Gefran GSF Linear by wire User Manual

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Gefran GSF Linear by wire User Manual | Manualzz

CANopen GSF digital output

1 Safety Instruction

2 Introduction

3 Electrical Connections

4 Network Management (NMT)

5 Baude Rate

6 Node-ID

7 Parameter Settings

8 Restore Default Parameter

9 Heartbeat

10 Error Handling

11 SDO Communication

12 PDO Communication and Length Calculation

13 CANopen Features Summary

14 S tatus LED

15 C ommunication Examples

SUMMARY

Code 85204B Edition 03-2019

85204B_GSF-CANopen_Operative manual_03-2019_ENG 1

2

1.SAFETY INSTRUCTION

If total failure or malfunction of the sensor can cause danger or injury to the operator or damage to the machinery or equipment it is recommended that additional safety measures should be incorporated into the system.

Any alteration, reconstruction or extension of the sensor is not allowed. Sensor must be operated only within values specified in the datasheet.

Connection to power supply must be performed in accordance with safety instructions for electrical facilities and performed only by trained staff.

Disregard of this advice can lead to malfunctions, damage to property or personal injury and releases the manufacturer from product liability.

Precautions

Do not open sensor

Release of spring under tension can result in injury!

Do not snap cable

Uncontrolled cable retraction can break off cable fixing.

Broken fixing and cable can result in injury. Also sensor will be damaged!

Do not travel over range

Uncontrolled cable retraction can result in injury. Also sensor will be damaged!

Special attention during mounting and operation of metal cable sensors

Risk of injury by the measuring cable!

Sensors without cover / housing (OEM sensors)

Risk of injury by moving parts. Mounting and operation of the sensor only with appropriate safety equipment that an injury is impossible!

Do not exceed maximum operating voltage listed in the catalog

Risk of injury. Sensor will be damage.

Before connecting the sensor to the CANbus the devices have to be checked for correct bitrate and unique node-IDs. Both parameters are configurable by Layer-Setting-Service (LSS) or by Service

Data Object (SDO).

After power-on the sensor will enter pre-operational state and send a bootup message being ready for configuration by Service Data Objects. Parameters configured by the user can be stored nonvolatile by SAVE command.

On receiving„ „NMT-Node-Start“the sensor transits to operational state and starts process data transmission.

When „Auto-Start“is configured the sensor will automatically transit to operational after boot-up without a need for the Node-Start message. Node monitoring is supported by Heartbeat protocol.

The Heartbeat protocol provides automatic transmission of the node status (heartbeat message) by the slave within producer heartbeat time window.

Following the CAN example protocols included in this manual the sensor may be used without

CANopen master device.

Do not damage cable!

Cable must not be oiled or lubricated!

Do not snap cable!

Do not travel over range!

Do not crack cable!.

Cable travel should be axial to the cable outlet (no misalignment allowed!)

Do not drag cable along objects!

Do not let snap the cable

Uncontrolled retraction of cable may damage sensor.

No warranty will be granted for snapped cables

Mounting hints for unfavorable conditions

If possible fasten cable fixing with cable in retracted position.

For example, fit a mounting loop and put it around your wrist.

Do not remove the mounting loop before the cable ist fastened.

The cable clip may be opened for easy attachment.

Mounting

To ensure proper operation, install the sensor only as described in this manual.

85204B_GSF-CANopen_Operative manual_03-2019_ENG

2. INTRODUCTION

The purpose of GSF position sensors is to transform position of a linear and guided movement into an electrical signal.

Specifications of measuring range, environment, handling and connections as specified in the catalog, must be followed.

The catalog is part of this instruction manual. If the catalog is not available it may be requested by stating the respective model number. Linear motion of the measuring cable (flexible stainless steel) is converted into rotation by means of a precision cable drum. A spring motor provides torque for the cable retraction. Special design assures precise and reproducible winding of the measuring cable. Cable extraction or retraction is transformed into an electrical signal.

The sensor is based on state-of-the-art multiturn potentiometric 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-406 Device Profile for encoder 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.

85204B_GSF-CANopen_Operative manual_03-2019_ENG 3

3. ELECTRICAL CONNECTIONS

For the connections refer to following images:

SINGLE VERSION

CONEC connector M12x1

4 pin 43-01088

REDUNDANT VERSION

CONNECTIONS

1 +SUPPLY

2 GROUND

3 OUTPUT

4 n.c.

CONNECTIONS

1 +SUPPLY

2 GROUND

3 CANH

4 CANL

CONEC connector M12x1

8 pin 43-01100

CONNECTIONS

1 +SUPPLY

2 GROUND

3 OUTPUT 1

4 n.c.

5 +SUPPLY

6 GROUND

7 OUTPUT 2

8 n.c.

CONNECTIONS

1 +SUPPLY

2 GROUND

3 CANH1

4 CANL1

5 +SUPPLY

6 GROUND

7 CANH2

8 CANL2

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.

4 85204B_GSF-CANopen_Operative manual_03-2019_ENG

4. NETWORK MANAGEMENT (NMT)

The device supports CANopen network management functionality NMT Slave (Minimum Boot Up):

Boot

Reset

Control

State

Machine

Pre-

Operational

Stopped

Operational

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 Com-

munication 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 messages supported

NMT Message

Start Remote Node

Stop Remote Node

Pre-operational State

Reset Node

Reset Communication

* Node-ID = Drive address ( da 1 a 7Fh)

COB-ID

0

0

0

0

0

Data Bytes 1

01h

02h

80h

81h

82h

Data Bytes 2

Node-ID*

Node-ID*

Node-ID*

Node-ID*

Node-ID*

Table 2 NMT message construction

Arbitration Field

COB-ID RTR

000h 0

Data Field

Byte 1

See Table 1

Byte 2

See Table2

Byte 3 Byte 4 Byte 5 Byte 6

These bytes not sent

Byte 7 Byte 8

85204B_GSF-CANopen_Operative manual_03-2019_ENG 5

5. 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!

6. 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!

7. 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.

8. RESTORE DEFAULT PARAMETERS

All object dictionary parameters (objects with marking PARA) can be restored to factory default values via SDO communication (index 0x1011).

9. 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

700+Nodo-ID

Byte

Content

0

NMT State

6 85204B_GSF-CANopen_Operative manual_03-2019_ENG

10. 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

Description

¹⁾ Error Code

²⁾ Always 0

Emergency

Error Code

¹⁾

Error Register

(object 0x1001²⁾ )

Manufacturer specific error code

(always 0x00)

Manufacturer specific error code

(object 0x4001)

0x0000 Error Reset or no Error (Error Register = 0

0x1000 Generic error

Byte6

Byte7

Byte8

Manufacturer specific error code

NOT IMPLEMENTED

(always 0x00)

Supported Manufacturer Specific Error Codes (object 0x4001)

Manufacturer Specific Error

Code (bit field)

0bxxxxxxx1

0bxxx1xxxx )

0bxx1xxxxx

0bx1xxxxxx

Description

Generic Error

(e.g. potentiometric signal under/above limits, temperature under/above limits )

Program checksum error

Flash limit reached - error

LSS Parameter checksum error

85204B_GSF-CANopen_Operative manual_03-2019_ENG 7

11. COMMUNICATION AND READ/WRITE COMMANDS

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

600+Node-ID

DLC

8

Byte 1

CMD

Structure of SDO-answer by the Slave

Byte 2

Index

Byte 3 Byte 4 Byte 5

Sub-Index Data

Byte 6

Data

Byte 7

Data

Byte 8

Data

COB-ID

580+Node-ID

DLC

8

Byte 1

RES

Byte 2

Index

Byte 3 Byte 4 Byte 5

Sub-Index Data

Byte 6

Data

Byte 7

Data

Byte 8

Data

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 nonexisting 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,

8 85204B_GSF-CANopen_Operative manual_03-2019_ENG

12. PDO COMMUNICATION and Length Calculation

Transmit PDO #0 – Length calculation GSF-xxx

This PDO transmits the length value of the position 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

Description POSITION VALUE

(object 0x6004)

Low-Byte LSB

POSITION VALUE

(object 0x6004)

POSITION VALUE

(object 0x6004)

POSITION VALUE

(object 0x6004)

High-Byte MSB

12.1 EXAMPLE 1: TPDO #0 length 0.0 mm

In the following figures an example of PDO mapping is reported in the case of:

Node-ID = 7Fh

Baude-rate = 250 kBaud

Linear-encoder Cia406 setting as follow:

Ⅰ. Total Measuring Range (object 0x6002.0) = 8000 mm (800 steps x 10 mm)

Ⅱ. Preset Value (object 0x6003.0) = 0 mm (0 steps x 10 3 nm)

Ⅲ. Measuring Step (object 0x6005.0) = 1 mm (500 steps x 10 3 nm)

Ⅳ. Position Value (object 0x6004.0):

0.00% 100.00%

Byte5

Byte6

Byte7

Byte8

(0x00)

0.0 mm

8000.0 mm

ID

1FFh

Byte1

00h

Position Value:

Byte 1 LSB (00h) = 00h

Byte 2 = 00h

Byte 3 = 00h

Byte 4 (MSB) = 00h

Byte2

00h

Byte3

00h

Byte4

00h

Byte5

00h

Position Value = 00000000h to decimal 0d (resolution 1 mm) = 0 mm

85204B_GSF-CANopen_Operative manual_03-2019_ENG

Byte6

00h

Byte7

00h

Byte8

00h

9

12.2 EXAMPLE 2: TPDO #0 length 2000.0 mm

In the following figures an example of PDO mapping is reported in the case of:

Node-ID = 7Fh

Baude-rate = 250 kBaud

Linear-encoder Cia406 setting as follow:

Ⅰ. Total Measuring Range (object 0x6002.0) = 8000 mm (800 steps x 10 mm)

Ⅱ. Preset Value (object 0x6003.0) = 0 mm (0 steps x 10 3 nm)

Ⅲ. Measuring Step (object 0x6005.0) = 1 mm (500 steps x 10 3 nm)

Ⅳ. Position Value (object 0x6004.0):

0.00% 25.00% 100.00%

2000.0 mm

0.0 mm

8000.0 mm

ID

1FFh

Byte1

A0h

Byte2

0Fh

Byte3

00h

Byte4

00h

Byte5

00h

Byte6

00h

Position Value:

Byte 1 (LSB) = A0h

Byte 2 = 0Fh

Byte 3 = 00h

Byte 4 (MSB) = 00h

Position Value = 00000FA0h to decimal 4000d (resolution 1mm) = 2000.0 mm

Byte7

00h

Byte8

00h

10 85204B_GSF-CANopen_Operative manual_03-2019_ENG

12.3 EXAMPLE 3: TPDO #0 length 4800.0 mm

In the following figures an example of PDO mapping is reported in the case of:

Node-ID = 7Fh

Baude-rate = 250 kBaud

Linear-encoder Cia406 setting as follow:

Ⅰ. Total Measuring Range (object 0x6002.0) = 8000 mm (800 steps x 10 mm)

Ⅱ. Preset Value (object 0x6003.0) = 0 mm (0 steps x 10 3 nm)

Ⅲ. Measuring Step (object 0x6005.0) = 1 mm (500 steps x 10 3 nm)

Ⅳ. Position Value (object 0x6004.0):

0.00% 60.00% 100.00%

0.0 mm

8000.0 mm

4800.0 mm

ID

1FFh

Byte1

80h

Byte2

25h

Byte3

00h

Byte4

00h

Byte5

00h

Position Value:

Byte 1 (LSB) = 80h

Byte 2 = 25h

Byte 3 = 00h

Byte 4 (MSB) = 00h

Position Value = 00002580h to decimal 9600d (resolution 1 mm) = 4800.0 mm

Byte6

00h

Byte7

00h

Byte8

00h

85204B_GSF-CANopen_Operative manual_03-2019_ENG 11

13. 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

1000h

1001h

1005h

1008h

1009h

100Ah

1010h

1011h

1014h

Sub

Index

0

1

0

0

1

Name

Device Profile

Error Register

COB-ID SYNC

Manufacturer Device

Name

Manufacturer HW Version

Manufacturer SW Version

Number of Entries

Save all Parameters

Restore Default

Parameters

Load all parameters

Emergency ID

Type

Unsigned 32

Unsigned 8

Unsigned 32

String

String

String

Unsigned 8

Unsigned 32

Unsigned 8

Unsigned 32

Unsigned 32

Access

Ro

Ro

Rw

Const

Const

Const

Ro

Wo

Ro

Wo

Ro

Default value

0x0008019A

0x00

0x00000080

“GSF”

“1.00”

“1.10”

1

1

0x80 + Nodo-ID

Comments

Profile DS-406: Device Profile for encoder.

Always ZERO

Always ZERO

Refer to GEFRAN products catalogue:

GSF: Draw wire sensor

“save” (0x65766173) to store all parameters

(objects with marking PARA)

"load" (0x64616F6C) to restore all parameters (objects with marking PARA and LSS-PARA).

1017h 0

Producer Time / Heart

Beat -PARA

Unsigned 16 Rw 0

Min= 0 & Max=65535 with unit = 1ms

If 0: NOT USED

From 1 to 19 NOT ACCEPTED

From 20 to 65535 ACCEPTED

1018h

1200h

0

1

0

1

2

3

4

2

0

1

Identity Object

Vendor ID

Product Code

Revision Number

Serial Number

SDO Server Parameter

Number of Entries

COB-ID Client to Server

(Rx)

COB-ID Server to Server

(Tx)

Tx PDO #0 Parameter

COB-ID Trans PDO

Unsigned 8

Unsigned 32

Unsigned 32

Unsigned 32

Unsigned 32

Unsigned 8

Unsigned 32

Unsigned 32

Unsigned 8

Unsigned 32

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

Ro

4

0x0000093

0x0000067

0x0000001

0x0000000

2

0x600+ Node-ID

Refer to “Gefran Product

Overview CANopen”

Gefran Vendor ID:0x0000093

1800h

1802h

2

5

0

1

2

5

Transmission Type

Trans PDO - PARA

Event timer Trans PDO-

PARA

Tx PDO #2 Parameter

COB-ID Trans PDO

Transmission Type

Trans PDO

Unsigned 16

Unsigned 8

Unsigned 32

Unsigned 8

Event Timer Trans

PDO- PARA

Unsigned 8

Unsigned 16

Rw

Rw

Ro

Ro

Rw

Rw

0x580+ Node-ID

5

180h + Node-ID

254 (0xFE)

100 (0X64)

0x01...0xF0 = synch cyclic

Outputs are only updated after "n" synch objects.

n = 0x01 (1) ... 0xF0 (240)

0xFC not implemented

0xFD not implemented

0xFE = asynch

0xFF = not implemented

0 = Inactive

Min= 4 & Max=65535 with unit = 1ms

5

380h + Node-ID 0x01...0xF0 = synch cyclic Outputs are only

254 (0xFE) updated after "n" synch objects.

n = 0x01 (1)...0xF0 (240)

100 (0x64

0xFC not implemented

0xFD not implemented

0xFE = asynch

0xFF = not implemented

0= inactive

Min=4 & Max=65535 with unit = 1ms

1A00h 0

1

1A02h 0

1

Tx PDO [X ] 0 Mapping Parameter

Number of entries Unsigned 8

1 ° Mapped Object Unsigned 32

Tx PDO [X ] 2 Mapping Parameter

Number of entries

1 ° Mapped Object

Unsigned 8

Unsigned 32

Ro

Ro

Ro

Ro

1

0x60040020

1

0x63000108

Wire Length is indicated in Idx 6004

Wire Length is indicated in Idx 6300

12 85204B_GSF-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

20F0h

Sub

Index

0

20F1h 0

Name

Setting of the Node ID

Setting of the Node ID

Type

Unsigned 8

Unsigned 8

Access

Rw

Rw

Default value

0x7F (=127d)

0x7F (=127d)

Comments

The node ID used to access the sensor in the CANopen network

The node ID used to access thes ensor 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).

Index

Sub

Index

Name

20F2h

20F3h

0

0

Setting of the

Baude rate

Setting of the

Baude rate

Type

Unsigned 8

Unsigned 8

Access

Rw

Rw

Default value

0x03

(250 kBaud)

0x03

(250 kBaud)

Comments

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

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).

85204B_GSF-CANopen_Operative manual_03-2019_ENG 13

Manufacturer Specific Profile Objects

In this section you will find the manufacturer specific profile indices for the transducer.

Index

Sub

Index

4000h

4001h

5000h

5001h

Name

Error

Behavior - PARA

Error code

Automatic NMT

Start after Power-On -

PARA

PDO coding used-PARA

Type

Unsigned 8

Unsigned 8

Unsigned 8

Unsigned 8

Access

Rw

Ro

Rw

Rw

Default value

1

0

0

1

Comments

0: Pre-operational

1: no state change

2: stopped Min=0 & Max=255

0: no error Min=0 & Max=255

0:not activated,

1: activated Min=0 & Max=1

0:Big Endian;

1: Little Endian

Manufacturer Specific Profile Objects (according to CiA DS-406)

In this section you will find the manufacturer specific profile indices for the transducer as LINEAR ENCODER.

Index

Sub

Index

Name Type Access

6000h

6002h

6003h

6004h

6005h

0

0

0

0

0

Operating Parameters

-PARA

Unsigned 16

Total Measuring Range Unsigned 32

Preset Value

Position Value

Measuring Steps

Unsigned 32

Unsigned 32

Unsigned 32

Ro

Ro

Rw

Ro

Rw

Default value

0x00 (0d)

-

-

0x00 (0d)

0x000003E8

(1000d)

10 3 nm

Comments

Contain the functions for code sequence, commissioning diagnostic control and scaling function control. (*)

Optional functions NOT activated in standard versions (always 0x00).

Measuring range in 10 mmm steps.

Example :

Measuring Range 8000 mm

Total Measuring Range = 0x0320 (800d)

The Preset function supports adaption of the

GSF zero point to the mechanical zero point of the system.

The output position value is set to the parameter „Preset value“ and the offset from the position value is calculated and stored in the

GSF

The object 6004h „Position value“ defines the output position value for the communication objects 1800h.

The parameter „Linear encoder measuring step settings“defines the measuring step settings for the position value.

10 3 … 10 6 nm

In this section you will find the manufacturer specific profile indices for the transducer as CAM ( optional functions NOT activated in standard version )

Index

Sub

Index

Name Type Access

6300h

6301h

0

0

CAM State Register Unsigned 8

CAM Enable Register Unsigned 8

Ro

Rw

Default value

0x00 (0d)

0x00 (0d)

Comments

The parameter „Cam state register“ defines the status bit of the cam in a cam channel.

The status bit set to 1 defines „cam active“.

The status bit set to 0 defines „cam inactive“.

If the polarity bit of a cam is set (refer to index

6302h) the actual cam state will be inverted.

Each Cam_enable_channel contains the calculation state for a maximum of 8 cam´s for one position channel.

If the enable bit is set to 1, the cam state will be calculated by the device.

In the other case the cam state of the related cam will be set permanently to 0.

14 85204B_GSF-CANopen_Operative manual_03-2019_ENG

Index

Sub

Index

6302h

6310h

6311h

6312h

6313h

6314h

6315h

6316h

6317h

6320h

6321h

6322h

6323h

6324h

6325h

6326h

6327h

6330h

6331h

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

0

Name

CAM Polarity Register

Type

Unsigned 8

CAM 1 – LOW LIMIT Unsigned 32

CAM 2 – LOW LIMIT Unsigned 32

CAM 3 – LOW LIMIT Unsigned 32

CAM 4 – LOW LIMIT Unsigned 32

CAM 5 – LOW LIMIT Unsigned 32

CAM 6 – LOW LIMIT Unsigned 32

CAM 7 – LOW LIMIT Unsigned 32

CAM 8 – LOW LIMIT Unsigned 32

CAM 1 – HIGH LIMIT Unsigned 32

CAM 2 – HIGH LIMIT Unsigned 32

CAM 3 – HIGH LIMIT Unsigned 32

CAM 4 – HIGH LIMIT Unsigned 32

CAM 5 – HIGH LIMIT Unsigned 32

CAM 6 – HIGH LIMIT Unsigned 32

CAM 7 – HIGH LIMIT Unsigned 32

CAM 8 – HIGH LIMIT Unsigned 32

CAM 1 – HYSTERESIS Unsigned 32

CAM 2 – HYSTERESIS Unsigned 32

Access

Rw

Rw

Rw

Rw

Rw

Rw

Rw

Rw

Rw

Rw

Rw

Rw

Rw

Rw

Rw

Rw

Rw

Rw

Rw

Default value

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

Comments

Each Cam_polarity_channel contains the actual polarity settings for a maximum of 8 cam´s for one position channel.

If the polarity bit is set to 1, the cam state of an active cam will signal by setting the related cam state bit to zero.

In the other case the cam state of the related cam will not be inverted.

Each Cam_low_limit_channel contains the switch point for the lower limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_low_limit_channel contains the switch point for the lower limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_low_limit_channel contains the switch point for the lower limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_low_limit_channel contains the switch point for the lower limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_low_limit_channel contains the switch point for the lower limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_low_limit_channel contains the switch point for the lower limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_low_limit_channel contains the switch point for the lower limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_low_limit_channel contains the switch point for the lower limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_high_limit_channel contains the switch point for the higher limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_high_limit_channel contains the switch point for the higher limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_high_limit_channel contains the switch point for the higher limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_high_limit_channel contains the switch point for the higher limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_high_limit_channel contains the switch point for the higher limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_high_limit_channel contains the switch point for the higher limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_high_limit_channel contains the switch point for the higher limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_high_limit_channel contains the switch point for the higher limit setting for a maximum of 8 cam´s for one position channel.

Each Cam_ hysteresis _channel contains the delay setting of switch points for a maximum of 8 cam´s for one position channel.

For illustration of the hysteresis functionality refer below.

Each Cam_ hysteresis _channel contains the delay setting of switch points for a maximum of 8 cam´s for one position channel.

For illustration of the hysteresis functionality refer below.

85204B_GSF-CANopen_Operative manual_03-2019_ENG 15

Index

Sub

Index

6332h

6333h

6334h

6335h

6336h

6337h

0

0

0

0

0

0

Name Type

CAM 3 – HYSTERESIS Unsigned 32

CAM 4 – HYSTERESIS Unsigned 32

CAM 5 – HYSTERESIS Unsigned 32

CAM 6 – HYSTERESIS Unsigned 32

CAM 7 – HYSTERESIS Unsigned 32

CAM 8 – HYSTERESIS Unsigned 32

Access

Rw

Rw

Rw

Rw

Rw

Rw

Default value

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

0x00 (0d)

Comments

Each Cam_ hysteresis _channel contains the delay setting of switch points for a maximum of 8 cam´s for one position channel.

For illustration of the hysteresis functionality refer below.

Each Cam_ hysteresis _channel contains the delay setting of switch points for a maximum of 8 cam´s for one position channel.

For illustration of the hysteresis functionality refer below.

Each Cam_ hysteresis _channel contains the delay setting of switch points for a maximum of 8 cam´s for one position channel.

For illustration of the hysteresis functionality refer below.

Each Cam_ hysteresis _channel contains the delay setting of switch points for a maximum of 8 cam´s for one position channel.

For illustration of the hysteresis functionality refer below.

Each Cam_ hysteresis _channel contains the delay setting of switch points for a maximum of 8 cam´s for one position channel.

For illustration of the hysteresis functionality refer below.

Each Cam_ hysteresis _channel contains the delay setting of switch points for a maximum of 8 cam´s for one position channel.

For illustration of the hysteresis functionality refer below.

Ro = the parameter can be read only

Rw = the parameter can be read and also written

Wo = the parameter can be written only

(*) Operating Parameters (Object 0x6000)

Bit

15

-

Bit

14

-

Bit

13

-

Bit

12

-

Bit

11

-

Bit

10

-

Bit

9

-

Bit

8

-

Bit

7

-

Bit

6

-

Bit

5

-

Bit

4

-

Bit

3

MD

Bit

2

SF

Bit

1

-

Bit

0

-

MSB ...

...

...

...

...

...

...

...

...

...

...

...

...

...

LSB

MD = 0/1 Measuring Direction UP/DOWN

SF = 0/1 Scaling Function DISABLE/ENABLE

16 85204B_GSF-CANopen_Operative manual_03-2019_ENG

GSF Cams functionality (optional functions NOT activated in standard version)

Each Cam has parameters for the minimum switch point, the maximum switch point and setting a hysteresis to the switch points. Possible usage of cam’s and switch points:

CAM Active

CAM Inactive

Low Limit High Limit Position

CAM Active

CAM Inactive

Low Limit High Limit

CAM Active

CAM Inactive

Low Limit High Limit

CAM Active

CAM Inactive

Low Limit

Position

Position

Position

CAM Active

CAM Inactive

Low Limit

CAM Active

Hysteresis

CAM Inactive

Hysteresis

Low Limit High Limit

85204B_GSF-CANopen_Operative manual_03-2019_ENG

Position

Position

17

14. 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

Off

Blinking

Single Flash

On

Desciption

No power supply is connected

The device is in state Pre-Operational

The device is in state Stopped

The device is in state Operational

LED di Errore

LED in funzione

LED State

Off

Single Flash

On

Red/Green On

Description

The device is in working condition

CAN Warning Limit reached

The device is in state Bus-Off

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)

18 85204B_GSF-CANopen_Operative manual_03-2019_ENG

15. COMMUNICATION EXAMPLES

EXAMPLE 1

How to change the Baud Rate Setting from 250 kbaud (current setting) 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

8

Byte1

CMD

Byte2

Index

Byte3 Byte4

Sub-Index

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

Byte5

Data

Byte6 Byte7 Byte8

COB-ID

580+Node-ID

DLC

8

Byte1

CMD

Byte2

Index

Byte3 Byte4

Sub-Index

Byte5

Data

Byte6 Byte7 Byte8

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

Byte1

2Fh

Byte2

F2h

Byte3

20h

Byte4

00h

Byte5

02h

Byte6

00h

Byte7

00h

Byte8

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

Byte1

2Fh

Byte2

F3h

Byte3

20h

Byte4

00h

Byte5

02h

Byte6

00h

Byte7

00h

Byte8

00h

Object:

20F2h

20F3h

0

0

Setting of the

Baude rate

Setting of the

Baude rate

Unsigned 8

Unsigned 8

Rw

Rw

0x03

(250 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

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

85204B_GSF-CANopen_Operative manual_03-2019_ENG 19

The supported baudrate are listed in the following table:

Byte5

07h

06h

05h

04h

03h

02h

01h

00h

Baudrate

20 kBaud

50 kBaud

100 kBaud

125 kBaud

250 kBbaud

500 kBbaud

800 kBbaud

1000 kBbaud

The answer after successful storing you will receive is:

ID

5FFh

Byte1

60h

Byte2

F2h

Byte3

20h

Byte4

00h and

ID

5FFh

Byte1

60h

Byte2

F3h

Byte3

20h

Byte4

00h

Byte5

00h

Byte6

00h

Byte5

00h

Byte6

00h

Byte7

00h

Byte8

00h

Byte7

00h

Byte8

00h

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).

20 85204B_GSF-CANopen_Operative manual_03-2019_ENG

EXAMPLE2

How to change the ID-Node from 0x7Fh (127d) (current setting) 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+Nodo-ID

DLC

8

Byte1

CMD

Byte2

Indice

Byte3 Byte4

Sotto Indice

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)

Byte5

Data

Byte6 Byte7 Byte8

COB-ID

580+Nodo-ID

DLC

8

Byte1

CMD

Byte2

Indice

Byte3 Byte4

Sotto Indice

Byte5

Data

Byte6 Byte7 Byte8

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

Byte1

2Fh

Byte2

F0h

Byte3

20h

Byte4

00h

Byte5

06h

Byte6

00h

Byte7

00h

Byte8

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

Byte1

2Fh

Byte2

F1h

Byte3

20h

Byte4

00h

Byte5

06h

Byte6

00h

Byte7

00h

Byte8

00h

Object:

20F0h

20F1h

0

0

Setting of the Node ID

Setting of the Node ID

Unsigned 8 Rw

Unsigned 8 Rw

0x7F

(= 127d)

0x7F

(= 127d)

The Node ID used to access the sensor in the

CANopen

The Node ID used to access the sensor in the

CANopen

The supported Node-ID are 0x01 to 0x7F The answers after successful storing you will receive is:

ID

5FFh and

ID

5FFh

Byte1

60h

Byte1

60h

Byte2

F0h

Byte2

F1h

Byte3

20h

Byte3

20h

Byte4

00h

Byte4

00h

Byte5

00h

Byte5

00h

Byte6

00h

Byte6

00h

Byte7

00h

Byte7

00h

Byte8

00h

Byte8

00h

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).

85204B_GSF-CANopen_Operative manual_03-2019_ENG 21

EXAMPLE 3

How to change the PDO rate (time interval) from 100 ms (current setting)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 viceversa.

Structure of SDO-request by the Master

Byte8 COB-ID

600+Node-ID

DLC

8

Byte1

CMD

Byte2

Index

Byte3 Byte4

Sub-Index

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

Byte5

Data

Byte6

Data

Byte7

COB-ID

580+Node-ID

DLC

8

Byte1

CMD

Byte2

Index

Byte3 Byte4

Sub-Index

Byte5

Data

Byte6

Data

Byte7

RES Response of the slave:

60 hex Data sent successfully

80 hex Error,

With the aim to change the PDO rate from 100 ms (0x64) to 20 ms (0x14) write (in the example the Node-ID = 0x7F).

Byte8

ID

67Fh

Object:

Byte1

2Bh

Byte2

00h

Byte3

18h

Byte4

05h

Byte5

14h

Byte6

00h

Byte7

00h

Byte8

00h

1800h

3

4

5

0

1

2

1 st Transmit PDO Parameter Unsigned 8

COB-ID

Transmission Type

Unsigned 32

Unsigned 8

Inhibit Time

Reserved

Timer

Unsigned 16

//

Unsigned 16

The answer after successful storing you will receive is:

ID

5FFh

Byte1

60h

Byte2

00h

Byte3

18h

Byte4

05h

Byte5

00h

Byte6

00h

With the aim to save functionality write the “save” command as below:

Write (in the example the Node-ID = 0x7F)

ID

67Fh

Byte1

23h

Byte2

10h

Byte3

10h

Byte4

01h

Byte5

73h

Byte6

61h

Ro

//

Rw

Ro

Ro

Rw

180h+

Node-ID

254

0

100 (64h)

Byte7

00h

Byte7

76h

Asynchronous transmission.

Min=0 & Max=65535 with unit=1ms

Min=0 & Max=65535 with unit=1ms

Byte8

00h

Byte8

65h

22 85204B_GSF-CANopen_Operative manual_03-2019_ENG

Note: save command is given by sending the code:

73h 61h 76h

Where:

73h = ASCII code “s

61h = ASCII code “a

76h = ASCII code “v

65h = ASCII code “e

The answer after successful storing you will receive is:

ID

5FFh

Byte1

60h

Byte2

10h

Byte3

10h

Byte4

01h

65h

Byte5

00h

Byte6

00h

Byte7

00h

Byte8

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).

85204B_GSF-CANopen_Operative manual_03-2019_ENG 23

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

Byte7 Byte8 COB-ID

600+Node-ID

DLC

8

Byte1

CMD

Byte2

Index

Byte3 Byte4

Sub-Index

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)

Byte5

Data

Byte6

Structure of SDO-answer by the Slave

COB-ID

580+Node-ID

DLC

8

Byte1

CMD

Byte2

Index

Byte3 Byte4

Sub-Index

Byte5

Data

Byte6

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).

Byte7 Byte8

ID

67Fh

Byte1

2Fh

Byte2

00h

Byte3

50h

Byte4

00h

Object:

5000h

Automatic NMT Start after

Power-On - PARA

The answer after successful storing you will receive is:

ID

5FFh

Byte1

60h

Byte2

00h

Byte3

50h

Byte4

00h

Byte5

01h

Unsigned 8

Byte6

00h

Byte5

00h

Byte6

00h

With the aim to save functionality write the “save” command as below:

Write (in the example the Node-ID = 0x7F)

ID

67Fh

Byte1

23h

Byte2

10h

Byte3

10h

Byte4

01h

Byte5

73h

Byte6

61h

Rw

Byte7

00h

1

Byte7

00h

Byte7

76h

Note: save command is given by sending the code:

73h 61h

Where:

73h = ASCII code “s

61h = ASCII code “a

76h = ASCII code “v

65h = ASCII code “e

76h 65h

Byte8

00h

0: not activated

1: activated Min=0 & Max=1

Byte8

00h

Byte8

65h

24 85204B_GSF-CANopen_Operative manual_03-2019_ENG

The answer after successful storing you will receive is:

ID

5FFh

Byte1

60h

Byte2

10h

Byte3

10h

Byte4

01h

Byte5

00h

Byte6

00h

Byte7

00h

Byte8

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).

85204B_GSF-CANopen_Operative manual_03-2019_ENG 25

EXAMPLE 5

How to Preset the Position Value (via object 0x6003.0) to 0 mm

The value "...Preset Value" (object 0x6003.0) affects the display of the Position Value. 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.

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

Byte5

Data

Byte6

Data

Byte7

Data

Byte8

Data

COB-ID

600+Node-ID

DLC

8

Byte1

CMD

Byte2

Index

Byte3 Byte4

Sub-Index

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

8

RES Response of the slave:

60 hex Data sent successfully

80 hex Error,

Byte1

CMD

Byte2

Index

Byte3

Consider the actual reading value (Node ID = 0x7F) is:

Byte4

Sub-Index

Byte5

Data

Byte6

Data

Byte7

Data

Byte8

Data

ID

1FFh

Byte1

05h

Byte2

01h

Byte3

00h

Byte4

00h

Byte5

00h

Byte6

00h

Byte7

00h

Byte8

00h

Position Value:

Byte 1 (LSB) = 05h

Byte 2

Byte 3

= 01h

= 00h

Byte 4 (MSB) = 00h

Position Value = 00000105h to decimal 261d (measuring steps 1 mm) = 261 mm

Whit the aim to PRESET the reading value to 0 mm write (in the example the Node-ID = 0x7F):

ID

67Fh

Object:

6003h

Byte1

23h

Byte2

03h

Byte3

60h

Byte4

00h

Byte5

05h

Byte6

01h

Byte7

00h

Byte8

00h

0 Preset Value Unsigned 32 Rw

0x00

(0d)

The Preset function supports adaption of the GSF zero point to the mechanical zero point of the system

(user offset).

26 85204B_GSF-CANopen_Operative manual_03-2019_ENG

The answer after successful storing you will receive is:

ID

5FFh

Byte1

60h

Byte2

03h

Byte3

60h

Byte4

00h

Byte5

00h

Byte6

00h

With the aim to save functionality write the “save” command as be high:

Write (in the example the Node-ID = 0x7F)

ID

67Fh

Byte1

23h

Byte2

10h

Byte3

10h

Byte4

01h

Byte5

73h

Byte6

61h

Byte7

00h

Byte8

00h

Byte7

76h

Byte8

65h

Note: save command is given by sending the code:

73h

ID

5FFh

Byte1

60h

61h

Byte2

10h

76h

Where:

73h = ASCII code “s

61h = ASCII code “a

76h = ASCII code “v

65h = ASCII code “e

The answer after successful storing you will receive is:

Byte3

10h

Byte4

01h

65h

Byte5

00h

Byte6

00h

Byte7

00h

Byte8

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).

85204B_GSF-CANopen_Operative manual_03-2019_ENG 27

EXAMPLE 6

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

8

Byte1

CMD

Byte2

Index

Byte3 Byte4

Sub index

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)

Byte5

Data

Byte6

Data

Byte7

Data

Byte8

Data

Structure of SDO-answer by the Slave

COB-ID

580+Node-ID

DLC

8

RES Response of the slave:

60 hex Data sent successfully

80 hex Error,

Byte1

RES

Byte2

Index

Byte3 Byte4

Sub index

Byte5

Data

Byte6

Data

Byte7

Data

Byte8

Data

With the aim to restore all parameters to default write (in the example the Node-ID = 0x7F):

ID

67Fh

Object:

1011h

Byte1

23h

Byte2

11h

Byte3

10h

Byte4

01h

Byte5

6Ch

Byte6

6Fh

Byte7

61h

Byte8

64h

1

Load all parameters

Unsigned 8 Wo

"load" (0x64616F6C) to restore all parameters

(objects with marking PARA and LSS-PARA).

The answer after successful storing you will receive is:

ID

5FFh

Byte1

60h

Byte2

11h

Byte3

10h

Byte4

01h

Byte5

00h

Byte6

00h

Byte7

00h

Byte8

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).

28 85204B_GSF-CANopen_Operative manual_03-2019_ENG

EXAMPLE 7

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

8

Byte1

CMD

Byte2

Index

Byte3 Byte4

Sub index

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

Byte5

Data

Byte6

Data

Byte7 Byte8

COB-ID

580+Node-ID

DLC

8

RES Response of the slave:

60 hex Data sent successfully

80 hex Error,

Byte1

RES

Byte2

Index

Byte3 Byte4

Sub index

Byte5 Byte6 Byte7 Byte8

With the aim to disable the asynchronous transmission write theSDO (in the example the Node-ID = 0x7F):

ID

67Fh

Byte1

2Bh

Byte2

00h

Byte3

18h

Byte4

05h

Byte5

00h

Byte6

00h

Byte7

00h

Byte8

00h

Object:

1800h

0

1

1 st Transmit PDO

Parameter

Unsigned 8

COB-ID Trans PDO Unsigned 32

Ro

Ro 180h + Node-ID

2

5

Transmission Type

Trans PDO - PARA

Unsigned 8

Event timer Trans

PDO- PARA

Unsigned 16

Rw

Rw

254 (0xFE)

100 (0x64)

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

Min= 4 & Max=65535 with unit = 1ms

The answers after successful storing you will receive is:

ID

5FFh

Byte1

60h

Byte2

00h

Byte3

18h

Byte4

05h

Byte5

00h

Byte6

00h

Byte7

00h

Byte8

00h

85204B_GSF-CANopen_Operative manual_03-2019_ENG 29

With the aim to save functionality write the “save” command as below:

Write (in the example the Node-ID = 0x7F)

ID

67Fh

Byte1

23h

Byte2

10h

Byte3

10h

Byte4

01h

Byte5

73h

Byte6

61h

Note: save command is given by sending the code:

Byte7

76h

Byte8

65h

73h

ID

5FFh

Byte1

60h

61h

Byte2

10h

76h

Where:

73h = ASCII code “s

61h = ASCII code “a

76h = ASCII code “v

65h = ASCII code “e

The answer after successful storing you will receive is:

Byte3

10h

Byte4

01h

65h

Byte5

00h

Byte6

00h

Byte7

00h

Byte8

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).

30 85204B_GSF-CANopen_Operative manual_03-2019_ENG

EXAMPLE 8

How to enable the Synchronous Transmission (Synchronous TPDO active after 1 st 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

8

Byte1

CMD

Byte2

Index

Byte3 Byte4

Sub index

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)

Byte5

Data

Byte6 Byte7 Byte8

Structure of SDO-answer by the Slave

COB-ID

580+Node-ID

DLC

8

RES Response of the slave:

60 hex Data sent successfully

80 hex Error,

Byte1

RES

Byte2

Index

Byte3 Byte4

Sub index

Byte5 Byte6 Byte7 Byte8

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

Object:

Byte1

2Fh

Byte2

00h

Byte3

18h

Byte4

02h

Byte5

01h

Byte6

00h

Byte7

00h

Byte8

00h

1800h

0

1

1 st Transmit PDO

Parameter

Unsigned 8

COB-ID Trans PDO Unsigned 32

Ro

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

0 = inactive

Min= 4 & Max=65535 with unit = 1ms

5

Event timer Trans

PDO- PARA

Unsigned 16 Rw

The answers after successful storing you will receive is:

ID

5FFh

Byte1

60h

Byte2

00h

Byte3

18h

Byte4

02h

Byte5

00h

100 (0x64)

Byte6

00h

Byte7

00h

Byte8

00h

85204B_GSF-CANopen_Operative manual_03-2019_ENG 31

With the aim to save functionality write the “save” command as below:

Write (in the example the Node-ID = 0x7F)

ID

67Fh

Byte1

23h

Byte2

10h

Byte3

10h

Byte4

01h

Byte5

73h

Byte6

61h

Note: save command is given by sending the code::

Byte7

76h

Byte8

65h

73h

ID

5FFh

Byte1

60h

61h

Byte2

10h

76h

Where:

73h = ASCII code “s

61h = ASCII code “a

76h = ASCII code “v

65h = ASCII code “e

The answer after successful storing you will receive is:

Byte3

10h

Byte4

01h

65h

Byte5

00h

Byte6

00h

Byte7

00h

Byte8

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).

32

GEFRAN spa via Sebina, 74 - 25050 PROVAGLIO D’ISEO (BS) - ITALIA tel. 0309888.1 - fax. 0309839063 Internet: http://www.gefran.com

85204B_GSF-CANopen_Operative manual_03-2019_ENG

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