HDA4000 CAN
Contents
1. 01 Fax 49 0 6897 509 1726 E mail electronic hydac com We look forward to receiving your input Putting experience into practice Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 5 1 Introduction The pressure transmitter HDA 4000 CAN complies with the CANopen Standard according to the following profiles e DS301 Version 4 02 Application Layer and Communication Profile e DS404 Version 1 2 Device Profile Measuring Devices and Closed Loop Controllers This manual describes the functions supported by the HDA 4000 CAN A basic knowledge of CAN and CANopen is assumed The exact function is described in the Draft Standards DS301 and DS404 Since both specifications are issued in English the features described in this manual are identified using the English description from the specification and are shown in italics for clarity 2 Functions of the HDA 4000 CAN e Measuring the actual pressure value using 1kHz sample rate 0 2 accuracy 0 1 resolution e Conversion of the pressure value into a user scaleable linear process value e Sending the actual process value as a PDO for the following events Synchronously in relation to received SYNC objects Asynchronously cyclically in the range 1 millisecond to 1 minute When the measured value changes in relation to an adjustable differential When an adjustable limit is exceeded When the va2. the command StoreParameters must first be transmitted and the node must be restarted afterwards Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 27 9 3 2 Index 2002 Baud rate read write The Baud rate is stored in this index To set the Baud rate the character string set must be added for safety The allocation of the entry to the Baud rate complies with DS305 Layer Setting Services and Protocols Entry J0 1 2 3 4 5 6 7 Baudrate 1 800 500 250 125 50 20 10 Mbit s kbit s kbit s kbit s kbit s kbit s kbit s kbit s Baud rate s 0x73 e 0x65 t 0x74 For example to set the Baud rate to 125kbit s the following data bytes must be transmitted in the SDO 0x04 0x73 0x65 0x74 Because of the low high representation with CANopen therefore the following 32 bit value must be transmitted 0x74657304 In order for the new Baud rate to be effective the command StoreParameters must first be transmitted and the node must be restarted afterwards 9 3 3 Index 2120 OriginallnputScaling1FV This entry contains the original lower FieldValue When supplied the value is identical to Index 7120 InputScaling1FV InputScaling1FV can however be changed during operation to implement other process variables If the command RestoreDefaultParameters is received OriginallnputScaling1FV is copied to InputScal
3. CAN Page 12 and 1 Analogue Input Function Block Subindices used 0 NumberOfEntries read only 1 InputScaling2PV1 read write 9 2 10 Index 7124 InputOffset This entry defines an additional offset for the process value see Data flow in the HDA 4000 CAN Page 12 and 1 Analogue Input Function Block Subindices used 0 NumberOfEntries read only 1 InputOffset1 read write 9 2 11 Index 7125 InputAutoZero By inputting the character string Zero the InputOffset is set in such a way that the actual process value delivers 0 see Data flow in the HDA 4000 CAN Page 12 and 1 Analogue Input Function Block Subindices used 0 NumberOfEntries read only 1 InputAutoZero1 write only 9 2 12 Index 7130 9130 ProcessValue These entries contain the actual process value Index 7130 has a data width of 16bit and index 9130 32bit Since the HDA 4000 CAN always calculates using a data width of 16bit both entries deliver the same value However both entries are implemented to enable specification compliant PDO Mapping This stipulates the 32 bit value as the default To reduce the data traffic in the network the 16bit value can however be mapped see Data flow in the HDA 4000 CAN on Page 12 and TransmitPDOMapping on Page 20 Subindices used 0 NumberOfEntries read only 1 ProcessValue1 read only Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4
4. NMT NMT objects are used to start stop or reset devices CANopen differentiates between the following functionalities 1 NMT Master controls other nodes 2 NMT Slave is controlled by a Master In a CANopen network only one NMT object exists with the Identifier 0 Two bytes are always transmitted The first byte contains the Command Specifier which represents the command the second byte contains the Node ID of the node which should carry out this command A value of 0 indicates that this command is valid for all nodes The following commands are possible NMT commands 1 Start Remote Node The node changes to the Operational condition 2 Stop Remote Node The node changes to the Stopped condition 3 Enter Pre Operational The node changes to the Pre Operational condition 4 Reset Node The node is reset and then changes to the Pre Operational condition 5 Reset Communicatiuon The communication unit of the node is reset and then the node changes to the Pre Operational condition The HDA 4000 CAN operates as a NMT Slave and supports all the NMT services Note The HDA 4000 CAN does not have an strict division between the communication Q unit and the application unit In this respect the two commands Reset Node and Reset Communication have the same effect 6 7 Boot Up Protocol If a NMT Slave changes to the Pre operational condition after initialisation it sends a Boot Up object in each case In principle this is no different
5. during the internal program monitoring Bits 0 to 6 are deleted when the error is eliminated To find out if an error had occurred these 7 bits 0x00 to 0x06 are mirrored in bits 0x10 to 0x16 The mirrored bits are not deleted if the error occurred once 9 1 4 Index 1005 SyncMessageldentifier read write Use this to adjust the COB ID for the SYNC object 9 1 5 Index 1008 ManufacturerDeviceName const Delivers the device name as a character string HDA4 9 1 6 Index 1009 ManufacturerHardwareVersion const Delivers the hardware version as a character string e g 0100 The first two characters indicate the actual device the last two indicate the status of hardware changes Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 17 A 9 1 7 Index 100A ManufacturerSoftwareVersion const Delivers the software version as a character string e g 0101 The first two characters indicate the version the last two the revision status 9 1 8 Index 1010 StoreParameters By entering the character string save the current settings are transferred to the non volatile memory The HDA 4000 CAN does not automatically store settings if they are changed but only when requested WARNING Any changed settings must be saved explicitly using StoreParameters otherwise they will be lost when the instrument is switched off or when the NMT commands Reset Node and
6. in the signal unit converted to a digital signal and is available as a FieldValue The status of the signal process is stored in InputStatus 7 3 Scaling Unit The FieldValue is then converted in the Scaling Unit into a ProcessValue The indications PhysicalUnit and DecimalDigits describe how the ProcessValue is to be interpreted If in PhysicalUnit for example the unit is bar and in DecimalDigits the value is 1 then a Process Value of 127 corresponds to the measured value of 12 7 bar The conversion of the FieldValue into the ProcessValue is carried out using the two scaling values Scaling1PV and Scaling2PV The first value indicates which process Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 13 value corresponds to the lower range limit e g 0 bar The second value indicates which process value corresponds to the upper range limit e g 400 bar With InputOffset an additional offset can be calculated With AutoZero InputOffset is set so that the actual process value has the value 0 With Autocalibration an offset error in the signal conditioning can be cleared The HDA 4000 CAN must be depressurized for this 7 4 Transmission Unit If one of the following events occurs then depending on the preset TransmissionType the value of the PDO is sent 1 AP OY The actual ProcessValue has changed by more than Delta compared to the last transmitted Pr
7. is received the OriginallnoutScaling2PV is copied to InputScaling2PV Subindices used 2 NumberOfEntries read only 3 OriginallnputScaling2PV1 read only 9 3 7 Index 2131 OriginalPhysicalUnitProcessValue This entry contains the original unit When supplied the value is identical to Index 6131 PhysicalUnitProcessValue PhysicalUnitProcessValue can however be changed during operation to implement other process variables If the command RestoreDefaultParameters is received OriginalPhysicalUnitProcessValue is copied to PhysicalUnitProcessValue Subindices used 0 NumberOfEntries read only 1 OriginalPhysicalUnitProcessValue1 read only 9 3 8 Index 2132 OriginalDecimalDigitsProcessValue This entry contains the original number of decimal places When supplied the value is identical to Index 6131 DecimalDigitsProcessValue DecimalDigitsProcessValue can however be changed during operation to implement other process variables If the command RestoreDefaultParameters is received OriginalDecimalDigitsProcessValue is copied to DecimalDigitsProcess Value Subindices used 0 NumberOfEntries read only 1 OriginalDecimalDigitsProcessValue1 read only Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 29 10 Further literature 1 DS301 Version 4 02 Application Layer and Communication Profile 2 DS404 Version 1 2 Device Profile Measuring Devic
8. now present The EMCY object has the pre set ID 80h Node D and can be changed in the Object Dictionary see Object Dictionary Index 1014 Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 10 6 5 Heartbeat Using the Heartbeat Protocol the individual nodes can be monitored CANopen differentiates between the following functions 1 Heartbeat Producer sends a Heartbeat object in cyclical intervals 2 Heartbeat Consumer monitors the sending of certain Heartbeat objects The cycle time can be adjusted in the Object Dictionary in milliseconds If a time interval of 0 is specified this indicates Heartbeat not active With the Heartbeat object the status of the Heartbeat Producers is also transmitted as bytes Meaning of the Heartbeat object contents Value Status Meaning 0 BOOTUP The device has booted up 4 STOPPED The device has stopped 5 OPERATIONAL The device is working normally 127 PRE OPERATIONAL The device is not sending any PDOs but can modify SDOs The HDA 4000 CAN can operate as a Heartbeat Producer The ID of the Heartbeat is 700h Node D The time has been pre set to 0 not active and can be changed see Object Dictionary Index 1017 Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 11 6 6 Network Management Services
9. to a Heartbeat object with the status 0 On the HDA 4000 CAN this function is implemented Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 12 7 Data flow in the HDA 4000 CAN The following diagram shows the flow of data within the HDA 4000 CAN and the relevant indices of the Object Dictionary Data flow in the HDA 4000 CAN Pressure Sensor gt Signal p Field Value Scaling Process Valuel p Transmission CAN Unit Unit 7100h gt Unit i I7130h 9130h Unit Message i i i Physical Unit 6131h i Sensor Type Input Status Autocalibrat i 7 TE 6110h 6150h 6111h PRUS i I Scaling 1 PV i 7121h i ee Delta A p i Scaling 2 PV 7133h gt 7123h i Lower Limit gt Autozero 7134h gt 7125h i i Upper Limit gt gt Input Offset 713h i gt 7124h enes _ Event Timer 180015 gt SYNG Object 1005h p i Transmission i Type 1800n2 7 1 Sensor Unit The sensor unit measures the pressure and converts it into an electrical signal The type of sensor Pressure Transducer is stored in Sensor Type 7 2 Signal Unit The electrical signal is processed
10. transmission and the value 255 a device profile specific transmission With 254 and 255 the PDO is sent cyclically providing a time Event Time other than 0 is set With 255 another transmission takes place if the measured value differs from the value of the last transfer by more than a set amount or if the value exceeds or falls below the pre set limits see Object Dictionary Index 7133 7134 and 7135 3 Event Time Determines the cycle time for asynchronous transmissions for Transmission Types 254 and 255 in milliseconds The value 0 denotes no time controlled transmission Subindices used 0 LargestSubindexSupported read only 1 COBIDUsedByPDO read write 2 TransmissionType read write 5 EventTimer read write Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 20 9 1 14 Index 1A00 TransmitPDOMapping Use this entry to determine which data is transferred with the PDO Subindex 0 indicates the amount of data in the PDO The index and subindex and the number of bits of the first piece of data is stored in Subindex 1 similarly for Subindex 2 When supplied the HDA 4000 CAN has the following entries Sub Content Meaning index s 0 2 Two values are transferred in the PDO 1 0x91300 The first value in the PDO is the value of 120 Index 9130 Subindex 01 with a width of 20h 32 bit 2 0x61500 The second value in the PDO is the v
11. 000 CANopen V01R2 Page 24 9 2 13 Index 6131 PhysicalUnitProcessValue This entry contains the unit of measurement of the process value according to the recommendation DR303 The HDA 4000 CAN is set to bar when supplied The preset unit of measurement has no effect on signal processing To interpret the data see 3 Subindices used 0 NumberOfEntries read only 1 PhysicalUnitProcessValue1 read write 9 2 14 Index 6132 ProcessValueDecimalDigits This entry contains the number of decimal digits for interpreting the process value Example If the Process ValueDecimalDigits is set to 2 and PhysicalUnitProcessValue is set to bar then a ProcessValue of 4711 corresponds to the measured value 47 11 bar Subindices used 0 NumberOfEntries read only 1 ProcessValueDecimalDigits1 read write 9 2 15 Index 7133 InterruptDeltaPV This entry is used to control the PDO transmission If the actual ProcessValue deviates from the last one transmitted by more than the InterruptDeltaPV it is transmitted This prevents constant transmissions where the contents are very similar In order to activate this mechanism TransmissionType must be set to ProfileSpecific see TransmissionType Page 19 If InterruptDeltaPV is set to 0 then this mechanism is also deactivated Subindices used 0 NumberOfEntries read only 1 InterruptDeltaPV1 read write Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data She
12. DA 4000 CAN has implemented the device profile DS404 3 Index 2000 5FFF Manufacturer specific entries Manufacturer specific additional data which is not defined in any specification Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 15 8 2 Structure of the device specific part according to DS404 The HDA 4000 CAN implements DS404 This describes the performance and the functionality of measuring devices and closed loop controllers First some notes on the layout of the Object Dictionary Multi channel capability DS404 is aimed at multi channel instruments This means that the number of channels is given for all entries in Subindex 0 and then the value in the appropriate Subindex The HDA 4000 CAN puts only one channel into effect Therefore the Subindex 0 contains the value 1 throughout and the actual measured values or settings are stored in Subindex 1 Data types DS404 is set up in such a way that each data type has its own section in the Object Dictionary Index Data type 6000 to 6FFFh Floating point or specially encoded data status etc 7000 to 7FFFh 16 bit integer 8000 to 8FFFh 32 bit integer 9000 to 9FFFh 24 bit integer Function blocks DS404 subdivides a device into different function blocks analogue input block analogue output block digital input block digital output block controller block and alarm block The HDA 4000 CAN has impl
13. Data flow in the HDA 4000 CAN Page 12 For this for the HDA 4000 CAN must be depressurised If the value is outside the permitted tolerance band of 3 FS Full Scale relative to the complete measuring range the transmission will be aborted with the Code 06090030h see 1 SDO Abort Codes Subindices used 0 NumberOfEntries read only 1 AutoCalibration1 write only 9 2 4 Index 6112 OperatingMode Use this entry to move the input channel into a special operating mode or to switch it off On the HDA 4000 CAN the channel cannot be switched off Therefore the entry is read only and always delivers the value 1 Normal Operation Subindices used 0 NumberOfEntries read only 1 OperatingMode1 read only Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 22 9 2 5 Index 6114 ADCSampleRate Use this entry to stipulate the sample rate The figure is a multiple of milliseconds according to the standard the HDA 4000 CAN always rounds down to whole milliseconds All figures under 1000 produce a sample rate of 1 millisecond Subindices used 0 NumberOfEntries read only 1 ADCSampleRate read write 9 2 6 Index 7120 InputScaling1FV This entry is used for scaling the process value and contains the value of the FieldValue for the lower measuring range limit Normally it corresponds to a pressure of 0 bar see Data flow in the HDA 4000 CAN Pag
14. Gya7 8 ELECTRONIC User Manual of the Electronic Data Sheet for Pressure Transmitters with CANopen Interface HDA 4000 CANopen Firmware Version 1 Release 2 Supplement to the Original Manual Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 2 Table of Contents DL ANTON rar 5 2 Functions of the HDA 4000 CAN 5s5pneineeaeseseine pt eenetrdeiusaseid edda doen 5 3 TUANSMISSION Vale cennin aaa aaa aa Eea E EnaA a E TAERA ap Enkar rani 5 4 GAN FLAGS E T L T tdl dnnat 6 5 NOE D AE E T E AT 6 6 Transmission SCIVICO Ss scezeisiernissastastsarecstiaiandantapanecievenvasuanibundcidejadestietabcigvtecusuuetenans 7 6 1 Service Data Obvjech SOO uran ee SS 7 6 2 Process Data Object PDO i accesses essai tiene le dees avn dat de dass he Sa kiss ante dia de 8 6 3 Synchronisation Object SY NG siec2 vires el teoen kanel gere Gnr 9 6 4 Emergency Object EMC Y s ris ier aesthetic es 9 6 5 FAC ANCA asinn eaen thea e ea a e paa n einaste tren eaae iesea te 10 6 6 Network Management Services NMT uarrurannnnrnrnrnennnranrn arne rernnnnran enn are nn nennennnener 11 6 7 Boot Up Protocokmsserransrannme nitid bat Ta dare eie a A E a 11 7 Data flow in the HDA 4000 CAN vvvexerannnavnvnevnnnennnnnnsnnnnnvnnnnnnnnnnnnennnnnnnnnnnnnnennnnnnnnnnnen 12 LT Sensor UNE anta KG eske de 12 D GN UNE STN 12 TE SCAN OME RR REE E ates 12 7 4 Transmission OIG sie So cts
15. Reset Communication are carried out CANopen has the option of saving different parameter areas with the help of various Subindexes The HDA 4000 CAN has not subdivided the parameters and therefore only supports Subindex 1 StoreAllParameters For further information please see profile 1 Subindices used 0 LargestSubindexSupported read only 1 StoreAllParameters read write 9 1 9 Index 1011 RestoreDefaultParameters By entering the character string load the factory settings are transferred into the non volatile memory However the HDA 4000 CAN goes on working with the actual settings until it is switched off or until the commands Reset Node and Reset Communication are carried out CANopen has the option of restoring different parameter areas with the help of various Subindexes The HDA 4000 CAN has not subdivided the parameters and therefore only supports Subindex 1 RestoreAllDefaultParameters For further information please see profile 1 Warning The Baud rate and NodelD settings remain unchanged with RestoreDefaultParameter Subindices used 0 LargestSubindexSupported read only 1 RestoreAllDefaultParameters read write Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 18 9 1 10 Index 1014 CobldEmergencyMessage read write Use this to adjust the COB ID for the EMCY object see EMCY 9 1 11 Index 1017 ProducerHeartbeat
16. Time read write Use this to adjust the Heartbeat time in milliseconds The value 0 indicates that this function is not active see Heartbeat 9 1 12 Index 1018 IdentityObject The Identity Object identifies the HDA 4000 CAN The identification consists of four 32bit numbers The combination of these 4 numbers produces a device ID which is unique worldwide Subindices used 0 1 2 LargestSubIndexSupported read only VendorlD read only Unique manufacturer code Oxda for HYDAC ELECTRONIC GmbH ProductCode read only Hydac Electronic product code 0x0001xxxx for HDA 4000 CAN RevisionNumber read only Revision number of the device SerialNumber read only Serial number of the device Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 19 9 1 13 Index 1800 TransmitPDOParameters These entries determine the PDO transmission In detail these are Parameters for PDO transmission 1 COB ID Determines the identifier for the PDO The highest value bit Bit31 of the entry no long belongs to the ID and has the meaning disable PDO If this bit is set then transmission of the PDO is disabled 2 Transmission Type Determines the transmission type Values between 0 and 240 mean synchronous transmission The figure represents the number of SYNC objects which have to be received before the PDO is sent The value 254 indicates a manufacturer specific
17. alue of 108 Index 6150 Subindex 01 with a width of 8 bit Subindices used 0 NumberOfMappedApplicationObjectsInPDO read write Values 0 1 and 2 are permitted This means no PDO is transmitted or one PDO with one or two values is transmitted 1 1stObjectToBeMapped read write On the HDA 4000 CAN the following values are permitted 0x71300110 Actual process value1 with 16bit width or 0x91300120 Actual process value1 with 32bit width 2 2ndObjectToBeMapped read only This entry is 0x61500108 and cannot be altered Note The HDA 4000 CAN carries out only a 16bit evaluation Showing the value as a Q 32bit value is just to comply with the Default PDO Mapping of DS404 Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 21 9 2 Device Profile Specific Entries DS404 9 2 1 Index 7100 FieldValue This entry contains an unscaled value which delivers the signal unit see Data flow in the HDA 4000 CAN Page 12 Subindices used 0 NumberOfEntries read only 1 FieldValue1 read only 9 2 2 Index 6110 SensorType This entry contains the sensor type Since the HDA 4000 CAN is a pressure transmitter it delivers the value 90 0x5A for Pressure Transducer Subindices used 0 NumberOfEntries read only 1 SensorType1 read only 9 2 3 Index 6111 AutoCalibration By inputting the character string cali the scaling unit is calibrated to 0 see
18. e 12 and 1 Analogue Input Function Block Subindices used 0 NumberOfEntries read only 1 InputScaling1FV1 read only 9 2 7 Index 7121 InputScaling1PV This entry is used to scale the process value and contains the value of ProcessValue for the lower measuring range limit Normally it corresponds to a pressure of 0 bar By changing this entry any measuring range can be implemented If for example the measuring range is to be 50 700 kg then the value 50 must be input see Data flow in the HDA 4000 CAN Page 12 and 1 Analogue Input Function Block Subindices used 0 NumberOfEntries read only 1 InputScaling1PV1 read write 9 2 8 Index 7122 InputScaling2FV This entry is used for scaling the process value and contains the value of FieldValue for the upper measuring range limit see Data flow in the HDA 4000 CAN Page 12 and 1 Analogue Input Function Block Subindices used 0 NumberOfEntries read only 1 InputScaling2FV1 read only Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 23 9 2 9 Index 7123 InputScaling2PV This entry is used for scaling the process value and contains the value of ProcessValue for the upper measuring range limit By changing this entry any measuring range can be implemented If for example the measuring range is to be 50 700 kg then the value 700 must be input see Data flow in the HDA 4000
19. eeeaeceeeeeeeeeeeeeeeaeeeees 27 9 3 4 Index 2121 OriginallnputScaling1 PV oo eeee eee ceeeecee eects eeeeeeeeaeceeeeeeeeeeeeeeaeeeees 27 9 3 5 Index 2122 OriginallnputScaling2FV wrrsnurnnrnvrrvnnnornrnerrnrrrnrnnnrernrnernnrrennenern 28 9 3 6 Index 2123 OriginallnputScaling2PV oc cui arc ine teens dae ie rae 28 9 3 7 Index 2131 OriginalPhysicalUnitProcessValue rrururnurrnvnrnrvnnrarnrnornnrnnnnnnnnnn 28 9 3 8 Index 2132 OriginalDecimalDigitsProcessValue rrrurnurnnrnnnnnnnnnnnrnnrnnrnnnnennnnr 28 10 Further literat re vass vactscdantncielecuaSaueeedevnedness rue sheds siaundedusedey dedscgadedeaddusaies 29 Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 4 Preface This manual provides you as user of our product with key information on the operation and maintenance of the equipment It will acquaint you with the product and assist you in obtaining maximum benefit in the applications for which it is designed Always keep the manual with the device for immediate reference Note that the data on the software technology provided in this manual refers to that available at the time of publication If you find any errors while reading the documentation or have additional comments or suggestions please contact us at HYDAC ELECTRONIC GMBH Technische Dokumentation Hauptstrake 27 66128 Saarbrucken Germany Tel 49 0 6897 509
20. emented the analogue input part Analogue Input Function Block These entries are in the area X100h to X1FFh Order of entries As a result of this segmenting the order of the entries relates only to the value of the last 3 digits of the index The first digit specifies the data type and is ignored as far as classification is concerned Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 16 9 Entries in the Object Dictionary Listed below are the functionalities implemented by the HDA 4000 CAN A detailed description of the entries can be found in profiles 1 and 2 9 1 Communication Profile Specific Entries DS301 9 1 1 Index 1000 DeviceType read only Contains the number of the device profile being used in this case the number 404 as well as the profile specific extension in this case a 2 for support of the analogue input device 9 1 2 Index 1001 ErrorRegister read only Contains the actual error condition see EMCY and 1 9 1 3 Index 1002 ManufacturerStatusRegister read only Contains different error flags In the 32bit value the bits have the following meaning BitO 1 error when reading the Setup Data Bit1 1 error when writing to the Setup Data Bit2 1 error when reading the factory settings Bit3 1 internal error during the A D conversion Bit4 1 internal error in the A D coupling Bit5 1 internal bus error Bit6 1 error
21. es and Closed Loop Controllers 3 DR303 2 Version 1 0 Representation of SI Units and Prefixes Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754
22. et for the HDA 4000 CANopen V01R2 Page 25 9 2 16 Index 7134 InterruptLowerLimit This entry is used to control the PDO transmission If the actual ProcessValue falls below the InterruptLowerLimit the PDO is transmitted In order to avoid constant transmissions because the measured value is fluctuating around the limit value the actual value must rise above the limit again by at least 1 of the preset measuring range before another transmission is made for a fall in value In order for this mechanism to be activated the TransmissionType must be set to ProfileSpecific See TransmissionType Page 19 Subindices used 0 NumberOfEntries read only 1 InterruptLowerLimit1 read write 9 2 17 Index 7135 InterruptUpperLimit This entry is used to control the PDO transmission If the actual ProcessValue exceeds the InterruptUpperLimit the PDO is transmitted In order to avoid constant transmissions because the measured value is fluctuating around the limit value the actual value must fall below the limit again by at least 1 of the preset measuring range before another transmission is made for this event In order for this mechanism to be activated the TransmissionType must be set to ProfileSpecific See TransmissionType Page 19 Subindices used 0 NumberOfEntries read only 1 InterruptUpperLimit1 read write 9 2 18 Index 6150 AnloginputStatus This entry indicates the status of the signal unit The status byte has the fol
23. ing1FV Subindices used 0 NumberOfEntries read only 1 OriginallnputScaling1FV1 read only 9 3 4 Index 2121 OriginallnputScaling1PV This entry contains the original lower measuring range limit When supplied the value is identical to Index 7121 InputScaling1PV InputScaling 1PV can however be changed during operation to implement other process variables If the command RestoreDefaultParameters is received the OriginallnputScaling1PV is copied to InputScaling 1PV Subindices used 2 NumberOfEntries read only 3 OriginallnputScaling1PV1 read only Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 28 9 3 5 Index 2122 OriginallnputScaling2FV This entry contains the original upper FieldValue When supplied the value is identical to Index 7122 InputScaling2FV InputScaling2FV can however be changed during operation to implement other process variables If the command RestoreDefaultParameters is received OriginallnputScaling2FV is copied to InputScaling2FV Subindices used 0 NumberOfEntries read only 1 OriginallnputScaling2FV1 read only 9 3 6 Index 2123 OriginallnputScaling2PV This entry contains the original upper measuring range limit When supplied the value is identical to index 7123 InputScaling2PV InputScaling2PV can however be changed during operation to implement other process variables If the command RestoreDefaultParameters
24. is in principle a CAN message with a defined identifier without data CANopen differentiates between SYNC Producers and SYNC Consumers SYNC Producers are devices on the bus which send a SYNC at adjustable time intervals SYNC Consumers are devices which react to receiving a SYNC In a CANopen network several SYNC objects can exist The individual SYNC objects are differentiated by means of the SYNG ID which corresponds to the CAN identifier used The SYNC D used is stored in the Object Dictionary The HDA 4000 CAN provides the functionality of a SYNC Consumer When the PDO Transmission Type is set appropriately a PDO is sent on receipt of a SYNC The SYNC ID is pre set to 80h and can be changed in the Object Dictionary see Object Dictionary Index 1005 In PDO Transmission Type the number of received SYNC objects which result in a PDO being sent can be set 6 4 Emergency Object EMCY EMCY objects are sent when an error occurs EMCY objects contain an Emergency Error Code the contents of an Error register as well as a Manufacturer specific Error Field If a notified error is eliminated or disappears this is also notified by a special EMCY object The HDA 4000 CAN sends the following EMCY objects Emergency Error Code Manufacturer Technical description specific Error Field ffO0h Device specific 1 Error on signal input 8100h Communication Error X Error on the CAN Bus 0000h Error Reset or No Error O No error
25. is known as the PDO Mapping stipulates which data is now in a PDO This PDO Mapping is stored in the Object Dictionary see Object Dictionary Index 1A00 The PDO Transmission Type stipulates with which ID and for which event a PDO is transmitted These settings are also stored in the Object Dictionary see Object Dictionary Index 1800 Events which result ina PDO being sent 1 Receipt of a SYNC object synchronous transmission 2 Expiry of an adjustable cycle time in the range 1 milliseconds to 1 minute cyclical transmission 3 The measured value has changed by an adjustable amount compared to the last PDO 4 The measured value has exceeded an adjustable limit 5 The measured value has fallen below an adjustable limit The HDA 4000 CAN implements a Transmit PDO which transmits the actual pressure value and the status of the signal input The DS404 stipulates the transmission of the actual measured value as a 32 bit value and the status as an 8 bit value as the default setting However it is possible to change this setting via PDO Mapping so that the measured value is transmitted as a 16 bit value The transmission of the status can also be disabled by changing the PDO Mapping Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 9 6 3 Synchronisation Object SYNC SYNC objects are used to implement a synchronous data transmission A SYNC object
26. isnmbinvjrtvi dei 22 9 2 9 Index 7123 NPS PV kuet see erat 23 9 2 10 1nd6x 7124 INOUPOMSOt i sues piner ente pi nnslennn setseuendame 23 9 2 11 Index 7125 InputAutoZero esc ee ee cee ce cee ce eee eee eeeeeee cence cae eaaeaeeeeeeeeeesasaeeeeeeeeeeeas 23 9 2 12 Index 7130 9130 ProcessValue saadan 23 9 2 13 Index 6131 PhysicalUnitProcessValue rarrnrnnrnrnnrnrnnrnrrnrnnrnrnnrnrnnrnrnnrnrrnr menn 24 9 2 14 Index 6132 ProcessValueDecimalDigits rvrnnrnrnnrnrnnrnrrnrnnrnrnnrnrnnrnrnnrnrrnrnnnnn 24 9 2 15 Index 7133 InterruptDeltaPV 0 0 cece cece ceecseeceeeeeee ce cae eae eeeeeeeeeesasaneeseeeeeeeeas 24 9 2 16 Index 7134 InterruptLowerLimit cece ceeeeceeee cence cae eeeeeeeeeeeeesaeneeeeeeeeeeeas 25 9 2 17 Index 7135 InterruptUpperLimit 0 cece ee ceeee eee re cae eeeeeeeeeeeeeeaaeaaeeeeeeeeeeeas 25 9 2 18 Index 6150 AnloglnputStatus icc certo Gear renderers nas es dn agers 25 9 2 19 Index 61A0 Filler Typeuusastasrkn Geek deci ied aed De a ada 26 9 2 20 Index 61A1 FilterConstant Lu siecaievel acta faded ti dressen needk add 26 9 3 Manufacturer Specific Entries cccccccccccccesneeceeeeccececaceneeceeeeseeeeaaaeaeeeeeeeesesaeaaaeaes 26 9 3 1 Index 2001 NodelD read write undra Soe ieee 26 9 3 2 Index 2002 Baud rate read Write ccceeececeee cee eeeeeeeeeeeeeaeceeeeeeeeeeeeeeaeenes 27 9 3 3 Index 2120 OriginallnputScaling1 FV eee cece ce ceceeneeeeeeeeeeee
27. lowing meaning Bit 0 1 fault on the signal input Bit 1 1 positive overload present Bit 2 1 negative overload present Subindices used 0 NumberOfEntries read only 1 AnloginputStatus1 read only Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 26 9 2 19 Index 61A0 FilterType This entry determines the filter type 1 indicates Moving average 2 indicates Repeating average For all other values there is no filtration The exact procedure is described in profile 2 Subindices used 0 NumberOfEntries read only 1 FilterType1 read write 9 2 20 Index 61A1 FilterConstant This entry determines the filter constants Filtration only takes place if the constant is higher than 1 The exact procedure is described in profile 2 Subindices used 0 NumberOfEntries read only 1 FilterConstant1 read write 9 3 Manufacturer Specific Entries 9 3 1 Index 2001 NodelD read write The Node ID is stored in this index To set the NODE ID the character string set must be added to the address for safety NodelD s 0x73 e 0x65 t 0x74 For example to set the Node ID to 5 the following data bytes must be transmitted in the SDO 0x05 0x73 0x65 0x74 Because of the low high representation with CANopen therefore the following 32 bit value must be transmitted 0x74657302 In order for the new Node D to be effective
28. lue falls below an adjustable limit 3 Transmission rates The HDA 4000 CAN supports the following transmission rates Baud rates 1 Mbit s 800 kbit s 500 kbit s 250 kbit s 125 kbit s 50 kbit s 20 kbit s 10 kbit s The timing complies with DS301 Bit rates and timing Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 6 The transmission rate used is stored in a non volatile memory When supplied it is set to 250 kbit s and can CAN Bus see Object Dictionary Index 2001 4 CAN Frames The HDA 4000 CAN supports the 11 bit base frames with 11 bit identifier required in the specification Extended frames with 29 bit identifier are not supported but are tolerated This means that extended frames are not recognised but neither do they cause errors 5 Node ID To operate the HDA 4000 CAN in a CANopen network a unique Node ID must be set within the network The set Node ID is stored in a non volatile memory like the transmission rate and can also be adjusted via the CAN Bus see Object Dictionary Index 2002 When supplied the address 1 is set Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 7 6 Transmission services 6 1 Service Data Object SDO With CANopen all the device s data setting parameters and measured data is filed in an Object Dictionary under a specified Index So
29. me entries of the Object Dictionary are sub divided still further using a Subindex Using the SDOs other network nodes can read from or write to the Object Dictionary of the HDA 4000 CAN The HDA 4000 CAN takes on the role of a Server and the device which wants to read or write the data takes on the role of a Client To transmit data the HDA 4000 CAN must have a Receive SDO with which it receives data and a Transmit SDO with which it sends data Sequence of the transmission of data Reading from Object Dictionary 1 An instrument Client sends the Receive SDO of the HDA 4000 CAN Server In this SDO there is an identification to say that the Object Dictionary is to be read as well as the Index and Subindex 2 The HDA 4000 CAN Server sends its Transmit SDO Here also are the Index and the Subindex and the read data Writing to the Object Dictionary 1 A device Client sends the Receive SDO of the HDA 4000 CAN Server In this SDO there is an identification to say that the Object Dictionary is to be written to as well as the required index subindex and the data to be entered 2 The HDA 4000 CAN Server sends its Transmit SDO In this there are also the index and the subindex as well as an identification to say the Object Dictionary has been written to If an error should occur e g the specified Index does not exist or an attempt is made to write to a read only entry or the data is not within the valid range then the T
30. oante ea E RA E EEA tied a ce athe 13 8 The Object Dictionary siscsic cet necet ste sewegiesardecteane deceit aeebencsarisaedeisufadeaVecdateuusimesstvermagieacedies 14 8 1 Set up of the Object Dictionary u2 ccceceeeecenceececeeceseeesanceeeeeeeceseneaaaeaeceesnesesaeaaaeaees 14 8 2 Structure of the device specific part according to DS404 mrnnnnnnvrvrrnnnnrannornrrnrnnnnnne 15 9 Entries in the Object Dictionary m eaiismumminteeseuiskemetaite ceedadaettde oatcentnctiendebioes 16 9 1 Communication Profile Specific Entries DS301 rrrrrrnnnnrnnnornnrnrrrrnnnnrnnn or nnnvrnnnnne 16 9 1 1 Index 1000 DeviceType read Only ce ceeeeeece cece cee ee eee eeeeeeeeaeeeeeeeeeeeteeeenanenes 16 9 1 2 Index 1001 ErrorRegister read Only ceceecececee cece eee eeeeeeeeaeeeeeeeeeeeeeeeeanenees 16 9 1 3 Index 1002 ManufacturerStatusRegister read only c ceccceeeeeeeeeeeeeaeeeees 16 9 1 4 Index 1005 SyncMessageldentifier read Write rrrrnrrrnrrrnrnnnrennrnornnrrrnnnnnnnn 16 9 1 5 Index 1008 ManufacturerDeviceName const rarnnnornnn arr nr rn rnrnrrrnrn nr nnrrnnnennnn 16 9 1 6 Index 1009 ManufacturerHardwareVersion const aarrnrrrnrnnnronnrnnrnnrnnnnnnnnn 16 9 1 7 Index 100A ManufacturerSoftwareVersion CONST eeeeeeceeeeeeeeeeeneeeaeeeees 17 9 1 8 Index 1010 StoreParameters rnranvovonnnnvonnnnnrnnvnvnnnnnnnnnnnarnnnnnnnnerennnnnrnenennnner 17 9 1 9 Index 1011 Res
31. ocess Value The value has fallen below the LowerLimit The UpperLimit has been exceeded The EventTimer has expired cyclical transmission One or more Sync objects have been received synchronous transmission Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 14 8 The Object Dictionary 8 1 Set up of the Object Dictionary As already mentioned all the data is stored in the Object Dictionary The entries supported by the HDA 4000 CAN are listed in the following chapters The index is always shown in hexadecimal notation according to the specification without the hexadecimal representation being shown specially For each entry the Access Type must also be specified CANopen differentiates between the following Access Types Access Types for the Object Dictionary 1 const Read only and always delivers the same value 2 read only Read only however the value can be changed during operation 3 write only The entry is write only 4 read write The entry can be read from and written to CANopen differentiates between the following areas of the data dictionary Areas of the Object Dictionary 1 Index 0 1FFF Communication profile specific entries Settings which apply to all CANopen devices These entries are defined in DS301 2 Index 6000 9FFF Device profile specific entries Device specific data which are defined in a Draft Standard The H
32. ransmit SDO receives an appropriate Abort SDO Transfer identification and a corresponding Abort Code see 1 The Object Directory of the HDA 4000 CAN is configured such that each entry has a maximum of 4 bytes of data so that all data can be transmitted as expedited In other words all data can be packed in a single SDO resulting in particularly effective transmissions The particular COB ID of the SDO corresponds to the Pre defined Connection Set defined in the DS301 and cannot be altered COB IDs for Service Data Objects SDO COB ID Receive SDO 600h Node ID Transmit SDO 580h Node ID Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 8 6 2 Process Data Object PDO Data transmission using SDOs is indeed very flexible but has some disadvantages when transmitting measured values or actuating variables only one piece of data can be read the data must first be requested with an SDO and because the relevant Index and Subindex is also transmitted what is known as the overhead increases further For this reason CANopen defines what are known as Process Data Objects These contain only the necessary useful data There are two types of PDO 1 Transmit PDOs With these the measuring instrument can send its measured values 2 Receive PDOs With these the actuating variables can be transmitted to an actuator or a controller What
33. toreDefaultParameters rarrnrnnrnrnnrnrnnrnrrnrnnrnrnnrnrnnrnrnnrnrrnrnnnnn 17 9 1 10 Index 1014 CobldEmergencyMessage read Write ceceeceeeeeeeeeeeeeeeaeeeees 18 9 1 11 Index 1017 ProducerHeartbeatTime read write ceeceeeeeeeeeeeeeeeeeeeeeeaeeeees 18 9 1 12 Index 1018 IdentityObject rarnrnnrnnvovonnnnronnnnnrnnvnvnnnonnnnnnnarnnnnnnnnerannnnnannennnnnne 18 9 1 13 Index 1800 TransmitPDOParameters rranunnnrnvrnvnnnernnnarrnrnrnrnnnrennrnernnrnnnnenern 19 9 1 14 Index 1A00 TransmitPDOMapping rasrarnarnrrarnnrnrnnrnrnnrnrrnrnnrnrnnrnrnnrnrnnrnrnnrnnnnn 20 9 2 Device Profile Specific Entries DS404 reranrnnnnnnnrnvnrnennnrnnnvnnarnvnenennnrannrnnannenenenen 21 Status 25 07 2008 HYDAC ELECTRONIC GMBH Part no 669754 Electronic Data Sheet for the HDA 4000 CANopen V01R2 Page 3 9 2 1 Index 7100 Fic GV AlUS sa ii are iat dares on toreo anadi panet ea nsen 21 9 22 Index 6110 SensorType 1asussutnn digge neat een es eae eet ee ada 21 9 2 3 Index 6 111 AUtOCAlIDIAUON Luse ed eidet eects 21 9 2 4 Index 6112 Operating Modes 2c cocctcateecsce snarazectadieacteccbesseseurtarabedeccgebsanstacehecacigans 21 9 2 5 Index 6114 ADCSampleRate rarannarnnvarnararnarnnrarnnrannnrarnannnnarnnnarnnrnrnnrarsarnnnnn 22 925 Index 7120 InputScaling 1 EV se 2222 gen 22 9 2 7 Index 7121 Iniputscalng1PV suigssssdmsnmdrstm naked hive 22 9 2 8 Index 7122 InputScalng2FV sussumranannudnenv
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