Operating Instructions (Software)
Contents
1. L L lt gt 5 pezyeuuoN juea3 mur pue ejod JesyooJez DAVAO Nne NI suo gt gt ZEU 1 ions eade 1 006 210 xou SL L ODF gt 1 lt m Eno ve 1 9 Dur I 9 H3931NI 992 96001 2 07 0 SbEJSAV BUIAO N LIT xye1q HUN L 95001 1 pezijeuuoN L Josuog 4 L 5 uonejna3pe5 juer21eo5 Sp o sul _ einseew edA jueAanur d 3 pono 1 d d e190 d d 1 jue 3eyeg d lt gt d 7 d eyeqise1 pezijeuuoN d ional principle of measured value processing Jusna Mur pue eyed A sui Bay ee n pezijeuuoN d o sea 29420 4 7 0092 0 d Don aiqe dnyoo d 91 95001 VERONAE duo duis L 0 UOnesueaur 950255 maui JISV 9JnssaJd ze 1vO14 HUN d 0 94001 pezijeuuoN d Operat 00157970090 8270 8826 CANopen Miniature Pressure Transmitter CMP2. L 93 A5 SET 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 PDOs Process Data Objects Transmission Type The Transmission Type determines when a measuring value is transmitted Transmission Type 254 is device specific and described here all other Transmission Types are defined in communica tion profile DS 301 Transmission Type 254 transmits the corresponding PDO after a pressure or temperature event An event is generated when pressure or temperature changes more than the preset delta value or passes one of the two switching thresholds Which event results in the transmission of the PDO is defined by the Event Mask If the Event Timer is used for cyclic transmission a transmission only takes place in case the actual measured value passes above the upper threshold or below the lower threshold The adjustable hystereses of the two thresholds always reside below the upper threshold and above the lower threshold Event Mask For the Transmission Types and 254 the Event Mask determines which event triggers the trans mission of PDO s For both pressure and temperature the possibility exists to trigger an event by means of a preset Deltavalue or two switching thresholds limits The event is activated in the Parameter Event Type by a 1 in the corresponding bit Important When changing the
3. d pier4 14 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 CI 8PON HO08S CI dOO 009 CI dOO HZZ OCS 91enlu SL 510 01 POL 951 u00 400 peAJjeses Jojejeuinue IS ed 6 e JOJEJOWNN S 5 00 euou S V Zy so uney Iv 9L Q3N9SISNn 9L Q3N9SISNn Ld 1 2 d 3 38jl4 uonejuesoaJdai syun jeois yd 34 mue zo nu Y4 p poddns Xijolq d suot POOL adh L adh d smejs smeis d 8d3N9ISNn 8Qd3N9ISNn 8Q3N9ISNn 8Q3N9ISNn 8Q3N9ISNn 8d3N9ISNn 8Qd3NSISNn 2 seuue jo 18 L SsiseJo s H d 42 0 sise 9 sAH ou ed 30 siseJejsAH ou ainssald L d G2 921 pug eunjeieduie ed 3001 pug ebuey ainssald ZE Ivc 9 32014 ZE 120 4 8CSNSISNN ZE 9 120 4 ZE Ivc 9 120 4
4. d ddf iv H9EL6 8 L 9 guruewoT d uonejouuy 2 Or yes eunje oduio ed 0 pes ainssald leU 8d3N9ISNn Ivc 9 120 4 9 120 4 9Q3N9ISNn z seuue jo JequnwN 1 2 Iv HS L6 18 119 d H tL6 2 seuue jo jequnwN 18 119 anjeA sseooJug jndu jur Iv 29W ed uonduos q 15 8270 8826 Version 1 2 CANopen Miniature Pressure Transmitter CMP 4 6swzeds U 00 00 00 00 VONIHIS 13100 ends 70 dnywirqeddn U 00 00 00 00 VONIHIS 131290 4 eBessew jereds T 9Q3N5SISNn 27 6512905 d U 00 00 00 00 VONIHIS 131290 ends 70 U 00 00 00 00 VONIHIS LALOO 0 alg eBessey eee 2 dnywrqemo7 U 00 00 00 00 0 drunurguewoT 6syzeds 270 U 00 00 00 00 4 y 652905 d U 00 00 00 00 PONINLS 13100 eg ends 70 682945 U 00 00 00 00 VONIHIS 131290 709 g jereds T peinseoyy v9GANDSISNN 2 0 94g
5. 39 49 22 09 uouu uaym qns Aq 2 2 5 400 00 00 00 g 0 dnywiqieddn 8syzeds 00 00 00 00 c QaNSISNn VONIHIS 13100 VONIHIS 13100 peddew jou ued j1 e qo ULP00 7090 joefqo y jsixe jou seop 2 fqO 40000 2090 joefqo Ajuo pea e jduien v 42000 1090 joefqo Ajuo peai UL000 1090 joefqo ue sseooe payoddnsun 40000 L090 jou uonduoseg opo sopo apo THEIS eBessew jeieds abessayy jereds 4 9 y 00 00 00 00 8G4NSISNN VONIHIS LALOO z ddns xepuiqns jsabue 104 dryyrur11edd y Bs zeds g 5 jeroeds 47v eig eBessew jeieds Ly 0 6sWwzeds U 00 00 00 00 VONIHIS 13100 eBessew 47 8sjzeds 00 00 00 00 8Q3N9ISN VONIHMIS 13100 z ddns xepuiqns s pe 104 zeds 7 ejeg eads 47v eig eBesseyw 270 Bsyzeds Uu 00 00 00 00 VONIHIS 13100 8Qd3N9ISNf eBessew z ddns xepuiqns 1sefue
6. Mapping Mode the Event Type automatically is set to a standard value Thereby only the Delta Event events are enabled and only those where a corresponding measuring value is mapped see Standard Value in PDO Mapping Table Delta und Limit Event Triggering amp Transmission Type 254 UpperLimitEvent LimitEventType UpperLimitUp UpperLimitEvent LimitEventType UpperLimitDown Upper Limit Threshold Pressure Temperature Lower Limit Threshold Time gt LowerLimitEvent DeltaEvent LimitEventType LowerLimitUp LowerLimitEvent LimitEventType LowerLimitDown 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 Mapping Mode The Mapping Mode determines what is transmitted by a PDO The Mapping Mode for the CMP can not be set dynamically as defined in the communication profile DS 301 It has to be set by means of a Predefined Mapping Table However the Mapping settings can be read out on the basis of the DS 301 The PDO Mapping Table lists all possible mappable message configurations for PDO s Map ping Modes 27 36 are special in that they assign the PDO s free definable on event dynamic CAN messages Mapping Mode 37 comprised an additional 8bit value which is incremented every ms 4 CAN messages for pressure and 4 CAN messages for temperature can be defined The CAN messages are assigned by the events of the 2 pressure resp
7. VONIHIS 13100 104 BSW zeds 9 ejeg jeroeds 47v eig eBessey jer eds y BsWzeds 00 00 00 00 0 2 0 6sWzeds U 00 00 00 00 VONIHIS 13100 8G4NSISNN eBesseyw jeieds ddns xepuiqns uonejouuy BSW 2995 eyeq xapu uonduoseg 17 18 8270 8826 CANopen Miniature Pressure Transmitter CMP Error Messages Emergency Send Procedure Emergency Error Codes E description ErrorType E E E 00007 M Eng 4200h Device Temperature generic amp temp 0 amp 3 oo 6300h SubErrorCodes of Data Set Error NodeSubErrorCode EEProm VirginByte bito 0 0001 EEPromUserCommPage ValidByte bti 0x0002 EtPrmUserenPase vaideye oo EthemUseComnPas Chesum oomo FEPmUsmpPase Ohedsum its 0099 EEPemFacoCommPa Ohedsm oomo EtPromSpessPase Chedsum ooro EEPemCommPage ooo bus off generic amp com 04 11h supported node error codes 71 2 5 14 5 69 LastNode Error n u NodeSubErrorCode LSB ErrorCode Reg E RRO R E E Emerg Error Code Err Reg Manufacturer spe
8. objects Timer driven Telegrams are sent if a specified time period has elapsed Event driven Telegrams are sent as soon as their contents have changed by the occurrence of an object specific event Cyclic synchronous A SYNC telegram causes the devices to measure or and to send actual mea suring data Requested A CAN data request telegram causes the device to send its measuring data The Trafag CANOpen miniature Pressure Transmitter CMP is parameterized by means of acyclic serv ices service data objects 9 transmission rates from 10kbit s to 1Mbit s are available for different bus lengths The effective utilisation of the bus bandwidth allows CANopen to achieve short system reaction times at relatively low data rates A CAN Bus system according to the ISO OSI model shows that CAN only defines the two lower layers the physical and the data link layer and Can Open defines the seventh layer application layer 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 CANopen Communication and Device Profiles were published as Profiles DS 301and DS 40x by the international CAN organization CAN in Automation e V The Profile DS 301 defines the HOW of communication while the WHAT meaning of data is defined by the requirements of the individual devices Measuring and control units are based on device profile DS 404 Measuring Devices and Closed Loop Controllers CANopen according to the ISO OSI
9. Version 1 2 Principle of PDO Communication TX uwoqmnur ewo Hsiyzeds 5 b6syzeds 5sywzeds d jueA3jurqieddp L L d 1 x g zug eid vid 91g 418 amo b5sizeds d 5 5 29 5 29 5 HYO HZ0 pea enjeA HLO snjejs L 32014 L Cura m3 4 aa Crora H08 902 ous LINN d Bsywo eds 9 qe TUE 3U9A3 e uoge5o v ig iseIWus 3 5 005 Aq eq Aew s OGd 9 oN 802 QI 9poN 802 1 2 4 802 902 XL Odd XL Odd i XL XL Qm Kens o d uolssiwisues 7084 apowbuiddew Jm T 3U9 3 ed uoissiuisueJ
10. 6 567 eiinb i 77 1 lt 1 auinbul UGTEIRDUGOS BS 3senbey L2 df o9 lt lt v j e z v o __ GI epou eunBiuoo jsenbey sw fejop yams gsn gs1 _ _ lt v e c v _ ejeAnoe seyeipneg 925 Buun vio HOO 10 2 9182 52 ____ A _ yq uBiu jequinu eues 52 HYp So Jequunu eues HEp SI ubiu jequinu uoisi e1 S9 0000 0000 pe10uBi eq MoO Jequinu uoisi 8J Hg SO Jequunu uoisi 8I HZy 52 epoo onpoud HZp 52 epoo jnpoJd H p 52 1 2 H9r SO 52 5 5 5 OHMS 5 BOW Jjuepi eAnoejes yms senbey ejejs uoneunByjuoo 0 seuoyws HLO seuoiMs 00 eyeis 3senbes 21 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 CANopen communication Examples Note All numbers are in Hex Format P means Pressure T means Temperature N means Network Node Address Node Identifier Start all nodes OPERATIONAL Stop all nodes STOPPED Preop
11. 9jejs jeuonejedoeJd LNN HvaZ araoo 809 5 Gs suodseH SST HS3Z Hsaz ar aoo 802 jsonbey 551 peunBijuoo euou nuepi _ esuodses Jequunu jeues HAG 52 H2G S9 opoo jonpoid 52 HVG 52 8S8jppe 557 eiinb i SUD 95 0 59 Sso2oe eDeJojs 20 MO HOO 9 109 sal oads O19 so L2 _ lt v c f ez v l _ 21018 gI 9poN HLO MO HOO Tapoo 10 Sel 2905 Jo4J8 L 2 dl j _ lt v j e z v j esuodses peuoddns jou HLO HOO 76p00 1018 sal 29058 10 9 __ _ lt v c p e v l j esuodses so 5 Ajijuepi 15 YMS JI uepi BANDAS ejejs uos esuodsey O ZA S0 dSd SS 5 020 pue lt Jo e 82 eee eee ee ee SARIS peunBiuoo euou 5 95 HAG 52 H2G 52 epoo jonpoJd 52 HVG 52
12. H73615b Trafag AG 08 2008 We reserve the right to make alterations as technical progress may warrant 23
13. L v9sn Bsw s painseayy ZEGANSISNN 0 aAg L zesn 6sws painseayy 91GSNSISNN aM 91sn Ssw s painseayy 8GSNSISNN 0 34g 1 ssn 6sws 9Q3N9ISNn ddns xepuiqns s pe peinseoyy v9aawNsisn 270 949 d vosn 6sws painseayy ZEGANDISN e70 aha d zesn 6sws painseayy 9LaaNoisn 170 949 d 9Lsn 8sws annie painseayy 8G4NSISNN 0 e4g d esn Bsw s 8GSNSISNN ddns xepuiqns 15968 ed jjue 3 po Budden uo Uu LO 8GSNSISNN po 9Q3N5SISNn ed ue 3 Burddey uo MI 9Q3N9ISNn 1u9 3 M 8GSNSISNN po 8GSNSISNN uoneoijddy adh zoad uo xse uana zoad Uu LO Buidde N Bore 2 ddns xepuiqns s pe uoneoij ddy ed jjue 4 LOGd po uo 9Q3N5SISNn Uu LO 8GSNSISNN epojy 8d3N9ISNn 2 ddns xepuiqns uoneoijddy 69008 poc _ ewipneg Gl L GI 9poN H000z 21395 Joinjoej
14. all nodes PRE OPERATIONAL Reset all nodes INITIALISING Reset only node 10 Reset 1 read out P as FLOAT Response of Network Node CMP 1 read out T as INT 16 Response of Network Node CMP N 10 set P Unit to kPa Response of Network Node CMP N 11 set T Decimalpoint to 2 post decimal position Response of Network Node CMP N 1 set P Filter constant to 1000ms Response of Network Node CMP N 1 switch on PDOA set COB ID 485h Response of Network Node CMP N 1 map P_Int32 to PDO1 Response of Network Node CMP 1 set cyclic transmit on PDOT Response of Network Node CMP N 1 set PDO1 cycle time to 100ms Response of Network Node CMP 1 save all settings save Response of Network Node CMP 1 restore to factory settings load Response of Network Node CMP N 1 Attempt to write a read only object Response of Network Node CMP N 1 PDO remote transmission request Response of Network Node CMP N 4 Error Occur of a Nodeguard Error COB ID 0 COB ID 0 COB ID 0 COB ID 0 COB ID 0 COB ID 601 COB ID 581 COB ID 601 COB ID 581 COB ID 60A COB ID 58A COB ID 60B COB ID 58B COB ID 601 COB ID 581 COB ID 601 COB ID 581 COB ID 601 COB ID 581 COB ID 601 COB ID 581 COB ID 601 COB ID 581 COB ID 601 COB ID 581 COB ID 601 COB ID 581 COB ID 601 COB ID 581
15. get into the configuration mode it is not necessary to know the whole LSS number The revision number could be ignored with 0000 000h but Vendor ID Product code and serial number have to be specified More details see LSS State Machine 19 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 uoneoipul 19594 josey uoneoiput 19594 uoneoipul Spon dojs SS1 50 LAN Jo NAPY 0344015 19594 HOOZ 909 91215 opoN HEJS H8Z do ejq oiny H42 30 siefqo jeequeoeH Jo BuipienGepoN j efqo KoueBueur3 joefqo uonesiuoJuou AS ods MINDY IVNOILV33dO 33d OlnvV Jong 5 SioefqO LNN jeequeeH jo efqo KoueBueu3 joefqo uonesiuo1gou AS ods Odd AY TVNOILVNJdO uoneoipul uoneoipul peunooo ejes dO 3Hd Hels epo uejs JeuuoN 557 si efqo Jo joefqo KoueBueur3 joefqo uonesiuo1uou S ods NAPY IVNOI LV H3dO 3 ld dO 3Hd IVNOILVH3dO Jojue Jojue epojy Hejs JeuuoN 5 1013 e
16. model OSI Layer 2 CAN Data Link Layer ISO 11898 OSI Layer 1 Physical Layer ISO 11898 Bus Line The CANopen pressure sensor from Trafag has been certified by the CiA CAN in Automation The sensor has a comprehensive implementation of the CANopen protocol With the active membership of the CiA CAN in Automation Trafag contributes to the further develop ment of this bus system Object Dictionary PDO and SDO The CANopen communication profile is based on an object dictionary The communication profile DS 301 defines two types of data objects as well as a number of special objects The process data ob jects PDO serve the transmission of real time data and the service data objects SDO allow access to the object dictionary The object dictionary contains all settings parameters of the unit The parameters are read respectively written by a multiplexor address The multiplexor consists of a 16 bit index and a 8 bit subindex that addresses the relevant dota in the object dictionary Special objects 05 301 are required for synchronization SYNC Emergency EMCY as well as Nodeguarding Heartbeat and Network Management NMT CANopen Application Object Dictionary SDO Service Data Objects DS 301 Parameterizing Communication Profile Measuri easuring data acquisition and conditioning PDO Process Data Objects DS 404 Measure values Device Profile 8270 8826 CANopen Miniature Pressur
17. y Joy Odd Lodd ed uoissiusue1 cEGANOSISNN cEGANOSISNN p peddew jo Lz Buiddew Buiddeu zoaad ui g Odd ue y 104 Odd USAF ue ejeum 992 9poN 40870 0008 cEGANOSISNN ZEQd3NOISND _____ O O _______ cEGANOSISNN 10 Odd ur 1 Odd p 1 peddeuu jo quinu Lz Buiddew Odd Buiddeu Load JUSAD adh uolssiwisued pasn 8090 Jeur ju9 43 ad uoissiusueJj YO gjeurjyue 3 Qu a _ 992 8d3N9ISNN 9L Q3NSISNn 8Qd3NSISNn 02 1 Odd lt ddns xepur qns s pe 3uoAe ed uoissiusueu Odd Odd cOGd 40820 0008 yo zieurpuend cEGANOSISNN 8d3N9ISNn 9L Q3NSISNn 02 1equwuo5 Odd 1ejeureieq Aq pesn 8090 c ddns xepur qns 5 adh Odd Ql pP SSZ 40
18. 2 temperature thresholds as follows Pressure passed below or above the lower pressure threshold Pressure passed below or above the upper pressure threshold Temperature passed below or above the lower temperature threshold Temperature passed below or above the upper temperature threshold Should such an event occur the corresponding CAN message is transmitted The contents of the CAN messages are therefore dynamic by events Each of these CAN messages is freely defined with 8 data bytes see object dictionary The Mapping Type entry determines the length of the CAN message i e how many of these bytes are transmitted As defined in the Mapping Table O no data 8 16 32 or 64 bites can be selected Mapping Modes 27 31 assign the the special messages for pressure Mapping Modes 31 36 assign the PDO the special messages for temperature PDO Mapping Mode 27 36 e Sended object when P T Event P T LimitEventType Spec Msg xxx P is mapped P LowerLimitEvent LowerLimitUp P T SpezMsg LowerLimitUp LowerLimitDown P T_SpezMsg_LowerLimitDown P UpperLimitUp P T SpezMsg UpperLimitUp P LimitE _______ _____ SPDR UpperLimitDown P T SpezMsg UpperLimitDown T LowerthnitEveni Lower Imitup P T SpezMsg LowerEImintHp UpperLimitDown P T_SpezMsg_UpperLimitDown P_DeltaEvent actual LimitEventType actual Special Message Object T DeltaEvent actual LimitEventType actual Special Mes
19. 820 0008 8Q3N9SISNn cEGANOSISNN 8d3NSISNn d uoissiusueJ Aq pesn qi aoo lt ddns xepur qns s pe enjeA 02 Odd ZOdd uondiuosoeg 13 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 eyed 1 eyed d sybiquiogieuroeq 1 2 0 eyeg ou g30 amp ijeg ou 1 sui amp ig ZE 0 4 ZE Ivz 9 1e Doju 12014 8GANSISNN 8Q3NSISNI 1 z ened indu dl eed Indu z seuue jo jequnN HO g z 9 anjeA sseooug ynduy eyieq 1 z o eq Iv sybiqiuiogjeuroeq siiBiq jurodjeuiroeq 9 u0000a200 eq 4 00009700 8G4SNSISNN 8G4SNSISNN c Q3N9SISNn c aaN9SISNn od eq z seuue jo yequiny 1 z Iv d od Iv 8Q3N9SISN z seuue jo ZE PC OLLNI L 120141 ZE VC OLLNI d 12014 d painseayy painseayy peunseoyy painseayy ZE 014 ZE 0 4 1 z d jew 8Q3N9SISN z seuue jo sequiny jesjyOuorsJ9 uO Joje4uol
20. 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 CI dOO al PON H009 CI dOO oas oozz osje ees y Zo suiogz Buipues SW uels LAN Uu 80 Buipues BSW LAN pezsojny 4 00 HES 045 3000 0000 c Q3NSISNn MJ edaa3NSSNn J cEGANOSISNN HZZ N oas ejeniu 9134615 LINN 99 ue eu Joy Odd u 80100916 0210016 cEGANOSISNN cEGANOSISNN eui 104 Odd y eur Odd p peddew jo quinu HO ZOdd 80100616 8Q3N9ISNn cEGANOSISNN cEGANOSISNN cEGANOSISNN Lz Buiddew Odd Buiddeui Odd u e y Odd uz y Joy Odd OCLOOELE cEGANOSISNN 8Q3N9ISNn c Qa3N9SISNn ur 1 Odd p peddeuu jo rz Buiddew Odd Buiddeu eu Odd cEGANOSISNN cEGANOSISNN cEGANOSISNN ur 10 Odd uz eu Odd
21. 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 sensors amp controls Operating Instructions Software English Trafag AG Tel 41 44 922 32 32 Industriestrasse 11 Fax 41 44 922 32 33 CH 8608 Bubikon www trafag com 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 Index Overview 3 Connector 6 Operational principle of measured value processing 7 Principle of PDO Communication TX 8 PDO s Process Data Objects 9 SDO Communication Object Dictionary 12 Error Messages 18 NMT Network Management LSS amp Errorhandling 19 CANopen communication Examples 22 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 Overview Manual This document contains device specific information as well as additional information regarding its CANopen functionality Basic device features correspond to CANopen standards DS 301 V4 02 and DS 404 V1 2 www can cia org Description of instrument The CMP CANOpen miniature Pressure Transmitter is a precision pressure transducer with CANopen interface according to CiA CAN in Automation specifications DS 301 DS 404 The physical CAN interface corresponds to DIN specification ISO 11898 By means of a thin film on steel sensor pressure is measured with a resolution of 20Bit s AX convert er temperature with a resolution of 13 bit Every 1 ms the pressure value is sampled mathematically linearized and temperature compensated Two variable Mo
22. COB ID 181 COB ID 181 COB ID 84 Data 01 00 Data 02 00 Data 80 00 Data 81 00 Data 2 81 OA Data 40 30 61 01 00 00 00 00 Data 43 30 61 01 XX XX XX XX Data 40 30 71 02 00 00 00 00 Data 4B 30 71 02 XX XX 00 00 Data 22 31 61 01 00 00 22 03 Data 60 31 61 01 00 00 00 00 Data 22 32 61 02 02 00 00 00 Data 60 32 61 02 00 00 00 00 Data 22 Al 61 01 E8 03 00 00 Data 60 A1 61 01 00 00 00 00 Data 22 03 18 01 85 04 00 00 Data 60 03 18 01 00 00 00 00 Data 22 00 21 01 05 00 00 00 Data 60 00 21 01 00 00 00 00 Data 22 00 18 02 FF 00 00 00 Data 60 00 18 02 00 00 00 00 Data 22 00 18 05 64 00 00 00 Data 60 00 18 05 00 00 00 00 Data 22 10 10 01 73 61 76 65 Data 60 10 10 01 00 00 00 00 Data 22 11 10 01 6C 61 64 Data 60 11 10 01 00 00 00 00 Data 22 00 10 00 78 56 34 12 Data 80 00 10 00 02 00 01 06 2 RTR 1 Data Datalength 4 Data XX XX XX XX Data 30 81 11 00 00 00 00 00 Only after a reset the device will start with the factory settings If the command save all isn t executed the next reset will start the device again with the previous settings 2 Abort Code 0601 0002 h Attempt to write a read only object LastNodeErrorCode 8130 h ErrorRegister 11 h NodeSubErrorCodes 0000 h Monitoring Life Guard Error Trafag AG Tel 41 44 922 32 32 Industriestrasse 11 22 CH 8608 Bubikon Fax 41 44 922 32 33 www trafag com
23. JequinNUOISIA9M LOL 140 8 epoo1onpoud 9poN 4089 4009 P 00000000 u 2000 1000 oz 5 2 aa3N9SISNn c Q3N9SISNn 8Q3N9ISNn 22 1938ure1eq o as LOGd 1 4 lt 11 900 lt JUBIID GI GOO z ddns xepur qns LOGS 95 c Q3NSISNn JequinN Jeues H 2 aa3N9SISNn JequinN 0000 0728 01 Z Q3NSISNn 9po2 jonpoud HL GE00 0000 c Q3NSISNn 8SQ3N9ISNn COo o O 0000 5 MJ dl Aona WMoTgyy dde e101s83 uo 08 c Q3N9SISNn c Q3N9SISNn ez Anuepi 12efqo Ainuepi AONA 809 yed uoneoijdde uoo e101s83 c aaN9ISNn uoneoiunuJuJoo 9J0 s9J 99 49 19 79 e Se e 34 wesed aves c a3N9SISNn 8Q3N9SISNn c Q3NSISNn jnejep e 910159 2 peuoddns xepuiqns 1seBue 3jnejop SJojeujeJed aves Se o weed c aaN9ISNn ujejed uoneoiu
24. cific Error Field Clear error code Send error recovery Error indication No Error indication Error ERROR OCCURED d ied EMERGENCY c Set error code and error register Send emmergency error code ICOB ID 80H Node ID Permanent Autotest Hard and Softwaretest Startup Initial Version 1 2 ErrorRegister LastNodeErrorCode NodeSubErrorCode P Status T Status 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 NMT Network Management LSS amp Errorhandling Emergency Send Procedure As an additional safety feature the CMP is equipped with a Permanent Autotest This feature con tinuously checks the operating temperature of the sensor as well as the CAN bus with Life Guard and Heartbeat In addition the contents of the memory EEProm are checked at start up If a fault is de tected while performing the Autotest an error message will be sent Please refer to Emergency Send Procedure in this instruction manual where the cause for the message is explained These messages conform to communication profile DS 301 In case of a fault the node changes to the PRE OPERATIONAL state until such time that the fault is corrected and the Bus Master releases a Start Node Indication After the failure has been corrected the node only starts automatically if Auto Start is configured If the fault cannot be corrected the node cannot be started not even by the Master Net
25. e Transmitter CMP Version 1 2 Topology CAN is based on a busline topology CANopen logically limits the number of devices per net to 127 physically the present driver generation permits 110 nodes in one net segment The maximum net expansion is limited by the propagation delay of the bus medium 1Mbit s e g corresponds to a net expansion of 25m while at 1Okbit s a net expansion of 5000m is possible Ohm 93 100 CANopen Master CANopen miniature Pressure CANopen Display CANopen Controll Unit Transmitter Bus access procedure CAN operates on the basis of the Carrier Sense Multiple Access with Collision Avoidance CSMA CA method i e with regard to bus access each user is equal to the other and can access the bus as soon as the bus is free Multi Master Bus Access The exchange of information is not member related but message related Each message is uniquely defined by a priority identifier In order to avoid a collision crash when several users are transferring data simultaneously a bit by bit bus arbitration is made over the identifier when starting data transfer The message with the highest priority i e having the lowest identifier will be transferred first while all other messages will be transferred in accorda
26. is1i9AuO 40 98 JUOISJ9AUO d v1 99 29 39 2910 eunnouqns Aq uoq T 5 wo _____ P 8SQ3N9SISNn c Qa3NSISN 1 seujue jo 403384 99 29 39 2910 eunnouqns Aq euog puyebueyosues 2 sz1 pu3 c Q3NSISN 8SQ3N9SISNn ZE 0 4 11 2 1v d ovezoiny 2 seuue jo yequinn IV 1 z ues Iv d ueijseBuesjosues ueiseBuesJosues ed c3001 pug ainssald L 2l 0F pels ed 0 pejg eunssejd ZE 0 4 8G4SNSISNN ZE 3014 ZE 17219 1 120 4 ues Iv Ez H6tL6 z seuue jo yequiny 8 L 9 ebuey ENTM IV 1 z pes ues d ues Iv Hi H8tL6 8Q3NSISN z seuue jo yequiny 18 119 ed juosues ed 0 921 40002 0 40000 peunseoyy 9L Q3N9ISNn 9L Q3N9ISNn 8G4SNSISNN 9L H3931NI 1 2 eniew pi qv 96001 40002 0 40000 pezijeuuoN d uonejouuy peunseoyy enjeA lenlu 9L 3931NI 8G4NSISNN Sq uedo Nvo2
27. nce to their priority rating Configuration and parameter definition Manufacturers of CANopen Masters supply software configuration tools for the parameter definition and configuration of the CANopen network These tools access the object dictionary via SDO The configuration tools receive parameter information of the device through an EDS file electronic data sheet which basically contains the object dictionary listings For further information please contact Trafag AG www trafag com 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 Connector Sed Dein 07 Sie Housing _ 3 Posi supply 78 30 _ __ D Q xj 9H NE Male CiA standard bit timing Table Index 2001H Index Baudrate 0 ___ 1MB s O o ih 032 500kB s 50d 4n 125kBis 125d oo 100kBijs 6h 50kBis 5 0022 8h SSCS KBs 00h _ 9h Automatic bit rate detection 0d 0000 Table Index for LSS Table Selector 1 CiA standard bit timing 8270 8826 Version 1 2 CANopen Miniature Pressure Transmitter CMP sisexejs AH 1 L lt mag Y 1591 lt en _ 1 eyed 1 usagi L L
28. nuJuJoo ez 19 92 59 se o o es 1 ayy uoisJeASJewyoSJeJnjoejnue A dl ONAS epooguou3qnsepow epooJou3epoNISe1 aia a CLA dWO ww 4 00000000 9000 XXXX 0C XX XX 04 28 1osueseunssaJg c aa3N9SISNn 8SQ3N9ISNn 8Q3N9SISNn 9LGANSISNN ZEONINLS 3 18lSIA c ONIHIS d I8lSlA ZEONINLS ATISIA c Q3N9SISNn c aaN9ISNn SJojeuJeJed peuoddns xepuiqns 1seBue 5 21015 4033 J eui UOISJ9A BIEMYOS JoJnjoejnue N UOISJ9A 9JeMpJeH JoJnjoejnue N 921A8q JoJnj2ejnue N 5 Gdl HOD pyepuejs 6poguour3epoN Aq payesaudy 1915 41013 CLA SQ 2002 zL zL20200z ______ 7610Z000 5k enjeA 0 FA Z Z0 4 lt 1 20 LOE SG 2 8Q3N9ISNn 2 a3N9SISNn 8Q3N9SISNn c aaN9ISNn d 1 10 5109 jo jequunu pI914 10473 aq 20 4931s16834 snyejs 1 51 10413 a01A0q uonduosoeg uone runuiuio 12
29. nueyy 16 8270 8826 Version 1 2 CANopen Miniature Pressure Transmitter CMP GI 9PoN H08S 1 909 uoneoij dde H08 puew 851 951 oas LI I c c JejsueJ Odd peeoxe peddew eq QU 0 JO eq jouueo 40200 0080 0 sjoefqo y jo pue 1equunu eu 42700 7090 HZZ N puew ejeg 857 857 oas Lou o9 2D s doc doc do o ___ OAS 9u 351 JOU xepur qng eJoue 9 JejeujeJed uBiu 00 u yum jo eBueJ en eA jo 6020 uL LOO 6090 Jo uyBuey seop 00 2090 sexa 22 Joyng reujejup usooo voso JO Jo yoyew seop ed epeq 10 2090 JeAJes 1ugi 2 L000 7050 jou 1ejeuJeJed ujBue uojeuu jou seop ejeq 4000 2090 uonduoseg 084 osje ees 39 49 24 09 19 87 v4 39
30. pojy uejs ojny j elqo dn oog AY ONISITVILINI Ulo uoreoipul _ 9ejels IVNOLLVHdO 34d uoneoiunuJulo2 yesay 19598 73 uomneoipul uoneoiunulul02 yesay HOO CI dOO HL8 39594 yeaqueay Jeuone1edo dn 100g LNN LINN 7 Hro peddois dN ed LNN aN 00g dO eJd PON LINN 0 5 N S LINN LNN 3787S LINN 20 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 t ejeis jeuonejedo LNN 5 peunBijuoo uou jpuepi 56567 auinbul 21015 eunBijuoo ejeAnoe ejeis uouws uoneunByuoo uoyMs ejes uoyws eye s uos ejejs YMS peunBijuoo uou Ajuept Ajuepi ejejs 5 yous AAY 557 44 uoneorunuuuioo 19582 LNN ejeis peddois LNN
31. sage Object Only this events can be periodically generated by the Timer Event i LowerLimitDown P T SpezMsg LowerLimitDown U LimitUp P T SpezMsg UpperLimitU vM pezMsg UpperLimitUp 10 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 PDO Mapping Table _ Lem cae e aS eme omm CNN AM Prepared variable mapping PDO MappingMode Entry 1 Lema 9 Lem 9 eme cmm ari eme cue we __ Cm cmme5 we eme LLL eme poem eme LLL eme e L emo Dcum ommo omes ome O Sese eme 56 emm MM PDO1 4 EventMask Bit Alocation ____ T DeltaEvent P DeltaEvent T UpperLimitEvent T LowerLimitEvent P UpperLimitEvent P LowerLimitEvent 11 8270 8826 CANopen Miniature Pressure Transmitter CMP Version 1 2 ject Dictionary Ob SDO Communication ed j uoissiusueiJ Load 8 0001 P 0001 982 40840 0000 9LAINOISNN wps 8Q3N9SISNn c Q3N9SISNn 8Q3N9ISNn ed uoissiusueJ Aq pesn qi goo c ddns xepur qns dl Odsx sod QI 9poN dl S2d JequinNjeues
32. ving Average Filters one for pressure 1ms 65s and one for temperature 0 1s 1 82h ensure an optimum measurement filtration The mappable measuring field values see Mapping Mode are available for all data types Float Inte ger32 24 16 and for all mostly required measuring units bar Pa psi mmHg atm at C F The node supports all baudrates from 10kbit s 1 Mbit s and format CAN 2 0 The CCP is equipped with 4 PDO s which can be transmitted every 1 ms All Transmission Types defined 05 301 can be used In addition to features such as Permanent Self Test Auto Zero Function Auto Start etc 4 switching thresholds with 8 configurable CAN Messages are available Communication and applica tion parameters can be stored separately and can be reset to the initial factory configuration CANopen CANopen is an open communication profile based on CAN Controller Area Network a bussystem developed several years ago by the company R Bosch for data transfer in motor vehicles CAN is internationally standardized in ISO 11898 CANopen is a widely used CAN application layer developed by the CiA which has meanwhile been adopted for international standardization CANopen consists of the protocol definitions communi cation profile and of the device profiles that standardize the data contents for the various device classes CANopen defines a number of transmission types for the input and output data process data
33. work Management NMT State Machine The State Machine has been completed with an additional state see Modus Node State Machine The standard State Machine version is defined in communication profile DS 301 The upgraded State Machine allows operation without the Start Node Indication of the CANopen Master By configur ing parameter Auto Start as auto in the object dictionary the State Machine functions in such a way that the node after initialization is automatically OPERATIONAL The node therefore starts up automatically In case of a fault the State Machine goes to AUTO PRE OPERATIONAL instead of PRE OPERATIONAL Only then after the fault has been corrected the status OPERATIONAL is re established This feature is also available with the settings in object dictionary entry NMTStartup Furthermore it s possible to send a NMT Start Node Indication after 250ms of reaching the OPERA TIONAL state see Index 1F80h LSS The CMP has been equiped with Layer setting services LSS according to DSP305 V2 0 with all avail able commands This allows to adjust the pressure sensor together with other devices in the network without prior configuration As a rule the CMP will be delivered with node id 21 and baudrate 20kbit s When using LSS the startup with auto baudrate detection is recommended Therefore please specify this when ordering There is as well a simplification at the comand switch state selective To
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