INCLINOMETER WITH CAN-BUS INTERFACE USER MANUAL
Contents
1. 17 4 2 Operating ParameterLongitudinal 17 4 2 1 Programming example Operating Parameter Longitudinal de enipe 18 4 3 Preset Value 19 4 3 1 Programming example Preset value 19 4 4 Node Guarding 24442444 nennen 20 4 4 1 20 4 4 3 6 21 4 5 22 4 5 1 22 4 5 2 Programming example Heartbeat Consumer23 4 5 3 Heartbeat Producer ecer 23 4 5 4 Programming example Heartbeat Producer24 4 6 Changing the node 24 4 6 1 Example Changing the node number 25 Version 09 04 UME AGS CAN Page 3 1 Introduction This manual describes the implementing and configuration of an inclinometer with CANopen interface The device fullfills the requirements of a CANopen device regarding the device specification DS410 ofthe CANopen user group 1 1 Inclinometer The AGS CAN Bus is a heavy duty absolute inclinometer with conductive technology and a fieldbus interface utilizing the CANBus protocol With a maximum measuring range of 30 and resolution up to 0 001 these inclinometers are2. 9 Environmental 32 2 4 4 9 5 9 Mechanical 33 3 Device Configuration uuneeusnennnnnnnnnnnnnnnnnnnn 10 5 3 1 Bottom 33 3 1 CANopen data transmission 10 5 3 2 Site NiE Wismann daa a a 33 3 11 TheCOB ID u 2a 10 5 3 3 Front View nennneensnensnnnnnnnnnnnnnnnnnnnn nn 34 3 1 2 The Command 11 5 3 4 TOP VieW ehe 34 3 1 3 The Object 12 Installation hints rnnga 35 3 2 Operational 5 14 6 Models Ordering Description 35 3 2 1 Status 14 6 1 Accessories and documentation 36 3 2 2 Status 14 7 List of Tables unsssnnsenssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 36 3 2 3 Reset of the 15 3 3 Transmission of the Actual Position 15 4 Programming 444444 HH rennen nenn 15 4 1 Resolutlon s 0 hve nde ee 16 4 1 1 Programming example Resolution
3. 4 5 2 Programming example Heartbeat Consumer Target The Producer send with 1000ms and contains the node number 1 Consumer Time 1100ms 044Ch node number 1 Node number 01h Master to inclinometer Set Parameter FC NN Command Index Subindex Service Process data SDO tx Download 1016h Byte 4 Byte 5 Byte 7 1100b O1d 22 16 10 01 4C 04 01 00 Inclinometer to Master Confirmation FC NN Command Index Subindex Service Process data SDO rx Download 1016h Byte 4 Byte 5 Byte 7 1011b O1d 60 16 10 01 00 00 00 00 4 5 3 Heartbeat Producer CMS Index Default value SDO 1017h Oh Value range Data length Unsigned 16 Unsigned 32 General parameter description Master to inclinometer Set Parameter FC NN Command _ Index Subindex Service Process data SDO tx Download Byte 4 Byte 5 Byte 7 1100 b 1 90 d 22 17 10 00 x X 0 0 X Time in ms After a successful transmission the inclinometer answered with the following confirmation telegram FC NN Command Index Subindex Service Process data SDO rx Download Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90 d 60 00 00 00 00 Version 09 04 UME AGS CAN Page 23 4 5 4 Programming example Heartbeat Producer Target Producer Time 1000ms Time in ms X 03E8h Node number 01h Master to inclinometer Set Parameter Command Index Subindex Service Process data Download Byte 4 Byte 5 Byte 7 22 17 10 00 E8 03 00 00 Inclinome
4. 5 2 Mechanical Data Housing Aluminum Lifetime gt 10 h Shock EN 60068 2 27 A 30g t 11ms halfsine Vibration EN 60068 2 6 10 to 150 Hz 2 5 mm amplitude 5g const Acceleration 1 Octave Minute 60068 2 6 Weight standard version 350 g Tabelle 11 Mechanical data Environmental Conditions Operating temperature 25 C 85 C Storage temperature 40 C 85 C Humidity 98 without liquid state Protection class EN 60529 IP 67 connected Tabelle 12 Environmantal conditions Page 32 UME AGS CAN Version 09 04 5 3 Mechanical Drawings 5 3 1 Bottom View 5 3 2 Side View Version 09 04 UME AGS CAN Page 33 9 9 9 Front View 5 3 4 Top View 54 Page 34 UME AGS CAN Version 09 04 Installation hints Both the cable shielding and the metal housings of encoders and subsequent electronics have a shielding function The housing must have the same potential and be connected to the main signal ground over the machine chassis or by means of a separate potential compensating line Potential compensating lines should have a minimum cross section of 6 mm2 Do not lay signal cable in the direct vicinity of interference sources air clearance gt 100 mm 4 in 6 Models Ordering Description A minimum spacing of 200 mm 8 in to inductors is usually required for example in switch mode power supplies Confi
5. to 2 2 to 2 2 The COB ID contains the node number and the according PDO rx By default the process value is sent with the function code PDO rx 0011 and as a response to the Sync telegram with the function code PDO rx 0101 4 Programming The setting of parameters should be done always Following values are written in in pre operational status The monitoring of the A hexadecimal notation with the sent and received messages becomes much exception of the function code easier which value is given binary and the It is important to follow the presented sequence of Node number decimal value the parameter settings If values of parameters are Every parameter has a general description and an not changed then they can be skipped example Version 09 04 UME AGS CAN Page 15 4 1 Resolution The parameter Resolution is used to program the desired number of steps per 1 The resolution is adjustable between 0 001 and 1 CMS Index Default value Value range Data length SDO 6000h Unsigned 16 Unsigned16 General parameter description Master to Inclinometer Set Parameter FC NN Command Index Subindex Service Process data SDO tx Download eas Byte 4 Byte5 Byte6 7 1100b 1 90 d 22 00 60 00 x x 0 0 X desired resolution Only the follow values can be use to programming the resolution th 0 001 Ah 0 01 64h 0 1 3E8h 1 After a successful transmission the inclinome
6. 5 1 3 CAN Communication Reference Model The communication concept can be described similar to the ISO OSI Reference Model Device C ISO OSI Layer 2 Data Link Layer i ISO OSI Layer 1 Physical Layer CAN Bus The communication model supports synchronous and asynchronous messages With respect to the functionality four different message objects are provided Administrational Messages LMT NMT Service Data Messages SDO Process Data Messages PDO Pre defined Messages Synchronisation and Emergency Messages Further information is available at CAN in Automation CiA International Users and Manufacturers Group e V Am Weichselgarten 26 D 91058 Erlangen Reference CAN Application Layer for Industrial Applications CiA Draft Standard 201 207 Version 1 1 CAL based Communication Profile for Industrial Systems CiA Draft Standard 301 Page 6 UME AGS CAN Version 09 04 1 4 Definitions CAN CAL CMS COB COB ID LMT NMT SDO PDO Version 09 04 Controller Area Network CAN Application Layer CAN Message Specification One of the service elements of the application layer in the CAN Reference Model Communication Object CAN message A unit of transportation in a CAN Network Data must be sent across a Network inside a COB COB Identfier Identifies a COB uniquely in a Network The identifier determines the priority of that COB Layer Management One of the s
7. Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90d 60 10 00 00 00 00 00 4 4 2 Programming example Guard Time Target The Master send at a time of 1000ms Guard Time Time 1000ms 03E8h Master to inclinometer Set Parameter FC NN Command Index Subindex Service Process data SDO tx Download 100Ch Byte 4 Byte 5 Byte 7 1100b 01 22 00 8 03 00 00 Inclinometer to Master Confirmation FC NN Command Index Subindex Service Process data SDO rx Download 100Ch Byte 4 Byte 5 Byte 7 1011b O1d 60 10 00 00 00 00 00 Page 20 UME AGS CAN Version 09 04 4 4 9 Lifetime Factor The product from the Lifetime Faktor and the recieve a remote transmission telegram from the Guard Time is that time where the Slave has to Master CMS Index Defaultwert Wertebereich Datenl nge SDO 100Dh 0 Unsigned 8 Unsigned 8 General parameter description Master to inclinometer Set Parameter FC NN Command Index Subindex Service Process data SDO tx Download Byte 4 Byte 5 Byte 7 11000 1 90d 22 x 0 0 0 X Factor After a successful transmission the inclinometer answered with the following confirmation telegram FC NN Command Index Subindex Service Process data SDO rx Download Byte 4 Byte 5 Byte 7 1011b 1 90 60 OD 10 00 00 00 00 00 4 4 4 Programming example Lifetime Faktor Target The Slave has to receive a remote transmission telegram not later than 3000ms from t
8. The default parameters can be restored The already in the non volatile memory programmed parameters are not overwritten Only after a new store command the default parameters are stored in the non volatile memory To restore the default parameter the following telegram is used CMS Index Value Data length SDO 1011h 6C 6F 61 64h Unsigned 32 Master to Inclinometer Set Parameter FC NN Command Index Subindex Service Processdata SDO tx Download 1011h Byte 4 BE 5 Bytes Byte7 11006 1 90d 22 6 ler es 5 Technical Data 5 1 Electrical Data Model Measuring range Resolution Accuracy T 0 C 55 C Accuracy T 25 85 C Damping period 0 gt 15 t 90 Interface Transmission rate Device addressing Supply voltage Current consumption Power consumption EMC Electrical lifetime Tabelle 10 Electrical data 50178 protective low voltage Version 09 04 AGS 5 AGS 15 AGS 30 15 30 0 001 0 005 006 018 0 40 0 30 1 00 typ 1 25s Transceiver according ISO 11898 galvanically isolated by opto couplers max 1 MBaud Via SDO 10 30 V DC absolute limits max 230 mA with 10 V DC max 100 mA with 24 V DC max 2 2Watts Emitted interference EN 61000 6 4 Noise immunity EN 61000 6 2 gt 10 h Inclinometer should be connected only to subsequent electronics whose power supplies comply with UME AGS CAN Page 31
9. 00 00 00 00 4 3 1 Programming example Preset value Target Inclinometer with the preset value 0 Preset value 0 is equivalent to X Oh Node number NN 1 Master to Inclinometer Set Parameter FC NN Command Index Subindex Service Process data SDO tx 6000h Byte4 Byte5 Byte6 Byte7 1100b 01 22 00 60 100 00 00 00 00 Inclinometer to Master Confirmation FC NN Command Index Subindex Service Process data SDO rx Download Byte 4 Byte 5 Byte 6 Byte 7 1011b O01d 60 00 60 100 00 00 00 00 The procedure to programming the Preset Value Lateral object 6022h is the same like Preset Value Longitudinal Version 09 04 UME AGS CAN Page 19 4 4 Node Guarding The NMT Master polls each NMT Slave at NMT Slave The response of the NMT Slave regular time intervals This time interval is called contains the state of that NMT Slave the Guard Time and may be different for each 4 4 1 Guard Time CMS Index SDO 100Ch Default value Oh Value range Data length Unsigned 16 Unsigned 16 General parameter description Master to inclinometer Set Parameter FC NN Command Index Subindex Service Process data SDO tx Download Byte 4 Byte 5 Byte 7 11000 1 90d 22 x 0 0 X Time in ms X is the Guard Time which the NMT Master polls the NMT Slave After a successful transmission the inclinometer answered with the following confirmation telegram FC NN Command Index Subindex Service Process data SDO rx Download
10. 1 ec 4 4 7 1 Example Adjusting the baudrate 27 1 2 CANopen 4 4 8 Transmission 27 1 3 CAN Communication Reference Model 6 4 8 1 Cyclic 27 1 4 Defintti ns au ae een 7 4 8 2 Disable the cyclic 28 2 Installation uuuserssnnnsennnnnnennnnnnnnnnnnnnnnnnnnnnnnnnn 848 95 28 2 1 Electrical 8 4 8 4 Example Number of Sync telegrams 29 2 2 Bus Termination 8 48 5 4 6 29 2 3 Bus addr8S8 nn ee a 3 8 4 9 Memory 30 2 4 6 9 4 10 Restore default parameters eee 31 2 4 1 Power on Inclinometer doesn t respond 9 5 Technical 31 2 4 2 Malfunction of the position value during 5 1 Electrical Data 22240444 4er 31 transmission 222 9 5 2 Mechanical 32 2 4 3 Too much 8 65
11. FC NN Command Index Subindex SDO rx Download 10110 32d 60 00 30 00 Version 09 04 UME AGS CAN Service Processdata Byte 4 Byte 5 Byte 6 Byte 7 04 Service Processdata 00 00 00 Byte 4 Byte 5 Byte 6 Byte 7 00 00 00 00 Page 25 4 7 Adjusting the baudrate CMS Index Defaultvalue Value range Data length SDO 3001h 20h Oh 8h Unsigned 8 General parameter description FC NN Command Index Subindex Service Processdata SDO tx Download Byte 4 Byte 5 Byte 6 Byte 7 1100 b 1 90d 22 00 31 00 X 00 00 00 X 4 Bit to adjust the Baudrate After successful transmission the inclinometer answered with the following telegram Command FC NN SDO rx 1011 b 1 90 d Download 60 Index Subindex Service Processdata 3001h Byte 4 Byte 5 Byte 6 Byte 7 00 31 00 00 00 00 00 Nine different baudrates are provided To adjust the baudrate only one byte is used Adjusting Baudrate Baudrate in kBit s 10 20 50 100 125 250 500 800 1000 Page 26 es Screen a ecek eaa Jaz peel gee SSS Sec ecb SSR SSS Se eis eves UME AGS CAN Version 09 04 The changing of the baudrate is confirmed by the inclinometer but is only saved after a Store command object 2300 hex Store command object 1010 hex and NMT Reset Modul or NMT Reset communikation 4 7 1 Example Adjusting the baudrate Target Inclinometer
12. POSITAL FRABA INCLINOMETER WITH CAN BUS INTERFACE USER MANUAL Imprint FRABA POSITAL GmbH Schanzenstra e 35 D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 Internet http www posital com e mail info posital com Copyright The company FRABA POSITAL GmbH claims copyright on this documentation It is not allowed to modify to extend to hand over to a third party and to copy this documentation without written approval by the company FRABA POSITAL GmbH Nor is any liability assumed for damages resulting from the use of the information contained herein Further this publication and features described herein are subject to change without notice Alteration of Specifications reserved Technical specifications which are described in this manual are subject to change due to our permanent strive to improve our products Page 2 UME AGS CAN Disclaimer of Warranty FRABA POSITAL GmbH makes no representations or warranties either express or implied by or with respect to anything in this manual and shall not be liable for any implied warranties of merchantability and fitness for a particular purpose or for any indirect special or consequential damages Version date 18 April 2005 Version number 1 4 Article number Author Efthimios loannidis Version 09 04 1 Introduction 4 4 7 Adjusting the 8 26 1
13. Target Setting the inclinometer on Slope Longitudinal physically measured value Value 0 Master to Inclinometer Set Parameter FC NN Command Index Subindex Service Process data SDO tx Download 6011h Byte 4 Byte 5 Byte 6 Byte 7 1100b O1d 22 11 60 00 00 00 00 00 Inclinometer to Master Confirmation FC NN Command Index Subindex Service Process data SDO rx Download 6011h Byte 4 Byte 5 Byte 6 Byte 7 1011b oid 60 11 eo 00 oo foo foo Too The procedure to programming the Operating Parameter Lateral object 6021h is the same like Operating Parameter Longitudinal Page 18 UME AGS CAN Version 09 04 4 9 Preset Value Longitudinal The preset value is the desired position value The position value is set to the desired process which should be reached at a certain physical value by the parameter preset position of the axis CMS Index Default value Value range Data length SDO 6012h 0 Oh total resolution Unsigned32 General parameter description Master to inclinometer Set Parameter FC NN Command Index Subindex Service Process data SDO tX 6000h Byte4 Byte5 Byte6 Byte7 1100b 1 90d 22 00 60 00 X desired preset value After a successful transmission the inclinometer answered with the following confirmation telegram FC NN Command Index Subindex Service Process data SDO rx 6000h Byte4 Byte5 Byte6 Byte7 1011b 1 90d 60 00 6 00
14. andidesctiption 2 23 22 Hr HIHI ner 11 Tabelle 4 Data length against command byte usssnnsussensneennnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnennnnnnnnnnennnnnennnnnren 11 Tabelle 5 Generaliobjectdieli nany Ars 4er 12 Tabelle 6 Object dictionary according DS301 ccccccccceseeeeeeeceeeaeeeeeeeeeeceaauceeeeeeeeeaaaucaeceeeeeesaauceeeeeeeessuageneeees 12 Tabelle 7 Object dictionary according DS 410 EEEE 19 Tabelle 8 Nodenumber and 19 Tabelle 9 Manufacturer specific object dictionary 4 44444444HRRRRRnRnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenn 13 Tabelle 1 0 31 Tab lle 1T Me cha ni l data en et is 32 Tab lle 12 Environmantal COMIONS ssanie ee 32 Tabelle 13 Ordering Description Tabelle een aan Page 36 UME AGS CAN Version 09 04
15. e parameters see 4 correctness of the sent received SDOs As it is not Programming while the inclinometer is in the pre possible to send or receive PDOs in pre operational status During this status activity on the operational status stress for the inclinometer will network is low what makes it easier to prove the be reduced 3 2 1 Status Operational To put one or all nodes in the operational state following message is sent by the master FC NN Command Index Subindex S P Data Description 0000 b 0d 01h 00 NMT Start all nodes 0000 0d 01h NN NMT Start NN It is possible to put all the nodes in operational status Index 0 or only one node Index NN 3 2 2 Status Pre Operational To set one node in the Pre Operational state the following telegram has to be transmitted from the master Description FC NN Command Index Subindex S P Data NMT PreOp NN 0000b 0d 80h NN NN node number Page 14 UME AGS CAN Version 09 04 3 2 3 Reset of the inclinometer If a node is not functioning well it is recommended to perform a RESET FC NN Command Index Subindex S P Data 0000 0 81h NN NN node number Description NMT Reset NN The notified inclinometer accesses the bus in pre operational status after resetting 3 3 Transmission of the Actual Position The process value is sent across the CAN network with the following telegram COB ID Process value 11 Bit Byte 0 Byte 1 Byte 2 Byte 3 2
16. error frames are produced automatically The setting of the baudrate is descripted in this manual under 4 6 2 4 4 Information Notice The changing of baudrate and node number is only valid after a new power up NMT Reset or the store parameters command UME AGS CAN Page 9 3 Device Configuration 3 1 CANopen data transmission The data transmission in the CAN network is Telegrams can be divided into the COB ID and 8 realised by message telegrams Basically these following bytes as shown in the table below COB ID Command Index Subindex Service Process Data 11 Bit Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Low High Low gt High 3 1 1 The COB ID The 11 Bit of COB Identifier is built as follows lee Function code Node number Shales Ral bal Se slim balk X free selectable The COB Identifier determines uniquely the number which determines the inclinometer The message object It is built by the function code node number can be adjusted by on customer identifying the message class and the node request by a SDO Following function codes are available rx and tx as seen by the master Object Function Code Binary Result COB ID Priority Class NMT 0000 0 0 SYNC 0001 128 0 Emergency 0001 129 255 0 1 PDO rx 0011 385 511 1 2 PDO tx 0100 513 639 2 PDO rx 0101 641 767 2 3 PDO tx 0110 769 895 3 4 SDO rx 1011 1409 1535 6 SDO tx 1100 1537 1663 6 7 Tabelle 2 Overview pr
17. ervice elements of the application layer in the CAN Reference Model It serves to configure parameters of each layer in the CAN Reference Model Network Management One of the service elements of the application layer in the CAN Reference Model It performs initialisation configuration and error handling in a CAN network Service Data Object A data object with low priority to configure a CAN node Process Data Object A data object with high priority to transmit data in synchronous and asynchronous modes UME AGS CAN Additionally following abbreviations are used in the manual FC NN PV PCV Function code It determines the kind of message which is sent across the CAN network Node number It determines uniquely the CAN device Preset value Process value Page 7 2 Installation 2 1 Electrical Connection The inclinometer is connected via 8 pin round connector Instructions to mechanically install and electrically connect the inclinometer Do not connect the inclinometer under power 2 Do not stand on the inclinometer N 7 A Avoid mechanical load Pin Description 1 24 V Supply voltage 2 3 4 Supply voltage 5 CAN Low 6 CAN Ground 7 CAN High 8 Tabelle 1 Connector Assignment 8 pin round connector connector male inlay Page 8 UME AGS CAN 2 2 Bus Termination If the inclinometer is connected at the end or beginning of the bus the termination resistor must be sw
18. eter Set parameter FC NN Command Index Subindex Service Process data SDO tx Download 2200h Oh Byte 4 Byte 5 Byte 6 Byte 7 1100 b 1 90d 22 00 22 00 00 00 00 00 Inclinometer to Master Confirmation FC NN Command Index Subindex Service Process data SDO rx Download 2200h Oh Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90d 60 00 22 00 00 00 00 00 4 8 3 Sync Mode After reception of the SYNC telegram by the host the inclinometer sends the actual position value If multiple nodes are programmed for the SYNC mode they answer following their COB Ids The programming of an offset time is not applicable It is also possible to program a number of SYNC telegrams which are ignored CMS Index Subindex Defaultwert Value range Data length SDO 1802h 2h th 1h 100h Unsigned 8 General parameter description FC NN Command Index Subindex Service Process data SDO tx Download 1802h 2h Byte 4 Byte 5 Byte 6 Byte 7 1100b 1 90d 22 02 18 02 0 0 0 X number of Sync Telegrams after which the inclinometer sends the process value Page 28 UME AGS CAN Version 09 04 Inclinometer to Master Confirmation FC NN Command Index Subindex Service Process data SDO rx Download 1802h 2h Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90d 60 02 18 02 00 00 00 00 Like the cyclic mode also the sync mode can be switched off the same way To do th
19. gure the signal lines for minimum length and avoid the use of intermediate terminals In metal cable ducts sufficient decoupling of signal lines from interference signal transmitting cable can usually be achieved with a grounded partition Description Typekey Absolute inclinometer AGS 2 HO Measuring range 005 015 030 Number of axis Interface CA Version Mechanical construction horizontal Dynamik 2 mPas Connection connector 8 pin P8M 1 m cable CRW Option without Tabelle 13 Ordering Description Version 09 04 UME AGS CAN Page 35 6 1 Accessories and documentation Description Typ Mating Connector P8F Cabel Cabel STK 8 2m Connector P8F P8F STK8 2 Cabel STK 8 5m Connector P8F P8F STK8 5 User manual Installation and configuration manual german UMD AGS CA User manual Installation and configuration manual english UME AGS CA EDS File Disc containing EDS file for configuration DK AGS CA Tabelle 14 Accessories These can be downloaded free of charge from our Homepage www posital com We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice 7 List of Tables Tabelle 1 Gonnector Assignmentia 2 2 ee ee 8 Tabelle 2 Overview priority of the CANopen 10 Tabelle 3 Comm
20. he Master Faktor 3 Master to inclinometer Set Parameter FC NN Command Index Subindex Service Process data SDO tx Download 100Dh Byte 4 Byte 5 Byte 7 1100b 01 22 oD 10 00 3 00 00 00 Inclinometer to Master Confirmation FC NN Command Index Subindex Service Process data SDO rx Download 100Dh Byte 4 Byte 5 Byte 7 1011b 01 60 oD 10 00 00 00 00 00 To switch off the Node Guarding the Guard Time and the Lifetime Faktor has to set to zero Version 09 04 UME AGS CAN Page 21 4 5 Heartbeat Function With the Heartbeat Function each node can For more information please look to the control another node in a network specifikation DS301Vers4 4 5 1 Heartbeat Consumer CMS Index SDO 1016h Default value Oh Value range Data length Unsigned 32 Unsigned 32 General parameter description Master to inclinometer Set Parameter FC NN Command Index Subindex Service Process data SDO tx Download Byte 4 Byte 5 Byte 7 11000 1 90d 22 16 10 01 x X 0 X Time in ms To ensure a secure functionality the Consumer Time has to be approximately 100ms greater than the Producer time Y Node number of the producer After a successful transmission the inclinometer answered with the following confirmation telegram FC NN Command Index Subindex Service Process data SDO rx Download Byte 4 Byte 5 Byte 7 1011b 1 90d 60 16 10 01 00 00 00 00 Page 22 UME AGS CAN Version 09 04
21. iority of the CANopen objects Priority 0 highest priority 7 lowest priority Page 10 UME AGS CAN Version 09 04 3 1 2 The Command Byte The command byte contents the kind of telegram which is sent across the CAN network One divides three kinds of telegrams a Set Parameter Telegram Domain Download a Request Telegram Domain Upload and Warnings The Set Parameter Telegram is used to send parameter data to the inclinometer node for configuration Function Command 60h Domain Download 43h 4Bh 4Fh 80h Warning Tabelle 3 Command description Telegram 22h Domain Download Request Confirmation 40h Domain Upload Request Domain Upload Reply Reply The Request Telegram is used by the master to read back stored parameters from a node Warnings are sent by the inclinometer to the master if a sent telegram cannot be processed accordingly Description Parameter to inclinometer Parameter received Parameter request Parameter to Master Transmission error 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 Tabelle 4 Data length against command byte Version 09 04 UME AGS CAN Page 11 3 1 3 The Object Directory The data transmission according to CAL is realised i Index hex exclusively by object oriented data messages The objects are c
22. is the PDO 2 must be addressed with the Index 1802h 4 8 4 Example Number of Sync telegrams Target Inclinometer with 3 SYNC telgrams Number of SYNC telegrams X 03h Node number NN 01 d FC NN Command Index Subindex Service Process data SDO tx Download 1802h 2h Byte 4 Byte 5 Byte 6 Byte 7 1100b Old 22 02 18 02 03 0 0 0 Absolute Inclinometer to Master Confirmation FC NN Command Index Subindex Service Process data SDO rx Download 1802h 2h Byte 4 Byte 5 Byte 6 Byte 7 1011b Old 60 02 18 02 00 00 00 00 4 8 5 Polled Mode By a remote transmission request telegram the connected host calls off the current process value The inclinometer reads the current position value calculates eventually set parameters and sends back the obtained CMS PDO 1 Version 09 04 Remote Transmission Request Bit RTR UME AGS CAN process value by the same COB ID The PDO rx with the function code 0011 is used from the inclinometer to transmit the position value This kind of Transmission mode must only be used in status operational Datenl nge 0 Page 29 4 9 Memory Transfer The parameter settings can be stored in a non volatile Flash EPROM The parameter settings are stored in RAM when being programmed because of the limited number of burn cycles of the Flash EEPROM 1 000 When all the parameters are set and proved they can be transferred in one burn cyc
23. itched on The termination resistor is switched on when the dip switch 8 is in the ON position To switch the resistor on the cap of the inclinometer has to be unscrewed There is a resistor provided in the inclinometer which must be used as a line termination on the last device ON OFF 1 1 2 3 Bus address The setting of the node number is achieved via SDO Object see 4 4 Possible valid addresses lie between 0 and 96 whereby every address can only be used once The CANopen inclinometer adds internal 1 to the adjusted device address Version 09 04 2 4 Troubleshooting 2 4 1 Power on Inclinometer doesn t respond Problem The bus is active but the installed inclinometer transmitted the false node number Possible solution modus pre operational adressing the inclinometer via SDO reset or power off power on 2 4 2 Malfunction of the position value during transmission Problem During the transmission of the position value occasional malfunctions occur The CAN bus can be temporabily in the bus off state also Version 09 04 Possible solution Check if the last bus nodes have switched on the terminal resistor If the last bus node is an inclinometer the terminal resistor is to activate 2 4 3 Too much ERROR Frames Problem The bus load is too high in case of too much error frames Possible solution Check if all bus node has the same baudrate If one node has another baudrate
24. lassified in groups by an index record pooo Each index entry can be subdivided by sub COGEO OIN indices The overall layout of the standard object 0020 003F dictionary is shown beside 0040 005F 0060 0FFF 1000 1FFF 2000 5FFF 6000 9FFF A000 FFFF Object not used Static Data Types Complex Data Types Manufacturer Specific Data Types Reserved for further use Communication Profile Area Manufacturer Specific Profile Area Standardised Device Profile Area Reserved for further use Tabelle 5 General object dictionary toDS301 are implemented into the inclinometer Data Length Attr Unsigned32 const Unsigned8 ro Unsigned32 ro Unsigned32 ro Unsigned32 Unsigned32 Following objects according to the communication profile CAN OPEN refer encoder Index Subindex Object Name 1000h VAR Device type 1001h VAR error register 1002h VAR manufacturer status register 1003h ARRAY pre defined error field 1004h Reserved for compatibility reason 1005h VAR COB ID SYNC message 1008h VAR device name 1009h VAR hardware version 100Ah VAR software version 100Bh Reserved for compatibility reason 1010h 1h VAR Store parameters 1011h th VAR Restor parameters 1016h ARRAY Consumer Heartbeat Time 1017h VAR Producer Heartbeat Time 1800h RECORD Communication parameter PDO 1 1800h Oh VAR number of supp entries 1800h th VAR COB ID used by PDO 1800h 2h VAR transmission type 1801h RECORD Communication parameter PDO 2 1801h Oh VAR n
25. le to the Flash EEPROM by the parameter memory transfer The stored parameters are copied after a RESET Power on NMT Reset from the Flash EPROM to the RAM volatile memory The stored parameters are copied after a RESET Power on NMT Reset from the Flash EPROM to the RAM volatile memory Attention The operating mode SYNC or CYCLIC is not saved in the inclinometer After a reset or power up the cyclic mode is always started as standard To switch off the cyclic on you must deactivate the cyclic mode in the state pre operational After that you could start the operational state CMS Index Value Data Type SDO 2300h 55 AA AA 55h Unsigned 32 Master to Inclinometer Set Parameter FC NN Command Index Subindex Service Process data SDO tx Download 2300h Byte 4 Byte 5 Byte 6 Byte 7 1100 1 90d 22 00 23 00 55 AA AA 55 If the transfer is successful the inclinometer quotes after 4s with the pre operational status with a Boot Up message An additional possibility to store the parameter is to use the SDO object 1010 The following parameter has to transmitted to the encoder CMS Index Value Data length SDO 1010h 7361 7665h Unsigned 32 Master to Inclinometer Set Parameter FC NN Command _ Index Subindex Service Processdata SDO tx Download 1010h Byte 4 Byte 5 Byte 6 Byte 7 1100b 1 90d 22 10 10 00 73 61 76 65 Page 30 UME AGS CAN Version 09 04 4 10 Restore default parameters
26. nction code and therefore the identifier are low SDOs service data objects are necessary for the bus node configuration e g transfer device parameters Because these message telegrams are tranferred acyclicly usually only while powering up the network the priority is low FRABA inclinometers with CANopen interface support all CANopen functions The following operating modes can be programmed Polled mode The position value is only given upon request Cyclic Mode The position value is written cyclically interval adjustable to the bus Sync mode Version 09 04 After receiving a sync message by the host the inclinometer answers with the current process value If a node is not required to answer after each sync message a parameter sync counter can be programmed to skip a certain number of sync messages before answering again Change of state mode The position value is transferred when changing Further functions preset resolution etc can be parameterized FRABA inclinometers correspond with the class 2 profile for inclinometer DSP 410 whereby the characteristics of inclinometer with CANopen interface are defined The link to the bus is made by a 8 pin connector For configuration and parameterization various software tools are available from different providers With the help of the provided EDS file electronic datasheet simple line up and programming are possible UME AGS CAN Page
27. ter answered with the following confirmation telegram FC NN Command Index Subindex Service Process data SDO rx Download 2101h Byte4 Bytes Byte6 Byte 7 1011b 1 90d 60 01 21 00 00 00 00 00 Page 16 UME AGS CAN Version 09 04 4 1 1 Programming example Resolution Target Inclinometer with 1 step per 1 Value 1000 3E8 h Node Number NN 1 Master to Inclinometer Set Parameter FC NN Command Index Subindex Service Process data SDO tx Download ss Byte 4 Byte 5 Byte 6 1100b 1 90d 22 00 60 00 E8 03 0 Inclinometer to Master Confirmation FC NN Command Index SDO rx Download 6000h 1011b 1 90d 60 00 60 00 00 00 00 4 2 Operating ParameterLongitudinal This object determines the interpretation of the Slope Longitudinal value CMS Index Default value Value range Data length SDO 601 1h 0 Unsigned 8 Unsigned8 General parameter description Master to Inclinometer Set Parameter FC NN Command Index Subindex Service Process data SDO tx Download 6011h Byte 4 Byte 5 Byte 6 Byte 7 1100b 1 90d 22 11 60 00 x 0 0 X Operating Parameter Function 0 1 Scaling x Y X Slope Longitudinal physically measured value Offset Y Slope Longitudinal physically measured value The inclinometer is setting on X by delivery Version 09 04 UME AGS CAN Byte 7 0 Byte 7 00 0 Page 17 4 2 1 Programming example Operating Parameter Longitudinal
28. ter to Master Confirmation FC NN Command Index Subindex Service Process data SDO rx Byte 4 Byte 5 Byte 6 Byte 7 Download 1011b 1 90 d 60 00 00 00 00 4 6 Changing the node number CMS Index Defaultvalue Value range Data length SDO 3000h 20h Oh 89h Unsigned 8 General parameter description FC KN Command Index Subindex Service Processdata SDO tx Download Byte 4 Byte 5 Byte 6 Byte 7 1100 b 1 90 d 22 00 30 00 x 00 00 00 After successful transmission the inclinometer answered with the following telegram FC NN Command Index Subindex Service Processdata SDO rx Download Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90d 60 00 30 00 00 00 00 00 Page 24 UME AGS CAN Version 09 04 4 6 1 Example Changing the node number Target Inclinometer with node number 5 Default node number 32 d The changed node number is confirmed by the inclinometer but only after a command Objekt 2300 hex Store command Objekt 1010 hex and NMT reset module or NMT reset communikation valid To adjust the node number only one byte is used whereby the inclinometer adds one to the programmed value Setting node number 5 Bit 110 value 2 example 0 Jo 1 4 0 0 4 4 1 5 node number Master to Inclinometer Set Parameter FC NN Command Index Subindex SDO tx Download 1100 b 32d 22 00 30 00 X 7 Bit to adjust the node number Inclinometer to Master Confirmation
29. the CSMA CA principle carrier sense multiple access with collision avoidance i e each user listens if the bus is free and if so is allowed to send messages If two users attempt to access the bus simultaneously the one with the highest priority lowest identifier receives the permission to send Users with lower priority interrupt their data transfer and will access the bus when it is free again Messages can be received by every participant Controlled by an acceptance filter the participant accepts only messages that are intended for it CANopen Transmission Technology Two core cable Baud rates 20 kBaud up to 1 MBaud Participants maximum 127 Cable Length 30m for 1 MBaud 5000 m for 20 kBaud Version 09 04 The data communication is done via message telegrams In general telegrams can be split in a COB Identifier and up to 8 following bytes The COB Identifier which determines the priority of the message is made from the function code and the node number The node number is uniquely assigned to each user With the AGS inclinometer this number can be set via SDO object The function code varies according to the type of message transmitted Administrative messages LMT NMT Service data objects SDOs Process data Objects PDOs pre defined messages synchronization emergency messages PDOs Process Data Objects are needed for real time data exchange Since this messages possess a high priority the fu
30. umber of supp entries 1801h 1h VAR COB ID used by PDO 1801h 2h VAR transmission type Tabelle 6 Object dictionary according DS301 Page 12 UME AGS CAN Unsigned32 rw Unsigned32 Unsigned32 Unsigned8 Unsigned32 Unsigned8 Unsigned8 ro Unsigned32 rw Unsigned8 rw Version 09 04 Index Subindex Objekt Name Datenl nge Attr 6000h VAR Resolution 6010h VAR Slope Longitudinal 6011h VAR Operating Parameter Longitudinal 6012h VAR Preset Longitudinal 6020h VAR Slope Lateral 6021h VAR Operating Parameter Lateral 6022h VAR Presetwert Lateral Signed16 rw Tabelle 7 Object dictionary according DS 410 Additionally following manufacturer specific communication objects are implemented Index Subindex Objekt Name Datenl nge Attr soon Knotennummer Unsigned 8 3001h VAR Datenrate Unsigned 8 rw Tabelle 8 Nodenumber and baudrate Index Subindex Object Name Data length 2200h VAR Cycle time Unsignedi16 rw Tabelle 9 Manufacturer specific object dictionary VAR Variable RECORD Data field ARRAY Data field ro read only rw read write wo write only Version 09 04 UME AGS CAN Attr Page 13 3 2 Operational Status The inclinometer accesses the CAN network 4 s after power on in pre operational status Description FC NN Comand index Subindex S P Data 1110 XXXXXXX Boot Up message All values except the FC are hexadecimal It is recommended to set th
31. used in a wide variety of position sensing applications for the measuring of inclinations Mechanical features include an aluminum housing and IP66 protection Electrical features include a linear and temperature compensated characteristic line integrated SMD circuits and over voltage peak protection The inclinometer can be connected to a bus via an 8 pin connector The termination resistor can be switched on by using a dip switch In addition the resolution is changeable via SDO object For further information about the setup of a CANopen network please refer http www posital com products encoder_abc en coder_abc html Open functions The following modes can be programmed and enabled or disabled Polled Mode Cyclic Mode Sync Mode The protocol supports the programming of the following additional functions Page 4 UME AGS CAN Resolution Preset value Baudrate Node number The general use of inclinometer with CAN Bus interface using the CAN Open protocol is guaranteed 1 2 CANopen technology CAN stands for Controller Area Network and was developed by the company Bosch for applications within the automobile area In the meantime CAN has become increasingly used for industrial applications CAN is a multi masterable system i e all users can access the bus at any time as long as it is free CAN doesn t operate with addresses but with message identifiers Access to the bus is performed according to
32. with a baurate of 250 kBaud Default baudrate 20 kBaud Default node number NN 32 d FC NN Command Index Subindex Service Processdata SDO tx Download Byte 4 Byte 5 Byte 6 Byte 7 1100 b 32d 22 00 31 00 05 00 00 00 After successful transmission the encoder answered with the following telegram FC NN Command Index Subindex Service Processdata SDO rx Download 3001h Byte 4 Byte5 Byte6 Byte 7 1011b 32d 60 00 31 00 00 00 00 00 4 8 Transmission Mode 4 8 1 Cyclic Mode The inclinometer transmits cyclic without being milliseconds for values between 1 ms and 65536 called by the host the current process value ms 6 0 64h 100ms The cycle time can be programmed in CMS Index Default value Value range Data length 9 2200h 64h 1h 10 000h Unsigned16 General parameter description Master to Inclinometer Set Parameter FC NN Command Index Subindex Service Process data SDO tx Download 2200h Byte 4 Byte 5 Byte 6 Byte 7 1100b 1 90d 22 00 22 00 X x 00 00 X desired cycle time Version 09 04 UME AGS CAN Page 27 Inclinometer to Master Confirmation FC NN Command Index Subindex Service Process data SDO rx Download 2200h Byte 4 Byte 5 Byte 6 Byte 7 1011b 1 90d 60 00 22 00 00 00 00 00 4 8 2 Disable the cyclic mode To switch off the cyclic mode of the inclinometer the following telegram cyclic mode disable can be sent Master to Inclinom
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