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1. Line terminator LMT NMT NN PCV PDO PV RO ROMAP ACS CANopen Manual POSITAL FRABA ACCELENS ACS CANopen CAN In Automation organization of manufacturers and users of devices that operate on the CAN bus Elementary communication object on the CAN network All data is transferred using a COB COB Identifier Identifies an object in a network The ID determines the transmission priority of this object The COB ID consists of a function code and a node number Clockwise Determines the type of message sent via the CAN network Resistor terminating the main segments of the bus Network management object This is used to configure the parameters of each layer in the CAN Master Active device within the network that can send data without having received a request It controls data exchange and communication management Network management object This is responsible for managing the execution configuration and errors in a CAN network Node number Process Value Communication object with a high priority for sending process data Preset Value Configuration value Read Only Parameter that is only accessible in read mode Read Only MAPable Parameter that can be polled by the PDO Version 20110928 42 of 44 POSITAL FRABA ACCELENS ACS CANopen RW Read Write Parameter that can be accessed in read or write mode S SDO Communication object with a low priority for messaging con2. ACCELENS ACS INCLINOMETER WITH CANOPEN INTERFACE CANOPA User Manual AMERICAS FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 2020 USA T 1 609 750 8705 F 1 609 750 8703 www posital com info posital com EUROPE POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln GERMANY T 49 221 96213 0 F 49 221 96213 20 www posital eu info posital eu ASIA FRABA Pte Ltd 60 Alexandra Terrace 02 05 The Comtech SINGAPORE 118502 T 65 6514 8880 F 65 6271 1792 www posital sg info posital sg POSITAL FRABA ACCELENS ACS CANopen TABLE OF CONTENTS General Security Advise 3 About This Manual 3 1 Tut ge e Tt o o MUN A 1 1 ACCELENS E 4 1 2 CANopen lntertace eens 4 1 3 ACS CANopnen eene 5 1 4 Typical Applications of ACS 6 2 ACS Modes And Parameters 6 2 1 Operating Modes csseccecseeeeceeeeeeeeeeeeenees 7 2 2 Transmission Modes naannannnnnnennnnnnnnnnnnna 8 2 3 Boot Up Procedure n nnannannnnnnennnnnnnnnnnnnnenne 9 EE e e DE 10 3 1 ACGcessories nen 10 3 2 Pin Assignement seeeeesesessss 10 3 3 Installation Precautions 10 3 4 Mounting Instructions ceeeeeeeeeeeeeeeeees 11 3 6 Measurement AX6S nnnnnnoannnnnnennennnnnnnnnno 12 4 ACS Software Configuration 14
3. PC gt PLC Transfer is possible PLC application is not protected PLC gt PCtranster is authorized Comparison of applic attoms Project Controller Application Name My Twido My Twido Type of base TWDLMDA20DTK TWDLMDA20D K Choose a type of exchang Transfer Transfer PC gt controller controller gt PC Confirm your type of exchang OK Cancel Page 8of8 Words 31 GS English Singapore j Ga pum Pp HS z 3 27 PM HEREN m Creating a back up of the controller parameters before going into online mode ACS CANopen Manual Version 20110928 28 of 44 POSITAL FRABA ACCELENS ACS CANopen Once the controller goes into the online mode the PDOs cannot be changed But we can program the SDOs as need arises 5 4 Run Once debugged the controller goes into online mode We then can program the SDOs if needed and then run the controller Applica bon name My Twido Twido State Running TWDLMDAZOD K 5 20 Reference Firmware Version Current Time Li Falme WO Forced Gurent PLc scanning perd Address usei Port sed COP LAc HA Lj a Be j PMY z esch TwidoSuite c m A E RH roii E i ji MERE r Upon start up we can create an animation table to monitor the necessary controller parameters and the system variables which contain the position value Now we will program the PLC in o
4. PC Confirm your type of exchang The serial communication port is selected and transfer is initiated the configured parameters PC controller transfer is initiated Once the and the programming done on the PC is ACS CANopen Manual Version 20110928 27 of 44 POSITAL FRABA ACCELENS ACS CANopen debugged and transferred to the controller for illustrations are the intermediate tasks during real time application The following debugging This connec to directly ce Transferring binary dat The TwidoSuite and the PLC applications are different immediate connection impossible Hardware configurations are compatible PC gt PLC Transfer is possible PLC application is not protected PLC gt PC transfer is authorized Comparison of applications Project Controller Application Name My Twido My Twido Type of base TWDLMDA20DTK TWDLMDA20D K Choose a type of exchang Transfer Transfer PC gt controller controller gt PC Confirm your type of exchang OK Cancel 8 10 2010 Converting all the programmed parameters to binary format 91 4 S E jeter Desai ihe ogam GC TwidoSuite Connec This connect to directly ce to transfer at controller 9 Creating a backup ofthe controller application The commt The TwidoSuite and the PLC applications are different immediate connection impossible Hardware configurations are compatible
5. POSITAL FRABA ACCELENS ACS CANopen 1 Introduction This manual explains how to install and configure the ACS gravity referenced inclinometers suitable for industrial military and heavy duty applications with a CANopen interface The products are fully compliant with CANopen DS410 standards 1 1 Accelens ACS ACCELENS inclinometers sense and measure the angle of tilt Inclination Slope Elevation of an object with respect to the force of gravity The angle is measured with the relative change in electrical capacitance The basic principle behind this ACS inclinometer is MEMS sensor cell that is embedded to a fully molded a Micro Electro Mechanical Systems ASIC A simplified version of the sensor consists of two electrodes one is fixed and the other is flexible connected with spring elements When the inclinometer is parallel to the surface of measurement a corresponding capacitance is the flexible electrode will change its position relative to the measured If the sensor is tilted fixed electrode This results in a change of the capacitance between the two electrodes which is measured by the sensor cell The change of the capacitance is converted to a corresponding inclination value The MEMS sensor cell in ACS consists of a micromechanical structure with an array of electrodes for better accuracy Under the influence of gravity the distance between some electrodes change and this distance can b
6. 4 1 Important Factory Settings 14 4 2 Active Programming Objects 14 4 3 Programmable Parameters 15 4 4 PDO Transmission annnennnennenneennnnnnnnnnna 17 4 5 Explicit Exchanges SDO 19 5 Working With Schneider PLC 21 5 1 INtrodUC ON ER 21 5 2 Network Initialization ssssse 21 5 2 1 Hardware esses 21 5 2 2 Software Project Information 22 ACS CANopen Manual 5 3 Configuration A 25 5 4 DS DUG Le e RE 27 E 29 6 Troubleshooting 32 Appendix A ACS CANopen Objects 33 Object 1000h Device Type 33 Object 1001h Error Register 33 Object 1003h Pre Defined Error Field 34 Object 1005h Cob Id Sync 34 Object 1008h Mfr Device Name 34 Object 1009h Mfr Hardware Version 34 Object 100ah Mfr Software Version 34 Object 100ch Guard Time 35 Object 100dh Life Time Factor 35 Object 1010h Store Parameters 35 Object 1011h Restore Parameters 35 Object 1016h Consumer Heartbeat Time 36 Object 1017h Producer Hear
7. Settings X Axis Inclination Y Axis Inclination ACS CANopen Manual Version 20110928 12 of 44 POSITAL FRABA ACCELENS ACS CANopen 3 6 2 ACS360 Industrial Initial Starting Point Factory Settings Heavy Duty Initial Starting Point Factory Settings ACS CANopen Manual Version 20110928 13 of 44 POSITAL FRABA ACCELENS ACS CANopen 4 ACS Software Configuration This chapter succeeds the hardware configuration i e installation as in real time ACS is a very flexible device and hence all the parameters can be programmed via CAN bus itself even when attached This enables remote configuration This chapter is primarily divided into two parts One describing the methodology for putting the ACS into operation and the other the PDO SDO programming of ACS 4 1 Important Factory Settings Description Object Value Device Type 1000h 0 x 4019A Cyclic Timer 2200h 00h Oms Resolution 6000h 64h 0 017 Node Number 3000h 1Fh 32 Baud Rate 3001h 00h 20kB ACS080 PDOs 6110h 6120h 6010h 6020h ACS360 PDOs 6010h Note The factory settings should be noted carefully upon installation Few of the parameters have to be re programmed in order to make the ACS inclinometers compatible with the controller or the already existing CAN bus to which it is going to be installed on 4 2 Active Programming Objects Active CANopen objects depending on the state of ACS The crosses in the table below indicate wh
8. as a new message to the device ACS CANopen Manual Version 20110928 19 of 44 POSITAL FRABA ACCELENS ACS CANopen We used a PEAK CAN master for this illustration The PCAN USB adapter enables simple connection to CAN networks The PCAN USB s compact plastic casing makes it suitable for mobile applications It works as a master on the CAN bus connection via D Sub 9 pin and in accordance with CiA 102 standards To learn more about Peak CAN click here Set PCAN View for USB Clent Transmit Help A Zeg a amp O e Object 3001h is to read the baud rate value from the inclinometer e Transmit Message e 1D 601 Message to NN1 e Length 8bit word e Data 0 Read 40 Write 22 e Data 1 amp 2 Object in Big Endian 3001s is 0130 in Big Endian format e Data 3 Sub Index NA e Data 4 7 Data to be written NA in read command e The Received message 581h reads out the data Dat Period AF A i 30 oo EE oo HD Baud Rate 5O0kBEIESIEec Received Message from the Device So SDOs can be used to explicitly read or write data in ACS CANopen inclinometers All the relevant objects that can be configured are described in Appendix A ACS CANopen Manual In the above example 701h is the boot up message received Then once we transmit the SDO command as shown above we receive a reply The received message 581h consists of the domain downloaded In this case it is the baud rate as
9. change fed to it in order to avoid the node number 0 Version 20110928 32 of 44 POSITAL FRABA ACCELENS ACS CANopen 3 Use 2300h to save the parameters with For example if we want a NN 28 decimal the reset we need to feed 27 decimal 27 1 28 4 A boot up message with the new node So the NN 1B hex has to be fed in order number pops us to set the selected device to node number 28 2 Send a write telegram to the particular node with 1B as data on the object 3000h Appendix A ACS CANopen Objects ro Read Only wo Write Only amp rw Read or Write Object 1000h Device Type The object at index 1000h describes the type of additional information about optional functionality device and its functionality It is composed of a 16 of the device The additional information parameter bit field which describes the device profile that is is device profile specific used and a second 16 bit field which gives Restore after Subindex Description Data Type Default Value Access BootUp 0X3019A 0 Unsigned 32 0X4019A ro no Dual Axis Single Axis Object 1001h Error Register This object is used by the device to display internal faults When a fault is detected the corresponding bit is therefore activated The following errors are supported Bit Description Comments The generic error is signaled at 0 Generic Error ais any error situation The object description for error register
10. indicated in the above figure Version 20110928 20 of 44 POSITAL FRABA ACCELENS ACS CANopen 5 Working with Schneider PLC 5 1 Introduction An ACS360 connected to a TWIDO programmable CANopen single axis inclinometer was logic controller with a communication interface The step by step connection procedure and the working of inclinometer in a CAN bus is illustrated in the following sections Please note that the programming in other control systems may vary individually Please have this section as a reference for ACS s working with programmable logic controllers CAN HIGH to Pin 7 CAN LOW to Pin 2 5 2 Network Initialization 5 2 1 Hardware The initial step in setting up a ACS is integrating it into the existing hardware The following illustration shows an ACS integrated into a PLC with an CANopen communication interface It is very important to add termination resistors to the ACS inclinometers which are used at the start or end of the CANopen bus in order to prevent data corruption or missing of data at higher transmisiion bandwidths 250 kB 120Q Termination Resistor e 4 M XM u A Lii Controller CANOpen D9 M Connector Hardware Setup and Wiring ACS CANopen Manual Version 20110928 21 of 44 POSITAL FRABA ACCELENS ACS CANopen 5 2 2 Software Project Information Once the hardware setup is done the ACS should be configured in
11. 00h object to save the set node number Object 3001h Baudrate This object contains the baud rate of the device Restore after BootUp Subindex Description Data Type Default Value Access 0 Baudrate Unsigned 8 rw yes Eight different baud rates are provided To adjust the baud rate only one byte is used The default baud rate is 20 K ele Byte 20 00h 50 01h 100 02h 125 O3h 250 04h 500 05h 800 06h 1000 07h Forthcoming ACS model will have a default baud rate of 125kB ACS CANopen Manual Version 20110928 37 of 44 POSITAL FRABA ACCELENS ACS CANopen Object 3100h Moving Average Filter This object contains the number of values which are averaged Restore after BootUp Subindex Description Data Type Default Value Access 0 Moving Unsigned 16 0 rw yes Average Filter Range of values accepted Od to 100d Object 6000h Resolution This object sets the resolution per 1 Restore after Subindex Description Data Type Default Value Access BootUp 0 Resolution Unsigned 16 rw no Not implemented yet Will be available in the first quarter of 2011 Four different possible resolutions can be used Actual Angular Resolution Value decimal Byte hex 0 01 100 64h 0 001 1000 3E8 h Object 6010h Position Value X Z Axis In ACSOS80 inclinometers this object provides the X axis value In ACS360 inclinometers this object provides the Z axis value Restore after Subindex Des
12. O Process Data Object CANopen frame containing I O data We distinguish between e ransmit PDOs TPDOs with data provided by a node amp e Heceive PDOs RPDOs with data to be consumed by a node The transmission direction is always seen from a node s point of view SDO Service Data Object CANopen frames containing parameters SDOs are typically used to read or write parameters while the application is running COB ID Communication Object Identifier Each CANopen frame starts with a COB ID working as the Identifier in the CAN frame During the configuration phase each node receives the COB ID s of the frame s for which it is the provider or consumer NMT Network Management Protocol The NMT protocols are used to issue state machine change commands i e to start and stop the devices detect remote device boot ups and error conditions Version 20110928 6 of 44 POSITAL FRABA ACCELENS ACS CANopen 2 1 Operating Modes 2 1 1 Mode Preoperational When the device is in this state its configuration can be modified However only SDOs can be used to read or write device related data The device goes into Pre Operational state e After the power up or e On receiving the Enter Pre Operational NMT indication if it was in Operational state When configuration is complete the device goes into one of the following states on receiving the corresponding indication e Stopped on re
13. Obey all safety messages that follow this symbol to avoid possible injury or death Please Note Electrical equipment should be serviced only by qualified personnel No responsibility is assumed by POSITAL for any consequences arising out of the use of this material This document is not intended as an instruction manual for untrained persons ACS CANopen Manual About This Manual Background This user manual explains how to install and configure the ACS inclinometer with a CANopen interface with illustrations from a Schneider TWIDO PLC Version Management Updated On 20110928 Document Name Manual ACS CANopen NewLines pdf Imprint FRABA PTE LTD 60 Alexandra Terrace 202 05 The Comtech SINGAPORE 118502 T 65 6514 8880 Copyright CANopen and CiA are registered community trademarks of CAN in Automation e V FRABA NV copyright on this documentation It is not allowed to all rights reserved Claims modify extend or hand over to a third party and to copy this documentation without written approval by FRABA PTE LTD Nor is any liability assumed resulting from the use of the Further this publication and features described herein are for damages information contained herein subject to change without notice User Annotation All readers are highly welcome to send us feedback and comments about this document You can reach us by e mail at info fraba sq Version 20110928 3 of 44
14. Restore after Subindex Description Data Type Default Value Access BootUp 0 Unsigned 8 N A ro no ACS CANopen Manual Version 20110928 33 of 44 POSITAL FRABA ACCELENS ACS CANopen Object 1003h Pre Defined Error Field The object holds the errors that have occurred on least significant word and additional information is the device and have been signaled via the located in the most significant word Sub index 0 Emergency Object The error code is located in the contains the number of recorded errors Restore Subindex Description Data Type Default Value Access after BootUp errors 1 Most recent errors Unsigned 32 no To clear error Log Write data 0 into sub index 0 of object 1003 Object 1005h COB ID Sync This object contains the synchronization message identifier Restore after Subindex Description Data Type Default Value Access BootUp 0 Unsigned 32 00000080h rw no Object 1008h Mfr Device Name This object contains the device name Restore after Subindex Description Data Type Default Value Access BootUp 0 otring ro no Object 1009h Mfr Hardware Version This object contains the article name of the circuit board Restore after Subindex Description Data Type Default Value Access BootUp 0 String ro no Object 100Ah Mfr Software Version This object contains the manufacturer software version The new encoder line 2008 starts with version 4 00 Restore after
15. Subindex Description Data Type Default Value Access BootUp 0 String ro no ACS CANopen Manual Version 20110928 34 of 44 POSITAL FRABA ACCELENS ACS CANopen Object 100Ch Guard Time This object contains the guard time in milliseconds Restore after BootUp Subindex Description Data Type Default Value Access 0 Unsigned 16 0 rw yes Object 100Dh Life Time Factor This object contains the life time factor parameters The life time factor multiplied with the guard time gives the life time for the node guarding protocol Restore after Subindex Description Data Type Default Value Access BootUp 0 Unsigned 8 0 rw yes Object 1010h Store Parameters This object is used to store device and CANopen related parameters to non volatile memory Subindex Description Data Ee Default Value Access Restore after BootUp 0 no 1 Store all Unsigned save no parameters 32 Storing Procedure To save the parameters to non volatile memory the access signature save has to be sent to the corressponding sub index of the device Most Significant Word Least significant word ASCII S Hex value 65h 76h 61h 73h Object 1011h Restore Parameters This object is used to restore device and CANopen related parameters to factory settings Subindex Description Data Type Default Access Restore after Value BootUp 0 no 1 Restore all parameters Unsigned 32 load rw no Storing procedure To sa
16. act that it has easily programmable parameters like Resolution Preset and software filters Other functions such as offset values baud rate and node number can also be the ACS inclinometers with ease and according to the configured using CAN objects in network Various software tools for configuration and parameter setting are available from different suppliers It is easy to align and program the inclinometers using the EDS electronic data sheet configuration file provided Refer to section 3 1 1 4 Typical Applications of ACS e Cranes and Construction Machinery e Medical Systems e Elevated Platforms e Mobile Lifts and Fire Engines e Automated Guided Vehivles AGV e Automatic Assembling Machinery e Boring and Drilling Applications e Levelling and Flattening Machinery 2 ACS Modes and Parameters The purpose of this chapter is to describe all the available configuration parameters of the ACS inclinometers with a CANopen interface ACS CANopen Manual Before going into details the following information describes useful technical terms and acronyms for CANopen network communication EDS Electronic Data Sheet An EDS properties of a device on the CAN network baud file describes the communication rates transmission types I O features etc It is provided by the device manufacturer and is used in the configuration tool to configure a node like a driver in an operating system PD
17. active then it was Problem connected with an incorrect baud rate Improper definition of node address or improper loading of EDS file Possible solution Modus pre operational Solution Adressing the inclinometer via SDO Reinitialize the CAN bus or re install the EDS Reset or power off file Reprogram the Baud rate e Node state stopped upon loading and e Malfunction of the position value during initialization transmission Problem Problem During the transmission of the position value occasional malfunctions occur The CAN bus can be temporabily in the bus off state also Possible solution Please check if the last bus nodes have the terminal resistor If the last bus node is an inclinometer the terminal resistor is to be added e Too many ERROR Frames Problem The bus load is too high in case of too many error frames Possible solution Check if all bus nodes have the same baudrate Even if one node has a different ACS CANopen Manual Mostly because the bus transmission timeout is defined lesser than the ACS transmission time Solution Increase the bus timeout period Approximately 2 3 seconds e Unable to change to another node number If all nodes are found to be in operational mode then follow the next few steps to set the required node number to a selected device 1 Calculate the required node number in hexadecimal ACS is internally programmed to add 1 to any node number
18. akschies Creation 06 29 2004 ACS CANopen Manual Version 20110928 23 of 44 POSITAL FRABA ACCELENS ACS CANopen e Connection network Setup The illustration below describes the connection of the elements in the CAN bus At first the CANOpen communication interface is connected to the main controller Then the inclinometer is connected to the CANopen communication interface The next step after the setup of the network is the configuration of all the parameters and settings to facilitate the communication between the master slave and the controller ACS CANopen Manual canopen bus t25 Linking of Master and Slave This picture is the overall description of the setup with the TWIDO TWDLMDA2ODTK controller TWDNCO1M CANopen communication expansion module and the ACS360 EDS file Version 20110928 24 of 44 POSITAL FRABA ACCELENS ACS CANopen 5 3 Configuration e ACS Process Data Objects PDO Mapping The list of available objects is pre programmed in the EDS file Select the ACS inclinometer on the bus and click on Configuration A list of all the mapped PDOs appear Then according to the need the objects are mapped on to the Transmit PDO s of the ACS Mapping gt ACS Inclino tr Available Objects PDO TX1 1400 181 mono mmj Mapped Objects m t A Slope 360 6010 e ACS CANopen Node Configuration Click on the ACS inclinometer on the bus and of the node Ma
19. ate transmissions The documentation and the EDS file can also be downloaded from our website http www posital sg 3 2 Pin Assignement The inclinometer is connected via a 5 pin round M12 connector Standard M12 Male side at sensor Female at connector counterpart Or connection cable Signal 5 pin round connector pin number CAN Ground 1 Vs Supply Voltage 2 OV Supply Voltage 3 CAN High 4 CAN Low 5 Pin Assignment 3 3 Installation Precautions WARNING Do not remove or mount while the inclinometer is under power Do not stand on the inclinometer 2 RR Avold mechanical load ACS CANopen Manual Version 20110928 10 of 44 POSITAL FRABA ACCELENS ACS CANopen 3 4 Mounting Instructions ACS is a pre calibrated device which can be put into immediate operation upon simple and easy installation with a three point mount and setting of preset installation Its compact design and anywhere makes it versatile The ACS inclinometer can be mounted in any number of fashions depending on the situation The mounting surface must be plane and free of dust and grease We recommend hex head screws with M4 or UNC bolts 6 ACS Industrial and M6 or UNC bolts 12 ACS Heavy Duty for the best possible and secure mounting Use all the 3 screws for mounting but restrict the tightening torque in the range of 1 5 2 5Nm for 3 5 Bus Termination If the inclinometer is connected at the end or beginning of th
20. available in Appendix A The objects 6010h and 6020h are used to get the inclination positions Position Value from ACSO80 in the range of 80 and the object 6010h is used to get the Objects 6010h 6020h NM i l inclination position from ACS360 in the range of 0 360 These objects are used to store any re configured parameters Object Store Parameters 1010h just stores the parameters whereas 2300h stores and saves the Objects 1010h 2300h parameters upon reset of the ACS ACS CANopen Manual Version 20110928 15 of 44 Resolution Per 1 Object 6000h Preset Value Objects 6012h 6013h Baudrate Object 3001h Node Number Object 3000h Filters Objects 3100h 3200h Appendix A has a detailed list of all the objects appendix A for clear knowledge before that can be programmed with ACS CANopen programming Appendix A has a lot of The data type data size default value r w important programming tips which are access definition and all sub indexes are necessary for the proper use of the POSITAL FRABA ACCELENS ACS CANopen The parameter resolution per degree is used to program the desired number of angular divisions per revolution The values 1 10 100 and 1000 can be programmed The Preset value is the desired position value which should be reached at a certain physical position of the axis The position value is set to the desired process value by the parameter pre set The Baud ra
21. ceiving the Stop Remote Node NMT indication e Operational on receiving the Start Remote Node NMT indication To set a node to pre operational mode the master must send the following message Identifier Byte 0 Oh Oh 80 h NN node number 2 1 2 Mode Start Operational The device goes into the Operational state if it was in the Pre Operational state on receiving the Start Remote Node indication When the CANopen network is started using the Node start NMT services in Operational state all device functionalities can be used Communication can use PDOs or SDOs Byte 1 Description NMT PreOp all nodes NN NMT PreOp NN NOTE Modifications to the configuration in Operational mode may have unexpected consequences and should therefore only be made in Pre Operational mode To put one or all nodes in the start operational state the master has to send the following message Identifier Byte 0 Oh Oh 01 h NN node number ACS CANopen Manual NN in hex Byte 1 Description NMT Start all nodes NMT Start NN Version 20110928 7 of 44 POSITAL FRABA ACCELENS ACS CANopen 2 1 3 Mode Stop Operation The device goes into the Stopped state on cannot be configured No service is available to receiving the Node stop indication NMT read and write device related data SDO Only service if it was in Pre Operational or the slave monitoring function Node Guarding Operationa
22. cription Data Type Default Value Access BootUp 0 Integer 16 ro no Object 6012h Preset X Z Axis In ACSO080 inclinometers this object sets the X axis to a desired value In ACS360 inclinometers this object sets the Z axis to a desired value Restore after Subindex Description Data Type Default Value Access BootUp 0 Integer 16 rw no ACS CANopen Manual Version 20110928 38 of 44 POSITAL FRABA ACCELENS ACS CANopen Object 6020h Position Value Y Axis In ACSO80 inclinometers this object provides the Y axis value In ACS360 inclinometers this object is NOT functional Restore after Subindex Description Data Type Default Value Access BootUp 0 Integer 16 ro no Appendix B Ordering Code ACS Industrial Description Type key Range 360 1 axis 360 80 2 axis 080 Number of axis One for 360 Version Two for 80 Version 2 Interface CANopen CA Version Software Version 01 Mounting Vertical for 360 Version Horizontal for 80 Version H Housing Material Industrial PBT E Inclinometer Series ACS Il 2 Connection Connector PM ACS Heavy Duty Description Type key Range 360 1 axis 360 80 2 axis 080 Number of axis One for 360 Version Two for 80 Version 2 Interface CANopen CA Version Software Version 01 Mounting Vertical for 360 Version V Horizontal for 80 Version H Housing Material Heavy Duty Aluminium H Inclinometer Series ACS Il 2 Conne
23. ction Connector PM ACS CANopen Manual Version 20110928 39 of 44 POSITAL FRABA ACCELENS ACS CANopen Appendix C Output Graphs ACS 360 CANopen Output Values ACS 360 Output Values Factory setting Resolution 0 01 Value Counts Rotation angle 130 r ACS 080 CANopen Output Values ACS080 X Axis Output Values Factory Setting Resolution 0 01 9999 8999 9999 Rotational Angle X axis ACS CANopen Manual Version 20110928 40 of 44 POSITAL FRABA ACCELENS ACS CANopen ACS080 Y Axis Output Values Factory Setting Resolution 0 01 9099 8998 Glossary A Address Number assigned to each node irrespective of whether it is a master or slave The inclinometer address non volatile is configured in the base with rotary switches APV Absolute Position Value B Baud rate Transmission speed formulated in number of bits per second Bus node Device that can send and or receive or amplify data by means of the bus Byte 8 bit unit of data 1 byte C CAL CAN application layer CAN Controller Area Network or CAN multiplexing network CANopen Application layer of an industrial network based on the CAN bus CCW Counter clockwise ACS CANopen Manual Version 20110928 41 of 44 CiA COB COB ID CW FC Function code L
24. e bus or for higher transmission baud rates 250 kB a termination resistor of 120 Ohm must be used in order to prevent the reflection of information back into the CAN bus the screws The M12 connectors are to be perfectly aligned and screwed till the end with a tightening torque in the range of 0 4 0 6Nm Use all the three screws for mounting and also note to use the same tightening torque for all the screws Prior to installation please check for all connection and mounting instructions to be complied with Please also observe the general rules and regulations on low voltage technical devices ACS Inclination sensors that are based on a MEMS principle are optimal for fast measurements The bus wires can be routed in parallel twisted or shielded with the electromagnetic compatibility requirements A form in accordance single line structure minimizes reflection The following diagram shows the the components for the physical layer of a two wire CAN bus ACS Inclinometer CANopen Master Can Low Wire ACS CANopen Manual Other CAN Nodes lt re gt CAN High Wire ACS Inclinometer 120 Q Version 20110928 11 of 44 POSITAL FRABA ACCELENS ACS CANopen 3 6 Measurement Axes 3 6 1 ACS80 Industrial Lo L ap Mid Angle Position With Factory Settings X Axis Inclination Y Axis Inclination Heavy Duty m X Y s Mid Angle Position With Factory
25. e detected by measuring the capacitance between the electrodes as explained above This technology is available in different grades and lower grades have ACS CANopen Manual entered mass markets like mobile phones or tablet computers The ACS series of inclinometers are available in two variants First a single axis measurement variant with a range of 0 360 either clockwise or counter clockwise and the other variant a dual axis measurement capable ACS model with a range of 80 Absolute inclinometers identify all the points of a movement by means of an unambiguous signal Due to their capacity to give clear and exact values to all inclinations positions inclinometers have become one of the interesting alternatives to singleturn absolute and incremental encoders and a link between the mechanical and control systems Benefits of ACS e Small Size and Cost Efficient e High Protection Class e High Accuracy e Very Robust 1 2 CANopen Interface CANopen is based on the Controller Area Network CAN that was industries in the 80s and is nowadays used in developed by automotive many industrial applications The application protocol CANopen was introduced by the multi vendor association CAN in Automation CiA to ensure a full compatibility of industrial automation products It is a multiple access system maximum 127 nodes which means that all devices can access the bus These devices nodes are the compo
26. figuration error handling diagnostics Slave Bus node that sends data at the request of the master The inclinometers are always slaves W WO Write Only Parameter that is only accessible in write mode Disclaimer O FRABA N V all rights reserved We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice For more information ACS Absolute Inclinometers ACS CANopen Datasheet ACS CANopen EDS File For information on other products please visit POSITAL Absolute rotary encoders and Inclinometers INTACTON Optical Motion Sensors VITECTOR Protection Sensors Document History 1 Release Anjan Nachiappa on September 28 2011 ACS CANopen Manual 43 of 44 Version 20110928 POSITAL FRABA ACCELENS ACS CANopen NOTES ACS CANopen Manual Version 20110928 44 of 44
27. ich CANopen objects are active in each state Initialization Pre Operational Operational Stopped X X X NMT The forthcoming ACS inclinometers will be programmed to a default of 1 The forthcoming ACS inclinometers will have a default setting of 125kB ACS CANopen Manual Version 20110928 14 of 44 POSITAL FRABA ACCELENS ACS CANopen 4 3 Programmable Parameters Objects are based on the CiA 410 DS V1 2 used for communication and transmission between CANopen profile for inclinometer www can a master and slave in the CAN bus It is quite cia org The following table gives the list of useful for the analysis of communication logs command identifiers sent and received by the between the master and slave and for better inclinometer These are the standard commands understanding of the system under observation Command Function Telegram Description 22h Request Parameter to ACS 60h Confirmation Parameter received 40h Request Parameter request 43h 4Bh 4Fh Reply Parameter to Master 80 h Warning Reply Transmission error Table 1 Command Description The value of the command byte depends on the data length of the called parameter Command Data length Data length 43h 4 Byte Unsigned 32 4Bh 2 Byte Unsigned 16 4Fh 1 Byte Unsigned 8 Table 2 Data Length of Commands The following list of objects is the most frequently used objects while programming the CANopen ACS inclinometer The whole list of objects is
28. imal d ACS Position Value 32 0 01 0 32 At approximately 90 ni Address Symbol Current Retained Format 1 Ww OMIA 9138 Decimal 2 ACS Position Value 9138 0 01 91 38 At approximately 180 A Us Address symbol Current Retained Format 1 WM AM 18052 Decimal 2 ACS Position Value 18052 0 01 180 52 At approximately 270 Us Address Symbol Current 1 Mu 2 255 Retained Format Decimal 2 ACS Position Value 27256 0 01 272 56 All the above position values where obtained by programming the position value output explicitly The other method is very simple and direct Just run the controller and same position values are obtained The position is mapped with the IWC1 0 0 or IWC1 1 0 through PDO mapping done in the earlier steps memory location ACS CANopen Manual The steps for the mapping have been illustrated in above parts so that in real time application end users can directly follow the above steps to read out the position values from the mapped memory locations Version 20110928 31 of 44 POSITAL FRABA ACCELENS ACS CANopen 6 Troubleshooting e Power on Inclinometer doesn t respond baudrate error frames are produced Problem automatically If the bus is active then the installed e Unexpected module Module missing inclinometer is transmitting a false node Wrong Module number If the bus is in
29. ke sure the node number and the select the CANopen configuration option It is used address coincide for the inclinometer selected to define the name type address and supervision Configuration Protocol Type Address Supervision None Init Default ACS CANopen Manual Version 20110928 25 of 44 POSITAL FRABA ACCELENS ACS CANopen e CANopen bus network configuration Click on the bus connecting the ACS inclinometer speed and supervision time Make sure that the and the PLC Select the bus configuration option to ACS is programmed to the appropriate baud rate define the name of the bus the transmission as that of the bus Configuration CANopen network 0 Name CANOpen Bus Parameters Baudrate 1925 K Kbps Supervision 100 ms e Linking of CANOpen Master and ACS Transmit PDOs Select the CANopen link on the controller master so that the information contained in Click on the configuration option The PDOs _ the objects at the slave end are transmitted of the slave are mapped on to the CANOpen and saved on to the controllers memory Not Linked Slaves PDOs Linked Master PDOs Type Transmit Si gt Name coso Is 1 2 poo heme o EZ ACS Inclinomtr PDO TX1 181 EZ ACS Inclinomtr 1 535 281 SDO Memory space L OK Cancel ACS CANopen Manual Version 20110928 26 of 44 POSITAL FRABA ACCELENS ACS CANopen e ACS amp C
30. l state In this state the device remains active To put one or all nodes in the stop operational state the master has to send the following message Identifier Byte 0 Byte 1 Description Oh NMT Stop all nodes Oh 02 h NN in hex NMT Stop NN NN node number 2 1 4 Re initialization of the Inclinometer If a node is not operating correctly it is advisable to carry out a reinitialization Identifier Byte 0 Byte 1 Description Oh Reset Communication Oh 81h NN in hex Reset Node NN node number After reinitialization the inclinometer accesses the bus in pre operational mode 2 2 Transmission Modes By a remote transmission request telegram the connected host calls for the current process value The inclinometer reads the current position value Polled Mode l calculates eventually set parameters and sends back the obtained process value by the same identifier The inclinometer cyclically transmits without being called by the host the Cyclic Mode current process value The cycle time can be programmed in milliseconds for values between 0 ms and 65536 ms After receiving a sync telegram by the host the inclinometer answers with the current process value If more than one node number encoder shall answer after receiving a sync telegram the answer telegrams of the nodes wil be received by the host in order of their node numbers The Sync Mode l programming of an offset time is not necessary If a node should not an
31. molded and rugged plastic housing ACS CANopen Manual The ACS CANopen series of inclinometers are available in two variants First a single axis measurement variant with a range of 0 360 either clockwise or anti clockwise and the other variant a dual axis measurement capable ACS model with a range of 80 In addition to high protection class of IP69K it has in built active resolution accuracy and linearization and temperature compensation This makes ACS suitable for rugged environments and versatile applications in industrial heavy duty and military applications The inclinometer supports the following operating modes e Polled mode The transmitted only on request position value is e Cyclic mode The position value is sent cyclically regular adjustable intervals on the bus e SYNC mode The position value is sent after a synchronization message SYNC is received The position value is sent every n SYNCs n 2 1 e State change mode The position value is transmitted whenever the position of the inclinometer in continuous operation changes The CANopen bus the ACS inclinometers permit transmission rates of up to 1MB 30 m 100 ft cable for a maximum speed of 1MB 5000 m 16 500 ft cable for a maximum speed of 10 kB interface on Version 20110928 5 of 44 POSITAL FRABA ACCELENS ACS CANopen The ACS CANopen is a flexible measurement device This is proved by the f
32. nder checks whether an inhibit time has expired since the last transmission A new PDO transmission can only take place if the inhibit transmission transmission mode 254 and 255 to inhibit time has expired The time is useful for asynchronous avoid overloads on the CAN bus Event Timer The event timer only works in asynchronous transmission mode transmission mode 254 and 255 If the data changes before the event timer ACS CANopen Manual expires a temporary telegram is sent If a value gt 0 is written in this 16 bit field the transmit PDO is always sent after the event timer expires The value is written in sub index 5 of a transmit PDO The data transfer also takes place with no change to data The range is between 1 65536 ms Cyclic Timer The cyclic timer is useful to set the position transmission to cyclic mode The cyclic timer can be programmed from Oms to 65536ms When enabled the ACS transmits the position value contained in the PDO at constant prescribed intervals even if there is no change in the position value Object 2200h is used to set the cyclic timer value Version 20110928 18 of 44 POSITAL FRABA ACCELENS ACS CANopen Object 1A00h 1st Transmit PDO Mapping Parameter This object contains the mapping parameter of the 1st transmit PDO Default Value Restore after Access BootUp Subindex Description Data Type Number 0 dis indices 1 Mapped object Un
33. nents of the CANopen bus and in our case the node is ACS Version 20110928 4 of 44 POSITAL FRABA ACCELENS ACS CANopen In simple terms CANopen works as a client server model Each device checks whether the bus is free and if it is free the device can send messages If two devices try to access the bus at the same time the device with the higher priority level lowest ID number has permission to send its message Devices with the lowest priority level must cancel their data transfer and wait before re trying to send their message Data communication is carried out via messages These messages consist of a unique COB ID refer to glossary followed by a maximum of 8 bytes of data The COB ID which determines the priority of the message consists of a function code and a node number The node number corresponds to the network address of the device It is and has to be unique on a bus in order to distinguish nodes and prevent any conflict of interests The function code varies according to the type of message being sent e Management messages LMT NMT e Messaging and service SDOs e Data exchange PDOs e Predefined messages Synchronization Emergency messages 1 3 ACS CANopen The ACS CANopen inclinometer corresponds to the class 2 inclinometer profile with DS 410 CANopen standards in which the characteristics of inclinometers with CANopen interface are defined The ACS is available in a completely
34. ontroller Memory Configuration The current and updated position values from and IWC1 1 0 will always contain the slope the ACS encoder are mapped on to an values obtained from the object 6010h of the EEPROM memory location in the controller ACS when the controller is Online This memory location in this case lWC1 0 0 Description of the module Reference number TWDNCO1M Address 1 Description CANopen bus master module A TT Module configuration Supervision i Address ACS_Inclinomtr L1 IWC1 0 0 SLOPE Slope 360 31 IMYC1 1 0 SLOPE_DUPLICATE Slope 360 5 4 Debugging The debugging stage is done on completing the configuration of the PDO s It involves the following steps Configure Connection for debugging This connection mode allows you Select a Connectio to directly connect to a controller or 3 IN to transfer an application between the PC and a Typs Meme iere Me rr controller Be COMS Serial COMO Punit The communication has been established Test the connectio The TwidoSuite and the PLC applications are different immediate connection impossible Hardware configurations are compatible PC gt PLC Transfer is possible PLC application is not protected PLC gt PC transfer is authorized Comparison of application Project Controller Application Name My Twido My Twido Type of base TWDLMDA20DTK TWDLMDA20D K Choose a type of exchang Transfer Transfer PC gt controller controller gt
35. otUp Subindex Description Data Type Default Value Access 0 Unsigned 16 ro yes Object 2300h Save Parameter with Reset With this object all parameters can be stored in the non volatile memory After storing the parameters a reset is necessary Restore after Subindex Description Data Type Default Value Access BootUp 0 Access code Unsigned 32 55AAAA55h wo no ACS CANopen Manual Version 20110928 36 of 44 POSITAL FRABA ACCELENS ACS CANopen Object 2600h Preset X Z Axis In ACSO80 inclinometers this object sets the X axis to a desired value In ACS360 inclinometers this object sets the Z axis to a desired value Restore after BootUp Subindex Description Data Type Default Value Access 0 Integer 16 rw no Currently available only in ACS360 versions Although it is given both Read and Write access it is preferable to use only write command for setting the Preset value of ACS Upon setting the Preset value a save command has to be given in order to set the Preset value finally Object 3000h Node Number This object contains the node number of the device The POSITAL standard node number is 32decimal Restore after BootUp Subindex Description Data Type Default Value Access 0 Node Number Unsigned 8 1Fh rw yes NOTE To avoid the node number zero 0 one 1 will be added to the value of this object E g 1Fh 1h 20h 32 dec Upon changing the node number please use 23
36. rder to obtain the position values Resetting CANOpen Communication LD 1 sMWO 16 0001 sMW1 16 0000 LD 5W81 X3 CAN CMD1 MW0 2 LDN 5W81 X4 LD 1 SMWO 16 0001 SMW1 16 0001 LD 55W81 X3 CAN CHD1 tMWO 2 LDN 55W81 X4 LD 1 sMWO 16 0002 3MW1 16 0001 LD 35WB81 X3 CAN CMD1 3MWO 2 LDN amp 5W81 X4 ACS CANopen Manual Version 20110928 29 of 44 POSITAL FRABA ACCELENS ACS CANopen Position Readout j SE MWO Tx HW1 245532 Position Value SMW2 Ls SW 16 0003 16 0001 16 6010 16 0000 18416 4MW4 16 0000 Q MW5 16 0000 zs dr CAN CMD1 MW0 6 Am D G B3 5 CO Readout Using Animation Table nr Bie NN m m Us Address Create a new table 1 iw MW4 Copy the current table Rename the current table Delete the current table Import a table Export a table Name My animation table 1 E Glossary e J Edd 0 ETT 0080 The position Readout is 18422 through the memory location MW4 Shown in the programming We know that the resolution is set to 0 01 ACS Position Value 18422 0 01 184 22 ACS CANopen Manual Version 20110928 30 of 44 POSITAL FRABA ACCELENS ACS CANopen Illustration of measurement over full range At initial position approximately 0 jf Us Address symbol Current Retained Format 1 m Mu Dec
37. signed 32 DE BUD Unsigned 8 yes 601000 10 rw yes Object 1A01h 2nd Transmit PDO Mapping Parameter This object contains the mapping parameter of the 2nd transmit PDO Subindex Description Data Type 0 1 Mapped object Unsigned 32 4 5 Explicit Exchanges SDO Service Data Objects SDOs allow a device s data to be accessed by using explicit requests The SDO service is available when the device is in an Operational or Pre Operational state Types of SDO There are two types of SDO e Read SDOs Download SDOs e Write SDOs Upload SDOs The SDO protocol is based on a Client Server model Default Value Restore after BootUp yes Access 6010 00 10 rw yes For a Download SDO The client sends a request indicating the object to be read The server returns the data contained within the object For an Upload SDO The client sends a request indicating the object to be written to and the desired value After the object has been updated the server returns a confirmation message For an unprocessed SDO In both cases if an SDO could not be processed the server returns an error code A typical illustration of SDO for reading the current baud rate value explicitly is given below Edit transmit message x ID Hex em fe Period Length Datat 7 8 f oljor 20 oo loo 00 00 loo ol Extended Frame Remote Request Ok Cancel 2 Help SDO passed
38. such a way that it is compatible to the already existing setup and gives a proper position output Project information File information mmm Project ACS360 Directory C Program Files x86 Schneider Electric TwidoSuite My projects Project information LLL Author ANA Department Control Engg Index Singapore Industrial Property POSITAL Comment Description Image e Controller Description TWDLMDA20DTK Modular base controller 12 24V DC inputs 8 ouputs 0 34 source transistors Removable MIL connectors Description of the module Reference number TWDLMDA20DTK Address 0 E gt Description Modular base controller 12 24V DC inputs 8 ouputs 0 3A source transistors Removable MIL connectors ACS CANopen Manual Version 20110928 22 of 44 POSITAL FRABA ACCELENS ACS CANopen e CANopen Master Configuration TWDNCO1M CANopen bus master module P d G 5 o Description of the module Reference number TWDNCO1M Address 1 Description CANopen bus master module e ACS360 Inclinometer Electronic Data Sheet EDS The ACS EDS file once uploaded will load all the objects including the PDOs to the controller The Schneider system automatically identifies the PDOs and maps them on to the slave device FRABA V1 1 VendarFRABA Posital GmbH Description EDS for AGS inclinometer option 350 Author FRABA Posital GmbH Mr J
39. swer after each sync telegram on the CAN network the parameter sync counter can be programmed to skip a certain number of sync telegrams before answering again ACS CANopen Manual Version 20110928 8 of 44 POSITAL FRABA ACCELENS ACS CANopen 2 3 Boot up Procedure The general boot up procedure for the ACS CANopen and the mapping of various modes are illustrated below Number N OD or JIA JOJN Reset Application Reset Communication Initialization Initialization 1 i an ot Tt TT Pre cio 2 4 stopped s Description Module Power up After initialization the module automatically goes into pre operational mode NMT Start Remote Node NMT Pre operational Mode NMT Stop Remote Node NMT Reset Node NMT Reset Communication ACS CANopen Manual Version 20110928 9 of 44 POSITAL FRABA ACCELENS ACS CANopen 3 Installation 3 1 Accessories Article No Article Description ACS360 080 ACS series of Inclinometers Industrial Heavy Duty Download Datasheet ACS Datasheet specifications and drawings Download Installation and Configuration User Manual English Download EDS File Electronic Datasheet EDS file for configuration 10001978 PAM5 Female M12 5pin A coded connector with 2m PUR shielded cable 10012182 PAM5 2m Female M12 5pin A coded connector with 5m PUR shielded cable 10005631 Terminal Resistor External terminal resistors for higher baud r
40. ta Type 0 Oh Number of sub indices Unsigned 8 a 01h COB ID Unsigned 32 e ID O3h Inhibit Time Unsigned 32 em ie 04h Not Available FH Unsigned 32 05h Event Timer Subindex Second degree identifier used in combination with the object Follows the object number Object 1801h 2nd Transmit PDO Communication Parameter This object contains the communication parameter of the 2nd transmit PDO Subindex Description Data Type Default Wee Restore De BootUp 64h or 0 rw yes Default NEA Restore Value after BootUp 00h Number of sub indices Unsigned 8 yes l 280h 01h COB ID Unsigned 32 Node ID yes 03h Inhibit Time Unsigned 32 o lm yes 05h Event Timer Unsigned 32 0 rw yes Subindex Second degree identifier used in combination with the object Follows the object number ACS CANopen Manual Version 20110928 17 of 44 POSITAL FRABA ACCELENS ACS CANopen Transmission Mode The transmission mode Sub index 2 for Objects 1800 and 1801 can be configured as described below Transfer Transmission Mode Value Dec 1 240 Soe oe SO ame SR Only o e mn message following an event eT eT meer messages Reserved gt l bee PDO on remote request e T mE PDO on remote request SendPDOonevent PDO on event T TS O O O O E E Inhibit Time For Transmit PDOs the inhibit time for PDO transmissions can be entered in this 16 bit field If data is changed the PDO se
41. tbeat Time 36 Object 2200h Cyclic Timer 36 Object 2300h Save Parameter With Reset 36 Object 2600h Preset X Z Axis 37 Object 3000h Node Number 37 Object 3001h Baudrate 37 Object 3100h Moving Average Filter 38 Object 6000h HResolunon 38 Object 6010h Position Value X Z Axis 38 Object 6012h Preset X Z Axis 38 Object 6020h Position Value Y Axis 39 Appendix B Ordering Code 39 Appendix C Output Graphs 40 GOSS ANY E 40 Version 20110928 2 of 44 POSITAL FRABA General Safety Advice Important Information Read these instructions carefully and have a look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation amp on the equipment to warn of potential hazards or to call information that attention towards clarifies simplifies a procedure The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists which will result in personal injury if the instructions are not followed This is the safety alert symbol It is used for alerting in case of potential personal injury or hazards
42. te can be programmed via SDO default 20kB The setting of the node number is achieved via SDO Object Possible valid addresses lie between 1 and 96 but each address can only be used once For inclinometers programmed via SDO the default is 20Hex Node Number 32 Filters can be used to adjust the frequency of measurements and calculation of position values mentioned in it It is necessary to read the inclinometer The resolution programming functionality is not yet fully operational The forthcoming ACS sensors will have a default baud rate of 125kB The forthcoming ACS sensors will have a default node number of 1 ACS CANopen Manual Version 20110928 16 of 44 POSITAL FRABA ACCELENS ACS CANopen 4 4 PDO Transmission Process Data Objects PDOs communicate process information data and enable them to be exchanged in real time A CANOpen device s PDO set describes the implicit exchanges between this device and its communication partners on the network The exchange of PDOs is authorized when the device is in Operational mode Note The PDOs can be directly mapped in to memory locations on the controller and can be viewed upon reading those memory locations An example is provided in the next section with a SCHNEIDER TWIDO controller Object 1800h 1st Transmit PDO Communication Parameter This object contains the communication parameter of the 1st transmit PDO Subindex Description Da
43. ve the parameters to non volatile memory the access signature load has to be sent to the corresponding subindex of the device ACS CANopen Manual Version 20110928 35 of 44 POSITAL FRABA ACCELENS ACS CANopen Most Significant Word Least significant word ASCII Hex value 64h 61h 6Fh 6Ch Note The restoration of parameters will only be taken into account after a power up or reset command Please check all parameters before you store them to the non volatile memory Object 1016h Consumer Heartbeat Time The consumer heartbeat time defines the expected to 0 the monitoring is not active The value of this heartbeat cycle time in ms The device can only object must be higher than the corresponding time monitor one corresponding device If the time is set object 1017 of the monitored device Subindex eecht Data Type Default Value Access Restore after BootUp indices Consumer heartbeat time i ME yes The context of subindex 1 is as follows Bit 31 to 24 23 to 16 15 to 0 Address of monitored device Value Oh reserved Monitoring time ms Object 1017h Producer Heartbeat Time The object contains the time interval in milliseconds in which the device has to produce a heartbeat message Restore after Subindex Description Data Type Default Value Access BootUp 0 Unsigned 16 0 rw yes Object 2200h Cyclic Timer This object contains cyclic time of the event timer in ms of PDO Restore after Bo
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