8270/8826CANopen Miniature Pressure Transmitter CMP
Version 1.2
Operating Instructions (Software)
English
2
8270/8826CANopen Miniature Pressure Transmitter CMP
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
8270/8826CANopen Miniature Pressure Transmitter CMP
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 mea- suring 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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8270/8826CANopen Miniature Pressure Transmitter CMP
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
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8270/8826CANopen Miniature Pressure Transmitter CMP
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
8270/8826CANopen Miniature Pressure Transmitter CMP
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
8270/8826CANopen Miniature Pressure Transmitter CMP
Version 1.2
U
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Operational principle of measured value processing
8
8270/8826CANopen Miniature Pressure Transmitter CMP
Version 1.2
Principle of PDO-Communication (TX)
Sen
dP
DO
Up
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Typ
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PD
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P_I
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T_I
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4
T_I
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2
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T_S
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Bit
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it 2
Bit
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Bit
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it 6
Bit
7
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(48
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od
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380H
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imer
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4
9
8270/8826CANopen Miniature Pressure Transmitter CMP
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
8270/8826CANopen Miniature Pressure Transmitter CMP
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
8270/8826CANopen Miniature Pressure Transmitter CMP
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
8270/8826CANopen Miniature Pressure Transmitter CMP
Version 1.2
SDO-Communication-Object-DictionaryC
om
mu
nic
atio
n P
rofi
le A
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CA
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DS
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ro
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ling
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H
7100
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6127
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6/7/
8/91
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6/7/
8/91
33H
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H
6131
H
6/7/
8/91
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6/7/
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6126
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15
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UN
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NE
D8
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8-
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IGN
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8-
Pre
ssur
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NE
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NS
IGN
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8P
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valid
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NE
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UN
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NE
D8
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NS
IGN
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8P
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IGN
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16T
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OT
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01
23
45
67
SD
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om
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and
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exS
ub
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Dat
aLS
BLS
B
Initi
ate
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O U
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OR
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Pro
cess
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Pre
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ts r
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3HU
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IGN
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IGN
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ping
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eU
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IGN
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8rw
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inde
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pp. [
2 ]
UN
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NE
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pp. [
2 ]
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8rw
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inde
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pp. [
2 ]
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NE
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larg
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NS
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ufa
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d.
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Ind
ex
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H
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H
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H
2120
H
2111
H
2100
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2101
H
2102
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2103
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17
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OT
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OB
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SD
OR
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ID
01
23
45
67
SD
OC
om
-m
and
Ind
exS
ub
In
dex
Dat
aLS
BLS
B
Initi
ate
SD
O U
P/D
ownl
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Dat
a:
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0H)
(W: 2
2H)
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Spe
cial
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sage
[ B
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0..3
]O
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ET
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Byt
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Spe
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An
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Init
ial V
alu
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dex
Ab
ord
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de
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000
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0609
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gh
Gen
eral
err
or
0604
004
2hT
he n
umbe
r an
d le
ngth
of t
he o
bjec
ts to
be
map
ped
wou
ld e
xcee
d P
DO
leng
th
Ab
ord
Co
de
Des
crip
tio
n
8270/8826CANopen Miniature Pressure Transmitter CMP
Version 1.2
18
8270/8826CANopen Miniature Pressure Transmitter CMP
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
8270/8826CANopen Miniature Pressure Transmitter CMP
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
8270/8826CANopen Miniature Pressure Transmitter CMP
Version 1.2
21
8270/8826CANopen Miniature Pressure Transmitter CMP
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
8270/8826CANopen Miniature Pressure Transmitter CMP
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
serv
e th
e rig
ht to
mak
e al
tera
tions
as
tech
nica
l pro
gres
s m
ay w
arra
nt.
H
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ag A
G
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