Danfoss DST P10B Pressure Sensor Operating Guide

Operating Guide

Pressure Sensor with CANopen

Type DST P10B

Operating Guide | Pressure Sensor with CANopen, type DST P10B

Contents

1 General Information ......................................................................................................................................................................................................................... 3

1.1 Contact ............................................................................................................................................................................................................................................... 3

1.2 General ............................................................................................................................................................................................................................................... 3

1.3 CAN Interface ................................................................................................................................................................................................................................... 3

1.4 Definitions ......................................................................................................................................................................................................................................... 3

2 CANopen communication .............................................................................................................................................................................................................. 4

2.1 Summary of the CANopen functions ...................................................................................................................................................................................... 4

2.2 Object dictionary ............................................................................................................................................................................................................................ 5

2.2.1 Communication profile ............................................................................................................................................................................................................. 5

2.2.2 Manufacturer specific profile .................................................................................................................................................................................................. 7

2.2.3 Device profile ............................................................................................................................................................................................................................... 8

2.3 Configuration of the transmit PDO ........................................................................................................................................................................................12

2.3.1 PDO Contents .............................................................................................................................................................................................................................12

2.4 PDO Transmission types ............................................................................................................................................................................................................13

2.5 Emergency message (Error codes) .........................................................................................................................................................................................14

3 Layer setting services (LSS) ..........................................................................................................................................................................................................16

3.1 Supported services ......................................................................................................................................................................................................................16

3.1.1 Switch state global ...................................................................................................................................................................................................................16

3.1.2 Switch state selective ..............................................................................................................................................................................................................17

3.1.3 Configure Node Id ....................................................................................................................................................................................................................17

3.1.4 Bit rate ...........................................................................................................................................................................................................................................17

3.1.5 Activate bit rate .........................................................................................................................................................................................................................18

3.1.6 Store Configuration ..................................................................................................................................................................................................................18

3.1.7 Inquire LSS Address..................................................................................................................................................................................................................19

3.1.8 Inquire Node Id ..........................................................................................................................................................................................................................19

3.1.9 LSS Identify remote slave .......................................................................................................................................................................................................19

3.1.10 LSS Identify non-configured remote slave ....................................................................................................................................................................20

3.1.11 LSS Fastscan .............................................................................................................................................................................................................................20

3.2 LSS examples .................................................................................................................................................................................................................................22

3.2.1 Inquire LSS Address..................................................................................................................................................................................................................22

3.2.2 Configure Node Id and Bit rate via LSS for an already configured known device .............................................................................................22

3.2.3 Configure Node Id and Bit rate via LSS for an already configured unknown device .......................................................................................23

3.2.4 Configure Node Id to unconfigured unknown device via LSS (Node id=255) ...................................................................................................24

4 CAN communication without CANopen functionality ......................................................................................................................................................25

4.1 Basic configuration ......................................................................................................................................................................................................................25

4.2 Network configuration without CANopen master ...........................................................................................................................................................25

4.3 Cyclically sending .........................................................................................................................................................................................................................26

4.4 Change node configuration via SDO ....................................................................................................................................................................................27

4.5 Reserved CAN Identifiers ...........................................................................................................................................................................................................28

5 Appendix ............................................................................................................................................................................................................................................28

5.1 Definition of IEEE 32 Bit (single precision floating point numbers, IEEE-754 standard) .....................................................................................28

5.2 Example ...........................................................................................................................................................................................................................................28

5.3 References .......................................................................................................................................................................................................................................29

2 | AQ427550352216en-000101 © Danfoss | Climate Solutions | 2022.11


1 General Information

1.1 Contact

Danfoss A/S

Sensing Solutions

DK-6430 Nordborg

Denmark sensors.danfoss.com

1.2 General

The pressure transmitter DST P10B measures the physical quantity pressure.

DLC

LSS

NMT

OD

PDO

SDO

SYNC

The range depends on the sensor which is used in the transmitter and is 0 - 50 bar. The measured value is transmitted on the CAN-Bus with the CANopen protocol. The transmitter does filtering based on multiple samples and converts the raw value into the output format. The CAN interface can run up to a speed of 1 Mbit/sec with 11-bit identifiers. 29-bit identifiers are supported as 11-bit identifiers and internally zeropadded. The CAN protocol complies with the CANopen specification CiA 301, the pressure transmitter function is presented by the CANopen device profile CiA DSP 404. The possible configurations can be set with the object dictionary. Heartbeat and emergency messages guarantee high reliability. With the Layer Setting Services (LSS, CiA DSP 305 V3.0), the desired bit rate and node ID can be set easily.

1.3 CAN Interface

The device includes a CAN transceiver compatible with the ISO11898-2 high speed CAN Standards and a physical 2-wire interface layer. The wires are protected against short circuit. By adjusting the rise and fall times of the CAN signals, the noise emission is minimized. The bus termination resistor is not included in the device.

1.4 Definitions

Title

COB

ASCII

RO

Description

Communication Object

Data must be sent inside a COB across a CAN network. There exist 2048 different COBs in a CAN network. A COB contains maximal 8 data bytes.

Data Length Code

Layer setting services

Network Management

Object Dictionary

Process Data Object

Service Data Object

Refers to the CANopen SYNC protocol

American Standard Code for Information Interchange (character encoding standard for text data in electronic communication)

Read only

RW

WO

Read / Write

Write only

3 | AQ427550352216en-000101 © Danfoss | Climate Solutions | 2022.11


2 CANopen communication

2.1 Summary of the CANopen functions

CAN

Protocol

Profile

Baud rate

Node ID

PDO

Emergency messages

Heartbeat

Node guarding

SYNC

Layer setting services (LSS)

Event-driven transmission

Output

Filter

Datatypes

Auto-start

CAN 2.0B

CiA DS 301, V4.2.0, CANopen slave

CiA DS 404, V2.1.0

Device profile for measuring devices and closed-loop controllers

20 kbit/s to 1000 kbit/s.

Configurable via LSS or SDO

1 to 127 (255 for LSS)

Configurable via LSS or SDO

1 PDO (TPDO) with configurable PDO-mapping and multiple transmission types (sync, timer, event-driven)

Supported

Supported

Supported

Supported

Supported (CiA DS 305, V3.0.0 LSS slave with fastscan support)

Timer-event: Configurable timer with millisecond resolution.

Limit-event: 2 configurable limit switches with shared hysteresis setting.

Delta-event: Configurable delta setting.

Supports combining multiple event types.

Configurable units and offset with auto-zero capability.

Configurable moving and repeating average filter.

Data that supports multiple datatypes according to standard are available as IEEE-754 Floating point and 32-bit integer with configurable digit setting.

Configurable auto-start mode allowing for operation without CAN master.

© Danfoss | Climate Solutions | 2022.11

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2.2 Object dictionary

Note: Some default values might differ between product code numbers and for pre-configured devices.

2.2.1 Communication profile

Index (HEX) Sub Index Name

1000

1001

1003

00

00

Device type

Error register

Pre-defined error field

Type Access Default

Unsigned32 ro

Unsigned8 ro

0x00020194

0x00

Comment

Device profile 404, Analog input block

00

01-FE

Number of errors Unsigned8 rw 0

Write 0: Clear errors

Writing other values will result in an

SDO abort message: 0x06090030

Error history since device was powered on

1005

1008

1009

100A

00

00

00

00

Standard error field Unsigned32 ro

COB-ID SYNC message

Manufacturer

Device Name

Manufacturer

Hardware version

Manufacturer

Software version

Unsigned32

String

String

String rw ro ro ro

0x80

DST P10B

01.00

01.00.00

100C

100D

00

00

Guard Time

Life Time Factor

Unsigned16

Unsigned8 rw rw

0

0

The lifetime factor multiplied with the guard time gives the lifetime for the life guarding protocol.

Write 0: Disables the life guarding

(See comment for Guard Time, index 0x100C)

1010

1011

00

01

00

Store parameters

Number of parameters

Save all parameters

Unsigned8

Unsigned32 ro rw

Restore default parameters

Number of entries Unsigned8 ro

1

1

Parameter values will be saved with the command 0x65766173 (ASCII:

“save”)

1014

1015

01

00

00

Restore default parameters

COB ID Emergency message

Inhibit Time

Emergency

Unsigned32 rw

Unsigned32 ro

Unsigned16 rw

1

1

Default values will be restored with the command 0x64616F6C (ASCII:

“load”). Reset of device required.

0x80 + Node

Id

0

The value shall be given in multiple of 100 microseconds. The value 0 will disable the inhibit time


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1017

1018

1800

00

00

01

02

03

04

00

01

02

03

04

05

COB Id used by

PDO

Type

Unsigned32

Access Default

Producer heartbeat time

Unsigned16 rw

Identify object (LSS address)


Vendor Id Unsigned32 ro

Product Code Unsigned32 ro

Revision Number Unsigned32 ro

Serial Number Unsigned32 ro

Transmit PDO communication parameter

Number of entries Unsigned8 ro rw

0

4

0x0100008D

Transmission Type Unsigned8 rw

Inhibit Time Unsigned16 rw

Reserved None

1

0

5

0x180 + node Id

1000

Comment

The heartbeat time indicates the cycle time of the heartbeat produced by the device. Value shall be given in multiple of 1ms.

Write 0: Disable heartbeat

Danfoss A/S IC

Danfoss product code number

Device firmware version

Danfoss generated device serial number

Writeable values:

0x180+Node Id TPDO 1




Any attempt to read or write to this subindex will lead to an SDO abort/ error message

Default: 1000ms

Value shall be given in a multiple of

1ms.

Write 0: disable event timer

1A00

1F80

00

01

02

03

04

00

Event Timer Unsigned16 rw

Transmit PDO mapping parameter


PDO Mapping

Entry 1

Unsigned32 rw

PDO Mapping

Entry 2

Unsigned32 rw

PDO Mapping

Entry 3

PDO Mapping

Entry 4

Unsigned32

Unsigned32 rw rw

NMTStartup Unsigned32 rw

2

0x91300120 Pressure as integer32

0x91300220

0

0

0

Temperature as integer32

0x00000000: The NMT master must start the NMT slave.

0x00000008: NMT slave will enter the NMT state “Operational” after the NMT state “Initialization” autonomously (Self-starting)


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2.2.2 Manufacturer specific profile


3100

00

App info

Number of entries

01

Type

Unsigned8

Access Default Comment ro

Custom U8 Unsigned8 rw

0

0

02

03

04




0

0

0

PDO mappable object without any functionality besides storing a user-defined value




3110

3999

4F00

4F01

00

01

02

03

04

00

01

02

00

00

Identity

Strings

Number of entries

Serial

Number

Danfoss

Product

Code

Unsigned8

String

String ro ro ro

Customer

Product

Code

String

Version Info String

Reserved

Number of entries

Unsigned8 ro ro ro

Reserved

Reserved

Unsigned32 wo

Unsigned32 rw

Bit rate Unsigned8 rw

Node ID Unsiged8 rw

4

2

4

127

Danfoss generated serial number as a string

Danfoss product code as a string

Can be set during production if customer wants a custom product code stored in the device

Same as index 0x100A

Reserved object

Reserved object

Default: 125 kbit/s

See bit rate table below

Range 1 – 127: Changes take effect after reset node or reboot.

Can also be set to 255 to indicate an unconfigured node (typically used with LSS)

Bit rate table:

5

6

3

4

7

1

2

Index

0

Bit rate (kbit/s)

1000

800

500

250

125 reserved

50

20


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2.2.3 Device profile

Index

(HEX)

6110

Sub

Index

00

Name Type Access Default

AI_Sensor_type

Number of entries Unsigned8 ro 2

6124

01

02

00

AI_Sensor_type_1 Unsigned16 ro

AI_Sensor_type_2 Unsigned16 ro

AI Input Offset


90

100

1

01

6125

AI Input Offset PV 1 Float32 rw

AI_Autozero

Number of entries Unsigned8 ro 1 00

01

6130

6131

00

01

02

00

01

02

AI_Autozero_1 Unsigned32 wo

AI_Input_PV


AI_Input_PV_1

AI_Input_PV_2

Float32

Float32

AI_Physical_Unit_PV

Number of entries Unsigned8 ro ro ro

AI_Physical_Unit_

PV1

AI_Physical_Unit_

PV2

Unsigned32 rw

Unsigned32 rw

2

Comment

90 = Pressure sensor

100 = Temperature sensor

Pressure offset; will be added to the current pressure value

Autozero for pressure 0x6F72657A

(ASCII: “zero”)

Actual pressure value

Actual temperature value

2

0x004E0000

0x002D0000

Pressure unit:

0x00AB0000: Psi

0x004E0000: Bar

0x03220000: KPa prefixes (only for psi, bar):

0xFF__0000: 10-1 (deci)

0xFE__0000: 10-2 (centi)

0xFD__0000: 10-3 (milli)

Hint: Also, dependents on “decimal digits”, index 0x6132

Temperature unit:

0x002D0000: °C

0x00AC0000: °F

0x00050000: K


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Index

(HEX)

6132

Sub

Index

00


AI_Decimal_Digits


6133

6134

6135

6136

01

02

00

01

02

00

01

02

00

01

02

00

01

02

AI_Decimal_Digits_PV1

Unsigned8 rw

AI_Decimal_Digits_PV2

AI_Interrupt_Delta_

Input_PV

Unsigned8 rw


AI_Interrupt_Delta_

Input_PV1

AI_Interrupt_Delta_

Input_PV2

AI_Interrupt_

Lower_Limit_

Input_PV

Float32

Float32 rw rw


AI_Interrupt_

Lower_Limit_In put_PV1

AI_Interrupt_

Lower_Limit_

Input_PV2

AI_Interrupt_

Upper_Limit_

Input_PV

Float32

Float32 rw rw


AI_Interrupt_Upper_Limit_Input_

PV1

AI_Interrupt_Upper_Limit_Input_

PV2

AI_Interrupt_

Hysteresis

Float32

Float32 rw rw


AI_Interrupt_

Hysteresis_PV1

AI_Interrupt_

Hysteresis_PV2

Float32

Float32 rw rw

3

3

2

0

0

2

-131072

-131072

2

131072

131072

2

0

0

Comment

Range depends on the physical unit and prefix:

[0 - 3] with unit psi

[0 - 5] with unit bar

[0] with unit KPa

[0 - 5]

Pressure delta for delta-events

(0 = disabled)

Temperature delta for delta-events (0

= disabled)

Pressure lower limit for limit-events

Temperature lower limit for limitevents

Pressure upper limit for limit-events

Temperature upper limit for limit-events

Pressure hysteresis for limit-events

Temperature hysteresis for limit-events


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Index

(HEX)

6148

Sub

Index

00

01

Name

AI_Span_Start

Type


AI_Span_Start_PV1 Float32

Access rw

Default

2

02 -40

Comment

Default:

Sensor pressure measurement range start

Default:

Internal operating temperature range start

6149

6150

00

01

02

00

AI_Span_Start_PV2 Float32 rw

AI_Span_End


AI_Span_End_PV1 Float32 rw

AI_Span_End_PV2 Float32 rw

AI_Status


2

125

2

Default:

Sensor pressure measurement range end

Default:

Internal operating temperature range end

01

02

AI_Status_PV1

AI_Status_PV2

Unsigned8

Unsigned8 ro ro

0

0

Pressure status:

Bit 1 = 1: Positive overload

(Press. > span end)

Bit 2 = 1: Negative overload

(Press. < span start)

Temperature status:

Bit 1 = 1: Positive overload

(Temp. > span end)

Bit 2 = 1: Negative overload

(Temp. < span start)

61A0

00

01

AI_Filter_Type

Number of entries

AI_Filter_Type_PV1

Unsigned8

Unsigned8 ro rw

61A1

02

00

01

02

AI_Filter_Type_PV2 Unsigned8 rw

AI_Filter_

Constant


AI_Filter_

Constant_PV1

AI_Filter_

Constant_PV2

Unsigned8

Unsigned8 rw rw


2

0

0

2

0

0

0: No filter

1: Moving average

2: Repeating average

0: No filter

1: Moving average

2: Repeating average

Range: 0-255

Range: 0-255

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Index

(HEX)

7100

9124

9130

9133

9134

9135

9148

00

01

02

00

01

02

00

01

02

00

01

02

00

01

02

00

01

Sub

Index

00


AI_Input_FV


AI_Input_FV_PV1

AI_Input_FV_PV2

Integer16

Integer16 ro ro

AI_Input_Offset_i32


AI_Input_Offset_PV1

AI_Input_PV_i32

Integer32 ro


AI_Input_PV_PV1 Integer32 ro

AI_Input_PV_PV2 Integer32 ro

AI_Interrupt_Delta_

Input_PV_i32


AI_Interrupt_Delta_

Input_PV1

AI_Interrupt_Delta_

Input_PV2

AI_Interrupt_

Lower_Limit_PV_i32

Integer32

Integer32 rw rw


AI_Interrupt_

Lower_Limit_PV1

AI_Interrupt_

Lower_Limit_PV2

AI_Interrupt_

Upper_Limit_PV_ i32

Integer32

Integer32 rw rw


AI_Interrupt_

Upper_Limit_PV1

AI_Interrupt_

Upper_Limit_PV2

Integer32

Integer32 rw rw

AI_Span_Start_i32

1

0

2

2

0

0

2

- 131072000 Pressure lower limit for limit-events

- 131072000

2

Comment

Raw pressure input value, unitless

Raw temperature input value, unitless

Offset for pressure

Actual pressure value

Actual temperature value

Pressure delta for delta-events

(0 = disabled)

Temperature delta for delta-events

(0 = disabled)

Temperature lower limit for limitevents

131072000 Pressure upper limit for limit-events

131072000

Temperature upper limit for limitevents



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Index

(HEX)

Sub

Index

01

02

Name

AI_Span_Start_PV1

AI_Span_Start_PV2

Type

Integer32

Integer32

Access rw rw

Default

-40000

Comment

Default:

Sensor pressure measurement range start

Default:

Internal operating temperature range start

9149 AI_Span_End_i32

00 Number of entries Unsigned8 ro 2

01

02

AI_Span_End_PV1

AI_Span_End_PV2

Integer32

Integer32 rw rw 125000

Default:

Sensor pressure measurement range end

Default:

Internal operating temperature range end

2.3 Configuration of the transmit PDO

2.3.1 PDO Contents

Dynamic mapping:

The PDO configuration is done by the OD entry TPDO1 mapping (index 0x1A00) and its sub-indexes. The sub index 1 defines the first value (lower position) transmitted by the PDO. The sub index 2 defines the second value, the sub index 3 the third and the sub index 4 the fourth value transmitted by the PDO.

To change the mapping, the following procedure must be used:

1. Destroy the TPDO by setting bit valid to 1 of object 0x1800 sub-index 0x01.

2. Set the “Number of entries” of object 0x1A00 sub-index 0x00 to 0. The PDO is now deactivated.

3. Set the desired mapping values (0x1A00 - sub-indexes 0x00…0x04).

4. Set the “Number of entries” of object 0x1A00 - 0x00 to the desired number of mapping objects.

Default mapping:

The default values of these sub-indexes are:

Sub index

1

2

3

4

Default value

0x91300120

0x91300220

0

0

Description

Pressure, integer32

Temperature, integer32

Not activated

Not activated

That means:

The first value which will be sent by the transmit PDO is the value of the OD index 0x9130 with the subindex 0x01 and the length 0x20 bits (=>0x91300120). It is the pressure value (signed integer32 bit).

The second value of the transmit PDO is the OD index 0x9130 with the sub index 0x02 and the length 0x20 bits (=>

0x91300220). It is the temperature value (signed integer32 bit).

Example: PDO Interpretation:

For this example, the default settings are used. To summarize the relevant settings used in this example:

PDO-COB-ID: 0x180

Node-ID: 1,

Pressure unit: Bar,

Pressure digits: 3,

Temperature unit: Celsius,

Temperature digits: 3,

PDO mapped with pressure int32 and temperature int32.


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As an example, let us say the following PDO is sent out by the device:

CAN-ID LENGTH DATA0

0x181 8 0xE1

DATA1

0x10

DATA2

0x00

DATA3

0x00

DATA4

0x07

DATA5

0x87

DATA6

0x00

DATA7

0x00

Translating the message, we can see that:

1. The CAN-ID indicates that this message is a PDO message sent by node-id 1.

Since the CAN-ID consist of the COB-ID + Node-ID, so 0x180 + 1.

2. The length indicates that there are 8 valid data bytes in the message

3. Since the first mapped PDO value is “Pressure as Interger32” we know that the first four bytes contain the pressure value. In

CANopen the LSB is always sent first.

So our pressure value becomes 0x000010E1 = 4321.

Since the active settings specify pressure should be represented as Bar with 3 digits, we can interpret this value further to get the actual pressure output and we end up with 4.321 Bar.

4. Using the same logic for the next four bytes (temperature), we get

0x00008707 = 34567, Applying digits and unit we end up with 34.567 °C

Units:

The units of the pressure and temperature values can be set by writing to index 0x6131 ”AI Physical unit PV” – see the “Device profile” chapter for more details.

Digits:

The digits of the pressure and temperature integer values can be set by writing to index 0x6132

”AI Decimal digits PV”. A digit value of 1 means that the value is multiplied by 10, 2 means multiplied by 100, 3 means multiplied by 1000, which is the maximum. – see the “Device profile” chapter for more details.

Note: the digit setting has no influence on float values.

Hint:

Only the following object dictionary entries are mappable::

Index

0x6130

0x9130

0x7100

0x1001

0x6150

0x3100

Subindexes Description

1,2

1,2

1,2

0

1,2

1,2,3,4

Pressure, Temperature

Pressure, Temperature

Raw pressure, raw temperature

Error register

Pressure span status, temperature span status

User-defined object

Datatype

Float

Interger32

Interger16

Unsigned8

Unsigned8

Mixed

2.4 PDO Transmission types

The object “Transmit PDO communication parameter” (index 0x1800) can be used to configure the PDO transmission settings.

The device supports various PDO transmission settings, the common ones include SYNC and timer-driven transmission. These are very standardized features with detailed descriptions and examples are described in CiA 301.

Among the more uncommon transmission types, this device supports delta and limit event-based transmission.

The main principles are:

Delta-events: Triggers a PDO transmission when a PDO mapped process value has changed by delta or more since last PDO transmission.

Limit-events: Imitates a switch-like behavior, triggering a PDO transmission when a certain limit is crossed.

It is possible to fine tune these events to fit application needs by isolating or combining certain events.

This can be done in combination with setting up units, digits, offsets, filters, heartbeats, timers, etc.


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An example is shown below where delta and two limit events (upper-limit, lower-limit, w. hysteresis) are combined to illustrate the logic of each event type.

Example - Event driven PDO transmission

3

2

5

4

1

0

6

P

Upper Limit

Upper Limit - Hysteresis

Hysteresis

Lower Limit - Hysteresis lower Limit t

D U U U D

P: Process Valve D: Delta event t: Time process value has changed by Δ

D U D L L

U: Upper limit event

Setting used in example: 1: Process value has been <= (upper limit - Hysteresis) and now crosses upper limit

2: Process Value has been >= (Upper limit) an d now crosses (Upper limit - Hysteresis

Delta: 2

Upper limit: 4 L: Lower limit event

Lower Limit: 0.75 1: Process value has been <= (upper limit - Hysteresis) and now crosses upper limit

Hysteresis: 0.5 2: Process Value has been >= (Upper limit) an d now crosses (Upper limit - Hysteresis

2.5 Emergency message (Error codes)

Emergency messages show an internal device error. If the error situation of the device has changed, it will send an emergency message with the current error code.

The COB-ID of an emergency message is shown in the communication profile object dictionary, index 0x1014 (by default: 0x80

+ Node ID).

Construction of the emergency message:

Data

Byte 0

Error code LSB Error code MSB

Error register

(Index 0x1001)

Byte 7

Not used


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Error codes:

Error codes Explanation

0x0000

0x6000

0x5010

0x5030

0x4200

No error

Possible root cause

Error code 0x0000 is used to report that the device is now error free. (i.e.an error was previously reported but that error is now gone)

Possible solution

Software internal error

Self-test error

Error encountered during initialization routine.

Error in communication between onboard devices.

Power cycle device. Check if error still appears, if so, hardware might be damaged

Error encountered during sensor self-tests such as:

• Open-/short circuit detected on pressure

sensing element (e.g., broken wire bond)

• Unable to retrieve pressure data

• Device was restarted by internal watchdog

due to a malfunction

• Memory corruption detected

Power cycle device. Check if error still appears, if so, one should attempt a factory reset of the device. (“restore all parameters” followed by “save all parameters”).

If the error continues to appear the hardware might be damaged.

Sensor fault error

Pressure or temperature output value has reached a data-type saturation limit. Values beyond this limit cannot be presented.

Check if output configuration settings fit your application (unit, digits, offset, etc.) or adjust pressure/temperature

Temperature limit exceeded error

Specified internal temperature operating range is exceeded. (i.e., electronics too hot/cold)

Bring the device back into the temperature operating range.

The current error situation could be read out with the object profile entry “Pre-defined Error Field” index 0x1003, sub index 0x01.

Previously errors can be read out from higher sub index entries of index 0x1003.

Furthermore, for index 0x1003. Sub index 0x00 holds the number of reported errors.

Index 0x1001 is an error register for the device. It is a field of 8 bits, each of which indicates a particular type of error. If a bit is set to 1, the specified error has occurred. The generic error bit is set to 1 in case of any type of error. The bits have the following meaning:

7

Manufacturer specific error

6

Reserved

5

Device profile specific error

4

Communication error

3

Temperature

2

Voltage

1

Current

0

Generic error


AQ427550352216en-000101 | 15


3 Layer setting services (LSS)

The DST P10B with CANopen supports the Layer Setting Services.

These services and protocols are used to inquire the settings of the LSS address (object 0x1018), the bit rate and the node id. The bit rate and the node id can be configured via the LSS services.

LSS Waiting State

Available LSS Services:

• Switch state global

• Switch state selective

• LSS identify remote slave

• LSS identify non-configured remote slave

• LSS FastScan

Switch state global

Switch state selective

Switch state global

LSS Waiting State

Available LSS Services:

• Switch state global

• Configure Node Id

• Configure bit rate

• Activate Bit rate

• Store configurations

• Inquire LSS Address

• Inquire Node Id

• LSS identify remote slave

• LSS identify non-configured remote slave

Some requirements/hints must be observed when using LSS:

The producer heartbeat time must be 0 (default value, index 0x1017)

• In LSS configuration state, no NMT-command will be executed.

• Only a stored bit rate and node Id will appear in the object dictionary (0x4F00 and 0x4F01 respectively)

• The LSS address consists of four values: o Vendor-Id:

• Object dictionary index 0x1018, sub-index 1: Always 0x0100008D (Danfoss vendor Id) o Product-code:

• Object dictionary index 0x1018, sub-index 2: Order number of this DST P10B o Revision number:

• Object dictionary index 0x1018, sub-index 3: Software version of this DST P10B o Serial-number:

• Object dictionary index 0x1018, sub-index 4: A unique serial number.

3.1 Supported services

All services of CiA DSP 305 V3.0 can be used. The supported parameters of the services can be found in this section. The following CAN identifiers are reserved for LSS:

• 0x7E5 for commands from LSS Master

• 0x7E4 for commands from LSS Slave

3.1.1 Switch state global

Data

Command

Byte 0

Command specifier request mode reserved reserved reserved reserved reserved

Byte 7 reserved

Command specifier request: 0x04

Mode: 0x00 to state e

Hints:

• Once leaving the LSS configuration, all not stored data is no longer available.


AQ427550352216en-000101 | 16


3.1.2 Switch state selective

Data

Command

Answer

Byte 0

Command specifier request

Command specifier answer data LSB reserved data reserved data reserved

Command specifier request: 0x40 Vendor-Id

0x41

0x42

0x43

Command specifier answer: 0x44

Serial-number data MSB reserved reserved reserved reserved reserved

Byte 7 reserved reserved

Hints:

•

The order of command specifier request is important and must be send with Vendor-Id as the first command and

Serial-number as the last.

3.1.3 Configure Node Id

Data

Command

Answer

Byte 0


Command specifier answer

Node Id

Error code reserved

Spec.

error reserved reserved data MSB reserved


Node Id -


Error code:

Spec. error:

0 Protocol

0

Id

Always successfully

1 Node reserved reserved reserved reserved


3.1.4 Bit rate

Data

Command

Answer

Byte 0


Command specifier answer

Table selector

Error code

Table index

Spec.

error reserved data MSB reserved reserved reserved reserved reserved reserved



AQ427550352216en-000101 | 17



Table selector:

Table index:

0 Standard CiA bit timing table

Standard CiA bit timing table:

Mbit/s

1 800

2 500 kbit/s

3 250 kbit/s

5 Reserved kbit/s kbit/s


Error code:

Spec. error: 0 rate

Always successfully

1 Bit

3.1.5 Activate bit rate

Command

Byte 0

Command specifier request switch_ delay reserved

Data reserved reserved reserved reserved

Byte 7 reserved


Switch_delay: The duration of the two periods of time to wait. Unit: milliseconds.

Hints:

• Only the last saved bit rate will be activated by this service.

• After activating the new bit rate, the CAN bus network must be configured to the same bit rate to communicate with the device

3.1.6 Store Configuration

Data

Command

Answer

Byte 0


Command specifier answer reserved

Error code reserved

Spec.

error reserved reserved data MSB reserved reserved reserved reserved reserved




Error code: 0 Protocol

Spec. error: successfully

1 Node

0

Id

Always


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3.1.7 Inquire LSS Address

Data

Command

Byte 0

Command specifier request reserved reserved reserved

Answer

Command specifier answer data LSB data data

Command specifier request:

0x5B

0x5C

0x5D

Command specifier answer:

Data:

0x5A Vendor Id like request value reserved data MSB

3.1.8 Inquire Node Id

Command

Answer

Byte 0


Command specifier answer reserved

Node id reserved reserved reserved reserved

Command specifier request: 0x5E

Command specifier answer: 0x5E

Node Id: Node

Data reserved reserved reserved reserved reserved reserved

Hint:

• The return value of the node Id will be the valid and stored value from EEPROM.

3.1.9 LSS Identify remote slave

Data

Command

Answer

Byte 0


Command specifier answer data LSB

Node id data reserved data reserved data LSB reserved

Command specifier request: 0x46 Vendor Id

0x47

0x48 low

Revision high

Serial

0x4B

Command specifier answer: 0x4F reserved reserved

Hints:

• The revision number low and revision number high can be ignored using 0

• To identify the slave, the shown order of the requests must be observed and followed.


reserved reserved reserved reserved reserved reserved




AQ427550352216en-000101 | 19


3.1.10 LSS Identify non-configured remote slave

Data

Command

Answer

Byte 0


Command specifier answer reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved


Command specifier request: 0x4C


Hints:

• Only an unconfigured device will respond. No response means that there are no unconfigured devices on the network

• For a device to be unconfigured, its node Id must be 0xFF. The device is configured when this is in the range of

1-127 (0x01 - 0x7F)

• The device will not identify itself. Only notify the user that there is currently an unconfigured device connected to the network. For identifying the device see 0 (LSS Fastscan).

3.1.11 LSS Fastscan

Data

Command

Answer

Byte 0


Command specifier answer data LSB reserved data reserved data reserved data MSB reserved

Bit Checked reserved

LSS Sub reserved

Byte 7

LSS Next reserved


Command specifier answer: 0x4F

Data: 32 bits that are currently checked versus the vendor Id, Product code, revision

number

Bit Checked:

LSS Sub:

Defines how many of the bits in the ID number are currently checked. This is a value in the range of 0 to 31. 31 means that only bit 31 is checked, 30 means that bits 31 and 30 are checked. 0 means that all 32 bits are checked.

A value of 80h is an exception and indicates the start of a new scan cycle, all nodes supporting Fastscan reset their internal state machines.

Defines which part of the 128 bit LSS Id is currently checked in the 32 bit ID number. This is a value from 0 to 3 representing Vendor Id, product code, revision number or serial number respectively.

LSS Next: Defines which part of the 128 bit LSS Id will be checked towards the 32 bit Id number in the next cycle. This is a value from 0 to 3 representing Vendor Id, product code, revision number or serial number respectively.

A value of 4h indicates the last check.

Hints:

• Only an unconfigured device will respond. No response means that there are no unconfigured devices on the network or the current bit checked does not match the bit of the device (Read simplified example).

• For a device to be unconfigured, its node Id must be 0xFF. The device is configured when this is in the range of

1-127 (0x01 - 0x7F)

• When the LSS address is identified using LSS Fastscan, one can use this LSS Address to perform a “Switch State Selective” command (See 3.1.2) of this specific device and configure its bit rate and node id to fit the network.


AQ427550352216en-000101 | 20


Simplified LSS Fastscan example:

No. Service CAN-Id DLC

Data

D0 D1 D2 D3 D4 D5 D6 D7

1

Start

LSS

Fastcan

0x7E5 8 0x51 0x00 0x00 0x00 0x00 0x80 0x00 0x00

Dir

Tx

2

3

9

Comment

LSS Fastscan is started

0x7E4 8 0x4F 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Rx

Device recognizes the command and reset its internal state machine.

Scan for

Vendor

Id

0x7E5 8 0x51 0x00 0x00 0x00 0x00 0x1F 0x00 0x00 Tx Checks bit 31 of sub index 0

0x7E4

0x7E4

8

8

0x4F 0x00 0x00 0x00 0x00 0x00 0x00 0x00

0x4F 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Rx

Rx

Respond means that the bit checked matches

Scan for

Vendor

Id

0x7E5 8 0x51 0x00 0x00 0x00 0x00 0x1E 0x00 0x00 Tx Checks bit 30 of sub index 0

0x7E4 8 0x4F 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Rx


This pattern continues until the device does not respond. No response means that the bit checked did not match the bit of the device. The Master will therefore have to alter the bit checked from a 0 to a 1 and continue to check for the next bit. In this example the device will not respond when checking bit 24 (18h). The next command send from the master will therefore alter the bit as follows.

Scan for

Vendor

Id

0x7E5 8 0x51 0x00 0x00 0x00 0x01 0x17 0x00 0x00 Tx

Checks bit 23 of sub index 0

(bit 24 is altered to 1)


33

The device does not respond when checking bit 7, 3, 2 and 0 either. This will result in a last command scanning for the

LSS Vendor Id as follows

Scan for

Vendor

Id

0x7E5 8 0x51 0x8D 0x00 0x00 0x01 0x00 0x00 0x01 Tx

Vendor Id identified.

Prepare the device to scan for product code

(LSS Next 1h).

Direction (Dir): Tx: Message from (NMT/LSS) Master

RX:


AQ427550352216en-000101 | 21


3.2 LSS examples

3.2.1 Inquire LSS Address

This example of the usage of the Layer Setting Services shows how to inquire the LSS address of an already configured device.

Note: To identify the LSS address of an unconfigured device, make use of the LSS Service “LSS Fastscan” (See 0).

No.

Service

CAN-Id DLC Data

D0 D1 D2 D3 D4 D5 D6 D7

Dir Comment

1

NMT Boot-up

Switch state global:

LSS configuration state

0x701

0x7E5

1

8

0x00

0x04 0x01 0x00 0x00 0x00 0x00 0x00 0x00

Rx

Tx

Boot-up message from slave

Switches all devices into configuration state

2

Inquire LSS address:

Vendor Id

0x7E5 8 0x5A 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tx

0x7E4 8 0x5A 0x8D 0x00 0x00 0x01 0x00 0x00 0x00 Rx

Answer: Vendor Id

3


Product Code

0x7E5 8 0x5B 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tx

0x7E4 8 0x5B 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Rx

Answer:

Product Code

4


Revision number

0x7E5 8 0x5C 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tx

0x7E4 8 0x5C 0x00 0x04 0x00 0x00 0x00 0x00 0x00 Rx

Answer:

Revision number

5


Serial Number

0x7E5 8 0x5D 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tx

0x7E4 8 0x5D 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Rx

Answer: Serial

Number

3.2.2 Configure Node Id and Bit rate via LSS for an already configured known device

This example of the usage of the Layer Setting Services shows the changing of the node Id from 1 to 28 and the changing of the bit rate to 500 kbit/s.

Note: Vendor Id, Product code, revision number and serial number used in this example might differ from the device you are using. To identify the LSS address of your already configured device, make use of the LSS Service “Inquire LSS Address” (See 3.2.1).

No.

Service

CAN-

Id

DLC

Data

D0 D1 D2 D3 D4 D5 D6 D7

Dir Comment

NMT Boot-up 0x701 1 0x00 Rx


1

2

3

Switch state selective: Vendor Id

Switch state selective: Product code

Switch state selective: Revision number

0x7E5

0x7E5

0x7E5

8

8

8

0x40 0x8D 0x00 0x00 0x01 0x00 0x00 0x00

0x41 0x00 0x00 0x00 0x00 0x00 0x00 0x00

0x42 0x00 0x04 0x00 0x00 0x00 0x00 0x00

Tx

Tx

Tx

Vendor Id: 0x0100008D

Product Code:

0x00000000

Revision Number:

0x00000400


AQ427550352216en-000101 | 22


No.

Service

CAN-

Id

DLC

Data

D0 D1 D2 D3 D4 D5 D6 D7

Dir Comment

4

Switch state selective: Serial

Number

0x7E5 8 0x43 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tx

Serial Number:

0x00000000

0x7E4 8 0x44 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Rx Answer: OK

5

Configure Node

Id

0x7E5 8 0x11 0x1C 0x00 0x00 0x00 0x00 0x00 0x00 Tx Set new Node Id: 28

6

7

8

Store Configurations

Activate new bit rate

0x7E4

Configure Bit rate 0x7E5

0x7E4

0x7E5

0x7E4

0x7E5

8

8

8

8

8

8

0x11 0x00 0x00 0x00 0x00 0x00 0x00 0x00

0x13 0x00 0x02 0x00 0x00 0x00 0x00 0x00

0x13 0x00 0x02 0x00 0x00 0x00 0x00 0x00

0x17 0x00 0x00 0x00 0x00 0x00 0x00 0x00

0x17 0x00 0x00 0x00 0x00 0x00 0x00 0x00

0x15 0x64 0x00 0x00 0x00 0x00 0x00 0x00

Rx

Tx

Rx

Tx

Rx

Tx

Answer: OK

Set new Bit rate: 500 kbit/s

Answer: OK

Store the new settings in EEPROM

Answer: OK

Activate the new bit rate after 100ms

Configure your network to fit the newly configured bit rate

9

NMT Reset communication

0x000

0x71C

2

1

0x82 0x00

0x00

Tx

Rx

Activate the new Node

Id

Boot-up message from slave with new Node Id

Hint:

• After following the above example, the device will have changed its bit rate and the CAN bus network must be configured to the same to communicate with the device.

• For the Node Id to be activated a power cycle or reset node will be necessary.

• Service no. 8 and 9 can be replaced by a power cycle.

3.2.3 Configure Node Id and Bit rate via LSS for an already configured unknown device

This example of the usage of the Layer Setting Services shows the changing of the node Id from 1 to 28 and the changing of the bit rate to 500 kbit/s.

Note: Only one device must be connected to the CAN bus network for this to work.

No.

1

2

3

Service

NMT Boot-up

CAN-

Id

0x701

DLC

1

D0

0x00

D1 D2 D3

Data

D4 D5 D6 D7

Switch state global: LSS configuration state

Configure Node

Id

0x7E5 8 0x04 0x01 0x00 0x00 0x00 0x00 0x00 0x00 Tx

0x7E5 8 0x11 0x1C 0x00 0x00 0x00 0x00 0x00 0x00 Tx

0x7E4 8 0x11 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Rx

Configure Bit rate

0x7E5 8 0x13 0x00 0x02 0x00 0x00 0x00 0x00 0x00 Tx

0x7E4 8 0x13 0x00 0x02 0x00 0x00 0x00 0x00 0x00 Rx

Dir

Rx

Comment


Switches all devices into configuration state

Set new Node Id:

28

Answer: OK

Set new Bit rate:

500 kbit/s

Answer: OK


AQ427550352216en-000101 | 23


No.

Service

CAN-

Id

DLC

Data

D0 D1 D2 D3 D4 D5 D6 D7

Dir Comment

4

5

6

Store

Configurations

0x7E5 8 0x17 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tx

0x7E4 8 0x17 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Rx

Activate new bit rate

0x7E5 8 0x15 0x64 0x00 0x00 0x00 0x00 0x00 0x00 Tx

NMT Reset communication

Configure your network to fit the newly configured bit rate

0x000 2 0x82 0x00 Tx

0x71C 1 0x00 Rx

Store the new settings in EE-

PROM

Answer: OK

Activate the new bit rate after

100ms

Activate the new

Node Id

Boot-up message from slave with new

Node Id

Hint:

• After following the above example, the device will have changed its bit rate and the CAN bus network must be configured to the same to communicate with the device.

• For the Node Id to be activated a power cycle or reset node will be necessary.

• Service no. 5 and 6 can be replaced by a power cycle.

3.2.4 Configure Node Id to unconfigured unknown device via LSS (Node id=255)

No.

1

2

3

4

5

6

Service

Switch state selective: Vendor Id

Switch state selective: Product code

Switch state selective: Revision number

Switch state selective: Serial

Number

Configure Node Id

Store

Configurations

CAN-

Id

0x7E5

0x7E5

0x7E5

0x7E5

0x7E4

0x7E5

0x7E4

0x7E5

0x7E4

DLC

8

8

8

8

8

8

8

8

8

Data

D0 D1 D2 D3 D4 D5 D6 D7

Dir Comment

0x40 0x8D 0x00 0x00 0x01 0x00 0x00 0x00

0x41 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Tx

Tx

Vendor Id:

0x0100008D

Product

Code:

0x00000000

0x42 0x00 0x04 0x00 0x00 0x00 0x00 0x00

0x43 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Tx

Tx

Revision

Number:

0x00000400

Serial

Number:

0x00000000

0x44 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Rx Answer: OK

0x11 0x01 0x00 0x00 0x00 0x00 0x00 0x00 Tx

Set new

Node Id: 1


0x17 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tx

Store the new settings in EEPROM


7

Switch state global:

LSS Waiting state

0x7E5 8 0x04 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Tx

0x701 1 0x00

Boot up message

Hint:

• After following the above example, the device will have changed its node id and is thereby configured .


AQ427550352216en-000101 | 24


4 CAN communication without CANopen functionality

4.1 Basic configuration

The CAN pressure transmitter can still be used in a CAN network without CAN functionality.

However, before integrating it some basic configurations need to be set:

- Bit rate, by default = 0x04 (125 kbits/s)

- Node-Id, by default = 0x01

Additional settings can be set before use, such as physical units, decimal digits and others found in the object dictionary (refer to: 0 _Object dictionary)

Any new settings must be saved on the CAN pressure transmitter to take effect. The settings can be saved with object 0x1010, subindex 0x01 and with the data 0x65766173 (in ASCII: “save”).

The settings will be stored in non-volatile memory and kept after reset.

For basic configurations, such as node-id and bitrate, refer to 4.4 Change node configuration .

4.2 Network configuration without CANopen master

After connecting the CAN pressure transmitter to the supply voltage, the transmitter sends a boot-up message with the CAN identifier 0x700 + node-id, (0x701 as default). The boot-up message contains also one data byte with value 0 if there are no errors during boot-up, or - if an error is detected - an error message will be sent together with the CAN identifier.

In the case of no errors, the CAN pressure transmitter will now be in the “Pre_Operational_State” and with the command

“Start_Remote_Node” the transmitter will be activated.

The “Start_Remote_Node” command can be sent using the following frame:

Command ID

“Start_Remote_Node” 0x000

DLC

2

Data

Byte 0

0x01

Node ID or 0x00 (All

CAN-open members) reserved

Byte 7

The command will be answered with a PDO data message, along with the CAN identifier 0x180 + node id.

The CAN pressure transmitter will now cyclically (default) send PDO’s with the pressure value and the status.

The status provides the user with the following information:

- Bit 1: Positive overload on process value

- Bit 2: Negative overload on process value

The pressure or temperature values can also be read from the object dictionary (SDO access) as a 32-bit integer or 32-bit float. In

5.1 Definition of IEEE 32 Bit (single precision floating point numbers, IEEE-754 standard) the floating-point format is described.

The following are some examples of how to read the pressure from the object dictionary:

Read pressure measurement (float32, SDO access):

Data

Command

Answer

ID

0x600 +

Node id

0x580 +

Node id

DLC

8

8

Byte 0

SDO request

0x43

Index LSB

0x30

SDO Ack.

0x43

Index LSB

0x30

Index

MSB

0x61

Index

MSB

0x61

Sub

Index

0x01

Sub

Index

0x01

Data LSB

Not used

Data Data

Byte 7

Data MSB


AQ427550352216en-000101 | 25


Read pressure measurement (integer32, SDO access):

Data

Command

Answer

ID

0x600 +

Node id

0x580 +

Node id

DLC

8

8

Byte 0

SDO request

0x43

SDO Ack.

0x43

Index LSB

0x30

Index LSB

0x30

Index

MSB

0x91

Index

MSB

0x91

Sub

Index

0x01

Sub

Index

0x01

Data LSB

Not used

Data Data

Byte 7

Data MSB

Byte 0 (SDO request) indicates the number of bytes to read from the object dictionary. The number of bytes available to read are:

- 0x43: 4 bytes

- 0x47: 3 bytes

- 0x4B: 2 bytes

- 0x4F: 1 byte

With the data type of the pressure being a 32-bit integer or float, the number of bytes to read is 4 (0x43).

The temperature can be read by changing the subindex to 0x02 (temperature).

SDO abort codes

If the SDO access fails, the CAN pressure transmitter will answer with an abort code.

The following are possible SDO abort codes:

SDO Abort Code Description

0x06010001

0x06010002

0x06020000

0x06040041

Attempt to read a write only object

Attempt to write to a read only object

Object does not exist in the object dictionary

Object cannot be mapped to the PDO

0x06040042

0x06040043

0x06060000

0x06070012

0x06070013

0x06090011

0x06090030

0x06090031

0x06090032

The number and length of the objects to be mapped would exceed PDO length

General parameter incompatibility reason

Access failed due to a hardware error

Data types do not match, length of service parameter too high

Data types do not match, length of service parameter too low

Sub index does not exist

Value range of parameter exceeded (Only for objects with write access)

Value of parameter written too high

Value of parameter written too low

4.3 Cyclically sending

The CAN pressure transmitter can send the values of its measurements (PDO) cyclic at an interval that is programmable.

Activate event timer (SDO) access):

The event timer is activated by writing 0xFF to the object 0x1800, subindex 0x02 (transmission type):

Data

Command

Answer

ID

0x600 +

Node id

0x580 +

Node id

DLC

8

8

Byte 0

SDO request

0x2F

SDO Ack.

0x60

Index LSB

0x00

Index LSB

0x00

Index

MSB

0x18

Index

MSB

0x18

Sub

Index

0x02

Sub

Index

0x02

Transmission type

0xFF

Not used

Byte 7

Not used


AQ427550352216en-000101 | 26


Set event timer (SDO access):

The event timer interval is written to the same object (0x1800), subindex 0x05 and the value is set in units of 1 ms. The available range for the timer interval is from 0 ms (stops the event timer) to 65535 ms.

The event timer interval is set the following way:

Data

Command

ID

0x600 +

Node id

Answer

0x580 +

Node id

DLC

8

8

Byte 0

SDO request

0x2B

Index LSB

0x00

SDO Ack.

0x60

Index LSB

0x00

Index

MSB

0x18

Index

MSB

0x18

Sub

Index

0x05

Sub

Index

0x05

Timer LSB

Not used

Byte 7

Timer MSB Not used

Get event timer (SDO access):

It is possible to retrieve the event timer as well for the user to see what the current timer interval is set to.

This is done by changing the SDO write to SDO read with the correct number of bytes to be read:

Data

Command

Answer

ID

0x600 +

Node id

0x580 +

Node id

DLC

8

8

Byte 0

SDO request

0x4B

SDO Ack.

0x4B

Index LSB

0x00

Index LSB

0x00

Index

MSB

0x18

Index

MSB

0x18

Sub

Index

0x05

Sub

Index

0x05

Timer LSB

Not used

Byte 7

Timer MSB Not used

4.4 Change node configuration via SDO

Basic configurations of the CAN pressure transmitter can be set through the objects in the object dictionary. This can be done through the objects 0x4F01 (Node id) and 0x4F00 (Bitrate).

Set Node ID:

The node id of a transmitter can be set using the following command:

Data

Command

Answer

ID

0x600 +

Node id

0x580 +

Node id

DLC

8

8

Byte 0

SDO request

0x2F

SDO Ack.

0x60

Index LSB

0x01

Index LSB

0x01

Index MSB

0x4F

Index MSB

0x4F

Sub

Index

0x00

Sub

Index

0x00

Node ID byte

Not used

Byte 7

Not used

Set CAN Bitrate:

The CAN bitrate of a transmitter can be set using the following command:

Data

Command

Answer

ID

0x600 +

Node id

0x580 +

Node id

DLC

8

8

Byte 0

SDO request

0x2F

Index LSB

0x00

SDO Ack.

0x60

Index LSB

0x00

Index MSB

0x4F

Index MSB

0x4F

Sub

Index

0x00

Sub

Index

0x00

Bitrate index byte

Not used

Byte 7

Not used


AQ427550352216en-000101 | 27


Hint:

Activation of new node id or bit rate will take effect after power cycle or the NMT state change “Reset Node”.

4.5 Reserved CAN Identifiers

The CAN protocol has some reserved CAN identifiers which can be found in the table below:

CAN Identifier (11-bit), HEX Description

0x000

0x080

0x080 + Node ID

Max range 0x081 - 0x0FF

NMT, network management

SYNC, synchronization message, not used in asynchronous mode

Emergency message

0x180 + Node ID


0x580 + Node ID


0x600 + Node ID

Max range 0x601 - 0x67F

0x700 + Node ID

Max range 0x701 - 077F

PDO1 TX, message with the value of pressure measurement

SDO TX, CANopen configuration message

SDO RX, CANopen configuration message

CANopen node guarding, heartbeat and boot-up

5 Appendix

5.1 Definition of IEEE 32 Bit (single precision floating point numbers, IEEE-754 standard)

Single precision floating point numbers cover a value range from -3.4.10

38 to 3.4.10

38

32-bit floating-point numbers need 4-byte (32 bit) storage memory. The following table shows the IEEE 32-bit implementation of floating-point numbers:

Bit position

Function

31 (1 bit)

S (sign bit)

30 – 23 (8 bits) exponent

22 – 0 (23 bits) mantissa

The value can be calculated with this formula: (-1) S .2 (exponent-127) .(1 + mantissa)

The mantissa starts behind the comma (position 2-1). The first number in front of the comma (position 20) is always 1 and will not be stored in the mantissa.

5.2 Example

Hex : 400C CCEA

HEX

Binary : 0100 0000 0000 1100 1100 1100 1110 1010

BIN

Sign bit = 0

Exponent = 10000000BIN = 128

DEC

Mantissa = 00011001100110011101010

BIN

= 0.2

-1 + 0.2

-2 + 0.2

-3 + 1.2

-4 + 1.2

-5 + … + 1.2

-22 + 0.2

-23 = 0.100003481

DEC

400C CCEA

HEX

= (-1)0.2

(128-127) .(1 + 0.100003481) = 2.200007

DEC


AQ427550352216en-000101 | 28

5.3 References

Title

CiA DS 102

CiA DS 301

CiA DS 302-2

CiA DS 303-1

CiA DS 303-2

CiA DS 305

CiA DS 404

ISO11898-2

Description

Physical layer for industrial applications

Application Layer and Communication Profile

Additional Application Layer Functions

Part 2: Network Management

Cabling and Connector Pin Assignment

CANopen representation of SI Units and Prefixes

Layer setting services (LSS) and protocols

Device Profile for Measuring Devices and Closed-Loop Controllers

Road vehicles - Controller area network (CAN) - Part 2: High-speed medium access unit


AQ427550352216en-000101 | 29

Danfoss DST P10B Pressure Sensor Operating Guide

Pressure Sensor with CANopen

Type DST P10B

Contents

1 General Information

2 CANopen communication

3 Layer setting services (LSS)

•

4 CAN communication without CANopen functionality

5 Appendix

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