Protocol Description CANopen HLB 1400 HYDACLAB Oil ...

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Protocol Description CANopen HLB 1400 HYDACLAB Oil condition sensor

(Translation of original instructions)

Protocol Description HLB 1400 CANopen

Status 2021-05-27 HYDAC ELECTRONIC GMBH Part no.: 670065

Table of Contents

1 Introduction ..................................................................................................................... 5

1.1 Generally ....................................................................................................................... 5

1.2 Changes of technical terms in the context of “political correctness” .............................. 5

2 Functions of the HLB 1400 CANopen ........................................................................... 6

3 Transmission rates ......................................................................................................... 6

4 CAN-Frames .................................................................................................................... 6

5 Node ID ............................................................................................................................. 7

6 Transmission services ................................................................................................... 7

6.1 Service Data Object (SDO) ........................................................................................... 7

6.2 Process Data Object (PDO) .......................................................................................... 8

6.3 Synchronisation Object (SYNC) .................................................................................... 9

6.4 Emergency Object (EMCY) ......................................................................................... 10

6.5 Heartbeat ..................................................................................................................... 10

6.6 Network Management Services (NMT) ....................................................................... 11

6.7 Boot Up Protocol ......................................................................................................... 11

7 The Object Dictionary ................................................................................................... 12

7.1 Set-up of the Object Dictionary .................................................................................... 12

7.2 Structure of the device-specific part according to DS404 ............................................ 12

8 Entries in the Object Dictionary ................................................................................... 14

8.1 Communication Profile Specific Entries (DS301) ........................................................ 14 8.1.1 Index 1000h: DeviceType (read only) .................................................................. 14 8.1.2 Index 1001h: ErrorRegister (mappable, read only) .............................................. 14 8.1.3 Index 1002h: ManufacturerStatusRegister (mappable, read only) ....................... 14 8.1.4 Index 1003h: Pre-defined error field (read only) ................................................... 14 8.1.5 Index 1005h: SyncMessageIdentifier (read write) ................................................ 14 8.1.6 Index 1008h: ManufacturerDeviceName (const) .................................................. 15 8.1.7 Index 1009h: ManufacturerHardwareVersion (const) ........................................... 15 8.1.8 Index 100Ah: ManufacturerSoftwareVersion (const) ............................................ 15 8.1.9 Index 1010h: StoreParameters ............................................................................ 15 8.1.10 Index 1011h: RestoreDefaultParameters ............................................................. 16 8.1.11 Index 1014h: CobIdEmergencyMessage (read write) .......................................... 16 8.1.12 Index 1017h: ProducerHeartbeatTime (read write) .............................................. 16 8.1.13 Index 1018h: IdentifyObject .................................................................................. 16 8.1.14 Index 1029h: Error behaviour ............................................................................... 17 8.1.15 Index 180Xh: TPDO parameters .......................................................................... 17 8.1.16 Index 1A0Xh: TPDO mapping parameter ............................................................. 18 8.1.17 Index 1F80h: NMT-Startup (read write) ................................................................ 19

8.2 Device Profile Specific Entries (DS404) ...................................................................... 20 8.2.1 Index 6110h: SensorType .................................................................................... 20 8.2.2 Index 6112h: OperatingMode ............................................................................... 20 8.2.3 Index 7130h/9130h: ProcessValue (mappable) ................................................... 20



8.2.4 Index 6131h: PhysicalUnitProcessValue .............................................................. 21 8.2.5 Index 6132h: ProcessValueDecimalDigits ........................................................... 21 8.2.6 Index 61B0h:ProcessValueSignalNames ............................................................. 22 8.2.7 Index 6150h: AnalogInputStatus (mappable) ....................................................... 22

8.3 Manufacturer Specific Entries ...................................................................................... 22 8.3.1 Index 2001h: NodeID (read write) ........................................................................ 22 8.3.2 Index 2002h: Baudrate (read write) ...................................................................... 23 8.3.3 Index 2100h: Temperature Settings ..................................................................... 23 8.3.4 Index 2101h: Oil condition warning thresholds ..................................................... 24 8.3.5 Index 2102h: Oil condition alarm thresholds ........................................................ 24 8.3.6 Index 2103h: Reset reference cycle (write only) .................................................. 24 8.3.7 Index 2104h: Conductivity measurement method (write only) ............................. 24

9 Layer setting services (LSS) and protocols ............................................................... 25

9.1 Finite state automaton, FSA ........................................................................................ 26

9.2 Transmission of LSS services ..................................................................................... 27 9.2.1 LSS message format ............................................................................................ 27

9.3 Switch mode protocols ................................................................................................ 28 9.3.1 Switch mode global protocol ................................................................................ 28 9.3.2 Switch mode selective Protokoll ........................................................................... 28

9.4 Configuration protocols ................................................................................................ 29 9.4.1 Configure Node ID protocol .................................................................................. 29 9.4.2 Configure bit timing parameters protocol ............................................................. 30 9.4.3 Activate bit timing parameters Protokoll ............................................................... 31 9.4.4 Store configuration Protokoll ................................................................................ 31

9.5 Inquire LSS-Address Protokolle .................................................................................. 32 9.5.1 Inquire Identity Vendor-ID Protokoll ..................................................................... 32 9.5.2 Inquire Identity Product-Code Protokoll ................................................................ 32 9.5.3 Inquire Identity Revision-Number Protokoll .......................................................... 33 9.5.4 Inquire Identity Serial-Number Protokoll ............................................................... 33

9.6 Inquire Node-ID Protokoll ............................................................................................ 34

9.7 Identification Protocols ................................................................................................ 35 9.7.1 LSS identify remote slave protocol ....................................................................... 35 9.7.2 LSS identify slave protocol ................................................................................... 35 9.7.3 LSS identify non-configured remote slave protocol .............................................. 36 9.7.4 LSS identify non-configured slave protocol .......................................................... 36 9.7.5 Fastscan protocol ................................................................................................. 36

10 Connection .................................................................................................................... 37

10.1 Switching on the supply voltage .................................................................................. 37

10.2 Setting the Node ID and Baud rate by means of LSS services ................................... 37 10.2.1 Configuration of the Node ID, sequence .............................................................. 37 10.2.2 Configuration of the Baud rate, sequence ............................................................ 38

11 Commissioning ............................................................................................................. 39

11.1 CAN interface .............................................................................................................. 39

11.2 EDS file ........................................................................................................................ 39



Preface This manual provides you, as user of our product, with key information on the operation and maintenance of the equipment. It will help you to familiarise yourself with the product and assist you in obtaining maximum benefit in the applications for which it is designed. This documentation must always be kept at hand. Please note that the data on the software technology provided in this manual refers to that available at the time of publication. Should you find any errors whilst using this manual, or have any suggestions for improvements, please contact: HYDAC ELECTRONIC GMBH Technische Dokumentation Hauptstrasse 27 66128 Saarbruecken -Germany- Phone: +49(0)6897 / 509-01 Fax: +49(0)6897 / 509-1726 Email: [email protected] We look forward to receiving your input. “Putting experience into practice”



1 Introduction

1.1 Generally

The oil condition sensor HLB 1400 CANopen meets the CANopen standards according to the following profiles and standards:

[1] CiA DS301, Version: 4.2.0 (21st February 2011) CANopen application layer and communication profile

[2] CiA DS404, Version 2.1.0 (19th July 2016) Device profile for measuring devices and closed-loop controllers

[3] CiA DS305, Version: 3.0 (08th May 2013)

Layer setting services (LSS) and protocols

This manual describes the functions supported by the HLB 1400 CANopen. A basic knowledge of CAN and CANopen is assumed. The exact function is described in the a.m. Draft Standards. Since both specifications are issued in English, the features described in this manual are identified using the English description from the specification and are shown in italics, for clarity.

A more detailed description of the product properties is available in the associated operating instructions or quickstart guide.

1.2 Changes of technical terms in the context of “political correctness”

HYDAC Electronic GmbH continuously strive to respect human rights and every individu-al's dignity in any context. However, when it comes to communication technology, one technical term is still very common "Master – Slave".

In order to avoid this archaic and discriminating expression, the term has been replaced wherever possible in this documentation, using the following substitution: "Master – De-vice" ("Device" → "Slave"). Exceptions are only terms which are used in this form in offi-cial documentation. These exceptions are only used to make it easier for the reader to understand the connection between this documentation and the official documents.



2 Functions of the HLB 1400 CANopen

Measurement of the actual pressure value using: - Conductivity (resolution 0.1 nS/m or 0.01 nS/m) - Relative change of conductivity (resolution 1 %) - Dielectric constant (DC) (resolution 0.01) - Relative change of dielectric constant (resolution 1 %) - Saturation level (relative humidity) (resolution 1 %) - Temperature (resolution 0.1 °C) - Arrhenius value (resolution 1)

Sending the actual process value as a PDO for the following events: - Synchronously in relation to received SYNC objects - Asynchronously, cyclically, in the range 1 millisecond to 1 minute

3 Transmission rates

The HLB 1400 CANopen supports the following transmission rates (Baud rates):

1 Mbit/s 800 kbit/s 500 kbit/s 250 kbit/s 125 kbit/s 50 kbit/s 20 kbit/s 10 kbit/s

The timing complies with DS301, Bit rates and timing. The transmission rate used is stored in a non-volatile memory. When supplied, it is set to 250 kbit/s and can be changed via the CANbus (see Object Dictionary Index 2002h).

4 CAN-Frames

The HLB 1400 CANopen supports the 11-bit base frames with 11-bit identifier required in the specification. Extended frames with 29-bit identifier are not supported but are tolerated. This means that extended frames are not recognised but neither do they cause errors.



5 Node ID

To operate the HLB 1400 CANopen in a CANopen network a unique Node ID have to be set within the network. The set Node ID is stored in a non-volatile memory, like the transmission rate, and can also be adjusted via the CAN bus (see Object Dictionary Index 2001h). When supplied the address 1 is set.

6 Transmission services

6.1 Service Data Object (SDO)

With CANopen, all the device's data (setting parameters and measured data) are filed in an Object Dictionary under a specified Index. Some entries of the Object Dictionary are sub-divided still further using a sub index. Using the SDOs, other network nodes can read from or write to the Object Dictionary of the HLB 1400 CANopen. The HLB 1400 CANopen takes on the role of a Server, and the device intending to read or write the data, takes on the role of a Client. To transmit data the HLB 1400 CANopen has a Receive-SDO which is used for the reception of data and a Transmit-SDO which serves to send the data. Sequence of the data transmission: Reading from Object Dictionary:

1. A device (Client) sends the Receive-SDO of the HLB 1400 CANopen (Server). This SDO contains an identification to say that the Object Dictionary is to be read, as well as the Index and sub index.

2. The HLB 1400 CANopen (Server) sends its Transmit-SDO. Here also are the Index and the Subindex, and the read data.

Writing to the Object Dictionary:

1. A device (Client) sends the Receive-SDO of the HLB 1400 CANopen (Server). In this SDO there is an identification, to say that the Object Dictionary is to be written to, as well as the required index, subindex and the data to be entered.

2. The HLB 1400 CANopen (Server) sends its Transmit-SDO. In this there are also the index and the subindex, as well as an identification to say the Object Dictionary has been written to.

If an error should occur, e.g. the specified Index does not exist, or an attempt is made to write to a read only entry, or the data is not within the valid range, then the Transmit-SDO receives an appropriate Abort SDO Transfer identification and a corresponding Abort Code (see chapter 1.1 Generally [1])



The particular COB-ID of the SDO corresponds to the Pre-defined Connection Set defined in the DS301 and cannot be altered. COB IDs for Service Data Objects

SDO COB ID Receive – SDO 600h+Node-ID Transmit – SDO 580h+Node-ID

6.2 Process Data Object (PDO)

Data transmission using SDOs is indeed very flexible, but has some disadvantages when transmitting measured values or actuating variables: only one piece of data can be read, the data must first be requested with an SDO and because the relevant Index and Sub index is also transmitted, what is known as the overhead increases further. For this reason CANopen defines what is known as Process Data Objects. These contain only the necessary useful data. There are two types of PDO:

Transmit PDOs These enable the measuring instrument to send its measured values. HLB 1400 provides 2 TPDO. Receive-PDOs With these, the actuating variables can be transmitted to an actuator or a controller. HLB 1400 does not provide any RPDOs.

What is known as the PDO Mapping stipulates which data is now in a PDO. This PDO Mapping is stored in the Object Dictionary (see Object Dictionary, Index 1A00h and 1A01h). The PDO Transmission Type stipulates with which ID and for which event a PDO is transmitted. These settings are also stored in the Object Dictionary (see Object Dictionary, Index 1800h and 1801h).

Events which result in a PDO being sent:

1. Receipt of a SYNC object (synchronous transmission). 2. Expiry of an adjustable cycle time in the range 1 milliseconds to 1 minute (cyclical

transmission).



HLB 1400 CANopen implements two Transmit-PDOs, which transmit the current process values, see table below.

Range Properties Default settings

General Settings

Baud rate 250 kbit/s Node ID 1 Power ON Status Pre-Operational

TPDO1 Transmission Type 254 Event Timer 10 ms

Byte 0, 1 absolute / absolute temp.

compensated conductivity INTEGER16; 0.1 nS/m

Byte 2, 3 relative Change of electrical

conductivity INTEGER16; 1 %

Byte 4, 5 absolute / absolute temp.

compensated Dielectric constant INTEGER16; 0.01

Byte 6, 7 relative change of the Dielectric

constant INTEGER16; 1 %

TPDO2 Transmission Type 254 Event Timer 10 ms

Byte 0, 1 Saturation; INTEGER16

1 %

Byte 2, 3 Temperature; INTEGER16

0.1 °C

Byte 4, 5, 6, 7 Arrhenius value; INTEGER32

1

6.3 Synchronisation Object (SYNC)

SYNC objects are used to implement a synchronous data transmission. A SYNC object is in fact a CAN message with a defined identifier, without data. CANopen differentiates between SYNC Producers and SYNC Consumers. SYNC Producers are devices on the bus which send a SYNC at adjustable time intervals. SYNC Consumers are devices which react to receiving a SYNC. In a CANopen network several SYNC objects can exist. The individual SYNC objects are differentiated by means of the SYNC ID which corresponds to the CAN identifier used. The SYNC ID used is stored in the Object Dictionary. The HLB 1400 CANopen provides the functionality of a SYNC Consumer. If the PDO Transmission Type is set appropriately, a PDO is sent on receipt of a SYNC. The SYNC-ID is pre-set to 80h and can be changed in the Object Dictionary (see Object Dictionary, Index 1005h). In PDO Transmission Type the number of received SYNC objects which result in a PDO being sent, can be set.



6.4 Emergency Object (EMCY)

EMCY objects are sent when an error occurs. EMCY objects contain an Emergency Error Code, the contents of an Error register as well as a Manufacturer specific Error Field. If a notified error is eliminated or disappears, this is also notified by a special EMCY object.

An emergency message will be sent, if an error occurs or if this error disappears. The message is structured as follows:

Error Emergency ErrorCode

Manufacturer SpecificErrorField

Error Category

No Error 0000h 0000h Error eliminated

Error while loading user set-up

FF00h 0001h Manufacturer-specific error (bit 7)

Temperature exceeds the operating range


Measurement errors


CAN Error passive

8120h 0004h Communication error (bit 4)

Recovered from Bus-off

8140h 0005h Communication error (bit 4)

The EMCY object has the pre-set ID 80h+Node ID and can be changed in the Object Dictionary (see Object Dictionary, Index 1014h).

6.5 Heartbeat

Using the Heartbeat Protocol the individual nodes can be monitored. CANopen differentiates between the following functions:

1. Heartbeat Producer sends a Heartbeat object in cyclical intervals.

2. Heartbeat Consumer monitors the sending of certain Heartbeat objects.

The cycle time can be adjusted in the Object Dictionary to milliseconds. If a time interval of 0 is specified, this means "Heartbeat not active". With the Heartbeat object the status of the Heartbeat Producers is also transmitted in the form of bytes. Meaning of the Heartbeat object contents



Value

Status Note

0 BOOTUP The device has booted up. 4 STOPPED The device has been stopped. 5 OPERATIONAL The device is working normally. 127 PRE-OPERATIONAL The device does not send any PDOs, but can modify

SDOs. The HLB 1400 CANopen can operate as a Heartbeat Producer. The ID of the Heartbeat is 700h + Node-ID. The time has been pre-set to 0 (not active) and can be modified (see Object Dictionary, Index 1017h).

6.6 Network Management Services (NMT)

NMT objects are used to start, stop or reset devices. CANopen differentiates between the following functionalities:

1. NMT Master controls other nodes.

2. NMT Device is controlled by a Master.

In a CANopen network only one NMT object exists with the Identifier 0. Two bytes are always transmitted. The first byte contains the Command Specifier, which represents the command, the second byte contains the Node ID of the node which carries out this command. A value of 0 indicates that this command is valid for all nodes. The following commands are possible: NMT commands

1. Start Remote Node The node changes to the Operational status.

2. Stop Remote Node The node changes to the Stopped status.

3. Enter Pre-Operational The node changes to the Pre-Operational status.

4. Reset Node The "Device Profile Specific" OD range is reset, the Baud rate is, if necessary, re-initialised and then changes to the Reset Communication status.

5. Reset Communication The communication unit of the node is reset and then the node changes to the Pre-Operational status.

The HLB 1400 CANopen operates as a NMT device and supports all the NMT services.

6.7 Boot Up Protocol

If a NMT Device changes to the Pre-operational status after initialisation, it sends a Boot Up object in each case. In principle this is no different to a Heartbeat object with the status 0. The HLB 1400 CANopen implements this function.



7 The Object Dictionary

7.1 Set-up of the Object Dictionary

As has been mentioned several times, all the data are stored in the Object Dictionary. The entries supported by the HLB 1400 CANopen are listed in the following chapters. The index is always shown in hexadecimal notation, according to the specification, without the hexadecimal representation being shown extra. For each entry, the access type must also be specified. CANopen differentiates between the following Access Types: Access Types for the Object Dictionary

1. const Read-only, and always provides the same value.

2. read only Read-only, however, the value can be changed during operation.

3. write only The entry is write-only.

4. read write The entry can be read and written.

CANopen differentiates between the following areas of the data dictionary: Areas of the Object Dictionary:

5. Index 0 .. 1FFF: Communication profile specific entries Settings which apply to all CANopen devices. These entries are defined in DS301.

6. Index 6000 .. 9FFF: Device profile specific entries Device-specific data. The HLB 1400 CANopen has implemented the device profile DS404.

7. Index 2000 .. 5FFF: Manufacturer specific entries Manufacturer-specific, additional data which is not defined in any specification.

7.2 Structure of the device-specific part according to DS404

The HLB 1400 CANopen implements DS404. DS404 describes the performance and the functionality of measuring devices and closed-loop controllers. First, some notes on the layout of the Object Dictionary: Multi-channel capability DS404 is aimed at multi-channel instruments. This means that the number of channels is given for all entries in Subindex 0 and then the value in the appropriate Subindex. The HLB 1400 CANopen has up to 7 channels. Data types DS404 is set up in such a way that each data type has its own section in the Object Dictionary:



Index Data type 6000h to 6FFFh Floating Point or specially encoded data (status, etc.) 7000h to 7FFFh 16 bit Integer 8000h to 8FFFh 24 bit Integer 9000h to 9FFFh 32 bit Integer

Function blocks DS404 subdivides a device into different function blocks: analogue input block, analogue output block, digital input block, digital output block, controller block and alarm block. The HLB 1400 CANopen has implemented the analogue input part (Analogue Input Function Block) as 16 and 32 bit integer. These entries are in the area X100h to X1FFh. Order of entries As a result of this segmenting, the order of the entries relates only to the value of the last 3 digits of the index. The first digit specifies the data type and is ignored as far as classification is concerned.



8 Entries in the Object Dictionary

Listed below are the functionalities implemented by the HLB 1400 CANopen. A detailed description of the entries can be found in chapter 1.1 Generally [1] and [2].

8.1 Communication Profile Specific Entries (DS301)

8.1.1 Index 1000h: DeviceType (read only)

Contains the number of the device profile being used, in this case the number 404, as well as the profile-specific extension, in this case a 2, for support of the analogue input device. 8.1.2 Index 1001h: ErrorRegister (mappable, read only)

Contains the actual error condition (see EMCY, and chapter 1.1 Generally [1]). 8.1.3 Index 1002h: ManufacturerStatusRegister (mappable, read only)

Contains different error flags. In the 32bit value the bits have the following meaning: Bit 0-7: reserved Bit 8-15: DeviceMode Bit 16-31: DeviceStateCode

Bits 0 to 6 are deleted when the error is eliminated. To find out if an error had occurred, these 7 bits 0x00 to 0x06 are mirrored in bits 0x10 to 0x16. The mirrored bits are not deleted if the error occurred once. DeviceStateCode Bit16, 17 = (0 = Operating, 1 = Homogenization, 2 = Orientation, 3 = Waiting) Bit18 = reserved Bit19 = Measured value error Bit20 = device error Bit21 = Error while loading the user settings Bit22 = Temperature exceeds the operating range 8.1.4 Index 1003h: Pre-defined error field (read only)

Errors are made available, which have occurred in the CANopen device and which were signalised via emergency object (see CiA 301) 8.1.5 Index 1005h: SyncMessageIdentifier (read write)

Use this to adjust the COB ID for the SYNC object.



8.1.6 Index 1008h: ManufacturerDeviceName (const)

Provides the device name as a character string (e.g. "HLB1400"). 8.1.7 Index 1009h: ManufacturerHardwareVersion (const)

Provides the hardware version as a character string (e.g. "01.01"). 8.1.8 Index 100Ah: ManufacturerSoftwareVersion (const)

Provides the software version as a character string (e.g. "03.05"). The first two characters indicate the version, the last two characters indicate the revision status. 8.1.9 Index 1010h: StoreParameters

By entering the character string "save" the current settings are transferred to the non-volatile memory. The HLB 1400 CANopen does not automatically store settings if modified, modifications are stored only when requested.

Value (-> „save“) (Byte 5) (Byte 6) (Byte 7) (Byte 8) 0x73 "s" 0x61 "a" 0x76 "v" 0x65 "e"

WARNING: Any changed settings must be saved explicitly using StoreParameters, otherwise they will be lost when the instrument is switched off or when the NMT commands Reset Node and Reset Communication are carried out. CANopen has the option of restoring different parameter areas with the help of various Subindexes. The sub indices 1, 2, 3 and 4 are supported. For further information, please see chapter 1.1 Generally [1]. Warning: The Baud rate and Node ID settings will no longer be stored with StoreAllParameters. Sub indices used:

0: LargestSubindexSupported (read only) 1: StoreAllParameters (read write) 2: StoreCommunicationParameters (read write) (index from 1000h to 1FFFh) 3: StoreApplicationParameters (read write) (index of 6000h to 9FFFh) 4: StoreLssParameters (read write) (index von 2000h to 20FFh)



8.1.10 Index 1011h: RestoreDefaultParameters

By entering the character string "load" the factory settings are transferred into the non-volatile memory.

Value (-> "load") (Byte 5) (Byte 6) (Byte 7) (Byte 8) 0x6C "l" 0x6F "o" 0x61 "a" 0x64 "d"

However, the HLB 1400 CANopen goes on working with the actual settings until switched off or until the commands Reset Node and Reset Communication are performed. CANopen has the option of restoring different parameter areas with the help of various Subindexes. The sub indices 1, 2, 3 and 4 are supported. For further information, please see chapter 1.1 Generally [1]. Warning: The Baud rate and Node ID settings remain unchanged with RestoreDefaultParameter. Sub indices used:

0: LargestSubindexSupported (read only) 1: RestoreAllParameters (read write) 2: RestoreCommunicationParameters (read write) (index of 1000h to 1FFFh) 3: RestoreApplicationParameters (read write) (index from 6000h to 9FFFh) 4: RestoreLssParameters (read write) (index of 2000h to 20FFh)

8.1.11 Index 1014h: CobIdEmergencyMessage (read write)

Use this to adjust the COB ID for the EMCY object (see EMCY). 8.1.12 Index 1017h: ProducerHeartbeatTime (read write)

Use this to adjust the Heartbeat time to milliseconds. The value 0 indicates that this function is not active (see Heartbeat). 8.1.13 Index 1018h: IdentifyObject

The Identify Object identifies the HAT CANopen (Safety). The identification consists of four 32bit numbers. The combination of these 4 numbers produces a device ID which is unique worldwide. Sub indices used:

0: LargestSubindexSupported (read only) 1: VendorID (read only)

Unique manufacturer code (DAh for HYDAC ELECTRONIC GmbH) 2: ProductCode (read only)

Hydac Electronic product code (e.g.: 927229)



3: RevisionNumber (read only) Revision number of the device

4: SerialNumber (read only) Serial number of the device

8.1.14 Index 1029h: Error behaviour

Sub indices used:

0: No. of Error Classes (read only) 1: Communication Error (mandatory) (read write)

0 : Change to NMT state Pre-operational 1 : No change of the NMT state 2 : Change to NMT state Stopped

2: Not used (read only) 3: Analog input error (read write)

0 : Change to NMT state Pre-operational 1 : No change of the NMT state 2 : Change to NMT state Stopped

8.1.15 Index 180Xh: TPDO parameters

These entries determine the PDO transmission. In detail these are: Index 1800h: TPDO 1 communication parameter Index 1801h: TPDO 2 communication parameter Parameters for PDO transmission

1. COB ID Determines the identifier for the PDO. The highest value bit (Bit31) of the entry no longer belongs to the ID and has the meaning "disable PDO". If this bit is set, then transmission of the PDO is disabled.

2. Transmission Type Determines the transmission type. Values between 0 and 240 mean synchronous transmission. The figure represents the number of SYNC objects which have to be received before the PDO is sent. The value 254 indicates a manufacturer-specific transmission and the value 255 a device-profile-specific transmission. With 254 and 255 the PDO is sent cyclically, providing a time (Event Time) other than 0 is set.

3. Event Time Determines the cycle time for asynchronous transmissions for Transmission Types 254 and 255 in milliseconds. The value 0 denotes no time-controlled transmission.



Sub indices used:

0: LargestSubindexSupported (read only) 1: COB-ID (read write) 2: TransmissionType (read write) 3: InhibitTime (read write) 4: Reserved 5: EventTimer (read write) 8.1.16 Index 1A0Xh: TPDO mapping parameter

Index 1A00h = TPDO 1 Index 1A01h = TPDO 2

Use this entry to determine which data is transferred with the PDO. Sub index 0 indicates the amount of data in the PDO. The index and sub index and the number of bits of the first piece of data is stored in Subindex 1, similarly for Subindex 2. When supplied, the HLB 1400 CANopen has the following entries: 1A00h = TPDO 1

sub index Content Meaning 0 4 Four values are transferred in the PDO. 1 0x71300110 The first value in the PDO is the value of Index 7130h,

sub index 01 with a width of 10h (=16 bit) 2 0x71300210 The second value in the PDO is the value of Index

7130h, sub index 02 with a width of 10h (= 16 bit) 3 0x71300310 The third value in the PDO is the value of Index 7130h,

sub index 03 with a width of 10h (= 16 bit) 4 0x71300410 The fourth value in the PDO is the value of Index

7130h, sub index 04 with a width of 10h (= 16 bit) Sub indices used:

0: NumberOfEntries (read write) The values from 0 to 8 are permitted. This means: no PDO is transmitted, or one PDO with up to 8 values is transmitted.

1: PDO Mapping Entry (read write) 0x71300110 = actual process value1 with 16bit width, or

2: PDO Mapping Entry_2 (read write) 0x71300210 = actual process value1 with 16bit width, or


4: PDO Mapping Entry_4 (read write) 0x71300410 = actual process value1 with 16bit width

5: PDO Mapping Entry_5 (read write) 6: PDO Mapping Entry_6 (read write) 7: PDO Mapping Entry_7 (read write) 8: PDO Mapping Entry_8 (read write)



1A01h = TPDO 2

sub index Content Meaning 0 3 Three values are transferred in the PDO. 1 0x71300510 The first value in the PDO is the value of Index 7130h,

sub index 05 with a width of 10h (=16 bit) 2 0x71300610 The second value in the PDO is the value of Index

7130h, sub index 06 with a width of 10h (= 16 bit) 3 0x91300720 The third value in the PDO is the value of Index 9130h,

sub index 03 with a width of 20h (= 32 bit) Sub indices used:

0: NumberOfEntries (read write) The values from 0 to 8 are permitted. This means: no PDO is transmitted, or one PDO with up to 8values is transmitted.

1: PDO Mapping Entry (read write) 0x71300510 = actual process value1 with 16bit width, or


3: PDO Mapping Entry_3 (read write) 0x91300720 = actual process value1 with 32bit width

4: PDO Mapping Entry_4 (read write) 5: PDO Mapping Entry_5 (read write) 6: PDO Mapping Entry_6 (read write) 7: PDO Mapping Entry_7 (read write) 8: PDO Mapping Entry_8 (read write)

0x61500108 = Status of 1st analogue input channel (8bit width) 0x61500208 = Status of 2nd analogue input channel (8bit width) 0x61500308 = Status of 3rd analogue input channel (8bit width) 0x61500408 = Status of 4th analogue input channel (8bit width) 0x61500508 = Status of 5th analogue input channel (8bit width) 0x61500608 = Status of 6th analogue input channel (8bit width) 0x61500708 = Status of 7th analogue input channel (8bit width)

8.1.17 Index 1F80h: NMT-Startup (read write)

If bit 2 is set, status is changed automatically to "operational" state immediately after reaching "pre-operational" mode. Permitted values are: 0x8 Autostart inactive (default setting) 0xC Autostart active



8.2 Device Profile Specific Entries (DS404)

8.2.1 Index 6110h: SensorType

This entry contains the sensor type. Sub indices used:

0: NumberOfEntries (read only) 1: SensorType1: conductivity (read only) 2: SensorType2: relative change of the conductivity (read only) 3: SensorType3: dielectric constant (read only) 4: SensorType4: relative change of the dielectric constant (read only) 5: SensorType5: saturation degree (read only) 6: SensorType6: Temperature (read only) 7: SensorType7: Arrhenius (read only)

8.2.2 Index 6112h: OperatingMode

With this entry, the input channel can be set to a particular operating mode or switched off. In the HLT 1400 CANopen the channels cannot be deactivated. This is why the entry is read-only and always provides the value 1=Normal Operation. Sub indices used:

0: NumberOfEntries (read only) 1: OperatingMode1 (read only) 2: OperatingMode2 (read only) 3: OperatingMode3 (read only) 4: OperatingMode4 (read only) 5: OperatingMode5 (read only) 6: OperatingMode6 (read only) 7: OperatingMode7 (read only)

8.2.3 Index 7130h/9130h: ProcessValue (mappable)

These entries contain the actual process value. Index 7130h has a data width of 16bit and index 9130h, 32bit. Subindices used for 7130h:

0: NumberOfEntries (read only) 1: ProcessValue1 (read only) conductivity - AW* (in waiting and orientation phase) - AW* temp.compensated (in homogenisation

and operation phase) Range: 0-10 nS/m or 0-100 nS/m 2: ProcessValue2 (read only) relative change of conductivity

Range: -100 .. +200 %



3: ProcessValue3 (read only) Dielectric constant - AW* (in waiting and orientation phase) - AW* temp.compensated (in homogenisation

and operation phase) range: 1 .. 10

4: ProcessValue4 (read only) Relative change of the dielectric constant range:-30 .. +30 %

5: ProcessValue5 (read only) saturation level range: 0 .. 100 %

6: ProcessValue6 (read only) Temperature range: -25 .. +100 °C

* AW = Absolutwert (absolute value) Subindices used for 9130h:

0: NumberOfEntries (read only) 7: ProcessValue7 (read only) Arrhenius

8.2.4 Index 6131h: PhysicalUnitProcessValue

This entry contains the unit of measurement of the process value according to the recommendation DR303. The preset unit of measurement has no effect on signal processing. To interpret the data, see chapter 1.1 Generally [2].

The indications PhysicalUnit and DecimalDigits describe how the ProcessValue is to be interpreted. If in PhysicalUnit for example, the unit is °C, the ProcessValue, for instance, corresponds with 24.5 °C.

Sub indices used:

0: NumberOfEntries (read only) 1: PhysicalUnitProcessValue1 (read only) always: 0xF7290100 = nS/m 2: PhysicalUnitProcessValue2 (read only) always: 0 3: PhysicalUnitProcessValue3 (read only) always: 0 4: PhysicalUnitProcessValue4 (read only) always: 0 5: PhysicalUnitProcessValue5 (read only) always: 0 6: PhysicalUnitProcessValue6 (read only) always: 0x002d0000 = °C 7: PhysicalUnitProcessValue7 (read only) always: 0 8.2.5 Index 6132h: ProcessValueDecimalDigits

This entry contains the number of decimal digits for interpreting the process value. Example: If the ProcessValueDecimalDigits1 is set to 2 and PhysicalUnitProcessValue1 is set to "bar", then a ProcessValue1 of 4711 corresponds to the measured value 47.11 bar. If the ProcessValueDecimalDigits2 is set to 1 and PhysicalUnitProcessValue2 is set to "°C" then a ProcessValue2 of 365 corresponds to the measured value 36.5 °C.



Sub indices used:

0: NumberOfEntries (read only) 1: ProcessValueDecimalDigits1 (read only) 1 or 2 2: ProcessValueDecimalDigits2 (read only) always: 0 3: ProcessValueDecimalDigits3 (read only) always: 2 4: ProcessValueDecimalDigits4 (read only) always: 0 5: ProcessValueDecimalDigits5 (read only) always: 0 6: ProcessValueDecimalDigits6 (read only) always: 1 7: ProcessValueDecimalDigits7 (read only) always: 2 8.2.6 Index 61B0h:ProcessValueSignalNames

This entry contains the names of each process value. Sub indices used:

0: NumberOfEntries (read only) 1: ProcessValueName1 (read only) 2: ProcessValueName2 (read only) 3: ProcessValueName3 (read only) 4: ProcessValueName4 (read only) 5: ProcessValueName5 (read only) 6: ProcessValueName6 (read only) 7: ProcessValueName7 (read only) 8.2.7 Index 6150h: AnalogInputStatus (mappable)

This entry indicates the status of the signal unit. The status byte has the following meaning: Bit 0: 1 = Measured value invalid Sub indices used:

0: NumberOfEntries (read only) 1: AnalogInputStatus1 (read only) Status for absolute conductivity 2: AnalogInputStatus2 (read only) Status for relative change of the

conductivity 3: AnalogInputStatus3 (read only) Status for absolute DC 4: AnalogInputStatus4 (read only) Status for relative change of the DC 5: AnalogInputStatus5 (read only) Status for saturation degree 6: AnalogInputStatus6 (read only) Status for temperature 7: AnalogInputStatus7 (read only) Status for Arrhenius value

8.3 Manufacturer Specific Entries

8.3.1 Index 2001h: NodeID (read write)

The Node ID is stored in this index.



Sub indices used:

0: NumberOfEntries (read only) 1: Active NodeID (read only) default: 1

Currently active device address 2: Pending NodeID (read write)

Desired change of the device address Changes of this entry will not take effect until they have been saved into the non-volatile memory (StoreLssParameters, 1010.4) and the device has been restarted "Reset Node" command or its power supply has been cut. The values of the objects 2001.1 and 2001.2 are identical under normal operation. Should there be a request for a new device address when the changes have not yet become active, the two objects will be assigned different values.

8.3.2 Index 2002h: Baudrate (read write)

The Baud rate is stored in this index. Sub indices used:

0: NumberOfEntries (read only) 1: Active baudrate (read only) default: 1

Currently active Baud rate 2: Pending baudrate (read write) default: 1

Desired change of the Baudrate Changes of this entry will not take effect until they have been saved into the non-volatile memory (StoreLssParameters, 1010.4) and the device has been restarted "Reset Node" command or its power supply has been cut. The values of the objects 2002.1 and 2002.2 are identical under normal operation. Should there be a request for a new Baud rate when the changes have not yet become active, the two objects will be assigned different values.

8.3.3 Index 2100h: Temperature Settings

This entry contains the factory settings for temperature. Sub indices used:

0: NumberOfEntries (read only) 1: Minimal working temperature (read write) default: 200 = 20.0 °C 2: Maximal working temperature (read write) default: 800 = 80.0 °C 3: Reference temperature (read write) default: 500 = 50.0 °C 4: Activation temperature (read write) default: 400 = 40.0 °C 5: Homogenization time (read write) default: 600 min 6: Arrhenius temperature 1 (read write) default: 500 = 50.0 °C 7: Arrhenius temperature 2 (read write) default: 900 = 90.0 °C



8.3.4 Index 2101h: Oil condition warning thresholds

This entry contains the configurations of warnings for oil condition, see LED 2 Cond. Sub indices used:

0: NumberOfEntries (read only) 1: Relative change in conductivity lower threshold (read write) default: -10% 2: Relative change in conductivity upper threshold (read write) default: 10% 3: Relative change in DC lower threshold (read write) default: -10% 4: Relative change in DC upper threshold (read write) default: 10% 5: Saturation upper threshold (read write) default: 60%

8.3.5 Index 2102h: Oil condition alarm thresholds

This entry contains the configurations of alarms for oil condition, see LED 2 Cond.

Sub indices used:

0: NumberOfEntries (read only) 1: Relative change in conductivity lower threshold (read write) default: -15% 2: Relative change in conductivity upper threshold (read write) default: 15% 3: Relative change in DC lower threshold (read write) default: -15% 4: Relative change in DC upper threshold (read write) default: 15% 5: Saturation upper threshold (read write) default: 85%

8.3.6 Index 2103h: Reset reference cycle (write only)

For resetting the Reference cycle the object 2103.0 is mapped with the character string "res" (reset). The following data bytes must be transmitted in the SDO: 0x73, 0x65, 0x72. Because of the low-high representation with CANopen the following 32-bit value must therefore be transmitted: 0x00736572. NodeID ´r´=0x72 ´e´=0x65 ´s´=0x73

8.3.7 Index 2104h: Conductivity measurement method (write only)

This entry is used to switch the conductivity. For a normal conductivity of 0-100nS the value "norm" = 0x6D726F6E has to be written. For a low conductivity of 0-10nS the value "low" = 0x00776F6C has to be written. The reference cycle is, thus, reset and the device starts its learning phase anew. Changes can be performed in Pre-Operational or Operational state. After having changed the settings, the sensor, however, performs a restart and might therefore again be set to Pre-operational state, depending on its NMT start-up settings (Objekt 18F0).



9 Layer setting services (LSS) and protocols

The LSS services and protocols, documented in CiA DS305 V3.0 (see chapter 1.1 Generally [3]), are used for the inquiry or the configuration of several parameters of the Data Link Layer and the Application Layer of a LSS device by a LSS master via the CAN network. The following parameters are supported:

- Node-ID - Baud rate - LSS address, according to identify object 1018h

Access to the LSS device thereby is made by its LSS address, consisting of:

- Vendor ID - Product Code - Revision number - Serial number

The measuring system supports the following services: Switch mode services

● Switch mode selective Address a specific LSS device

● Switch mode global Address the total of LSS devices

Configuration services

● Configure Node ID Configure Node ID

● Configure bit timing parameters Configure Baud rate

● Activate bit timing parameters Activate Baud rate

● Store configured parameters Store configured parameters

Inquiry services

● Inquire LSS-address Inquire LSS address

● Inquire Node ID Inquire Node ID

Identification services

● LSS identify remote device Identification of LSS devices within a certain array

● LSS identify device Response of all LSS devices to the previous command

● LSS identify non-configured remote device Identification of non-configured LSS devices, Node ID = FFh

● LSS identify non-configured device Response of all LSS devices to the previous command



9.1 Finite state automaton, FSA

The FSA is equivalent to a state machine and defines the behaviour of a LSS device. This state machine is controlled by LSS COBs produced by the LSS master or NMT COBs generated by a NMT master or local NMT state transitions. The LSS Modes support the following states: (0) Initial: Pseudo-State, shows the activation of the FSAs (1) LSS waiting: Support for all services as indicated below (2) LSS configuration: Support for all services as indicated below (3) Final: Pseudo-State, shows the deactivation of the FSAs

Figure 1: LSS Modes

State behavior of the supported services

Services Waiting Configuration

Switch mode global Yes Yes

Switch mode selective Yes No

Activate bit timing parameters No Yes

Configure bit timing parameters No Yes

Configure Node-Id No Yes

Store configuration No Yes

Inquire LSS-address No Yes

LSS identify remote slave Yes Yes

LSS identify slave Yes Yes

LSS identify non-configured remote slave

Yes Yes

LSS identify non-configured slave Yes Yes



LSS FSA state transitions Transition Events Actions

1 Automatic transition after initialisation when entering either the NMT PRE OPERATIONAL state or NMT STOPPED state, or NMT RESET COMMUNICATION state with Node ID = FFh.

None

2 LSS 'switch state global' command with parameters 'configuration_switch' or 'switch state selective' command

None

3 LSS 'switch state global' command with parameter 'waiting_switch'

None

4 Automatic transition when an invalid Node ID has been changed and the new Node ID could be successfully stored in non-volatile memory AND the state of LSS waiting has been requested.

None

Once the LSS FSA goes through further state transitions of the NMT FSA from NMT PRE into NMT STOPPED and vice-versa, this does not lead to re-entering into the LSS FSA.

9.2 Transmission of LSS services

By means of LSS services, the LSS master requests the particular services to be performed by the LSS device. Communication between LSS master and LSS device is performed by means of implemented LSS protocols. Similar as in the case of SDO transmission, two COB IDs for sending and receiving are used in this case as well:

COB ID Meaning

0x7E4 LSS device LSS master

0x7E5

Temperature compensation ≤ ± 0.008 % FS / °C typ.Span ≤ ± 0.015 % FS / °C max.LSS master LSS device

Table 1: COB IDs for LSS services

9.2.1 LSS message format

The data field of a CAN message being max. 8 bytes long is used by a LSS service as follows:

CS Data

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Table 2: LSS message

Byte 0 contains the Command-Specifier (CS), afterwards 7 bytes of data are following.



9.3 Switch mode protocols

9.3.1 Switch mode global protocol

The given protocol has implemented the Switch mode global service and controls the state behaviour of the LSS device. By means of the LSS master all LSS devices in the network can be switched to Waiting Mode or Configuration Mode.

LSS master --> LSS device

0 1 2 3 4 5 6 7 COB ID CS Mode Reserved by CiA

0x7E5 04 0 = Waiting Mode 1 = Configuration Mode

9.3.2 Switch mode selective Protokoll

The given protocol has implemented the Switch mode selective service and controls the state behaviour of the LSS device. By means of the LSS master only this LSS device in the network can be switched to Configuration Mode, whose LSS address attributes correspond with the LSS address. LSS master --> LSS device

0 1 2 3 4 5 6 7 COB ID CS Vendor-Id Reserved by CiA

0x7E5 64 LSB MSB

0 1 2 3 4 5 6 7 COB ID CS Product-Code Reserved by CiA

0x7E5 65 LSB MSB

0 1 2 3 4 5 6 7 COB ID CS Revision-Number Reserved by CiA

0x7E5 66 LSB MSB

0 1 2 3 4 5 6 7 COB ID CS Serial number Reserved by CiA

0x7E5 67 LSB MSB LSS device --> LSS master

0 1 2 3 4 5 6 7 COB ID CS Reserved by CiA

0x7E4 68



9.4 Configuration protocols

9.4.1 Configure Node ID protocol

The given protocol has implemented the Configure NMT-address service. By means of the LSS master the Node ID of a single LSS device in the network can be configured. Only one LSS device may be switched to Configuration Mode for this purpose. For storage of the new Node ID the Store configuration protocol must be transmitted to the LSS device. To activate the new Node ID the NMT service Reset Communication (0x82) must be addressed. LSS master --> LSS device

0 1 2 3 4 5 6 7 COB ID CS Node ID Reserved by CiA

0x7E5 17 1…127 und 255 LSS device --> LSS master

0 1 2 3 4 5 6 7

COB ID CS Error Code

Spec. Error

Reserved by CiA

0x7E4 17 Error Code 0: Protocol successfully completed 1…254: Reserved 255: application specific error occurred Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA



9.4.2 Configure bit timing parameters protocol

The given protocol has implemented the Configure bit timing parameters service. By means of the LSS master the Baud rate of a single LSS device in the network can be configured. For the storage of the new Node ID the Store configuration protocol must be transmitted to the LSS device. LSS master --> LSS device

0 1 2 3 4 5 6 7

COB ID CS Table

Selector Table Index

Reserved by CiA

0x7E5 19 0 0…7 LSS device --> LSS master

0 1 2 3 4 5 6 7


Spec. Error

Reserved by CiA

0x7E4 19 Table Selector 0: Standard CiA Baud rate table Table Index 0: 1 Mbit/s 1: 800 kbit/s 2: 500 kbit/s 3: 250 kbit/s 4: 125 kbit/s 5: 50 kbit/s 6: 20 kbit/s 7: 10 kbit/s Error Code 0: Protocol successfully completed 1: selected Baud rate not supported 2…254: Reserved 255: application specific error occurred Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA



9.4.3 Activate bit timing parameters Protokoll

The given protocol has implemented the Activate bit timing parameters service and activates the Baud rate defined via Configure bit timing parameters protocol in all LSS devices in the network being in Configuration Mode. LSS master --> LSS device

0 1 2 3 4 5 6 7 COB ID CS Switch Delay [ms] Reserved by CiA

0x7E5 21 LSB MSB Switch Delay The parameter Switch Delay defines the length of two delay periods (D1, D2) with equal length. These are necessary to avoid operating the bus with differing Baud rate parameters. After the expiration of the time D1 and after an individual processing duration, the switching is performed internally inside the LSS device. After the expiration of the time D2, the LSS device responds with CAN messages and the newly configured Baud rate. The following applies: Switch Delay > longest occurring processing duration of a LSS device 9.4.4 Store configuration Protokoll

The given protocol has implemented the Store configured parameters service. By means of the LSS master the configured parameters of a single LSS device in the network can be stored into the non-volatile memory. Only one LSS device may be switched to Configuration Mode for this purpose. LSS master --> LSS device


0x7E5 23 LSS device --> LSS master

0 1 2 3 4 5 6 7


Spec. Error

Reserved by CiA

0x7E4 23 Error Code 0: Protocol successfully completed 1: Store configuration not supported 2…254: Reserved 255: application specific error occurred Specific Error if Error Code = 255 --> application specific error occurred, otherwise reserved by CiA



9.5 Inquire LSS-Address Protokolle

9.5.1 Inquire Identity Vendor-ID Protokoll

The given protocol has implemented the Inquire LSS address service. By means of the LSS master the Vendor ID of a single LSS device in the network can be read out. Only one device can be switched to Configuration Mode. LSS master --> LSS device


0x7E5 90

LSS device --> LSS master

0 1 2 3 4 5 6 7 COB ID CS Vendor-Id (= Index 1018h:01) Reserved by CiA

0x7E4 90 LSB MSB 9.5.2 Inquire Identity Product-Code Protokoll

The given protocol has implemented the Inquire LSS address service. By means of the LSS master the manufacturer's product name of a single LSS device in the network can be read out. Only one LSS device may be switched to Configuration Mode. LSS master --> LSS device



0 1 2 3 4 5 6 7 COB ID CS Product-Code (= Index 1018h:02) Reserved by CiA

0x7E4 91 LSB MSB



9.5.3 Inquire Identity Revision-Number Protokoll

The given protocol has implemented the Inquire LSS address service. By means of the LSS master the Revision Number of a single LSS device in the network can be read out. Only one LSS device may be switched to Configuration Mode for this purpose. LSS master --> LSS device



0 1 2 3 4 5 6 7 COB ID CS Revision-Number (= Index 1018h:03) Reserved by CiA

0x7E4 92 LSB MSB 9.5.4 Inquire Identity Serial-Number Protokoll

The given protocol has implemented the Inquire LSS address service. Via the LSS master the Serial Number of a single LSS device in the network can be read out. Only one LSS device may be switched to Configuration Mode for this purpose. LSS master --> LSS device



0 1 2 3 4 5 6 7 COB ID CS Serial-Number (= Index 1018h:04) Reserved by CiA

0x7E5 93 LSB MSB



9.6 Inquire Node-ID Protokoll

The given protocol has implemented the Inquire Node ID service. Via the LSS master the Serial Number of a single LSS device in the network can be read out. Only one LSS device can be switched to Configuration Mode. LSS master --> LSS device


0x7E5 94

LSS device --> LSS master

0 1 2 3 4 5 6 7 COB ID CS Node ID Reserved by CiA

0x7E4 94 1…127 und 255 Node-ID Corresponds to the Node ID of the selected device. If the Node ID has been recently changed by the Configure Node ID service, the original Node ID is returned. Only after implementation of the NMT Service Reset Communication (0x82), the current Node ID is returned.



9.7 Identification Protocols

9.7.1 LSS identify remote slave protocol

The given protocol has implemented the LSS identify remote slaves service. By means of the LSS master LSS devices in the network can be identified within a certain range. All LSS devices with matching Vendor ID, Product Code, Revision No. - area and Serial No. - area, respond by the LSS identify slave protocol. LSS master --> LSS device

0 1 2 3 4 5 6 7 COB ID CS Vendor-Id Reserved by CiA

0x7E5 70 LSB MSB

0 1 2 3 4 5 6 7 COB ID CS Product-Code Reserved by CiA

0x7E5 71 LSB MSB

0 1 2 3 4 5 6 7 COB ID CS Revision-Number-Low Reserved by CiA

0x7E5 72 LSB MSB

0 1 2 3 4 5 6 7 COB ID CS Revision-Number-High Reserved by CiA

0x7E5 73 LSB MSB

0 1 2 3 4 5 6 7 COB ID CS Serial-Number-Low Reserved by CiA

0x7E5 74 LSB MSB

0 1 2 3 4 5 6 7 COB ID CS Serial-Number-High Reserved by CiA

0x7E5 75 LSB MSB 9.7.2 LSS identify slave protocol

The given protocol has implemented the LSS identify slave service. All LSS devices with matching LSS address attributes given in the LSS identify remote slaves protocol, respond by this protocol. LSS device --> LSS master


0x7E4 79



9.7.3 LSS identify non-configured remote slave protocol

The specified protocol has implemented the LSS identify non-configured remote slave service. By means of the LSS-Master all non-configured LSS Devices (Node ID = FFh) in the network are identified. The related LSS Devices respond by the LSS identify non-configured remote slave protocol. LSS device --> LSS master


0x7E4 76 9.7.4 LSS identify non-configured slave protocol

The specified protocol has implemented the LSS identify non-configured slave service. All LSS devices having an invalid Node ID (FFh) respond by this protocol after having completed the LSS identify non-configured slave protocol. LSS device --> LSS master


0x7E4 80 9.7.5 Fastscan protocol

The specified protocol has implemented the LSS fastscan service. LSS devices change into the Configuration Mode after having been identified via all 4 LSS sub entries. LSS device --> LSS master

0 1 2 3 4 5 6 7

COB ID CS ID Number Bit

Check LSS Sub

LSS Next

0x7E4 81 LSB MSB



10 Connection

The connection can be carried out by means of the enclosed device specific pin assignment; see user manual HLB 1400 CANopen (part no. 670045). The user manual is included in the delivery of HLB 1400 CANopen).

10.1 Switching on the supply voltage

After connection and all settings have been carried out, the supply voltage can be switched on. After having switched on and having finished the initialisation, the measurement system enters the PRE-OPERATIONAL status. This status is acknowledged by the Boot-Up message "COB ID 0x700+Node ID". If the measuring system detects an internal error, an emergency message with the error code are transmitted (see chapter "Emergency Object (EMCY)", page 10). In PRE-OPERATIONAL status, at first, only a parameter setting via Service Data Objects is possible. But it is possible to configure PDOs with the help of SDOs. If the measuring system has entered the OPERATIONAL status, a transmission of PDOs is possible as well (see Network Management Services (NMT), page11).

10.2 Setting the Node ID and Baud rate by means of LSS services

10.2.1 Configuration of the Node ID, sequence

Assumption:

LSS address unknown

only one LSS device should be in the network

the Node ID 12 dec. shall be set

Procedure:

Switch LSS-device to Configuration Mode using command Specifier

04 Switch mode global protocol, Mode = 1. (see Switch mode global protocol, page 28)

Command Specifier 17 Configure NMT Address Protocol, Node ID = 12. (see Configure Node ID protocol, page 29) --> Wait for feedback and check successful execution, --> Error Code = 0.



Command Specifier 23 Store Configuration Protocol. --> Wait for feedback and check successful execution, --> Error Code = 0 (see). (see Store configuration Protokoll, page 31)

Switch off the supply voltage of the LSS device, then switch on again. Now the new configuration is activated.

10.2.2 Configuration of the Baud rate, sequence

Assumption:

LSS address unknown

only one LSS device should be in the network

the Baud rate 125 kbit/s shall be set

Procedure:

Perform NMT service Stop Remote Node (0x02), to switch the LSS device to Stopped state. The LSS device should not send any more CAN-messages --> Heartbeat switched off (see Network Management Services (NMT), page 11).

Switch LSS-device to Configuration Mode using command Specifier 04 Switch mode global protocol, Mode = 1. (see Switch mode global protocol, page 28)

Perform service 19 Configure bit timing parameters protocol, Table Selector = 0, Table Index = 4 --> Wait for feedback and check successful execution, --> Error Code = 0 (see Configure bit timing parameters protocol, page 30).

Perform Command Specifier 21 Activate bit timing parameters protocol, to activate the new Baud rate. (see Activate bit timing parameters Protokoll, page 31)

Command Specifier 23 Store Configuration Protocol. --> Wait for feedback and check successful execution, --> Error Code = 0 (see). (see Store configuration Protokoll, page 31)

Switch off the supply voltage of the LSS device, then switch on again. Now the new configuration is activated.



11 Commissioning

11.1 CAN interface

The CAN bus interface is defined by the international standard ISO/DIS 11898 and specifies the two lowest layers of the ISO/DIS CAN Reference Model.

The conversion of the measurement system information to the CAN protocol (CAN 2.0A) is done via a CAN-controller. The function of the CAN-controller is monitored by a watchdog.

The CANopen Communication Profile (CIA standard DS301, see chapter 1.1 Generally [1]) is a subset of CAN Application Layer (CAL) and describes how the services are used by devices. The CANopen Profile allows the definition of device profiles for decentralised I/O.

The measurement system with CANopen protocol supports the Device Profile for measurement devices (CIA Draft Standard 404, Version 1.3, see [2]).

The communication functionality and objects, used in the measurement device profile, are described in an EDS file (Electronic Data Sheet). When using a CANopen Configuration Tool (e.g.: CANSETTER), the user can read out the objects of the measurement system (SDOs) and program the functionality.

11.2 EDS file

The EDS (electronic datasheet) contains all information on the measuring system-specific parameters and the measurement system’s operating modes. The EDS file is integrated using the CANopen network configuration tool to correctly configure or operate the measurement system.

The EDS file matching the device can be identified by the device name and by the device related major revision number in its file name.

The file including the its CANopen interface description can be found and downloaded from our homepage:

http://www.hydac.com/uk-en/products/sensors/show/Material/index.html



HYDAC ELECTRONIC GMBH Hauptstrasse 27 D-66128 Saarbruecken Germany Web: www.hydac.com Email: [email protected] Phone: +49 (0)6897 509-01 Fax.: +49 (0)6897 509-1726 HYDAC Service For enquiries regarding repairs, please contact HYDAC Service. HYDAC SERVICE GMBH Hauptstrasse 27 D-66128 Saarbruecken Germany Phone: +49 (0)6897 509-1936 Fax.: +49 (0)6897 509-1933 Note The information in this manual relates to the operating conditions and applications described. For applications and/or operating conditions not described please contact the relevant technical department. If you have any questions, suggestions or encounter any problems of a technical nature, please contact your HYDAC representative. Subject to technical modifications.

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