Operating Instructions (Software)

8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
Operating Instructions (Software)
English
Trafag AG
Industriestrasse 11
CH-8608 Bubikon
Tel +41 44 922 32 32
Fax +41 44 922 32 33
www.trafag.com
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
Index
Overview3
Connector6
Operational principle of measured value processing7
Principle of PDO-Communication (TX)
8
PDO‘s (Process Data Objects)
9
SDO-Communication-Object-Dictionary12
Error Messages
18
NMT (Network Management, LSS & Errorhandling)
19
CANopen-communication Examples
22
2
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
Overview
Manual
This document contains device specific information as well as additional information regarding its
CANopen functionality.
Basic device features correspond to CANopen standards DS-301 V4.02 and DS-404 V1.2 (www.
can-cia.org).
Description of instrument
The CMP (CANOpen miniature Pressure Transmitter) is a precision pressure transducer with CANopeninterface according to CiA (CAN in Automation)-specifications DS-301/DS-404. The physical CANinterface corresponds to DIN specification ISO 11898.
By means of a thin film-on-steel sensor pressure is measured with a resolution of 20Bit/s (∆∑-converter), temperature with a resolution of 13 bit. Every 1 ms the pressure value is sampled, mathematically
linearized and temperature compensated. Two variable „Moving-Average-Filters“, one for pressure
(1ms...65s) and one for temperature (0.1s…1.82h) ensure an optimum measurement filtration. The
mappable measuring field values (see „Mapping Mode“) are available for all data types (Float, Integer32/24/16) and for all mostly required measuring units (bar, Pa, psi, mmHg, atm, at, °C, °F, K).
The node supports all CiA baudrates from 10kbit/s…1Mbit/s and format CAN 2.0 A/B. The CCP is
equipped with 4 PDO‘s which can be transmitted every 1ms. All Transmission Types defined in DS-301
can be used. In addition to features such as Permanent-Self-Test, Auto-Zero-Function, Auto-Start, etc. 4
switching thresholds with 8 configurable CAN-Messages are available. Communication and application parameters can be stored separately and can be reset to the initial factory configuration.
CANopen
CANopen is an open communication profile based on CAN (Controller Area Network), a bussystem
developed several years ago by the company R. Bosch for data transfer in motor vehicles. CAN is
internationally standardized in ISO 11898.
CANopen is a widely used CAN application layer, developed by the CiA which has meanwhile been
adopted for international standardization. CANopen consists of the protocol definitions (communication profile) and of the device profiles that standardize the data contents for the various device
classes. CANopen defines a number of transmission types for the input and output data (process data
objects):
– Timer driven:
Telegrams are sent if a specified time period has elapsed.
– Event driven:
Telegrams are sent as soon as their contents have changed (by the occurrence of an object specific event).
– Cyclic synchronous: A SYNC telegram causes the devices to measure or/and to send actual mea-
suring data.
– Requested:
A CAN data request telegram causes the device to send its measuring data.
The Trafag CANOpen miniature Pressure Transmitter CMP is parameterized by means of acyclic services (service data objects).
9 transmission rates from 10kbit/s to 1Mbit/s are available for different bus lengths. The effective
utilisation of the bus bandwidth allows CANopen to achieve short system reaction times at relatively
low data rates.
A CAN-Bus system according to the ISO-OSI model shows that CAN only defines the two lower layers
(the physical and the data link layer) and Can Open defines the seventh layer (application layer).
3
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
CANopen Communication- and Device Profiles were published as Profiles DS-301and DS-40x by the
international CAN-organization CAN in Automation e.V. The Profile DS-301 defines the „HOW“ of
communication, while the „WHAT“ (meaning of data) is defined by the requirements of the individual
devices. Measuring and control units are based on device profile DS-404 (Measuring Devices and
Closed-Loop Controllers).
Device Profile
A
Device Profile
B
Device Profile
DS-40x
OSI Layer 7:
CANopen Communication Profile
Application Layer
OSI Layer 2:
CAN Data Link Layer
OSI Layer 1:
CAN Physical Layer
Device Profile
Bus-Line
The CANopen pressure sensor from Trafag has been certified by the CiA (CAN in Automation). The
sensor has a comprehensive implementation of the CANopen protocol.
With the active membership of the CiA (CAN in Automation), Trafag contributes to the further development of this bus system.
Object Dictionary, PDO and SDO
The CANopen communication profile is based on an object dictionary. The communication profile
DS-301 defines two types of data objects as well as a number of special objects. The process data objects (PDO) serve the transmission of real time data and the service data objects (SDO) allow access to
the object dictionary. The object dictionary contains all settings (parameters) of the unit. The parameters
are read, respectively written by a multiplexor (address). The multiplexor consists of a 16-bit index and
a 8 bit subindex that addresses the relevant data in the object dictionary. Special objects (DS-301) are
required for synchronization (SYNC), Emergency (EMCY), as well as Nodeguarding, Heartbeat and
Network Management (NMT).
Object Dictionary
4
Service Data Objects
(Parameterizing)
Communication Profile
Process Data Objects
(Measure values)
Device Profile
Measuring data
acquisition and
conditioning
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
Topology
CAN is based on a busline topology. CANopen logically limits the number of devices per net to 127,
physically, the present driver generation permits 110 nodes in one net segment. The maximum net
expansion is limited by the propagation delay of the bus medium. 1Mbit/s e.g. corresponds to a net
expansion of 25m, while at 10kbit/s a net expansion of 5000m is possible.
CAN_H
120 Ohm
120 Ohm
CAN_L
CMP
CANopen Master
CANopen miniature Pressure
Transmitter
CANopen Display
CANopen Controll-Unit
Bus access procedure
CAN operates on the basis of the Carrier-Sense-Multiple Access with Collision Avoidance (CSMA/CA)
method. i.e. with regard to bus access each user is equal to the other and can access the bus as soon
as the bus is free (Multi-Master-Bus Access). The exchange of information is not member related but
message related. Each message is uniquely defined by a priority identifier. In order to avoid a collision
(crash) when several users are transferring data simultaneously, a bit by bit bus arbitration is made
over the identifier when starting data transfer. The message with the highest priority, i.e. having the
lowest identifier, will be transferred first while all other messages will be transferred in accordance to
their priority rating.
Configuration and parameter definition
Manufacturers of CANopen Masters supply software configuration tools for the parameter definition
and configuration of the CANopen network. These tools access the object dictionary via SDO. The
configuration tools receive parameter information of the device through an EDS-file (electronic data
sheet) which basically contains the object dictionary listings.
For further information please contact Trafag AG (www.trafag.com).
5
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
Connector
1
(CAN_SHLD)
Shield / Housing
2
+24 VDC
Positiv supply / 8...32V
3
GND
Ground / 0V
4
CAN_H
CAN_H bus line (dominant high)
5
CAN_L
CAN_L bus line (dominant low)
Male
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LEGEND:
U/T
SensorTemperature
U/P
Pressure
Meas
Capt.
Event
Freq.
Object dictionary entry
A
m
p
Internal Value
T_TauMovAvg
T_ADC_Capture
Freq.
Moving-Average
A
m
p
Moving-Average
Measured Value
TS_Tick
(0...12'500)
<< 1
@100ms
ASIC
1ms/0.1s
Meas
Capt.
P_TauMovAvg
P_ADC_Capture
Measure Cylce
P_Tick
(0...2'000) <<
3
@1ms
ASIC
O
U
T
IN
T_Mov
Avg
O
U
T
IN
IN
O
U
T
IN
Temp. Coefficient
Calculation
O
U
T
Lookup-Table
Linearisation
Input Scaling & Calibration
P_Mov
Avg
Input Scaling &
Temp. Comp.
T_ZeroOffset
T_Normalized
P_ZeroOffset
T_Normalized
(100% = 2000H)
0% = -40°c
100% = 125°c
P_Normalized
P_Normalized
(100% = 2000H)
0% = Range Start
100% = Range End
OUT
OUT
T_Hysteresis
T_LowerLimit
T_UpperLimit
T_Delta
+
P_T_LimitState
</>
T_Normalized_
LastDelta
Delta and Limit-Event
T_DecimalPointDigits
IN
Unit-Conversion
T_Unit (+Prefix)
P_Hysteresis
P_LowerLimit
P_UpperLimit
P_Delta
+
P_T_LimitState
</>
P_Normalized_
LastDelta
Delta and Limit-Event
P_DecimalPointDigits
P_Unit (+Prefix)
IN
Unit-Conversion
FLOAT 32
to
INTEGER 16
FLOAT 32
to
INTEGER 16
T_LimitEventType
T_LowerLimitEvent
T_UpperLimitEvent
T_DeltaEvent
T_Status
T_Int32
T_Int24
T_Int16
T_Float
P_LimitEventType
P_LowerLimitEvent
P_UpperLimitEvent
P_DeltaEvent
P_Status
P_Int32
P_Int24
P_Int16
P_Float
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
Operational principle of measured value processing
7
8
T_LimitEventType
P_LimitEventType
Bit 6
-
Bit 7
-
PDO1...4
EventTimer
TX
Bit 4
P_DeltaEvent
Bit 5
T_DeltaEvent
T_UpperLimitEvent
Bit 3
Note: PDO's may be delayed by SDO’s
PDO 3
TX
T_LowerLimitEvent
Bit 2
COB-ID = (380H
+ Node-ID)
PDO 2
COB-ID = (280H
+ Node-ID)
TX
PDO 1
COB-ID = (180H
+ Node-ID)
TX
PDO 4
P_UpperLimitEvent
Bit 1
COB-ID = (480H
+ Node-ID)
Bit 0
WaitTimer
COB-ID = (80H)
RX
Spec.Msg
_Us0..64_T
Spec.Msg
Us0..64_P
PDO-Mapping
Table
PDO1...4
MappingMode
NMT Sync
EventTimer
Count1...4
PDO1-..4
SyncCount
P_LowerLimitEvent
PDO1...4
EventMask
Transmission
Update
Send
Transmission
Send
Update
Type
PDO
PDO
Update
Send
Transmission
Type
PDO
Update
Transmission PDO
Send
PDO
PDO
Sync & P/T_Event
0 Type every 1ms
PDO
PDO
0 Type every 1ms
Sync & P/T_Event
1-240 0
every 1ms
every 1ms
Sync & P/T_Event
Sync(1-240)
1-240 0
every 1ms
Sync(1-240)
Sync & P/T_Event
every 1ms
Sync
252 1-240
every 1ms
RTR Sync(1-240)
only
Sync
252 1-240
every 1ms
RTR Sync(1-240)
only
253 252
every 1ms
Sync
RTR only
RTR only
253 252
every 1ms
Sync
RTR only
RTR only
254 253
every 1ms
every 1ms
P/T_Event
RTR only
254 253
every 1ms
every 1ms
P/T_Event
RTR only
255 254
every 1ms
every 1ms
TimerEvent
P/T_Event
only
every 1ms
255 254
every 1ms
TimerEvent
P/T_Event
only
255
every 1ms
TimerEvent only
255
TimerEvent only
every 1ms
PDO1..4-Send-Procedure
PDO1...4
TransmissionType
PDO1..4_EventMask-Bit-Alocation:
1ms
Task Cylce
T_SpezMsg_LowerLimitDown
T_SpezMsg_LowerLimitUp
T_SpezMsg_UpperLimitDown
T_SpezMsg_UpperLimitUp
P_SpezMsg_LowerLimitDown
P_SpezMsg_LowerLimitUp
P_SpezMsg_UpperLimitDown
P_SpezMsg_UpperLimitUp
01H = measuring value not valid
02H = positiv overload
04H = negativ overload
T_Status
P_Status
T_Int32
T_Int24
T_Int16
T_Float
P_Int32
P_Int24
P_Int16
P_Float
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
Principle of PDO-Communication (TX)
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
PDOs (Process Data Objects)
Transmission Type
The „Transmission Type“ determines when a measuring value (PDO) is transmitted. „Transmission Type
254“ is device specific and described here (all other „Transmission Types“ are defined in communication profile DS-301):
„Transmission Type 254“ transmits the corresponding PDO after a pressure or temperature event. An
event is generated when pressure or temperature changes more than the preset delta-value or passes
one of the two switching thresholds.
Which event results in the transmission of the PDO is defined by the „Event Mask“.
If the „Event Timer“ is used for cyclic transmission, a transmission only takes place in case the actual
measured value passes above the upper threshold or below the lower threshold.
The adjustable hystereses of the two thresholds always reside below the upper threshold and above
the lower threshold.
Event Mask
For the „Transmission Types 0 and 254“, the „Event Mask“ determines, which event triggers the transmission of PDO‘s. For both, pressure and temperature, the possibility exists to trigger an event by
means of a preset Deltavalue or two switching thresholds (limits). The event is activated in the Parameter
„Event Type“ by a „1“ in the corresponding bit.
Important: When changing the „Mapping Mode“, the „Event Type“ automatically is set to a standard
value. Thereby only the „Delta Event“ events are enabled, and only those where a corresponding
measuring value is mapped (see „Standard Value“ in PDO-Mapping-Table).
Delta- und Limit-Event-Triggering & Transmission Type 254
UpperLimitEvent
(LimitEventType = UpperLimitUp)
UpperLimitEvent
(LimitEventType = UpperLimitDown)
Upper-Limit-Threshold
Pressure /
Temperature
Lower-Limit-Threshold
= no event !
Hysteresis
Time
LowerLimitEvent
(LimitEventType = LowerLimitUp)
DeltaEvent
LowerLimitEvent
(LimitEventType = LowerLimitDown)
9
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
Mapping Mode
The Mapping Mode determines what is transmitted by a PDO. The Mapping Mode for the CMP cannot be set dynamically as defined in the communication profile DS-301. It has to be set by means
of a Predefined Mapping Table. However, the Mapping settings can be read out on the basis of the
DS-301. The PDO-Mapping-Table lists all possible mappable message configurations for PDO‘s. Mapping Modes 27…36 are special in that they assign the PDO‘s free definable on event dynamic
CAN messages. Mapping Mode 37 comprised an additional 8bit value, which is incremented every ms.
4 CAN messages for pressure and 4 CAN messages for temperature can be defined.
The CAN messages are assigned by the events of the 2 pressure, resp. 2 temperature thresholds as
follows:
 Pressure passed below or above the lower pressure threshold
 Pressure passed below or above the upper pressure threshold
 Temperature passed below or above the lower temperature threshold
 Temperature passed below or above the upper temperature threshold
Should such an event occur, the corresponding CAN message is transmitted. The contents of the CANmessages are therefore dynamic by events.
Each of these CAN-messages is freely defined with 8 data bytes (see object dictionary). The Mapping
Type entry determines the length of the CAN-message, i.e. how many of these bytes are transmitted.
As defined in the Mapping Table, 0 (no data) 8, 16, 32 or 64 bites can be selected.
Mapping Modes 27…31 assign the PDO the special messages for pressure, Mapping Modes 31…36
assign the PDO the special messages for temperature.
PDO Mapping Mode 27...36
P/T_Event
P_LowerLimitEvent
P_UpperLimitEvent
T_LowerLimitEvent
T_UpperLimitEvent
P_DeltaEvent
T_DeltaEvent
P/T_LimitEventType
Sended object when
"Spec.Msg_xxx_P" is mapped
LowerLimitUp
LowerLimitDown *
UpperLimitUp *
UpperLimitDown
LowerLimitUp
LowerLimitDown *
UpperLimitUp *
UpperLimitDown
(actual LimitEventType)
(actual LimitEventType)
P/T_SpezMsg_LowerLimitUp
P/T_SpezMsg_LowerLimitDown
P/T_SpezMsg_UpperLimitUp
P/T_SpezMsg_UpperLimitDown
P/T_SpezMsg_LowerLimitUp
P/T_SpezMsg_LowerLimitDown
P/T_SpezMsg_UpperLimitUp
P/T_SpezMsg_UpperLimitDown
(actual Special-Message-Object)
(actual Special-Message-Object)
* Only this events can be periodically generated by the Timer Event !
10
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
PDO-Mapping-Table
Prepared variable mapping
Event Mask
PDO
MappingMode
Entry 1
Entry 2
Entry 3
Entry 4
Size [Bytes]
1
P_Int32
P_Status
-
-
5
00010000
2
P_Int24
P_Status
-
-
4
00010000
3
P_Int16
P_Status
-
-
3
00010000
4
P_Float
P_Status
-
-
5
00010000
5
P_Int32
-
-
-
4
00010000
6
P_Int24
-
-
-
3
00010000
7
P_Int16
-
-
-
2
00010000
8
P_Float
-
-
-
4
00010000
9
T_Int32
T_Status
-
-
5
00100000
10
T_Int24
T_Status
-
-
4
00100000
11
T_Int16
T_Status
-
-
3
00100000
12
T_Float
T_Status
-
-
5
00100000
13
T_Int32
-
-
-
4
00100000
14
T_Int24
-
-
-
3
00100000
15
T_Int16
-
-
-
2
00100000
16
T_Float
-
-
-
4
00100000
17
P_Int32
T_Int32
-
-
8
00110000
18
P_Int24
T_Int24
-
-
6
00110000
19
P_Int16
T_Int16
-
-
4
00110000
20
P_Float
T_Float
-
-
8
00110000
21
P_Int24
T_Int24
P_Status
T_Status
8
00110000
22
P_Int16
T_Int16
P_Status
T_Status
6
00110000
23
P_Int24
P_Status
T_Int24
T_Status
8
00110000
24
P_Int16
P_Status
T_Int16
T_Status
6
00110000
25
P_Float
P_Status
T_Int16
T_Status
8
00110000
26
P_Int32
P_Status
T_Int16
T_Status
8
00110000
27
Spec.Msg_NIL_P
-
-
-
0
00000011
28
Spec.Msg_Us8_P
-
-
-
1
00000011
29
Spec.Msg_Us16_P
-
-
-
2
00000011
30
Spec.Msg_Us32_P
-
-
-
4
00000011
31
Spec.Msg_Us64_P
-
-
-
8
00000011
32
Spec.Msg_NIL_T
-
-
-
0
00001100
33
Spec.Msg_Us8_T
-
-
-
1
00001100
34
Spec.Msg_Us16_T
-
-
-
2
00001100
35
Spec.Msg_Us32_T
-
-
-
4
00001100
36
Spec.Msg_Us64_T
-
-
-
8
00001100
37
P_Int16
WaitTimer
Spec.Msg_Us8_P
-
4
00010011
(standard value)
PDO1...4 EventMask-Bit-Alocation:
Bit 7
Bit 6
-
-
Bit 5
T_DeltaEvent
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
P_DeltaEvent
T_UpperLimitEvent
T_LowerLimitEvent
P_UpperLimitEvent
P_LowerLimitEvent
11
12
Description
1800H
1200H
1018H
1014H
1017H
1011H
1010H
Guard Time
Life Time Factor
Store Parameters
0H
largest subindex supported [3]
save all parameters
1H
save communication param.
2H
save application parameters
3H
Restore default Parameters
0H
largest subindex supported [3]
1H
restore all default parameters
2H
restore communication par.
3H
restore application par.
COB-ID EMCY
Producer Heartbeat Time
Identity Object ( Identity [23] )
0H
number of entries [4]
1H
Vendor ID
2H
Product Code
3H
Revision Number
Serial Number
4H
Server SDO1 Parameter ( SDO Parameter [22] )
0H
largest sub-index supp. [2]
1H
COB-ID Client -> Server (rx)
COB-ID Server -> Client (tx)
2H
Transmit PDO1 Parameter ( PDO CommPar [20] )
0H
largest sub-index supp. [5]
1H
COB-ID used by PDO
2H
transmission type
event timer
5H
Manufacturer Software Version
100AH
100CH
100DH
Manufacturer Device Name
Manufacturer Hardware Version
1009H
Device Type
Error Register
Manufacturer Status Register (Calib. Date)
Pre-defined Error Field
0H
number of errors [0..1]
1H
standard error field
COB-ID SYNC
ro
rw
rw
rw
UNSIGNED8
UNSIGNED32
UNSIGNED8
UNSIGNED16
0000'0180h + Node_ID (on)
255 d (timer event)
1000 d (1000ms)
600h + Node_ID
580h + Node_ID
ro
ro
ro
UNSIGNED8
UNSIGNED32
UNSIGNED32
PDO1_ID ( PDO = on/off )
PDO1_TransmissionType
PDO1_EventTimer
( PCS_rxSDO_ID + Node_ID )
( PCS_txSDO_ID + Node_ID )
VendorID
ProductCode ["8270.21.10"]
RevisionNumber
SerialNumber
0000'003D h
8270'0000 h
0001'0002 h
00000000 d
ro
ro
ro
ro
ro
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
(Restore all Parameter) ["daol"] [64 61 6F 6C]
(Restore com. param. from EEProm) ["daol"]
(Restore appl. param. from EEProm) ["daol"]
EMCY_ID
HeartbeatTime
GuardTime
LifeTimeFactor
ManufacturerSoftwareVersion
ManufacturerHardwareVersion
ManufacturerDeviceName
( Generated by NodeErrorCode )
LastNodeErrorCode + ( NodeSubErrorCode )
SYNC_ID
80 h + Node_ID (on)
0000 h
ro
rw
rw
rw
rw
rw
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED16
Annotation
( DS 404 V1.2 )
ErrorRegister
ManufacturerStatusRegister
(Save all Parameter) ["evas"] [65 76 61 73]
(Save com. param. to EEProm) ["evas"]
(Save appl. param. to EEProm) ["evas"]
ro
rw
rw
rw
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
0000 h (off)
00 h
"CMP V1.2 " __DATE__ " : " __TIME__
"8270.xx.xxxx.xx.xx.xx.xxxx.xxxx "
"CMP Pressuresensor Trafag AG"
00000000 h
80 h
00020194 h
00 h
e.g. 20070712 (12. July 2007)
Initial Value
-
rw
rw
const
const
const
rw
ro
rw
ro
ro
ro
Acc.
UNSIGNED16
UNSIGNED8
VISIBLE_STRING32
VISIBLE_STRING32
VISIBLE_STRING32
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED8
UNSIGNED32
Index Type
CAN-Open DS 301 V4.02 / *) DSP 302-2 V4.0
1008H
1005H
1003H
1000H
1001H
1002H
Index
Sub
Ind.
Communication Profile Area
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
SDO-Communication-Object-Dictionary
Sub
Ind.
Description
(R: 40H)
(W: 22H)
Index
1
LSB
0
SDO
Command
2
3
Sub
Index
LSB
4
NMTStartup *)
5
Data
6
7
Transmit PDO2 Parameter ( PDO CommPar [20] )
0H
largest sub-index supp. [5]
COB-ID used by PDO
1H
transmission type
2H
5H
event timer
Transmit PDO3 Parameter ( PDO CommPar [20] )
0H
largest sub-index supp. [5]
1H
COB-ID used by PDO
2H
transmission type
5H
event timer
Transmit PDO4 Parameter ( PDO CommPar [20] )
0H
largest sub-index supp. [5]
1H
COB-ID used by PDO
2H
transmission type
5H
event timer
Transmit PDO1 mapping ( PDO Mapping [21] )
0H
numb. of mapped object [1..4]
1H
PDO mapping for the 1-th obj.
2H
PDO mapping for the 2-th obj.
3H
PDO mapping for the 3-th obj.
4H
PDO mapping for the 4-th obj.
Transmit PDO2 mapping ( PDO Mapping [21] )
0H
numb. of mapped object [1..4]
1H
PDO mapping for the 1-th obj.
2H
PDO mapping for the 2-th obj.
PDO mapping for the 3-th obj.
3H
PDO mapping for the 4-th obj.
4H
Transmit PDO3 mapping ( PDO Mapping [21] )
0H
numb. of mapped object [1..4]
1H
PDO mapping for the 1-th obj.
2H
PDO mapping for the 2-th obj.
3H
PDO mapping for the 3-th obj.
4H
PDO mapping for the 4-th obj.
Transmit PDO4 mapping ( PDO Mapping [21] )
numb. of mapped object [1..4]
0H
1H
PDO mapping for the 1-th obj.
PDO mapping for the 2-th obj.
2H
3H
PDO mapping for the 3-th obj.
PDO mapping for the 4-th obj.
4H
Initiate SDO UP/Download Data:
1F80H
1A03H
1A02H
1A01H
1A00H
1803H
1802H
1801H
Index
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
rw
91300120 h
91500108 h
-
rw
rw
rw
rw
rw
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
8000'0480h + Node_ID (off)
255 d (timer event)
0 d (EventTimer4 off)
ro
rw
rw
rw
UNSIGNED8
UNSIGNED32
UNSIGNED8
UNSIGNED16
TX
COB-ID = 580H+Node-ID
SDO
RX
Normal Start:
0C h
Autostart without NMT Msg. sending:
08 h
Autostart with NMT Start Msg. sending (after 250ms): 02 h
(see also Index 2200 h)
PDO4_MappingMode
-
PDO3_MappingMode
-
PDO2_MappingMode
-
PDO1_MappingMode
-
PDO4_ID ( PDO = on/off )
PDO4_TransmissionType
PDO4_EventTimer
PDO3_ID ( PDO = on/off )
PDO3_TransmissionType
PDO3_EventTimer
PDO2_ID ( PDO = on/off )
PDO2_TransmissionType
PDO2_EventTimer
Annotation
SDO
COB-ID = 600H+Node-ID
0000'000C h
91300120 h
91500108 h
-
91300120 h
91500108 h
-
91300120 h
91500108 h
-
8000'0380h + Node_ID (off)
255 d (timer event)
0 d (EventTimer3 off)
ro
rw
rw
rw
UNSIGNED8
UNSIGNED32
UNSIGNED8
UNSIGNED16
8000'0280h + Node_ID (off)
255 d (timer event)
0 d (EventTimer2 off)
Initial Value
ro
rw
rw
rw
Acc.
UNSIGNED8
UNSIGNED32
UNSIGNED8
UNSIGNED16
Index Type
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
13
14
6/7/8/
9133H
6132H
6131H
6/7/8/
9130H
6127H
6126H
6125H
6/7/8/
9149H
6/7/8/
9148H
6110H
7100H
Index
Description
AI_Autozero_2
2H
[T]
[P]
Al_Input_Proc._Val._2
2H
[T]
[P]
Al_Physical_Unit_Process_Value
0H
Number_of_entries [ 2 ]
1H
AI_Physic_Unit_Pro..._1 [ P ]
2H
AI_Physic_Unit_Pro..._2 [ T ]
Al_Decimal_Digits_Process_Value
0H
Number_of_entries [ 2 ]
1H
Al_Dec._Digits_Pro..._1 [ P ]
Al_Dec._Digits_Pro..._2 [ T ]
2H
Al_Interrupt_Delta_Input_Process_Value
0H
Number_of_entries [ 2 ]
1H
Al_Input_Delta_Net..._1 [ P ]
2H
Al_Input_Delta_Net..._2 [ T ]
Al_Input_Proc._Val._1
1H
AI_Scaling Factor
0H
Number_of_entries [ 2 ]
1H
AI_ScalingFactor_1 [ P ]
AI_ScalingFactor_2 [ T ]
2H
AI_Scaling Offset
Number_of_entries [ 2 ]
0H
1H
AI_ScalingOffset_1 [ P ]
2H
AI_ScalingOffset_2 [ T ]
Al_Input_Process_Value
0H
Number_of_entries [ 2 ]
AI_Autozero_1
1H
AI_Input_Field_Value
Number_of_entries [ 2 ]
0H
AI_Input_Field_Value_1 [ P ]
1H
2H
AI_Input_Field_Value_2 [ T ]
AI_Sensor_Type
0H
Number_of_entries [ 2 ]
1H
AI_Sensor_Type_1 [ P ]
2H
AI_Sensor_Type_2 [ T ]
AI_Sensor_Range_Start
Number_of_entries [ 2 ]
0H
1H
AI_Sen._Range_Start_1 [ P ]
2H
AI_Sen._Range_Start_2 [ T ]
AI_Sensor_Range_End
0H
Number_of_entries [ 2 ]
1H
AI_Sen._Range_End_1 [ P ]
2H
AI_Sen._Range_End_2 [ T ]
AI_Autozero
0H
Number_of_entries [ 2 ]
Sub
Ind.
Standardised Device Profile Area
ro
rw
rw
ro
rw
rw
ro
rw
rw
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
Float / Integer16/24/ 32
Float / Integer16/24/ 32
ro
Float / Integer16/24/ 32
ro
UNSIGNED8
ro
ro
rw
rw
UNSIGNED8
Float
Float
Float / Integer16/24/ 32
ro
rw
rw
UNSIGNED8
Float
Float
wo
ro
UNSIGNED8
UNSIGNED32
ro
ro
ro
UNSIGNED8
Float
Float
/ Integer16/24/
/Interger32 32
Float
Float
/ Integer16/24/
/Interger32 32
wo
ro
ro
ro
UNSIGNED8
Float
Float
/ Integer16/24/
/Interger32 32
Float
/ Integer16/24/
Float
/Interger32 32
UNSIGNED32
90 d
100 d
ro
ro
ro
UNSIGNED8
Float
UNSIGNED16
/Interger32
Float
UNSIGNED16
/Interger32
(bar)
(°C)
Temperature no Delta (0 C°)
Pressure no Delta (0E5 pa)
-
Press. Decimalpoint Digits (3)
Temp. Decimalpoint Digits (1)
004E0000 h
002D0000 h
( Measured )
( Measured )
( Measured )
( Measured )
-
-
-
-
-
Temperature Range End (125)[c°]
Pressure Range End (100E5)[pa]
-
Temperature Range Start (-40)[c°]
Pressure Range Start (0)[pa]
-
( Measured )
( Measured )
Initial Value
ro
ro
ro
Acc.
UNSIGNED8
INTEGER16
Float
/Interger32
INTEGER16
Float
/Interger32
Index Type
CAN-Open DS 404 V1.2
P_Delta
T_Delta
P_DecimalPointDigits
T_DecimalPointDigits
P_Unit
T_Unit
P_Float
P_INT16/24/32
T_Float
T_INT16/24/32
P_ConversionOffset
T_ConversionOffset
P_ConversionFactor
T_ConversionFactor
( Done by Subroutine when ["orez"] )
[ 6F 62 65 7A ]
( Done by Subroutine when ["orez"] )
[ 6F 62 65 7A ]
-
P_SensorRangeEnd
T_SensorRangeEnd
P_SensorRangeStart
T_SensorRangeStart
P_SensorType
T_SensorType
P_Normalized (0000h = 0%, 2000h = 100%)
T_Normalized (0000h = -40°C, 2000h = 125°C)
Annotation
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
Sub
Ind.
Description
micro = FA
milli = FD
centi = FE
deci = FF
MSB
Prefix
(e.g. 03h = „k“)
ro
rw
rw
ro
rw
rw
ro
ro
ro
ro
ro
ro
ro
rw
rw
UNSIGNED8
Float / Integer16/24/ 32
Float / Integer16/24/ 32
UNSIGNED8
Float / Integer16/24/ 32
Float / Integer16/24/ 32
UNSIGNED8
Float
UNSIGNED8
/Interger32
Float
UNSIGNED8
/Interger32
UNSIGNED8
Float
UNSIGNED8
/Interger32
Float
UNSIGNED8
/Interger32
UNSIGNED8
Float
UNSIGNED16
/Interger32
Float
UNSIGNED16
/Interger32
°F = AC
Kelvin = 05
Pa = 22
at = A1
mWg = A2
mHG = A3
atm = A4
PSI = AB
Reserved
(00h)
LSB
SI_none = 00
°C = 2D
Bar = 4E
Physical Units supported
ro
rw
rw
Acc.
UNSIGNED8
Float / Integer16/24/ 32
Float / Integer16/24/ 32
Index Type
SI-Denumerator
(00h)
P/T_Unit
SI-Numerator
(e.g. 22h = „Pa“)
Physical units representation:
Mega = 06
Kilo = 03
Hecto = 02
Deca = 01
Prefix supported
Al_Interrupt_Lower_Limit_Input_Process_Value
0H
Number_of_entries [ 2 ]
6/7/8/
9134H
1H
Al_Lower_Limit_1 [ P ]
2H
Al_Lower_Limit_2 [ T ]
Al_Interrupt_Upper_Limit_Input_Process_Value
Number_of_entries [ 2 ]
0H
6/7/8/
9135H
1H
Al_Upper_Limit_1 [ P ]
Al_Upper_Limit_2 [ T ]
2H
Al_Interrupt_Limit_Hysteresis_Input_Process_Value
0H
Number_of_entries [ 2 ]
6/7/8/
9136H
Al_Hysteresis_1 [ P ]
1H
2H
Al_Hysteresis_2 [ T ]
AI_Status
Number_of_entries [ 2 ]
0H
6150H
1H
Al_Status_1 [ P ]
2H
Al_Status_2 [ T ]
AI_Filter_Type
0H
Number_of_entries [ 2 ]
61A0H
1H
Al_Filter_Type_1 [ P ]
2H
Al_Filter_Type_2 [ T ]
AI_Filter_Constant
0H
Number_of_entries [ 2 ]
61A1H
1H
Al_Filter_Constant_1 [ P ]
2H
Al_Filter_Constant_2 [ T ]
Index
(valid)
(valid)
(moving average)
(moving average)
-
3
5
TX
4
LSB
COB-ID = 580H+Node-ID
Sub
Index
COB-ID = 600H+Node-ID
2
SDO
Index
1
LSB
RX
(R: 40H)
(W: 22H)
SDO
Command
0
Initiate SDO UP/Download Data:
P_TauMovAvg
T_TauMovAvg
P_FiterType
T_FilterType
P_Status
T_Status
P_Hysteresis
T_Hysteresis
P_UpperLimit
T_UpperLimit
P_LowerLimit
T_LowerLimit
Annotation
SDO
100 d (100ms)
10 d (10 * 0.1s = 1s)
1b
1b
00 h
00 h
Temperature no Hysteresis (0 C°)
Pressure no Hysteresis (0E5 pa)
-
Temperature Range End (125 C°)
Pressure Range End (100E5 pa)
-
Temperature Range Start (-40 C°)
Pressure Range Start (0 pa)
-
Initial Value
Data
6
7
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
15
16
2123H
2122H
2121H
2120H
2111H
2110H
2103H
2102H
2101H
2100H
2000H
2001H
Index
Description
Index Type
Node-ID
UNSIGNED8
Baudrate
UNSIGNED16
PDO1 Application Parameter
UNSIGNED8
0H
largest subindex supp. [ 2 ]
1H
Mapping_Mode
UNSIGNED8
2H
Event_Mask
UNSIGNED8
PDO2 Application Parameter
largest subindex supp. [ 2 ]
0H
UNSIGNED8
1H
Mapping_Mode
UNSIGNED8
UNSIGNED8
2H
Event_Mask
PDO3 Application Parameter
0H
UNSIGNED8
largest subindex supp. [ 2 ]
1H
Mapping_Mode
UNSIGNED8
2H
Event_Mask
UNSIGNED8
PDO4 Application Parameter
0H
largest subindex supp. [ 2 ]
UNSIGNED8
1H
Mapping_Mode
UNSIGNED8
2H
Event_Mask
UNSIGNED8
Aktual Special Message Value Pressure
UNSIGNED8
0H
largest subindex supp. [ 4 ]
1H
S.Msg_Us8_P [ Byte 0 ]
UNSIGNED8
S.Msg_Us16_P [ Byte 0..1 ]
USIGNED16
2H
S.Msg_Us32_P [ Byte 0..3 ]
3H
USIGNED32
S.Msg_Us64_P [ Byte 0..7 ]
USIGNED64
4H
Aktual Special Message Value Temperature
largest subindex supp. [ 4 ]
0H
UNSIGNED8
UNSIGNED8
1H
S.Msg_Us8_T [ Byte 0 ]
2H
S.Msg_Us16_T [ Byte 0..1 ]
UNSIGNED16
3H
S.Msg_Us32_T [ Byte 0..3 ]
UNSIGNED32
4H
S.Msg_Us64_T [ Byte 0..7 ]
UNSIGNED64
Special Message Data 1 (Spez Msg_LowerLimitDown) for Pressure
0H
largest subindex supp. [ 2 ]
UNSIGNED8
OCTET_STRING4
1H
Special_Message [ Byte 0..3 ]
2H
Special_Message [ Byte 4..7 ]
OCTET_STRING4
Special Message Data 2 (Spez Msg_LowerLimitUp) for Pressure
0H
largest subindex supp. [ 2 ]
UNSIGNED8
Special_Message [ Byte 0..3 ]
OCTET_STRING4
1H
2H
Special_Message [ Byte 4..7 ]
OCTET_STRING4
Special Message Data 3 (Spez Msg_UpperLimitDown) for Pressure
largest subindex supp. [ 2 ]
0H
UNSIGNED8
OCTET_STRING4
1H
Special_Message [ Byte 0..3 ]
OCTET_STRING4
2H
Special_Message [ Byte 4..7 ]
Special Message Data 4 (Spez Msg_UpperLimitUp) for Pressure
0H
largest subindex supp. [ 2 ]
UNSIGNED8
OCTET_STRING4
1H
Special_Message [ Byte 0..3 ]
2H
Special_Message [ Byte 4..7 ]
OCTET_STRING4
Sub
Ind.
Manufacturer Specific Profile Area
01 h
(depend. on Mapping_Mode)
01 h
(depend. on Mapping_Mode)
01 h
(depend. on Mapping_Mode)
01 h
(depend. on Mapping_Mode)
( Measured )
( Measured )
( Measured )
( Measured )
( Measured )
( Measured )
( Measured )
( Measured )
00 00 00 00 h
00 00 00 00 h
00 00 00 00 h
00 00 00 00 h
00 00 00 00 h
00 00 00 00 h
00 00 00 00 h
00 00 00 00 h
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
ro
ro
ro
ro
ro
ro
ro
ro
ro
ro
rw
rw
ro
rw
rw
ro
rw
rw
ro
rw
rw
Initial Value
1 d (Node-Id = 1)
20 d (20kbps)
rw
rw
Acc.
Annotation
P_SpezMsg_UpperLimitUp (0..3)
P_SpezMsg_UpperLimitUp (4..7)
P_SpezMsg_UpperLimitDown (0..3)
P_SpezMsg_UpperLimitDown (4..7)
P_SpezMsg_LowerLimitUp (0..3)
P_SpezMsg_LowerLimitUp (4..7)
P_SpezMsg_LowerLimitDown (0..3)
P_SpezMsg_LowerLimitDown (4..7)
-
-
PDO4_MappingMode
PDO4_EventType
PDO3_MappingMode
PDO3_EventType
PDO2_MappingMode
PDO2_EventType
PDO1_MappingMode
PDO1_EventType
Node_ID_New
Baud_New
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
Sub
Ind.
Description
Index Type
Start_Mode_Selection
Object can not be mapped to the PDO
The number and length of the objects to
be mapped would exceed PDO length
0602 0000h
0604 0041h
0604 0042h
80H
Index
1
LSB
0
SDO
Command
2
Sub
Index
LSB
Abort Code
7
Object does not exist in the object
dictionary
0601 0002h
6
0800 0020h
Attempt to write a read only object
0601 0001h
5
0800 0000h
Attempt to read a write only object
0601 0000h
4
0609 0032h
Unsupported access to an object
0504 0005h
3
0609 0031h
Out of memory (Internal Buffer 32 Bytes)
0504 0001h
Abort SDO Transfer Data:
0607 0012h
Client/server command specifier not valid
or unknown
0503 0000h
0609 0030h
0609 0011h
0607 0013h
0607 0010h
Description
Toggle bit not altered
Abord Code
Abord Code
00 00 00 00 h
00 00 00 00 h
00 00 00 00 h
00 00 00 00 h
ro
rw
rw
ro
rw
rw
Description
Value range of parameter exeeded
Sub-index does not exist
Data type does not match, length of
service parameter too low
Data type does not match, length of
service parameter too high
Data type does not match, length of
service parameter does not match
Data cannot be transferred or stored to the
application
General error
Value range of parameter written too low
3
5
Data
TX
4
LSB
COB-ID = 580H+Node-ID
Sub
Index
COB-ID = 600H+Node-ID
2
SDO
Index
1
LSB
RX
(R: 40H)
(W: 22H)
SDO
Command
0
Initiate SDO UP/Download Data:
6
( Selected by Subr. when ["otua" / "mron"] )
[ 6F 74 75 61 / 6D 72 6F 6E ]
(see also Index 1F80 h)
T_SpezMsg_UpperLimitUp (0..3)
T_SpezMsg_UpperLimitUp (4..7)
T_SpezMsg_UpperLimitDown (0..3)
T_SpezMsg_UpperLimitDown (4..7)
T_SpezMsg_LowerLimitUp (0..3)
T_SpezMsg_LowerLimitUp (4..7)
T_SpezMsg_LowerLimitDown (0..3)
T_SpezMsg_LowerLimitDown (4..7)
Annotation
SDO
6D 72 6F 6E h
00 00 00 00 h
00 00 00 00 h
ro
rw
rw
rw
00 00 00 00 h
00 00 00 00 h
Initial Value
ro
rw
rw
Acc.
Value range of parameter written too high
UNSIGNED32
Special Message Data 5 (Spez Msg_LowerLimitDown) Temperature
0H
largest subindex supp. [ 2 ]
UNSIGNED8
Special_Message [ Byte 0..3 ]
OCTET_STRING4
1H
Special_Message [ Byte 4..7 ]
OCTET_STRING4
2H
Special Message Data 6 (Spez Msg_LowerLimitUp) for Temperature
UNSIGNED8
0H
largest subindex supp. [ 2 ]
1H
Special_Message [ Byte 0..3 ]
OCTET_STRING4
2H
Special_Message [ Byte 4..7 ]
OCTET_STRING4
Special Message Data 7 (Spez Msg_UpperLimitDown) for Temperature
largest subindex supp. [ 2 ]
0H
UNSIGNED8
OCTET_STRING4
1H
Special_Message [ Byte 0..3 ]
OCTET_STRING4
2H
Special_Message [ Byte 4..7 ]
Special Message Data 8 (Spez Msg_UpperLimitUp) for Temperature
0H
UNSIGNED8
largest subindex supp. [ 2 ]
1H
Special_Message [ Byte 0..3 ]
OCTET_STRING4
2H
Special_Message [ Byte 4..7 ]
OCTET_STRING4
Abort Codes supported
2200H
2127H
2126H
2125H
2124H
Index
7
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
17
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
Error Messages
Emergency Send-Procedure
Emergency Error Codes
LastNode
ErrorCode
0000h
1000h
2000h
3000h
3100h
4000h
*4200h
5000h
6000h
Error
Register
ErrorType
description
No Error
Generic Error
Current
Voltage
generic Error
0 (01h)
generic
ErrorRegister
Main Voltage
Temperature
Device Temperature
Device Hardware
Device Software
Data Set
*6300h
generic & voltage 0 & 2 (05h)
voltage
temperature
generic & temp.
0 & 3 (09h)
generic Error
generic
0 (01h)
SubErrorCodes of Data Set Error
0x0000
EEProm_VirginByte
bit 0
0x0001
EEPromUserCommPage_ValidByte
bit 1
0x0002
EEPromUserApplPage_ValidByte
bit 2
0x0004
EEPromUserCommPage_Checksum
bit 4
0x0010
EEPromUserApplPage_Checksum
bit 5
0x0020
EEPromFactoryCommPage_Checksum
bit 6
0x0040
EEPromFactoryApplPage_Checksum
bit 7
0x0080
EEPromSpecialPage_Checksum
bit 8
0x0100
EEPromCommPage_InvalidBase
bit 12
0x1000
EEPromApplPage_InvalidBase
bit 13
0x2000
Additional Modules
Monitoring
CAN Overrun (Objects lost)
CAN in Error Passive Mode
Life Guard Error
recovered from bus off
External Error
Additional Functions
* supported node error codes
LastNodeErrorCode
NodeSubErrorCode
NodeSubErrorCode
No bit
NoError
7000h
8000h
8110h
8120h
*8130h
8140h
9000h
F000h
Bit
-
Monitoring
Monitoring
Monitoring
Monitoring
generic & com.
generic & com.
generic & com.
generic & com.
0 & 4 (11h)
0 & 4 (11h)
0 & 4 (11h)
0 & 4 (11h)
Emergency Object Data:
ERROR FREE
1
0
LastNode
ErrorCode
2
Error
Reg.
(Emerg. Error Code)
Err.Reg.
3
n.u.
5
6
4
NodeSubErrorCode
7
LSB
(Manufacturer specific Error Field)
Clear 'error code'
Send 'error recovery '
Error indication No Error indication
ERROR OCCURED
Set 'error code and error register '
Send 'emmergency error code'
Startup
(Initial)
18
Error
indication
EMERGENCY
COB-ID = (80H+Node-ID)
Permanent
Autotest
(Hard and Softwaretest)
P_Status
T_Status
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
NMT (Network Management, LSS & Errorhandling)
Emergency Send Procedure
As an additional safety feature, the CMP is equipped with a „Permanent Autotest“. This feature continuously checks the operating temperature of the sensor as well as the CAN-bus with Life Guard and
Heartbeat. In addition the contents of the memory (EEProm) are checked at start-up. If a fault is detected while performing the Autotest, an error message will be sent. Please refer to „Emergency SendProcedure“ in this instruction manual where the cause for the message is explained. These messages
conform to communication profile DS-301.
In case of a fault, the node changes to the „PRE-OPERATIONAL“ state until such time that the fault is
corrected and the Bus Master releases a „Start-Node-Indication“. After the failure has been corrected,
the node only starts automatically if „Auto-Start“ is configured. If the fault cannot be corrected, the
node cannot be started, not even by the Master.
Network-Management (NMT)-State-Machine
The State Machine has been completed with an additional state (see „Modus Node State-Machine“).
The standard State Machine version is defined in communication profile DS-301. The upgraded State
Machine allows operation without the „Start-Node Indication“ of the CANopen Master. By configuring parameter „Auto-Start „as „auto“ in the object dictionary, the State Machine functions in such a
way that the node after initialization is automatically „OPERATIONAL“. The node, therefore, starts-up
automatically. In case of a fault, the State Machine goes to „AUTO-PRE-OPERATIONAL“ instead of
„PRE-OPERATIONAL“. Only then, after the fault has been corrected, the status „OPERATIONAL“ is
re-established. This feature is also available with the settings in object dictionary entry “NMTStartup”.
Furthermore it’s possible to send a “NMT Start-Node-Indication” after 250ms of reaching the “OPERATIONAL” state (see Index 1F80h).
LSS
The CMP has been equiped with „Layer setting services“ (LSS) according to DSP305 V2.0 with all available commands. This allows to adjust the pressure-sensor together with other devices in the network
without prior configuration. As a rule the CMP will be delivered with node-id =1 and baudrate=20kbit/s.
When using LSS the startup with „auto-baudrate-detection“ is recommended. Therefore please specify
this when ordering.
There is as well a simplification at the comand „switch state selective“. To get into the configuration
mode it is not necessary to know the whole LSS number. The revision number could be ignored with
0000‘000h but „Vendor ID“, „Product code“ and „serial-number“ have to be specified. More details
see „LSS State-Machine“.
19
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
20
mode
cs =
04H
2
3
4
res.
5
6
1
LSB
2
data
3
2
table
index
3
4
1
LSB
2
MSB
switch_delay [ms]
3
Node-ID
cs =
11H
2
3
1
2
3
1
2
1
2
3
3
res.
4
res.
4
res.
4
4
4
res.
5
5
5
5
5
res.
5
res.
cs =
4CH
0
1
2
3
res.
4
5
Request: identify none-configured remote slave
cs =
5EH
0
Request: inquire node-ID
inquire LSS address:
cs = 5AH: vendor-ID
cs = 5BH: product-code
cs = 5CH: revision-number
cs = 5DH: serial-number
cs
0
Request: inquire LSS address
cs =
17H
0
Request: store configuration
1
0
Request: configure node-ID
cs =
15H
0
Request: activate bit timing parameters
table selector:
00H = standard CiA bit timing table (see Baudrates)
1
table
selector
0
cs =
13H
5
identify remote slave:
cs = 46H: vendor-ID
cs = 47H: product-code
cs = 48H: revision-number-low
cs = 49H: revision-number-high
cs = 4AH: serial-number-low
cs = 4BH: serial-number-high
4
MSB
Request: configure bit timing parameters
switch state selective:
cs = 40H: vendor-ID
cs = 41H: product-code
cs = 42H: revision-number
(can be ignored with 0000'0000 H)
cs = 43H: serial-number
cs
0
6
6
6
6
6
6
6
res.
6
Request: switch state selective / identify remote slave
00H: switches to waiting state
01H: switches to configuration state
1
0
Request: Switch state global
7
7
7
7
7
7
7
7
7
1
2
3
4
identify slave:
cs = 4FH
res.
1
2
spec.
error
3
error code:
00H = OK
01H = bit timing not supported
error
code
spec.
error
2
error code:
00H = OK
01H = Node-ID out of Range
error
code
1
3
3
error code:
00H = OK
02H = storage media access error
2
spec.
error
1
error
code
1
LSB
2
data
3
1
Node-ID
2
3
4
4
MSB
4
4
4
res.
cs =
50H
0
1
2
3
res.
4
Response: identify none-configured slave
cs =
5EH
0
Response: inquire node-ID
inquire LSS address:
cs = 5AH: vendor-ID
cs = 5BH: product-code
cs = 5CH: revision-number
cs = 5DH: serial-number
cs
0
Response: inquire LSS address
cs =
17H
0
Response: store configuration
cs =
11H
0
Response: configure node-ID
cs =
13H
0
5
5
5
5
5
res.
5
res.
5
res.
Response: configure bit timing parameters
switch state selective:
cs = 44H
cs
0
Response: switch state selective / identify slave
Layer setting services and protocols (LSS) DSP305 V2.0
6
6
res.
6
6
6
6
6
7
7
7
7
7
7
7
COB-ID = 7E4H
LSS
LSS Response
switch state selective
NMT Operational state
activate/configure bit timing paramters
configure node-ID
store configuration
inquire LSS address
inquire ndoe-ID
identify (remote) slave
identify non-configured (remote) slave
Activity
switch state global
LSS configuration
switch state global
switch state global
(waiting_switch) (configuration_switch)
identify (remote) slave
identify non-configured (remote) slave
Activity
switch state global
switch state selective
LSS waiting
NMT Operational state
NMT PreOperational state
NMT Stopped state
NMT reset communication state with node-ID = FF h
COB-ID = 7E5H
LSS
LSS Request
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
21
8270/8826
CANopen Miniature Pressure Transmitter CMP
Version 1.2
CANopen-communication Examples
COB-ID = 0
COB-ID = 0
COB-ID = 0
COB-ID = 0
COB-ID = 0
Data = 01 00
Data = 02 00
Data = 80 00
Data = 81 00
Data = 81 0A
N=1, read out P as FLOAT:
Response of Network-Node (CMP):
COB-ID = 601
COB-ID = 581
Data = 40 30 61 01 00 00 00 00
Data = 43 30 61 01 XX XX XX XX
N=1, read out T as INT_16:
Response of Network-Node (CMP):
COB-ID = 601
COB-ID = 581
Data = 40 30 71 02 00 00 00 00
Data = 4B 30 71 02 XX XX 00 00
N=10, set P-Unit to kPa:
Response of Network-Node (CMP):
COB-ID = 60A
COB-ID = 58A
Data = 22 31 61 01 00 00 22 03
Data = 60 31 61 01 00 00 00 00
N=11, set T-Decimalpoint to 2 post decimal position:
Response of Network-Node (CMP):
COB-ID = 60B
COB-ID = 58B
Data = 22 32 61 02 02 00 00 00
Data = 60 32 61 02 00 00 00 00
N=1, set P-Filter-constant to 1000ms:
Response of Network-Node (CMP):
COB-ID = 601
COB-ID = 581
Data = 22 A1 61 01 E8 03 00 00
Data = 60 A1 61 01 00 00 00 00
N=1, switch on PDO4, set COB-ID=485h:
Response of Network-Node (CMP):
COB-ID = 601
COB-ID = 581
Data = 22 03 18 01 85 04 00 00
Data = 60 03 18 01 00 00 00 00
N=1, map [P_Int32] to PDO1:
Response of Network-Node (CMP):
COB-ID = 601
COB-ID = 581
Data = 22 00 21 01 05 00 00 00
Data = 60 00 21 01 00 00 00 00
N=1, set cyclic transmit on PDO1:
Response of Network-Node (CMP):
COB-ID = 601
COB-ID = 581
Data = 22 00 18 02 FF 00 00 00
Data = 60 00 18 02 00 00 00 00
N=1, set PDO1 cycle time to 100ms:
Response of Network-Node (CMP):
COB-ID = 601
COB-ID = 581
Data = 22 00 18 05 64 00 00 00
Data = 60 00 18 05 00 00 00 00
N=1, save all settings “save”:
Response of Network-Node (CMP):
COB-ID = 601
COB-ID = 581
Data = 22 10 10 01 73 61 76 65
Data = 60 10 10 01 00 00 00 00
N=1, restore to factory settings “load” 1):
Response of Network-Node (CMP):
COB-ID = 601 COB-ID = 581
Data = 22 11 10 01 6C 6F 61 64
Data = 60 11 10 01 00 00 00 00
N=1, Attempt to write a read only object:
Response of Network-Node (CMP):
COB-ID = 601
COB-ID = 581
Data = 22 00 10 00 78 56 34 12
Data = 80 00 10 00 02 00 01 06 2)
N=1, PDO1 remote transmission request:
Response of Network-Node (CMP):
COB-ID = 181
COB-ID = 181
RTR = 1, Data = [ ] (Datalength = 4)
Data = XX XX XX XX
N=4, Error: Occur of a Nodeguard-Error:
COB-ID = 84
Data = 30 81 11 00 00 00 00 00 3)
Only after a reset the device will start with the factory settings. If the command „save all“ isn’t executed, the next
reset will start the device again with the previous settings.
2)
Abort Code = 0601 0002 h (Attempt to write a read only object)
3)
LastNodeErrorCode = 8130 h, ErrorRegister = 11 h, NodeSubErrorCodes = 0000 h (Monitoring, Life Guard Error)
1)
22
Trafag AG
Industriestrasse 11
CH-8608 Bubikon
Tel +41 44 922 32 32
Fax +41 44 922 32 33
www.trafag.com
We reserve the right to make alterations as technical progress may warrant.
Start all nodes (OPERATIONAL):
Stop all nodes (STOPPED):
Preop. all nodes (PRE-OPERATIONAL):
Reset all nodes (INITIALISING):
Reset only node 10 (Reset):
H73615b Trafag AG 08/2008
Note: All numbers are in Hex-Format, P means Pressure, T means Temperature, N means Network-Node-Address (Node-Identifier)
23