CANopen Device Profile for Human Machine Interfaces

Transcription

1 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA CiA Draft Standard Pposal DSP-403 CANopen Device Pfile for Human Machine Interfaces Version 1.00 Date: April 14, 1999 CAN in Automation (CiA) e. V. not recommend for implementation may be changed without notification 1

2 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Table of Contents 1 Scope 4 2 References 5 3 Abbreviations and Definitions 6 4 Operating Principle Intduction Simple HMI Intelligent HMI Very intelligent HMI Additional features Standardisation Via Pfiling The Object Dictionary Index and Sub-Index Usage 12 5 Emergency Messages Principle Err code meanings 13 6 Predefinitions Principle Naming conventions Mapping Index 1000H (Device type) st Transmit PDO mapping (read key code) st Receive PDO mapping (write lamp code) nd Transmit PDO mapping (new data ready) nd Receive PDO mapping (new data ready) rd Transmit PDO mapping (read key) rd Receive PDO mapping (write lamp) 17 7 Object Dictionary User Functions Display Functions Additional Mapping Object User Functions Object 6000: Read Key Code Object 6001: Read Key Object Object 707F: Read Input Variable Boolean Object Object 70FF: Read Input Variable Integer Object Object 717F: Read Input Variable Integer Object Object 71FF: Read Input Variable Integer Object Object 727F: Read Input Variable Unsigned Object Object 72FF: Read Input Variable Unsigned Object Object 737F: Read Input Variable Unsigned Object Object 73FF: Read Input Variable Float Object Object 747F: Read Input Variable Octet String Object Object 74FF: Read Input Variable Date Object Object 757F: Read Input Variable Time Of Day Display functions Object 6200: Write Lamp Code Object 6201: Write Lamp 34 2

3 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object 6202: Backlight Object 6203: Contrast Object 6204: Output Volume Object 6210: Text Monitor Object 6211: Text Cursor Object 6212: Display Stored Data Object Object 807F: Write Output Variable Boolean Object Object 80FF: Write Output Variable Integer Object Object 817F: Write Output Variable Integer Object Object 81FF: Write Output Variable Integer Object Object 827F: Write Output Variable Unsigned Object Object 82FF: Write Output Variable Unsigned Object Object 837F: Write Output Variable Unsigned Object Object 83FF: Write Output Variable Float Object Object 847F: Write Output Variable Octet String Object Object 84FF: Write Output Variable Date Object Object 857F: Write Output Variable Time Of Day Additional mapping object Object 6800: New Data Ready Transmit Object 6801: New Data Ready Receive 52 3

4 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA 1 Scope This document represents the device pfiles for Human Machine Interfaces (HMI). HMI devices use communication techniques, which conform to those described in the CANopen Communication Pfile /17/. In general the mechanisms which are specified in the communication pfile are sufficient for the definition of pfiles for devices which, on the application level, pvide some kind of I/O functionality. Example devices include I/O modules, drives and regulators. These devices while they may be complex are not termed intelligent as they do not run an application level pgram. For the description and operation of intelligent devices further mechanisms are necessary, which are specified in the Framework for Pgrammable CANopen Devices /18/. This specification has to be regarded as a framework for the definition of device pfiles for intelligent or pgrammable devices in form of an extension to CiA DS-301 /17/. The additional mechanisms specified in the framework are useful especially for devices such as PLCs, very intelligent HMI or CANopen tools. These documents should be consulted in parallel to this pfile. 4

5 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA 2 References /1/: ISO 7498, 1984, Information Pcessing Systems - Open Systems Interconnection - Basic Reference Model /2/: ISO 11898, 1993, Road Vehicles, Interchange of Digital Information - Contller Area Network (CAN) for high-speed Communication /3/: Robert Bosch GmbH, CAN Specification 2.0 Part A+B, September 1991 /4/: CiA DS-102, CAN Physical Layer for Industrial Applications, April 1994 /5/: CiA DS-201, CAN Reference Model, February 1996 /6/: CiA DS-202/1, CMS Service Specification, February 1996 /7/: CiA DS-202/2, CMS Ptocol Specification, February 1996 /8/: CiA DS-202/3, CMS Data Types and Encoding Rules, February 1996 /9/: CiA DS-203/1, NMT Service Specification, February 1996 /10/: CiA DS-203/2, NMT Ptocol Specification, February 1996 /11/: CiA DS-204/1, DBT Service Specification, February 1996 /12/: CiA DS-204/2, DBT Ptocol Specification, February 1996 /13/: CiA DS-207, Application Layer Naming Specification, February 1996 /14/: CiA DS-205/1, LMT Service Specification, February 1996 /15/: CiA DS-205/2, LMT Ptocol Specification, February 1996 /16/: CiA DS 206, Application Specific Data Types, April 1995 /17/: CiA DS 301, CAL-based Communication Pfile, October 1996 /18/: CiA DS 302, Framework for Pgrammable CANopen Devices, July

6 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA 3 Abbreviations and Definitions CAN CiA CMS Contller Area Network CAN in Automation international users and manufacturers gup e.v. CAN Message Specification: One of the service elements of the CAN application layer in the CAN Reference Model. COB Communication Object: (CAN message) An unit of transportation in a CAN network. Data must be sent acss a network inside a COB. COB-ID DBT DIN ISO LMT NMT OSI PDO SDO HMI PLC COB Identifier: Identifies a COB uniquely in a network. The identifier determines the priority of this COB in the MAC sub-layer too. Distributor: One of the service elements of the CAN spplication layer in the CAN reference model. Its the responsibility of the DBT to distribute COB-ID's to the COB's which are used by CMS. Deutsches Institut fÿr Normung International Standardisation Organisation Layer Management: One of the service elements of the CAN application layer in the CAN reference model. It serves to configure parameters of each layer in the CAN reference model. Network Management: One of the service elements of the CAN application layer in the CAN reference model. It performs initialisation, configuration and err handling in a CAN network. Open Systems Interconnection Pcess Data Object Service Data Object Human Machine Interface Pgrammable Logic Device 6

7 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA 4 Operating Principle 4.1 Intduction The purpose of the device pfile for a Human Machine Interface (HMI) is to support simple HMI devices as well as intelligent and very intelligent HMI devices. The pfile defines display functions and user functions. This device pfile is based upon the definitions in the communication pfile CiA DS-301 /17/. The definitions of simple HMI, intelligent HMI and very intelligent HMI refers to the kind of the implemented communication pfile (CiA DS-301 /17, CiA DS-302 /18/). The following table shows the main features of the different HMI classes: HMI class Features Simple HMI 1st transmit PDO, 1st receive PDO one default SDO more skilled simple HMI: 2 nd transmit PDO, 2nd receive PDO 3 rd transmit PDO, 3rd receive PDO Intelligent HMI Client SDO Very intelligent HMI CiA DS-302 /18/ Simple HMI A simple HMI is based on a simple I/O module. The mechanisms, which are specified in the communication pfile CiA DS-301 /17/ are sufficient for the definition. This devices are not termed intelligent as they do not run an application level pgram. The following functions are sufficient: 6000 Read Key Code 6200 Write Lamp Code 6210 Text Monitor 6211 Text Cursor More skilled simple HMI with more memory have the possibility to Display Stored Data (Object 6212) instead of the Text Monitor (Object 6210) function. Variables are displayed with an SDO on the Write Output Variable (Object Object 857F). If an user is able to enter a variable, the HMI signalises with the 2nd Transmit PDO New Data Ready Transmit (Object 6800) that there is a new value on the Read Input Variable (Object Object 757F). 7

8 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA HMI Object Dictionary HMI Output Variable Input Variable SDO download Response 2nd Transmit PDO "New Data Ready" SDO upload Response PLC Object Dictionary PLC Output Variable for HMI Input Variable for HMI Principle of data exchange for variables Intelligent HMI Also for intelligent HMI the mechanisms which are specified in the communication pfile CiA DS-301 /17/ are sufficient for the definition. The main difference to simple HMI is that intelligent HMI have preconfigured Client SDO s (Object 1280h.. Object 12FFh: Client SDO parameter) connections. The term intelligent is because the HMI has the possibility to upload and download data fm another device. With the client SDO access is possible for the HMI to the entries of a device object dictionary e.g. to a PLC. HMI Object Dictionary HMI PLC Object Dictionary PLC Client SDO Parameter Object FF Server SDO Parameter Object F Principle of data exchange for variables Very intelligent HMI The CiA DS-302 /18/ chapter Dynamic Establishment of SDO Connection describes the method where nodes plugged in and out while the system is running, can establish SDO connections. The SDO Manager manages all SDO connections in the network. This concerns HMI with a very intelligent configuration set-up. These very intelligent HMI are referred to as "SDO Requesting Device" SRD. This is to clearly distinct this dynamic mechanism fm the more static method of pre-configured SDO connections. 8

9 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Additional features To reduce the busload there are some features which all HMI can support. Event Contlled Response: with the client SDO access is possible for the HMI to the entries of a device (server) object dictionary, e.g. to a PLC. If there is a variable in the Server, which is changing cyclically, the HMI has to poll the new value to ensure data consistence. This pduces a high busload. To reduce the busload the event-contlled response is a solution. The HMI can map the requested variable into an asynchnous PDO (PDO-Mapping) /17/. In that case the server (for instance the PLC) has to support the PDO-mapping. Time Contlled Response: for a time-contlled response the HMI changes the PDO transmission type into synchnous in addition to the event contlled response. Synchnous (transmission types and 252) means that the transmission of the PDO should be related to the SYNC object as described in the /17/ DS-301. Abort Request: The abort request is performed by setting the PDO not valid /17/. To reduce the busload and support the multi-master functionality of CANopen, it is recommended to support PDO linking. With PDO linking, it is possible for the HMI to get data directly fm another device. 9

10 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA 4.2 Standardisation Via Pfiling The two principal advantages of the pfile appach to device specification are in the areas of system integration and device standardisation. If two independent device manufacturers have to design pducts, which should communicate with each other then each manufacturer must be pvided with a specification of the other manufacturer s device. This specification could take many forms if left to individual manufacturers to pduce. The concept of device pfiling pvides a standard for pducing such specifications. By adopting this appach all manufacturers will specify their devices in a similar fashion, which reduces the effort involved in system integration considerably. The other clear advantage of the pfile appach to device specification is, that it can be used to guide manufacturers into pducing standardised devices. The advantages of standardised devices are numeus. Perhaps the most important idea of a standardised device decouples a system integrator fm a specific supplier. If one supplier cannot meet pduct demand, for example, the integrator can use devices fm another supplier without having to re-configure the network software. On the other hand the supplier is not forced any more to implement a private ptocol for each customer. A device pfile defines a standard device. This standard device specifies a basic functionality, which every device within a class must exhibit. This mandatory functionality is necessary to ensure at least that simple non-manufacturer-specific operation of a device is possible 1. The concept of device standardisation is extended by the notion of optional functionality defined within the standard device pfiles. Such optional functionality does not have to be implemented by all manufacturers. However, if a manufacturer wishes to implement such functionality he must do so in the manner defined for the standard device. The concept of optional functionality pvides a very powerful mechanism to ensure all manufacturers, implementing particular functionality do so in a defined fashion 2. The device pfiles pvide a mechanism by which manufacturers wishing to implement true manufacturer specific functionality can do so. This is clearly necessary since it would be impossible to anticipate all possible device functionality and define this in the optional category of each device class. This appach guarantees that the standard device pfiles are 'future-pof'. By defining mandatory device characteristics basic network operation is guaranteed. By defining optional device features a degree of defined flexibility can be built in. By leaving 'hooks' for manufacturer specific functionality manufacturers will not be constrained into an out-of-date standard. 1 For example the standard drive unit pvides a 'HALT' function to stop a drive fm moving. This function is defined as mandatory that any drive unit supporting the drive pfile can be halted using the same message. 2 For example, the standard digital I/O module may define optional functionality to cater for units with up to 64 I/O channels (this is specified in the device pfile). While many units will not use anything like this number of I/O the definition ensures that 64-channel I/O modules developped by independent manufacturers will be widely interchangeable. 10

11 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA 4.3 The Object Dictionary The most important part of a device pfile is the object dictionary description. The object dictionary is actually a guping of objects, accessible via the network in an ordered pre-defined fashion. Each object within the dictionary is addressed using a 16-bit index. The overall layout of the standard object dictionary is shown below. This layout closely conforms with other industrial fieldbus concepts: Index (hex) Object 0000 not used F Static Data Types F Complex Data Types F Manufacturer Specific Data Types F Device Pfile Specific Static Data Types F Device Pfile Specific Complex Data Types 00A0-0FFF Reserved for further use FFF Communication Pfile Area FFF Manufacturer Specific Pfile Area FFF Standardised Device Pfile Area A000-FFFF Reserved for further use Table 4-1: Object Dictionary Structure The Standard Object Dictionary may contain a maximum of entries which are addressed thugh a 16bit index. The Static Data Types at indices 0001h thugh 001Fh contain type definitions for standard data types like Boolean, integer, floating point, string, etc. These entries are included for reference only, they cannot be read or written. Complex Data Types at indices 0020h thugh 003Fh are pre-defined structures that are composed of standard data types and are common to all devices. Manufacturer Specific Data Types at indices 0040h thugh 005Fh are also structures composed of standard data types but are specific to a particular device. Device Pfiles may define additional data types specific to their device type. The static data types defined by the device pfile are listed at indices 0060h - 007Fh, the complex ones at indices 0080h - 009Fh. A device may optionally pvide the structure of the supported complex data types (indices 0020h - 005Fh and 0080h - 009Fh) at read access to the corresponding index. then pvides the number of entries at this index, and the following sub-indices contain the data type encoded as Unsigned16 according to table The Communication Pfile Area at indices 1000 thugh 1FFF contains the communication specific parameters for the CAN network. These entries are common to all devices. The Standardised Device Pfile Area at indices 6000h thugh 9FFFh contains all data objects common to a class of devices that can be read or written via the network. The object dictionary for each device type has a range of mandatory entries. These entries ensure that all devices of a particular type behave in a defined manner (at least fm a basic functionality viewpoint). 11

12 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA The object dictionary concept caters for optional device features which means a manufacturer does not have to pvide certain extended functionality on his devices but if he wishes to do so he must do it in a pre-defined fashion 3. By defining object dictionary entries for anticipated increased functionality in an optional category manufacturers wishing to implement enhanced functionality will all do so in the same way Index and Sub-Index Usage A 16-bit index is used to address all entries within the object dictionary. In case of a simple variable this references the value of this variable directly. In case of records and arrays however, the index addresses the whole data structure. To allow individual elements of structures of data to be accessed via the network a sub-index has been defined. For single object dictionary entries such as an unsigned8, Boolean, integer32 etc. the value for the sub-index is always ze. For complex object dictionary entries such as arrays or records with multiple data fields the sub-index references fields within a data-structure pointed to by the main index Meaning of the Table Rows Index the 16-bit index to the object dictionary used by a module to represent a special function, data or task short description of the usage Data Type data type which represents the information, e.g. Unsigned 32, Unsigned8, etc. description how the object might be accessed: read only wo write only read and write PDO Mapping indicates the manner of PDO mapping for an object. No mapping is not allowed Possible mapping is allowed for the manufacturer Yes this object is mapped by default Value Range the value range allowed and requested for an object Default Value default value of the object after device initialisation 3 For example the mandatory part of the object dictionary for a digital output module could define how to access a minimum number of outputs (8 for example). Manufacturers wishing to implement devices with eight outputs would merely conform with the defined standard. However manufacturers wishing to make modules with a greater number of outputs would have no standard to operate within. They would be free to define the communication with the other output signals as they wished. This could lead to module incompatibility pblems. 4 Space is left in the object dictionary at indices 2000h thugh 5FFFh for truly manufacturer specific functionality. 12

13 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA 5 Emergency Messages 5.1 Principle Emergency messages are triggered by the occurrence of a device internal malfunction and are transmitted fm the concerned application device to the other devices with highest priority. This makes them suitable for interrupt type err alerts. 5.2 Err code meanings According to /17/ the Emergency Object Usage is specified for HMI devices as follows: Err Code (hex) Meaning Defined by 0000 No Err Comm. Pf Generic Err Comm. Pf 2000 Current Comm. Pf 2100 Device input current Comm. Pf 3000 Voltage Comm. Pf 3100 Device input voltage out of range Comm. Pf 4000 Temperature Comm. Pf 4200 Temp. inside the device out of range Comm. Pf 5000 Device Hardware Comm. Pf 6000 Device Software Comm. Pf 7000 Additional Modules Comm. Pf 8000 Monitoring Comm. Pf 9000 External Err Comm. Pf 0F00 Additional Function Comm. Pf FFFF Device specific Comm. Pf 13

14 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA 6 Predefinitions 6.1 Principle If a device supports a specific type of function it must support the related default PDO s. An exception is the 2nd transmit PDO. Instead of using this PDO to transmit variables fm the server (HMI) to the client, it is possible to implement an client SDO (see /17/). 6.2 Naming conventions The first characters of CMS name is a device pfile identification (see /17/) and is defined for this device pfile as: <403>, (according to the number of this standard). 6.3 Mapping The default mapping defines default values for communication objects (1000h to 1FFF) which are not defined by the communication pfile (see /17/) Index 1000H (Device type) The object at index 1000H describes the type of the device and its functionality. MSB Additional Information Device Pfile Number LSB Device Pfile Number: 403d Additional Information: 1st Bit: simple HMI 2nd Bit: intelligent HMI 3rd Bit: very intelligent HMI Rest: reserved for future use 14

15 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA st Transmit PDO mapping (read key code) This PDO transmits the value for the key code. Index Sub-Index Comment Default Value (hex) number of supported entries See /17/ 1 COB-ID used by PDO1 See /17/ 2 transmission type 255d 3 inhibit time See /17/ Index Sub-Index Comment Default Value (hex) 1A00 0 number of mapped objects 1 1 1st object to be mapped st Receive PDO mapping (write lamp code) This PDO receives the value for the lamp code. Index Sub-Index Comment Default Value (hex) number of supported entries See /17/ 1 COB-ID used by PDO1 See /17/ 2 transmission type 255d 3 inhibit time See /17/ Index Sub-Index Comment Default Value (hex) number of mapped objects 1 1 1st object to be mapped

16 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA nd Transmit PDO mapping (new data ready) With this PDO the HMI signalise, that a variable value has changed. To transmit variables fm a simple HMI to the client, the HMI sends a New Data Ready message to the client. Index Sub-Index Comment Default Value (hex) number of supported entries See /17/ 1 COB-ID used by PDO2 See /17/ 2 transmission type 255d 3 inhibit time See /17/ Index Sub-Index Comment Default Value (hex) 1A01 0 number of mapped objects 3 1 1st object to be mapped nd object to be mapped rd object to be mapped nd Receive PDO mapping (new data ready) With this PDO the HMI can receive a New Data Ready message. Index Sub-Index Comment Default Value (hex) number of supported entries See /17/ 1 COB-ID used by PDO2 See /17/ 2 transmission type 255d 3 inhibit time See /17/ Index Sub-Index Comment Default Value (hex) number of mapped objects 3 1 1st object to be mapped nd object to be mapped rd object to be mapped

17 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA rd Transmit PDO mapping (read key) This PDO transmits the value of maximum 64 keys. Index Sub-Index Comment Default Value (hex) number of supported entries See /17/ 1 COB-ID used by PDO1 not defined 2 transmission type 255d 3 inhibit time See /17/ Index Sub-Index Comment Default Value (hex) 1A02 0 number of mapped objects st object to be mapped nd object to be mapped th object to be mapped rd Receive PDO mapping (write lamp) This PDO writes the value of maximum 64 lamps. Index Sub-Index Comment Default Value (hex) number of supported entries See /17/ 1 COB-ID used by PDO1 not defined 2 transmission type 255d 3 inhibit time See /17/ Index Sub-Index Comment Default Value (hex) number of mapped objects st object to be mapped nd object to be mapped th object to be mapped

18 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA 7 Object Dictionary 7.1 User Functions Index Object Type (hex) 6000 VAR Read Key Code Unsigned ARRAY Read Key Unsigned RECORD Read Input Variable Boolean 707F RECORD Read Input Variable Integer8 70FF RECORD Read Input Variable Integer16 717F 7180 RECORD Read Input Variable Integer32 71FF 7200 ARRAY Read Input Variable Unsigned8 Unsigned8 727F 7280 RECORD Read Input Variable Unsigned16 72FF 7300 RECORD Read Input Variable Unsigned32 737F 7380 RECORD Read Input Variable Float 73FF 7400 RECORD Read Input Variable Octet String 747F 7480 RECORD Read Input Variable Date 74FF F RECORD Read Input Variable Time of Day 18

19 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA 7.2 Display Functions Index Object Type (hex) 6200 VAR Write Lamp Code Unsigned ARRAY Write Lamp Unsigned RECORD Backlight 6203 VAR Contrast Unsigned VAR Output volume Unsigned RECORD Text Monitor 6211 RECORD Text Cursor 6212 VAR Display Stored Data Unsigned RECORD Write Output Variable Boolean 807F RECORD Write Output Variable Integer8 80FF 8100 RECORD Write Output Variable Integer16 817F 8180 RECORD Write Output Variable Integer32 81FF 8200 ARRAY Write Output Variable Unsigned8 Unsigned8 827F 8280 RECORD Write Output Variable Unsigned16 82FF 8300 RECORD Write Output Variable Unsigned32 837F 8380 RECORD Write Output Variable Float 83FF 8400 RECORD Write Output Variable Octet String 847F 8480 RECORD Write Output Variable Date 84FF F RECORD Write Output Variable Time of Day 7.3 Additional Mapping Object Index Object Type (hex) 6800 RECORD New Data Ready transmit Unsigned RECORD New Data Ready receive Unsigned16 19

20 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA 7.4 User Functions Object 6000: Read Key Code Reads the Key code. The Key Status is 1 for pressed key and 0 for released key. The key code is the pressed key number. bit 15 bit 14 bit 13 bit 12 bit 11 bit 8 bit 7 bit 0 Key status Shift key Contl key Alt key Key code status status status bit 12.. bit 14 no event on changes in the status of the shift key, contl key and alt key key status = 0 -> released key key status = 1 -> pressed key Data Type 6000h Read_Key_Code VAR (7h) Unsigned16 (6h) PDO Mapping Yes Value Range 0 to FFFFh Default Value 0 20

21 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object 6001: Read Key Reads 8 keys as a byte of information. A maximum of 255 * 8 bit key blocks is addressable (2040 keys) Read_Key ARRAY (8h) Data Type Unsigned8 (5h) Description Number_of_Key_Byte Object Class Mandatory PDO Mapping No Value Range 1 to FEh Description Read_Key_1h_to_ 8h PDO Mapping Yes Value Range 0 to 255 to Sub-Index FE Description Read_Key_7E8h_to_7F0h Value Range 0 to

22 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 707F: Read Input Variable Boolean These Objects read the value of n variable. A maximum of 254 variables is addressable at one index. 7000h Read_Input_Variable_Boolean (1h) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Boolean (1h) Value Range TRUE or FALSE to Sub-Index Description Object Class Data Type PDO Mapping Value Range Default Value FEh Status_of_Variable_FEh Optional Boolean (1h) Possible TRUE or FALSE No 22

23 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 70FF: Read Input Variable Integer8 These Objects read the value of n variable. A maximum of 254 variables is addressable at one index. 7080h Read_Input_Variable_Integer8 (2h) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Integer8 (2h) Value Range -128 to +127 to Sub-Index FEh Description Status_of_Variable_FEh Data Type Integer8 (2h) Value Range -128 to

24 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 717F: Read Input Variable Integer16 These Objects read the value of n variable. A maximum of 254 variables is addressable at one index. 7100h Read_Input_Variable_Integer16 (3h) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Integer16 (3h) Value Range to to Sub-Index FEh Description Status_of_Variable_FEh Data Type Integer16 (3h) Value Range to

25 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 71FF: Read Input Variable Integer32 These Objects read the value of n variable. A maximum of 254 variables is addressable at one index. 7180h Read_Input_Variable_Integer32 (4h) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Integer32 (4h) Value Range to to Sub-Index FEh Description Status_of_Variable_FEh Data Type Integer32 (4h) Value Range to

26 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 727F: Read Input Variable Unsigned8 These Objects read the value of n variable. A maximum of 254 variables is addressable at one index. Data Type 7200h Read_Input_Variable_Unsigned8 (5h) ARRAY (8h) Unsigned8 (5h) Description Number_of_Variable Object Class Mandatory PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Value Range 0 to 255 to Sub-Index FEh Description Status_of_Variable_FEh Value Range 0 to

27 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 72FF: Read Input Variable Unsigned16 These Objects read the value of n variable. A maximum of 254 variables is addressable at one index. 7280h Read_Input_Variable_Unsigned16 (6h) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Unsigned16 (6h) Value Range 0 to to Sub-Index FEh Description Status_of_Variable_FEh Data Type Unsigned16 (6h) Value Range 0 to

28 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 737F: Read Input Variable Unsigned32 These Objects read the value of n variable. A maximum of 254 variables is addressable at one index. 7300h Read_Input_Variable_Unsigned32 (7h) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Unsigned32 (7h) Value Range 0 to to Sub-Index FEh Description Status_of_Variable_FEh Data Type Unsigned32 (7h) Value Range 0 to

29 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 73FF: Read Input Variable Float These Objects read the value of n variable. A maximum of 254 variables is addressable at one index. 7380h Read_Input_Variable_Float (8h) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Float (8h) Value Range 1.5E-45 to 3.4E+38 to Sub-Index Description Object Class Data Type PDO Mapping Value Range Default Value FEh Status_of_Variable_FEh Optional Float (8h) Possible 1.5E-45 to 3.4E+38 No 29

30 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 747F: Read Input Variable Octet String These Objects read the value of n variable. A maximum of 254 variables is addressable at one index. 7400h Read_Input_Variable_Octett_String RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Octet String (Ah) Value Range See /8/ to Sub-Index FEh Description Status_of_Variable_FEh Data Type Octet String (Ah) Value Range See /8/ Octet String (Ah) can not support UNICODE at the moment (See /8/). 30

31 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 74FF: Read Input Variable Date These Objects read the value of n variable. A maximum of 254 variables is addressable at one index. 7480h Read_Input_Variable_Date (Bh) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Date (Bh) Value Range See /8/ to Sub-Index FEh Description Status_of_Variable_FEh Data Type Date (Bh) Value Range See /8/ 31

32 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 757F: Read Input Variable Time Of Day These Objects read the value of n variable. A maximum of 254 variables is addressable at one index. 7500h Read_Input_Variable_Time_of_Day RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Time Of Day (Ch) Value Range See /8/ to Sub-Index FEh Description Status_of_Variable_FEh Data Type Time Of Day (Ch) Value Range See /8/ 32

33 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA 7.5 Display functions Object 6200: Write Lamp Code Writes the Lamp code. The switch attributes is 1 for Lamp on and 0 for Lamp off. The Lamp code refers the Lamp number. The lamp attributes are defined as following. bit 15 bit 14 bit 10 bit 9 bit 0 switch attributes light attributes lamp code Lamp attributes: bit 14 bit 13 bit 12 bit 11 bit 10 meaning 0 0 x x x not blinking 0 1 x x x blinking slow 1 0 x x x blinking normal 1 1 x x x blinking fast X X reserved x x Led red x x Led green x x Led yellow x x Led white x x Led blue x x manufacturer-specific x x manufacturer-specific Default lamp codes Lamp code Meaning 3E0 Alert / Emergency Special emergency lamp 3E1 Err Err lamp at panel 3E2 Stop / Halt Halt lamp at panel 3E3 Run Run lamp at panel 3E4-3E6 reserved for future use 3E7-3EF Status 0-7 Status lamps at panel 3F0-3FF reserved for future use Data Type 6200h Write_Lamp_Code VAR (7h) Unsigned16 (6h) PDO Mapping Yes Value Range 0 to

34 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object 6201: Write Lamp Sets a gup of 8 lamps as a byte of information. A maximum of 255 * 8 bit lamp blocks is addressable (2040 lamps) Write_Lamp ARRAY (8h) Data Type Unsigned8 (5h) Description Number_of_Lamp_Byte Object Class Mandatory PDO Mapping No Value Range 1 to FEh Description Write_Lamp_1h_to_8h PDO Mapping Yes Value Range 0 to 255 to Sub-Index FE Description Write_Lamp_7E8h_to_7F0h PDO Mapping Yes Value Range 0 to

35 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object 6202: Backlight Special functions for the Backlight. The backlight intensity is for a HMI with a display and software parameterising of the intensity for a backlight. Value Range depends upon manufacturer. 6202h Backlight RECORD (9h) Number of Elements 2 Description Backlight_on_off Data Type Boolean (1h) Value Range TRUE or FALSE Default Value TRUE Description Backlight_intensity Data Type Unsigned8 (5h) Value Range 0 to

36 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object 6203: Contrast The display contrast is for HMI with a display and software parameterising of the contrast for LCD. Value Range depends upon manufacturer. Data Type 6203h Contrast VAR (7h) Unsigned8 (5h) Value Range 0 to Object 6204: Output Volume This object is for HMI with an acoustic output and software parameterising and contains the output volume for a speaker. Value Range depends upon manufacturer. Data Type 6204h Output_Volume VAR (7h) Unsigned8 (5h) Value Range 0 to

37 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object 6210: Text Monitor The transmitted string is printed depending on the printing attributes. The position depends on the order of the transmission and the Text cursor (Object 6211). The attributes define how the transmitted characters are going to be interpreted. printing attributes meaning Mandatory/ Optional xxxx 0000 print on the screen m xxxx 0001 print an printer o xxxx 0010 record o 0000 xxxx ASCII contl characters CR, LF u. FF m 0001 xxxx ANSI contl characters o 0010 xxxx UNICODE contl characters o 0011 xxxx no contl characters are going to be interpreted o 6210h Text_Monitor RECORD (9h) Number of Elements 2 Description Printing_Attributes Data Type Unsigned 8 PDO Mapping No Value Range 0 to 26 Default Value 0 Description Octett_String Data Type Octet String (Ah) Value Range See /8/ Octet String (Ah) can not support UNICODE at the moment (See /8/). 37

38 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object 6211: Text Cursor Text cursor positioning x,y. MSB cursor x-position cursor y-position LSB The attributes are defined as following cursor attributes meaning Cursor is not visible Cursor is visible as an block Cursor is visible as an block, blinking Cursor is visible as an underline Cursor is visible as an underline, blinking free 6211h Text_Cursor RECORD (9h) Number of Elements 2 Description Text_cursor_attributes Data Type Unsigned8 (5h) Value Range 0 to 255 Description Text_Cursor_X_Y_position Data Type Unsigned16 (6h) Value Range 0 to

39 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object 6212: Display Stored Data Selects the saved data in the device. Data can be text, graphics, screens, voice etc. Data Type 6212h Display_Stored_Data VAR (7h) Unsigned32 (7h) Value Range 0 to 4'294'

40 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 807F: Write Output Variable Boolean These Objects write the value of n variable. A maximum of 254 variables is addressable at one index. 8000h Write_Output_Variable_Boolean (1h) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Boolean (1h) Value Range TRUE or FALSE to Sub-Index Description Object Class Data Type PDO Mapping Value Range Default Value FEh Status_of_Variable_FEh Optional Boolean (1h) Possible TRUE or FALSE No 40

41 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 80FF: Write Output Variable Integer8 These Objects write the value of n variable. A maximum of 254 variables is addressable at one index. 8080h Write_Output_Variable_Integer8 (2h) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Integer8 (2h) Value Range -128 to +127 to Sub-Index FEh Description Status_of_Variable_FEh Data Type Integer8 (2h) Value Range -128 to

42 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 817F: Write Output Variable Integer16 These Objects write the value of n variable. A maximum of 254 variables is addressable at one index. 8100h Write_Output_Variable_Integer16 (3h) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Integer16 (3h) Value Range to to Sub-Index FEh Description Status_of_Variable_FEh Data Type Integer16 (3h) Value Range to

43 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 81FF: Write Output Variable Integer32 These Objects write the value of n variable. A maximum of 254 variables is addressable at one index. 8180h Write_Output_Variable_Integer32 (4h) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Integer32 (4h) Value Range to to Sub-Index FEh Description Status_of_Variable_FEh Data Type Integer32 (4h) Value Range to

44 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 827F: Write Output Variable Unsigned8 These Objects write the value of n variable. A maximum of 254 variables is addressable at one index. Data Type 8200h Write_Output_Variable_Unsigned8 (5h) ARRAY (8h) Unsigned8 (5h) Description Number_of_Variable Object Class Mandatory PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Value Range 0 to 255 to Sub-Index FEh Description Status_of_Variable_FEh Value Range 0 to

45 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 82FF: Write Output Variable Unsigned16 These Objects write the value of n variable. A maximum of 254 variables is addressable at one index. 8280h Write_Output_Variable_Unsigned16 (6h) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Unsigned16 (6h) Value Range 0 to to Sub-Index FEh Description Status_of_Variable_FEh Data Type Unsigned16 (6h) Value Range 0 to

46 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 837F: Write Output Variable Unsigned32 These Objects write the value of n variable. A maximum of 254 variables is addressable at one index. 8300h Write_Output_Variable_Unsigned32 (7h) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Unsigned32 (7h) Value Range 0 to to Sub-Index FEh Description Status_of_Variable_FEh Data Type Unsigned32 (7h) Value Range 0 to

47 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 83FF: Write Output Variable Float These Objects write the value of n variable. A maximum of 254 variables is addressable at one index. 8380h Write_Output_Variable_Float (8h) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Float (8h) Value Range 1.5E-45 to 3.4E+38 to Sub-Index Description Object Class Data Type PDO Mapping Value Range Default Value FEh Status_of_Variable_FEh Optional Float (8h) Possible 1.5E-45 to 3.4E+38 No 47

48 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 847F: Write Output Variable Octet String These Objects write the value of n variable. A maximum of 254 variables is addressable at one index. 8400h Write_Output_Variable_Octett_String RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Octet String (Ah) Value Range See /8/ to Sub-Index FEh Description Status_of_Variable_FEh Data Type Octet String (Ah) Value Range See /8/ Octet String (Ah) can not support UNICODE at the moment (See /8/). 48

49 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 84FF: Write Output Variable Date These Objects write the value of n variable. A maximum of 254 variables is addressable at one index. 8480h Write_Output_Variable_Date (Bh) RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Date (Bh) Value Range See /8/ to Sub-Index FEh Description Status_of_Variable_FEh Data Type Date (Bh) Value Range See /8/ 49

50 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object Object 857F: Write Output Variable Time Of Day These Objects write the value of n variable. A maximum of 254 variables is addressable at one index. 8500h Write_Output_Variable_Time_of_Day RECORD (9h) Description Number_of_Variable Object Class Mandatory Data Type Unsigned8 (5h) PDO Mapping No Value Range 1 to FEh Description Status_of_Variable_1h Data Type Time Of Day (Ch) Value Range See /8/ to Sub-Index FEh Description Status_of_Variable_FEh Data Type Time Of Day (Ch) Value Range See /8/ 50

51 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA 7.6 Additional mapping object Object 6800: New Data Ready Transmit With this function the device can signalise, that a variable value has changed. The Index and the Subindex relate to the changed variable New_Data_Ready_Transmit RECORD (9h) Number of Entries 3 Description New_Data_Ready Data Type Boolean (1h) Value Range TRUE or FALSE Description Index Data Type Unsigned16 (6h) PDO Mapping Yes Value Range 0 to Sub-Index 2 Description Subindex Data Type Unsigned8 (5h) PDO Mapping Yes Value Range 0 to

52 DSP-403 V1.0 Device Pfile for Human Machine Interfaces CiA Object 6801: New Data Ready Receive With this function the device can receive, that a variable value in a client has changed. The Index and the Subindex relate to the changed variable New_Data_Ready_Receive RECORD (9h) Number of Entries 3 Description New_Data_Ready Data Type Boolean (1h) wo Value Range TRUE or FALSE Description Index Data Type Unsigned16 (6h) wo PDO Mapping Yes Value Range 0 to Sub-Index 2 Description Subindex Data Type Unsigned8 (5h) wo PDO Mapping Yes Value Range 0 to