Danfoss DST X730 Top level inclination sensor Operating Guide

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Danfoss DST X730 Top level inclination sensor Operating Guide | Manualzz

Operating guide

Data sheet

APP pumps

APP 0.6-1.0 / APP 1.5-3.5 / APP (W) 5.1-10.2 /

APP 11-13 / APP 16-22 / APP 21-43

Operation guide | DST 730 Top level inclination sensor

Table of Contents

4.

5.

3.

8.

1.

1.1

General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

1.2 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

1.3 Abbreviations and terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

2.

2.1

2.2

Electrical connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

M12 x 1, 5-pin 43-01090 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

6 wires output 18 AWG 1.65 mm OD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5

Network Management (NMT). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6

Restore default parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6

Baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

Node-ID and resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

10.

11.

12.

13.

6.

7.

Parameter settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

Restore default parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

8. Heartbeat. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

9 Error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

14.

15.

SDO communication and read/write commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

PDO communication and Angle calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

CANopen features summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

Digital filter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22

Communication examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22

1. General Information

1.1 Contact

Danfoss A/S

Industrial Automation

DK-6430 Nordborg

Denmark www.ia.danfoss.com

E-mail: [email protected]

1.2 General

The document describes the standard CANopen implementations created. It is addressed to

CANopen system integrators and to CANopen device designers who already know the content of standards designed by C.i.A. (CAN in

Automation).

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Operation guide | DST X730 Top level inclination sensor

1.3 Abbreviations and terms

Abbreviation/term

CAN

CAL

CMS

COB

COB-ID

D1 - D8

DLC

ISO

NMT

PDO

RXSDO

SDO

TXPDO

TXSDO

Definition

Controller Area Network

Describes a serial communication bys that implements the “physical” level 1 and the

“data link” level 2 of the ISO/OSI reference model.

CAN Application Layer

Describes implementation of the CAN in level 7 “application” of the ISO/OSI reference model form which CANopen derives.

CAN Message Specification

CAL service element. Defines the CAN Apllication Layer for the various industrial applications.

Communication Object

Unit of transport of data in a CAN network (aCAN message). A maximum of 2,048 COBs may be present i a CAN network, each of which may transport from 0 to a maximum of

8 bytes.

COB Identifier

Identifying element of a CAN message. The identifier determines the priority of a COB in case of multiple messages in the network.

Data from 1 to 8

Number of data bytes in the data field of a CAN message.

Data Length Code

Number of data bytes transmitted in a single frame.

International Standard Organization

International authority providing standards for various merchandise sectors.

Network Management

CAL service element. Describes how to configure, initialize, manage errors in a CAN network.

Process Data Object

Process data communication objects (with high priority).

Receive SDO

SDO objects received from the remote device.

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.

Transmit PDO

PDO objects transmitted by the remote device.

Transmit SDO

SDO objects transmitted by the remote device.

NOTE:

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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Operation guide | DST 730 Top level inclination sensor

2. Electrical connections 2.1 M12 x 1, 5-pin 43-01090

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 tranducer 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.

CONNECTIONS

1.: NC

2.: + VS (+10 - +36 VDC)

3.: GROUND

4.: CAN-L

5.: CAN-H

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Operation guide | DST X730 Top level inclination sensor

2.2 6 wires output 18 AWG 1.65 mm OD

© Danfoss | DCS (im) | 2019.04

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 tranducer 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

CONNECTIONS

White: +Vs (+10 - +36 Vdc)

Yellow: GROUND

Grey: CAN-H

Blue: CAN-L

Pink: NC

Green: NC

Brown: NC

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Operation guide | DST 730 Top level inclination sensor

3. Network Management

(NMT)

The device supports CANopen network management functionality NMT Slave (Minimum

Boot Up).

8. Restore default

parameter

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Every CANopen device contains an international 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 date bytes that identify the node number and a command to that node’s state machine.

Table 1 shows the 5 NMT messages surpported, and Table 2 shows the correct message for sending these messages.

NMT Message

Start Remote Node

Stop Remote Node

Pre-operational State

Reset Node

Reset Communication

COB-ID

0

0

Data Byte 1

01h

02h

0

0

80h

81h

0 82h

* Node-ID = Drive address (from 1 to 7Fh)

Data Byte 2

Node-ID’

Node-ID’

Node-ID’

Node-ID’

Node-ID’

Table 1

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Operation guide | DST X730 Top level inclination sensor

Arbitration

Field

COB-ID

000h

RTR

0

Byte 1 Byte 2

See table 1 See table 2

Byte 3

Data Field

Byte 4 Byte 5 Byte 6

These bytes are not sent

Byte 7 Byte 8

Table 2

4. Baud rate Node-ID can be configurable via SDO communication object =x20F2 and 020F3 (see communication examples at the end of this coument).

The default Baud rate is 250kbit/s.

Important Note:

Changing this parameter can disturb the network!

Use the service only if one device is connected to the network!

5. Node-ID and resolution Node-ID can be configurable via SDO communication object 0x20F0 and 0x20F1 (see communication examples at the end of this documentation).

The default Node-ID is 7F.

Important note:

Changing this parameter can disturb the network!

Use the service only if one device is connected to the network!

6. Parameter settings

7. Restore default

parameters

All object dictionary parameters (object 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 LL-PARA), also part of the objec dictionary, will be also saved in a special section of the internal EEPROM and secured by checksum calculation.

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

Due to the internal architecture of the microcontroller the parameter write cycles are limited to 100,000 cycles.

8. Heartbeat The heartbeat mechanism for this device isestablished 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 herartbeat 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+Node-ID

Byte

Content

0

NMT State

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Operation guide | DST 730 Top level inclination sensor

9 Error handling

Description

1)

Byte

Error code

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: Mo 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. The device uses only the 1st byte as manufacturer specific error code.

Byte 1

Byte 2

Emergency

Error code 1)

Byte 3

Error Register

(object 0x1001 2) )

Byte 4

Manufacturer specific error code

(always 0x00)

Byte 5

Manufacturer specific error code

(object 0x4001)

0x0000 Error Reset on no ERrror (Error Register = 0)

0x1000 Generic error

2) Always 0

Byte 6

Byte 7

Byte 8

Manufacturer specific error code

NOT IMPLEMENTED

(always 0x00)

Supported Manufacturer Specific Error Codes (object 0x4001)

Manufacturer Specific Error Code

(bit field)

0bxxxxxxx1 (a)

Description

Sensor Error TYPE DST X730 Z-360 (e.g. angle under/above limits, self-test failure, MEMS IC communication error)

0bxxxxxxx1

0bxxxxxxx1

0bxxx1xxxx

0bxx1xxxxx

0bx1xxxxxx

(a)

(a)

Sensor Error X-axis TYPE DST X730 XY-0xx (e.g. angle under/ above limits, self-test failure, MEMS IC communication error)

Sensor Error Y-axis TYPE DST X730 XY-0xx (e.g. angle under/ above limits, self-test failure, MEMS IC communication error)

Program checksum error

Flash limit reached - error

LSS Parameter checksum error

(a)

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:

DST X730 dual axis version ± 10 º Error limit are ± 11º ( ± 11º are also the FSO angles STOP)

DST X730 dual axis version ± 15 º Error limit are ± 16.5º ( ± 16.5º are also the FSO angles STOP)

DST X730 dual axis version ± 20 º Error limit are ± 22º ( ± 22º are also the FSO angles STOP)

DST X730 dual axis version ± 30 º Error limit are ± 33º ( ± 33º are also the FSO angles STOP)

DST X730 dual axis version ± 45 º Error limit are ± 49.5º ( ± 49.5º are also the FSO angles STOP)

DST X730 dual axis version ± 60 º Error limit are ± 66º ( ± 66º are also the FSO angles STOP)

DST X730 dual axis version ± 90 º Error limit are ± 87º ( ± 87º are also the FSO angles STOP)

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Operation guide | DST X730 Top level inclination sensor

10. SDO 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 typ 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

COB-ID

580+Node-ID

DLC

8

Byte 1

CMD

Byte 2

Index

Byte 3 Byte 4

Sub-Index

Structure of SDO-answer by the Slave

Byte 1

RES

Byte 2

Index

Byte 3 Byte 4

Sub-Index

Byte 5

Data

Byte 5

Data

Byte 6

Data

Byte 7

Data

Byte 8

Data

Byte 6

Data

Byte 7

Data

Byte 8

Data

Write Access , Data Transfer from Host to Slave

Each access to 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 contian 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 contians an 8-bit value)

The Slave answers:

RES response of the slave:

60 hex Data sent successfully

80 hex Error

Read Access , Data Transfer form 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

11. PDO communication and Angle calculation

Transmit PDO #0

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 4 ms and 65535 ms shall be selectable by parameter settings. The Tx PDO#0 will be transmitted by entering the “Operational” state.

Byte Byte 1 Byte 2 Byte 3 Byte 4

Byte 5

Byte 6

Byte 7

Byte 8

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)

Inthe following figures an example of PDO mapping is reported in the case of Angle X = 0.00º and

Angle Y = 0.00º (Node-ID = 7Fh and resolution ± 0.01º

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Operation guide | DST 730 Top level inclination sensor

Angle X = 0.00°

Angle Y = 0.00°

ID

1FFh

Byte 1

00h

Byte 2

00h

Byte 3

00h

Byte 4

00h

Angle X:

Byte 2 MSB (00h) = 00h; Byte 1 LSB (00h) = 00h;

Angle X = 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°)

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

Angle Y:

Byte 4 MSB (00h) = 00h; Byte 3 LSB (00h) = 00h

Angle Y = 0000h to decimal 0d (resolution

± 0.01°) = 0.00°

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Angle X = +45.00°

Angle Y = 0.00°

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Operation guide | DST X730 Top level inclination sensor

ID

1FFh

Byte 1

94h

Byte 2

11h

Byte 3

00h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

Angle X:

Byte 2 MSB (11h) = 11h; Byte 1 LSB (94h) = 94h;

Angle X = 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 = -45.00° and Angle Y = 0.00°. (Node-ID = 7Fh and resolution ± 0.01º)

Angle Y:

Byte 4 MSB (00h) = 00h; Byte 3 LSB (00h) = 00h

Angle Y = 0000h to decimal 0d (resolution

± 0.01°) = 0.00°

ID

1FFh

Angle X = -45.00°

Angle Y = 0.00°

Byte 1

6Bh

Byte 2

EEh

Byte 3

00h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

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 thanm

32768, the Angle X is NEGATVE 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°

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Operation guide | DST 730 Top level inclination sensor

ID

1FFh

Byte 1

00h

Byte 2

00h

Byte 3

00h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

Angle X:

Byte 2 MSB (00h) = 00h; Byte 1 LSB (00h) = 00h;

Angle X = 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°.

(Node-ID = 7Fh and resolution ±0.01°)

Angle Y:

Byte 4 MSB (00h) = 00h; Byte 3 LSB (00h) = 00h

Angle Y = 0000h to decimal 0d (resolution

± 0.01°) = 0.00°

ID

1FFh

Angle X = -0.00°

Angle Y = +45.00°

Byte 1

00h

Byte 2

00h

Byte 3

94h

Byte 4

11h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

Angle X:

Byte 2 MSB (00h) = 00h; Byte 1 LSB (00h) = 00h;

Angle X = 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°.

(Node-ID = 7FH and resolution ± 0.01°)

Angle Y:

Byte 4 MSB (11h) = 11h; Byte 3 LSB (94h) = 94h

Angle Y = 1194h to decimal 4500d (resolution

± 0.01°) = +45.00°

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Angle X = -0.00°

Angle T = -45.00°

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Operation guide | DST X730 Top level inclination sensor

ID

1FFh

Byte 1

00h

Byte 2

00h

Byte 3

6Bh

Byte 4

EEh

Angle X:

Byte 2 MSB (00h) = 00h; Byte 1 LSB (00h) = 00h;

Angle X = 0000h to decimal 0d (resolution

± 0.01°) = 0.00°

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

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°

Transmit PDO#0 - Single axis configuration Z

(-180° - +180°) model DST X730 Z-360

This PDO transmits synchronously the position value of the inclinationsensor. The Tx PDO#0 shall be transmitted cyclically, if the cyclic timer

(object 0x1800.5) is programmed > 0. Values between 4 ms and 65535 ms shall be selectable by parameter settings. The Tx PDO#0 will be transmitted by entering the “Operational” state.

Byte Byte 1 Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8

Description

Z Axis

(object 0x6010)

Low-Byte

Z Axis

(object 0x6010)

High-Byte

(0x00)

Int he following figures an example of PDO mapping is reported in the case of Angle Z = -180.0º (in 0 - 360º configuration the equivalent angle is 0.00º).

(Node-ID = 7Fh and resolution ± 0.01º

Angle Z = -180.00°

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Operation guide | DST 730 Top level inclination sensor

ID

1FFh

Byte 1

AFh

Byte 2

B9h

Byte 3

00h

Byte 4

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 (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°).

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

Angle Z = -90.00°

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ID

1FFh

Byte 1

D7h

Byte 2

Dch

Byte 3

00h

Byte 4

00h

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°.

Byte 5

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 = DcD7h to decimal 56535d

Angle Z (in decimal) - 65535d = 56535d -

65535d = - 9000d (resolution ± 0.01°) = -90.00°

Byte 6

00h

Byte 7

00h

Byte 8

00h

Angle Z = 0.00°

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ID

1FFh

Byte 1

00h

Byte 2

00h

Byte 3

00h

Byte 4

00h

Angle Z:

Byte 2 MSB (00h) = 00h; Byte 1 LSB (00h) = 00h;

Angle Z = 0000h to decimal 0d = 0.00°

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 +270.00°). The Node-ID = 7FH and resolution ± 0.01°.

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

Angle Z = +90.00°

ID

1FFh

Byte 1

28h

Byte 2

23h

Byte 3

00h

Byte 4

00h

Angle Z:

Byte 2 MSB (23h) = 23h; Byte 1 LSB (28h) = 28h;

Angle Z = 2328h to decimal 9000d = +90.00°

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

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12. CANopen features

summary

Index

1000h

1001h

1008h

1009h

100Ah

1010h

1011h

1014h

1017h

1018h

1200h

1800h

1A00h

Communication Profile

The parameters which are critical for communication are determined in the

Communication profile.

This area is common for all CANopen devices.

0

1

0

0

1

Sub

Index

0

2

3

0

1

4

0

1

2

0

1

2

5

0

1

2

Name Type Access Default value Comments

Device Profile Unsigned 32 Ro 0x0008019A

Error Register

Manufacturer Device

Name

Manufacturer

Hardware version

Manufacturer Software version

Number of entries

Save all parameters

Unsigned 8

String

String

String

Restore default parameters

Unsigned 8

Restore all parameters Unsigned 32

Ro

Const “GIB”

Const

Const

Unsigned 8 Ro

Unsigned 32 Wo

Ro

Rw

0x00

“1.00”

“1.24”

1

“1”

Emergency ID Unsigned 32 Rw 0x80 + Node-ID

Profile 410: Device profile for inclinometer

(not fully implemented)

Always ZERO

Refer to Danfoss data sheet:

GIB: DST X730 Top level inclination sensor

“save” (0x65766173) to store all parameters

(objects with marking PARA)

“load” (0x64616F6C) to restore all parameters

(objects with marking PARA and LSS-PARA)

Producer time/ Heart beat

Unsigned 16 Rw 0

Min. = 0 & Max. = 65536 with unit = 1 ms

If 0: NOT USED

From 1 - 19 NOT ACCEPTED

From 20 to 65535 ACCEPTED

Identity object

Vendor ID

Product code

Revision number

Serial number

Number of entries

COB-ID Client to Server

(Rx)

COB-ID Server to to

Server (Tx)

1 st Transmit PDO

Parameter

COB-ID

Unsigned 8

Unsigned 32

Unsigned 32

Unsigned 32

Unsigned 32

Ro 4

Ro 0x0000093

Ro 0x0000064

Ro 0x0000001

Ro 0x0000000

Unsigned 8

SDO Server Parameter

Ro 2

Unsigned 32

Unsigned 32

Ro

Ro

0x600 + Node-

ID

0x580 + Node-

ID

Unsigned 8 Ro

Transmission Type

Trans PDO-PARA

Event Timer

Trans PDO-PARA

Number of entries

1

2 st nd

Mapped Object

Mapped Object

Refer to Vendor ID:0x0000093

Unsigned 32 Ro 180h + Node-ID

Unsigned 8

Insigned 16

Rw

Rw

254 (0xFE)

100 (0x65)

0x01 - 0xf0 = synch cyclic Outputs are only updated after “n” synch objects.

n = 0c01 (1) - 0xF0 (240

0xFC not implemented

0xFS not implemented

0xFE = asynchronous

0xFF = not implemented

0 = Inactive

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

Tx PDO [X] 0 Mapping Parameter

Unsigned 8 Ro 2

Unsigned 32 Ro 0x60100010

Unsigned 32 Ro 0x60200020

The inclination of longitudinal axis (long; X) is indicated in Idx6010 in the cas of dual axis sensor ( ± 10º - ± 90º)

The inclination of transverse axis (tran;Y9 is indicated in Idx 6020 in the case of dual axis sensor ( ± 10º - ± 90º)

The inclination of Z axis is indicated in Idx 6010 in the case of single axis sensor ( ± 180º)

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Operation guide | DST 730 Top level inclination sensor

Manufacturer Specific Profile Objects

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

“Setting the Node-ID”

Index

20F0h

20F1h

Sub

Index

0

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)

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 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

Sub

Index

Name Type Access Default value

Comments

The Node-ID used to access the sensor in the

CANopen network

The Node-ID ised tp access the sensor in the

CANopen network

20F2h

20F3h

0

0

Setting the Baud rate

Setting the Baud rate

Unsigned 8

Unsigned 8

Rw

Rw

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 Baud 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 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

Sub

Index

Name

2001h 0

Type Access Default value

Filter Setting -

PARA

Unsigned 8 Rw 0

A change of theFilter 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).

Comments

Filter = 0 Slow; Filter = 1 Medium; Filter = 2

Fast; See Par. 14 and examples at the end of this guide.

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Manufacturer Specific Profile

Objects

Index

Sub

Index

Name

4000h

4001h

5000h

5001h

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

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

Manufacturer Specific Profile Objects (according to CIA DS-410)

Index

Sub

Index

Name Type Access Default value

6000h

6010h

6011h

0

0

0

Resolution

Slope Longitudinal

Slope Longitudinal

Operating Parameter

Unsigned 16

Signed 16

Unsigned 8

Rw

Ro

Rw

0x32 (50d)

0b000000xx

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

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.

Inclination of the longitudinal axis X

(long:X) in the case of dual axis sensor ( ±10 º -

± 90º). Inclination of the longitudinal axis Z in the case of single axis sensor ( ± 180º)

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)

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.

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Operation guide | DST 730 Top level inclination sensor

Index

6012h

6013h

6014h

6020h

6021h

6022h

6023h

Sub

Index

0

Name

Slope Longitudinal

Preset Value

0

0

0

0

0

0

Slope Longitudinal

Offset

Slope Longitudinal

Differential

Offset

Slope Lateral

Slope Lateral

Operating Parameter

Slope Lateral

Preset Value

Slope Lateral

Offset

Type

Signed 16

Unsigned 16

Signed 16

Unsigned 16

Unsigned 8

Signed 16

Signed 16

Access

Rw

Ro

Rw

Ro

Rw

Rw

Ro

Rw

Default value

0x0000

0x0000

0xoooo

Comments

Corrects the measured sensor value. The displayed value Slop Longitudinal is set to the entered value. The offset is indicated in the index 0x6013

Offset value calculated from the following objects:

Slope Longitudinal Offset =

Slope Longitudinal Preset Value t acc red value t acc

– measu-

(t acc

: istant when the Slope Longitudinal

Preset Value is set)

Shifts the displayed value by the entered value irrespective of “Slope Longitudinal

Preset Value”.

0b000000xx

0x0000

0x0000

0x0000

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)

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.

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 =

Slope Lateral Preset Value t acc value t acc

– measured

(t acc

: istant when the Slope Lateral Preset

Value is set)

Shifts the displayed value by the entered value irrespective of “Slope Laterall

Preset Value”.

6024h 0

Slope Lateral Differential Offset

Signed 16

Ro = the parameter can be read only

Rw = the parameter can be read and also written

Wo = the parameter can be written only

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13. Status LED

Run LED

Run LED

The integrated two color status LED signals the recent device state (Run LED, green) as well as

CAN communication errors that moight have occured (Error LED), red). The color and the flashing frequency of the LED distinguish the different device states as shown below.

LED State

Off

Blinking

Single Flash

ON

Status LED

Description

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 State

Off

Single Flash

On

Red/Green On

Error LED

Description

The device is in working condition

CAN Warning Limit reached

The device is in state Bus-Off

Limit Angles reached (110% FS or ± 87º)

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

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Operation guide | DST 730 Top level inclination sensor

14. Digital filter setting The inclination sensor offers the possibility to suppress the influence of external disturb ing vibrations. The ionternal lowpass 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.

Theilter selection is configurable via SDO communication objecy 0x2001 Sub 0 (see Manufacturer Specific Profile Objects and communication examples at the end of this document).

Filter Selection

(via SDO oggetto 0x2106 Sub 6)

Slow

Medium

Fast

Filter code Appliucation

Filter 0

Filter 1

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

Filter 2 General application with medium high dynamic

Table 3 - Filter setting

15. Communication

examples

COB-ID

600+Node-ID

COB-ID

580+Node-ID

ID

67Fh

Byte 1

2Fh

DLC

8

DLC

8

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

Byte 1

CMD

Byte 2

Index

Byte 3 Byte 4

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 bith 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)

Byte 5

Data

Structure of SDO-answer by the Slave

Byte 1

RES

Byte 2

Index

Byte 3 Byte 4

Sub-Index

Byte 5

RES Response of Slave:

60 hex Data sent successfully

80 hex Error

Byte 2

F2h

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 250 kBaud (0x03) to 500 kBaud (0x02) write a second SDO (in the example the Node-ID = 0x7F9

Byte 3

20h

Byte 4

00h

Byte 5

02h

Byte 6

00h

Byte 6

Byte 6

Byte 7

00h

Byte 7

Byte 7

Byte 8

00h

Byte 8

Byte 8

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ID

67Fh

20F2h

20F3h

ID

5FFh

Byte 1

2Fh

0

0

Byte 2

F3h

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 250 kBaud (0x03) to 500 kBaud (0x02) write a second SDO (in the example the Node-ID = 0x7F9

Byte 3

20h

Byte 4

00h

Byte 5

02h

Byte 6

00h

Object:

Setting of the Baud rate

Setting of the Baud rate

Unsigned 8

Unsigned 8

Rw

Rw

Byte 7

00h

Byte 8

00h

0x03 (250 kBaud)

0x03

(250 kBaud)

Baud rate of the CAN network

0 = 1000k Baud

1 = 800 kBaud

2 = 500 kBaud

3 = 250 kBaud

4 = 125 kBaud

5 = 100 kBaud

6 = 50 kBaud

7 = 20 kBaud

Baud rate of the CAN network

0 = 1000k Baud

1 = 800 kBaud

2 = 500 kBaud

3 = 250 kBaud

4 = 125 kBaud

5 = 100 kBaud

6 = 50 kBaud

7 = 20 kBaudk

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 kBbaud

500 kBbaud

800 kBbaud

1000 kBbaud

The answer after successful storing you will receive is:

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

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. Afer setting the new entries a reset must be made so that the new entries becom valid (switch off the module for a short time).

Byte 6

00h

Byte 7

00h

Byte 8

00h

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Operation guide | DST 730 Top level inclination sensor

COB-ID

600+Node-ID

DLC

8

Example 2: 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

Byte 1

CMD

Byte 2

Index

Byte 3 Byte 4

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 bith 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

Byte 5

COB-ID

580+Node-ID

ID

67Fh

ID

67Fh

Byte 1

2Fh

Byte 1

2Fh

DLC

8

Byte 1

RES

Byte 2

Index

Byte 3

RES Response of Slave:

60 hex Data sent successfully

80 hex Error

Byte 4

Sub-Index

Byte 5

Byte 2

F0h

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 firat SDO (in the example the Node-

ID = 0x7F)

Byte 3

20h

Byte 4

00h

Byte 5

06h

Byte 6

00h

Byte 2

F1h

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)

Byte 3

20h

Byte 4

00h

Byte 5

06h

Byte 6

00h

Byte 6

Byte 6

Byte 7

00h

Byte 7

00h

Byte 7

Byte 7

Byte 8

00h

Byte 8

00h

20F0h

20F1h

0

0

Object:

Setting of the Node-ID

Setting of the Node-ID

Unsigned 8

Unsigned 8

Rw

Rw

0x7F

(0127d)

0x7F

(0127d)

Byte 8

Byte 8

The Node-ID used to access the sensor in the CANopen

The Node-ID used to access the sensor in the CANopen

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ID

5FFh

Byte 1

60h

Byte 2

F0h

The answer after successful storing you will receive is:

Byte 3

20h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

ID

5FFh

Byte 1

60h

COB-ID

600+Node-ID

DLC

8

COB-ID

580+Node-ID

DLC

8

Byte 2

F1h

Byte 3

20h

Byte 4

00h

Byte 5

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. Afer setting the new entries a reset must be made so that the new entries become valid

(switch off the module for a short time).

Byte 6

00h

Byte 7

00h

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 vice versa.

Structure of SDO-request by the Master

Byte 1

CMD

Byte 2

Index

Byte 3 Byte 4

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 bith 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)

Byte 5

Data

Byte 6

Structure of SDO-answer by the Slave

Byte 1

RES

Byte 2

Index

Byte 3 Byte 4

Sub-Index

Byte 5 Byte 6

RES Response of Slave:

60 hex Data sent successfully

80 hex Error

Byte 8

00h

Byte 7

Byte 7

ID

67Fh

Byte 1

2Bh

Byte 2

00h

With the aim to change the PDO rate from 100 ms

(0x64) to 20 ms (0x14)

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

Byte 3

18h

Byte 4

05h

Byte 5

14h

Byte 6

00h

Byte 7

00h

Byte 8

00h

Byte 8

Byte 8

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Operation guide | DST 730 Top level inclination sensor

ID

5FFh

1800h

Byte 1

60h

0

1

2

3

4

5

Object:

1st Transmit PDO

Parameter

COB-ID

Transmission Type

Inhibit Time

Reserved

Timer

Unsigned 8

Unsigned 32

Unsigned 8

Unsigned 16

//

Unsigned 16

Ro

Ro

Rw

Ro

//

Rw

180h +

Node-ID

254

0

100 (64)

Byte 2

00h

The answer after successful storing you will receive is:

Byte 3

18h

Byte 4

05h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Asynchronous transmission

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

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

Byte 8

00h

ID

67Fh

Byte 1

23h

Byte 2

10h

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

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

Byte 3

10h

Byte 4

01h

Byte 5

73h

Byte 6

61h

Byte 7

76h

Note: save command is given by sending the code:

73h

Where:

73h = ASCII code “s”

61h = ASCII code “a”

76h = ASCII code “v”

65h = ASCII code “e”

61h 76h

The answer after successful storing you will receive is:

65h

Byte 8

65h

ID

5FFh

Byte 1

60h

Byte 2

10h

The answer after successful storing you will receive is:

Byte 3

10h

Byte 4

01h

Byte 5

00h

Byte 6

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).

Byte 7

00h

Byte 8

00h

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COB-ID

600+Node-ID

DLC

8

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

Byte 1

CMD

Byte 2

Index

Byte 3 Byte 4

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 bith 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

Byte 5

Data

Byte 6 Byte 7

COB-ID

580+Node-ID

ID

67Fh

5000h

Byte 1

2Fh

0

DLC

8

Byte 1

RES

Byte 2

Index

Byte 3

RES Response of Slave:

60 hex Data sent successfully

80 hex Error

Byte 4

Sub-Index

Byte 5

Byte 2

00h

With the aim to activate an automatic NMT

Start after power ON write (in the example the Node-ID = 0x7F

Byte 3

50h

Byte 4

00h

Byte 5

01h

Byte 6

00h

Object:

Automatic NMT

Start after Power

ON - PARA

Unsigned 8 Rw

The answer after successful storing you will receive is.

0

Byte 6

Byte 7

00h

Byte 7

Byte 8

00h

0 = not activated

1= activated

Min. = 0 & Max. = 1

Byte 8

Byte 8

ID

5FFh

Byte 1

60h

Byte 2

00h

Byte 3

50h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

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

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

Byte 8

00h

ID

67Fh

Byte 1

23h

Byte 2

10h

Byte 3 Byte 4 Byte 5 Byte 6

10h 01h 73h 61h

Note: save command is given by sending the code:

61h 76h 65h 73h

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:

© Danfoss | DCS (im) | 2019.04

Byte 7

76h

Byte 8

65h

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Operation guide | DST 730 Top level inclination sensor

ID

5FFh

Byte 1

60h

The answer after successful storing you will receive is:

Byte 2

10h

Byte 3

10h

Byte 4

01h

Byte 5

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).

Byte 6

00h

Byte 7

00h

Byte 8

00h

Example 5: How to Preset the angle X to 0.00°

(in case of dual axis ± 10° - ± 90°)

The vlues “Preset Value” (Idx 60x2) and “Diffential

Ofset” (Idx 60x4) affects the display of the longitudianl and the instant t acc

. A typical application is the compensation of display errors dut 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.

Structure of SDO-request by the Master

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 Dictionay 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.

COB-ID

600+Node-ID

COB-ID

580+Node-ID

ID

67Fh

6012h

DLC

8

DLC

8

Byte 1

CMD

Byte 2

Index

Byte 3 Byte 4

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 bith 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

Byte 5

Data

Byte 6

Byte 1

RES

Byte 2 Byte 3

Index

RES Response of Slave:

60 hex Data sent successfully

80 hex Error

Byte 4

Sub-Index

Byte 5 Byte 6

Byte 7

Byte 7

Byte 8

Byte 8

Byte 1

2Bh

0

Byte 2

12h

With the aim to preset the X angle to 0.00° Write (in the example the Node-ID = 0x7F)

Byte 3

Object:

60h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

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

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ID

5FFh

ID

67Fh

Byte 1

60h

Byte 1

23h

Byte 2

12h

The answer after successful storing you will receive is.

Byte 3

60h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 2

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

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

Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

10h 10h 01h 73h 61h 76h

61h

Note: save command is given by sending the code:

76h 65h 73h

Where:

73h = ASCII code “s”

61h = ASCII code “a”

76h = ASCII code “v”

65h = ASCII code “e”

Byte 8

00h

Byte 8

65h

ID

5FFh

Byte 1

60h

Byte 2

10h

The answer after successful storing you will receive is.

Byte 3

10h

Byte 4

01h

Byte 5

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).

Byte 6

00h

Byte 7

00h

Byte 8

00h

COB-ID

600+Node-ID

DLC

8

Example 6: How to Preset the angle Y to 0.00°

(in case of dual axis ± 10° - ± 90°)

The vlues “Preset Value” (Idx 60x2) and “Diffential

Offset” (Idx 60x4) affects the display of the longitudianl and the instant t acc

. A typical application is the compensation of display errors dut 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.

Structure of SDO-request by the Master

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 Dictionay 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.

Byte 1

CMD

Byte 2

Index

Byte 3 Byte 4

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 ontain a 32 bith 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)

Byte 5

Data

Byte 6 Byte 7 Byte 8

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Operation guide | DST 730 Top level inclination sensor

Structure of SDO-answer by the Slave

COB-ID

580+Node-ID

ID

67Fh

6022h

Byte 1

2Bh

0

DLC

8

Byte 1

RES

Byte 2

Index

Byte 3 Byte 4

Sub-Index

Byte 5 Byte 6 Byte 7

RES Response of Slave:

60 hex Data sent successfully

80 hex Error

With the aim to preset the Yangle to 0.00° Write (in the example the Node-ID = 0x7F)

Byte 2

22h

Byte 3

Object:

60h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

Slop Longitudinal

Preset Value

Signed 16 Rw

Byte 8

Corrects the measured sensor value. The displayed value

Slop Longitudinal is set to the entered value. The offset is indicated in the index 0x6023

ID

5FFh

ID

67Fh

Byte 1

60h

Byte 1

23h

Byte 2

22h

The answer after successful storing you will receive is.

Byte 3

60h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 2

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

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

Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

10h 10h 01h 73h 61h 76h

61h

Note: save command is given by sending the code:

76h 65h

Byte 8

00h

Byte 8

65h

73h

Where:

73h = ASCII code “s”

61h = ASCII code “a”

76h = ASCII code “v”

65h = ASCII code “e”

ID

5FFh

Byte 1

60h

Byte 2

10h

The answer after successful storing you will receive is.

Byte 3

10h

Byte 4

01h

Byte 5

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).

Byte 6

00h

Byte 7

00h

Byte 8

00h

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Operation guide | DST X730 Top level inclination sensor

Example 7: How to Preset the angle Z to 0.00°

(in case of single axis ± 180°)

The values “Preset Value” (Idx 60x2) and

“Diffential Offset” (Idx 60x4) affects the display of the longitudianl and lateral axis. The value entered in “Preset Value” immediately corrects the measured value of the sensor cell at the instant t acc

. 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 Dictionay 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

Byte 2

Index

Byte 3 Byte 4

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 ontain a 32 bith 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)

Byte 5

Data

Byte 6

Structure of SDO-answer by the Slave

Byte 7 Byte 8

COB-ID

580+Node-ID

ID

67Fh

6012h

Byte 1

2Bh

0

DLC

8

Byte 1

RES

Byte 2

Index

Byte 3

RES Response of Slave:

60 hex Data sent successfully

80 hex Error

Byte 4

Sub-Index

Byte 5 Byte 6 Byte 7

Byte 2

12h

With the aim to preset the Z angle to 0.00° Write (in the example the Node-ID = 0x7F)

Byte 3

60h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

Object:

Slop Laterall Preset

Value

Signed 16 Rw

Byte 8

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

ID

67Fh

Byte 1

60h

Byte 1

23h

Byte 2

12h

Byte 3

60h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 2

10h

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

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

Byte 3

10h

Byte 4

01h

Byte 5

73h

Byte 6

61h

Byte 7

76h

Byte 8

00h

Byte 8

65h

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Operation guide | DST 730 Top level inclination sensor

73h 61h

Note: save command is given by sending the code:

76h 65h

Where:

73h = ASCII code “s”

61h = ASCII code “a”

76h = ASCII code “v”

65h = ASCII code “e”

ID

5FFh

Byte 1

60h

COB-ID

600+Node-ID

DLC

8

COB-ID

580+Node-ID

DLC

8

Byte 2

10h

The answer after successful storing you will receive is.

Byte 3

10h

Byte 4

01h

Byte 5

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).

Byte 6

00h

Byte 7

00h

Byte 8

00h

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

“Diffential Offset” (Idx 60x4) affects the display of the longitudianl and lateral axis. The value entered in “Preset Value” immediately corrects the measured value of the sensor cell at the instant t acc

. 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 Dictionay 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

Byte 1

CMD

Byte 2

Index

Byte 3 Byte 4

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 ontain a 32 bith 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)

Byte 5

Data

Structure of SDO-answer by the Slave

Byte 1

RES

Byte 2

Index

Byte 3

RES Response of Slave:

60 hex Data sent successfully

80 hex Error

Byte 4

Sub-Index

Byte 5

Byte 6

Byte 6

Byte 7

Byte 7

Byte 8

Byte 8

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ID

67Fh

6011h

Byte 1

2Fh

0

Byte 2

11h

With the aim to invert the direction (from CW to CCW) in angle Z (in exam. the Node-ID = 0x7F)

Object:

Byte 3

60h

Byte 4

00h

Byte 5

03h

Byte 6

00h

Byte 7

00h

Byte 8

00h

Slop Laterall Preset

Value

Unsigned 8 Rw 0x02 (2d)

Inverting the sign

0b 0000 00x0 deactivated

0b 0000 00x1 activated

ID

5FFh

Byte 1

60h

ID

67Fh

Byte 1

23h

73h

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.

Byte 2

11h

Byte 3

60h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 2

10h

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

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

Byte 3

10h

Byte 4

01h

Byte 5

73h

Byte 6

61h

Byte 7

76h

61h

Note: save command is given by sending the code:

76h 65h

Byte 8

00h

Byte 8

65h

ID

5FFh

Byte 1

60h

The answer after successful storing you will receive is.

Byte 2

10h

Byte 3

10h

Byte 4

01h

Byte 5

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).

Byte 6

00h

Byte 7

00h

Byte 8

00h

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Operation guide | DST 730 Top level inclination sensor

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

COB-ID

580+Node-ID

ID

67Fh

6000h

Byte 1

2Bh

0

DLC

8

DLC

8

Byte 1

CMD

Byte 2

Index

Byte 3 Byte 4

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 ontain a 32 bith 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)

Byte 5

Data

Byte 6

Structure of SDO-answer by the Slave

Byte 1

RES

Byte 2

Index

Byte 3

RES Response of Slave:

60 hex Data sent successfully

80 hex Error

Byte 4

Sub-Index

Byte 5 Byte 6

Byte 7

Byte 7

Byte 8

Byte 8

Byte 2

00h

With the aim tochange the resolution from ±0.05° 0x32) to ±0.01 (0x0A) write (in exam. the Node-ID

= 0x7F)

Byte 3

60h

Byte 4

00h

Byte 5

0Ah

Byte 6

00h

Byte 7

00h

Byte 8

00h

Object:

Resolution Unsigned 16 Rw 0x32 (50d)

Disaplay resolution of the inclination for both axis (1)

10d = Inclination is indicated as signed int in 0.01º

50d = Incation is indicated as signed int in 0.05º

100d = Inclination is indicated as signed int in 0.1º

500d = Inclination is indicated as signed int in 0.5º

1000d = Inclination is indicated as signed int in 1.0

Note: If the dsiplay 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 dsiplay resolution in

Idx 6000mis only accepted, if the scaling in Idx 6011 and Idx 6021 is activated.

The answer after successful storing you will receive is.

ID

5FFh

Byte 1

60h

Byte 2

00h

Byte 3

60h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

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ID

67Fh

Byte 1

23h

Byte 2

10h

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

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

Byte 3

10h

Byte 4

01h

Byte 5

73h

Byte 6

61h

Byte 7

76h

61h

Note: save command is given by sending the code:

76h 65h

Byte 8

65h

73h

Where:

73h = ASCII code “s”

61h = ASCII code “a”

76h = ASCII code “v”

65h = ASCII code “e”

ID

5FFh

Byte 1

60h

The answer after successful storing you will receive is.

Byte 2

10h

Byte 3

10h

Byte 4

01h

Byte 5

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).

Byte 6

00h

Byte 7

00h

Byte 8

00h

COB-ID

600+Node-ID

DLC

8

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

Byte 1

CMD

Byte 2

Index

Byte 3 Byte 4

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 ontain a 32 bith 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)

Byte 5

Data

Byte 6 Byte 7 Byte 8

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Operation guide | DST 730 Top level inclination sensor

COB-ID

580+Node-ID

ID

67Fh

2001h

Byte 1

2Fh

0

DLC

8

Structure of SDO-answer by the Slave

Byte 1

RES

Byte 2

Index

Byte 3

RES Response of Slave:

60 hex Data sent successfully

80 hex Error

Byte 4

Sub-Index

Byte 5 Byte 6 Byte 7 Byte 8

Byte 2

01h

With the aim to change the filter settings from FAST response (0x02) to SLOW response (0x00) write

(in exam. the Node-ID = 0x7F)

Byte 3

20h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

Object:

Filter Setting Unsigned 8 Rw 2

Filter = 0 Slow

Filter = 1 Medium

Filter = 2 Fast

The answer after successful storing you will receive is.

ID

5FFh

ID

67Fh

Byte 1

60h

Byte 1

23h

Byte 2

01h

Byte 3

20h

Byte 4

00h

Byte 5

00h

Byte 6

00h

Byte 7

00h

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

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

Byte 2

10h

Byte 3

10h

Byte 4

01h

Byte 5

73h

Byte 6

61h

Byte 7

76h

Byte 8

00h

Byte 8

65h

61h

Note: save command is given by sending the code:

76h 65h 73h

Where:

73h = ASCII code “s”

61h = ASCII code “a”

76h = ASCII code “v”

65h = ASCII code “e”

ID

5FFh

Byte 1

60h

The answer after successful storing you will receive is.

Byte 2

10h

Byte 3

10h

Byte 4

01h

Byte 5

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).

Byte 6

00h

Byte 7

00h

Byte 8

00h

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COB-ID

600+Node-ID

DLC

8

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

Byte 1

CMD

Byte 2

Index

Byte 3 Byte 4

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 ontain a 32 bith 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)

Byte 5

Data

Byte 6 Byte 7 Byte 8

COB-ID

580+Node-ID

ID

67Fh

1001h

Byte 1

23h

1

DLC

8

Structure of SDO-answer by the Slave

Byte 1

RES

Byte 2

Index

Byte 3

RES Response of Slave:

60 hex Data sent successfully

80 hex Error

Byte 4

Sub-Index

Byte 5

Byte 2

11h

With the aim to restore all parameters to default write

(in exam. the Node-ID = 0x7F)

Byte 3

10h

Byte 4

01h

Byte 5

6Ch

Byte 6

6Fh

Object:

Load all parameters Unsigned 8 Wo

Byte 6

Byte 7

61h

Date

Byte 7

Byte 8

64h

Byte 8

“load” (0x64616F6C) to restore all parameters

(objects with marking PARA and LSSPARA)

ID

5FFh

Byte 1

60h

The answer after successful storing you will receive is.

Byte 2

11h

Byte 3

10h

Byte 4

01h

Byte 5

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).

Byte 6

00h

Byte 7

00h

Byte 8

00h

© Danfoss | DCS (im) | 2019.04

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Operation guide | DST 730 Top level inclination sensor

COB-ID

600+Node-ID

DLC

8

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

Byte 1

CMD

Byte 2

Index

Byte 3 Byte 4

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 ontain a 32 bith 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)

Byte 5

Data

Byte 6

Data

Byte 7 Byte 8

COB-ID

580+Node-ID

ID

67Fh

1800h

DLC

8

Structure of SDO-answer by the Slave

Byte 1

RES

Byte 2

Index

Byte 3

RES Response of Slave:

60 hex Data sent successfully

80 hex Error

Byte 4

Sub-Index

Byte 5 Byte 6 Byte 7 Byte 8

Byte 1

2Bh

0

1

2

5

Byte 2

00h

With the aim to disable the asynchronous transmission write the SDO

(in exam. the Node-ID = 0x7F)

Byte 3

18h

Byte 4

05h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Object:

1st Transmit PDO

Parameter

COB-ID Trans PDO

Unsigned 8

Unsigned 32

Ro

Ro

180+

Node-ID

Transmission Type

Trans PDO - PARA

Event Timer

PDO - PARA

Unsigned 8

Unsigned 16

Rw

Rw

254

(0xFE)

100

(0x64)

Byte 8

00h

0x01 - 0xF0 = synch cyclic

Outputs are only updated after “n” synch objects n = 0x01 (1) - 0xF0 (240)

0xFC not impelemented

0xFD not implemented

0xFE = asynchronous

0xFF = not implemented

0 = inactive

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

ID

5FFh

Byte 1

60h

Byte 2

00h

The answer after successful storing you will receive is.

Byte 3

18h

Byte 4

05h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

38 | © Danfoss | DCS (im) | 2019.04

AQ304230922416en-000101 | IC.PS.P21.L1.02

Operation guide | DST X730 Top level inclination sensor

ID

67Fh

Byte 1

23h

Byte 2

10h

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

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

Byte 3

10h

Byte 4

01h

Byte 5

73h

Byte 6

61h

Byte 7

76h

61h

Note: save command is given by sending the code:

76h 65h

Byte 8

65h

73h

Where:

73h = ASCII code “s”

61h = ASCII code “a”

76h = ASCII code “v”

65h = ASCII code “e”

ID

5FFh

Byte 1

60h

The answer after successful storing you will receive is.

Byte 2

10h

Byte 3

10h

Byte 4

01h

Byte 5

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).

Byte 6

00h

Byte 7

00h

Byte 8

00h

COB-ID

600+Node-ID

DLC

8

COB-ID

580+Node-ID

DLC

8

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

Byte 1

CMD

Byte 2

Index

Byte 3 Byte 4

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 ontain a 32 bith 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)

Byte 5

Data

Structure of SDO-answer by the Slave

Byte 1 Byte 2 Byte 3

RES Index

RES Response of Slave:

60 hex Data sent successfully

80 hex Error

Byte 4

Sub-Index

Byte 5

Byte 6

Byte 6

Byte 7

Byte 7

Byte 8

Byte 8

© Danfoss | DCS (im) | 2019.04

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Operation guide | DST 730 Top level inclination sensor

ID

67Fh

1800h

ID

5FFh

Byte 1

2Fh

0

1

2

5

Byte 2

00h

With the aim to disable the synchronous transmission with TPDO active after 1st sync message write the SDO (in exam. the Node-ID = 0x7F)

Byte 3

18h

Byte 4

02h

Byte 5

01

Byte 6

00h

Byte 7

00h

Byte 8

00h

Object:

1st Transmit PDO

Parameter

COB-ID Trans PDO

Unsigned 8

Unsigned 32

Ro

Ro

180+

Node-ID

Transmission Type

Trans PDO - PARA

Event Timer

PDO - PARA

Unsigned 8

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 impelemented

0xFD not implemented

0xFE = asynchronous

0xFF = not implemented

0 = inactive

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

The answer after successful storing you will receive is.

Byte 1

60h

Byte 2

00h

Byte 3

18h

Byte 4

02h

Byte 5

00h

Byte 6

00h

Byte 7

00h

Byte 8

00h

ID

67Fh

Byte 1

23h

Byte 2

10h

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

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

Byte 3

10h

Byte 4

01h

Byte 5

73h

Byte 6

61h

Byte 7

76h

61h

Note: save command is given by sending the code:

76h 65h

Byte 8

65h

73h

Where:

73h = ASCII code “s”

61h = ASCII code “a”

76h = ASCII code “v”

65h = ASCII code “e”

ID

5FFh

Byte 1

60h

The answer after successful storing you will receive is.

Byte 2

10h

Byte 3

10h

Byte 4

01h

Byte 5

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).

Byte 6

00h

Byte 7

00h

Byte 8

00h

40 | © Danfoss | DCS (im) | 2019.04

AQ304230922416en-000101 | IC.PS.P21.L1.02

Operation guide | DST X730 Top level inclination sensor

© Danfoss | DCS (im) | 2019.04

AQ304230922416en-000101 | IC.PS.P21.L1.02 | 41

Danfoss A/S

Industrial Automation

DK-6430 Nordborg

Denmark

Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice.

This also applies to products already on order provided that such alterations can be made without subsequential changes being necessary in specifications already agreed.

All trademarks in this material are property of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss A/S. All rights reserved.

© Danfoss | DCS (im) | 2019.04

AQ304230922416en-000101 | IC.PS.P21.L1.02 | 42

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