User Manual - Prokorment
Contents
1. A Sensorik Messtechnik ASIC Design User Manual Inclination Sensors with CANopen Interface Version 1 1 Date 2011 07 01 GEMAC Gesellschaft f r Mikroelektronikanwendung Chemnitz mbH Telephone 49 371 3377 0 Zwickauer Stra e 227 Telefax 49 371 3377 272 09116 Chemnitz E mail info gemac chemnitz de Germany Web www gemac chemnitz de Revision H istory A Sensorik Messtechnik ASIC Design Revision History SEENEN 2010 09 14 0 preliminary 2011 07 01 1 first version Copyright 2011 GEMAC Gesellschaft f r Mikroelektronikanwendung Chemnitz mbH This document is subject to change without notice We constantly work to further develop our products We reserve any changes of the scope of delivery in shape equipment and technology for ourselves No claims can be made from the details illustrations and descriptions in this document Any kind of duplication reprocessing and translation of this document as well as excerpts from it require the written permission of GEMAC mbH All rights according to the copyright remain explicitly reserved for GEMAC mbH Note To use the inclination sensor and for proper understanding of this manual general knowledge of the field bus systems CAN and CANopen is required Document 231xx HB 1 1 E ISxDxxP21 Table of Contents GEMAC Table of Contents Ee 1 ER ger 1 Ee e Teen EE 1 Rente e DEE 2 a MOUNN E 4 3 1 Position of Drilling Holes ae n une2. CANopen station which claims the service of a server CANopen Communication Object CAN Identifier of a COB Data type DOMAIN arbitrary large block of data e g program code Electronic Data Sheet of a CANopen device Emergency Object Object that informs of errors Hexadecimal value Index Subindex position of an OD parameter Surveillance mechanism for CANopen stations Identifier of a CAN message Data type INTEGER8 8 Bit complement on two 128 127 Data type INTEGER16 16 Bit two s complement 32768 32767 Axis assignment Y axis Axis assignment X axis Layer Setting Service Network Management Object Object to set and check CANopen device states Node number of a CANopen device 1 127 Surveillance mechanism for CANopen stations CANopen device state SDO PDO EMCY NMT possible Object dictionary virtual directory with device parameters addressed by index and subindex Process Data Object Object for transfer of process data without protocol offset Sequence in which process data is arranged in a PDO CANopen device state SDO EMCY NMT possible In CiA DS 301 defined concept how COB IDs of the communication objects have to be calculated in de pendence of the Node ID Read only access right read only of an object in the object dictionary Remote Transmit Request Bit within a CAN Frame which induces the recipient to send data Write and read access right write and read of an object in the objec
3. 100Ah 0 Manufacturer Software Version Vxx yy VSTR const dep on type 100Ch 0 Guard Time Multiple of 1 ms UNS16 rw 0 X 100Dh O Life Time Factor UNS8 rw 0 X 1010h Store Parameters Signature s a v e 65766173h at Sublndex 1 4 0 Largest supported SubIndex UNS32 ro 4 1 Save all Parameters OV 0x1000 Ox9FFF UNS32 rw 1 2 Save Communication Parameters OV 0x1000 0x1FFF UNS32 rw 1 3 Save Application Parameters OV 0x6000 0x9FFF UNS32 rw 1 4 Save Manufacturer Parameters OV 0x2000 Ox5FFF UNS32 rw 1 1011h Restore Default Parameters Signature l o a d 64616F6Ch at Sublndex 1 4 0 Largest supported SubIndex UNS32 ro 4 1 Restore all Default Parameters OV 0x1000 Ox9FFF UNS32 rw 1 2 Restore Communication Default Parameters OV 0x1000 Ox1FFF UNS32 rw 1 3 Restore Application Default Parameters OV Ox6000 Ox9FFF UNS32 rw 1 4 Restore Manufacturer Default Parameters OV 0x2000 0x5FFF UNS32 rw 1 1014h 0 COB ID Emergency Message UNS32 ro 80h Node ID 1015h 0 Inhibit Time Emergency multiple of 100 us UNS16 rw 0 x 1017h 0 Producer Heartbeat Time multiple of 1 ms O inactive UNS16 rw 0 X 1018h Identity Object 0 Largest supported SubIndex UNS8 ro 4 1 Vendor ID Manufacturer ID GEMAC mbH UNS32 ro 159h 2 Product Code UNS32 ro dep on type 3 Revision number UNS32 ro dep on type 4 Serial number UNS32 ro dep on type 1200h Server SDO1 Parameter 0 Largest supported SubIndex UNS8 ro 2 1 COB
4. 231xx HB 1 1 E ISxDxxP21 16 6 CANopen Interface GEMAC 6 8 Emergency Objects Each inclination sensor supports EMCY objects which are transmitted in case of sensor and hardware er rors If such an error occurs the OD entries 1001h Error Register 1002h Manufacturer Status Register and 1003h Pre defined Error Field are updated After abolishment of an error the device transmits an emergency message with the Error Reset Code 0x0000 Yet current errors are signaled in Byte2 Error Re gister and Bytes 3 4 in the Manufacturer specific error field Once the device is error free it sends an emer gency message which contains only zeros The current state of the device Pre Operational Operational or Stopped is not influenced by the error states except in case of a guarding error Emergency messages are sent with high priority on the bus and are always 8 bytes long The structure of the telegram is presented in Table 15 Emergency Object Emergency Error Code Error Register Manufacturer Specific Error Field 1001h l Bit field Bit field 0x00 0x00 0x00 Communica Device Error tion Error Table 15 Emergency Object Emergency Error Codes Ox0000 Error Reset or no Error Error Register 0 0x5010 Sensor Error Sensor Error X Inclination value out of range 0x5020 Sensor Error Y Inclination value out of range 0x8110 Overflow of the transmit receive buffers CAN messages were lost 0x8120 CAN Warning Limit reached 0x813
5. Device Error and Communication Error are shown in Table 17 Document 231xx HB 1 1 E ISxDxxP21 12 6 CANopen Interface GEMAC Manufacturer Status Register 1002h Bit31 Bit16 Bit15 Bit8 Bit7 Bit0 Unused Bit field Bit field Communication Error Device Error Table 8 Manufacturer Status Register 1002h 6 7 1 3 Pre defined Error Field 1003h Each inclination sensor has an error list holding the last five errors The list 1003h 00h contains the number of error entries in the error field The other subindices contain all occurred error states in chronological or der The last occurred error is always located at SubIndex 01h The oldest error can be found in the largest available SubIndex value of 1003h 00h and will be the first to be deleted from the list with occurrence of more than five errors If a new error occurs a new error entry is added in 1003h and is also notified by an EMCY object An error entry is structured as follows Error Entry in Pre defined Error Field 1003h 0x0000 Error reset or no error present Bit15 BitO of the manufacturer status register 1002h 0x5010 Sensor Error Sensor Error X at the moment of error occurrence 0x5020 Sensor Error Y 0x8110 Overflow of the transmit receive buffers 0x8120 CAN Warning Limit reached Bit field Bit field 0x8130 Node Guard Event Communication error Device Error 0x8140 Recovered from Bus Off Table 9 Error Entry in Pre defined Error Field 1003h The
6. ID Client gt Server UNS32 ro 600h Node ID 2 COB ID Server gt Client UNS32 ro 580h Node ID 1800h Transmit PDO1 Communication Parameter 0 Largest supported SubIndex UNS8 ro 5 1 COB ID UNS32 ro 180h Node ID 2 Transmission Type synchronous asynchronous manufacturer specific UNS8 rw 1 X 3 Inhibit Time between two TPDO Messages multiple of 100 us UNS16 rw 0 X 4 Compatibility Entry UNS8 rw 0 X Document 231xx HB 1 1 E ISxDxxP21 11 6 CANopen Interface GEMAC 5 Event Timer Multiple of 1 ms O inactive UNS16 rw 0 x 1A00h Transmit PDO1 Mapping Parameter O Largest supported SubIndex UNS8 ro dep on type 1 Mapping Entry 1 both types IS1D 00 P21 IS2D 90 P21 UNS8 rw 0x60100010 xX 2 Mapping Entry 2 Type IS1D 00 P21 IS2D 90 P21 UNS8 rw 0 0x60200010 X 3 Mapping Entry 3 UNS8 rw 0 X 4 Mapping Entry A UNS8 rw 0 X 5 Mapping Entry 5 UNS8 rw 0 X 6 Mapping Entry 6 UNS8 rw 0 X 7 Mapping Entry 7 UNS8 rw 0 X 8 Mapping Entry 8 UNS8 rw 0 X 1F50h Download Program Data 0 Largest supported SubIndex DOMAIN ro 3 1 Area Firmware DOMAIN wo 2 Area Configuration 1 Access only to manufacturers DOMAIN wo 3 Area Configuration 2 Access only to manufacturers DOMAIN wo 1F50h Download Program Control 0 Largest supported SubIndex UNS8 ro 3 1 Area Firmware UNS8 rw 1 2 Area Configuration 1 Access only to manufacturers UNS8 rw 1 3 Area Configuration 2 Access only to manufacturers UNS8 rw 1 Table 6 Communication Parameters in t
7. Zero point typ 0 008 K Sampling rate 80 Hz Cut off frequency typ 20 Hz 2 order without digital filter 0 1 25 Hz 8 order with digital filter Operating temperature 40 C to 80 C Characteristics Interface CANopen according CiA DS 301 profile according to CiA DSP 410 Data rates 10 k 20 k 50 k 62 5 k 100 k 125 k 250 k 500 k 800 k Bit s 1 MBit s automatic detection Functions Angle request cyclical and synchronized outputs parametrization digital filter Butter worth lowpass 8 order configuration via object dictionary Electrical Parameters Supply voltage 8 to 48 VDC Current consumption 86 mA to 19 mA lt 33 mA 24 V Connector CAN 2x sensor connector 5 pole M12 loop through connector Degree of protection IP65 67 Dimensions Weight 66 mm x 90 mm x 36 mm approx 215 g CE conformity to EC Directive 2006 42 EC EC Directives RL 2004 108 EC EMC Directive RL 2006 95 EC Low Voltage Directive LVD Harmonized standards DIN EN 50498 2010 Electromagnetic compatibility EMC Product family standard for aftermarket electronic equipment in vehicles EN 60950 1 2006 A1 2010 Information technology equipment Safety General requirements EN ISO 14982 2009 Agricultural and forestry machinery Electromagnetic compatibility Test methods and ac ceptance criteria DIN EN 13309 2010 Construction machinery Electromagnetic compatibility of machines with internal power supply Table 1 Technical Da
8. and error information by two colored LED according to CiA DR 303 3 Further manufacturer and profile specific characteristics exist in addition to the CiA DS 301 functionality Configurable cut off frequency digital filter Configuration of the minimum angle change for TPDO1 transmit event Direction switch of the inclination value Configurable zero point of the inclination value Setting of the Node ID as well as the baud rate via LSS service according to CiA DSP 305 Automatic baud rate detection according to CiA AN 801 Document 231xx HB 1 1 E ISxDxxP21 6 6 CANopen Interface GEMAC 6 CANopen Interface 6 1 CANopen Structure CANopen is a CAN based open protocol standard in automation and was standardized in association with CAN in Automation CiA Like virtually all field buses CANopen is based also on the ISO OSI 7 layer mod el The protocol makes use of the CAN bus as a transmission medium and defines the elements for network management the use of the CAN identifier message address the temporal behavior on the bus the type of data transfer and application profiles This is to ensure that CANopen devices from different manufactur ers can be combined Profile Profile Je Motion Profile DSP Device Application Profile CiA DS 4xx ISO OSI Layer 7 Application Layer Communication Profile CiA DS 301 ISO OSI Layer 2 Data Link Layer ale Standard ISO 11898 CAN Figure 4 CANopen Structure CANopen descri
9. error list can be reset completely by writing 0 to entry 1003h 00h 6 7 1 4 Saving 1010h and Loading 1011h of Parameters If parameters are changed in the object dictionary those changes will take effect immediately To ensure the changed parameters are still active after Reset they have to be saved in the internal EEPROM By writing the signature save 65766173h to the entry 1010h 01h all the current parameters of the object dictionary will be saved in the internal permanent memory The object dictionary can be reset to its default settings by writing the signature load 64616F6Ch into the entry 1011h 01h By doing this the factory parameters are written in the permanent memory After a Reset Application NMT command or a hardware reset the changes will take effect a Reset Communication NMT command effects the communication parameters only By writing the signature on SublIndex 02h 03h or 04h it is possible to store or load only parts of the object directory 6 7 1 5 Transmit PDO1 Transmission Type 1800h The entry 1800h 02h can be used to define how the transmission of the PDO is triggered Document 231xx HB 1 1 E ISxDxxP21 13 GEMAC 6 CANopen Interface A Sensorik Messtechnik ASIC Design Transmit PDO1 Transmission Type 1800h 02h Transmission Type Description 1 240 Synchronous cyclic Transmission after each 1 240 reception of a SYNC message only Synchronized Trans
10. 0 Node Guard Event The loss of the Guarding Master has been detected 0x8140 Recovered from Bus Off Table 16 Emergency Error Codes Bit field Device Errors 0x01 Sensor Error type only IS1D 00 P21 0x0 1 Sensor Error X Axis type only IS2D 90 P21 0x02 Sensor Error Y Axis type only IS2D 90 P21 0x80 EEPROM Error An error occurred while saving the configuration Bit field Communication Errors 0x01 CAN Warning Limit reached too many Error Frames 0x02 CAN Bus Off State reached An Emergency message will be transmitted after the device has recovered from Bus Off 0x04 Receive Queue Overrun CAN messages were lost 0x08 Transmit Queue Overrun CAN messages were lost 0x80 Guarding Error The loss of the Guarding Master has been detected Node Guard Event Table 17 Emergency Manufacturer Specific Error Field Document 231xx HB 1 1 E ISxDxxP21 17 6 CANopen Interface GEMAC 6 9 Failure monitoring Since the nodes do not respond at regular intervals with the event controlled transmission in a CANopen network Heartbeat and Nodeguarding Lifeguarding failure monitoring mechanisms are provided Only one of the two monitoring methods can be active 6 9 1 Nodeguarding Lifeguarding Nodeguarding is the monitoring of one or several nodes by the NMT master The NMT master periodically issues an RTR message frame to the slave to be monitored which responds with its status and with a toggle bit If the status or the toggle bit do
11. 05 2008 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery discharge combination 330 pF 330 Q Contact discharge 8 KV bipolar metallic parts Air discharge 15 KV bipolar Performance criteria A Table 2 Electromagnetic Compatibility EMC Document 231xx HB 1 1 E ISxDxxP21 saan A GEMAC OU nting Sensorik Messtechnik ASIC Design 3 Mounting 3 1 Position of Drilling Holes The four drilling holes to mount the sensor Figure 1 are situated in the base plate of the inclination sensor Tor hexagon socket screw M5 DIN 912 A2 4 pcs I z N AU ZN NY a gt mandatory use conical C spring washer _ M5 DIN 6796 A2 4 pcs 66 0 45 0 I I I I I I I I I I I I I I _R2 9 ay IS 75 0 90 0 Figure 1 Dimensioned Sketch of plastic housing 3 2 Definition of the Axes Figure 2 Definition of the Axes factory default settings Document 231xx HB 1 1 E ISxDxxP21 4 A Connection A Sensorik Messtechnik ASIC Design 4 Connection 4 1 Connector Pin Out The inclination sensors IS1D 00 P21 and IS2D 90 P21 are equipped with a common 5 pole round plug M12 A coded The pin allocation fulfills CiA DR 303 1 Figure 3 1 CAN_SHLD Shield 2 CAN_V Supply voltage 24 V 3 CAN_GN
12. D GND OV V 4 CAN_H CAN_H bus line 5 CAN_L CAN_L bus line View from the outside Figure 3 Connector Pin Out CAN Bus 4 2 Bus Termination Resistor The inclination sensors contain no internal termination resistor Document 231xx HB 1 1 E ISxDxxP21 5 5 Function Description A Sensorik Messtechnik ASIC Design 5 Function Description 5 1 Overview of Function The inclination sensors IS2D xx P06 PO7 contain a standardized CANopen interface according to CiA DS 301 and a device profile according to CiA DSP 410 All measured values and parameters are ac cessible through the object dictionary OD The individual configuration can be saved in the internal per manent memory EEPROM The following CANopen functions are available mM One transmission data object TPDO1 dynamically mappable in four possible operating modes Individual request via remote transmit request message frame RTR Cyclic transmission at defined intervals Event controlled transmission on inclination change Synchronous transmission after receiving a SYNC message frame One Service Data Object Default SDO Error messages by Emergency Object EMCY with support of the General Error Register Manufacturer specific status register Manufacturer Status List of errors Pre defined Error Field Heartbeat and Nodeguarding Lifeguarding monitoring mechanisms Store and load function of all parameters Store and Load Parameter Field Condition
13. X Table 12 Device Profile Specific Part of the Object Dictionary 6 7 3 1 Resolution 6000h The resolution of all inclination sensors are set to 0 01 default 10 0 001 All angle values in the object dictionary 6010h 6012h 6013h 6014h and 6020h 6022h 6023h 6024h are to be interpreted as a mul tiple of 0 01 Example Inclination value 2370 x 0 01 23 70 6 7 3 2 Inclination values longitudinal and lateral 6010h and 6020h The recent inclination values of the inclination axes are accessible by SDO access to the object dictionary in each device state as well as by TPDO If Zero Point Adjustment is enabled via the operating parameters 6011h and 6021h the inclination value is calculated as follows Inclination Value Physically Measured Inclination Value Diff Offset Value Offset Value Document 231xx HB 1 1 E ISxDxxP21 15 6 CANopen Interface GEMAC On disabled Zero Point Adjustment Inclination Value Physically Measured Inclination Value The conversion of the 100fold signed 16 Bit inclination value complement on two is described in chapter 6 7 3 3 Example Value Range Type IS1D 00 P21 18000 17999 180 00 179 99 0 359 99 Value Range Type IS2D 90 P21 9000 9000 90 00 90 00 6 7 3 3 Operating Parameters 6011h and 6021h The operating parameters settings of an inclination sensor 6011h and 6021h allow the changing of the mathematical si
14. bes the ISO OSI layer 7 application layer as a communication profile that was specified in the CiA standard CiA DS 301 The standard defines the method of communication for all devices consist ently In addition more device and application profiles for specific classes of devices and applications in the CiA standard DS 4xx are defined 6 2 CANopen Device Model The exchange of data between CANopen devices is realized via data objects The CANopen communica tion profile thus provides for the following types of objects The process data objects PDO are high priority messages used for the exchange of process data Access to the object dictionary of a device is done via the service data objects SDOs Network management objects are used to control the state machine of the CANopen device and to monitor the nodes Furthermore there are special objects for error messages Emergency Synchronization SYNC and time stamp Every CANopen device has a CANopen object dic tionary in which the parameters for all CANopen objects are registered Document 231xx HB 1 1 E ISxDxxP21 T 6 CANopen Interface GE MAC Sensorik Messtechnik ASIC Design 6 3 COB IDs The CAN identifier of the communication objects is determined according to the Pre defined connection set at each reset communication application and hardware reset depending on the selected Node ID Table 3 shows the calculation base with the default values Node ID 10 Communicat
15. ce is in working condition O0000 O000O0O0 O Single Flash CAN Warning Limit reached SC COOC Double Flash The loss of the Guarding Master has been detected Node Guard Event CECCECECOCO On The device is in state Bus Off Legend OLED off LED on LED flickering 50 ms on off Duration of O 200 ms Table 19 Status and Error Display through Two Color LED Document 231xx HB 1 1 E ISxDxxP21 20 T Sensor configuration A Sensorik Messtechnik ASIC Design 7 Sensor configuration 7 1 Inclination sensor programming adapter With the optional inclination sensor programming adapter starter kit it is possible to adjust all inclination sensors with CAN CANopen current or voltage interface It consists of a programming adapter that is con nected via USB to a PC The connection with the programming adapter is realized through various also in cluded adapter cables The inclination sensor is supplied with power through this An additional power sup ply is not necessary ISDControl CAN CANopen gt Eau i Current Voltage interface Figure 7 Starter kit Document 231xx HB 1 1 E ISxDxxP21 21 7 Sensor configuration 7 2 PC software ISDControl GEMAC Sensorik Messtechnik ASIC Design The parametrization of all possible values is done with the PC software ISDControl which is included in all starter kits Each configuration can then be stored in a file Features 3D imaging and display of
16. e TPDO1 directly as soon as the bus permits For this the entry 1800h 02h Transfer Type must contain the value n 1 240 6 5 1 4 Event controlled transmission on inclination change manufacturer specific The bus load from PDOs can be reduced if the TPDO1 is only transmitted when an appropriate angle change has occurred This function can only be configured in the manufacturer specific part of the object directory under index 3001h To this end the entry 1800h 02h transmission type must contain the value 254 asynchronous manufacturer specific Document 231xx HB 1 1 E ISxDxxP21 co 6 CANopen Interface GEMAC 6 6 Service Data SDO The parameters listed in the object dictionary are read and written through Service Data Objects SDOs As shown in Table 6 every object can directly be addressed over a 16 bit index In addition each index has an 8 bit subindex that allows an additional choice within an index The 8 bytes of the SDOs are placed in the data area of the CAN message ByteO Byte1 3 Addressing Byte4 7 1 4 Byte Parameter Command Data Data Data2 Data3 Specifier O b j ec E Upload o d Ge D i ce t io nar y Data byte count Index Subindex Description Parameter Request Response Device Type 2019Ah Abort Identity Object 04h Vendor ID 0159h Product Code 5A72h 23154dec Revision number 00000001h Serial number 12345678h Slope Long16 1599 15 99 Figure 6 SDO Protocol Access
17. ee een nannten den ken 4 8 2 DEIN ION OF MEANS een ee ea ee 4 BECOMING CHOW ee ee res een east sera 5 A I CONNEC OFRI OU E 5 4 2 E gl e in Ee 5 5 FU NELION DESCHIPIION ee 6 Os OVGIVIEW OF F RCLON ee ee Ed 6 O CANOPEN Wl En ler 7 SE e er ier ee een 7 6 2 CANopen Device Model 7 Eege 7 6 4 Network Management NMT nenn nnnn nenn nennen nenn nenn nnenennennnnnnnennenennnnnenne nen nnenennen 8 6 5 Process Data PDOTIPDO Tan een ae een 8 5 5 1 PDO Communication VB 9 6 5 1 1 Individual Request Pollmg nenne nnnnn nennen nnnnnn nenne nnnnnn nenne nnenne ernennen 9 9 2 12 CVelle IANS TG E 9 6 5 1 3 Synchronous Transmission u0 200000000000ennn neuen nnnnennnnnnnnnnn neuen nnnnnnnnnnnnnnnnnnnnn nenn nenn 9 6 5 1 4 Event controlled transmission on inclination change manufacturer specific 9 COS ENEE Da SO EE 10 SE ODS CU Reen TN ee ee enge 10 6 7 1 Communication Parameters according to CIA DS 201 11 6 71 Error Register 100 IH ze ech menu 12 6 7 1 2 Manufacturer Status Register OO2hb nenne nnennn nenne nenn nenne nennen 12 6 7 1 3 Pre defined Error Field O0O3h nn nnn nenn nenn nme nennen 13 6 7 1 4 Saving 1010h and Loading 1011h of Harameiers nennen 13 6 7 1 5 Transmit PDO1 Transmission Type O0h nnnneennn nennen nn nennen 13 0 7 2 Manufacturer Specific Pal ae ine 14 6 7 2 1 Automatic Bus Off Recovery CGOO2h nenne nnennn nenne nennen nenne nennennenennenn 14 6 7 2 2 Cu
18. ensor on the existing baud rate in the network After power on the inclination sensor only listen to the CAN network without acknowledging the received messages on the bus This operating condition is characterized by the flickering of the RUN LED see also chapter 6 12 Status LED according to CiA DR 303 3 The sensor checks all the available baud rates Upon receipt of a valid CAN telegram the correct baud rate is adjusted Then he starts up in the mode Pre Operational using a boot up message see also Figure 5 Remarks For proper operation of the automatic baud rate detection it is necessary to receive messages from other can nodes on the bus Document 231xx HB 1 1 E ISxDxxP21 19 6 CANopen Interface GEMAC 6 12 Status LED according to CiA DR 303 3 The integrated two color Status LED signals the recent device state Run LED green as well as CAN com munication errors that might have occurred Error LED red The color and the flashing frequency of the LED distinguish the different device states as shown below O OOG OOO 62 Of The device is in state Reset or no power supply is connected Ce Oe Oe Oe Ge Oe Oe Ge We Oe We Ge Flickering Automatic baud rate detection is currently running active OCOGOGECOGOGO Blinking The device is in state Pre Operational 0 00000 0 OO Single Flash The device is in state Stopped CE ee On The device is in state Operational OIIOINE 2 6 SE The devi
19. gn of the inclination value and a Zero Point Adjustment On Factory Default Settings these options are disabled i e the direction of the inclination value polarity of the axis corresponds to the one shown on the nameplate of the inclination sensor Operating Parameters 6011h and 6021h str sits its Bia Bis Bir Bi Biwo Zero Point Inversion Adjustment Unused 0 inactive 0 inactive 1 active 1 active Table 13 Operating Parameters 6011h and 6021h 6 7 3 4 Zero Point Adjustment Preset Value Offset Value Differential Offset Value 60x1 2 3h Using the values Preset Value Offset Value and Differential Offset Value the adjustment of the Zero Point is possible The Zero Point Adjustment is only active if the Bit1 in the operating parameters 6011h 6021h is set vaio object Denen Preset Value 6012h Preset Value for Zero Point Adjustment value range depends on settings in object 6000h 6022h Offset Value 6013h Calculated Offset Value when writing to object 6012h or 6021 6023h Calculated Offset Value Preset Value at tacc physically measured Inclination Value at tacc Dif ferential Offset Value tacc time when accessing object 6012h 6022h Differential Offset 6014h Additional Offset regardless of object 6012h and 6013h 6022h and 6023h Value 6024h The value you enter here will be added up directly to the inclination value Table 14 Zero Point Adjustment Document
20. he Object Dictionary 6 7 1 1 Error Register 1001h The error register displays the general error state of the device Each bit stands for an error group If one bit is set 1 at least one error of that specific group occurs The content of this register is transmitted in each EMCY object The following error groups can occur Error Register 1001h Ger Bis 55 Bis Brs iz Br 32 cr Manufacturer Unused Profile Specific Communication Unused At least one Specific Error Error Error active fault Table 7 Error Register 1001h If the device is in error state at least one active error this is shown by the set BitO 1 In the event of a communication error overflow of the transmit receive buffers guarding errors or CAN controller in the passive mode Bus Off the Bit4 is set A device profile specific error sensor error is shown by Du The Bit7 indicates a vendor specific error EEPROM error 6 7 1 2 Manufacturer Status Register 1002h This Register shows the recent state of all detectable errors Here each bit represents a specific error If a bit is set 1 this error is active at that moment The low ordered 16 bits of this register Bit15 Bit0 are transmitted in the first two bytes of the manufacturer specific part of each EMCY object and are also re gistered in the additional information field Bit31 Bit16 of the Pre defined Error Field 1003h The definitions of the individual bits in the bit fields
21. ion object COB Calculation of the COB ID Default value Node ID 10 NMT Oh Oh SYNC 80h 80h EMCY 80h Node ID 8Ah TPDO1 180h Node ID 18Ah Default SDO Client gt Server 600h Node ID 60Ah Default SDO Server gt Client 580h Node ID 58Ah Heartbeat 700h Node ID 70Ah Table 3 Calculation of the COB IDs for Pre defined Connection Set 6 4 Network Management NMT Figure 5 shows the NMT state machine of a CANopen device After Initialization the device automatically goes into the state Pre Operational The device sends a Boot Up Message In this state it can be con figured via the object dictionary The service data objects SDO are already active The process data ob jects however are still locked Initialization Automatic Baud Rate Detection 21010 10 6 Message Pre Operational Stelle Operational Figure 5 NMT State diagram By sending the CAN message Start Remote Node the unit will go into the state Operational Now the pro cess data objects are active In Stopped state no communication with the exception of Nodeguarding and Heartbeat is possible Document 231xx HB 1 1 E ISxDxxP21 8 6 CANopen Interface GEMAC 6 5 Process Data PDO TPDO1 Each inclination sensor has exactly one transmit process data object TPDO The TPDO contains the cur rent values of inclination axial or longitudinal and lateral The PDO mapping of the measured values i
22. mapping Type IG1DO0b n 9 Table 5 TPDO1 Default mapping Type IS2D o0b nennen nnnnnn nenne nnennn nennen 9 Table 6 Communication Parameters in the Object Dchonanm nenne nnnn nn nnnnnnenen een 12 Table 7 Error Register 1001h ee een 12 Table 8 Manufacturer Status Register 1002h 002020000440000ennnnnnnn nennen nnnnnn nenne nnnnnen nenne nennen enenen 13 Table 9 Error Entry in Pre defined Error Field O03hb nenn nenn nenne ann nne nennen 13 Table 10 Transmit PDO1 Transmission Type SO0Ob O2h nenn nennnnennnnnnn nennen 14 Table 11 Manufacturer Specific Part of the Object Dichonanm nenne nnnnne nennen nennen nennen 14 Table 12 Device Profile Specific Part of the Object Duchonanm nennen nn nnn emo nennen 15 Table 13 Operating Parameters 6011h and GOZ1bk nenn nnennn nenn nenne nenne nennen 16 Table 14 Zero Pont AGUS USM EE 16 Table 15 Emergency OD C E 17 Table 16 Emergency tee 17 Table 17 Emergency Manufacturer Specific Error Feld 17 Table 18 LSS Baud Rate Index according to CIA DSb A09 nenne nenne nnenne nennen 19 Table 19 Status and Error Display through Two Color ED 20 Table 20 Ordening IHformaton E 23 Document 231xx HB 1 1 E ISxDxxP21 IV ar GEMAC ist of Figures Sensorik Messtechnik ASIC Design List of Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Dimensioned Sketch of plastic bousmg 4 Definition of the Axes factory defa
23. mission via SYNC possible 253 Transmission with RTR only 254 Asynchronous manufacturer specific Cyclic Transmission and or Transmission on Inclination Change activated by appropriate configuration Table 10 Transmit PDO1 Transmission Type 1800h 02h 6 7 2 Manufacturer Specific Part Parameter Data Default value Save type 2002h Automatic Bus Off Recovery BOOL 3000h O Cut off frequency digital filter 0 deactivated or 100 25000 in mHz UNS16 rw 2000 X 3001h TPDO1 Transmission on Inclination Change Type IS1D 00 P21 0 Largest supported SubIndex UNS16 ro 2 1 Enable Disable 1 0 transmission on inclination change UNS16 rw 0 X 2 Minimum inclination change for axial axis multiple of 100 UNS16 rw 100 X 3001h TPDO1 Transmission on Inclination Change Type IS2D 90 P21 0 Largest supported SubIndex UNS16 ro 3 1 Enable Disable 1 0 transmission on inclination change UNS16 rw 0 X 2 Minimum inclination change for longitudinal X axis multiple of 100 UNS16 rw 100 X 3 Minimum inclination change for lateral Y axis multiple of 100 UNS16 rw 100 X 5555h Reserved index access for manufacturer only Table 11 Manufacturer Specific Part of the Object Dictionary 6 7 2 1 Automatic Bus Off Recovery 2002h This property determines the behavior of the inclination sensor when it is in the state Bus Off If enabled the sensor which is in Bus Off state may become error active no longer Bus Off with its error co
24. mware Version 3 20 Winkelbereich 450 fl sung 0 01 atusbyte 0x01 Au Figure 8 PC software Document 231xx HB 1 1 E ISxDxxP21 ow Alle Parameter Analogausg nge Ausgang Gi Kanal O Kanal B Konfiguration Ausgang X Achse Begrenzung Spannungsausgang 0 5 4 5 Yu 0 500 V Eingabe VO 4 500 Eingabe 18 24 1 293 Y Winkelwerte 0 02 Sensor Konfiguration wul _ 45 00 Eingabe geg mz 90 00 Eingabe 300h 301h 10 Sensor Scan Firmware Update Standard Volbdd Winkelwerte anzeigen 0 00 Sensor 3D Ansicht Sensor Oszilloskop 152D 90 P25 Serien Nr 00002 22 GEMAC Sensorik Messtechnik ASIC Design 8 Ordering Information 8 Ordering Information Article Number Product Type Description Distinction PR 23150 30 IS1D 00 P21 1 dimensional 360 CANopen interface PR 23154 30 IS2D 90 P21 2 dimensional 90 CANopen interface PR 23999 01 ISPA1 Inclination sensor programming adapter Starter kit including programming adapter cables and PC software Table 20 Ordering Information Document 231xx HB 1 1 E ISxDxxP21 23
25. n case of inclination changes of the longitudinal and or the lateral axis greater than set under 3001h 02h and 03h During operation the angle difference between the recent inclination value and the last one sent by the TPDO1 is permanently calculated and checked With each crossing to the state OPERATIONAL the inclina tion sensor posts the recent position by the TPDO1 object too only if 3001h 01h 1 Remarks If small inclination differences are set under 3001h 02h and O3h it is recommended to enable the digital filter index 3000h to reduce the influence of vibrations and the frequent output of the TPDO1 6 7 3 Device Profile Specific Part according to CiA DS 410 Parameter Data Default value Save type 6000h 0 Resolution multiple of 0 001 UNS16 6010h 0 Inclination value longitudinal X axis 100fold angle value in INT16 ro 6011h 0 Operating Parameter longitudinal Inversion Zero Point Adjustment UNS8 rw 0 X 6012h 0 Preset Value longitudinal X Axis INT16 rw 0 x 6013h 0 Offset Value longitudinal X Axis INT16 rw 0 X 6014h 0 Differential Offset Value longitudinal X Axis INT16 rw 0 X 6020h 0 Inclination value lateral X axis 100fold angle value in INT16 ro 6021h 0 Operating Parameter lateral Inversion Zero Point Adjustment UNS8 rw 0 X 6022h 0 Preset Value longitudinal Y Axis INT16 rw 0 x 6023h 0 Offset Value longitudinal Y Axis INT16 rw 0 X 6024h 0 Differential Offset Value longitudinal Y Axis INT16 rw 0
26. not comply with the status or toggle bit expected by the guarding master or if no response is provided the master assumes a Slave error The node to be monitored can also use this mechanism to detect a failure of the guarding master To this end two parameters are used The interval time after which the guarding master polls the inclination sensor to be monitored is the Guard Time 100Ch Another parameter the Life Time Factor 100Dh defines a mul tiplier after which the connection is deemed to be interrupted This time is designated as the node life time Node Life Time Guard Time x Life Time Factor If the inclination sensor does not receive a guarding request from the master within the parametrized time it also assumes a master failure sends an emergency message frame and returns to the Pre Operational state If either of the two parameters is 0 default setting the master is not monitored no Lifeguarding 6 9 2 Heartbeat Heartbeat is a failure monitoring mechanism which can operate without using RTR message frames In this case the inclination sensor cyclically transmits a heartbeat message which contains the state of the device The master can monitor these message frames Heartbeat is activated once a value greater than 0 is entered in the heartbeat interval time register 101 7h Remarks Heartbeat has a significant influence on the bus load of the CANopen network but produces only half the high b
27. s dy namically adjusted The default mapping is shown inTable 4 5 Data part of the CAN Frame of the TPDO1 Inclination value axial unused OV 6010h Table 4 TPDO1 Default mapping Type IS1D 00 P21 Data part of the CAN Frame of the TPDO1 Inclination value longitudinal Inclination value lateral unused X Axis OV 6010h Y Axis OV 6020h Table 5 TPDO1 Default mapping Type IS2D 90 P21 6 5 1 PDO Communication Types 6 5 1 1 Individual Request Polling The TPDO1 can be requested at any time by transmitting a remote transmit request message frame 6 5 1 2 Cyclic Transmission The cyclic transmission of the TPDO1 is activated if the entry 1800h 05h interval time in milliseconds con tains a value greater than 0 Furthermore the entry 1800h 02h transmission type must contain the value 254 asynchronous manufacturer specific In this case the inclination sensor will transmit the TPDO1 cyc lically at the set period interval when in the OPERATIONAL state 6 5 1 3 Synchronous Transmission The synchronous transmission is used to get inclination values from more then one sensor at the same time Therefore CANopen provides a SYNC object a CAN message without user data transmitted with high priority on the bus This SYNC object is transmitted from a bus node usually the master cyclically at fixed intervals All inclination sensors read their current value after every n reception of the SYNC object and then transmit th
28. t dictionary Service Data Object object for access to the object dictionary CANopen station which offers a service for one several client s CANopen device state only NMT possible Data type UNSIGNED8 8 Bit without sign 0 255 Data type UNSIGNED16 16 Bit without sign 0 65535 Data type UNSIGNED32 32 Bit without sign 0 4294967296 Document 231xx HB 1 1 E ISxDxxP21 VI Term and Abbreviation Definition GEMAC VSTR Data type VISIBLE STRING ASCIll string inclusive end identifier Oh wo write only access right write only of an object in the object dictionary Document 231xx HB 1 1 E ISxDxxP21 VI 1 Ove rview A Sensorik Messtechnik ASIC Design 1 Overview 1 1 Characteristics 1 dimensional inclination sensors with measurement range 360 180 2 dimensional inclination sensors with measurement range 90 X Y High sampling rate and bandwidth High resolution 0 01 and accuracy 0 05 Compensated cross sensitivity Programmable vibration suppression Comfortable CANopen interface Meets the CiA DS 301 device profile CIA DSP 410 Baud rates from 10 kBit s to 1 MBit s Automatic baud rate detection Setting Node ID and baud rate via LSS service E Functions One TPDO dynamically mappable RTR cyclic event controlled synchronized SYNC Consumer synchronized transmission of the TPDO after receiving a SYNC message EMCY Producer Failure monitoring via Heartbeat or Nodeg
29. t off Frequency of the Digital Filter C2O0O0b Renee nnne nen nennen nne nennen 14 6 7 2 3 TPDO1 Transmission on Inclination Change 20071b nennen nennen 14 6 7 3 Device Profile Specific Part according to CIA DS A101 nenne nnn nennen nenn nennen 15 6 7 3 1 Resolution GO0O0b nenne naaa eaaa aa aaa ariei 15 6 7 3 2 Inclination values longitudinal and lateral 6010h and GOZ0b 15 6 7 3 3 Operating Parameters 6011h and GO2nb 16 Document 231xx HB 1 1 E ISxDxxP21 II Table of Contents GEMAC 6 7 3 4 Zero Point Adjustment Preset Value Offset Value Differential Offset Value 60x1 2 3h 16 6 8 EIERE 17 6 2 F alure MONON EN 18 6 9 1 Nodeguarding Lreguardmg 18 e leg EE 18 6 10 LSS Layer Setting Service according to CIA DSb 2081 nenne nennen 19 6 10 1 Setting of Node ID and Baud Hate nenne nenne nenne nnnnne nennen nnnnnn nenne nennen 19 6 11 Automatic Baud Rate Detection according to CIA AN GO1 nenn nnennn nen nene nennen 19 6 12 Status LED according to EADRS03 3 Be a 20 2 SENSOL CO MOU NOT EE 21 7 1 Inclination sensor programming adapier nenne nenn nennnennnnnn nenne nennenennnnnn nennen 21 1 2 PC software IS DIESOTI ON EE 22 8 Ordenng MTOM WOR EE 23 Document 231xx HB 1 1 E ISxDxxP21 III List of Tables GEMAC List of Tables ES 1 Teenie al Dale eat Elena S 2 Table 2 Electromagnetic Compatibility EM 3 Table 3 Calculation of the COB IDs for Pre defined Connection Gei 8 Table 4 TPDO1 Default
30. ta 1 All indicated angle accuracies are valid after a running time of 10 minutes at 25 C Cut off frequency 0 3 Hz Absolute calibration accuracy at 25 C 0 05 Document 231xx HB 1 1 E ISxDxxP21 2 2 Technical Data A Sensorik Messtechnik ASIC Design Electromagnetic Compatibility EMC Transient Emissions Radiated disturbance Radio field strength Limit curves broadband and narrowband EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 30 1000 MHz vertical and horizontal Immunity to Radio Frequency Fields RF fields Strip line according to ISO 11452 5 Anechoic chamber according to ISO 11452 2 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 20 400 MHz 200 V m 1 KHz AM Performance criteria A Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 200 1000 MHz vertical 400 1000 MHz horizontal 100 V m 1 KHz AM Performance criteria A Immunity to Conducted Disturbances on board power supply 24 VDC Test pulse according to ISO 7637 2 2004 Test pulse Severity level Performance criteria 1 450 V III C 2a 37 V III B 2b 20 V III C 3a 150V III A 3b 150V III A 4 12 V II B 5a 70 V Ri 1Q A 5b 36 V Ri 0 5 0 A Immunity to Electromagnetic Discharge ESD ESD according to ISO 106
31. the current angle Oscilloscope display of the current angle Firmware Download option Comfortable configuration of all parameters of the inclination sensor Automatic inclination sensor search for unknown communication parameters Unbenannt isd ISDControl ei Ansicht Extras Hilfe Sensor Auswahl Strom Spannung e 300h 301h 10 Sensor Scan Firmware Update X Sensor Konfiguration E ungssensor ZA Unbenannt 15DControl SL E ei Ansicht Extras Hilfe CAN CANopen 1000 kBit s 300h 301h 10 Sensor Se X Sensor Konfiguration ef Firmware Update I jungssensor Car Baudrate Node ID LSS Comm Parameter Manu Parameter Appl Parameter Dokument Sensor H CANopen Nodequarding aktivieren F P RA Guard Time in ms E Strom Life Time Factor Heartbeat aktivieren El Spannung Intervallzeit in ms SE Synchronisiertes Senden Nach Anzahl SYNC Telegramme 1 1 Zyklischer Betriebsmodus o Zykluszeit in ms Sensor Info x COB ID SYNC 0x 080 te D SI Angeschlossener Sensor Sperrzeit EMCY in ms 10 H eie CAN Sperrzeit TPDO1 in ms 10 0 0 ydukt Code PR 23154 00 seriennummer 00001 vice ID 152D 90 P21 nware Version v3 21 ikelbereich 90 fl sung 0 01 tusbyte 0x01 Au Dokument gt Sensor Dokument lt Sensor Standard Sensor Konfiguration Sensor 3D Ansicht Sensor Oszilloskop Mun 152D 90 P21 Serien Nr 00001 31 Fir
32. to Object Dictionary 6 7 Object Dictionary The object directory contains all data objects that are accessible from the outside and affect the behavior of communication application and status machines It is divided into three parts E Communication specific Part Index 0x1000 Ox1FFF Manufacturer specific Part Index 0x2000 Ox5FFF E Profile specific Part Index 0x6000 Ox9FFF All parameters in the object dictionary can be read and written using the standard SDO via index and su bindex The following sections describe all the parameters in the object dictionary of the inclination sensor with in dex subindex data type access rights and default factory setting The column Save indicates whether a parameter in the internal volatile memory save signature in OD Write Index 1010h 01h can be saved Document 231xx HB 1 1 E ISxDxxP21 10 GEMAC 6 CANopen Interface A Sensorik Messtechnik ASIC Design 6 7 1 Communication Parameters according to CiA DS 301 Parameter Ac Default Value Save cess 1000h Device Type Device profile 410 Type IS1D 00 P21 IS2D 90 P21 UNS32 const 1019Ah 2019Ah 1001h 0 Error Register UNS8 ro 0 1002h 0 Manufacturer Status Register UNS32 ro 0 1003h Pre defined Error Field 0 Number of Errors entries UNS32 rw 0 1 5 Error Code oldest error on highest index UNS32 ro 0 1005h 0 COB ID Sync Message UNS32 rw 80h 1008h 0 Manufacturer Device Name VSTR const dep on type
33. uarding Lifeguarding E Robust UV resistant impact strength plastic housing u Suitable for industrial use Temperature range plastic housing 40 C to 80 C Degree of protection IP65 67 The inclination sensor ISTD 00 P21 is suitable to measure the inclination in the measurement range of 360 The 2 dimensional inclination sensor IS2D 90 P21 is suitable to measure the inclination in 2 dimensions X Y in the measurement range of 90 To ensure a high accuracy the sensors are calibrated at the factory The compact and robust design makes the sensor a suitable angle measurement device in rough surround ings for different applications in industry and automotive technology A simple setting of all parameters which are stored in the internal permanent memory is possible via CAN bus interface 1 2 Applications Solar thermal and photo voltaic systems Agricultural and forestry machinery Construction machinery Crane and hoisting technology Document 231xx HB 1 1 E ISxDxxP21 1 2 Technical Data GEMAC 2 Technical Data General Parametere Measurement range 360 90 Resolution 0 01 Accuracy Type IS1D 00 P21 Range typical maximum 0 360 0 04 0 10 Accuracy Type IS2D 90 P21 Range typical maximum up to 60 0 02 0 05 up to 70 0 04 0 10 up to 80 0 08 0 20 up to 85 0 16 0 40 Cross Sensitivity compensated typ 0 10 max 0 50 Temperature coefficient
34. ult settngs 4 Connector Pin OUU CAN H 5 E eent et esien a E E E RRE T ARERR 7 NMF State CAG IAN BEE 8 SDO Protocol Access to Object Duchonanm nenne nennen nnnnnnnennennnnnne nennen 10 STALL Kl geeiert 21 Eden 22 Document 231xx HB 1 1 E ISxDxxP21 V Term and Abbreviation Definition GEMAC Sensorik Messtechnik ASIC Design Term and Abbreviation Definition Baud rate BOOL CAN CANopen CiA CiA DS CiA DS 301 CiA DP CiA DR CiA DR 303 3 CiA DSP CiA DSP 410 Client COB COB ID DOMAIN EDS EMCY h xxxxh xxh Heartbeat ID INT8 INT16 lateral longitudinal LSS NMT Node ID Node Lifeguarding Operational OD PDO PDO Mapping Pre Operational Pre defined Connec tion Set ro RTR rw SDO Server Stopped UNS8 UNS16 UNS32 Speed of data transfer 1 Baud 1 Bit s Data type BOOLEAN 8 Bit 0 FALSE 1 TRUE Controller Area Network Standardized application layer for CAN devices CAN in Automation e V CiA Draft Standard specification published by CiA Specification of the CANopen application layer and the communication parameters in the OD CiA Device Profile device profile published by CiA CiA Draft Recommendation recommended implementation published by CiA Recommended implementation for display of CANopen device states and errors by LED s Draft Standard Proposal specification draft published by CiA Specification draft of the device profile 410 for inclination sensors
35. unters both set to zero after having monitored one hundred and twenty eight 128 occurrences of eleven 11 consecut ive recessive bits on the bus If disabled the inclination sensor remains in Bus Off state 6 7 2 2 Cut off Frequency of the Digital Filter 3000h The inclination sensor offers the possibility to suppress the influence of external disturbing vibrations The internal low pass digital filter Butterworth 8th order is programmable down to 0 1 Hz The cut off frequency is adjustable between 0 1 and 25 Hz and can be set under 3000h Values are allowed between 100 0 1 Hz and 25 000 25 Hz Cut off frequency 0 disables the digital filter 6 7 2 3 TPDOT Transmission on Inclination Change 3001h Through the entry 3001h 01h the event controlled transmission of the TPDO1 on inclination change can be enabled 1 or disabled 0 For the activation the transmission type of TPDO1 must be set to Asyn chronous manufacturer specific 1800h 02h 254 Document 231xx HB 1 1 E ISxDxxP21 14 GEMAC 6 CANopen Interface A Sensorik Messtechnik ASIC Design SublIndices 02h and O3h offer the separated setting of the minimum necessary inclination change for the longitudinal X and lateral Y axis These two angle values are mentioned in 100 100fold angle value and can be set freely from 1 0 01 to maximum If this function is enabled the inclination sensor outputs the TPDO1 object in the state OPERATIONAL i
36. us load of Nodeguarding Lifeguarding Document 231xx HB 1 1 E ISxDxxP21 18 6 CANopen Interface GE MAC Sensorik Messtechnik ASIC Design 6 10 LSS Layer Setting Service according to CiA DSP 305 6 10 1 Setting of Node ID and Baud Rate The setting of the node address Node ID and the Baud Rate is realized by the LSS Layer Setting Service For communication between LSS Master and LSS Slave inclination sensor two CAN identifiers 7E5h and 7E4h are used Each inclination sensor has a unique 128 bit LSS address at which he can be addressed in the CAN network This address is composed of the three 32 bit parameters of the Identity ob ject 1018h and the serial number Vendor ID 0000 0159h Manufacturer ID GEMAC mbH Product Code 0000 5A72h 5A72h 23154dec PR 23154 30 Revision Number 0000 001Eh 1Eh 30dec PR 23154 30 Serial Number XXXX XXXXh respective serial number of the incl sensor nameplate The default values for Node ID and Baud Rate at delivery factory settings are Node ID 10 Baud Rate Automatic Baud Rate Detection 0 1 MBit s 800 kBit s 500 kBit s 250 kBit s 125 kBit s ch unused 50 kBit s 20 kBit s 10 kBit s oO oO N oO a PS W ND Automatic Baud Rate Detection Table 18 LSS Baud Rate Index according to CiA DSP 305 6 11 Automatic Baud Rate Detection according to CiA AN 801 The automatic baud rate detection is used to automatically adjust the baud rate of the inclination s
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