
Device status
(device status flags)
u32
ro
0x2151
0x00
Antenna active
(enable HF front end of the
device)
bool
rw
1
-
yes
0x2160
0x010xFE
Definition tag type
(name of supported tags)
dom
ro
(→ 8.12)
-
-
0x2161
0x00
Tag type selection
(value selects tag type
defined in 0x2160)
u8
rw
2
-
yes
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Read/write head with CANopen interface
Index
Subindex
Name (object)
Type
Access
Default
value
PDO
mapping
capability
Save
object
value
Tag information
0x2180
0x00
Current UID
(UID of the tag in the read
range, PDO mappable)
u64
ro
0x00000000
00000000
yes
-
0x2181
0x00
Current DSFID
(DSFID of the tag in
the read range, PDO
mappable)
u8
ro
0x00
yes
-
0x2182
0x01
Tag information: UID
u64
ro
0x00000000
00000000
-
-
0x02
Tag information: DSFID
u8
ro
0x00
-
-
0x03
Tag information: AFI
u8
ro
0x00
-
-
0x04
Tag information:
Memory size
u32
ro
0x00000000
-
-
0x05
Tag information:
IC reference
u8
ro
0x00
-
-
0x06
Tag information: Tag type
(detected tag type,
defined in 0x2160)
u8
ro
0x00
-
-
Read mappable data
0x2200
0x010x40
Address read start point
(start of the address range
on the tag that is to be
read)
u16
rw
(→ 8.9.2)
-
yes
0x2201
0x010x40
Read length
(length of the memory
range on the tag that is to
be read; max. 8 bytes)
u8
rw
(→ 8.9.2)
-
yes
0x220A
0x010x40
Tag data
(8 bytes of tag data,
updated when new tag
enters reading area)
u64
ro
yes
-
Read a data range
0x2280
0x00
Address read start point
(start of the address range
on the tag that is to be
read)
u16
rw
0x0000
-
yes
0x2281
0x00
Read length
(length of the memory
range on the tag that is to
be read)
u16
rw
0x0000
-
yes
14
Read/write head with CANopen interface
Index
Subindex
Name (object)
Type
Access
0x2282
0x00
Tag data
(requested data from
the tag as configured
in objects 0x2280 and
0x2281)
dom
ro
Default
value
PDO
mapping
capability
Save
object
value
-
-
Write mappable data
0x2300
0x010x40
Address write start point
(start of the address range
on the tag that is to be
written)
u16
rw
(→ 8.9.1)
-
yes
0x2301
0x010x40
Write length
(length of the memory
range on the tag that is to
be written; max. 8 bytes)
u8
rw
(→ 8.9.1)
-
yes
0x2302
0x010x40
Auto-write
(enable automatic write
access if a new tag is
detected)
bool
rw
0
-
yes
0x230A
0x010x40
Tag data
(8 bytes of tag data)
u64
rww
yes
-
0x230F
0x00
Write trigger
u64
rww
0x00000000
00000000
yes
UK
Write a data range
0x2380
0x00
Address write start point
(start of the address range
on the tag that is to be
written)
u16
rw
0x0000
-
yes
0x2381
0x00
Write length
(length of the memory
range on the tag that is to
be written)
u16
rw
0x0000
-
yes
0x2382
0x00
Tag data
(data that is to be written
to the tag as configured
in objects 0x2380 and
0x2381)
dom
wo
-
-
15
Read/write head with CANopen interface
Index
Subindex
Name (object)
Type
Access
Default
value
PDO
mapping
capability
Save
object
value
Lock a data range
0x2480
0x00
Address lock start point
(start of the address range
on the tag that is to be
locked; must correspond
to the tag ranges)
u16
rw
0x0000
-
yes
0x2481
0x00
Lock length
(length of the memory
range on the tag that
is to be locked, must
correspond to the tag
ranges)
u16
rw
0x0000
-
yes
0x2482
0x00
Lock trigger
(trigger for locking data
on the tag as configured
in Objects 0x2480 and
0x2481)
bool
wo
-
-
0x4603
0x00
UID filter depth
s8
rw
0x00
-
yes
0x4605
0x00
Zero ID filter depth
s8
rw
0x02
-
yes
UID filter
8.6 Error messages
The device supports a number of emergency messages that are sent in the event
of a communication, hardware or RFID error. If one of these errors occurs, the
error register (OV index 0x1001) and the pre-defined error field (OV index 0x1003)
are updated.
The COB ID of the emergency message can be changed in the object "COB
ID EMCY" (OV index 0x1014). By setting bit 31 in this object the emergency
messages are deactivated.
The disable time between two emergency messages can be defined via the object
0x1015. The indication is made in steps of 100 µs.
The COB ID of the emergency messages is preset to
0x80 + node ID.
Emergency
error code
Error register
(0x1001)
0x8210
0x11
Protocol - PDO not processed due
to length error
0x8130
0x01
Monitoring - node guarding or
heartbeat error
16
Manufacturer
error code
Manufacturer
error name
Emergency description
Read/write head with CANopen interface
Emergency
error code
Error register
(0x1001)
Manufacturer
error code
Manufacturer
error name
Emergency description
0x8100
0x11
0x5000
0x81
0x01
Device hardware error (antenna
error)
0x4200
0x09
0x02
Device temperature too high
0xFF00
0x81
0x01
RX: ISO_
COMMAND_
ERROR_NO_
RESPONSE
Tag did not answer, maybe tag is
not in the field anymore?
0xFF00
0x81
0x02
RX: ISO_
COMMAND_
ERROR_RX_
ERROR
Error when receiving the answer
from the tag (CRC error, framing
error, collision, etc.)
0xFF01
0x81
0x01
TX: ISO_
COMMAND_
ERROR_NO_
RESPONSE
Tag did not answer, maybe tag is
not in the field anymore?
0xFF01
0x81
0x02
TX: ISO_
COMMAND_
ERROR_RX_
ERROR
Error when receiving the answer
from the tag (CRC error, framing
error, collision, etc.)
0xFF02
0x81
0x01
ISO_TAG_
ERROR_
COMMAND_NOT_
SPECIFIED
The specified command is not
supported. Example: command
code error
0xFF02
0x81
0x02
ISO_TAG_
ERROR_
COMMAND_
SYNTAX
Cannot recognise the command.
The number of blocks is too high.
Example: Format error
0xFF02
0x81
0x03
ISO_TAG_
ERROR_
OPTION_NOT_
SUPPORTED
The indicated options are not
supported
0xFF02
0x81
0x0F
ISO_TAG_
ERROR_OTHER
Other errors
0xFF02
0x81
0x10
ISO_TAG_
ERROR_BLOCK_
NOT_USABLE
The specified block cannot be used
(or was not found)
0xFF02
0x81
0x11
ISO_TAG_
ERROR_BLOCK_
ALREADY_
BLOCKED
The specified block has already
been locked and cannot be locked
again
0xFF02
0x81
0x12
ISO_TAG_
ERROR_
BLOCK_NOT_
UPDATEABLE
The specified block has already
been locked and its contents
cannot be updated
Monitoring - general
communication error, send in case
of bus off
UK
17
Read/write head with CANopen interface
Emergency
error code
Error register
(0x1001)
0xFF02
0x81
0x13
ISO_TAG_
ERROR_BLOCK_
WRITE_VERIFY
The specified block could not be
programmed normally (a write
verify error occurred)
0xFF02
0x81
0x14
ISO_TAG_
ERROR_BLOCK_
LOCK_VERIFY
The specified block could not be
locked normally (a lock verify error
occurred)
0xFF03
0x81
0x00
STATUS_
BUFFER_OVERFL
Internal buffer overflow
18
Manufacturer
error code
Manufacturer
error name
Emergency description
Read/write head with CANopen interface
8.7 Monitoring activity via heartbeat
By means of the heartbeat function the activity of a device in the CANopen
network can be monitored by the master. The device regularly sends a heartbeat
message containing the device status.
The heartbeat function is activated by entering a value greater than "0" into
the heartbeat interval time object (OV index 0x1017). The value indicates the
time between two heartbeat signals in milliseconds. The heartbeat function is
deactivated with the value "0".
UK
8.8 Change objects
Changes of the objects in the object directory are applied at once. The changes
will get lost by a reset. To prevent this the objects have to be saved in the internal
permanent memory (flash). All objects marked in the object directory as "Save
object value: yes" are permanently stored in the device flash. By writing the
command "Save" (65766173h) to save the objects (OV index 1010h/01h) all
current objects of the object directory are transferred to the flash memory.
The objects can be reset to factory setting by writing the signature "Load"
(64616F6Ch) to the OV index 1011h/01h. After a reset the changes are applied.
Depending on the architecture of the CANopen network the objects can also be
stored centrally in a CANopen master. In this case the objects are transferred
to the device when the system is started and the locally stored values are
overwritten.
Special features of the object node ID (OV index 0x20F0 and 0x20F1) and
the bit rate (OV index 0x20F2 and 0x20F3):
●● Changes of the objects are only applied after a reset (→ 8.2 Change the
node ID and bit rate).
●● The objects cannot be transferred to the flash via the OV index
1010h/01h.
●● The objects cannot be reset to the factory setting via the OV index
1011h/01h.
8.9 Process data objects
64 transmit and receive process data objects each are available. On delivery 4
process data objects are active.
19
Read/write head with CANopen interface
8.9.1 Transmit process data objects (TPDO)
The table below contains the transmit process data objects (TPDO) on delivery.
Settings
for PDO
mapping
Object directory
Tag memory
TPDO
COB
Mapped
object index
Mapped object
subindex
Mapped object
length
1
Node ID +
0x0180
0x2150
0x00
0x20
2
Node ID +
0x0280
0x220A
0x01
0x40
0x00000000
0x08
3
Node ID +
0x0380
0x220A
0x02
0x40
0x00000008
0x08
4
Node ID +
0x0480
0x220A
0x03
0x40
0x00000010
0x08
5
0
(deactivated)
0x220A
0x04
0x40
0x00000018
0x08
64
0
(deactivated)
0x220A
0x40
0x04
0x000001F0
0x08
Address
read start
point
Read
length
Device status
8.9.2 Receive process data objects (RPDO)
The table below contains the receive process data objects (RPDO) on delivery.
Settings
for PDO
mapping
Object directory
TPDO
COB
Mapped
object index
Mapped object
subindex
Mapped object
length
1
Node ID +
0x0200
0x230F
0x01
0x40
2
Node ID +
0x0300
0x230A
0x02
0x40
0x00000000
0x08
3
Node ID +
0x0400
0x230A
0x03
0x40
0x00000008
0x08
4
Node ID +
0x0500
0x230A
0x04
0x40
0x00000010
0x08
5
0
(deactivated)
0x230A
0x05
0x40
0x00000018
0x08
64
0
(deactivated)
0x230A
0x40
0x04
0x000001F8
0x08
20
Tag memory
Address
read start
point
Read
length
Write trigger
Read/write head with CANopen interface
8.10 Device status
The current device status is represented in the object "Device status"
(OV index 0x2150, subindex 0x00). On delivery the object is assigned to TPDO1.
Bit
31
Status
tag_err
Default
value
30
29
28
27
26
25
24
0
0
0
0
0
0
0
0
Bit
23
22
21
20
19
18
17
16
Status
write_err
Default
value
0
0
0
0
0
0
0
0
Bit
15
14
13
12
11
10
9
8
Status
read_err
Default
value
0
0
0
0
0
0
0
0
Bit
7
6
5
4
3
2
1
0
Status
r
r
buf_ovfl
fr_err
busy
present
ant
pow
Default
value
0
0
0
0
0
0
1
1
Status
Value
Description
pow
1
Power enabled (always 1)
ant
0
Antenna disabled
1
Antenna enabled
0
No tag present
1
Tag present
0
Quiescent condition
1
Read or write access active
0
Front end ok
1
Front end error detected (hardware problem)
0
Buffer ok
1
Buffer overflow detected
yes
read_err
Error during the last read operation
yes
write_err
Error during the last write operation
yes
tag_err
Error message from the tag for the last
operation
yes
present
busy
fr_err
buf_ovfl
UK
EMCY
message
yes
21
Read/write head with CANopen interface
Read error codes (updated after each read access of the tag)
0x00
ISO_COMMAND_ERROR_NO_ERROR
No error, command successfully executed
0x01
ISO_COMMAND_ERROR_NO_
RESPONSE
Tag did not answer, maybe tag is not in the
field anymore
0x02
ISO_COMMAND_ERROR_RX_ERROR
Error when receiving the answer from the
tag (CRC error, framing error, collision, etc.)
Write error codes (updated after each write access of the tag)
0x00
ISO_COMMAND_ERROR_NO_ERROR
No error, command successfully executed
0x01
ISO_COMMAND_ERROR_NO_
RESPONSE
Tag did not answer, maybe tag is not in the
field anymore?
0x02
ISO_COMMAND_ERROR_RX_ERROR
Error when receiving the answer from the
tag (CRC error, framing error, collision, etc.)
Tag error codes (updated after each read or write access of the tag)
0x00
ISO_TAG_ERROR_NO_ERROR
No error from tag
0x01
ISO_TAG_ERROR_COMMAND_NOT_
SPECIFIED
The specified command is not supported.
Example: command code error
0x02
ISO_TAG_ERROR_COMMAND_
SYNTAX
Cannot recognise the command. The
number of blocks is too high. Example:
Format error
0x03
ISO_TAG_ERROR_OPTION_NOT_
SUPPORTED
The indicated options are not supported
0x0F
ISO_TAG_ERROR_OTHER
Other errors
0x10
ISO_TAG_ERROR_BLOCK_NOT_
USABLE
The specified block cannot be used (or was
not found)
0x11
ISO_TAG_ERROR_BLOCK_ALREADY_
BLOCKED
The specified block has already been
locked and cannot be locked again
0x12
ISO_TAG_ERROR_BLOCK_NOT_
UPDATEABLE
The specified block has already been
locked and its contents cannot be updated
0x13
ISO_TAG_ERROR_BLOCK_WRITE_
VERIFY
The specified block could not be
programmed normally (a write verify error
occurred)
0x14
ISO_TAG_ERROR_BLOCK_LOCK_
VERIFY
The specified block could not be locked
normally (a lock verify error occurred)
8.11 Deactivate antenna
The antenna in the device can be deactivated if the value 0 is written to the object
"Antenna active" (OV index 0x2151). In this case no tag is detected any more
since the magnetic field of the device is no longer active.
The antenna is reactivated with the value 1. With the object "Antenna active" it is
possible to prevent interference between two devices placed next to each other by
alternately deactivating the antennas of the two devices.
22
Read/write head with CANopen interface
8.12 Select tag type
The device is compatible with several tag types according to ISO15693.
Depending on the size of the user data memory and manufacturer the tags differ
in the access to data. Therefore the device must know which type of tag is used in
the system.
In object 0x2161 the tag type used in the RFID system can be selected. The
available tag types can be read in the object 0x2180, subindex 0x01-0xFE.
Tag type
Name
Block size [byte]
Number of blocks
1
user defined
?
?
2
I-Code SLI
4
28
3
I-Code SLI-S
4
40
4
I-Code SLI-L
4
8
5
F-MEM 2k
8
250
6
F-MEM 232b
4
58
7
F-MEM 8k
32
256
8
TI_32b
4
8
9
TI_256b
4
64
10
ST_128b
4
32
11
ST_256b
4
64
12
ST_8k
4
2048
13
I-Code SLIX2
4
79
UK
Via the object 0x2182 0x06 it is possible to poll the tag type read by the device.
First of all the detected tag type must be read from the object 0x2182 subindex
0x06 and this value must be entered in the object 0x2161.
Of special importance is tag type 1: The parameters "Block size" and "Number
of blocks" are automatically determined by the device. If the parameters do not
match the known tag types, type 1 "User defined" is used.
Detection of tag types is not supported by all tags.
The set tag type is only permanently saved in the device if the object "Save
parameter" is used (→ 8.8 Change objects).
Tag type 2 is preset.
23
Read/write head with CANopen interface
8.13 Read information of a tag
The information of a tag can be read via the objects 0x2180 to 0x2182. To do so,
the tag has to be within the detection range of the device.
The objects 0x2180 and 0x2182 are only valid as long as the tag is detected. If
there is no tag within the range, the values of the objects are reset to 0.
The value of the object 0x2182 can be read from the tag on request.
Reading of information is not supported by each tag type.
8.14 RSSI value
The RSSI value (Received Signal Strength, OV index 0x2162) informs about the
strength of the received signal that is emitted by the tag in front of the device:
0: no tag detected
1: minimum signal strength
8: maximum signal strength
The maximum signal strength is only reached with certain device /
transponder combinations.
The signal strength depends on the distance between the transponder and
the active face of the device.
Position changes in the environment, e.g. of metallic objects, can influence
the signal strength.
8.15 Tag detection filter
The following situations result in undesired multiple tag detection and reading:
●● The tag is in the limit range.
●● The installation conditions have a negative effect on the device's
electromagnetic field.
Thus, the tag is not clearly detected which leads to error messages while reading
or writing via PDOs. The objects "UID filter depth" and "Zero ID filter depth" allow
for error message filtering.
The following values have proven their worth in practice:
●● "0" to "5" in dynamic applications (rapidly passing tags)
●● ">5" in static applications
24
140
133
126
119
112
105
98
91
84
77
70
63
56
49
42
35
28
21
14
7
Time [ms]
0
Read/write head with CANopen interface
Tag in the
field
Tag not in the
field
UID filter depth: 0, Zero ID filter depth: 0
Tag detected
UK
Tag not
detected
UID filter depth: 5, Zero ID filter depth: 0
Tag detected
Tag not
detected
UID filter depth: 0, Zero ID filter depth: 5
Tag detected
Tag not
detected
UID filter depth: 5, Zero ID filter depth: 5
Tag detected
Tag not
detected
8.15.1 "UID filter depth" object
The "UID filter depth" object (0x4603/0x00) allows for determining the number
of successful tag detections to be executed by the device. The tag will only be
considered on the CAN bus as having been detected (tag present) once the set
number has been reached.
The value "0" deactivates the filter. The values ">0" delay the "tag present" bit by
respectively 7 ms and thus implement a switch-on delay of the tag value. The
detection in the limit range stabilises as no value will be provided as long as the
tag has not been steadily detected.
8.15.2 "Zero ID filter depth" object
The "Zero ID filter depth" object (0x4605/0x00) allows for determining the number
of unsuccessful tag detections to be executed by the device. The tag will only be
considered on the CAN bus as not being present anymore (tag present) once the
set number has been reached.
25
Read/write head with CANopen interface
The value "0" deactivates the filter. The values ">0" delay the reset of the "tag
present" bit by respectively 7 ms and thus implement a switch-off delay of the tag
value. The detection in the limit range stabilises as no value will be provided as
long as the tag does not remain steadily undetected.
9 Data transfer with the tag
9.1 Read UID (Unique Identification Number) of the tag
The UID of the tag is available in object 0x2180 as soon as a tag is within the
reading range of the device. If no tag is available, the value 0x0000000000000000
is entered.
If the object is mapped on a TPDO, transmission is event-controlled as soon as a
tag enters the reading range or is removed from the reading field.
9.2 Read data from the tag via PDO transfer
The transfer of the PDO data from the tag may be event-controlled. That means
that the configured TPDOs are automatically transmitted by the device when
the data change. This is the case, for example, when a new tag is detected in
the detection range of the device. The data is automatically read by the tag and
transferred by means of the TPDOs via the CAN bus.
The data that was read by the tag and assigned to a TPDO are in the object
0x220A with the subindexes 0x01-0x40.
Only that data is read by the tag that is assigned to a TPDO. Data objects
that are not assigned are not updated automatically.
There are two objects for each data object that are used for configuration: 0x2200
(starting address read) and 0x2201 (length read) with subindexes matching the
data object. The start address in the user data area of the tag and length of the
files to be read are set in the objects.
Only 64-bit data (8 bytes) is always transmitted by a TPDO. If the
configured data length is smaller than 64 bits, the remaining bits are filled
with 0.
Max. 64 bits can be transmitted in one TPDO. If larger data volumes are to
be transferred, more TPDOs have to be assigned and the respective data
objects are to be configured.
26
Read/write head with CANopen interface
9.2.1 Example 1
The data range 0x10 to 0x18 (8 bytes) is to be transferred with the 2nd TPDO.
Settings for PDO
mapping
Object directory
TPDO
COB
Object index
Object subindex
Object length
2
Node ID + 0x0280
0x220A
0x01
0x40
Object directory
Index
Subindex
Name (object)
Value
0x2200
0x01
Address read start point
(start of the address range on the tag that is to be read)
0x10
0x2201
0x01
Read length
(length of the memory range on the tag that is to be read;
max. 8 bytes)
0x08
UK
9.2.2 Example 2
The data range 0x44 to 0x48 (4 bytes) is to be transferred with the 6th TPDO.
Settings for PDO
mapping
Object directory
TPDO
COB
Object index
Object subindex
Object length
6
Node ID + 0x0680
0x220A
0x05
0x40
Object directory
Index
Subindex
Name (object)
Value
0x2200
0x05
Address read start point
(start of the address range on the tag that is to be read)
0x44
0x2201
0x05
Read length
(length of the memory range on the tag that is to be read;
max. 8 bytes)
0x04
27
Read/write head with CANopen interface
9.3 Write data to the tag via PDO transfer
To write data to a tag via PDO transfer an RPDO must be assigned to the object
0x230A with a subindex in the range from 0x01 to 0x40. The address of the tag
user data range to which the data is to be written is defined in object 0x2300. The
subindexes of these objects have to be identical.
The tag is written on after the data was written to the RPDO and the respective bit
was changed in the "Write Trigger" object (OV index 0x230F, subindex 0x00).
LSB
MSB
Bit
63
62
61
..
..
..
2
1
0
Trigger
tr64
tr63
tr62
..
..
..
tr3
tr2
tr1
Default value
0
0
0
0
0
0
0
0
0
Trigger
Description
tr64
Trigger for tag data 64 (0x230A/0x40)
tr63
Trigger for tag data 63 (0x230A/0x3F)
tr62
Trigger for tag data 62 (0x230A/0x3E)
tr61
Trigger for tag data 61 (0x230A/0x3D)
tr60
Trigger for tag data 60 (0x230A/0x3C)
tr59
Trigger for tag data 59 (0x230A/0x3B)
tr58
Trigger for tag data 58 (0x230A/0x3A)
…
…
tr6
Trigger for tag data 6 (0x230A/0x6)
tr5
Trigger for tag data 5 (0x230A/0x5)
tr4
Trigger for tag data 4 (0x230A/0x4)
tr3
Trigger for tag data 3 (0x230A/0x3)
tr2
Trigger for tag data 2 (0x230A/0x2)
tr1
Trigger for tag data 1 (0x230A/0x1)
The writing process is always made with the bit change of the respective bit (0->1
or 1->0). Ideally, the object "Write Trigger" (OV index 0x230F, subindex 0x00) is
assigned to an RDPO. On delivery the object "Write Trigger" is assigned to the first
RPDO.
Automatic writing of data can be activated with the object "Auto Write" (OV index
0x2302). As soon as a tag is in the detection range, the last data is written to the
tag.
Only data up to the configured data length is written to the tag. The
subsequent data is ignored. If more than 8 bytes are transferred, more
RPDOs have to be assigned and the respective data objects have to be
configured.
28
Read/write head with CANopen interface
9.3.1 Example 1
The data range 0x10 to 0x18 (8 bytes) is to be transferred with the 2nd RPDO.
Settings for PDO
mapping
Object directory
RPDO
COB
Object index
Object subindex
Object length
2
Node ID + 0x0200
0x230A
0x01
0x40
Object directory
Index
Subindex
Name (object)
Value
0x2300
0x01
Address read start point
(start of the address range on the tag that is to be read)
0x10
0x2301
0x01
Read length
(length of the memory range on the tag that is to be read;
max. 8 bytes)
0x08
0x2302
0x01
Auto-write
0x00
UK
Transfer data via RPDO:
PDO transfer
PDO
Data
To the device
RPDO 2
0x12345678
PDO transfer
PDO
Data
To the device
RPDO 1
Switch bit 0
Start write access:
9.3.2 Example 2
The data range 0x44 to 0x48 (4 bytes) is to be transferred with the 6th RPDO. In
addition this data is to be written to a tag each time it reaches the detection range
of the device.
Settings for PDO
mapping
Object directory
RPDO
COB
Object index
Object subindex
Object length
6
Node ID + 0x0600
0x230A
0x05
0x40
Object directory
Index
Subindex
Name (object)
Value
0x2300
0x05
Address read start point
(start of the address range on the tag that is to be read)
0x44
0x2301
0x05
Read length
(length of the memory range on the tag that is to be read;
max. 8 bytes)
0x04
29
Read/write head with CANopen interface
Object directory
Index
Subindex
Name (object)
Value
0x2302
0x05
Auto-write
0x01
Transfer data via RPDO:
PDO transfer
PDO
Data
To the device
RPDO 6
0x12340000
The data is written to the tag when it has reached the detection range.
64-bit data (8 bytes) always have to be sent to an RPDO. If the configured
data length is smaller than 64 bits, the remaining bits are ignored.
9.4 Error handling for PDO transfer
If a read or write access to a tag is not possible, the device creates an emergency
message on the CAN bus.
The error code can be read from the error register (OV index 0x1001, subindex
0x00) and the predefined error field (OV index 0x1003, subindex 0x01-0x02) (→
8.6 Error messages).
9.5 Read data from the tag via SDO transfer
To read data from a tag via SDO transfer it is necessary to define the data address
and length on the tag. The address must be indicated in object 0x2280 and the
data length in object 0x2281.
Then read access can be started from the tag via a data transfer to object 0x2282.
9.5.1 Example
The data range 0x50 to 0x70 is to be read from the tag.
Object directory
Index
Subindex
Name (object)
Value
0x2280
0x00
Address read start point
(start of the address range on the tag that is to be read)
0x50
0x2281
0x00
Read length
(length of the memory range on the tag that is to be read;
max. 8 bytes)
0x20
Transfer is started via reading the object 0x2282, subindex 0x00.
The data is transferred in one piece as domain data type. Up to a data
length of 4 bytes transfer is effected as expedited transfer; longer data
lengths as segmented transfer.
30
Read/write head with CANopen interface
The recipient must be prepared for temporary storage and processing of the
data.
9.6 Write data to the tag via SDO transfer
To write data to a tag via SDO transfer it is necessary to define the data address
and length on the tag.
The address must be indicated in object 0x2380 and the data length in object
0x2381. Then the write access to the tag can be started via a data transfer to
object 0x2382.
UK
9.6.1 Example
The data range 0x34 to 0x37 is to be transferred to the tag.
Object directory
Index
Subindex
Name (object)
Value
0x2380
0x00
Address write start point
(start of the address range on the tag that is to be written)
0x34
0x2381
0x00
Write length
(length of the memory range on the tag that is to be written)
0x03
0x2382
0x00
Tag data
(data that is to be written to the tag)
0x010203
The data is transferred in one piece as domain data type. Up to a data
length of 4 bytes transfer is effected as expedited transfer; longer data
lengths as segmented transfer.
The transmitter must be able to provide the indicated data length.
9.7 Lock data ranges on the tag via SDO transfer
The data ranges of the tag can be write-protected.
The write protection of a data range cannot be removed.
The start address of the data range to be protected is stored in the object "Starting
address lock" (OV index 0x2480). In addition the data range length is stored in the
object "Length lock" (OV index 0x2481).
The start address must be identical with the start address of a storage block
on the tag. The length must be a multiple of the length of a storage block on
the tag.
To activate the write protection 1 is written on the trigger (OV index 0x2482).
31
Read/write head with CANopen interface
9.7.1 Example
The data range 0x04 to 0x0C is to be write-protected for a tag of block size 4 (2
blocks or 8 bytes).
Object directory
Index
Subindex
Name (object)
Value
0x2480
0x00
Address lock start point
(start of the address range on the tag that is to be locked)
0x04
0x2481
0x00
Write length
(length of the memory range on the tag that is to be locked)
0x08
0x2482
0x00
Tag lock trigger
0x01
9.8 Error handling for SDO transfer
SDO transfers are acknowledged transfers. If there is an error during transfer or
during actions caused by the transfer, an error is signalled after the SDO transfer.
SDO error
code
Description
0x05030000
Toggle bit unchanged.
0x05040000
SDO protocol elapsed.
0x05040001
Client/server command specifier not valid or unknown.
0x05040002
Invalid block size (block mode only).
0x05040003
Invalid sequence number (block mode only).
0x05040004
CRC error (block mode only).
0x05040005
Out of memory.
0x06010000
Access to the object is not supported.
0x06010001
Attempt to read a write only object.
0x06010002
Attempt to write a read only object.
0x06020000
Object does not exist in the object dictionary.
0x06040041
Object cannot be mapped to the PDO.
0x06040042
The number and length of the objects to be mapped would exceed
the PDO length.
0x06040043
Reason: general parameter incompatibility.
0x06040047
General parameter incompatibility in the device.
0x06060000
Access failed due to a hardware error.
0x06070010
Data type does not match, length of the service parameter does not
match.
0x06070012
Data type does not match; service parameter too long.
0x06070013
Data type does not match; service parameter too short.
0x06090011
Subindex does not exist.
0x06090030
Invalid value for parameter (download only).
32
Possible cause
Read/write head with CANopen interface
SDO error
code
Description
0x06090031
Value of the written parameter is too high (download only).
0x06090032
Value of the written parameter is too low (download only).
0x06090036
Maximum value is lower than minimum value.
0x060A0023
Resource not available: SDO connection.
0x08000000
General error
0x08000020
Data cannot be transferred to the application or be stored.
0x08000021
Data cannot be transferred to the application or be stored due to a
local controller.
0x08000022
Data cannot be transferred to the application or be stored due to the
current device status.
0x08000023
The dynamic generation of the object dictionary fails or no object
dictionary is present (e.g. object dictionary is generated from a file
and the generation fails because of a file error).
0x08000024
No data available
Possible cause
Error read or write
access of the
ID tag. Detailed
Information in the
device status object
(0x2150).
Data length = 0
33
UK
Read/write head with CANopen interface
10 EDS data
The EDS file serves as a template for different configurations of a device type.
The EDS file is turned into a DCF file which contains device configurations, object
values, node ID and bit rate.
CANopen configuration tools are available for the configuration of the CANopen
network and the devices.
An EDS file can be downloaded from ifm's homepage:
www.ifm.com
→ Service → Download → Identification systems
Contents of the EDS file:
●● Communication functions and objects (to CANopen profile DS-301)
●● Manufacturer-specific objects
The installation of the EDS file depends on the configuration tool. Please
contact the manufacturer of your controller, if necessary.
11 Maintenance, repair and disposal
►► Do not open the housing as the device does not contain any components
which can be maintained by the user. The device must only be repaired by the
manufacturer.
►► Dispose of the device in accordance with the national environmental
regulations.
12 Glossary
Term
Description
0b …
Binary value (for bit coding), e.g. 0b0001 0000
0x …
Hexadecimal value, e.g. 0x64 (= 100 decimal)
AFIAFI
Indication of the application range of the tag
CAN
Controller Area Network (bus system for the use in mobile vehicles)
CAN_H
CAN high; CAN connection / CAN cable with a high voltage level
CAN_L
CAN low; CAN connection / CAN cable with a low voltage level
CANopen
CAN-based network protocol on the application level with an open configuration interface
(object directory)
CiA
CAN in Automation e.V. (user and manufacturer organisation in Germany/Erlangen,
definition and control body for CAN and CAN-based network protocols)
COB
CANopen communication object: PDO, SDO, EMCY, ...
COB ID
Communication object identification number for assignment of the data packages in the
CANopen network
DSFID
Identification number for the assignment of the data structure on the tag
34
Read/write head with CANopen interface
Term
Description
EDS
Electronic data sheet
EMCY object
Emergency object (alarm message; device indicates an error)
Emergency
messages
Messages on the CANopen bus to communicate errors
Error reg
Error register (entry with an error code)
Heartbeat
Configurable cyclic monitoring among network participants. In contrast to "node guarding"
no superior NMT master is required.
ID
Identifier characterising a CAN message. The numerical value of the ID also contains a
priority concerning the bus access (ID 0 = highest priority)
Identifier
See ID
ID tag
RFID tag
LSS
Procedure to set basic device settings
NMT
Network management
NODE ID
Unambiguous number of a participant in the CANopen network
Object / OBJ
Term for data/messages which can be exchanged in the CANopen network
OV
Object directory
PDO
Process Data Object; in the CANopen network for transfer of process data in real time
such as the speed of a motor. PDOs have a higher priority than SDOs; in contrast to the
SDOs they are transferred without confirmation. PDOs consist of a CAN message with
identifier and up to 8 bytes of user data.
PDO mapping
Describes the application data transferred with a PDO.
ro
Unidirectional; read only
RPDO
Process data object, received by the device
RSSI
Signal strength
rw
bidirectional; read-write
SDO
With this object direct access to the object directory of a network participant is possible
(read/write). An SDO can consist of several CAN messages. The transfer of the individual
messages is confirmed by the addressed participant. With the SDOs, devices can be
configured and parameters can be set.
SYNC
The SYNC telegram initiates the synchronised transmission of process data.
TPDO
Process data object, sent by the device
UID
Unique identification number of a tag
wo
Unidirectional, write only
UK
35
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