Technical Description Revision 2...PITAGORA PRELIMINARY MANUAL Technical Description User's Guide...

Doc. # 260416-001; specifications subject to change without notice Z:\Manuali\Pitagora_multi LCD\PITAGORA UK 1.27\Pitagora CANopen ADDENDUM Pit1.27 UK 260416.docx

S2Tech-DigiTran

PITAGORA

PRELIMINARY MANUAL

Technical Description User's Guide

Configuration and CAN Interface

S2Tech S.R.L. Via Imperia 28 20142 Milano - Italy Phone +39 028910142 Fax +39 0289124848 E-Mail: [email protected] http://www.s2tech.it

CANopen

PITAGORA

Configuration and CAN Interface PRELIMINARY CANopen

Pitagora CANopen ADDENDUM Pit1.27 UK 260416.docx

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Contents 1. Characteristics ................................................................................................................................... 4

1.1. ELECTRICAL CONNECTIONS .............................................................................................. 5

1.2. Rear terminal boards .................................................................................................................. 5

1.3. Power supply connections .......................................................................................................... 5

1.3.1. Accepted power supply ....................................................................................................... 5

1.4. Connection of RJ-11b connector com port ................................................................................. 6

2. Definitions ......................................................................................................................................... 6

System Description of PITAGORA on CAN-Bus .................................................................................... 7

2.1. PITAGORA ARCHITECTURE – SYSTEM SLOT .................................................................. 7

2.1.1. Slot types that may be part of the internal configuration of a PITAGORA instrument: ..... 8

2.1.2. SPECIAL MODULE COMMAND SEQUENCES ............................................................ 9

2.1.3. PITAGORA CONFIGURATION – Example and reference table - Modbus / CANopen

indexes 10

2.1.4. SYSTEM module (0x10)................................................................................................... 11

2.2. Node Identification ................................................................................................................... 15

2.3. Operating Parameters ............................................................................................................... 15

2.4. System Start .............................................................................................................................. 16

2.4.1. Initialization state .............................................................................................................. 16

2.4.2. Pre-Operational state ......................................................................................................... 16

2.4.3. Operational state ............................................................................................................... 16

2.5. Power-On messages ................................................................................................................. 16

2.6. Estimating transmission time ................................................................................................... 17

3. Measurement data in the TxPDOs .................................................................................................. 17

3.1. Error messages ......................................................................................................................... 18

4. Parameterization of the CANopen interface with SDO Services ................................................... 18

4.1. Assigning baud rate .................................................................................................................. 18

4.2. Assigning NodeID .................................................................................................................... 19

4.3. Saving the settings .................................................................................................................... 19

5. Node configuration ......................................................................................................................... 20

5.1. Node identification ................................................................................................................... 20

5.2. Mode (type of message transmission) ...................................................................................... 20

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5.3. Setting data transmission/update rate ....................................................................................... 20

5.4. Saving the new settings ............................................................................................................ 20

6. Object Directory .............................................................................................................................. 21

6.1. Communication Profile ............................................................................................................ 21

6.1.1. CANopen Setup ................................................................................................................ 21

6.2. CANopen Interface Module (0x22) ....................................................................................... 22

6.2.1. PDO Communication ........................................................................................................ 23

6.3. Communication Profile (Tables) ABSOLUTE ....................................................................... 24

6.4. Application Module (0x30) ..................................................................................................... 30

6.5. A/D Converter CS5532 (0x02) – ABSOLUTE references ................................................... 31

6.5.1. A/D Converter Module calibration and setup ................................................................... 40

6.5.2. Linearization ..................................................................................................................... 41

6.5.3. Auto Zeroing Function ...................................................................................................... 42

6.6. A/D Converter CS5532 (0x02) – RELATIVE index EXAMPLE ....................................... 44

7. Parameterization of the Measuring system with SDO Services ..................................................... 47

7.1. Measure Update Rate setup ...................................................................................................... 47

7.2. Output value measurement units .............................................................................................. 48

7.3. Saving the settings .................................................................................................................... 48

8. Peak value monitoring .................................................................................................................... 48

9. Zero Reset operation ....................................................................................................................... 48

10. APPENDIX .................................................................................................................................. 49

10.1. PITAGORA compatibility for non CANopen networks ....................................................... 49

10.2. Accessing the Object Database using Expedited SDO Protocol .......................................... 50

11. Operating the CANopen device ................................................................................................... 51

12. Operation example ....................................................................................................................... 52

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Notice: The information in this manual is subject to change without notice.

S2Tech shall not be liable for technical or editorial errors or omissions contained herein, nor for

incidental or consequential damages resulting from the furnishing, performance, or use of this

material. This manual contains information protected by copyright. No part of this

manual may be photocopied, or reproduced in any form, or translated without prior written

consent from S2Tech s.r.l.

Critical products (1) used in critical devices or systems (2) must be expressly

authorized for such purpose!

S2Tech products may only be used in critical devices or systems with the express written approval

of S2Tech s.r.l.

(1) A critical product is a product used in a device or system whose failure can reasonably be

expected to cause the failure of that device or system, or to affect the safety or effectiveness

of that device or system.

(2) A critical device or system is any system whose failure can be reasonably assumed to

endanger the life or the health of human persons.

1. Characteristics

PITAGORA instrument allows configuration in a CANopen bus system: For Communication Profile parameterization see Paragraph 4.

Parameterization distinguishes between instrument’s-specific and CAN-specific parameters.

Programmable parameters related to i.e. I2 Input board (for strain gauge based transducers)

installed on the Slots from A to D may be:

– Setting working range

- Setting and activating auto-zeroing function

- Setting and activating linearization function

– Peak value retention (Peak values can be read via SDO)

– Cycle time of the PDO

Other type of boards will provide parameters and variables accordingly to their functions.

CAN communications parameters:

– Sending PDOs

– Setting guard time and life time factor

Bus parameters:

– Setting baud rate

– Setting Node ID

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1.1. ELECTRICAL CONNECTIONS

Warning:

Avoid soldering activities nearby the a PITAGORA instrument or a network of digital units.

1.2. Rear terminal boards

Fig. 1: Rear terminal board view.

1.3. Power supply connections

1.3.1.Accepted power supply

From 10.5 to 35 Vdc.

Power supply must be in position to provide at least 24W power (depending on the number and type of connected

transducers).

On terminal connector is available the earth connection for instrument grounding.

Be careful to avoid earth loops, as this can cause damages to the instrumentation, decrease of the measurement’s accuracy or

error in the digital data communication with the instrument, when using a remote computer.

Terminal Description

+DC DC power supply

GND GND power supply

EARTH Earth connection / Grounding

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1.4. Connection of RJ-11b connector com port

RJ – 11b Cable color Description

1 Blue

WARNING: on this pin is available the POWER SUPPLY

supplied to the Pitagora instrument (reduced from 1 to 2 volts)

2 White CAN_H

3 Red CAN_L

4 Brown GND

NOTE: PITAGORA instruments can be connected to other type of fieldbuses, using specific

gateways that can be provided and configured by S2Tech, allowing a wider use of such products.

It is also possible to use these products with wireless connection, using WiFi / Bluetooth or other

proprietary means of wireless transmission.

In order to have good performances it is strongly suggested to:

Follow connection recommendations from official Technical CAN guidelines

Terminate transmission line with 120 Ohm terminators

Use appropriate shielded cables with twisted pairs used :

One twisted couple for CAN_L and CAN_H

One twisted couple for Power Supply + and Power Supply GND

Can GND can stand alone, using and additional twisted couple

Remember that communication cable must avoid bifurcations and long stubs.

Allowed connection topology is linear connection between all devices

2. Definitions

Baud rate Data transmission speed on the CAN bus

CAN Controller Area Network

CAL CAN Application Layer

CiA CAN in Automation (CiA) International Users and Manufacturers Group e.V.

DS... CiA Draft Standard ...

NodeID Node number for device specific identification

PDO Process Data Object Element for data transfer (process data messages with high

priority)

SDO Service Data Object Element for configuring the bus node (service data

messages)

NMT Network Management Service element for initialization and error handling

(administrative messages)

Index.SubIndex

Or Idx.Sub Used to indicate CAN references as Index and Sub index of constant or variables

that can be accessed from the CAN network. d.ParamName Variable parameters / live measurements

c.ParamName Constant parameters

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System Description of PITAGORA on CAN-Bus

2.1. PITAGORA ARCHITECTURE – SYSTEM SLOT

The system is structured in a modular form, to achieve the maximum configuration flexibility:

the firmware is built around 16 logic SLOTS, where each slot is a handle that can be associated to

a virtual task or to a physical hardware feature.

The system executes the tasks associated to the slot type in a round robin order.

This modular concept can be used to create instruments with internal configuration defined

accordingly to Customer’s needs, or as a fixed configuration when instruments have a hardware

configuration that cannot be changed during production of the unit – like the DIGI Tran line of

transducers.

SLOTs are organized as follows:

SLOT Description

0 Contains the system configuration: SLOT 0 is setup in Factory, to configure the hardware

and software options, as chosen by the Customer. On fixed configuration devices – like

the DigiTran products, this is the slot where the transducer Hw is allocated.

1 Associated to physical SLOT A: it has to be set accordingly to the hardware installed on

the device, in order to fully use the corresponding available features and measured data.

2 Associated to physical SLOT B: it has to be set accordingly to the hardware installed on


3 Associated to physical SLOT C: it has to be set accordingly to the hardware installed on


4 Associated to physical SLOT D: it has to be set accordingly to the hardware installed on


5 Associated to the DISPLAY driver, if present on the device.

6 Associated with the MODBUS serial protocol used on SERIAL0 interface, if accessible.

7 Always present and associated to the APPLICATION that is used to represent/handle

inside the device measurement data.

8….14 Can be associated to a software function / virtual drive, to be used to manipulate data

(i.e. with summing or logic modules).

15 Can be associated to a FIELDBUS protocol driver (CANopen, Profibus).

In this product configuration CAN module is always present.

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2.1.1. Slot types that may be part of the internal configuration of a PITAGORA instrument:

Code Module Type

0x00 Void -

0x02 A/D Converter CS5532 Interface Driver Hardware

0x03 Magnetostrictive Transducer Interface Driver Hardware

0x04 D/A Converter Interface Driver Hardware

0x05 Relays Output Interface Driver Hardware

0x06 Opto Output Interface Driver Hardware

0x10 System Software

0x12 8 LED Display Hardware

0x13 7 segments LED Display Hardware

0x14 LCD Display Hardware

0x20 DSE Net Serial Interface Software

0x21 Modbus Serial Interface Software

0x22 CANopen Interface Software

0x23 Profibus Interface Software

0x30 Application Software

0x31 Level Software

0x32 Adder Software

0x33 Assembly Object 8 elements Software



0x36 Boolean Processor (OR, AND) Software

0x37 Aseko Inclinometer Compensator Software

0x3C Linearization Software PARAMETERS

Each Software Module in the system can interact with others, via Parameters.

A parameter is any variable used in the Slot, to store a value or status related to the Slot process.

For Modbus instruments:

Each Slot has an own space for up to 1000 parameters, numbered z000 to z999, where the “z” is

replaced by the Slot number (for instance, Slot 8 parameters will be numbered 8000 to 8999).

Parameters z000 to z499 are VOLATILE parameters (values are produced at Run Time and NOT

stored in Non Volatile Memory), while parameters z500 to z999 are CONSTANT configuration

parameters and their values are stored in Non Volatile Memory.

Each Slot has his own dedicated parameter database.

For CANopen instruments:

Variables and Constants can be accessed with sub indexes that may range from 0 to 255 (0 to

0xFF), making reference to the object database specific for each product.

If a software or hardware module is installed on a specific SLOT, to access the desired variables

(= measurements or status) or constants (= configuration parameters), You must use table at

paragraph 2.1.3 to locate the INDEX value referable to the SLOT where the module is installed.

Sub-index for VARIABLES: is the value of the “relative” Idx value obtained from the Module

database table, expressed in hexadecimal format.

Sub-index for CONSTANTS: is the result of the (“relative” Modbus Idx -500) value, represented

as hexadecimal number.

In this document, all the tables referable to the CANopen, A/D Converted and Application modules

are given as ABSOLUTE references, already expressing INDEXes and SUB-INDEXES for the

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PITAGORA configuration used as example. USE table at paragraph 2.13 to compute the

references needed for different configurations.

SERVICE PARAMETERS

Every Slot has two special dedicated parameters, at address z000 and z001, that can be accessed

ether through Modbus or CANopen.

First parameter (z000, STATUS) holds the Slot STATUS, while the second one (z001, COMMAND)

is used to operate some standard Slot functions.

Functions can be activated by writing into the COMMAND parameter some special command

codes, corresponding to the desired function.

Commands whose numeric value stands between 0x01 and 0x7F (1 to 127) are Slot specific

commands, while those between 0x80 and 0xFF (128 to 255) are standard commands, whose

meaning is common to all modules.

The Slot is ready to accept a new command only when the COMMAND value reads 0x00; the

User can then write a command value into the COMMAND parameter and the Slot will confirm

command execution by resetting COMMAND parameter back to 0x00.

2.1.2. SPECIAL MODULE COMMAND SEQUENCES

Some particularly critical commands can be executed only by following a special sequence, in

order to keep the risk of undesired operation at a minimum.

Those command sequences work only if the User sequentially specifies the command sequence

bytes: any byte out of sequence will cause the system to refuse the command execution and the

user will be forced to restart the sequence again.

In example, to save on EEprom the new working parameters for the module (i.e. a new baud

rate), the sequence will be:

1. write on MODULE’s COMMAND (CANopen Idx 200F Subindex 1) the 0x80 value

2. wait that the device confirms to have received/executed the first part of the command. by

reading the STATUS (CANopen Idx 200F Subindex 0) until it shows the 0x90 value

3. write on MODULE’s COMMAND (CANopen Idx 200F Subindex 1) the 0x90 value to complete

the command sequence

After the correct execution of the command sequence the device will return on the SYSTEMS’s

STATUS the 0x00 value.

NVM SAVE Command Sequence 0x80, 0x90 (128, 144)

This command sequence is used to save all non-volatile parameters into Non Volatile Memory,

referable to the Module.

DEF LOAD Command Sequence 0x81, 0x91 (129, 145)

This command sequence is used to load the default values into all non-volatile parameters of the

Slot.

This DOES NOT MEAN that default values are SAVED into Non Volatile Memory: to save the

Default values into Non Volatile Memory, after this command an NVM SAVE command should be

executed.

SLOT STOP Command 0xA0 (160)

This command is used to stop the Slot: when this command is received, the Slot is halted.

SLOT RESTART Command 0xA1 (161)

This command is used to reset and restart the Slot: when this command is received, the Slot is

reinitialized and started.

The last two commands can be used to Reset a single Slot; this operation is similar to power cycle

the Pitagora, but limited to a SINGLE Slot. This procedure can be used, for instance, to reset an

A/D Converter channel after a calibration, without interference to other Slots.

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2.1.3. PITAGORA CONFIGURATION – Example and reference table - Modbus / CANopen indexes

SLOT TYPE Internal

Variables

Modbus

Variables

CANopen

Variables

Idx/SubIdx

Internal

Constants

Modbus

Constants

CANopen

Constants

Idx/SubIdx

R/O R/O R/O R/W R/W R/W

SLOT 0 0x10 – System Config 0..499 0..999 2000/0..255 500..999 1000..1999 2100/0..255

SLOT 1 (A) 0x02 – A/D Converter 1000..1499 2000..2999 2001/0..255 1500..1999 3000..3999 2101/0..255

SLOT 2 (B) 0x02 – A/D Converter 2000..2499 4000..4999 2002/0..255 2500..2999 5000..5999 2102/0..255

SLOT 3 (C) 0x00 – Void 3000..3499 6000..6999 2003/0..255 3500..3999 7000..7999 2103/0..255

SLOT 4 (D) 0x00 – Void 4000..4499 8000..8999 2004/0..255 4500..4999 9000..9999 2104/0..255

SLOT 5 0x14 – LCD Display 5000..5499 10000..10999 2005/0..255 5500..5999 11000..11999 2105/0..255

SLOT 6 0x21 – Modbus 6000..6499 12000..12999 2006/0..255 6500..6999 13000..13999 2106/0..255

SLOT 7 0x30 – Application 7000..7499 14000..14999 2007/0..255 7500..7999 15000..15999 2107/0..255

SLOT 8 0x00 – Void 8000..8499 16000..16999 2008/0..255 8500..8999 17000..17999 2108/0..255

SLOT 9 0x00 – Void 9000..9499 18000..18999 2009/0..255 9500..9999 19000..19999 2109/0..255

SLOT 10 0x00 – Void 10000..10499 20000..20999 200A/0..255 10500..10999 21000..21999 210A/0..255

SLOT 11 0x00 – Void 11000..11499 22000..22999 200B/0..255 11500..11999 23000..23999 210B/0..255

SLOT 12 0x00 – Void 12000..12499 24000..24999 200C/0..255 12500..12999 25000..25999 210C/0..255

SLOT 13 0x00 – Void 13000..13499 26000..26999 200D/0..255 13500..13999 27000..27999 210D/0..255

SLOT 14 0x00 – Void 14000..14499 28000..28999 200E/0..255 14500..14999 29000..29999 210E/0..255

SLOT 15 0x22 – CANopen 15000..15499 30000..30999 200F/0..255 15500..15999 31000..31999 210F/0..255

Note: the above are ABSOLUTE references, considering all the available SLOTS

For Modbus and CANopen, Indexes = Idx

Sub Indexes (SubIdx) are to be computed from “relative” Module Parameter Tables

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2.1.4. SYSTEM module (0x10)

Slot = 0 Type = Mandatory Version = 1.0 Parameter Table (Used to describe the internal module organization for the device) (ABSOLUTE) Idx Sub Parameter Name Size Attrib. min Max Default Description

0x2000 0 d.Status INT8U RW 0 1 0

1 d.Command INT8U RW 0 0xFF 0

2 RESERVED

3 d.Fpassword INT32U RW -0x7FFFFFFF 0x7FFFFFFF 0 Set to 4895 to unlock WRITE protect

0x2100 0 c.Producer INT8U RO S2Tech Manufacturer Code

1 c.Product INT8U RO S2Tech Product Code

2 c.SwVersion INT8U RO Firmware Version

3 c.SwRevision INT8U RO Firmware Revision

4 c.Sernum INT32U RWP 0 99999999 Serial Number

0x2100

5 c.SlotType [0] INT8U RO SYSTEM SYSTEM 0x10 SYSTEM

6 c.SlotType [1] INT8U RO 0x02 A/D Converter CS5532

7 c.SlotType [2] INT8U RO 0x02 A/D Converter CS5532

8 c.SlotType [3] INT8U RO


A c.SlotType [5] INT8U RO 0x14 LCD Display

B c.SlotType [6] INT8U RO 0x21 Modbus

C c.SlotType [7] INT8U RO 0x30 APPLICATION

D c.SlotType [8] INT8U RO

E c.SlotType [9] INT8U RO

F c.SlotType [10] INT8U RO





14 c.SlotType [15] INT8U RO 0x22 CANopen

15 c.IniType INT16U RO

Inifile number for configuration

identification

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SYSTEM MODULE SPECIAL COMMAND SEQUENCES

GLB SAVE Command Sequence 0xF0, 0xF8 (240, 248)

This command sequence is used to save all Pitagora nonvolatile parameters into Non Volatile Memory. This Command saves ALL the slots.

GLB DEF Command Sequence 0xF1, 0xF9 (241, 249) This command sequence loads all Pitagora default values into the Slots parameters AND saves them into Non

Volatile Memory. This Command rewrites ALL the slots.

GLB DEF0 Command Sequence 0xF2, 0xFA (242, 250) This command sequence loads all Pitagora default values into all Slots EXCEPT Slot 0 AND saves them into

Non Volatile Memory. This Command rewrites only Slots 1 to 15. SLOT 0 REMAINS UNTOUCHED.

RESET Command Sequence 0xF3, 0xFB (243, 251) This command sequence RESETs the Pitagora, after a delay of 500ms.

ERASE Command Sequence 0xF4, 0xFC (244, 252)

This command sequence completely ERASE the Pitagora Non Volatile Memory.

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SYSTEM module special COMMANDS

Value Name Description

0xF0, 0xF8 GLB SAVE Save all Pitagora non volatile parameters into Non Volatile Memory

0xF1, 0xF9 GLB DEF Loads all Pitagora default values into the Slots parameters AND saves them

into Non Volatile Memory

0xF2, 0xFA GLB DEF0 Loads all Pitagora default values into all Slots EXCEPT Slot 0 AND saves them

into Non Volatile Memory. SLOT 0 REMAINS UNTOUCHED.

0xF3, 0xFB RESET RESETs the Pitagora

0xF4, 0xFC ERASE Completely ERASE the Pitagora Non Volatile Memory

SYSTEM module special STATUS values

Value Description

0xF8 0xF0 received, waiting for Command 0xF8 (sequence)

0xF9 0xF1 received, waiting for Command 0xF9 (sequence)

0xFA 0xF2 received, waiting for Command 0xFA (sequence)

0xFB 0xF3 received, waiting for Command 0xFB (sequence)

0xFC 0xF4 received, waiting for Command 0xFC (sequence)

0xFF Delay phase before RESET

Commands common to all Slots

Value Name Description

0x80, 0x90 NVM SAVE Save all non-volatile parameters into Non Volatile Memory

0x81, 0x91 DEF LOAD Load the default values into all non-volatile parameters

0xA0 SLOT STOP Disable (STOP) the Slot

0xA1 SLOT RESTART Reset and Restart the Slot

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STATUS values common to all Slots

Value Description

0x80 Command >= 0x80 received, processing

0x90 0x80 received, waiting for Command 0x90 (sequence)

0x91 0x81 received, waiting for Command 0x91 (sequence)

0xA0 Slot STOPPED (send 0xA1 to restart Slot)

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2.2. Node Identification

PITAGORA instrument is operated on the CAN bus and represents a node of the bus system.

It works in CAN, CANopen and Layer 2 networks. Unique identification of the unit is done using

the data which are permanently stored in the unit, e.g.:

Manufacturer Device Name: 01-48 S2Tech

Manufacturer Hardware Version: 1.00

Manufacturer Software Version: 1.01

Serial No.: 02000123

The setup of:

Bus parameters

Baud rate

Node ID

can be performed using SDO services, with only the transducer and the CANopen master

connected together.

2.3. Operating Parameters

The settable parameters of the CAN Communication Profile can be changed using the SDO service

(via master).

Setting through the SDO service:

CAN Communication Profile

Mapping (when applicable) and transmission or turning off the PDO

Setting guard time and life time factor

Input board (like i.e. I2) operating parameters

Working range

Linearization points

Auto zeroing

Cycle time of the PDO

Please refer to the specific services/functions available for each different type of

transducer.

The CAN communications module integrated into the transducer converts the data generated into

it into CAN messages and sends them out on the CAN bus.

The following communications objects are used for sending messages on the CAN bus:

– Process Data Objects (PDO)

PITAGPORA’s measured data are sent with up to 4 PDO.

The configuration of the PDOs is fixed and cannot be changed by the User, so it must be

configured when ordering the instrument.

– Service Data Object (SDO)

The SDO is used to send the parameters for configuring the installed input boards or the

existing internal virtual modules .

In addition, the SDO can be used to access information in the Object Directory (OD) (e.g.,

error messages from the error register, measured peak values).

– Emergency Object

Emergency Objects are used to report high priority events.

– Synchronization Object (SYNC)

SYNC is used to establish communications synchronization on the bus.

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2.4. System Start

After Power On (or after a Reset) the CAN communication module is started according to the

following states.

2.4.1. Initialization state

The CAN communication module is initialized in this state.

Loading of device-specific parameters is initiated by the CAN communication module.

The CAN communication module takes over the device-specific configuration parameters.

After this the data are ready for transmitting.

After initialization is concluded, the CAN communication module automatically goes into the Pre-

Operational state. Simultaneously data transmission from the PITAGORA module to the CAN

communication module is enabled.

2.4.2. Pre-Operational state

In this state the measuring system can be configured using a master application/control through

the CAN bus. Communication is done over a 'peer-to-peer' communication channel which is

established by using a Service Data Object (SDO). The ID numbers which the SDO needs are

determined based on the node number according to the ID allocation procedure used in the

CANopen standard.

The ID numbers or the SYNC, Emergency Objects, and Process Data Objects (PDOs) are also

assigned according to the ID allocation procedure used in the CANopen standard. If the system is

being used in a CANopen network, ID assignment is handled by a distributor (DBT master).

When configuring using a Master application, it should be noted that only correct parameters may

be entered in the object directory, since the CAN communication module is not capable of

performing any consistency and value range checks.

Configuration of the node number (NodeID) and the baud rate can be carried out in the Pre-

Operational state. After a change is made, with proper saving of the parameters and a reset, the

system starts with the new parameters and the default settings in the object directory, and then

returns to the Pre-Operational state.

2.4.3. Operational state

After the transition to Operational, communication using Process Data Objects (PDOs) is enabled.

Depending on the parameterization of the object directory (mapping, type of message

transmission), the objects are now sent over the CAN bus.

The PDO is sent in one of two ways. Either the PDO is initiated and sent (continuously) by the

module, or the PDO is initiated when a SYNC is received (query driven).

2.5. Power-On messages

The Power-on message is issued right after power up. It consists of the Nodeguard Message

(identifier 700H) + NodeID with the data field being 0, meaning the node is in Unknown State.

After 1 s wait time, the second message is issued.

Example of Power-On Message:

PITAGORA with NodeId = 1A:

after Power On:

71A 00

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2.6. Estimating transmission time

Since there are dependencies between the CAN bus line length and the baud rate, as well as the

selection of the data interval, it is important to estimate the transmission time for continuous

transmission for the baud rate and data interval settings.

In the PITAGORA Mapping, the total length of the message is about 100 bits:

1. Transmit-PDO 1 = PDO1a (4 bytes for Net measure) + PDO1b (4 bytes for A/D points);

2. Transmit-PDO 2 = PDO2a (4 bytes for Gross measure) + PDO2b (4 bytes for Peak measure)

At a baud rate of 1,000 kBit/sec, a transmission time of 250 µs is required, i.e., the data are

completely sent if, after the shortest data interval, the next data are provided by the instrument.

With a Sync sent by the Master to trigger the data transmission, each measure can be sent every

250 µs, as maximum theoretical update rate.

Baud Rate Transmission Time Possible data intervals

[kbaud] [ms] [ms]

1000 0.250 2

800 0.32 2

500 0.5 2

250 1 2

125 2 4

100 2.5 4

50 5 6

20 12.5 14

Table 1: Relationship between baud rate, transmission time and possible data interval

(sampling rate) per DS 301 for transmitting 1 PDO

3. Measurement data in the TxPDOs Two PDOs are available for sending measure data.

1st TxPDO is 8 bytes long, current Net and Gross measurement data are statically mapped into

the bytes of the PDO and then sent over the bus.

0 .. .. 7 8 .. .. 15 16 .. .. 23 24 .. .. 31 32 .. .. 39 40 .. .. 47 48 .. .. 55 56 .. .. 63

MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB

Low Byte Middle

Byte 1

Middle

Byte 2

High Byte Low Byte Middle

Byte 1

Middle

Byte 2

High Byte

Ch0 Net Measure (Gross-Zdyn) Ch0 A/D points

It can be transmitted asynchronously up to 500 times per second.

In Default configuration asynchronous transmission on data change is DISABLED, it can be

enabled by means of its parameters into the Communication area of the Object Dictionary.

0 .. .. 7 8 .. .. 15 16 .. .. 23 24 .. .. 31 32 .. .. 39 40 .. .. 47 48 .. .. 55 56 .. .. 63


Low Byte Middle

Byte 1

Middle

Byte 2


Byte 1

Middle

Byte 2

High Byte

Ch0 Gross Measurement Ch0 Max Peak

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Supposing instead that the measurement form 4 load cells (two I2 boards installed on A

and B SLOTS) is needed:

TPDO1

0 .. .. 7 8 .. .. 15 16 .. .. 23 24 .. .. 31 32 .. .. 39 40 .. .. 47 48 .. .. 55 56 .. .. 63


Low Byte Middle

Byte 1

Middle

Byte 2


Byte 1

Middle

Byte 2

High Byte

A SLOT Ch0 Net Measure (Gross-Zdyn) A SLOT Ch1 Net Measure (Gross-Zdyn)

TPDO2

0 .. .. 7 8 .. .. 15 16 .. .. 23 24 .. .. 31 32 .. .. 39 40 .. .. 47 48 .. .. 55 56 .. .. 63


Low Byte Middle

Byte 1

Middle

Byte 2


Byte 1

Middle

Byte 2

High Byte

B SLOT Ch0 Net Measure (Gross-Zdyn) B SLOT Ch1 Net Measure (Gross-Zdyn)

3.1. Error messages

The following error messages (see Table 4) are covered by an emergency message (Emergency

Object)

CAN

– Other CAN-specific hard- or software errors. This includes such errors as:

Send or receive queue overflow,

Change of CAN controller from error-active to error-passive state, etc.

Error code

additional

error code

error-

code

Meaning

0000 0000 CAN communication module is error-free, Transducer is ready

0001 5000 CAN controller: data buffer overflow

0101 5000 CAN Error State Set: CAN controller is in the error-passive state

0201 5000 CAN-Bus-Off: CAN controller is not responding

0003 6000 RX-Queue: overflow

0004 6000 TX-Queue: overflow

0005 6000 Node-Guarding failure

Table 4: Emergency Object error messages

4. Parameterization of the CANopen interface with SDO Services PITAGORA CANopen interface can be configured by means of the SDO protocol; instrument must

be the only node connected to a CANopen Master during this operation, this is a mandatory

condition to correctly perform the parameterization.

4.1. Assigning baud rate

The baud rate can be changed using the SDO service, by setting the desired value into the

Baudrate parameter of the S2Tech Manufacturer’s Profile. The selection of the maximum possible

baud rate is determined by the length of the entire CAN bus cable.

Default baud rate is 500kBaud.

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Line length in m Baud rate in

kBaud

Data-byte 3

<25 1000 00

<50 800 01

<100 500 02

<250 250 03

<500 125 04

<500 100 05

<1000 50 06

<2500 20 07

<5000 10 08

Table 5: Baud rate as a function of cable length per DS 301

4.2. Assigning NodeID

Each CAN bus module connected on the CAN bus must have a node number (NodeID) assigned to

it. This number may be used only once in the network. The numbers from 1 to 127 are

permissible. PITAGORA is factory set to NodeID = 26. The NodeID can be changed using the

SDO service, by setting the desired value into the Address parameter of the S2Tech

Manufacturer’s Profile.

4.3. Saving the settings

In order to save all new configuration parameters (of all the product’s modules) it is suggested to

follow the under listed sequence of commands, to be written on the COMMAND address (2000.1) of

the System Config Module:

1) Write GLB SAVE Command 0xF0

2) Verify that System Config’s Status (2000.0) indicates that the unit executed the first part

of the command as its value is now 0xF8

3) Write GLB SAVE Command 0xF8 to end the procedure and verify that the Intsrument

correctly ended the procedure by verifying that the Status value (2000.0) returns to 0

This command sequence is used to save all Pitagora non volatile parameters into Non Volatile

Memory. This Command saves ALL the slots. In order to have the new updated working

parameters applied to the Instrument, it is needed to reset the unit, so that at the boot all the

parameters will be loaded.

4) Write RESET Command 0xF3

5) Verify that System Config’s Status (2000.0) indicates that the unit executed the first part

of the command as its value is now 0xFB

6) Write RESET Command 0xFB, to end the procedure

This command sequence RESETs the Pitagora, after a delay of 500ms.

It is clear that after the reset the Instrument will present itself on the network as described on

paragraph 5.3

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5. Node configuration

5.1. Node identification

The configuration is carried out via SDO accessing the relevant objects in the Object Directory.

5.2. Mode (type of message transmission)

Depending on which conditions apply to using the transducer, Transducer data may be sent

continuously via the PDO or on demand.

PDO continuous:

– This setting is for sending all transducer values every 10 ms.

Communication Profile Index 1800

Subindex 2

254 = continuous

PDO on demand:

– Transmission is started by the master application/controller using the request message

(SYNC).

Communication Profile Index 1800

Subindex 2

1 = using SYNC-Object

5.3. Setting data transmission/update rate

The factory set time interval of 10 ms can be changed in steps of 1 ms.

Use Table 6 as a guide for making these settings.

Data interval Baud rate [kBaud]

1 ms 250

3 ms 100

10 ms 50

Table 6: Baud rate as a function of data interval when sending PDOs

– Communication Profile Index 1800

Subindex 5

x = Event Timer Value in steps of [1 ms]

5.4. Saving the new settings

Once all the settings have been made and the transducer reply was correct each time, i.e., no

error message was sent, the settings are saved to Index 1010H, Subindex 1 using an additional

SDO transfer and the signature 'save'. The power should be on for at least 5 s to make sure all

settings are stored completely.

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6. Object Directory The object directory of the CAN communication module in the PITAGORA is divided into two

ranges which are represented in the following table. The data (measure) as well as the

configuration parameters are placed in the communication object.

6.1. Communication Profile

The parameters which are critical for communication are determined in the communication profile.

This includes the data for manufacturer's product nomenclature, for identification, or the

parameters for object mapping.

Abbreviations used in Tables:

ro = read only

rw = read / write

UI8 = Unsigned8

UI16 = Unsigned16

UI32 = Unsigned32

I32 = Signed32

VS = VisibleString

6.1.1. CANopen Setup

CANopen connection is always internally allocated to slot N.15, thus CANopen volatile parameters

are stored at address 0x200F, while non-volatile parameters are stored at Index 0x210F.

NOTE: ALL PARAMETERS ON CANOPEN ARE ACCESSED AS 32 BITS UNSIGNED

INTEGERS, independently of the internal size.

CANopen standard communication profile is fully implemented, as described in the CiA DS301

document; the Pitagora instrument can be widely configured; an EDS document has to be made

for each instrument’s configuration.

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6.2. CANopen Interface Module (0x22)

Slot = 15 Type = Mandatory Version = 1.02

Parameter Table (ABSOLUTE) Idx Sub Parameter Name Size Attrib. min Max Default Description

200F 0 d.Status INT8U RO 0 1 0


0x210F 0 c.Baud INT32U RW 0 8 2 0 = 1Mbit/s

1 = 800Kbit/s

2 = 500Kbit/s

3 = 250Kbit/s

4 = 125Kbit/s 5 = 100Kbit/s

6 = 50Kbit/s

7 = 20Kbit/s

8 = 10Kbit/s

1 c.Address INT32U RW 1 127 26 CANopen address

0x210F

2 c.TNum INT8U RO 0 32 1 Number of Valid TPDO Elements

3 c.TPdoParam [0] INT16U RO 0 0xFFFF 1000 TPDO1 A Parameter

4 c.TPdoParam [1] INT16U RO 0 0xFFFF 1000 TPDO1 B Parameter






A c.TPdoParam [7] INT16U RO 0 0xFFFF 1000 TPDO4 B Parameter

0x210F

B c.RNum INT8U RO 0 32 1 Number of Valid RPDO Elements

C c.RPdoParam [0] INT16U RO 0 0xFFFF 1000 RPDO1 A Parameter

D c.RPdoParam [1] INT16U RO 0 0xFFFF 1000 RPDO1 B Parameter

E c.RPdoParam [2] INT16U RO 0 0xFFFF 1000 RPDO2 A Parameter

F c.RPdoParam [3] INT16U RO 0 0xFFFF 1000 RPDO2 B Parameter

10 c.RPdoParam [4] INT16U RO 0 0xFFFF 1000 RPDO3 A Parameter

11 c.RPdoParam [5] INT16U RO 0 0xFFFF 1000 RPDO3 B Parameter

12 c.RPdoParam [6] INT16U RO 0 0xFFFF 1000 RPDO4 A Parameter

13 c.RPdoParam [7] INT16U RO 0 0xFFFF 1000 RPDO4 B Parameter

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6.2.1. PDO Communication

CANopen connection is embedded into the instrument, default speed is 500 Kbit/s, node 26; 4 synchronous TxPDOs are preset

for Synchronous transmission, mapped as follows:

TxPDO1 Value A Value B

TxPDO2 Value A Value B

4 synchronous RxPDOs are preset for Synchronous transmission, mapped as follows:

RxPDO1 Value A Value B




Measurement data in the four Tx and Rx PDOs

Four PDOs are available to send measured data and to receive data or commands.

Each PDO is 8 bytes long, it is statically mapped and always contains 2 values.

It can be transmitted synchronously up to 500 times per second.

0 .. .. 7 8 .. .. 15 16 .. .. 23 24 .. .. 31 32 .. .. 39 40 .. .. 47 48 .. .. 55 56 .. .. 63


Low Byte Middle

Byte 1

Middle

Byte 2


Byte 1

Middle

Byte 2

High Byte

Value A Value B

Data are provided as data type Int.32.

Content for each TPDO must be defined before delivery of the instrument, among the available measurements.

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6.3. Communication Profile (Tables) ABSOLUTE

Index Sub-

index

Name Type Attrib

ute

Default-

value

Meaning

0x1000 0 Device Type UI32 ro Value per

DS301

0x1001 0 Error Register UI8 ro 0 TBD

0x1003 0

1

...

10H

Predefined error

field

Error array

UI8

UI32

UI32

ro

ro

ro

0

no

no

TBD

Number of different errors which occurred

A maximum of 16 different errors are managed.

0x1005 0 COB ID Sync

messg.

UI32 rw 80H COB-ID of the SYNC object

0x1008 0 Manufacturer

Device Name

VS ro 01-48

S2Tech

Device name of the communication module

0x1009 0 Manufacturer

Hardware Version

VS ro 1.00 Hardware version number

0x100A 0 Manufacturer

Software Version

VS ro 1.01 Software version number

0x100C 0 Guard Time

Cycle time for node

monitoring

UI16 rw 0 Cycle time in ms, set by the NMT Master or the configuration tool.

0x100D 0 Life Time Factor

Wait time if no

guarding

UI8 rw 0 Wait time is set by the NMT Master or the configuration tool.

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Index Sub-

index

Name Type Attrib

ute

Default-

value

Meaning

0x1010 0 Store parameter UI8 ro 3 Number of Store options

1 Save all parameters UI32 rw 1 By writing the signature 'save' 0x73617665, all settings are saved on

the module.

2 Save

Communication

Parameters

UI32 rw 1 By writing the signature 'save' 0x73617665, the Communication

Parameters are saved on the module.

3 Save Application

Parameters

UI32 rw 1 By writing the signature 'save' 0x73617665, the Application Parameters

are saved on the module.

0x1011 0 Restore parameter UI8 ro 2 Number of Store options

1 Restore all

parameters

UI32 rw 1 By writing the signature 'load' 0x64616F6C, all the factory default

settings are loaded.

2 Restore

Communication

Parameters

UI32 rw 1 By writing the signature 'load' 0x64616F6C, the factory default settings

of the communication area are loaded.

0x1012 0 COB-ID Time Stamp

Object

UI32 rw 100H COB-ID of the Time Stamp Object

0x1014 0 COB-ID Emergency

message

UI32 rw 80H +

NodeID

COB-ID of the Emergency Object

0x1015 0 Emergency Inhibit

Time

UI16 rw 0 Emergency Object Inhibit time in multiples of 100uS

0x1016 0 Consumer Heartbeat

Time

UI16 rw 0 Cycle Time of the Heartbeat in multiples of 1mS

0x1017 0 Producer Heartbeat

Time

UI16 rw 0 Cycle Time of the Heartbeat in multiples of 1mS

0x1018 0 Identity Object UI8 ro 4 Number of Entries

1 Vendor ID UI32 ro Vendor ID

2 Product Code UI32 ro Product Code

3 Revision Number UI32 ro Revision Number

4 Serial Number UI32 ro Serial Number

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Index Sub-

index

Name Type Attrib

ute

Default-

value

Meaning

0x1200 0 Server SDOs UI8 ro 1 Number of server SDOs

1 COB-ID

Client->Server(rx)

UI32 ro 600H +

NodeID

COB-ID request for server (Request)

2 COB-ID

Server->Client(tx)

UI32 ro 580h +

NodeID

COB-ID response to client (Response)

0x1400 0 Number of

elements

UI8 ro 2 Communication parameters of 1st Receive PDO

1 COB-ID UI32 rw 200H +

NodeID

Determined using the CANopen minimum system ID assignment

procedure.

2 Transmission type UI8 rw FFH Indicate transmission type

0: Transmit on demand using SYNC object after timer runs out.

1: Transmit after each SYNC object.

2..240d: Transmit after 2..240 SYNC objects.

252d: Update PDO on SYNC, transmit PDO only on RTR

253d: Update PDO asynchronously, transmit PDO only on RTR

254d: Continuous transmission.


0x1401 0 Number of

elements

UI8 ro 2 Communication parameters of 2nd Receive PDO


NodeID


procedure.









0x1402 0 Number of

elements

UI8 ro 2 Communication parameters of 3rd Receive PDO


NodeID


procedure.

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0x1403 0 Number of

elements

UI8 ro 2 Communication parameters of 4th Receive PDO


NodeID


procedure.









0x1600 0 Number of

elements

UI8 ro 1 Mapping parameters of the 1st Receive-PDO

1 1st object UI32 ro

2 2nd object UI32 ro

0x1601 0 Number of

elements

UI8 ro 1 Mapping parameters of the 2nd Receive-PDO



0x1602 0 Number of

elements

UI8 ro 1 Mapping parameters of the 3rd Receive-PDO



0x1603 0 Number of

elements

UI8 ro 1 Mapping parameters of the 4th Receive-PDO



Note: currently RTR is unimplemented

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Index Sub-

index

Name Type Attri-

bute

Default-

value

Meaning

0x1800 0 Number of

elements

UI8 ro 5 Communication parameters of 1st Transmit PDO


NodeID


procedure.

2 Transmission type UI8 rw 1 Indicate transmission type








3 Inhibit Time UI16 rw 300 Transmit inhibit time of PDO in 100 µs steps. A repeated transmission

of the PDO is prevented within the defined interval of the inhibit time.

5 Event timer UI16 rw 0 Cyclic sending of PDO value (Default 10 ms)

0x1801 0 Number of

elements

UI8 ro 5 Communication parameters of 2nd Transmit PDO


NodeID


procedure.












0x1802 0 Number of

elements

UI8 ro 5 Communication parameters of 3rd Transmit PDO


NodeID


procedure.

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0x1803 0 Number of

elements

UI8 ro 5 Communication parameters of 4th Transmit PDO


NodeID


procedure.












0x1A00 0 Number of

elements

UI8 ro 2 Mapping parameters of the 1st Transmit-PDO

1 1st object UI32 ro Measure

2 2nd object UI32 ro Measure

0x1A01 0 Number of

elements

UI8 ro 2 Mapping parameters of the 2nd Transmit-PDO



0x1A02 0 Number of

elements

UI8 ro 2 Mapping parameters of the 3rd Transmit-PDO



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0x1A03 0 Number of

elements

UI8 ro 2 Mapping parameters of the 4th Transmit-PDO



6.4. Application Module (0x30)


Parameter Table (ABSOLUTE) Idx Sub Parameter Name Size Attrib. min Max Default Description

0x2007

0 d.Status INT8U RO 0 1 0

1 d.Command INT8U RO 0 0xFF 0

2 d.Delay INT16U RO 0 0xFFFF 0 RESERVED FOR INTERNAL USE

3 d.Maint INT8U RO 0 0xFF 0 RESERVED FOR INTERNAL USE

4 d.xStatus INT8U RESERVED FOR INTERNAL USE

5 d.tValue INT32S RESERVED FOR INTERNAL USE

6 d.VPeak INT32S RESERVED FOR INTERNAL USE

7 d.VPeakT INT32S RESERVED FOR INTERNAL USE

8 d.VPeakL INT32S RESERVED FOR INTERNAL USE

9 d.VNewton INT32S RESERVED FOR INTERNAL USE

A d.VNewtonP INT32S RESERVED FOR INTERNAL USE

B d.dParam INT8U RW 0 11 0 Index of currently displayed Parameter.

0x2107

0 c.OpMode INT8U RW 0 1 1 RESERVED FOR INTERNAL USE

1 c.Param [0] INT16U RW 0 65535 0 Index of Parameter 0








9 c.PosDp [0] INT16U RW 0 65535 0 Decimal point position for Parameter 0

A c.PosDp [1] INT16U RW 0 65535 0 Decimal point position for Parameter 1

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B c.PosDp [2] INT16U RW 0 65535 0 Decimal point position for Parameter 2

C c.PosDp [3] INT16U RW 0 65535 0 Decimal point position for Parameter 3

0x2107

D c.PosDp [4] INT16U RW 0 65535 0 Decimal point position for Parameter 4

E c.PosDp [5] INT16U RW 0 65535 0 Decimal point position for Parameter 5

F c.PosDp [6] INT16U RW 0 65535 0 Decimal point position for Parameter 6


11 c.nParam INT8U RW 0 12 0 Number of valid elements

12 c.Unit INT8U RW 0 0 RESERVED FOR INTERNAL USE

13 c.tValue INT32U RW 0 0 RESERVED FOR INTERNAL USE

14 c.mUnit INT32U RW 0 0x7FFFFFFF 0x4D4D RESERVED FOR INTERNAL USE






1A c.PosDp [9] INT16U RW 0 65535 0 Decimal point position for Parameter 9

1B c.PosDp [10] INT16U RW 0 65535 0 Decimal point position for Parameter 10

1C c.PosDp [11] INT16U RW 0 65535 0 Decimal point position for Parameter 11

6.5. A/D Converter CS5532 (0x02) – ABSOLUTE references


Parameter Table Idx Parameter Name Size Attrib. min Max Default Description

0x2001 0 d.Status INT8U RO 0 1 0


2 d.TempTara INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF RESERVED FOR INTERNAL USE

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0x2001

3 d.Ch0.ValoreAD INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF A/D Converter Ch 0 Value

4 d.Ch0.ValoreADf INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF A/D Converter Ch 0 filtered Value

5 d.Ch0.ValoreML INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Gross Value in Mech Units Ch 0

6 d.Ch0.ValoreMN INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Net Value (Gross - Zdyn) in Mech Units Ch 0

7 d.Ch0.ValoreMT INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Net Value (Gross - Tare) in Mech Units Ch 0

8 d.Ch0.ValoreLin INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF

Linearized Value in Mech Units Ch 0

(See c.Ch0.Inclin)

9 d.Ch0.ZeroDyn INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in A/D Converter Units Ch 0

A d.Ch0.VZeroDyn INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in Mech Units Ch 0

0x2001

B d.Ch0.VPeakMinN INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Net Min Peak Ch 0

C d.Ch0.VPeakMaxN INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Net Max Peak Ch 0

D d.Ch0.VPeakMinL INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Gross Min Peak Ch 0

E d.Ch0.VPeakMaxL INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Gross Max Peak Ch 0

F d.Ch0.Error INT8U RO Error Indication A/D Converter Ch 0

10 d.Ch0.TimeOut INT8U RO Timeout Time Ch 0

11 d.Ch0.NewData INT8U RO RESERVED FOR INTERNAL USE

12 d.Ch0.TimeStamp INT16U RO Timestamp Current Measure Ch 0

0x2001 13 d.Ch1.ValoreAD INT32S RO

-


14 d.Ch1.ValoreADf INT32S RO

-


15 d.Ch1.ValoreML INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Gross Value in Mech Units Ch 1

16 d.Ch1.ValoreMN INT32S RO - 0x7FFFFFFF Net Value (Gross - Zdyn) in Mech Units Ch 1

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0x7FFFFFFF

17 d.Ch1.ValoreMT INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Net Value (Gross - Tare) in Mech Units Ch 1

18 d.Ch1.ValoreLin INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF

Linearized Value in Mech Units Ch 1

(See c.Ch1.Inclin)

19 d.Ch1.ZeroDyn INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in A/D Converter Units Ch 1

1A d.Ch1.VZeroDyn INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in Mech Units Ch 1

1B d.Ch1.VPeakMinN INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Net Min Peak Ch 1

1C d.Ch1.VPeakMaxN INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Net Max Peak Ch 1

1D d.Ch1.VPeakMinL INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Gross Min Peak Ch 1

1E d.Ch1.VPeakMaxL INT32S RO

-

0x7FFFFFFF 0x7FFFFFFF Gross Max Peak Ch 1

1F d.Ch1.Error INT8U RO Error Indication A/D Converter Ch 1




23 d.Ch0.PeakEnable INT8U RO 0 1 1

Set to 1 to enable Peak Measurement on Ch

0

24 d.Ch1.PeakEnable INT8U RO 0 1 1

Set to 1 to enable Peak Measurement on Ch

1

0x2101

0 c.Vref INT8U RW 0 1 0

A/D Converter Ref Voltage

FACTORY CONFIGURED – DO NOT MODIFY

1

c.Continuous INT8U RW 0 1 0 0 – Dual channel

1 – High Speed Continuous (single channel)


0x2101 2 c.Ch0.ADSpeed INT8U RW 0 9 8 Ch 0 service parameter- See note

3 c.Ch0.Unipolar INT8U RW 0 1 0

Ch 0 service parameter


4 c.Ch0.GainPGIA INT8U RW 0 6 6



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5 c.Ch0.Offset INT32U RWT

-

0x7FFFFFFF 0x7FFFFFFF 0x00000000



0x2101

6 c.Ch0.Gain INT32U RWT

-




7 c.Ch0.Outputs INT8U, RW 0 3 0



0x2101

8 c.Ch0.Vmin INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Minimum in Eng Units Ch 0

9 c.Ch0.VMax INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 10000 Maximum in Eng Units Ch 0

A c.Ch0.VTara INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Tare in Eng Units Ch 0

B c.Ch0.min INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Minimum in A/D Converter Units Ch 0

C c.Ch0.Max INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Maximum in A/D Converter Units Ch 0

D c.Ch0.Tara INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Tare in A/D Converter Units Ch 0

E c.Ch0.PosDp INT8U RW 0 7 0 Decimal point position for Ch 0

0x2101 F c.Ch0.POffscale INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Max Positive Offscale Ch 0 (Gross)

10 c.Ch0.NOffscale INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Max Negative Offscale Ch 0 (Gross)

11 c.Ch0.nPOffscale INT8U RW 0 255 0 Number of Positive Offscale seen on Ch 0

12 c.Ch0.nNOffscale INT8U RW 0 255 0 Number of Negative Offscale seen on Ch 0

0x2101

13 c.Ch1.ADSpeed

(1) INT8U RW 0 9 8 Ch 1 service parameter

14 c.Ch1.Unipolar INT8U RW 0 1 0



15 c.Ch1.GainPGIA INT8U RW 0 6 6



16 c.Ch1.Offset INT32U RWT

-




17 c.Ch1.Gain INT32U RWT

-




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18 c.Ch1.Outputs (1) INT8U RW 0 3 0



0x2101

19 c.Ch1.Vmin INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Minimum in Eng Units Ch 1

1A c.Ch1.VMax INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 10000 Maximum in Eng Units Ch 1

1B c.Ch1.VTara INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Tare in Eng Units Ch 1

1C c.Ch1.min INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Minimum in A/D Converter Units Ch 1

1D c.Ch1.Max INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Maximum in A/D Converter Units Ch 1

1E c.Ch1.Tara INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Tare in A/D Converter Units Ch 1

1F c.Ch1.PosDp INT8U RW 0 7 0 Decimal point position for Ch 1

0x2101 20 c.Ch1.POffscale INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Max Positive Offscale Ch 1 (Gross)

21 c.Ch1.NOffscale INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Max Negative Offscale Ch 1 (Gross)



0x2101 24 c.Ch0.nvZdyn INT8U RW 0 1 0 1 = Dynamic Zero is saved in NVM Ch 0

25 c.Ch1.nvZdyn INT8U RW 0 1 0 1 = Dynamic Zero is saved in NVM Ch 1

26 c.Ch0.Inclin INT8U RW 0 1 1 1 = Sine Linearization in ValoreLin Ch 0


0x

21

01

01 28 c.Ch0.NPLin INT8U RW 0 8 0 Number of Linearization Points used on Ch 0

29 c.Ch0.ValLin INT8U RW 0 4 0 RESERVED

0x2101 2A c.Ch0.Vlin0 INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Linearization Point 1 in Eng Units Ch 0

2B c.Ch0.Vlin1 INT32S RW

-


2C c.Ch0.Vlin2 INT32S RW

-


2D c.Ch0.Vlin3 INT32S RW - 0x7FFFFFFF 0 Linearization Point 4 in Eng Units Ch 0

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0x7FFFFFFF

2E c.Ch0.Vlin4 INT32S RW

-


2F c.Ch0.Vlin5 INT32S RW

-


30 c.Ch0.Vlin6 INT32S RW

-



-


0x

21

01 32 c.Ch1.NPLin INT8U RW 0 8 0 Number of Linearization Points used on Ch 1

33 c.Ch1.ValLin INT8U RW 0 4 0 RESERVED

0x2101


-



-



-



-



-



-


3A c.Ch1.Vlin6 INT32S RW

-


3B c.Ch1.Vlin7 INT32S RW

-


0x2101

3C c.Ch0.Vmis0 INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0

Linearization Point 1 in A/D Converter Units

Ch 0

3D c.Ch0.Vmis1 INT32S RW

-



Ch 0

3E c.Ch0.Vmis2 INT32S RW

-



Ch 0

3F c.Ch0.Vmis3 INT32S RW

-



Ch 0

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40 c.Ch0.Vmis4 INT32S RW

-



Ch 0


-



Ch 0


-



Ch 0


-



Ch 0

0x2101


-



Ch 1


-



Ch 1


-



Ch 1


-



Ch 1


-



Ch 1


-



Ch 1

4A c.Ch1.Vmis6 INT32S RW

-



Ch 1

4B c.Ch1.Vmis7 INT32S RW

-



Ch 1

0x2101 4C c.Ch0.TAutoZero INT16U RW 0 36000 0

Time interval for Autozero in 1/10 seconds

Ch0

4D c.Ch0.MaxAutoTara INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Max value allowed for Autozero Ch 0

4E c.Ch0.Ripple INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Autozero allowed Ripple Ch 0

0x2101 4F c.Ch1.TAutoZero INT16U RW 0 36000 0

Time interval for Autozero in 1/10 seconds

Ch1

50 c.Ch1.MaxAutoTara INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Max value allowed for Autozero Ch 1

51 c.Ch1.Ripple INT32S RW

-

0x7FFFFFFF 0x7FFFFFFF 0 Autozero allowed Ripple Ch 1

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Module specific Commands

Value Command Description

0x01 CH0_SELF_OFFST_CMD Ch0 Offset Calibration

0x02 CH1_SELF_OFFST_CMD Ch1 Offset Calibration

0x03 CH0_SELF_GAIN_CMD Ch0 Gain Calibration

0x04 CH1_SELF_GAIN_CMD Ch1 Gain Calibration

0x71 Ch0 TARE Reset

0x72 Ch1 TARE Reset

0x73 Ch0 and Ch1 TARE Reset

0x75 Ch0 MIN PEAK Reset

0x76 Ch1 MIN PEAK Reset

0x77 Ch0 and Ch1 MIN PEAK Reset

0x79 Ch0 MAX PEAK Reset

0x7A Ch1 MAX PEAK Reset

0x7B Ch0 and Ch1 MAX PEAK Reset

0x7C PEAK function disable

0x7D Reset PEAK values and enable PEAK function

0x7F Simultaneously Reset PEAK and TARE on both Ch0 and Ch1

Module specific States

Value Status Description

0x00 START_UP Module is starting

0x01 Measuring Ch0

0x02 Measuring Ch1

0x10 Ch0 Continuous Conversion Mode

0x11 Wait for Continuous Mode to stop

0x20 Setup A/D to Calibration Function

0x21 Waiting for End of Calibration

0x30 Error during Calibration

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Sampling Frequency related to ADSPEED and Continuous Values

Value Continuous = 1 Continuous = 0

0x00 3840 Hz 320 Hz

0x01 1920 Hz 160 Hz

0x02 960 Hz 80 Hz

0x03 480 Hz 40 Hz

0x04 240 Hz 20 Hz

0x05 120 Hz 10 Hz

0x06 60 Hz 5 Hz

0x07 30 Hz 2.5 Hz

0x08 15 Hz 1.25 Hz

0x09 7.5 Hz 0.625 Hz

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6.5.1. A/D Converter Module calibration and setup

A/D Converter Module calibration is split in two steps:

A/D Converter internal calibration.

Measurement of the Min and Max A/D values to be used for Eng Units interpolation.

A/D Converter Calibration:

A Calibration Command is issued. (for instance CH0_SELF_OFFST_CMD).

The system operates the internal A/D Converter Calibration procedure.

If the Calibration process ends up successfully, the resulting Calibration value is written into the TempTara variable and into the

proper Module register; the A/D Converter Chip is then restarted (NOT the Module, just the A/D Converter Chip); in case of Er-

ror, the Module will be halted and Status will show an Error (0x30, see Status table), the system must then be restarted by the

user.

After the Calibration Procedure, the User can save the Calibration parameters in Non Volatile Memory or can Reset to 0 the

Converter Status to restart the Module.

Calibration for measurement in engineering units

Min|Vmin and Max|VMax values setup:

Min|Vmin e Max|VMax pairs are used by the Firmware to

interpolate the Eng Units measure value.

The User must set the A/D Converter input to the Min volt-

age value corresponding to the VMin Eng Unit value

With the A/D Converter running in normal operation, the

User must copy the desired Chx.ValoreAD value into the

proper Chx.min register, then the User must setup Vmin to

the corresponding Eng Units value, this same procedure

has to be repeated for the Max and VMax values too, for

the interpolation algorithm to work properly.

After that, the User can save the Calibration parameters in

Non Volatile Memory.

The following cross reference table applies on the Ch0 but

applies also to Ch1, if active.

Drawing reference Corresponding parameter

A/DZero c.Ch0.min

A/D FullScale c.Ch0.Max

Meas Zero c.Ch0.Vmin

Meas FullScale c.Ch0.VMax

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6.5.2. Linearization

The A/D Converter module provides up to 8 linearization points; the number of active linearization points used MUST be set in

c.Ch0.NPLin. If c.Ch0.NPLin=0 the function is not active.

Linearization points MUST stay between min (c.Ch0.Vmin) and Max (c.Ch0.VMax) values, the following rules apply:

o If min < Max, then min < Lin0 < Lin1 < …< Lin7 < Max

o If min > Max, then min > Lin0 > Lin1 > …> Lin7 > Max

If the units detects that the over-mentioned “min Max” rule is violated, the system upon reset disables Linearization function by

setting NPLin = 0

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6.5.3. Auto Zeroing Function

Working parameters: 1. c.Ch0.TAutoZero

2. c.Ch0.MaxAutoTara

3. c.Ch0.Ripple

The function effect applies on the measurements expressed in engineering units and not on the A/D raw data.

Use of the function: autozeroing is active when these conditions are met at the same time

measurement < MaxAutoTara

measurement < Ripple (within the time interval TAutoZero)

Example 1

= auto zeroing ACTIVE = auto zeroing INACTIVE

Measurement

MaxAutoTara

-MaxAutoTara

Ripple

-Ripple Time

TAutoZero TAutoZero

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Example 2

After a series of zeroing there could be the following situation:

= auto zeroing ACTIVE = auto zeroing INACTIVE

measurement MaxAutoTara

-MaxAutoTara

Ripple

-Ripple

Time

TAutoZero TAutoZero

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6.6. A/D Converter CS5532 (0x02) – RELATIVE index EXAMPLE


Parameter Table Idx Parameter Name Size Attrib. min Max Default Description

0 d.Status INT8U RO 0 1 0


2 d.TempTara INT32S RW -0x7FFFFFFF 0x7FFFFFFF RESERVED FOR INTERNAL USE

3 d.Ch0.ValoreAD INT32S RO -0x7FFFFFFF 0x7FFFFFFF A/D Converter Ch 0 Value

4 d.Ch0.ValoreADf INT32S RO -0x7FFFFFFF 0x7FFFFFFF A/D Converter Ch 0 Value

5 d.Ch0.ValoreML INT32S RO -0x7FFFFFFF 0x7FFFFFFF Gross Value in Mech Units Ch 0

6 d.Ch0.ValoreMN INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Value (Zdyn) in Mech Units Ch 0

7 d.Ch0.ValoreMT INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Value (Tare) in Mech Units Ch 0

8 d.Ch0.ValoreLin INT32S RO -0x7FFFFFFF 0x7FFFFFFF Linearized Value in Mech Units Ch 0

9 d.Ch0.ZeroDyn INT32S RO -0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in A/D Converter Units Ch 0

10 d.Ch0.VZeroDyn INT32S RO -0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in Mech Units Ch 0

11 d.Ch0.VPeakMinN INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Min Peak Ch 0

12 d.Ch0.VPeakMaxN INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Max Peak Ch 0

13 d.Ch0.VPeakMinL INT32S RO -0x7FFFFFFF 0x7FFFFFFF Gross Min Peak Ch 0

14 d.Ch0.VPeakMaxL INT32S RO -0x7FFFFFFF 0x7FFFFFFF Gross Max Peak Ch 0

15 d.Ch0.Error INT8U RO Error Indication A/D Converter Ch 0




19 d.Ch1.ValoreAD INT32S RO -0x7FFFFFFF 0x7FFFFFFF A/D Converter Ch 1 Value

20 d.Ch1.ValoreADf INT32S RO -0x7FFFFFFF 0x7FFFFFFF A/D Converter Ch 1 Value

21 d.Ch1.ValoreML INT32S RO -0x7FFFFFFF 0x7FFFFFFF Gross Value in Mech Units Ch 1

22 d.Ch1.ValoreMN INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Value (Zdyn) in Mech Units Ch 1

23 d.Ch1.ValoreMT INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Value (Tare) in Mech Units Ch 1

24 d.Ch1.ValoreLin INT32S RO -0x7FFFFFFF 0x7FFFFFFF Linearized Value in Mech Units Ch 1

25 d.Ch1.ZeroDyn INT32S RO -0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in A/D Converter Units Ch 1

26 d.Ch1.VZeroDyn INT32S RO -0x7FFFFFFF 0x7FFFFFFF Dynamic Zero in Mech Units Ch 1

27 d.Ch1.VPeakMinN INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Min Peak Ch 1

28 d.Ch1.VPeakMaxN INT32S RO -0x7FFFFFFF 0x7FFFFFFF Net Max Peak Ch 1

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29 d.Ch1.VPeakMinL INT32S RO -0x7FFFFFFF 0x7FFFFFFF Gross Min Peak Ch 1

30 d.Ch1.VPeakMaxL INT32S RO -0x7FFFFFFF 0x7FFFFFFF Gross Max Peak Ch 1

31 d.Ch1.Error INT8U RO Error Indication A/D Converter Ch 1




35 d.Ch0.PeakEnable INT8U RO 0 1 1 Set to 1 to enable Peak Measurement on Ch 0

36 d.Ch1.PeakEnable INT8U RO 0 1 1 Set to 1 to enable Peak Measurement on Ch 1

500 c.Vref (1) INT8U RW 0 1 0 0 – 5V, 1 – 2.5V A/D Converter Ref Voltage

501 c.Continuous (1) INT8U RW 0 1 0 0 – Dual channel

1 – High Speed Continuous (single channel)

502 c.Ch0.ADSpeed (1) INT8U RW 0 9 8 Ch 0 service parameter- See note

503 c.Ch0.Unipolar (1) INT8U RW 0 1 0 Ch 0 service parameter- See note

504 c.Ch0.GainPGIA (1) INT8U RW 0 6 6 Ch 0 service parameter- See note

505 c.Ch0.Offset (1) INT32U RWT -0x7FFFFFFF 0x7FFFFFFF 0x00000000 Ch 0 service parameter- See note

506 c.Ch0.Gain (1) INT32U RWT -0x7FFFFFFF 0x7FFFFFFF 0x01000000 Ch 0 service parameter- See note

507 c.Ch0.Outputs (1) INT8U, RW 0 3 0 Ch 0 service parameter- See note

508 c.Ch0.Vmin INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Minimum in Eng Units Ch 0

509 c.Ch0.VMax INT32S RW -0x7FFFFFFF 0x7FFFFFFF 10000 Maximum in Eng Units Ch 0

510 c.Ch0.VTara INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Tare in Eng Units Ch 0

511 c.Ch0.min INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Minimum in A/D Converter Units Ch 0

512 c.Ch0.Max INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Maximum in A/D Converter Units Ch 0

513 c.Ch0.Tara INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Tare in A/D Converter Units Ch 0

514 c.Ch0.PosDp INT8U RW 0 7 0 Decimal point position for Ch 0

515 c.Ch0.POffscale INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Max Positive Offscale Ch 0 (Gross)

516 c.Ch0.NOffscale INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Max Negative Offscale Ch 0 (Gross)



519 c.Ch1.ADSpeed (1) INT8U RW 0 9 8 Ch 1 service parameter- See note

520 c.Ch1.Unipolar (1) INT8U RW 0 1 0 Ch 1 service parameter- See note

521 c.Ch1.GainPGIA (1) INT8U RW 0 6 6 Ch 1 service parameter- See note

522 c.Ch1.Offset (1) INT32U RWT -0x7FFFFFFF 0x7FFFFFFF 0x00000000 Ch 1 service parameter- See note

523 c.Ch1.Gain (1) INT32U RWT -0x7FFFFFFF 0x7FFFFFFF 0x01000000 Ch 1 service parameter- See note

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524 c.Ch1.Outputs (1) INT8U RW 0 3 0 Ch 1 service parameter- See note

525 c.Ch1.Vmin INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Minimum in Eng Units Ch 1

526 c.Ch1.VMax INT32S RW -0x7FFFFFFF 0x7FFFFFFF 10000 Maximum in Eng Units Ch 1

527 c.Ch1.VTara INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Tare in Eng Units Ch 1

528 c.Ch1.min INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Minimum in A/D Converter Units Ch 1

529 c.Ch1.Max INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Maximum in A/D Converter Units Ch 1

530 c.Ch1.Tara INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Tare in A/D Converter Units Ch 1

531 c.Ch1.PosDp INT8U RW 0 7 0 Decimal point position for Ch 1

532 c.Ch1.POffscale INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Max Positive Offscale Ch 1 (Gross)

533 c.Ch1.NOffscale INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Max Negative Offscale Ch 1 (Gross)







540 c.Ch0.TAutoZero INT16U RW 0 36000 0 Time interval for Autozero in 1/10 seconds Ch0

541 c.Ch0.MaxAutoTara INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Max value allowed for Autozero Ch 0

542 c.Ch0.Ripple INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Autozero allowed Ripple Ch 0

543 c.Ch1.TAutoZero INT16U RW 0 36000 0 Time interval for Autozero in 1/10 seconds Ch1

544 c.Ch1.MaxAutoTara INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Max value allowed for Autozero Ch 1

545 c.Ch1.Ripple INT32S RW -0x7FFFFFFF 0x7FFFFFFF 0 Autozero allowed Ripple Ch 1

Supposing that the module is installed on SLOT B, this means that the ABSOLUTE indexing references will be:

RELATIVE Index ABSOLUTE Index / Sub-Index d.Ch0.ValoreAD 3 0x2002 / 3 d.Ch0.ValoreMN 6 0x2002 / 6

c.Ch0.ADSpeed 502 0x2102 / 2

c.Ch0.Vmin 508 0x2102 / 8

c.Ch0.VMax 509 0x2102 / 9

c.Ch1.min 525 0x2102 / 19

c.Ch1.Max 526 0x2102 / 1A

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7. Parameterization of the Measuring system with SDO Services PITAGORA internal A/D converter can operate at different Output Data Rates, depending on the desired bandwidth and resolution.

NOTE: The Output Data Rate indicates the frequency at which the Measure data is internally refreshed and is independent from

any of the CANopen network settings.

I.e.: an Output Data Rate of 15 Hz means that the transducer produces 15 measure samples per second; if the CANopen master

reads the transducer at 150 Hz (150 PDO readings per second), the master will read the same sample 10 times.

7.1. Measure Update Rate setup

The Output Data Rate can be changed using the SDO service, by setting the desired value into the AD Speed parameter.

Following table relates the AD Speed setup to typical Instrument’s performances, based on S2Tech system’s design (table based on

0x02 A/D module – Continuous =1 and Gain = x64).

AD Speed

parameter

AD converter

output data rate

Internal A/D filter

frequency (Hz) @ -3dB

AD Resolution (bit)

0 3840 780 13

1 1920 390 16

2 960 230 16

3 480 122 17

4 240 62 17

5 120 31 18

6 60 15.5 19

7 30 7.75 19

8 15 3.88 20

9 7.5 1.94 20

As shipped, the AD Output Data Rate corresponds to the default value = 8.

Data of the above table are referred to a product configuration where only Ch0 A/D measurements are handled as data generated

by the AD converter. Two channels product are possible, if hardware is configured accordingly.

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7.2. Output value measurement units

Measurement data obtainable from the PITAGORA unit can be obtained as:

PDO (example, PDO content customized at order, among the available instruments)

In example, first PDO may be Net and A/D measurements, expressed in the engineering units and resolution used during

calibration of the transducer. Second PDO could contain Gross and Peak measurements.

Other measurements can be transmitter with the PDO, upon Customization request from the Customer, having the possibility to

transmit up to 4 PDOs.

SDO

Measurements can be obtained in engineering units or in internal raw data, deeding from the Index.Subindex of the variable of

interest.

7.3. Saving the settings

Saving of the modified settings as per the procedure described in paragraph 9.3.

8. Peak value monitoring

Instantaneous positive and negative peak values (Max peak and Min peak) are continuously monitored and stored into the

variables at Index.SubIndex 0x2001.C and 0x2001.B.

Peak values are not PDO mappable and can be accessed only via SDO.

User can selectively reset and/or enable the peak values by means of the available commands, as described on the specific

module.

9. Zero Reset operation

Zeroing on the available channels can be performed writing on the COMMAND, of the A/D module, the appropriate value (example

from the 0x02 module):

Value Description

0x71 Ch0 TARE Reset

0x72 Ch1 TARE Reset

0x73 Ch0 and Ch1 TARE Reset

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10. APPENDIX

10.1. PITAGORA compatibility for non CANopen networks

A CANopen device needs only few CANopen messages to be operational in a non CANopen network.

First of all, CAN message assignment rules must be checked, to ensure that COB-IDs used by the

CANopen node are free for network usage.

Should any conflict between COB-IDs occur, the Layer2 Network COB-IDs must be remapped to avoid

any interference with the CANopen node.

Note that COB-IDs - on the CANopen node - can be remapped too, but this solution is less practical, since

CANopen protocol knowledge is needed; furthermore, it can be a good practice, for the Layer2 Network,

to use a CANopen compatible COB-ID numbering scheme, even if no CANopen protocol is used: the

resulting Layer2 Network will thus be “friendly” with any connected CANopen device.

The following table contains the COB-ID numbering scheme for the CANopen protocol Predefined

Connection Set.

CANopen Message Type Message COB-ID (Hex)

Network Management (NMT) 0x0000

Sync 0x0080

Emergency (EMCY) 0x0080 + Node Id

Time Stamp 0x0100

TxPDO1 0x0180 + Node Id

RxPDO1 0x0200 + Node Id







TxSDO 0x0580 + Node Id

RxSDO 0x0600 + Node Id

Node Status 0x0700 + Node Id

NOTE: Node Id 0 is not allowed, valid Node Id’s are in the range from 1

to 127 (0x7F)

Table 1: The CANopen Predefined Connection Set

A CANopen device can be seen on the network as a collection of Objects, organized in a Database.

Database objects can be individually addressed, by means of an Index and a Subindex.

The Object Database can be fully accessed by means of the SDO Protocol, which can read and write each

Database entity, by means of its Index and Subindex.

SDO protocol is modeled as a Master/Slave protocol, so for each Master message a Slave reply is sent on

the SDO channel.

Some information may be necessary for User’s process, with the need of a more flexible and quicker way

to reach their final destination and a second protocol, called PDO, serves this purpose.

PDO doesn’t contain any information about Database location of data it delivers, it just delivers data, and it

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is User’s responsibility to keep track of data meaning inside of the PDO message; from a certain point of

view, the PDO message is just like any Layer2 message, meaning of data depends on User’s environment.

From the above definitions, it can be excerpted that the SDO protocol can be used to access seldom used

or configuration data, while PDO protocol is used to exchange Process Data.

We will use SDO protocol to access the Device database for Configuration purposes and we will use

the PDO protocol to collect process data from the device.

10.2. Accessing the Object Database using Expedited SDO Protocol

SDO protocol is used to access objects into the Database, Expedited SDO protocol is a shorthand used to

access database Objects, up to 4 bytes long, as the data used inside the PITAGORA instrument.

Protocol consist of a Master to Slave transmission, followed by a Slave to Master response.

NOTE: all SDO must be 8 bytes long, even when sending only one byte.

Command Message, sent from Master to Slave, has the following format:

COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7

RxSDO + Slave

Node Id

Command Index

Low

Index

High

Subindex Data0 Data1 Data2 Data3

COB-ID RxSDO + Slave Node Id

The Master writes into the device’s RxSDO, i.e. a Master SDO write to device with Node

Id 7, use a CAN message with COB-ID 0x0600 + 7 = 0x0607.

Command Byte0 of the CAN message contains the SDO protocol command code (read, write….)

Valid command codes are:

0x40 Read

0x2F Write BYTE (8 bit)

0x2B Write WORD (16 bit)

0x23 Write LONG (32 bit)

Index Byte1 and Byte2 of the CAN message contain the Index, expressed as a 16 bit number in

little endian format, Byte1 contains LOW byte, while Byte2 contains HIGH byte.

Subindex Byte3 of the CAN message contains the Subindex, expressed as an 8 bit number

Data In case of a write command, Byte4 to Byte7 of the CAN message contain the value to be

written into the Object addressed by Index and Subindex, in little endian format, Byte4

contains LOW byte, Byte7 contains HIGH byte.

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Reply Message sent from Slave to Master has the following format:

COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7

TxSDO + Slave

Node Id

Answer Index

Low

Index

High

Subindex Data0 Data1 Data2 Data3

COB-ID TxSDO + Node Id The Slave sends its TxSDO to Master, i.e. a Slave SDO with Node Id 7 use a CAN

message with COB-ID 0x0580 + 7 = 0x0587.

Answer Byte0 of the CAN message contains the SDO protocol reply code (read, write….)

Among others, valid command codes are:

0x60 Write OK

0x4F Read BYTE (8 bit)

0x4B Read WORD (16 bit)

0x43 Read LONG (32 bit)

Index Byte1 and Byte2 of the CAN message contain the Index, expressed as a 16 bit number in

little endian format, Byte1 contains LOW byte, while Byte2 contains HIGH byte.

Subindex Byte3 of the CAN message contains the Subindex, expressed as an 8 bit number

Data In case of a read command, Byte4 to Byte7 of the CAN message contain the value read

from the Object addressed by Index and Subindex, in little endian format, Byte4 contains

LOW byte, Byte7 contains HIGH byte.

11. Operating the CANopen device A CANopen device, following the DS301 specifications from a connection point of view, can be in two

different connection states, called PreOperational and Operational.

After Reset, at power on or after a restart command, the device is by default in PreOperational state.

It transmits a Node Guarding message and, optionally, some Emergency messages (EMCY), indicating its

“wakeup” conditions. (Message COB-IDs are assigned according Table 1).

Unless the Network Master needs to keep track of unexpected reset or error conditions, these messages can

be totally ignored, otherwise their meaning can be found into the CANopen DS301 specification (Node

Guarding) and into the specific device User’s Manual (Emergency Message).

A device can exchange Service Data (SDO) in any state, while Process Data (PDO) can be exchanged

only when the network is in Operational state.

Some PDO attributes define how the PDO data are exchanged with the network.

A simple and deterministic method of exchanging PDO data is to configure the PDO attributes so that PDO

can be sent on receiving the Master SYNC message: this means that the Network Master must generate a

SYNC message at a fixed frequency (e.g. 100 Hz), upon which the device will transmit its PDO.

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This is, in detail, a simple CANopen network start, as seen on a Layer2 Network

1. System power on.

2. On the network, each CANopen device transmits its Node Guarding Message.

Devices are in Pre Operational state.

3. (OPTIONAL) Some CANopen devices on the network may transmit Emergency Messages.

4. Network Master configures - via SDO - the device’s PDO transmit options, if not already stored in-

to the device.

SDO reply from the CANopen device can be ignored by the Master.

5. Network Master sends the Start Network NMT message to the CANopen devices.

6. Devices are in Operational state, data can be exchanged.

7. Each time the Network Master sends the SYNC message, the CANopen device sends PDO data

messages.

12. Operation example Now, a practical example: suppose we have only ONE CANopen node on our Layer2 Network, a S2Tech

DigiTran Load Cell, with the following configuration data:

Node Id 26 (0x1A);

1st TxPDO COB-ID 0x019A

2nd TxPDO COB-ID 0x029A

3rd TxPDO COB-ID 0x039A

4th TxPDO COB-ID 0x049A

1st RxPDO COB-ID 0x021A

One Server SDO Channel

Rx COB-ID 0x061A

Tx COB-ID 0x059A

NOTE:

In the following examples, the Tx Dir. Column indicates the Transmission Direction

S->M indicates Slave transmission to Master

M->S indicates Master transmission to Slave

Network start will be as follows:

1. System power on

2. The DigiTran CANopen device sends its Node Guarding Message (all values in Hex)

Tx Dir. COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7

S->M 71A 00

3. After 1s the DigiTran CANopen device sends two Emergency Messages (only COB-ID is correct,

real message data may be different)


S->M 09A 00 00 00 00 00 00 00 00

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S->M 09A 00 F0 00 05 00 00 00 00

4. Network Master sends the PDO transmit options to the device, via SDO channel

SDO Write Byte, Index 0x1800, Subindex 0x02, Tx Type = After each SYNC = 01 (Byte4)


M->S 61A 2F 00 18 02 01 00 00 00

S->M 59A 60 00 18 02

5. Network Master sends the Start Network NMT message to the CANopen device


M->S 000 01 1A

6. Device is now in Operational state, data can be exchanged on the network

7. Each time the Network Master sends the SYNC message, the CANopen device sends PDO data

messages

Tx

Dir.

COB-

ID

Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7

M->S 080 S->M 19A Net

LowByte

Net

MidByte1

Net

MidByte2

Net

HighByte

Gross

LowByte

Gross

MidByte1

Gross

MidByte2

Gross

HighByte

8. If needed, the Master can send PDO data to the Slave (PDO data depends on Device configuration)


M->S 21A Data0 …. …. Data3 …. …. …. Data7

9. If ever needed, a Device can be returned back in PreOperational state by means of another NMT mes-

sage.


M->S 000 80 1A

Technical Description Revision 2...PITAGORA PRELIMINARY MANUAL Technical Description User's Guide...

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