Operating Instructions (Software)€¦ · devices. Measuring and control units are based on device...

8270/8826CANopen Miniature Pressure Transmitter CMP

Version 1.2

Operating Instructions (Software)

English

2


Version 1.2

Index

Overview 3

Connector 6

Operational principle of measured value processing 7

Principle of PDO-Communication (TX) 8

PDO‘s (Process Data Objects) 9

SDO-Communication-Object-Dictionary 12

Error Messages 18

NMT (Network Management, LSS & Errorhandling) 19

CANopen-communication Examples 22

3


Version 1.2

Overview

ManualThis document contains device specific information as well as additional information regarding its CANopen functionality.Basic device features correspond to CANopen standards DS-301 V4.02 and DS-404 V1.2 (www.can-cia.org).

Description of instrumentThe CMP (CANOpen miniature Pressure Transmitter) is a precision pressure transducer with CANopen-interface according to CiA (CAN in Automation)-specifications DS-301/DS-404. The physical CAN-interface corresponds to DIN specification ISO 11898.By means of a thin film-on-steel sensor pressure is measured with a resolution of 20Bit/s (∆∑-convert-er), temperature with a resolution of 13 bit. Every 1 ms the pressure value is sampled, mathematically linearized and temperature compensated. Two variable „Moving-Average-Filters“, one for pressure (1ms...65s) and one for temperature (0.1s…1.82h) ensure an optimum measurement filtration. The mappable measuring field values (see „Mapping Mode“) are available for all data types (Float, Inte-ger32/24/16) and for all mostly required measuring units (bar, Pa, psi, mmHg, atm, at, °C, °F, K).The node supports all CiA baudrates from 10kbit/s…1Mbit/s and format CAN 2.0 A/B. The CCP is equipped with 4 PDO‘s which can be transmitted every 1ms. All Transmission Types defined in DS-301 can be used. In addition to features such as Permanent-Self-Test, Auto-Zero-Function, Auto-Start, etc. 4 switching thresholds with 8 configurable CAN-Messages are available. Communication and applica-tion parameters can be stored separately and can be reset to the initial factory configuration.

CANopenCANopen is an open communication profile based on CAN (Controller Area Network), a bussystem developed several years ago by the company R. Bosch for data transfer in motor vehicles. CAN is internationally standardized in ISO 11898. CANopen is a widely used CAN application layer, developed by the CiA which has meanwhile been adopted for international standardization. CANopen consists of the protocol definitions (communi-cation profile) and of the device profiles that standardize the data contents for the various device classes. CANopen defines a number of transmission types for the input and output data (process data objects):– Timer driven: Telegrams are sent if a specified time period has elapsed.– Event driven: Telegrams are sent as soon as their contents have changed (by the occurrence of an object specific event).– Cyclic synchronous: A SYNC telegram causes the devices to measure or/and to send actual measuring data. – Requested: A CAN data request telegram causes the device to send its measuring data.

The Trafag CANOpen miniature Pressure Transmitter CMP is parameterized by means of acyclic serv-ices (service data objects).9 transmission rates from 10kbit/s to 1Mbit/s are available for different bus lengths. The effective utilisation of the bus bandwidth allows CANopen to achieve short system reaction times at relatively low data rates.

A CAN-Bus system according to the ISO-OSI model shows that CAN only defines the two lower layers (the physical and the data link layer) and Can Open defines the seventh layer (application layer).

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Version 1.2

The CANopen pressure sensor from Trafag has been certified by the CiA (CAN in Automation). The sensor has a comprehensive implementation of the CANopen protocol.With the active membership of the CiA (CAN in Automation), Trafag contributes to the further develop-ment of this bus system.

Object Dictionary, PDO and SDO The CANopen communication profile is based on an object dictionary. The communication profile DS-301 defines two types of data objects as well as a number of special objects. The process data ob-jects (PDO) serve the transmission of real time data and the service data objects (SDO) allow access to the object dictionary. The object dictionary contains all settings (parameters) of the unit. The parameters are read, respectively written by a multiplexor (address). The multiplexor consists of a 16-bit index and a 8 bit subindex that addresses the relevant data in the object dictionary. Special objects (DS-301) are required for synchronization (SYNC), Emergency (EMCY), as well as Nodeguarding, Heartbeat and Network Management (NMT).

CANopen Communication- and Device Profiles were published as Profiles DS-301and DS-40x by the international CAN-organization CAN in Automation e.V. The Profile DS-301 defines the „HOW“ of communication, while the „WHAT“ (meaning of data) is defined by the requirements of the individual devices. Measuring and control units are based on device profile DS-404 (Measuring Devices and Closed-Loop Controllers).

Device ProfileA

Device ProfileB

Device ProfileDS-40x

OSI Layer 7: CANopen Communication ProfileApplication Layer

OSI Layer 2: CAN Data Link Layer

OSI Layer 1: CAN Physical Layer

Device Profile

Bus-Line

Service Data Objects(Parameterizing)

Process Data Objects(Measure values)

Communication Profile

Device Profile

Measuring data acquisition and

conditioning

Object Dictionary

5


Version 1.2

Topology CAN is based on a busline topology. CANopen logically limits the number of devices per net to 127, physically, the present driver generation permits 110 nodes in one net segment. The maximum net expansion is limited by the propagation delay of the bus medium. 1Mbit/s e.g. corresponds to a net expansion of 25m, while at 10kbit/s a net expansion of 5000m is possible.

Bus access procedure CAN operates on the basis of the Carrier-Sense-Multiple Access with Collision Avoidance (CSMA/CA) method. i.e. with regard to bus access each user is equal to the other and can access the bus as soon as the bus is free (Multi-Master-Bus Access). The exchange of information is not member related but message related. Each message is uniquely defined by a priority identifier. In order to avoid a collision (crash) when several users are transferring data simultaneously, a bit by bit bus arbitration is made over the identifier when starting data transfer. The message with the highest priority, i.e. having the lowest identifier, will be transferred first while all other messages will be transferred in accordance to their priority rating.

Configuration and parameter definition Manufacturers of CANopen Masters supply software configuration tools for the parameter definition and configuration of the CANopen network. These tools access the object dictionary via SDO. The configuration tools receive parameter information of the device through an EDS-file (electronic data sheet) which basically contains the object dictionary listings.For further information please contact Trafag AG (www.trafag.com).

CANopen Master CANopen Display CANopen Controll-Unit

120 Ohm

CAN_H

CAN_L

120 Ohm

CMP

CANopen miniature PressureTransmitter

6


Version 1.2

Connector

1

Male

2345

(CAN_SHLD)+24 VDC

GNDCAN_HCAN_L

Shield / HousingPositiv supply / 8...32V

Ground / 0VCAN_H bus line (dominant high)CAN_L bus line (dominant low)

7


Version 1.2

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Operational principle of measured value processing

8


Version 1.2

Principle of PDO-Communication (TX)

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9


Version 1.2

PDOs (Process Data Objects)

Transmission TypeThe „Transmission Type“ determines when a measuring value (PDO) is transmitted. „Transmission Type 254“ is device specific and described here (all other „Transmission Types“ are defined in communica-tion profile DS-301):„Transmission Type 254“ transmits the corresponding PDO after a pressure or temperature event. An event is generated when pressure or temperature changes more than the preset delta-value or passes one of the two switching thresholds.Which event results in the transmission of the PDO is defined by the „Event Mask“.If the „Event Timer“ is used for cyclic transmission, a transmission only takes place in case the actual measured value passes above the upper threshold or below the lower threshold.The adjustable hystereses of the two thresholds always reside below the upper threshold and above the lower threshold.

Event MaskFor the „Transmission Types 0 and 254“, the „Event Mask“ determines, which event triggers the trans-mission of PDO‘s. For both, pressure and temperature, the possibility exists to trigger an event by means of a preset Deltavalue or two switching thresholds (limits). The event is activated in the Parameter „Event Type“ by a „1“ in the corresponding bit.Important: When changing the „Mapping Mode“, the „Event Type“ automatically is set to a standard value. Thereby only the „Delta Event“ events are enabled, and only those where a corresponding measuring value is mapped (see „Standard Value“ in PDO-Mapping-Table).

Delta- und Limit-Event-Triggering & Transmission Type 254

Upper-Limit-Threshold

Lower-Limit-Threshold

LowerLimitEvent(LimitEventType = LowerLimitUp)

LowerLimitEvent(LimitEventType = LowerLimitDown)

UpperLimitEvent(LimitEventType = UpperLimitDown)

UpperLimitEvent(LimitEventType = UpperLimitUp)

= no event !Pressure / Temperature

Time

Hysteresis

DeltaEvent

10


Version 1.2

Mapping Mode

The Mapping Mode determines what is transmitted by a PDO. The Mapping Mode for the CMP can-not be set dynamically as defined in the communication profile DS-301. It has to be set by means of a Predefined Mapping Table. However, the Mapping settings can be read out on the basis of the DS-301. The PDO-Mapping-Table lists all possible mappable message configurations for PDO‘s. Map-ping Modes 27…36 are special in that they assign the PDO‘s free definable on event dynamicCAN messages. Mapping Mode 37 comprised an additional 8bit value, which is incremented every ms.

4 CAN messages for pressure and 4 CAN messages for temperature can be defined. The CAN messages are assigned by the events of the 2 pressure, resp. 2 temperature thresholds as follows: Pressure passed below or above the lower pressure threshold Pressure passed below or above the upper pressure threshold Temperature passed below or above the lower temperature threshold Temperature passed below or above the upper temperature threshold

Should such an event occur, the corresponding CAN message is transmitted. The contents of the CAN-messages are therefore dynamic by events.Each of these CAN-messages is freely defined with 8 data bytes (see object dictionary). The Mapping Type entry determines the length of the CAN-message, i.e. how many of these bytes are transmitted. As defined in the Mapping Table, 0 (no data) 8, 16, 32 or 64 bites can be selected. Mapping Modes 27…31 assign the PDO the special messages for pressure, Mapping Modes 31…36 assign the PDO the special messages for temperature.

PDO Mapping Mode 27...36

LowerLimitUp

P/T_SpezMsg_UpperLimitUpP/T_SpezMsg_UpperLimitDown

P/T_SpezMsg_LowerLimitUpP/T_SpezMsg_LowerLimitDown

(actual Special-Message-Object)

P/T_SpezMsg_UpperLimitUpP/T_SpezMsg_UpperLimitDown

P/T_SpezMsg_LowerLimitUpP/T_SpezMsg_LowerLimitDown

P_UpperLimitEvent

P_LowerLimitEvent

P_DeltaEvent

T_UpperLimitEvent

T_LowerLimitEvent

T_DeltaEvent (actual LimitEventType) (actual Special-Message-Object)

P/T_Event P/T_LimitEventType

UpperLimitUp *UpperLimitDown

LowerLimitDown *

(actual LimitEventType)

UpperLimitUp *UpperLimitDown

LowerLimitUpLowerLimitDown *

Sended object when "Spec.Msg_xxx_P" is mapped

* Only this events can be periodically generated by the Timer Event !

11


Version 1.2PDO-Mapping-Table

Bit 0

P_LowerLimitEventP_UpperLimitEventT_LowerLimitEventT_UpperLimitEventP_DeltaEventT_DeltaEvent- -

Bit 1Bit 2Bit 3Bit 4Bit 5Bit 6Bit 7

PDO1...4 EventMask-Bit-Alocation:

Prepared variable mapping

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

Entry 4

-

-

-

-

-

-

-

-

-

-

T_Status

T_Status

T_Status

T_Status

T_Status

T_Status

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

Entry 3

-

-

-

-

-

-

-

-

-

-

P_Status

P_Status

T_Int24

T_Int16

T_Int16

T_Int16

-

-

-

-

-

-

-

-

Entry 2

-

-

-

-

-

-

-

-

-

-

P_Status

P_Status

P_Status

P_Status

T_Status

T_Status

T_Status

T_Status

T_Int32

T_Int24

T_Int16

T_Float

T_Int24

T_Int16

P_Status

P_Status

P_Status

P_Status

Entry 1

Spec.Msg_NIL_P

Spec.Msg_Us8_P

Spec.Msg_Us16_P

Spec.Msg_Us32_P

Spec.Msg_Us64_P

Spec.Msg_NIL_T

Spec.Msg_Us8_T

Spec.Msg_Us16_T

Spec.Msg_Us32_T

Spec.Msg_Us64_T

P_Int32

P_Int24

P_Int16

P_Float

P_Int32

P_Int24

P_Int16

P_Float

T_Int32

T_Int24

T_Int16

T_Float

T_Int32

T_Int24

T_Int16

T_Float

P_Int32

P_Int24

P_Int16

P_Float

P_Int24

P_Int16

P_Int24

P_Int16

P_Float

P_Int32

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

PDOMappingMode

27

28

29

30

31

32

33

34

35

36

37 P_Int16 -

5

4

3

5

4

3

2

4

5

4

3

5

4

3

2

4

8

6

4

8

8

6

8

6

8

8

Size [Bytes]

0

1

2

4

8

0

1

2

4

8

4

Event Mask(standard value)

00010000

00010000

00010000

00010000

00010000

00010000

00010000

00010000

00100000

00110000

00000011

00100000

00100000

00100000

00100000

00100000

00100000

00100000

00110000

00110000

00110000

00110000

00110000

00110000

00110000

00110000

00110000

00000011

00000011

00000011

00000011

00001100

00001100

00001100

00001100

00001100

00010011Spec.Msg_Us8_PWaitTimer

12


Version 1.2

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Version 1.2

16


Version 1.2

3HU

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Version 1.2

18


Version 1.2

Emergency Error Codes

EMERGENCY

ERROR FREEClear 'error code'

Send 'error recovery '

ERROR OCCUREDSet 'error code and error register '

Send 'emmergency error code'

Error indication

Errorindication

No Error indication

Permanent Autotest

(Hard and Softwaretest)

P_Status

T_Status

LastNodeErrorCode

Startup(Initial)

ErrorRegister

NodeSubErrorCode

* supported node error codes

recovered from bus off

No Error

Device Temperature

Generic Error

Main Voltage

0000h

3000h

*4200h5000h

8140h

1000h2000h

8000h

F000h

7000h

9000h

3100h4000h

6000h

Monitoring

temperature

generic Error

voltage

- -

generic & voltage

generic & temp.

generic & com.

generic -

0 & 3 (09h)

0& 2 (05h)

0 (01h)

Monitoring

Additional Functions

Additional Modules

External Error

Voltage

Device Hardware

Current

Temperature

Device Software

descriptionLastNodeErrorCode

ErrorTypeError

RegisterBit

*8130h8120h8110h

Life Guard Error Monitoring generic & com.CAN in Error Passive Mode Monitoring generic & com. CAN Overrun (Objects lost) Monitoring generic & com. 0 & 4 (11h)

Data Set generic Error generic 0 (01h)

0x0000

0x0001

0x0002

0x0010

0x0020

0x0040

0x0080

0x0100

No bit

bit 0

bit 1

bit 4

bit 5

bit 6

bit 7

bit 8

NodeSubErrorCode

0x0004bit 2

0x1000bit 12

0x2000bit 13

NoError

EEProm_VirginByte

EEPromUserCommPage_ValidByte

EEPromUserCommPage_Checksum

EEPromUserApplPage_Checksum

EEPromFactoryCommPage_Checksum

EEPromFactoryApplPage_Checksum

EEPromSpecialPage_Checksum

SubErrorCodes of Data Set Error

EEPromUserApplPage_ValidByte

EEPromCommPage_InvalidBase

EEPromApplPage_InvalidBase

0 & 4 (11h)

0 & 4 (11h)

0 & 4 (11h)

*6300h

Emergency Object Data:

LastNodeErrorCode

(Emerg. Error Code)

Error Reg.Err.Reg.

NodeSubErrorCode

(Manufacturer specific Error Field)

0 1 2 3 4 5 6 7LSBn.u.

COB-ID = (80H+Node-ID)

Error Messages

Emergency Send-Procedure

19


Version 1.2

NMT (Network Management, LSS & Errorhandling)

Emergency Send ProcedureAs an additional safety feature, the CMP is equipped with a „Permanent Autotest“. This feature con-tinuously checks the operating temperature of the sensor as well as the CAN-bus with Life Guard and Heartbeat. In addition the contents of the memory (EEProm) are checked at start-up. If a fault is de-tected while performing the Autotest, an error message will be sent. Please refer to „Emergency Send-Procedure“ in this instruction manual where the cause for the message is explained. These messages conform to communication profile DS-301.In case of a fault, the node changes to the „PRE-OPERATIONAL“ state until such time that the fault is corrected and the Bus Master releases a „Start-Node-Indication“. After the failure has been corrected, the node only starts automatically if „Auto-Start“ is configured. If the fault cannot be corrected, the node cannot be started, not even by the Master.

Network-Management (NMT)-State-MachineThe State Machine has been completed with an additional state (see „Modus Node State-Machine“). The standard State Machine version is defined in communication profile DS-301. The upgraded State Machine allows operation without the „Start-Node Indication“ of the CANopen Master. By configur-ing parameter „Auto-Start „as „auto“ in the object dictionary, the State Machine functions in such a way that the node after initialization is automatically „OPERATIONAL“. The node, therefore, starts-up automatically. In case of a fault, the State Machine goes to „AUTO-PRE-OPERATIONAL“ instead of „PRE-OPERATIONAL“. Only then, after the fault has been corrected, the status „OPERATIONAL“ is re-established. This feature is also available with the settings in object dictionary entry “NMTStartup”. Furthermore it’s possible to send a “NMT Start-Node-Indication” after 250ms of reaching the “OPERA-TIONAL” state (see Index 1F80h).

LSSThe CMP has been equiped with „Layer setting services“ (LSS) according to DSP305 V2.0 with all avail-able commands. This allows to adjust the pressure-sensor together with other devices in the network without prior configuration. As a rule the CMP will be delivered with node-id =1 and baudrate=20kbit/s. When using LSS the startup with „auto-baudrate-detection“ is recommended. Therefore please specify this when ordering.There is as well a simplification at the comand „switch state selective“. To get into the configuration mode it is not necessary to know the whole LSS number. The revision number could be ignored with 0000‘000h but „Vendor ID“, „Product code“ and „serial-number“ have to be specified. More details see „LSS State-Machine“.

20


Version 1.2

21


Version 1.2L

SS

Req

ues

t

LS

S

LS

S c

on

fig

ura

tio

nA

ctiv

itysw

itch

stat

e gl

obal

activ

ate/

conf

igur

e bi

t tim

ing

para

mte

rsco

nfig

ure

node

-ID

stor

e co

nfig

urat

ion

inqu

ire L

SS

add

ress

inqu

ire n

doe-

IDid

entif

y (r

emot

e) s

lave

iden

tify

non-

conf

igur

ed (

rem

ote)

sla

ve

LS

S w

aiti

ng

Act

ivity

switc

h st

ate

glob

alsw

itch

stat

e se

lect

ive

iden

tify

(rem

ote)

sla

veid

entif

y no

n-co

nfig

ured

(re

mot

e) s

lave

LS

S

NM

T P

reO

pera

tiona

l sta

teN

MT

Sto

ppe

d st

ate

NM

T r

eset

com

mun

icat

ion

stat

e w

ith n

ode-

ID =

FF

h

switc

h st

ate

glob

al(c

onfig

urat

ion_

switc

h)sw

itch

stat

e gl

obal

(wai

ting_

switc

h)

CO

B-I

D =

7E

4HC

OB

-ID

= 7

E5H

NM

T O

pera

tiona

l sta

te

NM

T O

pera

tiona

l sta

te

switc

h st

ate

sele

ctiv

e

01

23

45

67

cs =

04H

mo

de

res.

Req

uest

: Sw

itch

stat

e gl

obal

01

23

45

67

csd

ata

MS

BLS

B

Req

uest

: sw

itch

stat

e se

lect

ive

/ ide

ntify

rem

ote

slav

e

switc

h st

ate

sele

ctiv

e:cs

= 4

0H: v

endo

r-ID

cs =

41H

: pro

duct

-cod

ecs

= 4

2H: r

evis

ion-

num

ber

(ca

n b

e ig

no

red

wit

h 0

000'

0000

H)

cs =

43H

: ser

ial-n

umbe

r

res.

01

23

45

67

cs =

11

HN

od

e-ID

Req

uest

: con

figur

e no

de-I

D

res.

00H

: sw

itche

s to

wai

ting

stat

e01

H: s

witc

hes

to c

onfig

urat

ion

stat

e

01

23

45

67

cs =

13

Hta

ble

sele

cto

r

Req

uest

: con

figur

e bi

t tim

ing

para

met

ers

res.

tab

lein

dex

01

23

45

67

cs =

15

Hsw

itch

_del

ay [m

s]

Req

uest

: act

ivat

e bi

t tim

ing

para

met

ers

res.

LSB

MS

B

01

23

45

67

cs =

17H

Req

uest

: sto

re c

onfig

urat

ion

res.

01

23

45

67

csre

s.

Res

pons

e: s

witc

h st

ate

sele

ctiv

e / i

dent

ify s

lave

iden

tify

rem

ote

slav

e:cs

= 4

6H: v

endo

r-ID

cs =

47H

: pro

duct

-cod

ecs

= 4

8H: r

evis

ion-

num

ber-

low

cs =

49H

: rev

isio

n-nu

mbe

r-hi

ghcs

= 4

AH

: ser

ial-n

umbe

r-lo

wcs

= 4

BH

: ser

ial-n

umbe

r-hi

gh

switc

h st

ate

sele

ctiv

e:cs

= 4

4Hid

entif

y sl

ave:

cs =

4F

H

01

23

45

67

cs =

11H

res.

Res

pons

e: c

onfig

ure

node

-ID

erro

r co

de:

00H

= O

K01

H =

Nod

e-ID

out

of R

ange

erro

r co

de

spec

. er

ror

01

23

45

67

cs =

13H

res.

Res

pons

e: c

onfig

ure

bit t

imin

g pa

ram

eter

s

erro

r co

de:

00H

= O

K01

H =

bit

timin

g no

t sup

port

ed

erro

r co

de

spec

. er

ror

tabl

e se

lect

or:

00H

= s

tand

ard

CiA

bit

timin

g ta

ble

(see

Bau

drat

es)

01

23

45

67

cs =

17H

res.

Res

pons

e: s

tore

con

figur

atio

n

erro

r co

de:

00H

= O

K02

H =

sto

rage

med

ia a

cces

s er

ror

erro

r co

de

spec

. er

ror

01

23

45

67

csre

s.

Res

pons

e: in

quire

LS

S a

ddre

ss

dat

aM

SB

LSB

inqu

ire L

SS

add

ress

:cs

= 5

AH

: ven

dor-

IDcs

= 5

BH

: pro

duct

-cod

ecs

= 5

CH

: rev

isio

n-nu

mbe

rcs

= 5

DH

: ser

ial-n

umbe

r

01

23

45

67

cs =

5EH

res.

Res

pons

e: in

quire

nod

e-ID

No

de-

ID

01

23

45

67

cs =

50H

res.

Res

pons

e: id

entif

y no

ne-c

onfig

ured

sla

ve0

12

34

56

7

cs =

4CH

res.

Req

uest

: ide

ntify

non

e-co

nfig

ured

rem

ote

slav

e

01

23

45

67

cs =

5EH

res.

Req

uest

: inq

uire

nod

e-ID

01

23

45

67

cs

Req

uest

: inq

uire

LS

S a

ddre

ss

res.

inqu

ire L

SS

add

ress

:cs

= 5

AH

: ven

dor-

IDcs

= 5

BH

: pro

duct

-cod

ecs

= 5

CH

: rev

isio

n-nu

mbe

rcs

= 5

DH

: ser

ial-n

umbe

r

LS

S R

esp

on

se

Lay

er s

etti

ng

ser

vice

s an

d p

roto

cols

(L

SS

) D

SP

305

V2.

0

22


Version 1.2

CANopen-communication Examples

Note: All numbers are in Hex-Format, P means Pressure, T means Temperature, N means Network-Node-Address (Node-Identifier)

Start all nodes (OPERATIONAL): COB-ID = 0 Data = 01 00Stop all nodes (STOPPED): COB-ID = 0 Data = 02 00Preop. all nodes (PRE-OPERATIONAL): COB-ID = 0 Data = 80 00Reset all nodes (INITIALISING): COB-ID = 0 Data = 81 00Reset only node 10 (Reset): COB-ID = 0 Data = 81 0A

N=1, read out P as FLOAT: COB-ID = 601 Data = 40 30 61 01 00 00 00 00Response of Network-Node (CMP): COB-ID = 581 Data = 43 30 61 01 XX XX XX XX

N=1, read out T as INT_16: COB-ID = 601 Data = 40 30 71 02 00 00 00 00Response of Network-Node (CMP): COB-ID = 581 Data = 4B 30 71 02 XX XX 00 00

N=10, set P-Unit to kPa: COB-ID = 60A Data = 22 31 61 01 00 00 22 03Response of Network-Node (CMP): COB-ID = 58A Data = 60 31 61 01 00 00 00 00

N=11, set T-Decimalpoint to 2 post decimal position: COB-ID = 60B Data = 22 32 61 02 02 00 00 00Response of Network-Node (CMP): COB-ID = 58B Data = 60 32 61 02 00 00 00 00

N=1, set P-Filter-constant to 1000ms: COB-ID = 601 Data = 22 A1 61 01 E8 03 00 00Response of Network-Node (CMP): COB-ID = 581 Data = 60 A1 61 01 00 00 00 00

N=1, switch on PDO4, set COB-ID=485h: COB-ID = 601 Data = 22 03 18 01 85 04 00 00Response of Network-Node (CMP): COB-ID = 581 Data = 60 03 18 01 00 00 00 00

N=1, map [P_Int32] to PDO1: COB-ID = 601 Data = 22 00 21 01 05 00 00 00Response of Network-Node (CMP): COB-ID = 581 Data = 60 00 21 01 00 00 00 00

N=1, set cyclic transmit on PDO1: COB-ID = 601 Data = 22 00 18 02 FF 00 00 00Response of Network-Node (CMP): COB-ID = 581 Data = 60 00 18 02 00 00 00 00

N=1, set PDO1 cycle time to 100ms: COB-ID = 601 Data = 22 00 18 05 64 00 00 00Response of Network-Node (CMP): COB-ID = 581 Data = 60 00 18 05 00 00 00 00

N=1, save all settings “save”: COB-ID = 601 Data = 22 10 10 01 73 61 76 65Response of Network-Node (CMP): COB-ID = 581 Data = 60 10 10 01 00 00 00 00

N=1, restore to factory settings “load” 1): COB-ID = 601 Data = 22 11 10 01 6C 6F 61 64Response of Network-Node (CMP): COB-ID = 581 Data = 60 11 10 01 00 00 00 00

N=1, Attempt to write a read only object: COB-ID = 601 Data = 22 00 10 00 78 56 34 12Response of Network-Node (CMP): COB-ID = 581 Data = 80 00 10 00 02 00 01 06 2)

N=1, PDO1 remote transmission request: COB-ID = 181 RTR = 1, Data = [ ] (Datalength = 4)Response of Network-Node (CMP): COB-ID = 181 Data = XX XX XX XX

N=4, Error: Occur of a Nodeguard-Error: COB-ID = 84 Data = 30 81 11 00 00 00 00 00 3)

1) Only after a reset the device will start with the factory settings. If the command „save all“ isn’t executed, the next reset will start the device again with the previous settings.2) Abort Code = 0601 0002 h (Attempt to write a read only object)3) LastNodeErrorCode = 8130 h, ErrorRegister = 11 h, NodeSubErrorCodes = 0000 h (Monitoring, Life Guard Error) W

e re

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