CANOpen Transducer Digital Communication
Contents
1. Octet number 1 2 3 4 REAL32 0x00 0x00 0xC8 0x40 B7 Bo Bi5 Bg Bo3 Bi6 B31 Bo4 Setting PDO Event Time to 0 will stop PDO transmission The PDO will be transmitted on SYNC object when in Operational Mode Setting Heartbeat Time to 0 will stop Heartbeat transmission Page 4 of 12 CANOpen Transducer Digital Communication SDOs P N 234310 Rev B The message for the Initiate SDO Download service with which a write access to an object dictionary entry of a CANopen node occurs at the same time is structured as follows Command OD Index OD sub index Data max 4 bytes The SDO server responds with protocol byte 0x60 0x60 OD Index OD sub index Empty 4 bytes An SDO download to the OD entry 0x1017 with which the heartbeat interval of a heartbeat producer is to be set to 4 seconds in ms as an UNSIGNED 16 value i e OXOFAO therefore appears as follows 0x2B 0x17 0x10 0x00 OxAO OxOF 0x00 0x00 The node SDO server then acknowledges successful completion with the message 0x60 0x17 0x10 0x00 0x00 0x00 0x00 0x00 An SDO download to the OD entry 0x2004 sub index 0x01 with which the zero offset of 1 23 PSI is set appears as follows 0x2B 0x04 0x20 0x01 OxA4 0x70 0x9D 0x3F The node SDO server then acknowledges successful completion with the message 0x60 0x04 0x20 0x01 02. STI Product Code 0x00000000 Revision Number O0x00000000 Serial Number UNSIGNEDINT32 A Vendor ID is assigned to module suppliers by CiA A Product Code Revision Number and a Serial Number are assigned by the module supplier For LSS Addresses the following conditions must be met The LSS Address is identical to the CANopen identity object The LSS Address of a LSS Slave can be inquired There exists no other LSS Slave in the world with the same LSS Address To select a device using LSS Switch Selective the following sequence of commands must be executed 0x40 Vendor_ID 0x00 0x00 0x00 0x41 Product Code 0x00 0x00 0x00 0x42 Revision Number 0x00 0x00 0x00 0x43 Serial Number 0x00 0x00 0x00 If there is matching device on the network it will go into Configuration mode and reply with 0x44 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Below you will find an example of CAN frames to be send for an STI CANOpen transducer with SN 123456 0x40 0x50 0x02 0x00 0x00 0x00 0x00 0x00 0x41 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x42 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x43 0x40 OxE2 0x01 0x00 0x00 0x00 0x00 Saving Parameters Page 11 of 12 CANOpen Transducer Digital Communication P N 234310 Rev B In order for all the changes to be stored in non volatile memory the word save must be written to the OD entry 0x1010 sub index 0x01 Store parameters
3. 0001 0x1014 COB ID Emergency 0x1015 COB ID Emergency Inhibit 0x1017 Producer Heartbeat time 1000 1 sec 0x1800 Transmit PDO Communication Parameter Sub 1 COB ID 0x180 Sub 2 Transmission Type OxFE Sub 3 Inhibit Time 100 Sub 5 Event Timer 1000000 100 sec Manufacturer Objects 0x2000 Calibration Data Sub 1 AmbTemp Sub 2 AmbincO Sub 3 Ambinc20 Sub 4 Ambinc40 Sub 5 AmbInc60 Sub 6 AmbInc80 Sub 7 Ambinc100 Sub 8 AmbDec80 Sub 9 AmbDec60 Sub 10 AmbDec40 Page 7 of 12 CANOpen Transducer Digital Communication P N 234310 Rev B Sub 11 AmbDec20 Sub 12 AmbDecO Sub 13 ColdTemp Sub 14 ColdO Sub 15 Cold100 Sub 16 HotTemp Sub 17 Hot0 Sub 18 Hot100 Sub 19 IdealHl Sub 20 IdealLow 0x2003 NULL Process Value Pressure 0x2004 Zero Offset for Process Value Sub 1 Pressure 0x2005 Span in Sub 1 Pressure Page 8 of 12 CANOpen Transducer Digital Communication P N 234310 Rev B Layer Setting Services LSS Switch Global The CANopen specification DS 306 Layer Setting Services LSS describes how the baud rate and the Node_IDs can be set via the bus with the aid of a simple protocol To make contact with a device to be configured the Switch Mode Global command is transmitted 0x04 0x01 0x00 0x00 0x00 0x00 This command sets the device to LSS configuration mode This service is the only unacknowledged LSS service to which the device will not respond The sy
4. 0x2B 0x10 0x10 0x01 0x65 0x76 0x61 0x73 The node SDO server then acknowledges successful completion with the message 0x60 0x10 0x10 0x01 0x00 0x00 0x00 0x00 After being switched physically off and on again the device now works with the new settings Page 12 of 12
5. 50 kBit s 4 125 kBit s 5 reserved 6 50 kBit s 7 20 kBit s 8 10 kBit s The current implementation of CANOpen by STI supports only 500 250 and 125 kBit s baud rates Now that the Node_ID and baud rate are configured these settings should be saved with the Store Configuration service 0x17 reserved The device acknowledges 0x17 Error Error reserved Code Extension Error code 0 means success error code 1 means that the device does not support saving error code 2 means that there is a problem with access to the storage medium the other error codes are reserved The error extension contains vendor specific information but is only valid for error code OxFF Finally the device is switched back from configuration mode to normal mode via Switch Mode Global 0x04 0x00 0x00 0x00 0x00 0x00 Switch Selective An LSS Slave is identified by an LSS Address An LSS Address consists of a Vendor ID a Priduct Code a Revision Number and a Serial Number The Vendor Page 10 of 12 CANOpen Transducer Digital Communication P N 234310 Rev B ID and Product Code are numerical numbers The Revision Number contains the major and minor revision as numerical number The Serial Number is coded as a numerical number too They adhere to the following syntax lt LSS ADDRESS gt lt Vendor ID gt lt Product Code gt lt Revision Number gt lt Serial Number gt Vendor ID 0x00000250
6. STELLAR TECHNOLOGY INCORPORATED CANOpen Transducer Digital Communication User s Manual Firmware Version 231706B Stellar Technology Incorporated P N 234310 Rev B CANOpen Transducer Digital Communication P N 234310 Rev B Contents CANOPEN COMMUNICATION PARAMETERG cccccccccssssssssssssessssccsscecscesessves 3 PD O sascicisbcectaicscccktcsascddsscssccdbcctcocesbaseccadaedsescancscccscacecesesccssocsdaecsescaccesecdbaceceseascsoscacascscecsnase 4 SDOS id diiniita ti id t 5 MANDATORY OBJECTS 0 A ta 7 OPTIONAL OBJECTS aia 7 MANUFACTURER OBJECTS cccssssssccccccccescssssssesccccccccssusssesccsccseeususssesessecseeuseesssscssceseeeees 7 LAYER SETTING SERVICES LSS cccscssssssssssssssecscccccssssssssecscccccsssscssssececossesecees 9 SWITCREGLOBA E nd do nadan a ed 9 SWITCH SELECTIVE it 10 SAVING PARAMETERS uri ida 11 Page 2 of 12 CANOpen Transducer Digital Communication P N 234310 Rev B CANOpen communication parameters Baud rate 125 default 250 500 kBit sec Node ID 0x01 default Transmission type OxFE asynchronous PDO transmitted cyclically with the event time measured in milliseconds Page 3 of 12 CANOpen Transducer Digital Communication P N 234310 Rev B PDOs Single TPDO with 0x180 Node_ID DATA The DATA type REAL32 is represented as bit sequence of length 32 The encoding of values follows IEEE754 It is transmitted in the following order
7. stem integrator can therefore only find out with the following command whether the device has reacted Node_ID is requested via the Inquire Node ID service Ox5E 0x00 0x00 0x00 0x00 0x00 If successful the device responds with Ox5E Node_ID 0x00 0x00 0x00 0x00 If there is no response then either the device does not support the LSS service or the baud rate is not correct If namely the baud rate when supplied is not known the above mentioned communication sequence must be tested with all permissible CANopen baud rates until the device is found The Configure Node ID service is used to configure the new Node_ID 0x11 Node_ID 0x00 0x00 0x00 0x00 The error code is included in the device response 0x11 Error Code Error Extension reserved Error code O means success error code 1 means inadmissible Node_ID the other error codes are reserved The error extension contains vendor specific information but is only valid for error code OxFF Page 9 of 12 CANOpen Transducer Digital Communication P N 234310 Rev B The baud rate is configured with the Configure Bit Timing Parameters service 0x13 Bit timing table Table entry 0x00 0x00 0x00 0x00 The standardized CANopen baud rates are listed in the following table Baudrate table 0x00 Table Baudrate index 0 1000 kBit s 1 800 kBit s 2 500 kBit s 3 2
8. x00 0x00 0x00 0x00 With the Initiate SDO Upload service with which an object dictionary entry of a CANopen node is read out the same division of the data field is valid only here request and response telegrams are reversed to a certain extent Here is the command byte of the client request 0x40 Command 0x40 OD Index OD sub index Empty 4 bytes The SDO server responds with Command 0x40 OD Index OD sub index Data 4 bytes Page 5 of 12 CANOpen Transducer Digital Communication P N 234310 Rev B An SDO upload to the OD entry 0x2004 sub index 0x01 with which the zero appears as follows 0x40 0x04 0x20 0x01 0x00 0x00 0x00 0x00 The node SDO server then replies with offset value In this example offset is equal to 1 23 PSI 0x60 0x04 0x20 0x01 OxA4 0x70 0x9D 0x3F Page 6 of 12 CANOpen Transducer Digital Communication P N 234310 Rev B Mandatory Objects 0x1000 Device Type 0x00040194 0x1001 Error Register 0x1018 Identity Object Sub 1 Vendor ID 0x00000250 Sub 2 Product Code Ox00000000 Sub 3 Revision Number 0x00000000 Sub 4 Serial Number Optional Objects 0x1003 Pre Defined Error Field Sub 0 Number of Errors Sub 1 Standard Error Field 0x1005 COB ID SYNC 0x1008 Device Name 0x1009 HW Version 0001 0x1010 Store Parameters 0x1011 Restore Parameters 0x100A SW Version
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