ABSOPOS Series CANopen DS406 V3.1 Operating Manual Configuration and CAN-Bus Coupling

Transcription

1 ABSOPOS Series V. Operating Manual Configuration and CAN-Bus Coupling

2 Index CAN Bus Interface System description Configuration of Node parameter 4 Configuration of Process parameter 4 Emergency-Object 4 6 Process-Data-Object 7 Object dictionary 8 Communication Profile Area 6 9 Device Profile Area DS Getting started 0 Connection diagram 0 Diagnose Leds 0 CAN Bus Interface The CAN-Bus (Controller Area Network) has big advantages against conventional connection systems with I/O-Ports. The I/O- Ports are changed against a busmodule. This reduces installationand maintenance costs. The data excange is more efficient and more flexible. CAN is a seriel bus system (international standardized: ISO 898) for networking smart sensors, actuators and subsystems. All sensors and actuators are connected to the controler with only one bus cable. Once developed to reduce the complex loop of cables, he now overcomes the limits of the conventional connection of sensors to the controler. In the automation industrie there are more and more bus-systems used for the data transmission between different measurement and control circuits. SOF Arbitration Control Data Field CRC ACK EOF Interframe Space Bytes CAN Bus data protocol page

3 System description The magnetostrictive transducer can be connected to a CAN bus and acts as a node in this bus system. The sensor can be connected to CAN networks with CANopen protocol (according to CiA standard 0). The in the transducer integrated evaluation electronic converts the position data from the sensor element to CAN messages and transmits them on the CAN bus. These messages will be received and handled by the controler. LSS Address (Compatible): Vendor-ID: 0x40 Product Code: 0x404 (C04) Revision Number: 0x Serial Number: 0404 The following communication objects are used for data transmission on the CAN bus: SDO (Service Data Object) The SDO messages are used for read and write access to all entries of the object dictionary. The main usage of this facility is device configuration. PDO (Process Data Object) The real-time data transfer of position, velocity and limit switch states is performed by PDO messages. Which kind of data are transmitted in the maximum 8 byte wide data blocks can be configured over SDO messages. SYNC-Object The SYNC object is broadcasted periodically by the synchronization device to all application devices. Synchronous PDOs will be transmitted to the controller after receiving the SYNC message. Emergency-Object Emergency messages are triggered by the occurrence of a device internal fatal error situation and are transmitted from the concerned application device to the other devices with highest priority. This makes them suitable for interrupt type error alerts. Nodeguard-Object The Nodeguard object is used to monitor the whole network state. The Nodeguard object is sent cyclic to detect the sensor that the controller works well. On a missing Nodeguard object (i. e. controller stopped) the sensor automatically can stop PDO data transmission to reduce the busload. Configuration of Node parameter Each sensor (node) is defined in the CAN network unique by the LMT/LSS address. The LMT address consists of manufacturer name, product name and serial number. The LSS address consists of Vendor-ID, Product code, Revision Number and Serial Number. The CAN bus specific parameter like baud rate and node address (NodeID) can be configured and stored by the LMT/LSS service routines. Configure Baudrate The maximum possible baudrate depends on the cable length of the whole CAN network. The sensor is shipped with a baud rate defined in the order by the customer. These baudrate is printed on the transducer label. If necessary the baud rate can be changed by using the LMT/LSS services. Please use the table given in DS0 of the LMT protocol. Cable length baudrate [kbit/s] < m.000 < 0 m 800 < 00 m 00 < 0 m 0 < 00 m < 000 m 0 < 00 m 0 Baudrate according to cable length (CiA DS 0) Configure Node ID Each node must get its own node identifier (NodeID). It is for the identification of the nodes in a CANopen network. Each NodeId can assigned only once in a CAN network. The NodeID can be in an area between 7. The default NodeId is set on 7 when shipping the sensor. Hint: The programming of the baudrates is according to the LMT protocol. page

4 Configuration of Process parameter During the boot up phase (poweron, reset) the sensor overtakes the process parameter stored in the EEPROM. These parameter are on the first power up the default parameter or later the changed and stored data. The different identifier will be generated automatically if the NodeId will be changed. They can be changed later by using SDO services. The encoder communication profile (Device Profile for Encoder DS406 Vers..) is implemented in these sensors. The advantage of this profile is, that different devices from different manufacturers can be connected together or changed against other devices with this profile, because all devices with the same communication profile have nearly the same parameter. How to program which kind of operating parameter is described in the following object dictionary. PDO-transmission type The default value for the PDO transmission type is asynchronous. This means that the sensor transmits its process data cyclic with a programmed cycle time. It is possible to set the PDO transmission type synchronous after receiving a SYNC message. Event Timer/Cyclic timer The cycle time defines the the transmission period for all asynchronous PDOs. A cyclic transmission of the position value is set, when the cyclic timer is programmed > 0. Values between and 6 ms can be selected. Changes in Object 600 have only effects on PDO (see DS406 V.0) PDO Object-Mapping The default values for the PDO mapping objects are set that PDO to PDO4 transmits the position, the velocity and the limit switch status of magnet to magnet 4. It is possible to change these mapping parameter. The maximum data length for each PDO is 8 byte. Work area limits It is possible to program the transducer with a work area. If one or both of the magnets will leave these work area it is indicated by the sensor with an extra message. This prevents that no magnet can leave the work area without detection. Definition of limits It is possible to program the low limits and the polarity of CAMs. Therefore a fast comparison between set point and actual value is realized. Error messages The sensor itself transmits automatically emergency objects, if an error occured. These errors can be sensor specific or communication specific. Emergency-Object After starting the system (poweron, reset) the sensor transmits an emergency object without any data (power-on message) to indicate the controler that he is present in the network. Later the transmission of emergency objects is triggered by a changement of the internal error status register (also if an occured error is removed). An emergencyobjekt consists of 8 data byte and is build like shown. Byte contens Error code Error Manufacturer specific register Contents of an emergency-object The following error messages can be set in the emergency object of sensors: Error code Meaning No error 0 00 Device Hardware (i.e. no magnet) 8 00 Communications error 00 Main voltage error 8 0 Life guard error 6 00 Data set error 8 0 Node in CAN passive mode page 4

5 Process-Data-Object (PDO) The transducer provides four prozessdata-objects (PDOs). These PDOs can contain position data, velocity data or limit switch status data. The configuration of each PDO can be done by the user himself. By using the SDO services it is possible to give each PDO ist own mapping. Data formats The resolution of the position data is according to the value in the ordering guide. According to the resolution of the position data is the resolution of the velocity. The programmed values can be read at index 600 of the object dictionary. The position data output is a bit integer value; the velocity data output is a 6 bit integer value. The limit switch status is a 8 bit value within bit 0.. corresponds to the limit switch 0... Byte PDO Position Velocity Limit status free Magnet Magnet Magnet PDO Position Velocity Limit status free Magnet Magnet Magnet PDO Position Velocity Limit status free Magnet Magnet Magnet PDO 4 Position Velocity Limit status free Magnet 4 Magnet 4 Magnet 4 Default PDO mapping Object dictionary The following object dictionary of the transducer is divided into two parts. These parts are: Communication Profile and Device Profile. The Communication Profile describes all parameter necessary for the communication like setting identifier or configuration of PDOs etc. The Device Profile describes all parameter necessary for the operation of the sensor like resolution of position data, resolution of velocity data or cycle time etc. page

6 Communication Profile Area Index Sub- Name Typ Attri- Default Comment index bute value device type Unsigned ro x96 Device Profile 406 x0a multi-sensor encoder interface 00 0 error register Unsigned8 ro 0 0x00: No error 0x: Communication error 0x0: Main voltage error 0x8: transducer error 0x8: transducer- and main voltage error 0x: Communication- and main voltage error 0x9: Communication- and transducer error 0x9: Comm.-, transducer- and main voltage error number of PDOs Unsigned ro 4 number of PDOs supported supported Unsigned ro 4 number of synchronous PDOs Unsigned ro 4 number of asynchronous PDOs 00 0 COB-ID Unsigned rw 80h COB-ID SYNC-message SYNC-message manufacturer Visible const C04 device name device name String manufacturer Visible const.00 hardware version release hardware version String 00A 0 manufacturer Visible const.00 software version release software version String 00B 0 Unsigned ro 7 can be changed via LMT or LSS protocol (maximum 7) 00C 0 guard time Unsigned6 rw 0 guard time in ms multiplied by the life time factor 00D 0 life time factor Unsigned8 rw 0 gives the life time for the Node Guarding Protocol 00E 0 COB-ID Unsigned rw 700h+ node guarding identifier guarding protocol (should not be changed) 00F 0 number of SDOs Unsigned ro number of SDOs supported supported 00 0 store parameters Unsigned8 ro Unsigned rw writing the signature save will store all parameters into EEPROM (7, 6, 76, 6) 0 0 restore default Unsigned8 ro parameters Unsigned rw writing the signature load will load all parameters with default values (6C, 6F, 6, 64) 04 0 COB-ID Emergency Unsigned rw 80h+ COB-ID emergency message 08 0 Identity Object Unsigned8 ro 4 number of Entries Unsigned ro 0x40 Vendor-ID Unsigned ro 0x404 Product Code (ASCII C04) Unsigned ro xxxx Revision number 4 Unsigned ro xxxx Serial number 00 0 st Server SDO Unsigned8 ro parameter Unsigned ro 600h+ COB-ID Client -> Server (rx) Unsigned ro 80h+ COB-ID Server -> Client (tx) st transmit PDO Unsigned8 ro parameter Unsigned rw 80h+ COB-ID used by PDO Unsigned8 rw 4 transmission type of PDO 0: transmission on SYNC message 4: transmission runs asynchronous Unsigned6 rw event timer page 6

7 Communication Profile Area Index Subindex A A0 0 4 A0 0 Name Typ Attribute nd transmit PDO Unsigned8 ro parameter Unsigned rw rd transmit PDO parameter 4 th transmit PDO parameter st transmit PDO mapping nd transmit PDO mapping rd transmit PDO mapping Unsigned8 Default value 80h+ 4 Comment 4 Unsigned rw 0 4 th mapping parameter A0 0 4 th transmit PDO Unsigned rw mapping Unsigned rw st mapping parameter Unsigned rw nd mapping parameter Unsigned rw rd mapping parameter 4 Unsigned rw 0 4 th mapping parameter rw Unsigned6 rw Unsigned8 ro Unsigned rw Unsigned8 rw Unsigned6 rw Unsigned8 ro Unsigned rw Unsigned8 rw Unsigned6 rw Unsigned rw Unsigned rw Unsigned rw Unsigned rw Unsigned rw Unsigned rw Unsigned rw Unsigned rw Unsigned rw Unsigned rw Unsigned rw Unsigned rw Unsigned rw Unsigned rw 0 80h h COB-ID used by PDO transmission type of PDO 0: transmission on SYNC message 4: transmission runs asynchronous event timer COB-ID used by PDO transmission type of PDO 0: transmission on SYNC message 4: transmission runs asynchronous event timer COB-ID used by PDO4 transmission type of PDO4 0: transmission on SYNC message 4: transmission runs asynchronous event timer st mapping parameter nd mapping parameter rd mapping parameter 4 th mapping parameter st mapping parameter nd mapping parameter rd mapping parameter 4 th mapping parameter st mapping parameter nd mapping parameter rd mapping parameter Access attributes: ro = read only rw = read/write page 7

8 Device Profile Area DS406 Index Sub- Name Typ Attri- Default Comment index bute value operating parameter Unsigned6 rw 4h operating parameters Total measuring Unsigned rw xxxx Total measuring range in measuring units range linear encoder Unsigned8 ro number of objects measuring step Unsigned ro 000 position measuring step in 0.00µm settings Unsigned ro 0 speep measuring step in 0.0 mm/s preset value Unsigned8 ro number of available channels Unsigned rw 0 preset value channel Unsigned rw 0 preset value channel Unsigned rw 0 preset value channel 4 Unsigned rw 0 preset value channel * 0 position value Unsigned8 ro 4 number of available channels * Integer ro no position value channel * Integer ro no position value channel * Integer ro no position value channel 4 * Integer ro no position value channel * 0 speed value Unsigned8 ro 4 number of available channels * Integer6 ro no speed value channel * Integer6 ro no speed value channel * Integer6 ro no speed value channel 4 * Integer6 ro no speed value channel cyclic timer Unsigned6 rw cyclic timer value in ms if value > * 0 CAM state register Unsigned8 ro 4 number of available channels * Unsigned8 ro no CAM state channel * Unsigned8 ro no CAM state channel * Unsigned8 ro no CAM state channel 4 * Unsigned8 ro no CAM state channel CAM enable register Unsigned8 ro 4 number of available channels Unsigned8 rw 0 CAM enable channel Unsigned8 rw 0 CAM enable channel Unsigned8 rw 0 CAM enable channel 4 Unsigned8 rw 0 CAM enable channel CAM polarity register Unsigned8 ro 4 number of available channels Unsigned8 rw 0 CAM polarity channel Unsigned8 rw 0 CAM polarity channel Unsigned8 rw 0 CAM polarity channel 4 Unsigned8 rw 0 CAM polarity channel CAM low limit Unsigned8 ro 4 number of available channels Integer rw 0 CAM low limit channel Integer rw 0 CAM low limit channel Integer rw 0 CAM low limit channel 4 Integer rw 0 CAM low limit channel CAM low limit Unsigned8 ro 4 number of available channels Integer rw 0 CAM low limit channel Integer rw 0 CAM low limit channel Integer rw 0 CAM low limit channel 4 Integer rw 0 CAM low limit channel CAM low limit Unsigned8 ro 4 number of available channels Integer rw 0 CAM low limit channel Integer rw 0 CAM low limit channel Integer rw 0 CAM low limit channel 4 Integer rw 0 CAM low limit channel CAM 4 low limit Unsigned8 ro 4 number of available channels Integer rw 0 CAM 4 low limit channel Integer rw 0 CAM 4 low limit channel Integer rw 0 CAM 4 low limit channel 4 Integer rw 0 CAM 4 low limit channel 4 page 8

9 Device Profile Area DS406 Index Sub- Name Typ Attri- Default Comment index bute value 6400 * 0 area state register Unsigned8 ro 4 number of available channels * Unsigned8 ro no work area state channel * Unsigned8 ro no work area state channel * Unsigned8 ro no work area state channel 4 * Unsigned8 ro no work area state channel work area low limit Unsigned8 ro 4 number of available channels Integer rw min work area low limit channel Integer rw min work area low limit channel Integer rw min work area low limit channel 4 Integer rw min work area low limit channel work area high limit Unsigned8 ro 4 number of available channels Integer rw max work area high limit channel Integer rw max work area high limit channel Integer rw max work area high limit channel 4 Integer rw max work area high limit channel 4 * - index can be set into PDO mapping parameter Index Sub- Name Typ Attri- Default Comment index bute value operating status Unsigned6 ro no operating status 60 0 measuring step Unsigned ro xxxx position measuring step in 0.00µm 60 0 alarms Unsigned6 ro no alarms for emergency message supported alarms Unsigned6 ro supported alarms bit 0: position error 60 0 warnings Unsigned6 ro no warnings supported warnings Unsigned6 ro 4 CPU watchdog status profile and software Unsigned ro. device profile version version 4.0 manufacturer specific version 60A 0 module identification Unsigned8 ro number of entries Integer ro 0 manufacturer offset value Integer ro min manufacturer minimum position value Integer ro max manufacturer maximum position value 60B 0 serial number Unsigned ro xxxx serial number of device 60C 0 Offset value for multi Unsigned8 ro 4 number of availlable channels Sensor device Integer ro 0 offset value channel Integer ro 0 offset value channel Integer ro 0 offset value channel 4 Integer ro 0 offset value channel 4 Access attributes: ro = read only rw = read/write page 9

10 Getting started After power on or reset all hardware components of the transducer are initialized. Therefore the transducer is at a defined output state. After that the sensor reads all sensor- and communication specific parameter from the EEPROM and overtakes these to configure its objects. If the initialization is finished the sensor automatically switches into the preoperational state. At this state it is possible to configure parameter over the Service Data Objects. The SDO-identifier will be set automatically by using the NodeId according the CANopen specification.. Therefore the communication via SDOs is a peerto-peer-connection. The identifier for the other objects are set also automatically according the CANopen standard. A changement of these is possible in a CANopen network by using a DBT-Master. Changed parameter can be stored in an EEPROM and are loaded automatically after the next power on or reset. The sensor can be switched from the pre_operational state into the operational state by using the Start_Remote_Node service. In the operational state the sensor can transmit process data (via PDOs). The transmission of PDOs can be done in two different modes. It is possible that the sensor transmits ist data cyclic or the transmission is started by receiving a SYNCmessage.

11 Connection diagram Transducer with D60 or D6 Connector - CAN_L (dominant low) - CAN_H (dominant high) - +4V DC 6 6-0V 4 housing - drain Transducer with cable output Pxx Blank - drain Brown - +4V DC White - 0V Pink - CAN_H (dominant high) Gray - CAN_L (dominant low) Diagnose Leds LED definitions: Green Red Indication Off Off No supply voltage present Off On Transducer start-up failure On Off Normal transducer operation, (acceptable supply voltage is present, position magnet within active stroke range, no problems detected On On Position magnet is not detected or missing Flashing Flashing Supply voltage is nearly beyond the acceptable limits. If voltage is low the transducer is still operating, but the supply voltage should be corrected to assure continued operation. If the voltage is high the transducer is still operating, but the transducers over-voltage protection may engage, powering off the transducer temporarily. The over-voltage should be corrected to page 0