Hydac PB HLT 1100_2x50 CANopen E Operating/Maintenance Manual

Linear Position
Transmitter
HLT 1100 -R2 CAN
HLT 2150 -R1 CAN
HLT 2550 -L2 CAN
(Translation of
original instructions)
CANopen
Modifikation: 000
Part No.: 670076 / Edition: 2021-09-16 E
Protocol
Description
2
HLT 1100 / 2150 / 2550 CANopen
Table of Content
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PREFACE .................................................................................................................................. 6
QUICK START ........................................................................................................................... 6
1.
GENERAL INFORMATION............................................................................................. 7
1.1.
SCOPE OF APPLICATIONS............................................................................................................. 7
1.2.
EXCLUSION OF LIABILITY ............................................................................................................. 8
1.3.
SYMBOLS ................................................................................................................................ 8
1.4.
ABBREVIATIONS AND DEFINITIONS USED ........................................................................................ 9
1.5.
GENERAL DOCUMENT STRUCTURE .............................................................................................. 10
Chapter structure............................................................................................................... 10
Notes on using this documentation efficiently .................................................................. 11
1.6.
CHANGES OF TECHNICAL TERMS IN THE CONTEXT OF "POLITICAL CORRECTNESS" .................................. 11
2.
FUNDAMENTALS AND BASICS ................................................................................... 12
2.1.
GENERAL COMMUNICATION CHARACTERISTICS .............................................................................. 12
2.2.
DISPLAY OF NUMERIC FIGURES ................................................................................................... 12
2.3.
BIT ORDER ............................................................................................................................. 13
Counting principle for bit and byte position in the data block .......................................... 13
Representation of a 16 bits integer number within a data block ...................................... 13
Display of a 32 integer numeric figure within the data block ........................................... 14
2.4.
DATA TYPES ........................................................................................................................... 14
INTEGER ............................................................................................................................. 14
UNSIGNED.......................................................................................................................... 14
BOOLEAN ........................................................................................................................... 15
BITFIELD ............................................................................................................................. 15
REAL32 ............................................................................................................................... 16
ARRAY ................................................................................................................................ 16
RECORD.............................................................................................................................. 17
STRING ............................................................................................................................... 18
3.
PRODUCT INTERFACE ................................................................................................ 20
3.1.
QUICK GUIDE ......................................................................................................................... 20
CANopen default settings .................................................................................................. 20
Device profile ..................................................................................................................... 20
Important functions ........................................................................................................... 20
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What to do if no process data have been recognised ....................................................... 24
3.2.
PRODUCT DESCRIPTION ............................................................................................................ 25
Position (distance) ............................................................................................................. 25
Speed ................................................................................................................................. 25
Additional signals .............................................................................................................. 26
3.3.
PROCESS DATA ....................................................................................................................... 26
Structure of the signal description .................................................................................... 26
Signal Position ................................................................................................................... 28
Signal Speed....................................................................................................................... 29
Further process data .......................................................................................................... 30
3.4.
FUNCTIONALLY SAFE PROCESS DATA ............................................................................................ 30
3.5.
PARAMETERS ......................................................................................................................... 30
Configuration parameters ................................................................................................. 30
Manufacturer-specific configuration parameters ............................................................. 30
Device profile-specific parameters .................................................................................... 31
Process value parameter ................................................................................................... 36
Additional manufacturer-specific measurement channels ............................................... 37
3.6.
EVENTS ................................................................................................................................. 37
Error Messages .................................................................................................................. 37
Device state ....................................................................................................................... 38
device-specific PDO events ................................................................................................ 38
3.7.
ERROR MANAGEMENT ............................................................................................................. 39
Errror behaviour ................................................................................................................ 39
Process data error ............................................................................................................. 39
General error management ............................................................................................... 39
Error events ....................................................................................................................... 41
3.8.
LSS PROTOCOL SUPPORT .......................................................................................................... 41
4.
PROTOCOL DESCRIPTION CANOPEN .......................................................................... 42
4.1.
GENERAL OVERVIEW ................................................................................................................ 42
4.2.
HARDWARE PROPERTIES ........................................................................................................... 42
Wire connections ............................................................................................................... 43
Signal level ......................................................................................................................... 43
Topology ............................................................................................................................ 44
Standard pin connections .................................................................................................. 45
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Transmission speed ........................................................................................................... 46
4.3.
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DATA COMMUNICATION........................................................................................................... 46
Structure principle of a CAN data message ....................................................................... 47
Meaning of the CAN ID ...................................................................................................... 47
Meaning of the Node ID .................................................................................................... 49
Troubleshooting ................................................................................................................. 49
Communication types ........................................................................................................ 50
4.4.
NETWORK MANAGEMENT ........................................................................................................ 52
Overview network conditions ............................................................................................ 53
NMT ................................................................................................................................... 54
Heartbeat........................................................................................................................... 55
Example NMT behaviour ................................................................................................... 56
EMCY.................................................................................................................................. 58
4.5.
THE OBJECT DICTIONARY ......................................................................................................... 60
General overview ............................................................................................................... 60
Overview OD areas ............................................................................................................ 63
OD Example ....................................................................................................................... 63
Communication profile area .............................................................................................. 64
manufacturer-specific profile area .................................................................................... 82
Standardized profile area .................................................................................................. 87
EDS Electronic Data Sheet ................................................................................................. 88
4.6.
APPLICATION DATA ................................................................................................................. 90
SDO .................................................................................................................................... 90
PDO .................................................................................................................................. 100
SRDO ................................................................................................................................ 108
4.7.
LAYER SETTING SERVICES (LSS) PROTOCOL................................................................................. 109
LSS Communication model .............................................................................................. 110
LSS Switch commands...................................................................................................... 112
LSS configuration commands .......................................................................................... 114
LSS Inquire Kommandos .................................................................................................. 120
LSS Identify commands .................................................................................................... 126
LSS Fastscan ..................................................................................................................... 129
Example set node ID and Baud rate via LSS .................................................................... 131
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5.
SOFTWARE TOOLS .................................................................................................. 132
5.1.
HMG 4000 ........................................................................................................................ 132
HMG 4000 pin assignment .............................................................................................. 133
PDO Process values as measurements ............................................................................ 134
Functions of the HMG 4000 "CAN tools" ......................................................................... 138
5.2.
PCAN-VIEW ....................................................................................................................... 142
6.
CONTACT DATA ...................................................................................................... 144
7.
APPENDIX ............................................................................................................... 145
7.1.
ASCII TABLE ........................................................................................................................ 145
ASCII table in decimal representation ............................................................................. 145
ASCII table in hexadecimal representation...................................................................... 146
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Preface
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This documentation describes the intended use of the product within a superordinate
control system. It will help you to get acquainted with the provided communication interface and assist you in obtaining maximum benefit in the possible applications for which
it is designed.
The specifications given in this documentation represent the state-of-the-art of the product at the time of publishing. Modifications to technical specifications, illustrations and
dimensions are therefore possible.
The electronic document version contains many active cross-references, which are written in italics.
HYDAC ELECTRONIC GMBH
Technical documentation
Hauptstrasse 27
66128 Saarbruecken
Germany
Phone:
Fax:
+49(0)6897 / 509-01
+49(0)6897 / 509-1726
Email: [email protected]
Quick Start
General information
General product information, definition of the scope of applications, symbols used, as
well as abbreviations.
Quick guide
In this chapter, the experienced users will find the factory pre-set process data signals
as well es the device's own specifications supported by the measurement system.
Process data
Description of all signals provided as process data by the measurement system.
Parameters
Adjustable parameters for the communication or the functions of the measurement system.
Protocol description CANopen
Description of the report used This chapter describes principles and examples helping
to facilitate the communication with the measurement system.
Subsequent Chapters
All chapters subsequent to the protocol description provide additional and useful information for the commissioning and application of the measurement system.
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1. General information
This protocol description, including the illustrations contained therein, is subject to copyright
protection. Use of this document by third parties in contravention of copyright regulations is
forbidden. Reproduction, translation as well as electronic and photographic archiving and
modification require the written permission of the manufacturer. Offenders will be liable for
damages.
Before commissioning of the product, please read the related operating instructions as well
as the associated protocol description. Ensure that the unit described, hereinafter referred
to as measuring system, is suitable for your application.
Before each startup, installation or replacement, the measurement system including related accessories has to undergo a visual check for damage.
If the instrument is not handled correctly, or if the operating instructions
and specifications are not adhered to, damage to property and/or personal injury can result.
Scope of applications
1.1.
This protocol description exclusively applies to the following measurement system types for
the detection of linear movements. The products covered by this description can be identified by means of the following model code structure:

CANopen:
HLT 1100-R2-xxx-F11-xxxx-000
HLT 2150-R1-008-F11-xxxx-000
HLT 2550-L2-008-F11-xxxx-000
o Only the positions in the model code marked by "x" can be freely occupied
using the attributes listed in the data sheet.
The products are components of a system or machine, labelled with affixed nameplates.
The following documentation should therefore always be read together:

System and machine-specific operating manuals of the operator

The related instruction manual

This protocol description for CANopen
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1.2.
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HLT 1100 / 2150 / 2550 CANopen
Exclusion of liability
This protocol description was prepared to the best of our knowledge. Nevertheless and despite the greatest care, it cannot be excluded that mistakes could have crept in. Therefore
please understand that in the absence of any provisions to the contrary hereinafter our warranty and liability – for any legal reasons whatsoever – are excluded in respect of the information in this operating manual.
In the event of translation, only the original version of the protocol
description in German is legally valid.
In particular, we shall not be liable for lost profit or other financial loss. This exclusion of
liability does not apply in cases of intent or gross negligence. Moreover, it does not apply to
defects which have been deceitfully concealed or whose absence has been guaranteed, nor
in cases of culpable harm to life, physical injury and damage to health. If we negligently
breach any material contractual obligation, our liability shall be limited to foreseeable damage. Claims due to the product liability shall remain unaffected.
1.3.
Symbols
In the following section we have listed all symbols used and their meaning.
The symbol means that the circumstances described here are forbidden
(general prohibition sign according to DIN EN ISO 7010).
The symbol means that death, serious personal injury or severe damage
to property could occur if the precautions stated here have not been adhered to or have not been taken (general warning sign according to ISO
7010).
The symbol indicates important information or features and application
suggestions for the product used.
The symbol means that appropriate ESD-protective measures must be
considered according to DIN EN 100 015-1.
(Cause of a potential equalisation between body and device-mass as well
as the housing-mass by means of a high-impedance resistance (approx.
1 MOhm) e.g. with a standard ESD wrist strap).
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1.4.
9
Abbreviations and definitions used
List of abbreviations used and glossary of terms which are not common.
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Abbreviation
Description
ASCII
American Standard Code for Information Interchange
Baud rate
Communication speed of the bus system [bit/s]
CAN
Controller Area Network
CANopen
CAN based communication protocol for automation tasks
CiA
CAN
IN
international
users'
and
manufacturers'
CiA (EU trademark 00 710 98 46)
(EU trademark 00 710 98 46)
DIN
Deutsches Institut für Normung e.V. (DIN - German Institute for Standardisation)
DLC
Data Length Code; data length in a CAN message
ECU
Electronic Control Unit
Superordinate control, e. g. PLC or mobile control unit
EDS
Electronic Data Sheet
electronically readable description of the CANopen OD
EC
European Community
EMC
Electro Magnetic Compatibility
EN
European standard
ESD
Electro Static Discharge
Flash
Permanent memory for application software and persistent data
HLT
Linear-Absolute Measuring System by HYDAC ELECTRONIC
GMBH
IEC
International Electrotechnical Commission
ISO
International Organization for Standardization
J1939
CAN based communication protocol for vehicle manufacturing
(SAE J1939)
LSS
Layer Setting Services
Protocol for the setting of the node ID, the BAUD rate and the LSS
address
MEMS
Micro-Electro-Mechanical System
NEC
National Electrical Code
NMT
Network Management; management of the network accounts
Node ID
CANopen Node address
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AUTOMATION
group
e.
V
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Abbreviation
Description
OD
Object Dictionary; Object dictionary of all communication objects provided by the product
PC
Personal Computer
PDO
Process Data Object
Object for the transmisstion of process data
RAM
Random Access Memory; volatile, fast memory
RMS
Root Mean Square
RPDO
Receive PDO; process data received by the CAN nodes
Rx / Tx
Rx: Receiver / Tx: Transmitter; Direction of the data flow from the perspective of a superordinate controller Tx: ECU → Device, Rx: Device
→ ECU
SAE
Society of Automotive Engineers
SDO
Service Data Object
Object for the access to the CANopen OD
PLC
Speicher programmierbare Steuerung (programmable logic control
system PLC)
SRDO
Safety-Relevant Data Object
Object for the safe transmission of values for CANopen Safety
TPDO
Transmit PDO; process data sent from the CAN node
UL
Underwriters Laboratories
VDC
Direct current
VDE
Verein Deutscher Elektrotechniker (German Electrotechnicians
Association)
1.5.
General document structure
This document has a defined structure Subsequent to each chapter title, there will be a short
description of the chapter content.
It is not only our aim to show the users an efficient way to find a specific response to their
inquiry, but also to provide the users with less prior knowledge with the required information
to ensure a successful use of the product.
Chapter structure
The general structure subdivides itself into the following essential chapters.
 2 Fundamentals and basics
General information serving to understand the function principle of a measuring system equipped with a communication interface.
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 3 Product interface
All the product specific caracteristics are described here. Certain sections of this
description may repeat and differ at the same time in the protocol description if the
measurement system described herein deviates from the general protocol description or if the properties of the protocol description are complemented.
 4 Protocol description CANopen
In the general protocol description provides you with all information required for a
successful communication. It explains, for instance, how the process data are transmitted with this specific communication protocol. In addition, it explains how to
change the measurement system configuration.
Notes on using this documentation efficiently
In order to get quick access to particular subjects, this document is linked with active crossreferences. They are formatted in italics.
This chapter 3.1 Quick guide is supposed to lead you to a response to the most frequently
asked questions as quickly as possible.
Symbols and abbreviations are explained in the chapters 1.3 Symbols and 1.4 Abbreviations
and definitions used.
The display of numeric figures is explained in chapter 2.2 Display of numeric figures.
Technical English terms are placed between quotation marks ("..").
1.6.
Changes of technical terms in the context of "political
correctness"
HYDAC Electronic GmbH continuously strive to respect human rights and every individual's
dignity in any context. However, when it comes to communication technology, one technical
term is still very common "Master – Slave".
In order to avoid this archaic and discriminating expression, the term has been replaced
wherever possible in this documentation, using the following substitution: "Master – Device"
("Device" replacing "Slave"). Exceptions are only terms which are used in this form in official
documentation. These exceptions are only used to make it easier for the reader to understand the connection between this documentation and the official documents.
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2. Fundamentals and basics
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The following sections will explain non-product specific information for a better understanding of the functioning principle of a measurement system with a communication interface.
General communication characteristics
2.1.
In general, the measurement systems are the end-nodes within a communication network.
They do not take control of their superordinate network themselves. However, these devices
are able to generate and send information spontaneously. In doing this, the measurement
systems mainly serve as a data source - they generate process data.
The following types of information can be generated and processed by means of the measurement system.

Process data
current actual or nominal values

Parameters
System data for the device identification or configuration

Events
Information on particular events, such as errors
The information types listed here are explained in more detail in the following chapters.
Display of numeric figures
2.2.
The figures without additional marking are displayed as numeric figures with decimals (number basis 10). For a more simple display of data blocks, however, hexadecimal representation is also very commonly used (number basis 16). In our document, the hexadecimals are
generally marked by an "h" as a suffix.
Decimal numbers, when displayed in a mixed representation, are marked with the additional
suffix "d".
Binary numbers (number basis 2) are marked by suffix "b".

12h
12 hexadecimal
→ 18 decimal

A2h
A2 hexadecimal
→ 162 decimal

16d
16 decimal
→ 10 hexadecimal

66
66 decimal
→ 42 hexadecimal

10b
10 binary
→ 2 decimal
Note
In other documentations, i.e. EDS files, you will also frequently encounter the format
"0x1042". This way, the prefix "0x" marks the subsequent number as a hexadecimal.
When describing the entries in the OD (see chapter 4.5 The Object Dictionary), the index is
always shown in hexadecimal notation, but without particular marking.
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Bit order
2.3.
The measurement systems use the "Little Endian" format for the transmission of their numeric values. In this representation of numeric values, the lowest bit (LSB; "least significant
bit") will be stored adding it to the lowest data block address.
Counting principle for bit and byte position in the data block
In practice, there are different ways of counting in order to define the positon of a particular
date within a data block. For this documentation, the following way of counting has been
defined:
 Bit positions within a continuous data block start with 0.
 Byte positions within a data block start with 0.
Representation of a 16 bits integer number within a data block
The following example will explain the storage position of the "Little Endian" format. For this
purpose, the transmission of an INTEGER16, e.g. of a 16 bit signed integer number, is
shown in the data block of a CAN message (8 bytes).
The value to be transmitted will be shown as a hexadecimal number in order to show more
clearly how the number is assigned to the bytes within the data block.
Numerical value decimal
4711d
Numerical value hexadecimal
1267h
Numerical value binary
0001 0010 0110 0111
Data bytes of the CAN message
Byte 0
Byte 1
INTEGER16
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
User
definable
User
definable
User
definable
User
definable
User
definable
User
definable
Using the "Little Endian" bit order, the least significant byte of the numeric value (67h in our
example) is copied to the least significant byte of the data block (marked blue). At the same
time, the least significant bit (LSB) is located in the least significant bit of the first byte
(marked red). For better clarity, the data ranges which are not used, byte 2 to 7, are not
shown.
Byte 0
Byte 1
Data bytes of the CAN message
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 Bit position
67h
12h
Content hexadecimal
0 1 1 0 0 1 1 1 0 0 0 1 0 0 1 0 Content binary
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Display of a 32 integer numeric figure within the data block
E
In the following example, the transmission of an INTEGER32, e.g. of a 32 bit signed integer
numeric value, within a data block of a CAN message (8 bytes) is shown in the "Little Endian"
format.
Numerical value decimal
-2011871471d
Numerical value hexadecimal
88154711h
Byte 0
Byte 1
Byte 2
Byte 3
INTEGER32
11h
2.4.
47h
15h
88h
Byte 4
Byte 5
Byte 6
Byte 7
User
definable
User
definable
User
definable
User
definable
User
definable
User
definable
User
definable
User
definable
Data types
For all data types the display of numeric values described in the chapter 2.3 Bit order, is
applicable for the storage within data blocks.
INTEGER
INTEGER is the term for signed whole numbers whose data length may vary. Negative figures
will be specified by a two's complement [NOT(<numeric value>)1]. The data length is specified
in bits and will be added directly as a suffix to the data type identifier. If the most significant bit
is an INTEGER figure 1, this one will be negative.
Consequently, INTEGER16 means it is a signed whole number whose data length is 16 bits.
Data type
Length [Bit]
Min.
Max.
INTEGER8
8
-128
+127
INTEGER16
16
-32,768
+32,767
INTEGER32
32
-2147483648
2147483647
In the figure above, for the data in the data block of more than 1 byte of length, the bit order
has to be paid attention to; see chapter 2.3 Bit order.
UNSIGNED
UNSIGNED specifies unsigned whole numbers, which means that only positive figures can be
displayed using this data type. The data length in bytes is added as a suffix.
UNSIGNED32 is a whole numeric value without a sign having a data length of 32 bits.
Data type
UNSIGNED8
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Length [Bit]
Min.
Max.
8
0
+255
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Data type
15
Length [Bit]
Min.
Max.
UNSIGNED16
16
0
+65,535
UNSIGNED32
32
0
4294967295
In the figure above, for the data in the data block of more than 1 byte of length, the bit order
has to be paid attention to; see chapter 2.3 Bit order.
BOOLEAN
The data type BOOLEAN is used to illustrate binary signals, which means signals which are
not able to adopt more than two logical states. The data length in the memory may vary If
an individual binary signal is stored in the memory, the data type is usually an UNSIGNED8.
Should the binary signal be a part of a BITFIELD, the data length is 1 bit.
Value
DE
EN
Meaning
0
FALSE
FALSE
Signal or property is not active.
1
TRUE
TRUE
Signal or property is active.
(≠ 0)
Remark: In some of the implementations each value
unequal to "0" is considered as TRUE.
BITFIELD
The data type UNSIGNED is often used for the display of bitfields. In this case, each bit of
the date has its own signification, although in many cases, not all bit positions are used.
Thus, each bit of the BITFIELD corresponds with a signal of the data type BOOLEAN. The
significance of each individual bit is explained in the related description.
Status signals are often displayed as bitfield. The representation of the content of a bitfield
is usually in binary format, i.e. bit-oriented.
The relevant characteristic is active if the bit which is related to the characteristic is active,
which means it has the binary numeric value of 1 (TRUE).
In case of a bitfield, a few indications can be set synchronously. Therefore, for the evaluation of an individual indication, an appropriate masking
should be applied for the bit field.
The comparison with a simple constant may fail when having a combination of indications.
Bit positions which are unused may take on fixed values (0/1), in dependence of internal
application states, but also shift between the states. For a reliable evaluation, these bit positions should therefore be ignored.
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Example for a BITFIELD
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7
6
5
4
3
2
1
0
Bit
Temperature compensation inactive BOOLEAN
Device in movement
BOOLEAN
Reserved
Serious error
BOOLEAN
Reserved
Reserved
Reserved
Reserved
Example for the contents and the signification
0000 0010b = 02h = 2d → indication "device in movement" is active.
0000 1010b = 0Ah = 10d → indication "device in movement" is active and "severe error"
are active at the same time.
REAL32
REAL32 is a signed floating point number having a data length of 32 bits. Such numbers are
subdivided into one signed bit (1 bit), one mantissa (23 bits) and one exponent (8 bits). With
this numeric value the non-negative integer numbers can be displayed sufficiently precise.
The representation below corresponds with IEEE754.
Data type
REAL32
Length [Bit]
Min.
Max.
32
-3,40282347E38
+3,40282347E38
ARRAY
ARRAY is a data type containing a variety of different entries/values. In an ARRAY, the
entries are all of the same data type. The value entries in an ARRAY have the same signification but do not have the same content, i.e. a list of all the recently recorded device error
numbers. For the individual entries, the simple data types described above, such as
UNSIGNED32 are used.
In the protocol described here, the first entry of the ARRAY indicates the number of existing
entries. In an ARRAY, a maximum of 255 entries is allowed. This entry always has a subindex of 0 and is handled in a special way.
The individual value entries are accessed via a sub-index. The first sub-index for a value
entry is 1. If a sub-index is accessed, which is of higher value than the content of the subindex 0 (number of valid ARRAY entries) an error message will occur.
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2.4.6.1. Example ARRAY
The following example shows the structure of an ARRAY in the OD, see chapter 4.5 The
Object Dictionary.
Index Sub
Value
1003h
Name
Type
Pre-defined error field
ARRAY
Access Data type
1003h 0
4
Number of errors
VAR
rw
UNSIGNED8
1003h 1
1001
Standard error field 1
VAR
ro
UNSIGNED32
1003h 2
2002
Standard error field 2
VAR
ro
UNSIGNED32
1003h 3
3003
Standard error field 3
VAR
ro
UNSIGNED32
1003h 4
4004
Standard error field 4
VAR
ro
UNSIGNED32
RECORD
RECORD is a data type containing a variety of different entries/values. In some programming languages this data type is also referred to as structure. In contrast to a ARRAY, in
the case of a RECORD, the individual entries may consist of different data types. The value
entries in a RECORD therefore have different meanings and contents, i.e. Device code. For
the individual entries, the simple data types described above, such as UNSIGNED32 are
used.
In the protocol described, the first entry of the RECORD defines the highest existing subindex in the existing sections of a record. This entry always has a sub-index of 0 and is
handled in a special way. The number of entries may be smaller than this value, as not all
of the sub indices need to be used. In an RECORD, a maximum of 255 entries is allowed.
The individual value entries are accessed via a sub-index. The first sub-index for a value
entry is 1. If a sub-index is accessed, which is of higher value than the content of the subindex 0 (number of valid RECORD entries) an error message will occur. The same is applicable when accessing to a "gap" in the RECORD, which means to a non-defined sub-index.
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2.4.7.1. Example RECORD
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The following example shows the structure of an RECORD in the OD,
see chapter 4.5°The Object Dictionary
Index Sub
Value
1018h
Name
Type
Identity object
RECORD
Access Data type
1018h 0
4
Highest sub-index
supported
VAR
const
UNSIGNED8
1018h 1
218
Vendor ID
VAR
ro
UNSIGNED32
1018h 2
928037
Product code
VAR
ro
UNSIGNED32
1018h 3
8
Revision number
VAR
ro
UNSIGNED32
1018h 4
4711
Serial number
VAR
ro
UNSIGNED32
2.4.7.2. Example RECORD with a "definition gap"
The following example shows the structure of an RECORD with a "gap" in the Definition of
the entries, see chapter4.5.4.8 TPDO communication parameter. In the example, the subindex 4 is not defined and the number of the highest value sub-index = 5.
Index Sub
Value
1800h
Name
Type
Access Data type
TPDO communication
parameter 1
RECORD
Highest sub-index
supported
VAR
const
UNSIGNED8
1800h 0
5
1800h 1
180h+
COB ID
Node-ID
VAR
rw
UNSIGNED32
1800h 2
254
Transmission type
VAR
rw
UNSIGNED8
1800h 3
0
Inhibit time
VAR
rw
UNSIGNED16
1800h 5
1000
Event timer
VAR
rw
UNSIGNED16
STRING
A STRING is a particular data type serving to visualise texts. A STRING consists of a variety
of individual characters which are generally representing one letter. In the memory, however,
the individual characters are represented by a numeric value.
In the described protocol, the STRING is represented by the data type VISIBLE_STRING.
The code, i.e. the relation between the letters and the numeric values in the memory, will be
described in chapter 7.1 ASCII Table.
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2.4.8.1. Example STRING
The representation of the STRING "save" and its assignment to the user data bytes as part
of a SDO command, see chapters 4.6.1 SDO and Store parameters.
Byte 4
73h
"s"
Byte 5
61h
"a"
73h
61h
76h
65h
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Byte 6
76h
"v"
Byte 7
65h
"e"
= 115d → s
= 97d → a
= 118d → v
= 101d → e
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3. Product interface
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Below, the actual communication characteristics of the measurement system will be explained in a more detailed way. The structure of messages for the transmission of information,
their functional context as well as their chronological sequence will be explained in a more
detailed way in chapter 4 Protocol description CANopen.
3.1.
Quick guide
This chapter is supposed to give the user quick responses to frequently occurring questions.
For this purpose, the information is presented in the most compact way and provides crossreferences to the related chapters for detailed information.
CANopen default settings
Below, the signals in the measurement system, which are typically pre-set for the process
value transmission, are explained. Default settings depend on the model code and may deviate from the settings explained herein, particularly in devices with a modification (see user
manual chapter "Model code"→ "Modification number"). The individual signal properties are
described in chapter 3.3 Process data
Range
Properties
Default settings
General
Settings
Baud rate
Node ID
Power ON Status
Transmission Type
Event Timer
Byte 0, 1, 2, 3
250 kbit/s
1
Pre-Operational
254
10 ms
Position value
INTEGER32; 0.05 mm / Bit
Byte 4, 5
Speed value, Kanal1
INTEGER16; 0.05 mm/s / Bit
TPDO1
Device profile
Measurement systems of the HLT 1100 / 2150 / 2550 series support the CANopen device
profilel "CiA 406 Device profile for encoders" for position measurement and speed and a
multi sensor as further options.
The exact measurement system-specific implementation of the device profile is described
in chapter 3.5.3 Device profile-specific parameters.
Important functions
Below, please see the list with the most frequent changes on measurement systems, required by users.
3.1.3.1. Changing the device address (node ID)
In order to change the active device address, a particular order of actions has to be adhered
to.
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 Set the device to network status "Pre-Operational"
o see chapter 4.4°Network Management
o
E
"Enter pre-operational" see chapter 4.4.2 NMT
 Enter desired device address into Object 2001.2
o see Object Node ID
o see chapter 4.6.1°SDO
 Save changes to non-volatile device memory
o see description Store parameters
o see Object Save LSS parameters
 Restart device
o see chapter 4.4°Network Management
o „Reset node“; see chapter 4.4.2 NMT
o or cut device power supply and reconnect "power cycle"
 Alternative option for changing the node ID
o see chapter 4.7°Layer setting services (LSS) Protocol
o see chapter 4.7.7°Example set node ID and Baud rate via LSS
CAN-Trace example change device address
The following example refers to a measurement system with an active device address 1
which is supposed to be changed to 10h (16d).
CAN-ID (hex)
|
Direction: Tx (ECU → Device); Rx (Device → ECU)
|
| Data Length
|
| | Data Bytes (hex)
|
| | |
+--- +- + +- -- -- -- -- -- -- -NMT command "Enter Pre-Operational"
0000 Tx 2 80 01
Object 2001.2 "Set Pending Node-ID" = 10h
0601 Tx 8 2F 01 20 02 10 00 00 00
0581 Rx 8 60 01 20 02 00 00 00 00
Object Function 1010.4 "StoreLSSParameter" ("save")
0601 Tx 8 23 10 10 04 73 61 76 65
0581 Rx 8 60 10 10 04 00 00 00 00
NMT command "Reset Node"
0000 Tx 2 81 01
→
Device reinitialisation in process
"Boot-up" message having device address 10h
0710 Rx 1 00
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3.1.3.2. Change of the Baud rate
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In order to change the Baud rate, a certain order of actions has to be adhered to. This
process is very similar to changing the Node ID. Both changes may also be carried out
simultaneously. For this purpose, the object of the Node ID also has to be changed in the
second step.
Please note: after the Baud rate has been changed, it is also necessary to change it in the
receiver's messages.
Sequence of actions Baud rate:
 Set the device to network status "Pre-Operational"
o see chapter 4.4°Network Management
o
"Enter pre-operational" see chapter 4.4.2 NMT
 Enter desired Baud rate into Object 2002.2
o see Object Baud rate
o see chapter 4.6.1°SDO
o (option: additional change of Node ID, see object Node ID)
 Save changes to non-volatile device memory
o see description Store parameters
o see Object Save LSS parameters
 Restart device
o see chapter 4.4°Network Management
o „Reset node“; see chapter 4.4.2 NMT
o or cut device power supply and reconnect "power cycle"
 Alternative option for changing the Baud rate
o see chapter 4.7°Layer setting services (LSS) Protocol
o see chapter 4.7.7°Example set node ID and Baud rate via LSS
CAN trace example change Baud rate
The following example refers to a measurement system with an active device address 1.
The Baud rate is supposed to be changed to 125 kbit/s.
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CAN-ID (hex)
|
Direction: Tx (ECU → Device); Rx (Device → ECU)
|
| Data Length
|
| | Data Bytes (hex)
|
| | |
+--- +- + +- -- -- -- -- -- -- -NMT command "Enter Pre-Operational"
0000 Tx 2 80 01
Object 2002.2 "Set Pending Baudrate" = 4 (125 kbit/s)
0601 Tx 8 2F 02 20 02 04 00 00 00
0581 Rx 8 60 02 20 02 00 00 00 00
Object function 1010.4 "StoreLSSParameter" ("save")
0601 Tx 8 23 10 10 04 73 61 76 65
0581 Rx 8 60 10 10 04 00 00 00 00
NMT command "Reset Node"
0000 Tx 2 81 01
→
Device reinitialisation in process
"Boot-up" message having device address 1h
0701 Rx 1 00
3.1.3.3. Save settings
In order to save configurations permanently in the measurement system, the "Store" functions enabledhas to be activated explicitly after having changed the parameters. These functions are explained in chapter 4.5.4.3 Storage and restoring (general communication objects).
3.1.3.4. Reset to default settings
Reset to default settings is performed via "Loading and storage parameters" from the OD
range 4.5.4 Communication profile area.
Inquiry of function parameters "Restore default parameters" all parameters will be loaded
(except the settings for Node ID and Baud rate). In order to make the settings apply, the
device has to be reset; see chapter4.4.2NMT.
3.1.3.5. Change of the transmission type for process data
The related communication parameters of the PDO define the way and the time the process
data are supposed to be transmitted.
For RPDO - Process data received by the measurement system

4.5.4.6 RPDO communication parameter

4.6.2.1 Event driven

4.6.2.2 SYNC

4.6.2.4 Overview diagram PDO mapping
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For TPDO - Process data sent by the measurement system
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
4.5.4.8 TPDO communication parameter

4.6.2.1 Event driven

4.6.2.2 SYNC

4.6.2.4 Overview diagram PDO mapping
3.1.3.6. Change of the content of the process data
The content of the process data is administrated via the "PDO Mapping" see chapter
4.6.2.3 PDO Mapping and 4.6.2.4 Overview diagram PDO mapping.
To change the mapping, a defined process has to be adhered to, see chapter
4.6.2.5 Process flow sequence to change the "PDO mapping".
What to do if no process data have been recognised
As CANopen offers high flexibility, unfortunately, there are also many different causes for
not transmitting or receiving the process data of a measurement system. In the following a
few points are listed which should be checked if no data or no plausible data are being
transmitted.

Network status "Pre-Operational"
A measuring system in the "Pre-Operation" state does not send any process data,
see chapter 4.4.1 Overview network conditions.
The current network state can be read out from the "Heartbeat" protocol's data while
this is active, see chapter 4.4.3 Heartbeat.

SYNC based PDO communication
If, for the transmission of a PDO the SYNC service is active, the measurement system will either send a PDO only after receiving one or several SYNC messages or
further process a received signal. No PDO will be exchanged without any SYNC
messages.
Further information on how the SYNC processing is carried out and how it is activated
is explained in the following chapters:
4.6.2.2 SYNC
4.5.4.8 TPDO communication parameter.

PDO COB-ID/CAN-ID parameter settings
By means of which CAN ID PDO will be transmitted is defined via the PDO's COB
ID. The parameters for this will be explained in the following chapters: for RPDO
4.5.4.6and for TPDO
4.5.4.8.
The configuration options at the COB ID decide if a PDO may be sent at all an if the
sender and the receiver work with the same ID.
o PDO transmission active
The indication "invalid" in the COB ID (bit 31) of a PDO decide if a PDO is sent/received at all, see object TPDO.COB-ID.
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o CAN ID correctly evaluated
The PDO's CAN ID is usually calculated from the current Basis CAN ID and the
current Node IDof the measurement system, see object TPDO.COB-ID.
It can easily happen that the receiver is still configured to respond to the "old"
CAN ID, despite having changed the node ID of the measurement system. It may
therefore occur that messages sent via the "new" CAN ID are ignored by the
PDO.

Evaluation of process data
The correct evaluation of the process data is slightly more complicated. If ensured
that the desired PDO is received, the desired Process valuehas to be copied from
the CAN data blockand needs to be interpreted correctly.
If the present measurement system still has its factory default settings, the pre-set
process data are described in chapter 3.1.1 CANopen default settings
If the measurement system already has an individual configuration, the mechanisms
described in chapter 4.6.2 PDO will apply. Chapter 4.6.2.4 Overview diagram PDO
mapping provides a good overview for this purpose.
Product description
3.2.
The HLT 1100 / 2150 / 2550 series measurement systems are used to measure linear movements and to condition the measured data for the subsequent control of mobile control
procedures.
The following please find the most important information on this product.
The indications listed herein are non-formal and are provided solely for
the purpose of helping to understand the context. A more detailed
description of the product properties is available in the associated operating manual.
In case of doubt, the indications given in the operating manual always
apply.
Position (distance)
The sensor works on the principle of magnetostriction. The measurement principle is based
on a runtime measurement and provides highly precise measured values of the position
(distance) of a permanent magnet in relation with a defined zero-position.

3.3.2 Signal Position
Speed
In addition to the linear movement, the measurement system also provides the magnet movement speed. The speed detection is based on a runtime measurement as well.

3.3.3 Signal Speed
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Additional signals
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The HLT 1100 / 2150 / 2550 series measurement systems do not provide any further signals
describing the linear movement in addition with the variables for position and speed.
3.3.
Process data
The measurement system described herein represents a data source which means the provided process data, actual values are the current measured values.
Further information explaining the meaning and the properties of process data can be found
in chapter 4.6.2 PDO.
The measurement system described does not provide any additional manufacturer-specific
measurement channels.
Structure of the signal description
All signals provided by the measurement system are written to in the same way. The important measurands for the evaluation and conversion of the signal are listed in a table.
For each signal a signal flow diagram shows which Signal parameter objects are responsible
for signal processing. In the following, an example for this type of diagram is shown, explaining the tasks of the individual signal processing steps.

Sensor Unit
The sensor unit reports the raw values of the sensor cell which is relevant for the
signal as a sensor value and makes it available for further signal processing.

Calibration & Scaling
In this signal step the error correction, temperature compensation, the scaling as well
as the zero-point correction is performed. The corrected sensor signal values are
then further processed at the signal level "Filter & Calculation".
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
27
Filter or Filter & Calculator
On this signal level, the processed signal values are now converted and filtered to
become the relevant process signal. Here, for instance, the position values are filtered from the position signals and the speed values are calculated.

Transmission Unit
If one of the following events occurs, the value of the PDO is sent depending on the
preset Transmission Type.
1. The Event Timer has expired (cyclical transmission).
2. One or more SYNC objects have been received (synchronous transmission).
The cross-references are indicated as shown below:
Signal description
Reference to the chapter, giving a short explanation of the relevant signal. A more detailed description can be found in
the related operation manual.
Signal characteristics Refers to the chapter describing the characteristics necessary for the evaluation of the measuring range, for instance.
Status information
Refers to the chapter which explains the exact
structure of a status value belonging to a signal (mainly a BITFIELD).
The following table explains the meaning of the individual signal properties of a signal
description.
Signal properties
Description
Measurement range min.
The smallest physical value displayable by the signal.
Measurement range max.
The greatest physical value displayable by the signal.
Resolution
The physical value of an individual bit of the numeric value.
Definition of the conversion between numeric value of the
data type and the physical size of the signal.
Example:
Numerical value: 4711d
Resolution:
0.01 °/bit
4711d * 0.01 °/Bit = 47.11 °
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Signal properties
Description
Offset
Eventually existing zero offset of the numeric value.
An offset is mainly used if the data type of the transmitted
numeric value is unsigned.
Example:
Numerical value:
61d
Measurement range: -40 bis +120 °C
Resolution:
1 °C/bit
Offset:
-40 °C
(61d * 1 °C/Bit) + (-40 °C) = 21 °C
Data type
Data type of the numeric signal value during transmission; see chapter 2.4 Data types and 2.3 Bit order.
Data length
Length of the data type used for the transmission in bits.
Mappable
Defines if and which way the signal can be transmitted via
CANopen Process data object.
TPDO, RPDO or SRDO.
Process value index
Default settings
Index number of the object with the current process value
for the visualisation on a PDO.
Example:
6004.0
Position value (for single sensor devices)
600C.0
Position raw value
6020.1
Position value (for multi sensor devices)
6030.1
Speed value measurement channel 1
Describes if and via which Process data objectthe signal
will be transmitted during emission:
TPDO, RPDO or SRDO.
Signal Position
The HLT 1100 / 2150 / 2550 product families provide the signal "position". This signal meets
the requirements of the Device profile CiA 406.
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Signal description
Status information
29
3.2.1 Position (distance)
3.5.3 Device profile-specific parameters, Operating status
(Index 6500h)
Signal properties
Value
Additional information
Measurement
lower limit
range,
0
[mm]
Measurement
upper limit
range,
100 (Example)
[mm];
The value of the measurement
range upper limit corresponds with
the measurement length of the sensor.
Resolution
0.05
[mm/Bit]
Offset
0
[mm]
Data type
INTEGER32
Signed integer
Data length
32
Bit
Mappable
TPDO
Process value index
6004.0
600C.0
6020.1
Default settings
TPDO1
Position value (for single sensor devices)
Position raw value
Position value (for multi sensor devices)
Byte 0, 1, 2, 3 Position value
Signal Speed
Depending on the used default settings, the measurement system provides the speed value.
Signal description
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Signal properties
Value
Additional information
Time frame speed measurement min.
20
[ms]
Time frame speed measurement max.
1000
[ms]
Resolution
0.05
[mm/s / Bit]
Data type
INTEGER16
Signed integer
Data length
16
Bit
Mappable
TPDO
Process value index
6030.1
Speed value channel 1
Default settings
TPDO1
Byte 4, 5 speed value
Further process data
The used measurement system does not provide any additional process data in the form of
additional measurement channels.
3.4.
Functionally safe process data
The measurement devices described in this documentation (see chapter 1.1 Scope of applications) do not support any functionally safe communication.
3.5.
Parameters
In CANopen applications, parameters are comparable with the objects in an "object dictionary". Thus, all parameters of the measurement system are described via the OD (see chapter 4.5 The Object Dictionary).
The parameters described in this chapter are additional devices, device-specific parameters
or parameters, whose behaviour deviates from the general protocol description.
Configuration parameters
The HLT 1100 / 2150 / 2550 measurement system families do not provide any measurement
system-specific configuration parameters.
The generally applicable manufacturer-specific parameters are indicated in chapter
4.5.4 Communication profile area.
Manufacturer-specific configuration parameters
The HLT 1100 / 2150 / 2550 measurement system families neither provide any additional
nor deviating manufacturer-specific parameters.
The generally applicable manufacturer-specific parameters are indicated in chapter
4.5.5 manufacturer-specific profile area.
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Device profile-specific parameters
HLT 1100 / 2150 / 2550 series measurement systems support the CANopen device profile
"CiA 406 Device profile for encoders" for position measurement and a speed and a multi
sensor as further options.
The correct implementation of the profile is explained in this chapter.
The process data transmitted during reset to factory settings of the measurement system
are described in chapter 3.1.1CANopen default settings.
Certain objects have a generally applicable and device profile-specific section. Such objects
(as for example the object Error behaviour) only describe the section which is defined via
the device profile. The definitions which are generally applicable are described in chapter
4.5.4 Communication profile area.
The objects from the device profile CiA 406 "Device profile for encoders"
which are not listed below, are not supported by the measurement system.
The device profile documentation version, serving as a basis for the implementation of the
measurement system, can be taken from the operation manual.
Name
Index
Sub
Type
Acc
Device Type
1000h
0
UNSIGNED32
ro
PDO
0196h → CiA 406
Bit 0-15
contains the device profile
Bit 16-23
indicates the encoder type: Value 0x0A for multi sensor encoder
(Value 0x08 for Absolute linear encoders)
Bit 24-26
defines the PDO:
Error register
Value 0x0 for default mapping
Value 0x7 for manufacturer-specific mapping
1001h
0
UNSIGNED8
ro
X
Device error status
This error status is also part of the EMCY message, see chapter 4.4.5 EMCY.
Bit 0
Generic error
Bit 4
Communication error
Bit 7
Manufacturer specific
As soon as a communication error or manufacturer-specific error has occurred, the generic
error is set.
Error behaviour
ARRAY
1029h
General; see chapter 4.5.4.1 Error management (General communication objects).
Communication error
1029h
1
UNSIGNED8
rw
Device behaviour in case a communication error occurs.
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Name
Index
Sub
Type
Acc
Device error
1029h
2
UNSIGNED8
rw
PDO
"Error Behaviour.Device error"; Error behaviour in the case of an internal device error.
Description
of
the
error
behaviour:
4.5.4.1 Error management (General communication objects Object: Error behaviour
Operating parameters
6000h
0
UNSIGNED16
rw
Only one measurement direction of the operating parameters is supported.
Bit 4 Measurement direction linear encoder: Value: 0 = rising
Value: 1 = falling
Total measurement range
6002h
0
UNSIGNED32
ro
Measurement range in ° The measurement range in measurement increments may not be
changed, as the length of the measurement system is firmly defined.
Preset value
6003h
0
INTEGER32
rw
Set input for the start point of the permanent magnet corresponds with a zero offset.
Entry for absolute linear encoder (Encoder Type 0x08)
Remark: The entry for multi sensor encoders is stored in the Index 6020.1.
Position value
6004h
0
INTEGER32
ro
X
Position value magnet
Entry for absolute linear encoder (Encoder Type 0x08)
Remark: The entry for multi sensor encoders is stored in the Index 6020.1.
Linear encoder
6005h
measurement step settings
ARRAY
Increment of the measurement values
The entry is only available for absolute linear encoders.
Position step setting
6005h
1
UNSIGNED32
ro
Increment of the position value. The position increment depends on the factory settings of
the device, it is a multiple off 0.001 µm.
Bsp. 100000 = 0.1 mm
Speed step setting
6005h
2
UNSIGNED32
ro
Increment of the speed value. The speed increment depends on the factory settings, it is a
multiple off 0.01 mm/s.
Example: 100 = 1 mm/s
Position raw value
600Ch
0
INTEGER32
ro
X
Position raw value magnet
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Name
Index
Preset values for multi
sensor devices
6010h
33
Sub
Type
Acc
PDO
ARRAY
E
Preset value for zero point offset
Entry for multi sensor encoder (Encoder Type 0x0A)
Remark: The entry for absolute linear encoders is stored in the Index 6003.
Preset value channel 1
6010h
1
INTEGER32
rw
Preset value (set input) for the start point of the magnet
Whether the entry exists, depends on whether the device is a multi sensor device or not.
The preset value is provided as a multiple of the used increment. While receiving, the offset
value is modified in a way (see Index 6509) that the current position value (see Index 6020.1)
corresponds with the received preset.
If the measurement direction is changed, (see ) the preset will be deleted.
Preset values for multi
sensor devices
6020h
ARRAY
Position value magnet
Entry for multi sensor encoder (Encoder Type 0x0A)
Remark: The entry for absolute linear encoders is stored in the Index 6004.
Position value channel 1
6020h
1
INTEGER32
ro
Position value magnet
Whether the entry exists, depends on whether the device is a multi sensor device or not.
The position value is displayed as a multiple of the used increment, an eventually set offset
is also taken into account.
If a measurement error has occurred, the most recent valid position value will be sent.
Speed value
6030h
ARRAY
Speed value
If the entry exists depends on the factory settings.
Speed value channel 1
6030h
1
INTEGER16
ro
X
Speed value
If the entry exists depends on the factory settings. The speed value is indicated as a multiple
of the used increment.
Speed parameters
6031h
RECORD
Speed parameters
The calculation of the speed can be adapted via this entry.
If the entry exists depends on the factory settings.
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Name
Index
Sub
Type
Acc
Speed source selector
6031h
1
UNSIGNED8
ro
PDO
Selection of the speed source
The value is always 2: The reference value is the position raw value on index 600C)
Speed integration time
6031h
2
UNSIGNED16
rw
Time frame, within which the speed is calculated
User specific settings: Min. = 20 ms, Max. = 1000 ms
Multiplier
6031h
3
UNSIGNED16
ro
Multiplication value
The multiplication value is calculated from:
1000 x resolution of the position value / Resolution of the speed value (stored in the factory
settings)
Divider
6031h
4
UNSIGNED16
ro
0
UNSIGNED16
rw
Division value
The division value is always 1000.
Cyclic timer
6200h
Event timer
The event timer corresponds with the event timer of the TPDO1, which is provided via Index
1800.5.
Operating status
6500h
0
UNSIGNED16
ro
Operating status
The operating status corresponds with the operating parameters (Operating parameters,
Index 6000.00).
Measuring step
6501h
0
UNSIGNED32
const
Measurement increment of the position value
The entry indicates the physical resolution as a multiple of 1nm.
Alarms
6503h
0
UNSIGNED32
const
Alarms
The device only supports the alarm signal position error.
Bit 0 1
Position error
Supported alarms
6504h
0
UNSIGNED16
const
Supported alarms
The device only supports the alarm signal position error, the value is always 1.
Bit 0 1
Position error
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Name
Index
Sub
Type
Acc
Warnings
6505h
0
UNSIGNED16
ro
PDO
Warnings
The device does not support any warnings, the value is always 0xFFFFFFFF
6506h
0
UNSIGNED16
const
Supported warnings
The device does not support any warnings, the value is always 0xFFFFFFFF
Profile and software
version
6507h
0
UNSIGNED32
const
6508h
0
UNSIGNED32
ro
Profile and software version
Bit 0…15
Profile version
Bit 16…23
Software version
Bit 24…31: Software release
Operating time
Operating time of the device
The device does not support any operation time, the value is always 0xFFFFFFFF
Offset value
6509h
0
INTEGER32
ro
Offset value
The offset value is the result from setting the preset value (see Index 6003 for asolute linear
encoders or 6010.1 for multi sensor encoders) and is provided as a multiple of the used
increment.
The offset is subtracted from the measured value when providing the position value.
Module identification
650Ah
ARRAY
Module Identification
Manufacturer offset value
650Ah
1
INTEGER32
ro
650Ah
2
INTEGER32
ro
Manufacturer offset value
The value is always 0.
Manufacturer min position
value
Manufacturer min position value: Zero-position of the magnet
The value is always 0.
Manufacturer max position
value
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INTEGER32
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Name
E
Index
Sub
Type
Acc
PDO
Manufacturer max position value: Measurement length (rod length
The rod length is sent with the position increment.
Serial number
650Bh
0
UNSIGNED32
const
serial number
The entry corresponds with the entry of the index 1018.4 (device identification, serial number)
Offset value for multisensor devices
650Ch
ARRAY
Offset Wert for multi sensor encoders
Whether the entry exists, depends on whether the device is a multi sensor device or not.
The offset value is the result from setting the preset value (see Index 6010.1 for multi sensor
encoders) and is provided as a multiple of the used increment.
The offset is subtracted from the measured value when providing the position value.
Offset value channel 1
650Ch
1
INTEGER32
ro
Offset Wert for multi sensor encoders channel 1
Whether the entry exists, depends on whether the device is a multi sensor device or not.
650Eh
0
UNSIGNED32
ro
Device capabilities
The encoder class is always 2 (Class 2), the resolution 0 (normal).
Process value parameter
Process value parameters contain either the current process values themselves or they
serve to configure the process values. The configuration can affect the representation of the
numeric values or the number of decimals during transmission.
For the transmission of the process value, the actual process value parameter which contains the desired current process value, has to be projected on a PDO, see chapters 4.6.2
PDO and 4.5.1.4 Object serving as process data content.
3.5.4.1. Number of the process data object supported by the device.
 TPDO "sent process data"
2
 RPDO "received process data"
0
TPDO2 is deactivated in the default settings. However, it can be configured and used by the operator.
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3.5.4.2. Description process value parameters
All process parameters are listed in the chapters 3.5.3 device profile specific parameters or
3.5.5. additional manufacturer-specific measurement channels.
The cross-references are indicated as shown below:
Signal description
Reference to the chapter, giving a short explanation of the relevant signal. A more detailed description can be found in
the related operation manual.
Signal characteristics Refers to the chapter describing the characteristics necessary for the evaluation of the measuring range, for instance.
Status information
Refers to the chapter which explains the exact
structure of a status value belonging to a signal (mainly a BITFIELD).
Additional manufacturer-specific measurement channels
The HLT 1100 / 2150 / 2550 measurement system series do not provide any additional
measurement channels.
They are generally described in chapter 4.5.5.2 Additional manufacturer-specific measurement channels.
The actual process values are described in chapter 3.3 Process data.
Events
3.6.
Events are information which can occur either spontaneously or time-controlled. They generally contain additional information on the current device status or of its status change.
Error Messages
The following table describes the EMCY error numbers (EMCY-EC) supported and sent by
the measurement system. The general description of the function principle and the structure
of the error messages is explained in chapter 4.4.5 EMCY.
The error register (see 4.4.5 EMCY) transmitted via byte 2 of the EMCY is described below:

General
o Object: Error Register
o Chapter: 4.5.4.1 Error management (General communication objects)

Manufacturer-specific
o Chapter: 3.5.3 Device profile-specific parameters
EMCY-EC
Error designation
Description
0000h
No Error
Device reports return to failure-free operation
Manufacturer-specific
BITFIELDReset
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EMCY-EC
Error designation
Description
8120h
CAN in "error passive"
The device internal CAN controller has changed to the CAN status "error passive".
This error can occur during normal network
operation and disappear again; which is an
evidence for problems in the network.
8140h
Manufacturer-specific
Manufacturer status register, low word
Recover form Bus-off
The device internal CAN controller has changed to the CAN error status "bus-off".
Evidence for problems in the network.
FF00h
Manufacturer-specific
Manufacturer status register, low word
device-specific error
General device-specific error The occurred error is specified more in detail in the manufacturer-specific section of the error message.
Manufacturer-specific
Manufacturer status register, low word
Example for an EMCY error message:
EMCY-EC
FF00h  Device specific Error
Error Register
81h (10000001b)  Bit 0 and 7 set:
"Generic" & "Manufacturer specific"
Manufacturer specific
0010h  Error while detecting position value
Device state
The measurement system supports the heartbeat protocol; description see chapter
4.4.3 Heartbeat.
device-specific PDO events
The device profile does not support any particular events.
General information on PDO events:

4.5.4.6 RPDO communication parameter

4.5.4.8 TPDO communication parameter

4.6.2.1 Event driven
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Error management
3.7.
Errors are recognised, administrated and provided by the measurement system in several
different ways. On the one hand, there are errors occurring during processing of the process
data and on the other hand, there are general device errors. All kinds of errors are provided
as parameters (objects in the OD) and can be read out at any time; see chapter 4.6.1 SDO.
Errror behaviour
It depends on the error type and the device configuration of the error behaviour, how the
measurement system will react to an occurring error.
With process data errors, the superordinate controller must decide itself, in dependence of
the information of the related status signal, what has to be done. The measurement system
itself does not change its operation status; see chapter 4.4 Network Management.
With general device errors, such as communication or configuration errors, it is possible to
configure, which operation mode the measurement system should take on if an error occurs.
The behaviour can be set via the parameter Error behaviour.
Process data error
The process data errors are made available as status signals. The signals should always be
evaluated together with their related process values.
The evaluation of the alarms, 3.5.3 Device profile-specific parameters, should always be
evaluated together with the process values listed below:

3.3.2 Signal Position

3.2.2 Signal Speed
General error management
In addition with the process-data related status errors, the general error objects are also
provided by the measurement system. The characteristics or additions diverging from the
general implementation are described in the following.
Supported:

General error register:
Error register

Specific error register:
Manufacturer status register

Error memory:
Pre-defined error field
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Name
Index
Sub
Type
Acc
PDO
Manufacturer status
register
1002h
0
UNSIGNED32
ro
TP
Device status
Bit 0 0001 Error while loading the user settings
(This error can only be removed by storing/restoring and subsequent reinitialisation of the
device (Power off / Power on).)
Bit 1 0002 Error while loading the factory settings
Bit 2 0004 Error while loading the production settings
Bit 3 0008 (reserved)
Bit 4 0010 Error while detecting position value
Bit 5 0020 (reserved)
Bit 6 0040 (reserved)
Bit 7 0080 (reserved)
Bit 8 0100 Overflow of the receive queue of the CAN controller
Pre-defined error field
1003h
ARRAY
General; see chapter 4.5.4.1 Error management (General communication objects).
Standard error field 1 …
1003h
1
…
UNSIGNED32
[1003.1]
ro
When sending an EMCY, the device will add the related error to the error list. The number
of errors in HLT 1100 / 2150 / 2550 measurement systems is limited to max. 10 entries.
A general description of the parameters at: Standard error field 1 in chapter 4.5.4.1.
In the HLT 1100 / 2150 / 2550, the content of the entry is always combined of the
"emergency error code" (EMCY-EC) (16 bits) and a device-specific error number (see Index 1002).
1003.1 UNSIGNED32
Bit:31
–
16
| 15
–
0
manufacturer status register low word | EMCY-EC
(UNSIGNED16)
| (UNSIGNED16)
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Error events
Errors causing the change of the general error register (see object: Error register) are also
sent as a particular error event; see chapter:
3.8.

3.6.1 Error Messages

4.4.5 EMCY
LSS Protocol support
All measurement systems of the HLT 1100 / 2150 / 2550 series support the LSS protocol in
the way described in chapter 4.7 Layer setting services (LSS) Protocol.
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4. Protocol description CANopen
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Below, please find the description of the CANopen protocol used by the measurement system. Device-specific settings and behaviour are described in the different subsections in
chapter 3 Product interface.
4.1.
General overview
The various original documents which have been used for the implementation of the device
can be found in the operation manual.
The following description makes no claim to be complete, its only aim is
to facilitate work for the user with the CANopen device by HYDAC
ELECTRONIC GmbH. In the case of further information should be required, the documents of the CiA, which are referred to in this document and
in the related user manual, are applicable.
4.2.
Hardware properties
CAN is a Bus system and therefore all network participants will be connected to the same
bus cable - parallel operation. On the contrary, the Ethernet, which is usually used in office
communication, only connects one participant with one other at one time. For the connection
between several participants, additional hardware, i.e. a switch, is necessary. This effort is
not necessary using CAN. How the network has to be organised is described in the following
chapter 4.2.3 Topology.
CAN mainly has 2 signal lines: CAN-H and CAN-L. Data transmission is performed via these
two lines, see chapter 4.2.2 Signal level.
Each network participant is equal in a CAN network, which means that each of the participants is able and allowed to send messages. If a participant sends, all the others receive
the message and decide on their own if it is relevant for them or not.
In the case of a competing access of several participants, CAN will start prioritising messages. This will avoid collisions to occur, as in other systems. The prioritising of messages
is carried out via the CAN ID, where the CAN ID 0 has the highest priority, see chapter 4.3.2
Meaning of the CAN ID.
A network participant is not allowed to send, before a message has not been transmitted
completely. If two participants start sending at the same time, the participant having the
higher priority message will always "win". The structure of a message is described in chapter
4.3.1 Structure principle of a CAN data message.
Transmission of information is bit-oriented in CAN networks and has a recessive and a dominant signal status. The dominant signal status is enabled to overwrite the recessive one.
As one participant, which is sending, will directly read back each written bit, it can also
recognise its own message has been overwritten, and will immediately discontinue further
data transmission.
The participant who has interrupted transmission, will try to reinitialise its transmission after
the higher prioritised message has been sent. In doing this, no messages will be lost.
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Wire connections
CAN does not require any complicated wire connections. For the connection of the network
participants one drilled pair of wires should be used. The pair of wires serves for the transmission of the signals CAN-H and CAN-L. Non-drilled cables should be avoided. The recommended core diameter depends on the length and has an average between 0.34 and 0.6
mm2.
Almost all CAN connections provide an additional CAN_GND und CAN_SHLD. CAN_GND
corresponds with a signal mass and can be used to bring the reference potential of the
network participants to one common level. CAN_SHLD serves as a connecction of a shielding for the signal line. Generally, the CAN signal lines do not require any shielding.
Potential loss between network participants should be avoided. They may
damage the wire connections or the electronic unit. The connection
CAN_GND is not intended for equipotential bonding.
Signal level
For the transmission, a symmetric voltage signal is used. This signal type has no direct
reference with a signal mass, but only the voltage difference between both signal lines will
be evaluated. This type of signal transmission has significant benefits in the case of interfering signals, as these will affect both signal lines equally and will be excluded at the subtraction.
In the event of a dominant signal the signal line CAN-H will move to a higher voltage level
and the CAN-L signal line will move to a lower voltage level.
4.2.2.1. Diagram signal level CAN-high-speed

In the event of a recessive signal status, the difference voltage is ~ 0V.

In the event of a dominant signal status, the difference voltage is ~ 2V.
This diagram explains why a dominant signal status is able to overwrite a recessive
one. This mechanism is used for the priorisation of messages; see chapters
4.2 Hardware properties and 4.3.2 Meaning of the CAN ID.
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4.2.2.2. Diagram signal logic
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Topology
As explained in chapter 4.2 Hardware properties, the topology of CAN is the Bus. This means, the CAN has a direct connection line, which reaches from the first to the last participant.
Each individual participant is directly connected to the signal lines CAN-H and CAN-L. At
both ends of the main bus (the longest direct connection line) the bus line has to be terminated using a resistance of 120 Ohm.
For the length of the main bus as well as for the length of the individual stub cable between
the bus and the network participants, the maximum line lengths, described in chapter 4.2.5
Transmission speed, should be strictly adhered to.
If the max. line lengths are not adhered to or if the bus lines are not terminated properly, this may lead to interference during transmission, see
chapter 4.3.4 Troubleshooting.
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A CAN network can usually include up to 32 network participants.
Standard pin connections
The following two connector types with the pin connection shown below are very often used
with CAN. The pin connection corresponds with the requirements of the CiA 303-1.
Which connector plug the used device is equipped with, should be taken from the relevant
data sheet.

M12*1 5 pole plugs for sensors and actors

DSUB 9 pole socket for controllers (PC or SPS).
Plug connector
Pin
Description
1
CAN_SHLD
Shielding
2
CAN_V+
optional supply voltage
3
CAN_GND
CAN Signal mass
4
CAN_H
Signal line dominant "High"
5
CAN_L
Signal line dominant "Low"
2
CAN_L
Signal line dominant "Low"
3
CAN_GND
CAN Signal mass
CAN_SHLD
Shielding
CAN_H
Signal line dominant "High"
CAN_V+
optional supply voltage
1
4
5
6
7
8
9
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Transmission speed
E
The transmission speed of CAN can be selected in defined areas. It is indicated in bit/s and
is also referred to as Baud rate. The Baud rate of a device can be changed by means of its
OD parameter; see chapter 3.1.3.2 Change of the Baud rate and object: Baud rate.
A distinctive feature for CAN is that the Baud rate has a high impact on the maximum length
of the wiring; see chapter 4.2.1 Wire connections. The length of the bus as well as of the
stub cables depends on the transmission speed; see chapter 4.2.3 Topology. The table below explains the dependences:
Bit rate [kbit/s]
Bus length
[m]
1000
25
0.3
1
800
50
0.5
1.25
500
100
0.8
2
250
250
1.5
4
125
500
3
8
50
1000
5
20
20
2500
7
50
10
5000
10
100
4.3.
Stitch length
[m]
Bit length [µs]
Data communication
The basic information for the data exchange between two or more network participants is
given below.
As explained in chapter 4.2 Hardware properties, all participants of a CAN network are enabled to send messages. A message which is sent, is also received by each participant. For
this reason, the messages are referred to as "broadcasts", which means it can be compared
with a radio station sending an information, a news programme for instance, which all radio
receivers are enabled to hear/to receive.
The type of message is defined by means of the CAN-ID (see chapter 4.3.2 Meaning of the
CAN ID) and the receiver is able to set a filter, to define which message it wants to receive
- just like setting (filtering) a frequency aiming to receive a particular radio station.
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Structure principle of a CAN data message
The data message is the most important message in a CAN network. It is used for the
exchange of data/information, as the name might suggest, between the network participants.
A data message consists of three sections:

HEADER - The message head synchronises between the network participants
and informs the receiver about the content and the length of the message.

DATA - This section is for the user data, i.e. the information which is supposed to
be transmitted from the sender to the receiver.

FOOTER – Contains the checksum, a message confirmation as well as an identifier which marks the end of the entire message.
A particular feature of CAN message is that they can also represent a valid information
without the user data. How many user data bytes a message may contain, is informed by
the DLC of the HEADER. This section defines the amount of data bytes in the area of the
DATA and can receive the applicable values 0-8. This involves that the max. length of the
user data is 8 bytes or 64 bits.
Example for a CAN message without user data; DLC = 0:
The length of the entire message depends on two factors: The number of user data in the
first place and the length of the CAN ID in the second; see chapter4.3.2 Meaning of the CAN
ID.
The shortest possible message (11 bit CAN ID, DLC = 0) has a bit length of 47 bits. This
message would require 188 µs for a Baud rate of 250 kbit/s and a maximum of 4800 messages of this type could be transmitted per second (~90 % Bus load).
For the longest possible message (29 bits CAN-ID, DLC = 8) the length of the message at
250 kbit/s (4 µs /bit) would result as follows: Message length = 129 bits, transmission time
per message = 516 µs (~0.5 ms) and approx. 1760 messages per second (~90 % Bus load).
The structure of other message types, such as "Error frame" or "Remote frame", will not be
explained herein, as they either play a subordinate role or because they are handled by the
device-internal communication controller.
Meaning of the CAN ID
As described in the chapter 4.2 Hardware properties, CAN is able to prioritise incoming
messages. The CAN ID is decisive for that. It is sent within the first section of the HEADER,
as has been treated in chapter 4.3.1 Structure principle of a CAN data message. As the
network participant may not send before complete transmission of a message, the CAN ID
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can be used to prioritise, applying the mechanism of the recessive and the dominant signal
statuses; see chapter 4.2.2 Signal level.
E
The priority of a message depends on the value of the CAN ID.
 The lower the CAN ID, the higher the priority of the message.
 CAN ID = 0 has the highest possible priority.
CAN does not know any direct address of the participants. The CAN ID defines, which importance a message has, thus, the CAN ID 0 identifies the NMT message for example - the
network management; see chapter 4.4 Network Management.
Whereas CANopen takes the opportunity to structure the CAN ID and to combine the importance (service ID) with the participant's address; i.e. the CAN ID of the first process data
object is defined by 180h + Node ID.
In CANopen, the syonym COB ID is often used instead of CAN ID. The
COB ID can either be the CAN ID itself, or the combination of the basic
CAN ID and the Node ID, which develops to become a concrete CAN ID
during the life time of the device; i. e. object COB-ID emergency message.
Below, the most important CANopen services and the assignment to its CAN ID are listed:
Dienst
CAN ID
Note
NMT
0
Network management
The NMT Master must always be able to reach all the participants for the management of the network. For this purpose, this service has the higest possible CAN priority.
SYNC
80h
Synchronisation signal
EMCY
80h+Node-ID
Error event
SRDO
101h – 180h
Safety-relevant data object
see chapter 1.1°Scope of applications
PDO
181h – 57Fh
Prozess data object
SDO
581h – 67Fh
Access to OD parameters via service objects
LSS
7E4h – 7E5h
Layer setting services
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Meaning of the Node ID
As explained in chapter4.3.2 Meaning of the CAN ID, no particular network participant can
be addressed directly using exclusively the CAN ID. As it is, however, vital in automatisation
to address one particular participant in the network, the Node ID has been generated to
become the address of the participant.
 The Node Id of a participant always has to be clear within the network, which means,
it may not exist more than once.
 The valid value range of the Node ID is 01h to 7Fh (1d to 127d), i. e. there can only
be max. 127 different participants within one CANopen network.
There are different ways to change the Node ID:

Default settings: 3.1.1 CANopen default settings

3.1.3.1 Changing the device address (node ID)

4.7 Layer setting services (LSS) Protocol

Object: Node ID
Troubleshooting
CAN has its own error management, which is composed of 3 different error statuses. The
change between the different error statuses is managed via internal error counters (TEC:
Send, REC: receive error counter). A more detailed description of the bus behaviour can be
found in the ISO 11898-1.
If a participant recognises an error when sending, or if one of the recipients reports a transmission error by means of sending back a particular error message, the sender will repeat
sending its failed message as soon as possible.

Error active
Is the "normal" operation condition of a network participant. In this condition, a participant is able to send messages as well as to inform other participants actively about
communication errors which it has detected.

Error passive
The participant is in a "temporary" error condition. In this condition, messages can
still be sent and received. After sending a message, however, the participant will
maintain a certain delay before sending the next message. This gives the participants, which do not show any interference the opportunity to send their messages
earlier. This mechanism is supposed to reduce network traffic if there is one interfering participant.

Bus-off
The participant is in an error condition. It is neither able to send nor to acknowledge
any messages. This state can only be left if the participant is actively reset or if no
errors have occurred at the bus within a certain delay. After their return, the error
counters have been reset and the participant has returned to the "error active" status.
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Communication types
As described in chapter 4.3 Data communication CAN uses data packages for the transmission of information. To make the communication process run smoothly, there are different
models of how the data flow between two network participants should be organised.
The most frequently used communication types with CANopen are described below. The
left side of the diagrams always represents the information source which generates the messages and sends them. In the central section of the diagram is the transmission via the
network and the right section represents one or more receivers.
4.3.5.1. Producer - Consumer
In the "producer - consumer" model describes how a participant generates information which
one or more participants can receive and process. The advantage of this model is that it is
not necessary for each individual participant to be informed about the same circumstances,
instead, any participant for whom the information is of interest, will receive the information
at the same time in one data transmission.
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4.3.5.2. Master – Device
Similar to "Producer – Consumer" model, the "Master – Device" model is enabled to reach
several receivers at a time; see chapter 1.6 Changes of technical terms in the context of
"political correctness". In this particular case, however, there is only one firmly defined "producer", the master, who informs or advises all other participants ("devices"). Which participant works as a master, is defined during the architecture phase of the system design period.
This model can, for instance, be used by a CANopen manager to administrate the network
by acting as a NMT master; see chapter 4.4.2 NMT. It is also used for the synchronisation
of the process data; see chapter 4.6.2.2 SYNC.
In some "master - device" implemenations, the "master-request" will be responded to by the
participants ("devices") through a "response". This procedure is used with the LSS protocol,
for example. In doing this, the LSS master will be informed that one or several LSS devices
have performed the required status change; see chapter 4.7 Layer setting services (LSS)
Protocol.
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4.3.5.3. Request – Response / Client – Server
E
The "Request – Response" model enables one particular participant to inquire an information from another particular participant. The client communicates to the recipient (server),
usually by means of data from the data package, what information it wants to inquire (data
request). Theoretically, such a request may also consist of just a message without the data,
see chapter 4.3.1 Structure principle of a CAN data message DLC = 0.
The recipient takes on the function of a server, administrating a pool of data or services,
which can be requested directly from that pool by a client. An example from our daily practice
could also be requesting a website on the internet by entering an URL address into the
"internet browser". The request is comparable with the entry of the address and the response
is the page that is subsequently loaded and displayed.
From the point of view of CANopen, this type of communication is used when accessing the
OD, see chapters 4.5 The Object Dictionary and 4.6.1 SDO.
4.4.
Network Management
In automatisation of machines, it is crucial to keep the communication under control. The
CANopen manager is responsible for this task. This manager is usually represented by a
superordinate control, e. g. a PLC or a mobile control unit.
There are several different operating conditions which can be taken on by the different participants, controlled by the CANopen manager. Depending on the operating condition of a
participant, it can provide (or not provide) certain services autonomousl;, see chapter 4.4.1
Overview network conditions. The administration of the network condition is carried out via
the service of "network control"; see chapter 4.4.2 NMT.
The two most important conditions are:
 Pre-Operational
This condition serves to parameterise a participant suitable for a specific application,
see chapters 4.6.1 SDO and 4.5 The Object Dictionary. In addition, further services
are carried out, such as for example: 4.4.3 Heartbeat.
A participant takes on that condition automatically after start-up and usually remains
in this state, until a command for status change has been received explicitly. The
participant's start-up behaviou can be controlled via the object "NMT startup".
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Important note: In this state, no process data can be received or sent.
 Operational
The condition of "operational" is the normal operating condition of a participant. Almost all CANopen communication services can be used. This condition only enables
the participants to receive and to process the process data and to generate and send
their own process data, see chapters 4.6.2 PDO and 4.6.3 SRDO.
In this operating condition, the parameters can also be read, however, the option of
changing parameters is limited; see 4.6.2.3 PDO Mapping.
Overview network conditions
In general, the conditions are subdivided into the categories: initialisation and operation of
a participant. The initialisation phase is gone through automatically after applying the supply
voltage. After successful initialisation, the participant sends a "Boot-Up" message by means
of which the Node ID of a participant can be identified; see also chapter 4.4.3 Heartbeat.
After successful initialisation, there are 3 different operating conditions available. The most
important conditions "pre-operational" and "operational" were already explained in chapter
4.4 Network Management.
In the "stopped" condition, only the network (see 4.4.2 NMT) and error services (see 4.4.3
Heartbeat) are active, whereas all the other services are not available.
The following table provides an overview of what services are available in the different operating conditions:
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Service ID
E
Pre-Operational
Operational
PDO
X
SRDO
X
SDO
X
X
SYNC
X
X
TIME
X
X
EMCY
X
X
Heartbeat
X
X
LSS
X
NMT
X
Stopped
X
X
X
X
NMT
The administration of the network conditions is carried out via the "network control" service.
For this purpose, there is a defined NMT master which gives the command (using a NMT
message) to each individual participant (device) to change their state, NMT = Network Management.
The "Network Control" service is performed via the Master – Devicecommunication model.
The CANopen Manager (controller) generally takes over the role of the NMT Master
As this service makes the decisions on the interaction between the participants in the network, it has been assigned the most important priority; see chapter 4.3.2 Meaning of the
CAN ID and 4.3.1 Structure principle of a CAN data message.
The NMT message has a data length of 2 bytes, each of which has a particular signification
which is documented below.
Field
name
Content
Meaning
CAN ID
0
CAN ID of the message
DLC
2
Data length of the message in bytes
BYTE 0
Command
01h
Start node
Participant is supposed to switch to "Operational" state.
02h
Stop node
Participant is supposed to switch to "Stopped" state.
80h
Enter Pre-Operational
Participant is supposed to switch to "Preoperational" state.
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Field
name
Content
55
Meaning
81h
Reset node
Participant is supposed to be reinitialised.
82h
Reset communication
Participant is supposed to restart its communication layer.
BYTE 1
Node ID
0d
Message is being processed by all participants.
1-127d
Node ID of the participant to be changed.
Example for a signal from the NMT Master telling all network participants to change to operating state "Operational" → NMT "Start all nodes".
Byte 0
Byte 1
Byte 2
CANID
CMD
Node ID
000h Tx
01h
00h
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Heartbeat
The heartbeat protocol serves one participant to inform all the participants within the network
about its current opterating state.
This service is implemented according to the 4.3.5.1 Producer - Consumer model.
The message needs to be activated explicitly and is sent on a cyclical basis. Via the object
"Producer heartbeat time" the heartbeat can be activated and the repeat rate can be configured.
Should the heartbeat consumer report the absence of a heartbeat message, it will inform its
superordinate application software about this event. The application should then react in the
appropriate way.
The message has a data length of one byte, which reports the current state of the participant.
Field
name
Content
Meaning
COB ID
700h + Node-ID
CAN ID of the message der Nachricht errechnet im
Betrieb aus der Basis CAN-ID und der Node-ID des
Teilnehmers.
DLC
1
Data length of the message in bytes
BYTE 0
Status
00h
Boot-up
The participant reports a system start.
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Field
name
Content
Meaning
E
04h
Stopped
Participant is in the "Stopped" mode.
05h
Operational
Participant is in the "Operational" mode.
7Fh
Pre-Operational
Participant is in the "Pre-operational"
mode.
Example for a hartbeat signal of a device with Node ID = 1 which currently is in the operation
mode "Pre-Operational".
Byte 0
CANID
Status
701h Rx
7Fh
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Example NMT behaviour
In the following example for the CAN protocol, one individual participant having the Node ID
= 1 is connected to a CANopen manager (NMT Master) and is re-initialised at the beginning
of the recording (power ON)
Description of the subsequent process:

After successful initialisation the device sends its "boot-up" message.

After a defined time ,the manager starts all the participants.
o The device starts sending its process data TPDO1.

after having waited a further defined period, the manager sends an additional signal to change to "Pre-Operational".
o The device terminates the sending of process data.

The manager writes onto the object 5300 in the device (node ID = 1).
o The device confirms that the writing access has been successful.

after having waited a further defined period, the manager sends an additional signal to change to "Stopped".

The manager again attempts to write onto the object 5300 in the device (node
ID = 1).
o The inquiry is not responded by the device.
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The participant is configured as follows:
Range
Properties
Default settings
General
Settings
TPDO1
Node ID
Power ON Status
Transmission Type
Event Timer
Event Timer
1
Pre-Operational
254
1000 ms
1000 ms
Heartbeat
E
CAN-ID (hex)
|
Direction: Tx (ECU → Device); Rx (Device → ECU)
|
| Data Length
|
| | Data Bytes (hex)
|
| | |
+--- +- + +- -- -- -- -- -- -- -Boot-up Node-ID = 1
0701 Rx 1 00
Heartbeat Node-ID = 1, Status = „Pre-Operational“
0701 Rx 1 7F
0701 Rx 1 7F
…
NMT command "start, all nodes".
0000 Tx 2 01 00
TPDO1 Node-ID = 1
0181 Rx 5 53 00 44 00 00
Heartbeat Node-ID = 1, Status = "Operational"
0701 Rx 1 05
0181 Rx 5 53 00 44 00 00
0701 Rx 1 05
…
NMT command "Enter Pre-Operational, all nodes"
0000 Tx 2 80 00
Heartbeat Node-ID = 1, Status = „Pre-Operational“
0701 Rx 1 7F
0701 Rx 1 7F
SDO Download Request, 5300.0 = 1
0601 Tx 8 2F 00 53 00 01 00 00 00
SDO Download Response, 5300.0 OK
0581 Rx 8 60 00 53 00 00 00 00 00
→ TPDO1 is no longer sent
…
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NMT command "stop, all nodes".
0000 Tx 2 02 00
Heartbeat Node-ID = 1, Status = "Stopped"
0701 Rx 1 04
0701 Rx 1 04
SDO Download Request, 5300.0 = 1
0601 Tx 8 2F 00 53 00 01 00 00 00
→ Not received any SDO Download Response; Node 1 in "stopped"
0701 Rx 1 04
EMCY
By means of EMCY messages, the device can inform other participants in the network when
it has detected an error itself.
EMCY messages are implemented according to the "producer/consumer" model; see chapter 4.3.5.1 Producer - Consumer.
An EMCY message is sent only once. Sending is performed, whenever an error has been
recognised in the device.
Has the error been recognised for the first time, the corresponding bit of the error register
(see object "Error register") is set. If all the bits in the error register have been erased, the
EMCY message with the error number 0000h is sent. This particular EMCY serves as an
identifier in order to signalise that all error states have been set back and that the device
has returned to trouble-free operation.
An EMCY message has a length of 8 bytes. The first bytes contain the "emergency error
code" (EMCY-EC) (2 bytes), specified in the CiA 301 and the Error register (1 byte) of the
device. The remaining 5 bytes are manufacturer and also mostly device-specific.
In order to avoid an accumulation of EMCY messages (for instance in the event of a faulty
CANbus connection), a minimum waiting delay between two EMCY messages can be defined "Inhibit time EMCY" .
How the device should behave when an error has occurred, can be definded via the object
"Error behaviour". An action might be the change of the activated operation mode; see
chapter 4.4.1 Overview network conditions.
Field
name
Content
Meaning
COB ID
80h + Node-ID
CAN ID of the message is calculated during operation from the basic CAN ID and the Node ID of the
participant.
DLC
8
Data length of the message in bytes
BYTE 0, 1
emergency
error code
Error number of the EMCY event The error numbers
supported by the device are described in chapter
3.6.1 Error Messages.
"EMCY-EC"
Data type: UNSIGNED16
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Field
name
Content
Meaning
BYTE 2
Error register
The content of the object "Error Register" is copied
into the message when an EMCY event occurrs.
"ErReg"
Data type: UNSIGNED8
BYTE 3 - 7
Manufacturer
specific error field
Manufacturer and device-specific additional misinformation.
(MSEF)
Description of the content of this data field; see
chapter 3.6.1 Error Messages.
In many of our devices the first 2 bytes of that data
field contain the information of both lowest bytes
(Low-WORD) of the object "Manufacturer status register" when an error occurs.
Data type: manufacturer-specific
Below, EMCY messages of a HYDAC ELECTRONIC linear position transmitter is shown as
an example with Node ID = 1:

The network connection between the CANopen manager and the device has been
disturbed.
o EMCY-EC

o Error Register 11h
→ Bit "Generic" & "Communication error" is set
o MSEF
→ no additional information
00h
Linear position sensor motion detected outside of the measuring range limits.
o EMCY-EC

8120h → CAN in "error passive"
FF00h → device-specific error
o Error Register 91h
→ Bit "Generic" & "device-specific error" is set
→ Bit "Communication error" is still set
o MSEF
→ Measuring range override recognised
10h
Linear position sensor has been moved back to its valid measuring range.
o EMCY-EC
0000h → No Error
o Error Register 00h
→ "no error"
o MSEF
→ no additional information
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Byte 0
E
CANID
Byte 1
EMCY-EC
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
ErReg
manufacturer-specific error field (MSEF)
LowBy
HighBy
081h Rx
20h
81h
11h
00h
00h
00h
00h
00h
081h Rx
00h
FFh
91h
10h
00h
00h
00h
00h
081h Rx
00h
00h
00h
00h
00h
00h
00h
00h
4.5.
The Object Dictionary
The "object dictionary" (OD) is the data base of the device. Not only all the settings and
device properties, but also all the process values are stored here. The individual values can
be read, and partly also written to via SDO commands; see chapter 4.6.1 SDO.
The individual entries in the OD are referred to as objects. An object can either represent an
individual value or a combined data entry. Combined data entries are, for instance, arrays
or structures; see chapter 2.4.6 ARRAY and 2.4.7 RECORD.
There are objects, which may only be changed under particular system conditions, or which
enter into effect in the event of particular system condition changes only; see chapter
4.4.2 NMT.
The OD is subdivided into different sections. The most important and applicable for all devices are listed below; see chapter 4.5.4 and following. Device-specific entries are described
in the chapter 3.5 Parameters. The classification is made via pre-defined object index sections, see CiA 301.
The HYDAC standards for the structure of an OD are explained below.
There may be deviations from these standards, depending on the device.
In the event of a deviation, they are described in chapter 3.5 Parameters.
General overview
In this chapter, the general characteristics of the OD will be explained - how can a particular
object be selected, which access limitations are there and which different properties do objects have in this context.
The abstract term of "object" is replaced by the more defined term of "parameter", mainly for the OD in the context of product description; see
chapter 3.5 Parameter.
In the context of CANopen the term "object" does not only include an
entry in the OD, but may also refer to a communication object; see chapter 4.6.1 SDO or 4.6.2 PDO.
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4.5.1.1. Addressing
Each entry in the OD is addressed via an object index. The index value identifies the concrete object. If the object represents the combined data type, the index will be subdivided
into further sub-indices. A specific value from this type of structure will therefore be
addressed via the indication of the index and the sub-index.
The notation of an object index will always be represented by hexadecimals, whereas the sub-index will be represented by decimals.
At first, the index of the main object will be indicated and divided by a "." the index of the
relevant sub-object. Addressing a particular object will, thus, be represented as follows:
<index>.<subindex>
1018.2 → Identity object.Product code = 928037 s. 4.5.3 OD Example
When accessing a single object in the OD, the sub-index 0 always has to be indicated additionally for the addressing; see chapter 4.6.1 SDO.
1005.0 → COB-ID SYNC = 128 (80h)
In one device, it is not required to have all the indices continuously and addressable. Gaps
are usual in the OD. When accessing a non-defined object, the related error message will
be issued.
4.5.1.2. Object access types
Also referred to as "access" or "acc." below.
 ro
read only
Object is readable only, the content may change during runtime.
 rw
read write
Object can be read an written to, the content can also be changed during runtime by
the device; i.e. object "Producer heartbeat time".
 rww
read write, process write
Object can be read and written to. If the object is marked as "mappable" at the same
time, it can only be mapped to a PDO for writing onto it, i.e. a RPDO.
 rww
read write, process read
Object can be read and written to. If the object is marked as "mappable" at the same
time, it can only be mapped to a PDO for reading, i.e. a TPDO.
 wo
write only
The object can only be written but cannot be read.
 const
The object can only be read, the content does not change during runtime.
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Changes to the object are always performed in the volatile device memory (RAM). In order to permanently save changes, a storing function
has to be activated; see chapter 4.5.1.3 Objects serving as functions.
4.5.1.3. Objects serving as functions
Some objects are similar with function calls. For calling up a function which is assigned to
an object, the object is usually assigned a particular activation value. The writing process
consequently provokes the assigned function.
An important example for this is the feature "Store parameters", which
should be activated for the permanent storage of object changes.
4.5.1.4. Object serving as process data content
Some entries in the OD can be used for the transmission via a process value (PDO). The
main advantage is that, doing this, the content of the object does not have to be requested
explicitly via a SDO command any more, but is permanently available in the context of process data transmission.
The object properties "mappable" defines that the content of the object can be transmitted
via a PDO; see chapters 4.6.2 PDO and 4.6.2.3 PDO Mapping.
In the different object tables, all the objects which are able to be transmitted as a process
value, are marked in the "PDO" column, i.e. object "Error register.
TP Objekt can be mapped on a TPDO (Transmit).
RP Objekt can be mapped on a RPDO (Receive).
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Overview OD areas
The highlighted areas are crucial and will be described more in detail in the chapters below.
Index area
Description
0000h
Reserved
0001h
025Fh
Datatypes
0260h
0FFFh
Reserved
1000h
1FFFh
Communication profile area
Communication objects
2000h
5FFFh
Manufacturer-specific profile area
manufacturer-specific functions
6000h
9FFFh
Standardized profile area
Objects which are not defined via a device.
A000h
AFFFh
Network variables
B000h
BFFFh
System variables
C000h
FFFFh
Reserved
OD Example
Below table shows the general structure of the OD in a device. It has been generated as an
extract, based on the inclination sensor HIT (HE-926037-0008.eds).
The column "value" corresponds with the possible content of an object which can be read
out via of the addressing <index>.<subindex> by means of a SDO commands from an existing device.
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The colums "Name", "Object type", "Access", "Data type" provide a more detailed description of the properties of the entry; see also chapter 4.5.7 EDS Electronic Data Sheet.
E
Index Sub
Value
…
…
…
Name
Type
Access Data type
VAR
rw
UNSIGNED32
1005h
128
COB-ID SYNC
1008h
HIT100
0
Manufacturer device nam
VAR
e
const
STRING
4
Highest sub-index
supported
VAR
Const
UNSIGNED8
1
218
Vendor ID
VAR
ro
UNSIGNED32
2
928037
Product code
VAR
ro
UNSIGNED32
3
8
Revision number
VAR
ro
UNSIGNED32
4
4711
Serial number
VAR
ro
UNSIGNED32
1029h 0
3
…
…
…
…
1
1
…
…
…
…
2
1
…
…
…
…
3
1
…
…
…
…
1400h 0
5
…
…
…
…
513
…
…
…
…
…
…
1018h 0
1
…
Communication profile area
Object index range: 1000h – 1FFFh
In the section "Communication profile area", all the settings which are necessary for the
communication with the device, are listed. This means manufacturer- or device-related information (e.g. the serial number), current error reports, but also the settings for the process
data transmission.
The "Communication profile area" is subdivided into different sub-areas. The general areas
for this protocol description are described in the following sub-chapters.
The general area describing all the parameters for communication, see CiA 301 "General
communication objects (object index range: 1000h – 1029h)" has been subdivided into the
following 4 sections for better readability.
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4.5.4.1. Error management (General communication objects)
Object index range: 1000h – 1029h
In this section, the objects from the section "General communication objects" are summarised, which provide information on the device itself or on the device status (i.e. error management).
A small number of these objects is defined specifically in the device profiles. This is relevant
for the following objects:


Error register 1001h
Error behaviour
1029h
Name
Index
Sub
Type
Acc.
PDO
Error register
1001h
0
UNSIGNED8
ro
TP
Device error status This error status is also part of the EMCY message, see chapter 4.4.5
EMCY.
Bit 0
Generic error
Indicates a general device failure, this could for instance be an error during evaluation of the measurement signal.
Bit 1
Current
not supported
Bit 2
Voltage
not supported
Bit 3
Temperature
not supported
Bit 4
Communication error
Becomes active when an error has been recognised during CAN communication.
Bit 5
Device profile specific
Bit 6
Reserved
Bit 7
manufacturer-specific
Is activated if a manufacturer-specific error exists; see Manufacturer status register
s. NOTE
Note: Parts of the register's signification will be individually defined by the device profiles;
see chapter 3.5.3 Device profile-specific parameters.
Manufacturer status
register
1002h
0
UNSIGNED32
ro
TP
This object is an expanded error state compared with the "Error register" The lowest 16 bits
(bit 0 - 15) contain the device-specific error identifiers. In the case of an error, these 16 bits
will be implemented in the error memory as an additional information as well.
The higher bits (bit 16 - 31) can contain additional status information.
If an EMCY message occurs (see chapter 4.4.5 EMCY), the lower level 16 bits (bit 0 - 15)
of the "Manufacturer status register" will be transmitted from the manufacturer-specific part
of the message.
The detailed description of each individual bit's meaning can be found in the device-specific
part of this documentation 3.7.3 General error management.
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Name
Index
Pre-defined error field
1003h
Sub
Type
Acc.
PDO
ARRAY
The error list shows the errors, which have occurred in the device and which were signalised via EMCY message (see CiA 301). The object is a combined data type in the form of
a list (ARRAY). The individual entries are described below.
The content of this object is not stored in the persistent memory of the device and will
therefore be erased after device restart.
Number of errors
1003h
0
UNSIGNED8
rw
The current number of error messages saved in the error memory. If no error has been
detected, the content is 0. The maximum size of the list depends on the device configuration, however, for most products, the list is defined to have max. 10 entries.
By setting the object to 0 an eventually existing error memory is deleted. Values which are
different from 0 may not be written into the object.
Standard error field 1 …
1003h
1
…
UNSIGNED32
[1003.1]
ro
When sending an EMCY, the device will add the related error to the error list.
The content of each entry is composed of the "emergency error code" (EMCY-EC) (16 bit)
and the lower 16 bits of the "Manufacturer status register" (MSR-LW).
Bit: 31 – 16 | 15 – 0 (UNSIGNED32)
EMCY-EC | MSR-LW
sub-index 1 contains the most recently occurred error, sub-index 2 contains the previously
occurred error. At the same time, the content of sub-index 0 defines the last valid entry in
this list. Example: 1003.0 = 3 → 1003.1, 1003.2 and 1003.3 contain valid error entries.
The history is able to register a device-specific amount of errors, however, at least one
error memory is available. If the number of error entries in the list is exceeded, the oldest
entry will be overwritten.
The content of the error history list will always be deleted at device start-up.
Inhibit time EMCY
1015h
0
UNSIGNED16
rw
Configurable delay between two EMCY messages.
If several EMCY messages occur within the pre-set time period, a new EMCY message
will not be sent before the time has elapsed. The sent EMCY error code corresponds with
an error which has been detected within that time span.
If an EMCY event occurrs, which immediately disappears, no EMCY message will be sent.
0 No delay activated for EMCY messages.
>0 Delay time as a multiple of 100 µs
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Name
Index
Error behaviour
1029h
67
Sub
Type
Acc.
PDO
ARRAY
Definition of the device behaviour when an error occurs; see chapter 4.4 Network Management.
Behaviour in case of an upcoming error
0 If an errror occurs, the device changes to "pre-operational" network state, if its current
state has been "Operational".
1 No change of the network state when an error occurs.
2 The device changes to the network state "stopped" if an error occurs.
Highest sub-index
supported
1029h
0
UNSIGNED8
const
Number of the several error behaviours which are configurable at the device. The number
depends on the device profile, however, it muss be min. 1 (1029.1 is always defined).
Communication error
1029h
1
UNSIGNED8
rw
Device behaviour in case a communication error occurs.
Profile- or manufacturerspecific error
1029h
2 ff.
***
rw
/
const
Note:
Sub-index 2 and higher defines device error behaviours which are device or device profilespecific. Their definition and behaviour will generally correspond with the description in
chapter Error behaviour.
If the used measurement system supports this type of parameters, they are described in
chapter3.5.3 Device profile-specific parameters.
4.5.4.2. Device identifier (General communication objects)
Object index range: 1000h – 1029h
In this section, the objects, providing device-specific information, such as serial number,
device part number or software version, are summarised in the chapter "General communication objects".
A small number of these objects is defined specifically in the device profiles. This is relevant
for the following objects:

Device type 1000h
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Name
Index
Sub
Type
Acc.
Device Type
1000h
0
UNSIGNED32
ro
Bit 0-15
Bit 16-31
PDO
contains the device profile, i. e. 019h → CiA 410
device or device-specific additional information
Anmerkung: The signification of bits 16-31 will be partly defined individually by the device
profiles; see chapter 3.5.3 Device profile-specific parameters.
Manufacturer device name 1008h
0
STRING
ro
Readable device name as a character string, which is generally the model code; i. e. "HPT
1448-F11-0600-000".
A "segmented" access is necessary in order to read this object, see chapter 4.6.1.3 SDO
Upload (segmented) [read].
Manufacturer hardware
version
1009h
0
STRING
ro
Current hardware version number, which corresponds with the series index from the serial
number as is printed on the type label → i.e. "1".
Manufacturer software
version
100Ah
0
STRING
ro
Current device software with version number, e.g. "Hptco2 V03.02".
A "segmented" access is necessary in order to read this object, see chapter 4.6.1.3 SDO
Upload (segmented) [read].
Identity object
RECORD
1018h
Each individual device worldwide can be clearly identified by means of this "Identity object".
Highest sub-index
supported
1018h
0
UNSIGNED8
const
The "Identity Object" has 4 device-specific features which, in combination with one another,
enable clear identification of the relevant specific device.
Vendor ID
1018h
1
UNSIGNED32
ro
Clear meanufacturer identification: 0000 00DAh → HYDAC Electronic GmbH
Product code
1018h
2
UNSIGNED32
ro
Product identification number: HYDAC part number, i. e. 926037
Revision number
1018h
3
UNSIGNED32
ro
Device revision number, as implemented in the HYDAC serial number
Serial number
1018h
4
UNSIGNED32
ro
Device serial number; generally the last two numbers subsequent to the revision number
of the HYDAC serial number which is printed on the type label.
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4.5.4.3. Storage and restoring (general communication objects)
Object index range: 1010h – 1011h
This chapter summarises the two objects which describe the functions for loading the default
settings and for permanent writing of changes to the device storage; see chapter 4.5.1.3
Objects serving as functions.
The following particularities need to be considered:
If the function "Store parameters" has not been carried out, changes to the
object contents will be lost in the event of a "Reset Node" or if the power
supply has been interrupted.
While reconstructing, the factory settings will be copied into a particular area
of the device software, into the non-volatile memory. The current values in
the volatile memory (RAM) will not be changed for this purpose. Thus, a device restart is necessary to activate the reconstructed values.
Name
Index
Store parameters
1010h
Sub
Type
Acc.
PDO
ARRAY
In order to store changes permanently, one of the sub-entries of the objects should be
described; see chapter 4.5.1.3 Objects serving as functions.
The character string "save" is the function activating value for all "store" functions.
When accessing as a UNSIGNED32 value , the character string "save" will
be represented by the numerical value 65766173h.
Caution: When performing the SDO command, please observe the order of
the steps, see chapters 2.3 Bit order and 4.6.1 SDO.
Byte 4
73h
"s"
Highest sub-index
supported
Byte 5
61h
"a"
1010h
Byte 6
76h
"v"
0
Byte 7
65h
"e"
UNSIGNED8
const
Number of supported sub-entries of the object.
Four different functions for the separate storage of parameter sections are supported.
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Name
Index
Sub
Type
Acc.
Save all parameters
1010h
1
UNSIGNED32
rw
PDO
Storage without limitation of the parameter section.
Particular: Changes in "Node ID" and "Baud rate" will be maintained when
opening this function. For permanent storage of these settings, call up the
function "Save LSS parameters".
Save communication
parameters
1010h
2
UNSIGNED32
rw
Permanently saves all changeable objects from the "communication profile area (10001FFF)" to the non-volatile memory of the device.
Save application
parameters
1010h
3
UNSIGNED32
rw
Permanently saves all changeable objects from the "standardised profile area (60009FFF)" to the non-volatile memory of the device.
Save LSS parameters
1010h
4
UNSIGNED32
rw
Permanently saves the first section of the changeable objects from the "manufacturer-specific profile area (2000-20FF)" to the non-volatile memory of the device.
Changes to the "Node ID" and "Baud rate" are saved permanently only if
this function is activated. The change, however, will only become effective
after device restart.
ARRAY
Restore default parameters 1011h
To restore factory settings, this should be written onto one of the sub-entries of this object,
see chapter 4.5.1.3 Objects serving as functions.
The character string "load" is the function activating value for all "Restore" functions.
When accessing as a UNSIGNED32 value, the character string "load" will
be represented by the numerical value 64616F6Ch.
Caution: When performing the SDO command, please observe the order of
the steps, see chapters 2.3 Bit order and 4.6.1 SDO.
Highest sub-index
supported
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1011h
0
UNSIGNED8
HYDAC ELECTRONIC GMBH
const
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Name
Index
71
Sub
Type
Acc.
PDO
Number of supported sub-entries of the object.
Four different functions, which are separated depending on parameter sections, are supported for restoring the factory settings.
Restore all default
parameters
1011h
1
UNSIGNED32
rw
Restoring without limitation of the parameter section.
Particularity: Settings in "Node ID" and "Baud rate" will be maintained
when opening this function. For restoring of these settings, call up the function "RestoreLssParameters".
Restore communication
default parameters
1011h
2
UNSIGNED32
rw
Restores all factory settings from the "Communication profile area (1000-1FFF)" section.
Restore application
default parameters
1011h
3
UNSIGNED32
rw
Restores all factory settings from the "Standardised profile area (6000-9FFF)" section.
Restore LSS
default parameters
1011h
4
UNSIGNED32
rw
Restores the factory settings for the first part of the "Manufacturer-specific profile area
(2000-20FF)" section.
4.5.4.4. Communication parameters (General communication objects)
Object index range: 1000h – 1029h
In this section, the objects are summarised, which provide information on the device itself
or on the device status (i.e. error management). In addition, the basic settings for transmission services and functions for permanent storage of settings are contained herein.
Name
Index
Sub
Type
Acc.
COB-ID SYNC
1005h
0
UNSIGNED32
rw
PDO
Message ID for the identification of the synchronous message during synchronous process
data transmission; see chapter 4.6.2.2 SYNC. This message should be assigned a high
priority, in order to keep the latency caused by other messages low.
Standard settings: 80h (128d)
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Name
Index
Sub
Type
Acc.
COB-ID emergency
message
1014h
0
UNSIGNED32
rw
PDO
Message ID for sending the EMCY message (Emergency).
If the COB-ID is set via a SDO command to a particular CAN-ID, the mechanism for the
automatic expansion of the COB-ID by an active Node ID is deactivated. In this case, the
predetermined CAN ID will always be used for the transmission of an EMCY, regardless
of the Node ID. If the COB ID is set = 0, the default settings will become effective again.
Standard settings: $NODEID+80h.
Producer heartbeat time
1017h
0
UNSIGNED16
rw
Activate/deactivate heartbeat "Producing"
The device is able to send heartbeat messages on a cyclic basis; see chapter 4.4.3 Heartbeat.
0
>0
No heartbeat messages will be sent
Time interval in [ms] for cyclic heartbeat messages
4.5.4.5. CANopen safety objects
Object index range: 1300h – 13FFh
The measurement devices described in this documentation do not support any functionally
safe communication; see chapter 1.1 Scope of applications.
4.5.4.6. RPDO communication parameter
Object index range: 1400h – 15FFh
This range defines in which way a RPDO (i.e. process data received from the device) will
be transmitted.
If the used measurement system supports RPDO communication is defined by the amount
of process data objects in the specified part of this documentation; see chapter 3.5.4.1
Number of the process data object supported by the device..
For a general description of the PDO transmission; please see chapter 4.6.2 PDO.
To change the PDO mapping, a defined process has to be adhered to; see chapter
4.6.2.5 Process flow sequence to change the "PDO mapping".
The max. amount of possible RPDO is firmly defined by the device; see chapter 3.5.4.1 Number of the process data object supported by the device..
The first "RPDO communication parameter" has the index 1400, the second
one has 1401 and so on. The following section describes the first object, the
structure of further possible objects corresponds with this description.
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Name
Index
RPDO communication
parameter 1
1400h
73
Sub
Type
Acc.
PDO
RECORD
Each available RPDO has its own structure for the definition of its individual transmission
type.
Highest sub-index
supported
1400h
0
UNSIGNED8
const
The "RPDO communication parameter" Object supports max. 5 (CiA 301 max: 6) different
sub entries which do not forcingly have to be definded.
COB ID
1400h
1
UNSIGNED32
rw
COB-ID for the calculation of the operating CAN ID under which the RPDO will be accepted
and received.
If the COB-ID is set via a SDO command to a particular CAN-ID, the mechanism for the
automatic expansion of the COB-ID by an active Node ID is deactivated. In this case, the
predetermined CAN ID will always be used for the transmission of an RPDO, regardless of
the Node ID. If the COB ID is set = 0, the default settings will become effective again.
By setting Bit 31 of the COB-ID, the RPDO can be deactivated, it will no longer be received
afterwards; i. e. $NODEID+80000200h.
Extended
0: 11 Bit CAN-ID
1: 29 Bit CAN-ID
Invalid
0: PDO ist aktiv
1: PDO ist nicht aktiv
Standard settings: $NODEID+200h.
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Name
Index
Sub
Type
Acc.
Transmission type
1400h
2
UNSIGNED8
rw
PDO
This parameter defines the transmission type.
0
1
2
n - 240
254
255
acyclic synchronous
synchron with each SYNC
synchronous with every 2nd SYNC
synchronous with every nth SYNC
event-controlled manufacturer-specific event options
event-controlled device-specific event options
For 254 and 255, see chapters 4.6.2.1 Event driven and
3.6.3 device-specific PDO events.
Standard default settings: 254
Inhibit time
1400h
3
UNSIGNED16
rw
Minimum delay for the RPDO processing as a multiple of 100 µs. The value 0 will deactivate
this blocking period.
The value may be device-specific; see chapter 3.5.1 Configuration parameters.
Event timer
1400h
5
UNSIGNED16
rw
Monitoring interval for RPDO processing. When the timer is set (> 0) the time between two
RPDOs will be measured and reported to the device software, if exceeded.
The time is defined as a multiple of 1 ms.
4.5.4.7. RPDO mapping parameter
Object index range: 1600h – 17FFh
This range defines which actual signal parameter objects will be transmitted within one of
the available RPDOs.
Whether the used measurement system supports RPDO communication or not is defined
by the amount of process data objects in the specified part of this documentation; see chapter 3.5.4.1 Number of the process data object supported by the device..
Objects which are used for transmission are indicated by the object characteristic
"PDOMapping" = 1 (TRUE), see chapter 4.5.1.4 Object serving as process data content.
For a description of the PDO transmission, please see chapter 4.6.2 PDO.
For a detailed description of the "PDO mapping" structure, see chapter 4.6.2.3 PDO Mapping.
To change the PDO mapping, a defined process has to be adhered to; see chapter
4.6.2.5 Process flow sequence to change the "PDO mapping".
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The max. amount of possible RPDO is firmly defined by the device; see chapter 3.5.4.1 Number of the process data object supported by the device..
The first "RPDO mapping parameter" has the index 1600, the second one
has 1601 and so on. The following section describes the first object, the structure of further possible objects corresponds with this description.
Name
Index
RPDO mapping
parameter 1
1600h
Sub
Type
Acc.
PDO
RECORD
Each available RPDO has its own structure for the definition of the signal parameter objects
to be transmitted by this PDO.
The "RPDO mapping parameter" object usually supports up to 8 + 1 different sub-entries.
The first entry defines the amount of valid sub-entries, the subsequent entries define the
values to be transmitted (signal parameters).
Number of mapped objects
1600h
in PDO
0
UNSIGNED8
rw
The value of this object defines how many of the subsequent sub-entries are valid, which
means, how many signal parameter objects will be transmitted in this RPDO.
If the content of this object is set to = 2, for instance, the first two of the subsequent subindex objects must have a valid Signal parameter object reference. In that structure, the
entries need to be filled in a strictly sequential order and without leaving any gaps.
If the object is set to = 0 (1600.0 = 0) the transmission of the RPDO is deactivated.
Important note:
Before there can be changes to the PDO mapping, the PDO transmission has to be deactivated; see chapter 4.6.2.5 Process flow sequence to change the "PDO
mapping".
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Name
Index
Sub
Type
Acc.
1st object to be mapped
1600h
1
UNSIGNED32
rw
PDO
First reference object for the definition of the signal parameter object which will be transmitted by the RPDO; "Number of mapped objectsW" >= 1.
The byte position in the Data block of the CAN message of the RPDO is byte 0. The required data length in the CAN data block depends on the Data length of the data type of the
referenced signal parameter object.
Which signal parameter object will actually be referenced, is encoded in the object content,
that is why it is subdivided into 3 sections.
1A00h
1
UNSIGNED32 [32 Bit]
Object reference
Object index [16 Bit] sub-index [8 Bit]
Data length [8 Bit]
Example
5200
10h
Example:
01
1600.1 = 52000110h → 5200.1 [INTERGER16]
Graphic representation of that context; see chapter 4.6.2.4 Overview diagram PDO mapping.
2nd object to be mapped
1600h
2
UNSIGNED32
rw
"Number of mapped objects" >= 2; Reference to the second signal parameter object to be
transmitted.
The position in the Data block of the CAN message of the RPDO is calculated depending
on the previous object.
nth object to be mapped
1600h
n: [3, 7] UNSIGNED32
rw
"Number of mapped objects" >= n; Reference to the nth signal parameter object to be transmitted.
The position in the Data block of the CAN message of the RPDO is calculated depending
on the previous object.
8th object to be mapped
1600h
8
UNSIGNED32
rw
"Number of mapped objects" >= 8; Reference to the 8th signal parameter object to be transmitted.
The position in the Data block of the CAN message of the RPDO is calculated depending
on the previous object.
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4.5.4.8. TPDO communication parameter
Object index range: 1800h – 19FFh
This range defines in which way a TPDO (i.e. process data sent by the device) will be transmitted.
For a general description of the PDO transmission; please see chapter 4.6.2 PDO.
To change the PDO mapping, a defined process has to be adhered to; see chapter
4.6.2.5 Process flow sequence to change the "PDO mapping".
The max. amount of possible TPDO is firmly defined by the device; see chapter 3.5.4.1 Number of the process data object supported by the device..
The first "TPDO communication parameter" has the index 1800, the second
one has 1801 and so on. The following section describes the first object, the
structure of further possible objects corresponds with this description.
Name
Index
TPDO communication
parameter 1
1800h
Sub
Type
Acc.
PDO
RECORD
Each available TPDO has its own structure for the definition of its individual transmission
type.
Highest sub-index
supported
1800h
0
UNSIGNED8
const
The "TPDO communication parameter" object supports max. 5 (CiA 301 max: 6) different
sub entries which do not forcingly have to be definded.
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Name
Index
Sub
Type
Acc.
COB ID
1800h
1
UNSIGNED32
rw
PDO
COB-ID for the calculation of the operating CAN ID under which the TPDO will be sent.
If the COB-ID is set via a SDO command to a particular CAN-ID, the mechanism for the
automatic expansion of the COB-ID by an active Node ID is deactivated. In this case, the
predetermined CAN ID will always be used for the transmission of an TPDO, regardless of
the Node ID. If the COB ID is set = 0, the default settings will become effective again.
By setting Bit 31 of the COB-ID, the TPDO can be deactivated, it will no longer be transmitted
afterwards; i. e. $NODEID+C0000180h.
Extended
0: 11 Bit CAN-ID
1: 29 Bit CAN-ID
No RTR
0: RTR permitted
1: RTR access not permitted (automatically set when writing)
Invalid
0: PDO ist aktiv
1: PDO ist nicht aktiv
Standard settings: $NODEID+40000180h.
Note: RTR Communication should no longer be used according to CiA and is therefore
deactivated, which means, it can no longer be set.
Transmission type
1800h
2
UNSIGNED8
rw
This parameter defines the transmission type.
0
acyclic
synchronous
Internal signal processing not synchronous with SYNC; Transmission of the message synchronous with SYNC.
1
2
n - 240
Internal signal processing not synchronous with SYNC; Transmission of the message synchronous with any SYNC.
Transmission of the message synchronous with any second SYNC.
Transmission of the message synchronous with any nth SYNC.
254
255
(FEh) Event-controlled manufacturer-specific event options
(FFh) Event-controlled device-specific event options
For 254 and 255, see chapters 4.6.2.1 Event driven and
3.6.3 device-specific PDO events.
Standard default settings: 254
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Name
Index
Sub
Type
Acc.
Inhibit time
1800h
3
UNSIGNED16
rw
PDO
In the case of an active "Transmission type" 254 or 255, this parameter defines the minimum
waiting delay before a TPDO is sent after an event has occurred. The amount of sent TPDO
can consequently be reduced in the case of a frequently occurring event.
0
>0
The value 0 deactivates the minimum waiting delay.
The time is defined as a multiple of 100 µs.
Event timer
1800h
5
UNSIGNED16
rw
In the case of an active "Transmission type" 254 or 255, this parameter defines the time
interval for triggering a "timer event" which leads to sending the TPDO.
If the device has device-specific events, the TPDO will be sent at the latest by the expiry of
that time period, if no other events will occur; see chapters 4.6.2.1 Event driven and
3.6.3 device-specific PDO events.
0
>0
Sending of the TPDO is deactivated.
The event interval as a multiple of 1 ms.
4.5.4.9. TPDO mapping parameter
Object index range: 1A00h – 1BFFh
This range defines which actual signal parameter objects will be transmitted within one of
the available TPDOs.
Objects which are used for transmission are indicated by the object characteristic
"PDOMapping" = 1 (TRUE); see chapter 4.5.1.4 Object serving as process data content.
For a description of the PDO transmission, please see chapter 4.6.2 PDO.
For a detailed description of the "PDO mapping" structure, see chapter 4.6.2.3 PDO Mapping.
To change the PDO mapping, a defined process has to be adhered to; see chapter
4.6.2.5 Process flow sequence to change the "PDO mapping".
The max. amount of possible TPDO is firmly defined by the device; see chapter 3.5.4.1 Number of the process data object supported by the device..
The first "TPDO mapping parameter" has the index 1A00, the second one
has 1A01 and so on. The following section describes the first object, the structure of further possible objects corresponds with this description.
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Name
Index
TPDO mapping
parameter 1
1A00h
Sub
Type
Acc.
PDO
RECORD
Each available TPDO has its own structure for the definition of the signal parameter objects
to be transmitted by this PDO.
The "TPDO mapping parameter" object usually supports up to 8 + 1 different sub-entries.
The first entry defines the amount of valid sub-entries, the subsequent entries define the
values to be transmitted (signal parameters).
Number of mapped objects
1A00h
in PDO
0
UNSIGNED8
rw
The value of this object defines how many of the subsequent sub-entries are valid, which
means, how many signal parameter objects will be transmitted in this TPDO.
If the content of this object is set to = 2, for instance, the first two of the subsequent subindex objects must have a valid Signal parameter object reference. In that structure, the
entries need to be filled in a strictly sequential order and without leaving any gaps.
If the object is set to = 0 (1A00.0 = 0) the transmission of the TPDO is deactivated.
Important note:
Before there can be changes to the PDO mapping, the PDO transmission has to be deactivated; see chapter 4.6.2.5 Process flow sequence to change the "PDO
mapping".
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Name
Index
Sub
Type
Acc.
1st object to be mapped
1A00h
1
UNSIGNED32
rw
PDO
First reference object for the definition of the signal parameter object which will be transmitted by the TPDO; "Number of mapped objectsW" >= 1.
The byte position in the Data block of the CAN message of the TPDO is byte 0. The required data length in the CAN data block depends on the Data length of the data type of the
referenced signal parameter object.
Which signal parameter object will actually be referenced, is encoded in the object content,
that is why it is subdivided into 3 sections.
1A00h
1
UNSIGNED32 [32 Bit]
Object reference
Object index [16 Bit] sub-index [8 Bit]
Data length [8 Bit]
Example
6010
10h
Example:
00
1A00.1 = 60100010h → 6010.0 [INTERGER16]
1A00.1 = 60040020h → 6004.0 [INTERGER32]
Graphic representation of that context; see chapter 4.6.2.4 Overview diagram PDO mapping.
2nd object to be mapped
1A00h
2
UNSIGNED32
rw
"Number of mapped objects" >= 2; Reference to the second signal parameter object to be
transmitted.
The position in the Data block of the CAN message of the TPDO is calculated depending
on the previous object.
nth object to be mapped
1A00h
n: [3, 7] UNSIGNED32
rw
"Number of mapped objects" >= n; Reference to the nth signal parameter object to be transmitted.
The position in the Data block of the CAN message of the TPDO is calculated depending
on the previous object.
8th object to be mapped
1A00h
8
UNSIGNED32
rw
"Number of mapped objects" >= 8; Reference to the 8th signal parameter object to be transmitted.
The position in the Data block of the CAN message of the TPDO is calculated depending
on the previous object.
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4.5.4.10. NMT master objects
E
Object index range: 1F80h – 1F89h
The objects defining the network behaviour of the devices are described herein.
Name
Index
Sub
Type
Acc.
NMT startup
1F80h
0
UNSIGNED32
rw
PDO
Defining the start behaviour of the device; see also chapter 4.4 Network Management.
Bit 2
0: Device remains in the "Pre-Operational" state after successful initialisation and
waits for a "Start Node" command.
1: Device automatically switches to "Operational" state after successful initialisation.
Note: This behaviour does not correspond with the definition in the CiA 302 Part 2,
the logic has been inverted with respect to the behaviour described therein.
Bit 3
1: always needs to be set.
Bit x
0: all further bits may not be set.
0000 0008h → 8d device waits in "Pre-Operational" (common default settings)
0000 000Ch → 12d Device automatically switches to "Operational" state.
manufacturer-specific profile area
Object index range: 2000 – 5FFF
manufacturer-specific objects are usually device-specific as well. In this chapter the objects
are described, which are normally always supported by the devices.
4.5.5.1. Node ID and Baud rate
The management of the two most important CANopen device settings is unfortunately not
exactly specified in the CiA 301. The most common implementation used by HYDAC
Electronic GmbH is described below.
Some older devices and devices which are part of the HPT 1000 and HTT
1000 series by HYDAC ELECTRONIC have functions for the configuration of
the Node ID and Baud rate which may differ from the functions in the description below.
Possible differences are described in the device-specific part of the documentation in chapter 3.5.2 Manufacturer-specific configuration parameters.
In addition, the devices provide the configuration of the Node ID and Baud rate via the LSS
protocol, see chapter4.7 Layer setting services (LSS) Protocol.
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Name
Index
Node ID
2001h
83
Sub
Type
Acc.
PDO
ARRAY
Object for the device address management; see chapter 4.4 Network Management.
The standard setting of the device address is described in chapter 3.1.1 CANopen default
settings.
Note:
Some of the HYDAC ELECTRONIC sensors (e.g. pressure or temperature) may still support an older implementation of the Baud rate object 2001h. If the implementation should
differ, please see chapter 3.5.2 Manufacturer-specific configuration parameters.
Highest sub-index
supported
2001h
0
UNSIGNED8
ro
For the management of the device address, there are two objects available.
Active node-ID
2001h
1
UNSIGNED8
ro
2
UNSIGNED8
rw
Currently active device address; read only
Pending node-ID
2001h
Desired change of device address
Changes of this entry will not take effect until they have been saved into the non-volatile
memory (see chapters Store parametersand Save LSS parameters) and the device has
been restarted "Reset Node" commandor its power supply has been cut.
The values of the objects 2001.1 and 2001.2 are identical under normal operation. Should
there be a request for a new device address when the changes have not yet become active,
the two objects will be assigned different values.
Baud rate
2002h
ARRAY
Object for the device Baud rate; see chapter 4.2.5 Transmission speed.
The values of this object correspond with the DS 305 "Layer Setting Services and Protocols".
0
1000 kbit/s
1
800 kbit/s
2
500 kbit/s
3
250 kbit/s
4
125 kbit/s
5
100 kbit/s
CiA 305: reserved (not supported by each device)
6
50 kbit/s
7
20 kbit/s
8
10 kbit/s
The standard configuration of the Baud rate is described in chapter 3.1.1 CANopen default
settings.
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Name
E
Index
Sub
Type
Acc.
PDO
Note:
Some of the HYDAC ELECTRONIC sensors (e.g. pressure or temperature) may still support an older implementation of the Baud rate object 2002h. If the implementation should
differ, please see chapter 3.5.2 Manufacturer-specific configuration parameters.
Highest sub-index
supported
2002h
0
UNSIGNED8
ro
For the management of the Baud rate, there are two objects available.
Active baudrate
2002h
1
UNSIGNED16
ro
2
UNSIGNED16
rw
Currently active Baud rate; read only
Pending baudrate
2002h
Desired change of Baud rate
Changes of this object will not take effect until they have been saved into the non-volatile
memory (see chapters Store parametersand Save LSS parameters) and the device has
been restarted "Reset Node" commandor its power supply has been cut.
The values of the objects 2002.1 and 2002.2 are identical under normal operation. Should
there be a request for a new Baud rate when the changes have not yet become active, the
two objects will be assigned different values.
Checksum
2010h
0
UNSIGNED32
ro
The checksum of the current device software.
4.5.5.2. Additional manufacturer-specific measurement channels
Some devices offer additional measurement channels which complete the standard measurement variables, such as pressure in a pressure sensor, which increases the benefit of the
device. Additional manufacturer-specific measurement channels are able to provide "real"
measurement signals with a defined specification in the data sheet, such as accuracy or
temperature coefficient, but also internal signals, such as the device temperature.
The device-specific section of the documentation also provides information on whether a device has manufacturer-specific measurement channels or which measured variable corresponds to which "sub-index" or
which channel settings are actually supported by the respective measurement channel, see chapter 3.5.5 Additional manufacturer-specific measurement channels.
The process values of the additional manufacturer-specific measurement channels can be
transferred via a TPDO.
However, this type of measurement channels will not be supported at all or at least not fully
supported by each device, which means, the objects listed below may be only partly
available or not at all. If these objects, however, are provided by a device, their significance
corresponds with the description below. The function principle of the objects is based on the
device profile CiA 404.
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The table shows an example for a device with an additional, manufacturer-specific measurement channel. In devices with several channels, only the amount of "sub-indices" is higher
– 3610.1 would represent the first channel, 3610.2 would be the second channel, and so on.
To enable easy further processing, the signal value of an additional manufacturer-specific
measurement channel will be provided multiple and simultaneously as Process value, in
objects with varying Data types:

36xy.z
REAL32

37xy.z
INTEGER16 → first signal value: 3710.1 …

39xy.z
INTEGER32 → first signal value: 3910.1 …
→ first signal value: 3610.1 …
The configuration parameter options are shown using the REAL32-Objects (36xy.z). The
object structure of the other data types corresponds with the structure of this data type,
however, the objects may partly be omitted.
Name
Index
MS input MV
3610
Sub
Type
Acc.
PDO
ARRAY
The object provides the signal values/measured values of the additional manufacturerspecific measurement channels.
Highest sub-index
supported
3610
0
UNSIGNED8
ro
The number of "sub-index" objects corresponds with the number of the manufacturer-specific measurement channels provided by the device.
MS input MV 1
3610
1
REAL32
ro
TP
Current signal value of the first manufacturer-specific device measurement channel.
MS input MV 2
3610
2
REAL32
Ro
TP
Example for an eventually existing manufacturer-specific measurement channel.
MS input scaling 1 MV
ARRAY
3611
Lower measurement range limit of an additional manufacturer-specific measurement channel. The value indication is represented in the unit of the measurement channel, i.e.:
-40
0
-40 °C the lower temperature measurement range
0 bar the lower pressure measurement range
Highest sub-index
supported
3611
0
UNSIGNED8
ro
Corresponds with the number of the manufacturer-specific device measurement channels.
MS input scaling 1 MV 1
3611
1
REAL32
ro
Lower measurement range limit of the first additional manufacturer-specific measurement
channel.
… further "sub-index" entries possible
MS input scaling 2 MV
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ARRAY
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Type
Acc.
PDO
Upper measurement range limit of an additional manufacturer-specific measurement channel. The value indication is represented in the unit of the measurement channel, i.e.:
125 +125 °C the upper temperature measurement range
600 600 bar the upper pressure measurement range
Highest sub-index
supported
3612
0
UNSIGNED8
ro
Corresponds with the number of the manufacturer-specific device measurement channels.
MS input scaling 2 MV 1
3612
1
REAL32
ro
Upper measurement range limit of the first additional manufacturer-specific measurement
channel.
… further "sub-index" entries possible
MS status
ARRAY
3613
Status information for an additional manufacturer-specific measurement channel. The signification of a status word depends on the device.
Highest sub-index
supported
3613
0
UNSIGNED8
const
Corresponds with the number of the manufacturer-specific device measurement channels.
MS status 1
3613
1
UNSIGNED8
ro
TP
Status information for the first additional manufacturer-specific measurement channel.
… further "sub-index" entries possible
MS decimal digits MV
ARRAY
3614
Number of decimals of the additional manufacturer-specific measurement channel.
Highest sub-index
supported
3614
0
UNSIGNED8
const
Corresponds with the number of the manufacturer-specific device measurement channels.
MS decimal digits MV 1
3614
1
UNSIGNED8
rw
Number of decimals of the first additional manufacturer-specific measurement channel.
… further "sub-index" entries possible
MS input offset
ARRAY
3615
Zero-offset (value offset) of the additional manufacturer-specific measurement channel.
Highest sub-index
supported
3615
0
UNSIGNED8
const
Corresponds with the number of the manufacturer-specific device measurement channels.
MS input offset 1
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3615
1
REAL32
HYDAC ELECTRONIC GMBH
rw
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Index
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Sub
Type
Acc.
PDO
Zero-offset (value offset) of the first additional manufacturer-specific measurement channel.
… further "sub-index" entries possible
MS autozero
ARRAY
3616
Use the current signal value of the additional manufacturer-specific measurement channel
as offset.
When performing a default offset adjustment, the content of the object "MS input offset"
will be set to the current, corresponding signal value (current content of the object "MS
input MV") at the moment of opening this object.
This object is a Function object and is activated via writing the Character String "zero"
(6F72657Ah); see chapter 4.5.1.3 Objects serving as functions.
Highest sub-index
supported
3616
0
UNSIGNED8
const
Corresponds with the number of the manufacturer-specific device measurement channels.
MS autozero
3616
1
UNSIGNED32
WO
Activate default zero-offset (value offset) of the first additional manufacturer-specific measurement channel.
… further "sub-index" entries possible
MS physical unit MV
ARRAY
3617
Inquire physical unit of the additional manufacturer-specific measurement channel. The
unit will be provided as SI unit according to CiA 303-2.
Standard physical units are:
004E0000h
00AB0000h
002D0000h
00AC0000h
bar
PSI
°C
°F
Highest sub-index
supported
3617
0
UNSIGNED8
const
Corresponds with the number of the manufacturer-specific device measurement channels.
MS physical unit MV 1
3617
1
UNSIGNED32
ro
Inquire physical unit of the first additional manufacturer-specific measurement channel.
… further "sub-index" entries possible
Standardized profile area
Object index range: 6000h – 9FFFh
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For a general description of a device profile, please read the corresponding publication by
CiA (i.e. "CiA 410 Device profile for inclinometer“).
E
See chapter 3.1.2 Device profile of the device-specific section in the documentation to learn
which device profile is supported by the used device.
If a device should show deviations from a device profile, the related explanation can be
found in chapter 3.5.3 Device profile-specific parameters.
EDS Electronic Data Sheet
The "Electronic data sheet", abbreviation: "EDS file" / "EDS", is a machine readable description of the OD; see chapter 4.5 The Object Dictionary. All objects supported by the device
are listed herein. Each object has a multi-line entry for its own description.
In the headline of the EDS, general information is given on the file itself and also for the
device which is described by the file.
The individual objects are listed in blocks and will alsways be launched by an object index.
Each index has its individual description block. If the index has several different sub-entries
(sub-index) these have their own description block automatically as well.
4.5.7.1. Description of the most important EDS entries
Below, the most important entries and the related most important meanings of an EDS file
are listed.
Identifier
Content
Description
[<objektindex>]
[1000]
Object index of the following description block;
[1000] → DeviceType.
see chapter 4.5.1.1°Addressing
[1003sub4]
→ 1003.4 Sub-entry of
defined error field"
ParameterName
Object name
ObjectType
Object property
the
object
"Pre-
This entry defines which property this object entry
has.
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07h
VAR
Object is a variable
08h
ARRAY
Object is a data structure of the
Array type and therefore, it consists of further entries having the same data type.
09h
RECORD
Object is a data structure of the
Record/Structure type and therefore, it consists
of further entries having different data types.
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Identifier
Content
DataType
89
Description
Object data type
In objects of the "ObjectType = 7h", the data type
defines how the object is going to be stored in the
memory. This information is important for reading
and writing the object; see chapter 4.6.1 SDO.
AccessType
0002h
INTERGER8
signed integer 8 bits
0003h
INTERGER16
signed integer 16 bits
0004h
INTERGER32
signed integer 32 bits
0005h
UNSIGNED8
unsigned integer 8 bits
0006h
UNSIGNED16
unsigned integer 16 bits
0007h
UNSIGNED32
unsigned integer 32 bits
0008h
REAL32
Floating point 32 bits
0009h
STRING
Character String
ro, rw, rwr,
rww, wo, const
Object
access
authorisation;
see chapter 4.5.1.2 Object access types
DefaultValue
PDOMapping
Object content at delivery (pre-configuration)
0/1
Can the object be used as a process data value?
see chapters 4.5.1.4 Object serving as process
data content and 4.6.2.3 PDO Mapping
BaudRate_xxx
0/1
_10 .. _1000
Definition of the Baud rates supported by the device.
Is the actual value "= 1" (TRUE) set, the Baud
rate will be set accordingly.
NrOfRXPDO
0 … 64
Max number of RPDO objects supported by the
device.
NrOfTXPDO
0 … 64
Max number of TPDO Objects supported by the
device.
LSS_Supported
0/1
Is the LSS Protocol supported by the device?
"= 1" (TRUE) the device supports LSS
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4.5.7.2. EDS file example
E
Please see below, a partially shown EDS file. The individual object 1001.0 "Error register"
and the RECORD object 1018 "Identity object" are listed as object examples.
[FileInfo]
FileName=HE-926037-0008.eds
…
[DeviceInfo]
VendorName=HYDAC ELECTRONIC GMBH
ProductNumber=926037
…
[1001]
ParameterName=Error register
ObjectType=0x7
DataType=0x5
AccessType=ro
PDOMapping=1
…
[1018]
ParameterName=Identity object
ObjectType=0x9
[1018sub0]
ParameterName=Highest sub-index supported
ObjectType=0x7
DataType=0x5
AccessType=const
DefaultValue=4
[1018sub1]
ParameterName=Vendor-ID
ObjectType=0x7
DataType=0x7
AccessType=ro
DefaultValue=218
4.6.
Application data
CANopen provides different types of data communication. Each of these communication
types will not be available at each operation condition; see chapter 4.4.1 Overview network
conditions.
SDO
SDO, abbr. for "Service data object" offers the opportunity for direct access to the individual
objects in the OD; see chapter 4.5 The Object Dictionary.
It is possible to have read only and read/write access to the object. During access, the object
address serves as an indicator, which object the access should be given to; see chapter
4.5.1.1 Addressing.
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Whether access will be permitted or not to a particular object, can be determined from the
object authorisation (see chapter 4.5.1.2 Object access types) and from the current operation status of the device, see chapter 4.4.1 Overview network conditions.
The data type of the object (see chapter 4.5.7 EDS Electronic Data Sheet and DataType)
controls the process of the SDO communication. All objects whose data type is 32 bits and
shorter can be read or written to directly by means of a single SDO command "expedited" ,
i.e. INTEGER32 or REAL32. Objects whose data type is longer than 32 bits have to be read
or written to via a sequence of interrelated commands "segmented".
For the SDO the Client/Server access is used as a communication type, see chapter 4.3.5.3
Request – Response. The server is always the network participant, whose objects will be
accessed - which is the device to write on in this case. The client is usually a superordinate
control intending to parameterise or configure the device, for instance.
The client communicates a "request" command to the server, saying what it is intending to
do and the server always responds by sending a "response" command, indicating whether
the access has been successful or if an error has occurred; see chapter 4.6.1.5 SDO abort
transfer (abort).
4.6.1.1. Structure of the SDO command
Below, please find a description of the general structure of all SDO messages. The commands depends on the used access type.
The particular COB-ID of the SDO corresponds to the "Pre defined Connection Set" defined in the CiA 301 and cannot be altered.
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In below examples, Node ID = 1 will always be used on the server side (device).
E
Field
name
Content
Meaning
COB ID
600h + Node-ID
COB-ID des SDO-Request (Client→Server)
[Tx: ECU → Device]
The CAN ID is calculated during operation from the
basic CAN ID and the Node ID.
Example: Node-ID = 1; 600h + 1h = 601h
COB ID
580h + Node-ID
COB-ID of the SDO response (Server→Client)
[Rx: Device → ECU]
Example: Node-ID = 1; 580h + 1h = 581h
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
The command code is crucial for the definition of the
data communication process.
The command word is bit-encoded and marks the
function, the error state and in parts the amount of
user data in the current message.
BYTE 1, 2
Object index of the object to be accessed; see
4.5.1.1 Addressing and 2.3 Bit order.
Index
Data type: UNSIGNED16
BYTE 3
sub-index of the sub-entry; if no sub-entry exists, this
entry will be set to 0.
sub index
Data type: UNSIGNED8
BYTE 4 - 7
Byte 0
Data
Byte 1
Command
User data, error information or 0
Byte 2
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Byte 4
Byte 5
Subindex
Index
Lowbyte
Byte 3
Byte 6
Byte 7
Data
Highbyte
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4.6.1.2. SDO Upload (expedited) [read]
If the client (control) intends to read an object from the server (device), this access can be
initiated using the "SDO upload request" command.
For this purpose, the client transfers the Object address it intends to read to the server and
receives the data or an error message, which have been read from the object, in return.
However, the response from the server may vary, depending on the data length of the object
to be read out. If the data length is <= 32 Bit the command processing will take place in
the so-called "expedited" mode, i.e. the response from the server directly contains the data
of the requested object, as explained below.
If the data length of the object to be read out is > 32 bits, the commnication is carried out in
the so-called "segmented" mode. The distinction is made via the command recognition of
the "server response"; see chapter 4.6.1.3 SDO Upload (segmented) [read].
When showing the object address or the data on the data section of the message, the Bit
order has to be adhered to.
The example shows a SDO read access to the object 1018.2 "Product code". The
addressed object is a UNSIGNED32 value and can therefore be read out in the "expedited"
mode. The content of the object is the part number of the device.

Part number = 926037d → E2155h.




CMD
IdxLB
IdxHB
SIdx
SDO Command code
Object index Low-Byte (Byte 1, 2: UNSIGNED16)
Objektindex High-Byte
Objekt-Subindex
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
CANID
CMD
IdxLB
IdxHB
SIdx
Data 1
Data 2
Data 3
Data 4
601h Tx
40h
18h
10h
02h
00h
00h
00h
00h
581h Rx
43h
18h
10h
02h
55h
21h
0Eh
00h
SDO command codes (CMD) SDO Upload (expedited) [read]
Command
Direction
Description
40h
Request
Reading out object from given index
4Fh
Response
1 byte has been read out successfully
4Bh
Response
2 byte has been read out successfully
47h
Response
3 byte has been read out successfully
43h
Response
4 byte has been read out successfully
41h
Response
Objekt is readable, but its data length is longer than 32 bits
(4 Bytes).
see chapter 4.6.1.3°SDO Upload (segmented) [read]
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Command
Direction
Description
80h
Response
Errors, see chapter4.6.1.5 SDO abort transfer (abort)
4.6.1.3. SDO Upload (segmented) [read]
A few of the objects of the devices will be represented by data types of more than 32 Bits of
length. These objects often contain STRING variables. In order to read such an object, a
sequence of interrelated SDO commands is required. Each step of the sequence always
follows the "Request – Response" concept of data communication. This process is also referred to as the SDO "segmented" upload.
The sequence will be initiated by a standard read request; see chapter 4.6.1.2 SDO Upload
(expedited) [read]. The server recognises if the object to be read has more than 32 bits of
data length by means of the Object address. This is why it responds to the client using a
particular SDO response, which contains the length of the data of the addressed object in
bytes, instead of the read object data. After sending, the server waits for further "requests"
by the client for inquiring the data of the addressed object.
The first data block has to be requested explicitly by the client from the server using a "SDO
upload segmented request". The server responds using a "SDO upload segmented
response" whose command code indicates that either further data need to be requested, or
that the end of the sequence has been reached.
The "SDO upload segmented response" has a structure which deviates from other SDO
commands (see chapter 4.6.1.1 Structure of the SDO command). It does not contain any
Object address, but only the command code and the user data.
Byte 0
Byte 1
Command
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Data
As long as the client has not received any response having a set end code, it should inquire
the missing data blocks using another request.
The received data have to be put together at the side of the client, to become a composed
data block. The order of the arriving data is strictly sequential. Individual data blocks will not
be repeated.
The server can terminate the communication using a SDO abort command. If an abort has
been reported, the inquiry can be reinitiated using a read request.
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One request remains "open" until either

the end of the sequence is displayed,

or the abort has been terminated by the server,

or it has been reinitiated using a read request.
E
The below example shows how the object 100A "Manufacturer software version" is to be
read out. This object has a STRING which may comprise more than 4 characters (32 Bits).
Note: for a better comparison with the ASCII encoding, blanks have been added between
the individual characters of the character string, which are not a part of the character string's
content.
Character string: H
l
t
c
o
V
9
0
.
0
2
48 6C 75 63 6F 20 20 20 56 39 30 2E 30 32
ASCII:
The sequence starts with an "upload request" and will be responded by the server using the
code "segmented upload response". The length of the entire data block is reported using
OEh → 14d Byte.
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
CANID
CMD
IdxLB
IdxHB
SIdx
Data 1
Data 2
Data 3
Data 4
601h Tx
40h
0Ah
10h
00h
00h
00h
00h
00h
581h Rx
41h
0Ah
10h
00h
0Eh
00h
00h
00h
In the next step, the client inquires the first block of the data sequence. However, during this
inquiry, the object address will not be repeated. The server sends the first 7 characters of
the object content "Hltco ". The lowest value bit of the response command is not set and
shows the client, that further data will follow.
601h Tx
60h
00h
00h
00h
00h
00h
00h
00h
581h Rx
00h
48h
6Ch
74h
63h
6Fh
20h
20h
The client knows from the last response that further data need to be requested. The amount
of data can be checked additionally by the client, as it has been informed on the total data
length when receiving the first response.
In order to check the sequence order the client "toggles" Bit 4 of the request command with
each new request: 60h → 70h → 60h → 70h … The server itself checks the switching of the
bit and reflects the current value to its response (response command recognition).
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In this special example, the end of the total data block has been reached after having transferred the second "segmented" response (14 / 7 = 2). All user data bytes of the response
are entirely used and the missing 7 characters will be transferred "V90.02". The software
version is now complete → "Hltco
V90.02".
601h Tx
70h
00h
00h
00h
00h
00h
00h
00h
581h Rx
11h
20h
56h
39h
30h
2Eh
30h
32h
SDO command codes (CMD) SDO Upload (segmented) [read]
Command
40h
Direction
Description
Request
Reading out object from given index
see chapter 4.6.1.2°SDO Upload (expedited) [read]
41h
Response
The object can be read and has the data length transferred
in the data field in bytes; data type UNSIGNED32.
60h
Request
First "segmented" upload request and subsequently, after
every second request.
60h → 70h → 60h → 70h …
70h
Request
Second "segmented" upload request and following
70h → 60h → 70h …
00h
Response
7 data bytes valid and read,
transmission end not reached; response to request 60h.
10h
Response
7 data bytes valid and read,
transmission end not reached; response to request 70h.
11h
Response
7 data bytes valid and read,
transmission end has been reached; response to request
70h.
X3h
Response
6 data bytes valid and read,
transmission end has been reached; X is 0 (03h) for request 60h and 1 (13h) for request 70h
X5h
Response
5 data bytes valid and read,
transmission end has been reached; X is 0 (05h) for request 60h and 1 (15h) for request 70h
X7h
Response
4 data bytes valid and read,
transmission end has been reached; X is 0 (07h) for request 60h and 1 (17h) for request 70h
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Command
Direction
Description
X9h
Response
3 data bytes valid and read,
97
transmission end has been reached; X is 0 (09h) for request 60h and 1 (19h) for request 70h
XBh
Response
2 data bytes valid and read,
Transmission end has been reached; X is 0 (0Bh) for request 60h and 1 (1Bh) for request 70h
XDh
Response
1 data bytes valid and read,
transmission end has been reached; X is 0 (0Dh) for request 60h and 1 (1Dh) for request 70h
80h
Response
Errors, see chapter4.6.1.5 SDO abort transfer (abort)
CAN protocol example for reading out the object 1008.
1008.0 Manufacturer device name = "HLT 1300-R2-L06-F11-0100-0250-000"
CAN-ID (hex)
|
Direction: Tx (ECU → Device); Rx (Device → ECU)
|
| Data Length
|
| | Data Bytes (hex)
|
| | |
+--- +- + +- -- -- -- -- -- -- -0601 Tx 8 40 08 10 00 00 00 00 00 SDO upload request
0581 Rx 8 41 08 10 00 21 00 00 00 SDO upload response
segmented, data length 21h
0601 Tx 8 60 00 00 00 00 00 00 00 1st segmented request
0581 Rx 8 00 48 4C 54 20 31 33 30 1st segmented response
HLT 130
0601 Tx 8 70 00 00 00 00 00 00 00 2nd segmented request
0581 Rx 8 10 30 2D 52 32 2D 4C 30 2nd segmented response
0-R2-L0
0601 Tx 8 60 00 00 00 00 00 00 00 3rd segmented request
0581 Rx 8 00 36 2D 46 31 31 2D 30 6-F11-0
0601 Tx 8 70 00 00 00 00 00 00 00 4th segmented request
0581 Rx 8 10 31 30 30 2D 30 32 35 100-025
0601 Tx 8 60 00 00 00 00 00 00 00 5th segmented request
0581 Rx 8 05 30 2D 30 30 30 00 00 5th segmented response
Ende, 5 Byte gültig
(CMD:X5h)
0-000
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4.6.1.4. SDO expedited Download (write)
E
If the client (control) intends to store a value having 32 Bits or lower on the server (device/
measurement system), it will send an "SDO expedited download request" to the server. This
request contains the data to be written and will receive a positive or negative confirmation
from the server.
When showing the object address or the data on the data section of the message, the Bit
order has to be adhered to.
In the example, the object 1010.4 "Save LSS parameters" will be opened by means of the
character string "save" in order to activate the Function for storage of the changes at the
OD.
This object is a UNSIGNED32 value. If an integer value is entered, the character string
"save" [ASCII code: 73h 61h 76h 65h] is shown as follows 65766173h – the Bit order has to
be adhered to.
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
CANID
CMD
IdxLB
IdxHB
SIdx
Data 1
Data 2
Data 3
Data 4
601h Tx
23h
10h
10h
04h
73h
"s"
61h
"a"
76h
"v"
65h
"e"
581h Rx
60h
10h
10h
04h
00h
00h
00h
00h
In another example, the object 1017 "Producer heartbeat time" is activated and set to a
repeat rate of 500 ms (1F4h). This object is displayed as a UNSIGNED16 value.
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
CANID
CMD
IdxLB
IdxHB
SIdx
Data 1
Data 2
Data 3
Data 4
601h Tx
2Bh
17h
10h
00h
F4h
01h
00h
00h
581h Rx
60h
17h
10h
00h
00h
00h
00h
00h
Command indications SDO expedited Download (write)
Command
Direction
Description
2Fh
Request
Write 1 byte
2Bh
Request
Write 2 byte
27h
Request
Write 3 byte
23h
Request
Write 4 byte
60h
Response
Object saved successfully
80h
Response
Errors, see chapter4.6.1.5 SDO abort transfer (abort)
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4.6.1.5. SDO abort transfer (abort)
If the server detects an error while processing a request command, it will report it to the
client sending an "SDO abort transfer" response.
The data field of the SDO command serves to transmit a cancel code (error number). The
numeric value is shown as a UNSIGNED32and the Bit order is to be adhered to.
The command code is always 80h.
This example shows the attempt to write a value into the object 7654 "manufacturer-specific
profile area". As this object is not existing on that device, the SDO command is cancelled by
means of a cancel repsonse.
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
CANID
CMD
IdxLB
IdxHB
SIdx
Data 1
Data 2
Data 3
Data 4
601h Tx
2Bh
54h
76h
00h
66h
06h
00h
00h
581h Rx
80h
54h
76h
00h
00h
00h
02h
06h
Abort code
Description
0503 0000h
Toggle bit not alternated.
0504 0000h
SDO protocol timed out.
0504 0001h
Client/server command specifier not valid or unknown.
0504 0002h
Invalid block size (block mode only).
0504 0003h
Invalid sequence number (block mode only).
0504 0004h
CRC error (block mode only).
0504 0005h
Out of memory.
0601 0000h
Unsupported access to an object.
0601 0001h
Attempt to read a write only object.
0601 0002h
Attempt to write a read only object.
0602 0000h
Object does not exist in the object dictionary.
0604 0041h
Object cannot be mapped to the PDO.
0604 0042h
The number and length of the objects to be mapped would exceed PDO
length.
0604 0043h
General parameter incompatibility reason.
0604 0047h
General internal incompatibility in the device.
0606 0000h
Access failed due to an hardware error.
0607 0010h
Data type does not match, length of service parameter does not match
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Abort code
Description
0607 0012h
Data type does not match, length of service parameter too high
0607 0013h
Data type does not match, length of service parameter too low
0609 0011h
Sub-index does not exist.
0609 0030h
Invalid value for parameter (download only).
0609 0031h
Value of parameter written too high (download only).
0609 0032h
Value of parameter written too low (download only).
0609 0036h
Maximum value is less than minimum value.
060A 0023h
Resource not available: SDO connection
0800 0000h
General error
0800 0020h
Data cannot be transferred or stored to the application ...
0800 0021h
... because of local control.
0800 0022h
... because of the present device state.
0800 0023h
Object dictionary dynamic generation fails or no object dictionary is
present.
0800 0024h
No data available
PDO
Process data are the core information in a control system. They identify the nominal and
actual values of different participants.
The PDO transfer protocol is implemented according to Producer-Consumer data model.
Basically, there are two types of process data which differ from one another with respect to
their direction of communication. For CANopen, the direction is always defined from the
point of view of the end nodes.
 TPDO
Process data which are generated by the device (end nodes) and made
available to other participants in the network. Transmit Process Data Object – which
means send process data This is how the actual measurement values of a measurement system, for instance, are sent to other network participants as a TPDO.
 RPDO
Process data generated by a different participant, which are sent to the
device. Receive Process Data Object – which means receive process data. This type
of process data are often nominal values, but may also represent additional input
signals, which can be further processed by the receiver.
 Number of PDOs
The number of PDOs is device-specific and explained in
chapter 3.5.4.1 Number of the process data object supported by the device..
The process data for transmission, pre-set by default on delivery of the device, are described
in chapter 3.1.1 CANopen default settings.
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Which process data will be transmitted and which way, is managed by parameters in the
OD. This system is referred to as PDO Mapping. The devices often are assigned a Preconfiguration of the transmitted process data by the manufacturer.
Without a valid configuration of a PDO, no process data will be sent or received; see chapter 4.6.2.3 PDO Mapping
As the configuration can be changed by the user, it is certainly possible that a particular
device may send process data, deviating from the standard behaviour.
There are two major setting areas which are important for the transmission of a PDO.

The parameters defining how the object is going to be transmitted, i.e. cyclically
or synchronously.
o 4.5.4.6 RPDO communication parameter
o 4.5.4.8 TPDO communication parameter

The parameters defining what information (objects) will be transmitted.
o 4.5.4.9 TPDO mapping parameter
o 4.5.4.7 RPDO mapping parameter
4.6.2.1. Event driven
In general, there are two ways of transmitting process data:

An event in the device triggers the transmission.

The device receives a synchronisation message; see chapter 4.6.2.2 SYNC.
The use of RTR based events ("remote frame request") is not recommended.
The most common way of event controlled transmission is the periodic transmission, based
on a settable and fixed cycle time, see objecct "Event timer". Which transmission type to
use is defined by the "".
Devices meeting the requirements of a device profile, sometimes provide additional event
types. For example, the CiA 404 "Device profile for measuring devices" offers the opportunity to trigger the sending of a TPDO when a measured value has been exceeded. If a device
offers additional event variants, these are described in chapter 3.6.3.
In case the event-controlled transmission of the PDO and the Event timer(ET) are active,
the PDO will be transmitted after expiry of the "event time" at the latest, if no other device
event has occurred.
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4.6.2.2. SYNC
For tasks in automation technology, it is often necessary to perform processes synchronously. If, for instance, the engine power shall be measured, it is also necessary to measure
its speed and torque at the same time. The synchronised transmission of the PDO is one
solution for this.
The SYNC protocol is implemented according to the Master-Device data model and used
for the synchronisation of the PDO transmission which works on the basis of this data model
itself.
Subsequent to receiving the SYNC message, the SYNC device should start its internal signal processing. After having processed the signal, a PDO will immediately be generated and
sent. The SYNC device monitors a time frame within which a received PDO message is
valid. Messages received after the time frame has expired, will be discarded.
The SYNC processing can be configured via the object "Transmission type" from the"xPDO
communication parameter" section. Generating a PDO message does not need to be carried
out after each SYNC, but can also be defined as a multiple of the SYNC. Via this mechanism,
the transmission can be divided into important or informative PDOs.
The usual time intervals for SYNC range within a few 10 ms. For example, a rapidly changing
pressure value can be transmitted with every SYNC (e.g. every 10 ms), whereas a slowly
changing temperature value can be transmitted every 100 SYNC (100 * 10 ms = 1 s). This
is a good solution for the regulation of the bus load.
The message basically just consists of the CAN ID without the data. This type of transmission causes the lowest bus load in order to achieve the synchronisation of the process data.
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Field
name
Content
Meaning
COB ID
080h
The COB ID directly represents the used CAN ID. The
value can be changed via the object "COB-ID SYNC".
DLC
0/1
Data length of the message in bytes
Standard application: 0 → no transmission of user
data
BYTE 0
Counter
Optional
The SYNC producer can send a UNSIGNED8 counter [1, 240] which is used by the SYNC consumer to
recognise the first valid SYNC when "SYNC start" is
set.
In most cases, the SYNC message is sent without the
counter.
Example for a standard SYNC signal
Byte 0
CANID
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Counter
080h Tx
4.6.2.3. PDO Mapping
The PDO mapping is a complex process in which several areas of the OD work together.
The following example shows how process data are "mapped" onto a TPDO. In this particular case, the example shows how the measurement signal "statical inclination" from an inclination sensor by HYDAC Electronic GmbH is transmitted via the TPDO1.
The area "PDO communication parameter" defines when a PDO is supposed to be transmitted and the area "PDO mapping parameter" defines which objects from the OD will copy
or read that particular PDO message.
In order to change the mapping of a PDO, a process flow sequence has
to be strictly adhered to; see chapter 4.6.2.5 Process flow sequence to
change the "PDO mapping".
For each event triggering the transmission of a PDO, the current content of the "mapped"
objects will always be copied from the OD into the message (TPDO) or copied from the
message into the objects (RPDO).
The CAN ID transmitting the PDO object is defined by the parameter COB ID from the area
„communication parameter“. It is calculated during runtime from the basis address and the
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device's node ID → in the example: Basis = 180h (TPDO1), Node-ID = 1 → 180h + 1 =
181h.
E
The number of objects used in the PDO is defined by the first entry of the "mapping parameter", objekt: "Number of mapped objects in PDO".
Which particular objects will be connected with the PDO message, is listed in the following
sub-entries of the "xPDO mapping parameter". Each of these entries are references addressing one particular object via the index and the sub-index, see chapter The individual entries
are references addressing one particular object via the index and the sub-index; see chapter 4.5.1.1 Addressing.
The codification structure of the signal parameter object reference is described in the object
"1st object to be mapped", see chapter 4.5.4.9 TPDO mapping parameter. A good graphical
overview of the interaction between the several OD segment when setting up a PDO CAN
message is shown in chapter 4.6.2.4 Overview diagram PDO mapping.
The space requirements in the PDO corresponds with the data length of the Data type in
the object. The position of the subsequent object in the PDO is immediately after. It may for
example happen that a following signal starts in the middle of a data byte if one the previous
data bytes does not have a data length divisible by 8.
The length of a PDO CAN message is calculated from the sum of the individual data lengths
of the used signal parameter objects. In the Overview diagram below these are 2 values
with 16 bits each (2 bytes) and a value having 8 bits (1 byte). The result hereof is the length
of the PDO:
(2 * 2 Bytes) + 1 Byte = 5 Bytes → DLC = 5.
A PDO is always limited to the length of a CAN message, which means 8 bytes (64 bits). If
transmission of more than 8 Bytes is required, a further PDO has to be defined. The device
manufacturer, however, defines the max. amount of PDOs in their software; see chapter
3.5.4.1 Number of the process data object supported by the device..
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4.6.2.4. Overview diagram PDO mapping
The below diagram graphically explains the context between the structure of the PDOCAN
message and the differentSegments of the OD; see chapter 4.6.2.3 PDO Mapping .
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4.6.2.5. Process flow sequence to change the "PDO mapping"
E
If the PDO mapping of a device is supposed to be changed, this can only be carried out
following strict procedures. Should the procedure described below not be adhered to, the
device will respond to the access sending the corresponding error message; see chapter
4.6.1.5 SDO abort transfer (abort).
Individual objects for the management of the "PDO Mapping" can be accessed via SDO
commands; see chapter 4.6.1 SDO.

Switching device to "Pre-Operational" mode
o 4.4.1 Overview network conditions.
o 4.4.2 NMT.

Declare the PDO as invalid, for this purpose, bit 31 of the COB ID has to be set
to 1.
o TPDO.COB ID Bit 31 = set 1, e.g. 1800.1 = C00000180h
o RPDO.COB ID Bit 31 = set 1 e.g. 1400.1 = 800000200h

Deactivate the number of object references used in the PDO, for this purpose,
the number has to be set to 0.
o see object: RPDO. "Number of mapped objects in PDO"
o see object: RPDO. "Number of mapped objects in PDO"

Set new object references in the area "xPDO mapping parameter"; → Memorise the number of new entries for the next step.
o see chapter 4.6.2.3°PDO Mapping
o see chapter 4.5.4.7°RPDO mapping parameter
o see chapter 4.5.4.9°TPDO mapping parameter

Set the number of object references used in the PDO to a new value.

Set PDO back to valid, for this purpose, bit 31 of the COB-ID is set to 0 or the
object = 0 is set in order to activate the standard behaviour, i.e. TPDO1:
$NODEID+180h.
o TPDO.COB ID
o RPDO.COB ID

Save changes permanently on the device
o see chapter 4.5.1.3°Objects serving as functions
o see object "Save communication parameters"

Switching device to "Operational" mode
o 4.4.1 Overview network conditions.
o 4.4.2 NMT.
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4.6.2.6. Configure example protocol TPDO1
In the following protocol, the TPDO1 of a device is configured as follows:

COB-ID = 181h

Transmission type = event-controlled (manufacturer-specific)

Inhibit time = 0

Event timer = 200 ms

PDO Mapping with 3 object references
o 6010.0
INTEGER16
o 6020.0
INTEGER16
o 5000.0
UNSIGNED8
E
CAN-ID (hex)
|
Direction: Tx (ECU → Device); Rx (Device → ECU)
|
| Data Length
|
| | Data Bytes (hex)
|
| | |
+--- +- + +- -- -- -- -- -- -- -Heartbeat status = "Operational"
0701 Rx 1 05
0701 Rx 1 05
NMT command "enter pre-operational node-id=1"
0000 Tx 2 80 01
SDO write 4 byte command 1800.1 = C0000181h
→ deenable TPDO1 transmission
0601 Tx 8 23 00 18 01 81 01 00 C0
0581 Rx 8 60 00 18 01 00 00 00 00
SDO write 1 byte command 1800.2 = FEh (254d)
0601 Tx 8 2F 00 18 02 FE 00 00 00
0581 Rx 8 60 00 18 02 00 00 00 00
SDO write 2 byte command 1800.3 = 00h
0601 Tx 8 2B 00 18 03 00 00 00 00
0581 Rx 8 60 00 18 03 00 00 00 00
SDO write 2 byte command 1800.5 = C8h (200d)
0601 Tx 8 2B 00 18 05 C8 00 00 00
0581 Rx 8 60 00 18 05 00 00 00 00
SDO write 1 byte command 1A00.0 = 00h
→ deenable TPDO1 mapping
0601 Tx 8 2F 00 1A 00 00 00 00 00
0581 Rx 8 60 00 1A 00 00 00 00 00
SDO write 4 byte command 1A00.1 = 60100010h
0601 Tx 8 23 00 1A 01 10 00 10 60
0581 Rx 8 60 00 1A 01 00 00 00 00
SDO write 4 byte command 1A00.2 = 60200010h
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0601 Tx 8 23 00 1A 02 10 00 20 60
0581 Rx 8 60 00 1A 02 00 00 00 00
SDO write 4 byte command 1A00.3 = 50000008h
0601 Tx 8 23 00 1A 03 08 00 00 50
0581 Rx 8 60 00 1A 03 00 00 00 00
SDO write 1 byte command 1A00.0 = 03h
→ enable TPDO1 Mapping
0601 Tx 8 2F 00 1A 00 03 00 00 00
0581 Rx 8 60 00 1A 00 00 00 00 00
SDO write 4 byte command 1800.1 = 0h
→ enable TPDO1 transmission, standard COB-ID active
0601 Tx 8 23 00 18 01 00 00 00 00
0581 Rx 8 60 00 18 01 00 00 00 00
SDO write 4 byte command 1010.1 = 65766173h ("save")
→ Store parameters.Save all parameters
0601 Tx 8 23 10 10 01 73 61 76 65
0581 Rx 8 60 10 10 01 00 00 00 00
Heartbeat Status = "Pre-Operational"
0701 Rx 1 7F
NMT command "start node-id=<all>"
0000 Tx 2 01 00
TPDO1
0181 Rx 5 2A 01 55 00 00
TPDO1
0181 Rx 5 2A 01 55 00 00
Heartbeat Status = "Operational"
0701 Rx 1 05
SRDO
The measurement devices described in this documentation (see chapter 1.1 Scope of applications) do not support any functionally safe communication.
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Layer setting services (LSS) Protocol
4.7.
Via the LSS protocol, several specific LSS services in the device can be addressed. The
main function of these services is to configure the most important communication parameters – Baud rate and Node ID – without having specific knowledge of the OD. The LSS
protocol is described in detail in the CiA 305.
Whether a device supports the LSS protocol or not, can be recognised from the EDS parameter "LSS_Supported" and is described in chapter 3.8 LSS Protocol support.
The following please find the most important information on this product summarised as an
overview.
The access via LSS is supported to the following parameters:

Node ID

Baud rate

LSS address - corresponds with Identity Object 1018h
LSS address: This address controls the access to one particular device. It corresponds with
the indications of the OD.Identity Object:

Vendor-ID
UNSIGNED32

Product Code
UNSIGNED32

Revision number and UNSIGNED32

Serial number
UNSIGNED32
The measuring system supports the following LSS services:

Switch mode services
enable switching modeLSS-Satus
o Address one particular device
o Switch state global
address all devices

change device configuration
Configuration services
o Configure Node ID
configure Node ID
o Configure bit timing parameters
Configure Baud rate
o enable bit timing parameters
enable Baud rate
o Store configured parameters
save changes

inquire device information
Inquiry services
o Inquire LSS address
inquire LSS address
o Inquire Node ID
inquire Node ID
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
Identification services
identify device or devices
o LSS identify remote slave
E
Identification of devices within a certain array
o LSS identify slave
Response of all devices to the previous command
o LSS identify non-configured remote slave
Identification of non-configured devices, Node ID = FFh
o LSS identify non-configured slave
Response of all devices to the previous command

Fastscan
Detect non-configured devices
LSS Communication model
Via the LSS protocol, a LSS master (control) can require particular services on a LSS device
(device), The LSS protocol is mainly based on the Master – Device communication model.
However, some LSS services classify the commands as Request and respond by using a
Response.
By means of the LSS protocol, only one single device can be configured at a time. If there
are several devices in the network at the same time, each one has to be separately switched
to the configuration mode via its LSS address.
In order to simplify the configuration of a device via the LSS protocol, it
could be helpful to connect only one device to the LSS master (control)
at a time. In this case, the command "switch mode global" for status
switch can be used.
4.7.1.1. LSS status diagram
In order to handle the communication in the device (LSS consumer) it can take on two different operational modes.
LSS Waiting: after device start-up, see also chapter 4.4 Network Management, the device
automatically takes on this mode. In this state, the device accepts the commands LSS
"Switch mode services" as well as LSS "Identification services".
LSS Configuration: the device takes on this mode after having received a "Switch Mode"
command. Only one device at a time may take on this device mode. Parameters can only
be read, written and changes can only be stored permanently if the operating mode "LSS
Configuration" is active. For this purpose, the LSS "Configuration" and the LSS "Inquire"
commands are available.
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4.7.1.2. LSS command structure
The structure of the CAN command message is similar with a SDO protocol-message: Two
COB IDs are used for sending and receiving here as well. Which is also similar is that the
first byte of the message is used as a command code. The COB ID of the LSS command,
however, is firmly defined and depends on the Node ID of the device.
Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (controller→device)
[Tx: ECU → Device]
COB ID
7E4h Rx
COB-ID of the LSS response (device → controller)
[Rx: Device → ECU]
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code serves as to distinguish the different LSS services and their responses.
BYTE 1 - 7
Data
User data
Data lenght and content depend on the related LSS
service command.
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LSS Switch commands
E
This command serves for switching the active LSS condition. Only if the "LSS configuration"
mode is active, the device can be parameterised by means of other commands. This state
may not be taken on by more than one device within the network at a time.
4.7.2.1. LSS Switch state global
If only one single device is connected to the master (control), its LSS condition can be switched directly without the knowledge of its LSS address. The command is not responded by
the device
If more than one device are connected to the control, all devices will
switch to another mode when receiving this command. This means, in
the case the "LSS configuration" mode should be active, this might lead
to undefined behaviour.
Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (controller→device)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
04h
BYTE 1
Switch state global service
To be enabled LSS condition
Mode
00h
01h
BYTE 2 - 7
UNSIGNED8
UNSIGNED8
enable status "LSS Waiting"
enable status "LSS configuration"
Reserved
The example shows how a device is switched to the "LSS configuration" mode.
Byte 0
Byte 1
CANID
CMD
Mode
7E5h Tx
04h
01h
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Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Reserved
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4.7.2.2. LSS Switch state selective
If more devices are connected to the CAN network, each device has to be addressed and
parameterised separately. For this purpose, the master (control) has to send 4 consecutive
messages in total. Each message contains a parameter of the LSS address.
Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (controller→device)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
40h – 43h
43h
Request
Response
Please follow the commands list below.
BYTE 1 – 4
LSS address individual parameters UNSIGNED32
Data
The data to be transmitted depend on the command,
see below list of commands.
BYTE 5 – 7
Reserved
Context between the command code and the LSS address data transmission. The individual
request commands should be sent to the device in ascending order.
Command
Direction
Data
Description
40h
Request
UNSIGNED32
send vendor ID
41h
Request
UNSIGNED32
send product code
42h
Request
UNSIGNED32
send revision number
43h
Request
UNSIGNED32
send serial number
44h
Response
Reserved
No response data
Please see below how a device is switched to "LSS configuration" mode using a defined
LSS address. For this purpose, 4 Command requests, carrying the particular LSS address
data, will be sent to the device in consecutive order. After the command sequence has expired, the device responds by means of a response commands.
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The LSS address used in the example:
E
Vendor-ID
Product Code
Revision Number
Serial Number
Byte 0
DAh
E2155h
80000h
12345678h
Byte 1
Byte 2
Byte 3
Byte 4
CANID
CMD
7E5h Tx
40h
DAh
00h
00h
00h
7E5h Tx
41h
55h
21h
0Eh
00h
7E5h Tx
42h
00h
00h
08h
00h
7E5h Tx
43h
78h
56h
34h
12h
7E4h Tx
44h
Byte 5
Data
Byte 6
Byte 7
Reserved
LSS configuration commands
Via the "LSS Configurations" command, the parameters of a device can be read and changed as well. These commands, however, can only be used if the device is in the LSS condition "LSS configuration".
4.7.3.1. Configure Node ID
The Node ID of a device can be changed using this command. The command is implemented according to Request response model.
Please observe: Only one device may be in the "LSS configuration" at a time.
To save the new node ID the "Store configuration" command has to be carried out afterwards.
In order ot activate the new node ID, the NMT command „Reset communication“ or "Reset
Node" has to be inquired. Without a device "reset", the current node ID remains active..
The commands "request" or "response" have different structures. The structures of both
messages are shown below.
Request
Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (controller→device)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
11h
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Field
name
Content
Meaning
BYTE 1
Node ID
Required Node-ID
UNSIGNED8
Value range: 1 – 127 and 255 ("non-configured")
BYTE 2 – 7
Reserved
Response
Field
name
Content
Meaning
COB ID
7E4h Rx
COB-ID of the LSS command (device → controller)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
11h
BYTE 1
"Configure Node ID"
Error number
Error Code
UNSIGNED8
0
Node-ID successfully applied
1
invalid Node ID value
255 device-specific error → "Specific Error"
BYTE 2
Device-specific error number
Specific Error
0
BYTE 3 – 7
UNSIGNED8
Error Code ≠ 255
Reserved
The following section shows how to set the node ID 0Ah (10d) successfully in the device by
means of the LSS command "Configure Node-ID".
Byte 0
Byte 1
CANID
CMD
7E5h Tx
11h
0Ah
7E4h Rx
11h
00h
Byte 2
Byte 3
Byte 4
Data
Byte 5
Byte 6
Byte 7
Reserved
00h
4.7.3.2. Configure bit timing
The Baud rate of a device can be changed using this command. The command is implemented according to Request response model.
Please observe: Only one device may be in the "LSS configuration" at a time.
To save the new Baud rate ID the "Store configuration" command has to be carried out
afterwards.
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To activate the new Baud rate, the NMT command "Reset communication" or „Reset Node“
can be inquired afterwards, or the LSS command "enable bit timing parameters" is can be
used.
The commands "request" or "response" have different structures. The structures of both
messages are shown below.
Request
Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (device → controller)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
13h
BYTE 1
Table selector
Active Baud rate table
0
BYTE 2
Table index
"Configure bit timing"
UNSIGNED8
Standard CiA Baud rate table
Baud rate table index
UNSIGNED8
Active Baud rate see Object "Baud rate"
0
1
2
3
4
5
6
7
8
BYTE 3 – 7
1000 kbit/s
800 kbit/s
500 kbit/s
250 kbit/s
125 kbit/s
reserved
50 kbit/s
20 kbit/s
10 kbit/s
Reserved
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Response
Field
name
Content
Meaning
COB ID
7E4h Rx
COB-ID of the LSS command (device → controller)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
13h
BYTE 1
"Configure bit timing"
Error number
Error Code
UNSIGNED8
0
Node-ID successfully applied
1
Baud rate index not supported
255 device-specific error → "Specific Error"
BYTE 2
Device-specific error number
Specific Error
0
BYTE 3 – 7
UNSIGNED8
Error Code ≠ 255
Reserved
The following section shows how to set the Baud rate 500 kbit/s, Index = 2 successfully in
the device by means of the LSS command "Configure bit timing".
Byte 0
Byte 1
Byte 2
CANID
CMD
7E5h Tx
13h
00h
02h
7E4h Rx
13h
00h
00h
Byte 3
Byte 4
Data
Byte 5
Byte 6
Byte 7
Reserved
4.7.3.3. enable bit timing parameters
A slightly complex procedure is required to activate a new Baud rate after having changed
and stored it. The command "activate bit timing" must be processed almost exactly at the
same time by all the network participants, in order to switch all participants to the new Baud
rate and, thus, avoiding that communication errors may occur.
The command is not responded by the device
Switchover procedure:
 The command transmits a waiting delay.
 All the participants have to wait two times for this delay to expire before they can send
their information using the new Baud rate.
 The first half of the delay serves for de-initialisation of all participants. Within this time
range, all the participants should terminate the sending of their messages; "device
reaction time".
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 The waiting delay should be chosen in such a way that even the network participant
having the longest reaction time has terminated the sending of messages within the
first phase.
 The first phase serves as reinitialisation. After the second phase has expired, messages may be sent with the new Baud rate.
Process diagram "enable bit timing"
Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (controller→device)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
15h
BYTE 1
UNSIGNED8
Switch state global service
waiting period
Delay
UNSIGNED16
Delay for switchover in [ms]; see Switchover diagram
BYTE 2 – 7
Reserved
The example instructs all participants in "LSS configuration" to activate the newly configured
Baud rate.
The LSS master defines the delay of 2 s before → 2000d [ms] → 07D0h
Byte 0
CANID
CMD
7E5h Tx
15h
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Byte 1
Byte 2
Byte 3
Byte 4
Delay
D0h
Byte 5
Byte 6
Byte 7
Reserved
07h
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4.7.3.4. Store configuration
This command enables to store changes to the Node ID and the Baud rate permanently on
the device. The command is implemented according to Request response model.
Please observe: Only one device may be in the "LSS configuration" at a time.
The commands "request" or "response" have different structures. The structures of both
messages are shown below.
Request
Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (controller→device)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
17h
BYTE 1 – 7
"Store configuration"
Reserved
Response
Field
name
Content
Meaning
COB ID
7E4h Rx
COB-ID of the LSS command (device → controller)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
17h
BYTE 1
Error number
Error Code
0
1
2
255
BYTE 2
Specific Error
UNSIGNED8
storage carried out successfully
command is not supported
Storage access denied
device-specific error → "Specific Error"
Device-specific error number
0
BYTE 3 – 7
"Store configuration"
UNSIGNED8
Error Code ≠ 255
Reserved
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The following section shows how to store recent changes in the device permanently by means of the LSS command "store configuration".
E
Byte 0
CANID
CMD
7E5h Tx
17h
7E4h Rx
17h
Byte 1
Byte 2
Byte 3
Byte 4
Data
00h
Byte 5
Byte 6
Byte 7
Reserved
00h
LSS Inquire Kommandos
With the help of the "LSS inquire command", the individual sections of the LSS address as
well as the recent node ID of all devices, which are currently in the "LSS configuration"
mode, can be inquired.
If several devices are active at the same time, all of them will respond nearly synchronously,
however, the order of the responses cannot be predefined. For this reason, only one device
at a time should be in the "LSS configuration" mode.
4.7.4.1. Inquire Identity Vendor-ID
The CiA manufacturer code as is defined in the "OD.Identity Object Vendor-ID (1018.1)" via
this command. The command is implemented according to Request response model.
Please observe: Only one device may be in the "LSS configuration" at a time.
The commands "request" or "response" have different structures. The structures of both
messages are shown below.
Request
Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (controller→device)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
5Ah
BYTE 1 – 7
"Inquire Vendor-ID"
Reserved
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Response
Field
name
Content
Meaning
COB ID
7E4h Rx
COB-ID of the LSS command (device → controller)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
5Ah
BYTE 1 – 4
Vendor ID
"Inquire Vendor-ID"
manufacturer's code
UNSIGNED32
CiA manufacturer's code corresponds with the object
"OD.Identity Object.Vedor-ID"
BYTE 5 – 7
Reserved
The following example shows how the CiA manufacturer code (HYDAC Electronic GmbH:
DAh) in the device is inquired.
Byte 0
CANID
CMD
7E5h Tx
5Ah
7E4h Rx
5Ah
Byte 1
Byte 2
Byte 3
Byte 4
Data
DAh
00h
Byte 5
Byte 6
Byte 7
Reserved
00h
00h
4.7.4.2. Inquire Identity Product-Code
Via this command, the manufacturer-specific product identifier, as it is defined in the
"OD.Identity Object.Product code (1018.2)", can be inquired. The command is implemented
according to Request response model.
Please observe: Only one device may be in the "LSS configuration" at a time.
The commands "request" or "response" have different structures. The structures of both
messages are shown below.
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Request
E
Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (controller→device)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
5Bh
BYTE 1 – 7
"Inquire Product-Code
Reserved
Response
Field
name
Content
Meaning
COB ID
7E4h Rx
COB-ID of the LSS command (device → controller)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
5Bh
BYTE 1 – 4
Product code
"Inquire Product-Code
Product code
UNSIGNED32
Manufacturer-specific corresponds with the object
"OD.Identity Object.Product code".
BYTE 5 – 7
Reserved
The following example shows how to request the manufacturer-specific product code (Example: E2155h) of the device.
Byte 0
CANID
CMD
7E5h Tx
5Bh
7E4h Rx
5Bh
Byte 1
Byte 2
Byte 3
Byte 4
Data
55h
21h
Byte 5
Byte 6
Byte 7
Reserved
0Eh
00h
4.7.4.3. Inquire Identity Revision-Number
This command serves to inquire the product revision number as it is defined in the
"OD.Identity Object.Revision number (1018.3)". The command is implemented according to
Request response model.
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Please observe: Only one device may be in the "LSS configuration" at a time.
The commands "request" or "response" have different structures. The structures of both
messages are shown below.
Request
Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (controller→device)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
5Ch
BYTE 1 – 7
"Inquire Revision-Number"
Reserved
Response
Field
name
Content
Meaning
COB ID
7E4h Rx
COB-ID of the LSS command (device → controller)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
5Ch
BYTE 1 – 4
BYTE 5 – 7
RevisionNumber
"Inquire Revision-Number"
Revisionsnummer
UNSIGNED32
Product revision number corresponds with the object
"OD.Identity Object.Revision number"
Reserved
The following example shows how to request the product revision numer (Example: 80000h)
of the device.
Byte 0
CANID
CMD
7E5h Tx
5Ch
7E4h Rx
5Ch
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Byte 1
Byte 2
Byte 3
Byte 4
Data
00h
00h
Byte 5
Byte 6
Byte 7
Reserved
08h
00h
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4.7.4.4. Inquire Identity Serial-Number
E
This command serves to inquire the device serial number as it is defined in the "OD.Identity
Object.Serial number (1018.4)". The command is implemented according to Request
response model.
Please observe: Only one device may be in the "LSS configuration" at a time.
The commands "request" or "response" have different structures. The structures of both
messages are shown below.
Request
Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (controller→device)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
5Dh
BYTE 1 – 7
"Inquire Serial-Number"
Reserved
Response
Field
name
Content
Meaning
COB ID
7E4h Rx
COB-ID of the LSS command (device → controller)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
5Dh
BYTE 1 – 4
Serial number
"Inquire Serial-Number"
Serial Number
UNSIGNED32
Device serial number corresponds with the object
"OD.Identity Object.Serial number"
BYTE 5 – 7
Reserved
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The following example shows how to request the device serial number (Example: 1EDDh)
of the device.
Byte 0
CANID
CMD
7E5h Tx
5Dh
7E4h Rx
5Dh
Byte 1
Byte 2
Byte 3
Byte 4
Data
DDh
1Eh
Byte 5
Byte 6
Byte 7
Reserved
00h
00h
4.7.4.5. Inquire Node ID
This command serves to inquire the currently active node ID as it is defined in the "OD.NodeID.Active node-ID (2001.1)". The command is implemented according to Request response
model.
Please observe: Only one device may be in the "LSS configuration" at a time.
The commands "request" or "response" have different structures. The structures of both
messages are shown below.
Request
Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (controller→device)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
5Eh
BYTE 1 – 7
"Inquire Node-ID"
Reserved
Response
Field
name
Content
Meaning
COB ID
7E4h Rx
COB-ID of the LSS command (device → controller)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
The command code is identical for request and for
response.
5Eh
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Field
name
Content
Meaning
BYTE 1
Node ID
Active Node ID
UNSIGNED32
Currently active Node ID of the device
see object "OD.Node-ID.Active node-ID"
BYTE 2 – 7
Reserved
The following example shows how to request the currently active node ID (Example: 01h) of
the device.
Byte 0
Byte 1
CANID
CMD
Data
7E5h Tx
5Eh
7E4h Rx
5Eh
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Reserved
01h
LSS Identify commands
The LSS identity commands serve to find out how many devices with LSS protocol support
are currently connected to the CAN network.
4.7.5.1. Identify remote slave
If more devices are connected to the CAN network, the number of devices with LSS protocol
support can be determined. For this purpose, the master (control) has to send 6 consecutive
messages in total. The messages receive parameters of the LSS address. In order to set a
limit to the selection the devices, the manufacturer and product code are firmly defined. The
selection is limited using a pre-defined value range for the revision and serial number.
If devices exist which correspond with the LSS address section which is pre-defined by the
command sequence, these can respond by the "Identify slave" command.
Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (controller→device)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
46h – 4Bh
Request
Please follow the commands list below.
BYTE 1 – 4
Data
LSS address individual parameters UNSIGNED32
The data to be transmitted depend on the command,
see below list of commands.
BYTE 5 – 7
Reserved
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Context between the command code and the LSS address section transmission. The individual request commands should be sent to the device in ascending order.
Command
E
Direction
Data
Description
46h
Request
UNSIGNED32
Define vendor ID
47h
Request
UNSIGNED32
Define product code
48h
Request
UNSIGNED32
Define revision number minimum
49h
Request
UNSIGNED32
Define revision number maximum
4Ah
Request
UNSIGNED32
Define serial number minimum
4Bh
Request
UNSIGNED32
Define serial number maximum
Please see below how a device is switched to "LSS configuration" mode using a defined
LSS address. For this purpose, 4 Command requests, carrying the particular LSS address
data, will be sent to the device in consecutive order. After the command sequence has expired, a device responds by means of the "Identify slave" command.
The LSS address used in the example:
Vendor-ID
Product Code
Revision Number
Serial Number
Byte 0
DAh
E2155h
80000h
Range: 40000h – 80000h
12345678h Range: 1000h – 50000000h
Byte 1
Byte 2
Byte 3
Byte 4
CANID
CMD
Data
7E5h Tx
46h
DAh
00h
00h
00h
7E5h Tx
47h
55h
21h
0Eh
00h
7E5h Tx
48h
00h
00h
04h
00h
7E5h Tx
49h
00h
00h
08h
00h
7E5h Tx
4Ah
00h
10h
00h
00h
7E5h Tx
4Bh
00h
00h
00h
50h
7E4h Rx
4Fh
Byte 5
Byte 6
Byte 7
Reserved
4.7.5.2. Identify slave
Possible response to the previous command by the device; see chapter 4.7.5.1 Identify remote slave.
Field
name
Content
Meaning
COB ID
7E4h Rx
COB-ID of the LSS command (device → controller)
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Field
name
Content
Meaning
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
4Fh "LSS identify slave protocol"
BYTE 1 – 7
Reserved
4.7.5.3. Identify non-configured remote slave
Command for the recognition of non-configured devices with LSS protocol support within
the network. Devices which are classified as "non-configured" are the ones whose "pending
node ID" (s. OD.Node-ID) is invalid, e.g. = FFh.
Non-configured devices can respond using the command "Identify non-configured slave".
Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (controller→device)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
4Ch "LSS identify non-configured remote slave"
BYTE 1 – 7
Reserved
Example for a response of a non-configured device to the LSS master request for identification.
Byte 0
CANID
CMD
7E5h Tx
4Ch
7E4h Rx
50h
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Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Reserved
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4.7.5.4. Identify non-configured slave
Possible response of a non-configured device to a LSS master request "Identify non-configured remote slave"; see chapter 4.7.5.3 Identify non-configured remote slave.
Field
name
Content
Meaning
COB ID
7E4h Rx
COB-ID of the LSS command (device → controller)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
UNSIGNED8
50h "LSS identify non-configured slave"
BYTE 1 – 7
Reserved
LSS Fastscan
By means of the fastscan protocol, a LSS master can identify the LSS address of unknown
and non-configured devices. In the beginning of such a requests, all non-configured devices
have to be in the "LSS Waiting" mode.
The inquiry will be initiated by the LSS master by a particular request ("Bit Check" = 128) in
order to mark the start of the request sequence. This inquiry should be confirmed by all LSS
devices which have not yet been configured by response "Identify slave". By means of this
response, the LSS master recognises that further LSS devices need to be configured.
That is to say, the fastscan protocol performs a research for existing LSS addresses. For
this purpose, all sections of the LSS address are inquired bit by bit and sequentially. LSS
devices with matching address sections confirm the related request positively by sending
response "Identify slave". If the recently inquired address section does not match, no
response will be sent by the LSS device. In this case, the LSS master waits for a defined
time, corrects the address section it has already received and requests the next address
section. Therefore, up to 132 (4 * 32bit + 4) single requests are required in order to detect
the LSS address of a certain LSS device.
If a LSS device has been clearly identified, it will automatically switch to "LSS configuration"
state after the sequence has expired and confirm that the process has been successful by
"Identify slave". The LSS device can now be condigured by the LSS master accordingly by
means of the LSS features described above.
Please see the CiA 305 for a more detailed description.
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Field
name
Content
Meaning
COB ID
7E5h Tx
COB-ID of the LSS command (controller→device)
DLC
8
Data length of the message in bytes
BYTE 0
Command
Command code
51h
BYTE 1 – 4
IDNumber
UNSIGNED8
"LSS Fastscan"
Inquiry
UNSIGNED32
Currently inquired address sequence of the LSS
address.
BYTE 5
Bit Check
Bit position
UNSIGNED8
Current bit positions to be checked within the currently active LSS address section of the inquiry.
The LSS device checks all the superordinate bits, including this bit position, for equality of the transmitted
IDnumber compared with the LSS address sequence
currently to be checked.
Example:
Bit Check = 28d
Überprüfung Bit 31, 30, 29, 28
Special case
Bit Check = 128d (80h); IDNu, Sub, Next = 0
→ Start Fastscan
BYTE 6
LSS Sub
LSS-Adress Index
UNSIGNED8
Current section to be checked LSS address.
0
1
2
3
BYTE 7
LSS Next
Vendor-ID
Product code
Revision number
Serial number
Next LSS-Adress Index
UNSIGNED8
Value range, see LSS Sub.
Example: Start LSS fastscan by means of a non-configured LSS device
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
CANID
CMD
IDNumber
BitChk
Sub
Next
7E5h Tx
51h
0000000h
80h
0h
0h
7E4h Rx
4Fh
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Example set node ID and Baud rate via LSS
The following example shows how a LSS master switches one particular device to the "LSSConfiguration" state via the "global switch" command. Subsequently, a new Node ID (2)
and Baud rate (250 kbit/s) will be defined. These will be stored permanently on the device
and finally, the device will be restarted with the new setttings.
CAN-ID (hex)
|
Direction: Tx (ECU → Device); Rx (Device → ECU)
|
| Data Length
|
| | Data Bytes (hex)
|
| | |
+--- +- + +- -- -- -- -- -- -- -LSS-Master "Switch mode global" according to "LSS-Configuration"
07E5 Tx 8 04 01 00 00 00 00 00 00
LSS-Master "Configure Node ID"; Node-ID = 2
07E5 Tx 8 11 02 00 00 00 00 00 00
LSS-Device positive Response
07E4 Rx 8 11 00 00 00 00 00 00 00
LSS-Master "Configure bit timing"; Baud rate Index=3 (250
kbit/s)
07E5 Tx 8 13 00 03 00 00 00 00 00
LSS-Device positive Response
07E4 Rx 8 13 00 00 00 00 00 00 00
LSS-Master "Store configuration"
07E5 Tx 8 17 00 00 00 00 00 00 00
LSS-Device positive Response
07E4 Rx 8 17 00 00 00 00 00 00 00
LSS-Master "Switch mode global" according to "LSS-Waiting"
07E5 Tx 8 04 00 00 00 00 00 00 00
NMT-Master "Reset all Node"
0000 Tx 2 81 00
Boot-up Node-ID = 2
0702 Rx 1 00
TPDO1 messages from Node-ID = 2
0182 Rx 5 A9 04 FE FD 01
0182 Rx 5 A9 04 FE FD 01
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5. Software tools
E
In the following, please find a description for all tools helpful for using CAN based device
communication.
5.1.
HMG 4000
The HMG 4000 portable data recorder is a mobile measurement and data gathering device
for measuring tasks for hydraulic and pneumatic systems and machines as well as in industrial and mobile sectors.
The HMG 4000 can record the signals of up to 38 sensors at once. For this purpose, HYDAC
ELECTRONIC offers special sensors that are automatically detected by the HMG 4000 with
configurable settings for measured variable, measuring range and unit. In addition to this,
the HMG 4000 is also able to process the standard analogue sensor signals, such as 0 – 10
VDC or 4 – 20 mA.
A very useful feature of the measurement device is the processing of CAN signals. The
HMG 4000 is able to visualise and record process data of devices in the form of process
values. This can be very useful, in particular when signals from analogue sensors need to
be recorded simultaneously with CAN information. This means, it is possible to put information about the transmission performance of a combustion engine in relation with the pressure
values in the hydraulic unit of a work function in a machine.
However, the HMG 4000 not only offers the opportunity to record process value, but also
has the ability to configure devices with a CAN communication interface. The "CAN Tools"
function of the HMG 4000 is able to modify the "Object dictionary" by means of EDS files
and to configure the Node ID and the Baud rate via the LSS Protocolcol. In addition to this,
it is able to evaluate and to report incoming messages via the CAN connection. This makes
the HMG 4000 a robust and handy measurement device, providing nearly all the features of
standard CAN analysers and configurators in "outdoor" quality.
In the following a few important notes are listed for the handling of CAN devices in conjunction with the HMG 4000. Further information can be taken from the device operation manual.
https://www.hydac.com
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HMG 4000 pin assignment
The HMG 4000 has 11 * M12 5 pin connections as socket connectors. All connections provide a power supply of 12 VDC / 200 mA (total current max. 500 mA). The CAN connection
is the socket marked with "K" and is made of red plastic. The assignment of the CAN connection corresponds with the requirements of the CiA 303-1; see chapter 4.2.4 Standard pin
connections.
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PDO Process values as measurements
E
The feature "measured values" of the HMG 4000 enables to visualise data ranges from a
PDO as a measured value. For this purpose, the channels "CAN-Bus/HCSI (K)" are
available in the settings for the measured values.
In below example, the process data "signal statical inclination" and "signal acceleration" are
shown from an inclination sensor by HYDAC Electronic GmbH. The settings required for the
measurement of the "signal statical inclination (K1 slope long)" is explained more in detail.
This symbol enables the access to the channel settings.
Tapping this symbol expands the function bar at the left of the screen, where short
notice texts describe the function of each symbol.
This symbol opens a sub-function and in this particular case, opens up the channel
range "CAN-Bus/HCSI (K)". After opening, a list of max. 28 single channels becomes
available.
Each single channel represents exactly one Signal or process value, which generally corresponds with only one section of a PDO message. Each channel can be activated separately and configured individually.
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The settings of the CAN interface are common for all channels. The HMG 4000 function
"measured values" has its own CAN setting parameters which are independent of other
areas in the HMG 4000.
The mode "evaluate messages" has to be active in order to enable the evaluation of signals from CAN messages.
The Baud rate has to correspond with the evaluated device.
The "Internal termination resistor" should always be activated when the HMG 4000 is
not connected to an existing CAN network – for instance, when a particular device is directly connected to the measurement device. The internal termination resistor should,
however, be deactivated, when the measurement device is connected to an existing, correctly terminated network.
Under the same circumstances, it is also necessary to have the function "active silent
monitoring, confirm messages" activated. The "passive monitoring" should be used
when the HMG 4000 is connected to an existing CAN network and is supposed to monitor
messages emerging here.
After opening an individual channel, its settings can be viewed and changed as well.
Channel characteristics
Description
Message type
The option "CANopen-PDO" is available for the evaluation of
Process data.
For other tasks, there are message type options available for
J1939 or also for proprietary CAN messages.
Name
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The channel name can be assigned individually.
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Channel characteristics
Description
Measurement
range
This feature serves to describe the value range and, thus, the
scaling of the process value to be displayed.
In a sub-menu point, the number of decimals, the max. and min.
value of the measurement range and the physical unit can be
entered.
The information on the measurement range can be found in the
menu process data in the product description.
Resolution
see chapter :
3.3 Process data
4.5.4.9 TPDO mapping parameter
The resolution defines the value of a single bit of the digital value transmitted with the PDO which includes the "increment" (resolution) of the scales process value.
(Digital value * resolution) - Offset = Process value
Example: 0.01 °/bit 0001h = 0.01°; 0005h = 0.05°; 04B0h =
12.00°
The information on the resolution and the offset can be found in
the menu process data in the product description.
see chapter :
3.3 Process data
4.5.4.9 TPDO mapping parameter
Offset
Zero offset of the process value, see resolution.
COB ID
CAN ID of the PDO message as Hexadecimal value.
This value has to correspond with the CAN ID of the PDO which
is going to be interpreted. As each measurement channel of the
HMG 4000 is independent, the CAN ID has to be predetermined
the same way as the message will be transmitted. An automatic
calculation via the Node ID is not possible.
see chapter :
4.5.4.6 RPDO communication parameter
4.5.4.8 TPDO communication parameter
Example:
TPDO1.COB-ID 1800.1 $NODEID+40000180h
Active Node ID
5
Measured value COB-ID 185h
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Channel characteristics
Description
Number type
The digital value of the process value transmitted with the PDO.
The data length of the digital value is defined via the channel
setting "bit length".
Unsigned integer
Signed integer
Floating point
UNSIGNED
INTEGER
REAL
The information on the data type can be found in the menu process data in the product description.
see chapter :
3.3 Process data
4.5.4.9 TPDO mapping parameter
Bit position
The bit position defines the position of the digital value's first bit
within the data range of CAN Message.
The bit position of a process value is defined via the PDO mapping. The counting method for the bit position starts with 0,
which means the first bit within the CAN message's data range
has the bit positon 0.
see chapter :
4.6.2.3 PDO Mapping
4.6.2.4 Overview diagram PDO mapping
Bit length
The bit length defines the number of data bits occupied by the
digital value within the data range of CAN Message.
The information on the data type can be found in the menu process data in the product description.
see chapter :
3.3 Process data
4.5.4.9 TPDO mapping parameter
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Functions of the HMG 4000 "CAN tools"
E
For several characteristics described in this protocol description, the HMG 4000 offers the
suitable features.
The most important features are briefly explained in the following chapters.
5.1.3.1. Wizard
The "wizard" offers the opportunity to change the most important CANopen settings, such
as Baud rate and Node ID, without detailed knowledge of the device. The wizard uses LSS
Protocol for that purpose. Using this universal protocol, all devices supporting LSS can be
recognised and configured.
As described in chapter 4.7.1 LSS Communication model, only one device at a time should
be connected to the HMG 4000 while this function is used. Via the button "next", the search
for a LSS capable device is started and its LSS address is read. The Baud rate and Node
ID can subsequently be changed.
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5.1.3.2. Electronic Data Sheet (EDS)
Via the function "Electronic Data Sheet (EDS)" objects of the device "Object dictionary (OD)"
can be imported and changed as well.
While using this function, several devices may be connected at the same time. This is why
it is inevitable to preselect the Node ID (node ID) of the device you wish to use before importing any data.
From a list of EDS files available on the HMG 4000 the suitable file for the used device can
now be selected. The data often contain their manufacturer's part number as an identifier in
the file name. In a first step, available files have to be copied into the "file manager" in the
HMG 4000 directory "CanTools\Eds\General". After "open" all the objects will be loaded from
the OD and visualised as a list.
Object entries can now be viewed and changed as well. In order to store them on the device,
the function "memory" must be used. This function performs the Object function
"Save all parameters".
Note: If the node ID or the Baud rate are changed directly in the EDS window, the function
"Save LSS parameters" has to be changed additionally via the EDS window, as described
in chapter 4.5.4.3 Storage and restoring (general communication objects).
The PDO wizard is a special feature. By means of this function, the PDO Mapping can
be configured very easily. The PDO wizard leads you through all the objects of the
"communication" and "mapping parameter" step by step.
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The SRDO wizard is another special feature. This special wizard helps you carry out
the more complicated configurations of safety-relevant process values. Whether such values are supported in the used device or not is described in chapter 3.3.4 Further process
data and 3.4 Functionally safe process data.
5.1.3.3. Messages
The function "messages" offers the opportunity to list CAN messages which are connected
to the CAN chronologically or grouped according to CAN ID. The received messages can
be interpreted and represented via the HMG 4000 by order of importance; see chapter
4.3.2 Meaning of the CAN ID. Data flow direction R (=Rx) received by the HMG; T (=Tx)
sent by the HMG.
In addition, messages can be defined by the user which can be spontaneously or
periodically sent from the HMG 4000 to further CAN participants.
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5.1.3.4. Network Management (NMT)
By means of the sub-functions of the function "Network Management" the HMG 4000 can
"simulate" the tasks of a CANopen Masters by providing the most important NMT messages.
By means of the provided functions, the NMT status of the connected network participants
can be changed.
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5.2.
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PCAN-View
A widely used PC-based programme for the visualisation of CAN messages is PCAN view
by PEAK-System Technik GmbH.
PEAK-System Technik GmbH
Otto-Röhm-Straße 69
64293 Darmstadt
Germany
http://www.peak-system.com/
All rights to the product PCAN-View belong to the company PEAK-System Technik GmbH.
In the following, a short insight is given of how easily CAN commands can be sent and
received using this program. In addition to this, the program has further useful features which
are worth discovering.
For more detailed information on the product itself or further products by this manufacturer,
please do not hesitate to contact the manufacturer directly.
In the "receive“ section, all the messages currently waiting at the CAN are visualised
grouped according to CAN ID. The menu function "Trace" additionally offers a chronological
protocol of the messages. These protocols can also be memorised in files.
In the "Send" section, the additional opportunity to CAN message is available. Several messages can be generated for this purpose, which can be spontaneously or periodically sent.
Example for the definition of a CAN message of a "SDO expedited Download" command
from the object "StoreLSSParameter" with the help of which changes at the node ID or Baud
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rate of a device can be stored permanently. This message writes the Character String "save"
having 4 bytes into the object 1010.4 in order to trigger the Object function. The structure of
an SDO command is described in chapter 4.6.1.1 Structure of the SDO command.
In order to create a periodically sent CAN message, as is necessary, for instance to simulate an SYNC Master, a cycle time > 0 ms has to be assigned to the message.
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6. Contact data
E
HYDAC ELECTRONIC GMBH
Hauptstr.27
D-66128 Saarbruecken
Germany
Web: www.hydac.com
Email: [email protected]
Phone: +49 (0) 6897-509-01
Fax: +49 (0) 6897-509-1726
HYDAC Service
If you have any questions concerning repair work, please do not hesitate to contact HYDAC
SYSTEMS & SERVICES GMBH:
HYDAC SYSTEMS & SERVICES GMBH
Hauptstr.27
D-66128 Saarbruecken
Germany
Phone:
Fax.:
+49 (0)6897 509-1936
+49 (0)6897 509-1933
NOTE
The information in this manual relates to the operating conditions and applications described. For applications or operating conditions not described, please contact the relevant
technical department.
If you have any questions, suggestions or encounter any problems of a technical nature,
please contact your HYDAC representative.
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7. Appendix
The appendix provides useful additional information.
E
ASCII Table
7.1.
Below listed, please find the portrayable characters of the ASCII character set. By summarising the horizontal and vertical identification code, the numeric value related with the particular character can be determined. The ASCII character encoding forms the basis for most
of the character sets used for a standardised representation of the most important characters.
Particular language-specific special characters, such as the ß which is part of the German
written language cannot be displayed using ASCII encoding. For the representation of these
characters, there are special international character sets which will not be referred to herein,
as special characters are not supported by the devices.
Examples

Vertical: 30 + Horizontal: 2 = 32d (20h), this is the numerical value for blanc
/<space>.

Vertical: 60 + Horizontal: 5 = 65d (41h), this is the numerical value for A as a capital letter.
ASCII table in decimal representation
+
0
1
2
3
4
5
6
7
8
9
00
10
Control character
20
<space>
30
!
“
#
$
%
&
‘
40
(
)
*
+
,
-
.
/
0
1
50
2
3
4
5
6
7
8
9
:
;
60
<
=
>
?
@
A
B
C
D
E
70
F
G
H
I
J
K
L
M
N
O
80
P
Q
R
S
T
U
V
W
X
Y
90
Z
[
\
]
^
_
`
a
B
c
100
d
e
f
g
h
i
j
k
l
m
110
n
o
P
q
r
s
t
u
v
w
120
x
y
z
{
|
}
~
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ASCII table in hexadecimal representation
E
Example.: "zero" → 7Ah, 65h, 72h, 6Fh
+
0
1
2
3
4
5
6
7
8
9
A
W
C
E
E
F
00
Control character
10
20
!
“
#
$
%
&
‘
(
)
*
+
,
-
.
/
30
0
1
2
3
4
5
6
7
8
9
:
;
<
=
>
?
40
@
A
B
C
D
E
F
G
H
I
J
K
L
M
N
O
50
P
Q
R
S
T
U
V
W
X
Y
Z
[
\
]
^
_
60
`
a
B
c
d
e
f
g
h
i
j
k
l
m
o
n
70
P
q
r
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s
t
u
v
w
x
y
HYDAC ELECTRONIC GMBH
z
{
|
}
~
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