Gefran GIT Inclinometer User Manual

CANopen GIT
digital output
Code 85203B Edition 03-2019
SUMMARY
1. INTRODUCTION��2
2. ELECTRICAL CONNECTIONS��3
3. NETWORK MANAGEMENT (NMT) ��5
4. BAUD RATE ��6
5. NODE-ID ��6
6. PARAMETER SETTINGS ��6
7. RESTORE DEFAULT PARAMETERS ��6
8. HEARTBEAT ��7
9. ERROR HANDLING ��7
10. SDO COMMUNICATION ��9
11. PDO COMMUNICATION AND ANGLE CALCULATION��10
12. CANOPEN FEATURES SUMMARY��21
13. STATUS LED ��26
14. DIGITAL FILTER SETTING��27
15. COMMUNICATION EXAMPLES��28
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
1
1. INTRODUCTION
The GITM12 or cable output 2-axis (from ±15° to ±90°) or 1-axis (-180°...+180° = 0°...360°) inclination sensor with
CANopen interface enables angle levelling and position detection in many applications.
The sensor is based on state-of-the-art MEMS capacitive technology implementing the functions of a CAN BUS network
slave device conforming to standard CANopen protocol proposed by C.i.A. (Can in Automation) and described in the document entitled “CANOpen Application Layer and Communication Profile DS 301 v. 4.2” and in other documents mentioned
below.
Other reference documents used are C.i.A. DS-410 Device Profile for inclinometer and C.i.A. DSP-305 Layer Setting
Services and Protocol V1.1.1.
This document describes the standard CANopen implementations created. It is addressed to CANopen network system
integrators and to CANopen device designers who already know the content of the above-mentioned standards defined by
C.i.A... The details of aspects defined by CANopen do not pertain to the purpose of this text.
For further information on the protocol you can also contact us via e-mail: at www.gefran.com or contact the GEFRAN office
nearest to you.
Definition and Shortening
CAN: Controller Area Network.
Describes a serial communication bus that implements the “physical” level 1 and the “data link” level 2 of the ISO/OSI reference model.
CAL: CAN Application Layer.
Describes implementation of the CAN in the level 7 “application” of the ISO/OSI reference model from which CANopen
derives.
CMS: CAN Message Specification.
CAL service element. Defines the CAN Application Layer for the various industrial applications.
COB: Communication Object.
Unit of transport of data in a CAN network (a CAN message). A maximum of 2048 COBs may be present in a CAN network,
each of which may transport from 0 to a maximum of 8 bytes.
COB-ID: COB Identifier.
Identifying element of a CAN message. The identifier determines the priority of a COB in case of multiple messages in the
network.
D1 – D8: Data from 1 to 8.
Number of bytes in the data field of a CAN message.
DLC: Data Length code.
Number of data bytes transmitted in a single frame.
ISO: International Standard Organization.
International authority providing standards for various merchandise sectors.
NMT: Network Management.
CAL service element. Describes how to configure, initialize, manage errors in a CAN network.
PDO: Process Data Object.
Process data communication objects (with high priority).
RXSDO: Receive SDO.
SDO objects received from the remote device.
SDO: Service Data Object.
Service data communication objects (with low priority). The value of this data is contained in the “Objects Dictionary” of each
device in the CAN network.
TXPDO: Transmit PDO.
PDO objects transmitted by the remote device.
TXSDO: Transmit SDO.
SDO objects transmitted by the remote device.
N.B.: The numbers followed by the suffix “h” represent a hexadecimal value, with suffix “b” a binary value, and with suffix
“d” a decimal value. The value is decimal unless specified otherwise
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2. ELECTRICAL CONNECTIONS
For the connections refer to the table below:
CONEC M12 x 1 5 poles 43-01090
Meaning
1
N.C.
2
+Vs (+10 … +36 Vdc)
3
GROUND
4
CAN H
5
CAN-L
Note: please make sure that the CANbus is terminated.
The impedance measured between CAN H and CAN L must be 60 ohm that means the cable must be connected to a 120
ohm resistor on each ends of the bus line. Internally the transducer is not terminated with the resistor of 120 ohm.
Do not confuse the signal lines of the CAN bus, otherwise communication with the transducer is impossible.
CONEC M12x1
5 pole 43-01090
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
3
For the connections refer to the table below:
6 wires output 18 AWG 1.65mm OD
Meaning
WHITE
+Vs (+10 … +36 Vdc)
YELLOW
GROUND
GREY
CAN H
BLUE
CAN-L
PINK
N.C.
GREEN
N.C.
BROWN
N.C.
Note: please make sure that the CANbus is terminated.
The impedance measured between CAN H and CAN L must be 60 ohm that means the cable must be connected to a 120
ohm resistor on each ends of the bus line. Internally the transducer is not terminated with the resistor of 120 ohm.
Do not confuse the signal lines of the CAN bus, otherwise communication with the transducer is impossible.
Cables output IEC 60332
Cable 7 pole 0.5 mm²
OD 6.4 mm
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3. NETWORK MANAGEMENT (NMT)
The device supports CANopen network management functionality NMT Slave (Minimum Boot Up):
Every CANopen device contains an internal Network Management server that communicates with an external NMT master.
One device in a network, generally the host, may act as the NMT master. Through NMT messages, each CANopen device’s
network management server controls state changes within its built-in Communication State Machine. This is independent
from each node’s operational state machine, which is device dependant and described in Control State Machine. It is
important to distinguish a CANopen device’s operational state machine from its Communication State Machine. CANopen
sensors and I/O modules, for example, have completely different operational state machines than servo drives.
The “Communication State Machine” in all CANopen devices, however, is identical as specified by the DS301. NMT
messages have the highest priority. The 5 NMT messages that control the Communication State Machine each contain 2
data bytes that identify the node number and a command to that node’s state machine. Table 1 shows the 5 NMT messages
supported, and Table 2 shows the correct message construction for sending these messages.
Table 1
NMT Message
COB-ID
Data Byte 1
Data Bytes 2
Start Remote Node
0
01h
Node-ID*
Stop Remote Node
0
02h
Node-ID*
Pre-operational State
0
80h
Node-ID*
Reset Node
0
81h
Node-ID*
Reset Communication
0
82h
Node-ID*
* Node-ID = Drive address ( from 1 to 7Fh)
Table 2
Arbitration
Field
COB-ID
000h
Data Field
RTR
Byte 1
Byte 2
0
See Table 1
See Table 2
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
These bytes not sent
5
4. BAUD RATE
Node ID can be configurable via SDO communication object 0x20F2 and 0x20F3 (see communication examples at the end
of this document).
The default Baud rate is 250kbit/s.
Important Note:
Changing this parameter can disturb the network! Use this service only if one device is connected to the network!
5. NODE-ID
Node ID can be configurable via SDO communication object 0x20F0 and 0x20F1 (see communication examples at the end
of this document).
The default Node-ID is 7F.
Important Note:
Changing this parameter can disturb the network! Use this service only if one device is connected to the network!
6. PARAMETER SETTINGS
All object dictionary parameters (objects with marking PARA) can be saved in a special section of the internal EEPROM and
secured by checksum calculation. The special LSS parameters (objects with marking LSS-PARA), also part of the object
dictionary, will be also saved in a special section of the internal EEPROM and secured by checksum calculation. Due to the
internal architecture of the microcontroller the parameter write cycles are limited to 100,000 cycles.
7. RESTORE DEFAULT PARAMETERS
All object dictionary parameters (objects with marking PARA) can be restored to factory default values via SDO communication (index 0x1011).
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8. HEARTBEAT
The heartbeat mechanism for this device is established through cyclic transmission of the heartbeat message done by the
heartbeat producer.
One or more devices in the network are aware of this heartbeat message. If the heartbeat cycle fails from the heartbeat producer the local application on the heartbeat consumer will be informed about that event.
The implementation of either guarding or heartbeat is mandatory.
The device supports Heartbeat Producer functionality. The producer heartbeat time is defined in object 0x1017.
Heartbeat Message
COB-ID
Byte
0
700+Node-ID
Content
NMT State
9. ERROR HANDLING
Principle
Emergency messages (EMCY) shall be triggered by internal errors on device and they are assigned the highest possible
priority to ensure that they get access to the bus without delay (EMCY Producer). By default, the EMCY contains the error
field with pre-defined error numbers and additional information.
Error Behavior (object 0x4000)
If a serious device failure is detected the object 0x4000 specifies, to which state the module shall be set:
0: pre-operational
1: no state change (default)
2: stopped
EMCY Message
The EMCY COB-ID is defined in object 0x1014. The EMCY message consists of 8 bytes. It contains an emergency error
code, the contents of object 0x1001 and 5 byte of manufacturer specific error code. This device uses only the 1st byte as
manufacturer specific error code.
Byte
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
Description
Emergency
Error Code ¹⁾
Error
Register
(object
0x1001²⁾ )
Manufacturer
specific error
code
(always 0x00)
Manufacturer
specific error
code
(object 0x4001)
Manufacturer specific
error code
NOT IMPLEMENTED
(always 0x00)
¹⁾
Error Code
²⁾
Always 0
0x0000 Error Reset or no Error (Error Register = 0
0x1000 Generic error
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
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Supported Manufacturer Specific Error Codes (object 0x4001)
Manufacturer Specific Error Code
(bit field)
Description
0bxxxxxxx1(a)
Sensor Error TYPE GIT-Z-360 (e.g. angle under/above limits, self-test
failure, MEMS IC communication error)
0bxxxxxxx1(a)
Sensor Error X-axis TYPE GIT-XY-0xx (e.g. angle under/above limits,
self-test failure, MEMS IC communication error)
0bxxxxxx1x(a)
Sensor Error Y-axis TYPE GIT-XY-0xx (e.g. angle under/above limits,
self-test failure, MEMS IC communication error)
0bxxx1xxxx
Program checksum error
0bxx1xxxxx
Flash limit reached - error
0bx1xxxxxx
LSS Parameter checksum error
(a)
8
An angle error will be generated if the actual measured angle is under or above limits. Example of limits for different versions are reported below:
GIT dual axis version ±10° Error limits are ± 11° (± 11° are also the FSO angles STOP)
GIT dual axis version ±15° Error limits are ± 16.5° (± 16.5° are also the FSO angles STOP)
GIT dual axis version ±20° Error limits are ± 22° (± 22° are also the FSO angles STOP)
GIT dual axis version ±30° Error limits are ± 33° (± 33° are also the FSO angles STOP)
GIT dual axis version ±45° Error limits are ± 49.5° (± 49.5° are also the FSO angles STOP)
GIT dual axis version ±60° Error limits are ± 66° (± 66° are also the FSO angles STOP)
GIT dual axis version ±90° Error limits are ± 87° (± 87° are also the FSO angles STOP)
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
10. SDO COMMUNICATION
The device fulfils the SDO Server functionality.
With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may
contain data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and
vice versa.
Structure of SDO-request by the Master
COB-ID
DLC
Byte1
600+Node-ID
8
CMD
Byte2
Byte3
Index
Byte4
Byte5
Byte6
Byte7
Byte8
Sub-Index
Data
Data
Data
Data
Byte4
Byte5
Byte6
Byte7
Byte8
Sub-Index
Data
Data
Data
Data
Structure of SDO-answer by the Slave
COB-ID
DLC
Byte1
580+Node-ID
8
RES
Byte2
Byte3
Index
Write Access, Data Transfer from Host to Slave
Each access to the object dictionary is checked by the slave for validity. Any write access to nonexistent objects, to
read-only objects or with a non-corresponding data format are rejected and answered with a corresponding error
message.
CMD determines
the direction of data transfer and the size of the data object:
23 hex Sending of 4-byte data (bytes 5...8 contain a 32-bit value)
2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value)
2F hex Sending of 1-byte data (byte 5 contains an 8-bit value)
The slave answers:
RES Response of the slave:
60 hex Data sent successfully
80 hex Error,
Read Access, Data Transfer from Slave to Host
Any read access to non-existing objects is answered with an error message.
CMD determines the direction of data transfer:
40 hex read access (in any case)
The slave answers:
RES Response of the slave:
42 hex Bytes used by node when replying to read command with 4 or less data
43 hex Bytes 5...8 contain a 32-bit value
4B hex Bytes 5, 6 contain a 16-bit value
4F hex Byte 5 contains an 8-bit value
80 hex Error,
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
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11. PDO COMMUNICATION AND ANGLE CALCULATION
Transmit PDO #0 – Dual axis configuration X-Y (from ± 10° to ± 90°) model GIT-XY-xxx
This PDO transmits asynchronously the position value of the angle sensor. The Tx PDO #0 shall be transmitted cyclically, if
the cyclic timer (object 0x1800.5) is programmed > 0. Values between 4ms and 65535 ms shall be selectable by parameter
settings. The Tx PDO #0 will be transmitted by entering the "Operational" state.
Byte
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
Description
X Axis
(object
0x6010)
Low-Byte
X Axis
(object
0x6010)
High-Byte
Y Axis
(object
0x6020)
Low-Byte
Y Axis
(object
0x6020)
High-Byte
(0x00)
In the following figures an example of PDO mapping is reported in the case of Angle X = 0.00°
and Angle Y = 0.00° (Node-ID = 7Fh and resolution ± 0.01°)
Angle X = 0.00°
Angle Y = 0.00°
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85203B_GIT-CANopen_Operative Manual_03-2019_ENG
ID
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
1FFh
00h
00h
00h
00h
00h
00h
00h
00h
Angle X:
Byte 2 MSB (00h) = 00h
Byte 1 LSB (00h) = 00h
Angle X = 0000h to decimal 0d (resolution ± 0.01°) = 0.00°
Angle Y:
Byte 4 MSB (00h) = 00h
Byte 3 LSB (00h) = 00h
Angle Y = 0000h to decimal 0d (resolution ± 0.01°) = 0.00°
In the following figures an example of PDO mapping is reported in the case of Angle X = + 45.00° and Angle Y = 0.00°
(Node-ID = 7Fh and resolution ± 0.01°)
Angle X = +45.00°
Angle Y = 0.00°
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
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ID
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
1FFh
94h
11h
00h
00h
00h
00h
00h
00h
Angle X:
Byte 2 MSB (11h) = 11h Byte 1 LSB (94h) = 94h
Angle X = 1194h to decimal 4500d (resolution ± 0.01°) = +45.00°
Angle Y:
Byte 4 MSB (00h) = 00h
Byte 3 LSB (00h) = 00h
Angle Y = 0000h to decimal 0d (resolution ± 0.01°) = 0.00°
In the following figures an example of PDO mapping is reported in the case of Angle X = - 45.00° and Angle Y = + 0.00°
(Node-ID = 7Fh and resolution ± 0.01°).
Angle X = -45.00°
Angle Y = 0.00°
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85203B_GIT-CANopen_Operative Manual_03-2019_ENG
ID
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
1FFh
6Bh
EEh
00h
00h
00h
00h
00h
00h
Angle X:
Byte 2 MSB (EEh) = EEh
Byte 1 LSB (6Bh) = 6Bh
Angle X = EE6Bh to decimal 61035d
If the Angle X in decimal is greater than 32768, the Angle X is NEGATIVE and it must be computed as below (resolution ±
0.01°)
Angle X = EE6Bh to decimal 61035d
Angle X = Angle X (in decimal) - 65535d = 61035d - 65535d = -4500d (resolution ± 0.01°) = -45.00°
Angle Y:
Byte 4 MSB (00h) = 00h
Byte 3 LSB (00h) = 00h
Angle Y = 0000h to decimal 0d (resolution ± 0.01°) = 0.00°
In the following figures an example of PDO mapping is reported in the case of Angle X = 0.00° and Angle Y = 0.00°
(Node-ID = 7Fh and resolution ± 0.01°)
Angle X = 0.00°
Angle Y = 0.00°
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
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ID
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
1FFh
00h
00h
00h
00h
00h
00h
00h
00h
Angle X:
Byte 2 MSB (00h) = 00h
Byte 1 LSB (00h) = 00h
Angle X = 0000h to decimal 0d (resolution ± 0.01°) = 0.00°
Angle Y:
Byte 4 MSB (00h) = 00h
Byte 3 LSB (00h) = 00h
Angle Y = 0000h to decimal 0d (resolution ± 0.01°) = 0.00°
In the following figures an example of PDO mapping is reported in the case of Angle X = 0.00° and Angle Y = +45.00° (NodeID = 7Fh and resolution ± 0.01°)
Angle X = 0.00°
Angle Y = +45.00°
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85203B_GIT-CANopen_Operative Manual_03-2019_ENG
ID
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
1FFh
00h
00h
94h
11h
00h
00h
00h
00h
Angle X:
Byte 2 MSB (00h) = 00h
Byte 1 LSB (00h) = 00h
Angle X = 0000h to decimal 0d (resolution ± 0.01°) = 0.00°
Angle Y:
Byte 4 MSB (11h) = 11h Byte 3 LSB (94h) = 94h
Angle Y = 1194h to decimal 4500d (resolution ± 0.01°) = +45.00°
In the following figures an example of PDO mapping is reported in the case of Angle X = 0.00° and Angle Y = -45.00° (NodeID = 7Fh and resolution ± 0.01°)
Angle X = 0.00°
Angle Y = -45.00°
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
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ID
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
1FFh
00h
00h
6Bh
EEh
00h
00h
00h
00h
Angle X:
Byte 2 MSB (00h) = 00h
Byte 1 LSB (00h) = 00h
Angle X = 0000h to decimal 0d (resolution ± 0.01°) = 0.00°
Angle Y:
Byte 4 MSB (EEh) = EEh Byte 3 LSB (6Bh) = 6Bh
Angle Y = EE6Bh to decimal 61035d
If the Angle Y in decimal is greater than 32768, the Angle Y is NEGATIVE and it must be computed as below
(resolution ± 0.01°)
Angle Y = EE6Bh to decimal 61035d
Angle Y = Angle Y (in decimal) - 65535d = 61035d - 65535d = -4500d (resolution ± 0.01°) = -45.00°
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Transmit PDO #0 – Single axis configuration Z (-180°...+180°) model GIT-Z-360
This PDO transmits synchronously the position value of the inclination sensor. The Tx PDO #0 shall be transmitted cyclically,
if the cyclic timer (object 0x1800.5) is programmed > 0. Values between 4ms and 65535 ms shall be selectable by parameter
settings. The Tx PDO #0 will be transmitted by entering the "Operational" state.
Byte
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
Description
Z Axis
(object 0x6010)
Low-Byte
Z Axis
(object 0x6010)
High-Byte
0x00
In the following figures an example of PDO mapping is reported in the case of Angle Z = -180.0° (in 0...360° configuration
the equivalent angle is 0.00°). The Node-ID = 7Fh and resolution ± 0.01°.
Angle Z = -180.00°
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ID
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
1FFh
AFh
B9h
00h
00h
00h
00h
00h
00h
Angle Z:
Byte 2 MSB (B9h) = B9h
Byte 1 LSB (AFh) = AFh
Angle Z = B9AFh to decimal 47535d
If the Angle Z in decimal is greater than 32768, the Angle Z is NEGATIVE and it must be computed as below (resolution ±
0.01°)
Angle Z = B9AFh to decimal 47535d
Angle Z = Angle Z (in decimal) - 65535d = 47535d - 65535d = -18000d (resolution ± 0.01°) = -180.00°
In the following figures an example of PDO mapping is reported in the case of Angle Z = -90.0° (in 0...360° configuration the
equivalent angle is +90.00°). The Node-ID = 7Fh and resolution ± 0.01°.
Angle Z = -90.00°
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ID
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
1FFh
D7h
DCh
00h
00h
00h
00h
00h
00h
Angle Z:
Byte 2 MSB (DCh) = DCh
Byte 1 LSB (D7h) = D7h
Angle Z = DCD7h to decimal 56535d
If the Angle Z in decimal is greater than 32768, the Angle Z is NEGATIVE and it must be computed as below (resolution ±
0.01°)
Angle Z = B9AFh to decimal 56535d
Angle Z = Angle Z (in decimal) - 65535d = 56535d - 65535d = -9000d (resolution ± 0.01°) = -90.00°
In the following figures an example of PDO mapping is reported in the case of Angle Z = 0.0° (in 0...360° configuration the
equivalent angle is +180.00°). The Node-ID = 7Fh and resolution ± 0.01°.
Angle Z = 0.00°
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ID
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
1FFh
00h
00h
00h
00h
00h
00h
00h
00h
Angle Z:
Byte 2 MSB (00h) = 00h
Byte 1 LSB (00h) = 00h
Angle Z = 0000h to decimal 0d = 0.00°
In the following page an example of PDO mapping is reported in the case of Angle Z = + 90.00° (in 0...360° configuration the
equivalent angle is +270.00°). The Node-ID = 7Fh and resolution ± 0.01°.
Angle Z = +90.00°
ID
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
1FFh
28h
23h
00h
00h
00h
00h
00h
00h
Angle Z:
Byte 2 MSB (23h) = 23h
Byte 1 LSB (28h) = 28h
Angle Z = 2328h to decimal 9000d (resolution 0.01°) = +90.00 °
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12. CANOPEN FEATURES SUMMARY
Communication Profile
The parameters which are critical for communication are determined in the Communication profile.
This area is common for all CANopen devices.
Index
Sub
Index
Name
Type
Access
Default value
Comments
1000h
Device Profile
Unsigned 32
Ro
0x0008019A
Profile 410: Device profile for inclinometer (not
fully implemented).
1001h
Error Register
Unsigned 8
Ro
0x00
Always ZERO
1005h
COB-ID SYNC
Unsigned 32
Rw
0x00000080
1008h
Manufacturer Device
Name
String
Const
“GIT”
1009h
Manufacturer
Hardware Version
String
Const
“1.00”
100Ah
Manufacturer
Software Version
String
Const
"1.24"
1
“save” (0x65766173) to store all parameters
(objects with marking PARA)
"1"
"load" (0x64616F6C) to restore
all parameters (objects with
marking PARA and LSSPARA).
1010h
1011h
1014h
1017h
1018h
0
Number of Entries
Unsigned 8
Ro
1
Save all Parameters
Unsigned 32
Wo
0
Restore Default
Parameters
Unsigned 8
Ro
1
Restore all
Parameters
Unsigned 32
Rw
0
Emergency ID
Unsigned 32
Ro
0
Producer Time /
Heart Beat
Unsigned 16
Rw
0x80 + Nodo-ID
0
0
Identity Object
Unsigned 8
Ro
4
1
Vendor ID
Unsigned 32
Ro
0x0000093
2
Product Code
Unsigned 32
Ro
0x0000064
3
Revision Number
Unsigned 32
Ro
0x0000001
Serial Number
Unsigned 32
Ro
0x0000000
4
Refer to GEFRAN products catalogue:
GIT: Dual-axis or single-axis inclinometer
sensor
Min= 0 & Max=65535
with unit = 1ms
If 0: NOT USED
From 1 to 19 NOT ACCEPTED
From 20 to 65535 ACCEPTED
Refer to
“Gefran Product Overview CANopen”
Gefran Vendor ID:0x0000093
SDO Server Parameter
1200h
1800h
0
Number of Entries
Unsigned 8
Ro
2
1
COB-ID Client to
Server (Rx)
Unsigned 32
Ro
0x600+ Node-ID
2
COB-ID Server to
Server (Tx)
Unsigned 32
Ro
0x580+ Node-ID
0
1st Transmit PDO
Parameter
Unsigned 8
Ro
1
COB-ID Trans PDO
Unsigned 32
Ro
180h + Node-ID
2
Transmission Type
Trans PDO- PARA
Unsigned 8
Rw
254 (0xFE)
0x01...0xF0 = synch cyclic Outputs are only
updated after "n" synch objects.
n = 0x01 (1) ... 0xF0 (240)
0xFC not implemented
0xFD not implemented
0xFE = asynchronous
0xFF = not implemented
5
Event timer
Trans PDO- PARA
Unsigned 16
Rw
100 (0x64)
0 = Inactive
Min= 4 & Max=65535 with unit = 1ms
Unsigned 8
Ro
2
Tx PDO #0 Mapping Parameter
0
1A00h
Number of entries
1
1st Mapped Object
Unsigned 32
Ro
0x60100010
2
2nd Mapped Object
Unsigned 32
Ro
0x60200020
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
The inclination of longitudinal axis (long; X) is
indicated in Idx 6010 in the case of dual axis
sensor (±10°…±90°)
The inclination of transverse axis (tran; Y) is
indicated in Idx 6020 in the case of dual axis
sensor (±10°…±90°)
The inclination of Z axis is indicated in Idx
6010 in the case of single axis sensor (±180°)
21
Manufacturer Specific Profile Objects
In this section you will find the manufacturer specific profile indices for the transducer.
Setting the Node-ID
Index
Sub
Index
Name
Type
Access
Default value
Comments
20F0h
0
Setting of the Node ID
Unsigned 8
Rw
0x7F (=127d)
The node ID used to access thesensor in the
CANopen network
20F1h
0
Setting of the Node ID
Unsigned 8
Rw
0x7F (=127d)
The node ID used to access thesensor in the
CANopen network
A change of the Node ID is only accepted if the entries 20F0 and 20F1 contain the same changed value.
Values below 1 / above 127 are not accepted; the existing setting remains valid.
After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short
time).
Setting the Baud Rate
Index
20F2h
20F3h
Sub
Index
0
0
Name
Setting of the
Baud rate
Setting of the
Baud rate
Type
Unsigned 8
Unsigned 8
Access
Rw
Rw
Default value
Comments
0x03
(250 kBaud)
Baud rate of the CAN network
0 = 1000 kBaud
1 = 800 kBaud
2 = 500 kBaud
3 = 250 kBaud (default)
4 = 125 kBaud
5 = 100 kBaud
6 = 50 kBaud
7 = 20 kBaud
0x03
(250 kBaud)
Baud rate of the CAN network
0 = 1000 kBaud
1 = 800 kBaud
2 = 500 kBaud
3 = 250 kBaud (default)
4 = 125 kBaud
5 = 100 kBaud
6 = 50 kBaud
7 = 20 kBaud
A change of the Baude rate is only accepted if the entries 20F2 and 20F3 contain the same changed value.
Values above 7 are not accepted; the existing setting remains valid.
After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short
time).
Setting the Digital Filter
Index
2001h
Sub
Index
Name
0
Filter Setting - PARA
Type
Unsigned 8
Access
Rw
Default
value
0
Comments
Filter = 0 Slow
Filter = 1 Medium
Filer = 2 Fast
See Par. 14 and examples at the end of
this manual
A change of the Filter Setting is only accepted after a STORE command (see Store Parameters setting via SDO 0x1010
Sub 1 and examples of Filter setting at the end of this manual)
22
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
Manufacturer Specific Profile Objects
In this section you will find the manufacturer specific profile indices for the transducer
Index
Sub
Index
Name
Type
Access
Default value
Comments
Error
Behavior - PARA
Unsigned 8
Rw
1
0: Pre-operational 1: no state change
2: stopped Min=0 & Max="2"
4001h
Error Code
Unsigned 8
Ro
0
0: no error Min=0 & Max=255
5000h
Automatic NMT
Start after Power-On PARA
Unsigned 8
Rw
0
0:not activated
1: activated Min=0 & Max=1
5001h
PDO coding used-PARA
Unsigned 8
Rw
1
0:Big Endian
1: Little Endian
4000h
Ro = the parameter can be read only
Rw = the parameter can be read and also written
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
23
Manufacturer Specific Profile Objects (according to CiA DS-410)
In this section you will find the manufacturer specific profile indices for the transducer.
Index
6000h
Sub
Index
0
Name
Resolution - PARA
Type
Unsigned 16
Access
Rw
Default value
0x32 (50d)
Comments
Display resolution of the inclination for both
axes(1)
10d = Inclination is indicated as signed int
in 0.01°
50d = Inclination is indicated as signed int
in 0.05°
100d = Inclination is indicated as signed int
in 0.1°
500d = Inclination is indicated as signed int
in 0.5°
1000d = Inclination is indicated as signed int
in 1.0°
Note: If the display resolution is changed all
offset values or zero point values which may
have been entered are deleted.
Therefore the sensor must be set before it is
aligned!
(1) A change
of the display resolution in Idx
6000 is only accepted, if the scaling in Idx
6011 and Idx 6021 is activated.
6010h
0
Slope Longitudinal
Signed 16
Ro
-
Inclination of the longitudinal axis X
(long; X) in the case of dual axis sensor
(±10°…±90°). Inclination of the longitudinal axis Z in the case of single axis sensor
(±180°).
Inverting the sign
0b 0000 00x0 deactivated
0b 0000 00x1 activated
Scaling of the measured value
0b 0000 000x deactivated
0b 0000 001x activated(1)
6011h
0
Slope Longitudinal
Operating
Parameter - PARA
Unsigned 8
Rw
0b000000xx
Value output:
Slope longitudinal = measured value in
dependence of Resolution (Index 6000)
+ Slope Longitudinal Offset
+ Differential Slope Longitudinal Offset
(1) A change of the display resolution in Idx
6000 is only accepted, if the scaling in Idx
6011 and Idx 6021 is activated.
Note: see examples of this functionality at
the end of this manual in Examples 5,6,7
and 8
6012h
0
Slope Longitudinal
Preset Value - PARA
Signed 16
Rw
0x0000
Corrects the measured sensor value. The displayed value Slop Longitudinal is set to the
entered value. The offset is indicated in the
index 0x6013
Note: see examples of this functionality at the
end of this manual in Examples 5,6,7 and 8
Offset value calculated from the following
objects:
6013h
0
Slope Longitudinal
Offset- PARA
Signed 16
Ro
0x0000
Slope Longitudinal Offset =
Slope Longitudinal Preset Value tacc – measured value tacc
(tacc : istant when the Slope Longitudinal
Preset Value is set)
6014h
24
0
Slope Longitudinal Differential Offset - PARA
Signed 16
Rw
0x0000
Shifts the displayed value by the entered
value irrespective of "Slope Longitudinal
Preset Value".
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
Index
Sub
Index
Name
Type
Access
Default value
6020h
0
Slope Lateral
Signed 16
Ro
-
Comments
Inclination of the Lateral axis Y (Later; X)
Inverting the sign
0b 0000 00x0 deactivated
0b 0000 00x1 activated
Scaling of the measured value
0b 0000 000x deactivated
0b 0000 001x activated(1)
6021h
0
Slope Lateral
Operating
Parameter - PARA
Unsigned 8
Rw
0b000000xx
Value output:
Slope Lateral = measured value in dependence of Resolution (Index 6000)
+ Slope Lateral Offset
+ Differential Slope Lateral Offset
(1) A change
of the display resolution in Idx
6000 is only accepted, if the scaling in Idx
6011 and Idx 6021 is activated.
Note: see examples of this functionality at
the end of this manual in Examples 5,6,7
and 8
6022h
0
Slope Lateral
Preset Value - PARA
Signed 16
Rw
0x0000
Corrects the measured sensor value. The
displayed value Slop Lateral is set to the
entered value.
The offset is indicated in the index 0x6023
Note: see examples of this functionality at
the end of this manual in Examples 5,6,7
and 8
Offset value calculated from the following
objects:
Slope Lateral Offset =
6023h
0
Slope Lateral
Offset - PARA
Signed 16
Ro
0x0000
Slope Lateral Preset Value tacc – measured
value tacc
(tacc : istant when the Slope Lateral Preset
Value is set)
6024h
0
Slope Lateral
Differential
Offset - PARA
Signed 16
Rw
0x0000
Shifts the displayed value by the
entered value irrespective of "Slope Laterall
Preset Value".
Ro = the parameter can be read only
Rw = the parameter can be read and also written
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
25
13. STATUS LED
The integrated two color Status LED signals the recent device state (Run LED, green) as well as CAN communication errors
that might have occurred (Error LED, red). The color and the flashing frequency of the LED distinguish the different device
states as shown below.
Status LED
RUN LED
LED State
Description
Off
No power supply is connected
Single Flash
The device is in state Stopped
Blinking
On
Error LED
RUN LED
The device is in state Pre-Operational
The device is in state Operational
LED State
Description
Off
The device is in working condition
On
The device is in state Bus-Off
Single Flash
Red/Green On
CAN Warning Limit reached
Limit Angles reached (110% FS or ± 87°)
Legend:
= LED green OFF
= LED green ON
= LED Red OFF
= LED Red ON
= LEDs Red & Green ON together
= LED Green Blinking (200 ms ON/OFF)
= LEDs Green Single Flash (500 ms ON/OFF)
Two color LED (Red & Green)
(Status/Error check)
26
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
14. DIGITAL FILTER SETTING
The inclination sensor offers the possibility to suppress the influence of external disturbing vibrations. The internal low-pass
digital filters (8th order) are programmable in 3 steps (more steps can be obtained on request and they can be adjusted for
any kind of application). The sensor has digital filters that can be selected according to Table 2 below. The filter selection is
configurable via SDO communication object 0x2001 Sub 0 (see the Manufacturer Specific Profile Objects and communication
examples at the end of this document).
Filter Selection (via SDO object 0x2106 Sub 6)
Filter code
SLOW
Filter = 0
MEDIUM
Filter = 1
FAST
Filter = 2
Application
Static inclination measurement with high damping to
vibration
Inclination measurement in applications that requires
a certain dynamism, without overshoot at angle
changes with good damping
General application with medium-high dynamic
Table 2 - Filter setting
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
27
15. COMMUNICATION EXAMPLES
Example 1) How to change the Baud Rate Setting from 250 kbaud to 500 kbaud
With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain
data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.
Structure of SDO-request by the Master
COB-ID
600+Node-ID
DLC
Byte 1
8
CMD
Byte 2
Byte 3
Index
Byte 4
Byte 5
Sub-Index
Data
Byte 6
Byte 7
Byte 8
Byte 6
Byte 7
Byte 8
CMD determines the direction of data transfer and the size of the data object:
23 hex Sending of 4-byte data (bytes 5...5 contain a 32-bit value)
2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value)
2F hex Sending of 1-byte data (byte 5 contains an 8-bit value)
Structure of SDO-answer by the Slave
COB-ID
580+Node-ID
DLC
Byte 1
8
RES
Byte 2
Byte 3
Index
Byte 4
Byte 5
Sub-Index
RES Response of the slave:
60 hex Data sent successfully
80 hex Error,
A change of the Baud rate is only accepted if the entries 0x20F2 and 0x20F3 contain the same changed value. With the
aim to change the baud rate from 250kBaud (0x03) to 500 kBaud (0x02) write a first SDO (in the example the Node-ID
= 0x7F).
ID
67Fh
Byte 1
2Fh
Byte 2
F2h
Byte 3
20h
Byte 4
00h
Byte 5
02h
Byte 6
00h
Byte 7
00h
Byte 8
00h
A change of the Baud rate is only accepted if the entries 0x20F2 and 0x20F3 contain the same changed value. With
the aim to change the baud rate from 250kBaud (0x03) to 500 kBaud (0x02) write a second SDO (in the example the
Node-ID = 0x7F)
ID
67Fh
28
Byte 1
2Fh
Byte 2
F3h
Byte 3
20h
Byte 4
00h
Byte 5
02h
Byte 6
00h
Byte 7
00h
Byte 8
00h
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
Object:
Baud rate del network CAN
0 = 1000 kBaud
1 = 800 kBaud
2 = 500 kBaud
20F2h
0
Setting of the Baude rate
Unsigned 8
Rw
0x03 (250 kBaud)
3 = 250 kBaud (default)
4 = 125 kBaud
5 = 100 kBaud
6 = 50 kBaud
7 = 20 kBaud
Baud rate del network CAN
0 = 1000 kBaud
1 = 800 kBaud
2 = 500 kBaud
20F3h
0
Setting of the Baude rate
Unsigned 8
Rw
0x03 (250 kBaud)
3 = 250 kBaud (default)
4 = 125 kBaud
5 = 100 kBaud
6 = 50 kBaud
7 = 20 kBaud
The supported baud rate are listed in the following table:
Byte 5
07h
06h
05h
04h
03h
02h
01h
00h
Baudrate
20 kBaud
50 kBaud
100 kBaud
125 kBaud
250 kBaud
500 kBaud
800 kBaud
1000 kBaud
The answers after successful storing you will receive is:
ID
5FFh
Byte 1
60h
Byte 2
F2h
Byte 3
20h
Byte 4
00h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
ID
5FFh
Byte 1
60h
Byte 2
F3h
Byte 3
20h
Byte 4
00h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
and
IMPORTANT NOTE:
A change of the Baud rate is only accepted if the entries 0x20F2 and 0x20F3 contain the same changed value. Values above 7
are not accepted; the existing setting remains valid. After setting the new entries a reset must be made so that the new entries
become valid (switch off the module for a short time).
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
29
Example 2) How to change the ID-Node from 0x7Fh (127d) to 0x06h (6d))
With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain
data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.
Structure of SDO-request by the Master
COB-ID
600+Node-ID
DLC
Byte 1
8
CMD
Byte 2
Byte 3
Index
Byte 4
Byte 5
Sub-Index
Data
Byte 6
Byte 7
Byte 8
Byte 6
Byte 7
Byte 8
CMD determines the direction of data transfer and the size of the data object:
23 hex Sending of 4-byte data (bytes 5...5 contain a 32-bit value)
2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value)
2F hex Sending of 1-byte data (byte 5 contains an 8-bit value)
Structure of SDO-answer by the Slave
COB-ID
580+Node-ID
DLC
Byte 1
8
RES
Byte 2
Byte 3
Index
Byte 4
Byte 5
Sub-Index
RES Response of the slave:
60 hex Data sent successfully
80 hex Error,
A change of the Node ID is only accepted if the entries 0x20F0 and 0x20F1 contain the same changed value. With the
aim to change the Node ID from 127 (0x7F) to 6 (0x06) write a first SDO (in the example the Node-ID = 0x7F).
ID
67Fh
Byte 1
2Fh
Byte 2
F0h
Byte 3
20h
Byte 4
00h
Byte 5
06h
Byte 6
00h
Byte 7
00h
Byte 8
00h
A change of the Node ID is only accepted if the entries 0x20F0 and 0x20F1 contain the same changed value. With the
aim to change the Node ID from 127 (0x7F) to 6 (0x06) write a second SDO (in the example the Node-ID = 0x7F).
ID
67Fh
Byte 1
2Fh
Byte 2
F1h
Byte 3
20h
Byte 4
00h
Byte 5
06h
Byte 6
00h
Byte 7
00h
Byte 8
00h
Object:
20F0h
20F1h
0
Setting of the Node ID
Unsigned 8
Rw
0x7F ( = 127d)
0
Setting of the Node ID
Unsigned 8
Rw
0x7F ( = 127d)
The Node ID used to
access the sensor in the
CANopen
The Node ID used to
access the sensor in the
CANopen
I Nodi-ID supportati vanno da 0x01 a 0x7F
30
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
The answers after successful storing you will receive is:
ID
5FFh
Byte 1
60h
Byte 2
F0h
Byte 3
20h
Byte 4
00h
Byte 5
Byte 6
Byte 7
Byte 8
ID
5FFh
Byte 1
60h
Byte 2
F1h
Byte 3
20h
Byte 4
00h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
00h
00h
00h
00h
and
IMPORTANT NOTE:
A change of the Node ID is only accepted if the entries 0x20F0 and 0x20F1 contain the same changed value. Values below 1 /
above 127 are not accepted; the existing setting remains valid. After setting the new entries a reset must be made so that the
new entries become valid (switch off the module for a short time).
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
31
Example 3) How to change the PDO rate (time interval) from 100 ms to 20 ms
With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain
data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.
Structure of SDO-request by the Master
COB-ID
600+Node-ID
DLC
Byte 1
8
CMD
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Sub-Index
Data
Data
Byte 7
Byte 8
Byte 7
Byte 8
CMD determines the direction of data transfer and the size of the data object:
23 hex Sending of 4-byte data (bytes 5...5 contain a 32-bit value)
2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value)
2F hex Sending of 1-byte data (byte 5 contains an 8-bit value)
Structure of SDO-answer by the Slave
COB-ID
580+Node-ID
DLC
Byte 1
8
RES
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Sub-Index
RES Response of the slave:
60 hex Data sent successfully
80 hex Error,
Per cambiare il PDO rate da 100 ms (0x64) a 20 ms (0x14) scrivere (nell’esempio il Node-ID = 0x7F).
ID
67Fh
Byte 1
2Bh
Byte 2
00h
Byte 3
18h
Byte 4
05h
Byte 5
14h
Byte 6
00h
Byte 7
00h
Byte 8
00h
Object:
1800h
0
1st Transmit PDO
Parameter
Unsigned 8
Ro
1
COB-ID
Unsigned 32
Ro
180h + Node-ID
2
Tipo Trasmissione
Unsigned 8
Rw
254
Asynchronous transmission.
3
Inhibit Time
Unsigned 16
Ro
0
Min= 0 & Max=65535 with
unit = 1ms
4
Reserved
//
//
5
Timer
Unsigned 16
Rw
100 (64h)
Min= 0 & Max=65535 with
unit = 1ms
The answer after successful storing you will receive is:
ID
5FFh
32
Byte 1
60h
Byte 2
00h
Byte 3
18h
Byte 4
05h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
With the aim to save functionality write the “save” command as below:
Write (in the example the Node-ID = 0x7F)
ID
67Fh
Byte 1
23h
Byte 2
10h
Byte 3
10h
Byte 4
01h
Byte 5
73h
Byte 6
61h
Byte 7
76h
Byte 8
65h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
Note: save command is given by sending the code:
73h
61h
76h
Where:
65h
73h = in ASCII code
“s”
61h = in ASCII code
“a”
76h = in ASCII code
“v”
65h = in ASCII code
“e”
The answer after successful storing you will receive is:
ID
5FFh
Byte 1
60h
Byte 2
10h
Byte 3
10h
Byte 4
01h
IMPORTANT NOTE:
After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
33
Example 4) How to activate an automatic NMT Start after Power ON (the PDO will be send automatically after power
ON)
With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain
data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.
Structure of SDO-request by the Master
COB-ID
600+Node-ID
DLC
Byte 1
8
CMD
Byte 2
Byte 3
Index
Byte 4
Byte 5
Sub-Index
Data
Byte 6
Byte 7
Byte 8
CMD determines the direction of data transfer and the size of the data object:
23 hex Sending of 4-byte data (bytes 5...5 contain a 32-bit value)
2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value)
2F hex Sending of 1-byte data (byte 5 contains an 8-bit value)
Structure of SDO-answer by the Slave
COB-ID
580+Node-ID
DLC
Byte 1
8
RES
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Sub-Index
RES Response of the slave:
60 hex Data sent successfully
80 hex Error,
With the aim to activate an automatic NMT Start after power ON write (in the example the Node-ID = 0x7F).
ID
67Fh
Byte 1
2Fh
Byte 2
00h
Byte 3
50h
Byte 4
00h
Byte 5
01h
Byte 6
00h
Byte 7
00h
Byte 8
00h
Object:
5000h
0
Automatic NMT Start after
Power-On - PARA
0: not activated
Unsigned 8
Rw
0
1: activated
Min=0 & Max=1
The answer after successful storing you will receive is:
ID
5FFh
34
Byte 1
60h
Byte 2
00h
Byte 3
50h
Byte 4
00h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
With the aim to save functionality write the “save” command as below:
Write (in the example the Node-ID = 0x7F)
ID
67Fh
Byte 1
23h
Byte 2
10h
Byte 3
10h
Byte 4
01h
Byte 5
73h
Byte 6
61h
Byte 7
76h
Byte 8
65h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
Note: save command is given by sending the code:
73h
61h
76h
Where:
65h
73h = in ASCII code
“s”
61h = in ASCII code
“a”
76h = in ASCII code
“v”
65h = in ASCII code
“e”
The answer after successful storing you will receive is:
ID
5FFh
Byte 1
60h
Byte 2
10h
Byte 3
10h
Byte 4
01h
IMPORTANT NOTE:
After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
35
Example 5) How to Preset the angle X to 0.00° (in case of dual axis ±10°…±90°).
The values "...Preset Value" (Idx 60x2) and "Differential ...Offset" (Idx 60x4) affects the display of the longitudinal and lateral
axis. The value entered in "...Preset Value" immediately corrects the measured value of the sensor cell at the instant tacc.
A typical application is the compensation of display errors due to mounting (e.g. sensor zeroing). The sensor must first be
brought to a defined position. The value "Differential ...Offset" shifts the displayed value of the sensor by the entered value. A
set "...Preset Value" does not affect shifting.
Note that the resolution parameter must be set before aligning the sensor (resolution, Idx 6000)!
With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain
data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.
Structure of SDO-request by the Master
COB-ID
600+Node-ID
DLC
Byte 1
8
CMD
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Sub-Index
Data
Data
Byte 7
Byte 8
CMD determines the direction of data transfer and the size of the data object:
23 hex Sending of 4-byte data (bytes 5...5 contain a 32-bit value)
2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value)
2F hex Sending of 1-byte data (byte 5 contains an 8-bit value)
Structure of SDO-answer by the Slave
COB-ID
580+Node-ID
DLC
Byte 1
8
RES
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Byte 7
00h
Byte 8
00h
Sub-Index
RES Response of the slave:
60 hex Data sent successfully
80 hex Error,
With the aim to preset the X angle to 0.00° write (in the example the Node-ID = 0x7F).
ID
67Fh
Byte 1
2Bh
Byte 2
12h
Byte 3
60h
Byte 4
00h
Byte 5
00h
Byte 6
00h
Object:
6012h
0
Slop
Longitudinal
Preset Value
Signed 16
Rw
-
Corrects the measured sensor
value. The displayed value Slop
Longitudinal is set to the entered
value. The offset is indicated in the
index 0x6013
The answer after successful storing you will receive is:
ID
5FFh
36
Byte 1
60h
Byte 2
12h
Byte 3
60h
Byte 4
00h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
With the aim to save functionality write the “save” command as below:
Write (in the example the Node-ID = 0x7F)
ID
67Fh
Byte 1
23h
Byte 2
10h
Byte 3
10h
Byte 4
01h
Byte 5
73h
Byte 6
61h
Byte 7
76h
Byte 8
65h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
Note: save command is given by sending the code:
73h
61h
76h
Where:
65h
73h = in ASCII code
“s”
61h = in ASCII code
“a”
76h = in ASCII code
“v”
65h = in ASCII code
“e”
The answer after successful storing you will receive is:
ID
5FFh
Byte 1
60h
Byte 2
10h
Byte 3
10h
Byte 4
01h
IMPORTANT NOTE:
After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
37
Example 6) How to set the angle Y to 0.00° (in case of dual axis ±10°…±90°).
The values "...Preset Value" (Idx 60x2) and "Differential ...Offset" (Idx 60x4) affects the display of the longitudinal and lateral
axis. The value entered in "...Preset Value" immediately corrects the measured value of the sensor cell at the instant tacc.
A typical application is the compensation of display errors due to mounting (e.g. sensor zeroing). The sensor must first be
brought to a defined position. The value "Differential ...Offset" shifts the displayed value of the sensor by the entered value. A
set "...Preset Value" does not affect shifting.
Note that the resolution parameter must be set before aligning the sensor (resolution, Idx 6000)!
With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain
data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.
Structure of SDO-request by the Master
COB-ID
600+Node-ID
DLC
Byte 1
8
CMD
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Sub-Index
Data
Data
Byte 7
Byte 8
CMD determines the direction of data transfer and the size of the data object:
23 hex Sending of 4-byte data (bytes 5...5 contain a 32-bit value)
2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value)
2F hex Sending of 1-byte data (byte 5 contains an 8-bit value)
Structure of SDO-answer by the Slave
COB-ID
580+Node-ID
DLC
Byte 1
8
RES
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Byte 7
00h
Byte 8
00h
Sub-Index
RES Response of the slave:
60 hex Data sent successfully
80 hex Error,
With the aim to preset the Y angle to 0.00° write (in the example the Node-ID = 0x7F).
ID
67Fh
Byte 1
2Bh
Byte 2
22h
Byte 3
60h
Byte 4
00h
Byte 5
00h
Byte 6
00h
Object:
Slop Lateral
6022h
0
Preset Value
Signed 16
Rw
-
Corrects the measured sensor
value. The displayed value Slop
Lateral is set to the entered value.
The offset is indicated in the index
0x6023
The answer after successful storing you will receive is:
ID
5FFh
38
Byte 1
60h
Byte 2
22h
Byte 3
60h
Byte 4
00h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
With the aim to save functionality write the “save” command as below:
Write (in the example the Node-ID = 0x7F)
ID
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
67Fh
23h
10h
10h
01h
73h
61h
76h
65h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
Note: save command is given by sending the code:
73h
61h
76h
Where:
65h
73h = in ASCII code
“s”
61h = in ASCII code
“a”
76h = in ASCII code
“v”
65h = in ASCII code
“e”
The answer after successful storing you will receive is:
ID
5FFh
Byte 1
60h
Byte 2
10h
Byte 3
10h
Byte 4
01h
IMPORTANT NOTE:
After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
39
Example 7) How to set the angle Z to 0.00° (in case of single axis ±180°).
The values "...Preset Value" (Idx 60x2) and "Differential ...Offset" (Idx 60x4) affects the display of the longitudinal and lateral
axis. The value entered in "...Preset Value" immediately corrects the measured value of the sensor cell at the instant tacc.
A typical application is the compensation of display errors due to mounting (e.g. sensor zeroing). The sensor must first be
brought to a defined position. The value "Differential ...Offset" shifts the displayed value of the sensor by the entered value. A
set "...Preset Value" does not affect shifting.
Note that the resolution parameter must be set before aligning the sensor (resolution, Idx 6000)!
With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain
data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.
Structure of SDO-request by the Master
COB-ID
600+Node-ID
DLC
Byte 1
8
CMD
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Sub-Index
Data
Data
Byte 7
Byte 8
Byte 7
Byte 8
Byte 7
00h
Byte 8
00h
CMD determines the direction of data transfer and the size of the data object:
23 hex Sending of 4-byte data (bytes 5...5 contain a 32-bit value)
2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value)
2F hex Sending of 1-byte data (byte 5 contains an 8-bit value)
Structure of SDO-answer by the Slave
COB-ID
580+Node-ID
DLC
Byte 1
8
RES
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Sub-Index
RES Response of the slave:
60 hex Data sent successfully
80 hex Error,
With the aim to preset the Z angle to 0.00° write (in the example the Node-ID = 0x7F).
ID
67Fh
Byte 1
2Bh
Byte 2
12h
Byte 3
60h
Byte 4
00h
Byte 5
00h
Byte 6
00h
Object:
6012h
0
Slop Lateral
Preset Value
Signed 16
Rw
-
Byte 4
00h
Byte 5
00h
Corrects the measured
sensor value. The displayed
value Slop Lateral is set to
the entered value. The offset
is indicated in the index
0x6013
The answer after successful storing you will receive is:
ID
5FFh
40
Byte 1
60h
Byte 2
12h
Byte 3
60h
Byte 6
00h
Byte 7
00h
Byte 8
00h
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
With the aim to save functionality write the “save” command as below:
Write (in the example the Node-ID = 0x7F)
ID
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
67Fh
23h
10h
10h
01h
73h
61h
76h
65h
Note: save command is given by sending the code:
73h
61h
76h
Where:
65h
73h = in ASCII code
“s”
61h = in ASCII code
“a”
76h = in ASCII code
“v”
65h = in ASCII code
“e”
The answer after successful storing you will receive is:
ID
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
5FFh
60h
10h
10h
01h
00h
00h
00h
00h
IMPORTANT NOTE:
After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
41
Example 8) How to invert the direction (from CW to CCW) in angle Z (in case of single axis ±180°)
The values "...Preset Value" (Idx 60x2) and "Differential ...Offset" (Idx 60x4) affects the display of the longitudinal and lateral
axis. The value entered in "...Preset Value" immediately corrects the measured value of the sensor cell at the instant tacc.
A typical application is the compensation of display errors due to mounting (e.g. sensor zeroing). The sensor must first be
brought to a defined position. The value "Differential ...Offset" shifts the displayed value of the sensor by the entered value. A
set "...Preset Value" does not affect shifting.
Note that the resolution parameter must be set before aligning the sensor (resolution, Idx 6000)!
With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain
data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.
Structure of SDO-request by the Master
COB-ID
600+Node-ID
DLC
Byte 1
8
CMD
Byte 2
Byte 3
Index
Byte 4
Byte 5
Sub-Index
Data
Byte 6
Byte 7
Byte 8
Byte 6
Byte 7
Byte 8
CMD determines the direction of data transfer and the size of the data object:
23 hex Sending of 4-byte data (bytes 5...5 contain a 32-bit value)
2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value)
2F hex Sending of 1-byte data (byte 5 contains an 8-bit value)
Structure of SDO-answer by the Slave
COB-ID
580+Node-ID
DLC
Byte 1
8
RES
Byte 2
Byte 3
Index
Byte 4
Byte 5
Sub-Index
RES Response of the slave:
60 hex Data sent successfully
80 hex Error,
With the aim to invert the direction (from CW to CCW) in angle Z (in the example the Node-ID = 0x7F).
ID
67Fh
Byte 1
2Fh
Byte 2
11h
Byte 3
60h
Byte 4
00h
Byte 5
03h
Byte 6
00h
Byte 7
00h
Byte 8
00h
Object:
Inverting the sign
6011h
0
Slop Lateral
Preset Value
Unsigned 8
Rw
0x02 (2d)
0b 0000 00x0 deactivated
0b 0000 00x1 activated
The answer after successful storing you will receive is:
ID
5FFh
42
Byte 1
60h
Byte 2
11h
Byte 3
60h
Byte 4
00h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
With the aim to save functionality write the “save” command as below:
Write (in the example the Node-ID = 0x7F)
ID
67Fh
Byte 1
23h
Byte 2
10h
Byte 3
10h
Byte 4
01h
Byte 5
73h
Byte 6
61h
Byte 7
76h
Byte 8
65h
Note: save command is given by sending the code:
73h
61h
76h
Where:
65h
73h = in ASCII code
“s”
61h = in ASCII code
“a”
76h = in ASCII code
“v”
65h = in ASCII code
“e”
The answer after successful storing you will receive is:
ID
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
5FFh
60h
10h
10h
01h
00h
00h
00h
00h
IMPORTANT NOTE:
After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
43
Example 9) How to change the resolution from ±0.05° to ±0.01°
With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain
data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.
Structure of SDO-request by the Master
COB-ID
600+Node-ID
DLC
Byte 1
8
CMD
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Sub-Index
Data
Data
Byte 7
Byte 8
Byte 7
Byte 8
CMD determines the direction of data transfer and the size of the data object:
23 hex Sending of 4-byte data (bytes 5...5 contain a 32-bit value)
2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value)
2F hex Sending of 1-byte data (byte 5 contains an 8-bit value)
Structure of SDO-answer by the Slave
COB-ID
580+Node-ID
DLC
Byte 1
8
RES
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Sub-Index
RES Response of the slave:
60 hex Data sent successfully
80 hex Error,
With the aim to change the resolution from ± 0.05° (0x32) to ±0.01° (0x0A) write (in the example the Node-ID = 0x7F).
ID
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
67Fh
2Bh
00h
60h
00h
0Ah
00h
00h
00h
Object:
Display resolution of the inclination
for both axes(1)
10d = Inclination is indicated as
signed int in 0.01°
50d = Inclination is indicated as
signed int in 0.05°
100d = Inclination is indicated as
signed int in 0.1°
500d = Inclination is indicated as
signed int in 0.5°
6000h
0
Resolution
Unsigned 16
Rw
0x32 (50d)
1000d = Inclination is indicated as
signed int in 1.0°
Note: If the display resolution is
changed all offset values or zero
point values which may have been
entered are deleted. Therefore
the sensor must be set before it is
aligned!
(1) A change of the display
resolution in Idx 6000 is only
accepted, if the scaling in Idx 6011
and Idx 6021 is activated.
The answer after successful storing you will receive is:
44
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
ID
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
5FFh
60h
00h
60h
00h
00h
00h
00h
00h
With the aim to save functionality write the “save” command as below:
Write (in the example the Node-ID = 0x7F)
ID
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
67Fh
23h
10h
10h
01h
73h
61h
76h
65h
Byte 5
Byte 6
Byte 7
Byte 8
Note: save command is given by sending the code:
73h
61h
76h
Where:
65h
73h = in ASCII code
“s”
61h = in ASCII code
“a”
76h = in ASCII code
“v”
65h = in ASCII code
“e”
The answer after successful storing you will receive is:
ID
5FFh
Byte 1
60h
Byte 2
10h
Byte 3
10h
Byte 4
01h
00h
00h
00h
00h
IMPORTANT NOTE:
After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
45
Example 10) How to change the Filter Setting from FAST (Filter = 2) to SLOW (Filter = 0)
With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain
data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.
Structure of SDO-request by the Master
COB-ID
600+Node-ID
DLC
Byte 1
8
CMD
Byte 2
Byte 3
Index
Byte 4
Byte 5
Sub-Index
Data
Byte 6
Byte 7
Byte 8
Byte 6
Byte 7
Byte 8
CMD determines the direction of data transfer and the size of the data object:
23 hex Sending of 4-byte data (bytes 5...5 contain a 32-bit value)
2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value)
2F hex Sending of 1-byte data (byte 5 contains an 8-bit value)
Structure of SDO-answer by the Slave
COB-ID
580+Node-ID
DLC
Byte 1
8
RES
Byte 2
Byte 3
Index
Byte 4
Byte 5
Sub-Index
RES Response of the slave:
60 hex Data sent successfully
80 hex Error,
With the aim to change the filter settings from FAST response (0x02) to SLOW response (0x00) write (in the example
the Node-ID = 0x7F).
ID
67Fh
Byte 1
2Fh
Byte 2
01h
Byte 3
20h
Byte 4
00h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
Object:
Filter = 0 Slow
2001h
0
Filter Setting
Unsigned 8
Rw
2
Filter = 1 Medium
Filter = 2 Fast
The answer after successful storing you will receive is:
ID
5FFh
46
Byte 1
60h
Byte 2
01h
Byte 3
20h
Byte 4
00h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
The answer after successful storing you will receive is
Write (in the example the Node-ID = 0x7F)
ID
67Fh
Byte 1
23h
Byte 2
10h
Byte 3
10h
Byte 4
01h
Byte 5
73h
Byte 6
61h
Byte 7
76h
Byte 8
65h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
Note: save command is given by sending the code:
73h
61h
76h
Where:
65h
73h = in ASCII code
“s”
61h = in ASCII code
“a”
76h = in ASCII code
“v”
65h = in ASCII code
“e”
The answer after successful storing you will receive is:
ID
5FFh
Byte 1
60h
Byte 2
10h
Byte 3
10h
Byte 4
01h
IMPORTANT NOTE:
After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
47
Example 11) How to send the command RESTORE
With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain
data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.
Structure of SDO-request by the Master
COB-ID
600+Node-ID
DLC
Byte 1
8
CMD
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Sub-Index
Data
Data
Data
Data
CMD determines the direction of data transfer and the size of the data object:
23 hex Sending of 4-byte data (bytes 5...5 contain a 32-bit value)
2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value)
2F hex Sending of 1-byte data (byte 5 contains an 8-bit value)
Structure of SDO-answer by the Slave
COB-ID
580+Node-ID
DLC
Byte 1
8
RES
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Sub-Index
Data
Data
Data
Data
Byte 7
61h
Byte 8
64h
RES Response of the slave:
60 hex Data sent successfully
80 hex Error,
With the aim to restore all parameters to default write (in the example the Node-ID = 0x7F)
ID
67Fh
Byte 1
23h
Byte 2
11h
Byte 3
10h
Byte 4
01h
Byte 5
6Ch
Byte 6
6Fh
Object:
1011h
1
Load all parameters
Unsigned 8
"load"
(0x64616F6C)
to
restore
all
parameters
(objects with marking PARA
and LSS-PARA).
Wo
The answer after successful storing you will receive is:
ID
5FFh
Byte 1
60h
Byte 2
11h
Byte 3
10h
Byte 4
01h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).
48
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
Example 12) How to disable the Asynchronous Transmission (Asynchronous TPDO inactive)
With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain
data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.
Structure of SDO-request by the Master
COB-ID
600+Node-ID
DLC
Byte 1
8
CMD
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Sub-Index
Data
Data
Byte 7
Byte 8
Byte 7
Byte 8
CMD determines the direction of data transfer and the size of the data object:
23 hex Sending of 4-byte data (bytes 5...5 contain a 32-bit value)
2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value)
2F hex Sending of 1-byte data (byte 5 contains an 8-bit value)
Structure of SDO-answer by the Slave
COB-ID
580+Node-ID
DLC
Byte 1
8
RES
Byte 2
Byte 3
Index
Byte 4
Byte 5
Byte 6
Sub-Index
RES Response of the slave:
60 hex Data sent successfully
80 hex Error,
With the aim to disable the asynchronous transmission write theSDO (in the example the Node-ID = 0x7F)
ID
67Fh
Byte 1
2Bh
Byte 2
00h
Byte 3
18h
Byte 4
05h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
Object:
0
1
1800h
2
1st Transmit PDO Parameter
COB-ID Trans PDO
Transmission Type
Trans PDO - PARA
Unsigned 8
Unsigned 32
Ro
Ro
180h + Node-ID
Unsigned 8
Rw
254 (0xFE)
0x01...0xF0 = synch cyclic
Outputs are only updated
after "n" synch objects.
n = 0x01 (1) ... 0xF0 (240)
0xFC not implemented
0xFD not implemented
0xFE = asynchronous
5
Event timer Trans PDO- PARA
Unsigned 16
Rw
100 (0x64)
0xFF = not implemented
0 = inactive
Min= 4 & Max=65535 with
unit = 1ms
The answers after successful storing you will receive is:
ID
5FFh
Byte 1
60h
Byte 2
00h
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
Byte 3
18h
Byte 4
05h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
49
With the aim to save functionality write the “save” command as below:
Write (in the example the Node-ID = 0x7F)
ID
67Fh
Byte 1
23h
Byte 2
10h
Byte 3
10h
Byte 4
01h
Byte 5
73h
Byte 6
61h
Byte 7
76h
Byte 8
65h
Note: save command is given by sending the code:
73h
61h
76h
Where:
65h
73h = in ASCII code
“s”
61h = in ASCII code
“a”
76h = in ASCII code
“v”
65h = in ASCII code
“e”
The answer after successful storing you will receive is:
ID
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
5FFh
60h
10h
10h
01h
00h
00h
00h
00h
IMPORTANT NOTE:
After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).
50
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
Example 13) How to enable the Synchronous Transmission (Synchronous TPDO active after 1st sync message)With
Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain
data of arbitrary size and data type SDOs can be used to transfer multiple data sets from a client to a server and vice versa.
Structure of SDO-request by the Master
COB-ID
600+Node-ID
DLC
Byte 1
8
CMD
Byte 2
Byte 3
Index
Byte 4
Byte 5
Sub-Index
Data
Byte 6
Byte 7
Byte 8
Byte 6
Byte 7
Byte 8
CMD determines the direction of data transfer and the size of the data object:
23 hex Sending of 4-byte data (bytes 5...5 contain a 32-bit value)
2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value)
2F hex Sending of 1-byte data (byte 5 contains an 8-bit value)
Structure of SDO-answer by the Slave
COB-ID
580+Node-ID
DLC
Byte 1
8
RES
Byte 2
Byte 3
Index
Byte 4
Byte 5
Sub-Index
RES Response of the slave:
60 hex Data sent successfully
80 hex Error,
With the aim to enable the synchronous transmission with TPDO active after 1st sync message, write the SDO (in the
example the Node-ID = 0x7F)
ID
67Fh
Byte 1
2Fh
Byte 2
00h
Byte 3
18h
Byte 4
02h
Byte 5
01h
Byte 6
00h
Byte 7
00h
Byte 8
00h
Object:
0
1
1800h
2
1st Transmit PDO Parameter
COB-ID Trans PDO
Transmission Type
Trans PDO- PARA
Unsigned 8
Unsigned 32
Ro
Ro
180h + Node-ID
Unsigned 8
Rw
254 (0xFE)
0x01...0xF0 = synch cyclic
Outputs are only updated
after "n" synch objects.
n = 0x01 (1) ... 0xF0 (240)
0xFC not implemented
0xFD not implemented
0xFE = asynchronous
0xFF = not implemented
0 = inactive
5
Event timer Trans PDO- PARA Unsigned 16
Rw
100 (0x64)
Min= 4 & Max=65535
with unit = 1ms
The answers after successful storing you will receive is:
ID
5FFh
Byte 1
60h
Byte 2
00h
85203B_GIT-CANopen_Operative Manual_03-2019_ENG
Byte 3
18h
Byte 4
02h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
51
With the aim to save functionality write the “save” command as below:
Write (in the example the Node-ID = 0x7F)
ID
67Fh
Byte 1
23h
Byte 2
10h
Byte 3
10h
Byte 4
01h
Byte 5
73h
Byte 6
61h
Byte 7
76h
Byte 8
65h
Note: save command is given by sending the code:
73h
61h
76h
65h
Where:
73h = in ASCII code
“s”
61h = in ASCII code
“a”
76h = in ASCII code
“v”
65h = in ASCII code
“e”
The answer after successful storing you will receive is:
ID
5FFh
Byte 1
60h
Byte 2
10h
Byte 3
10h
Byte 4
01h
Byte 5
00h
Byte 6
00h
Byte 7
00h
Byte 8
00h
IMPORTANT NOTE:
After setting the new entries a reset must be made so that the new entries become valid (switch off the module for a short time).
GEFRAN spa
via Sebina, 74 - 25050 PROVAGLIO D’ISEO (BS) - ITALIA
tel. 0309888.1 - fax. 0309839063 Internet: http://www.gefran.com

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