PLUS+1 Compliant CLS1000 Laser Sensor Function Block

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1 MAKING MODERN LIVING POSSIBLE User Manual PLUS+1 Compliant CLS1000 Laser Sensor Function Block

2 About this Manual Organization and Headings To help you quickly find information in this manual, the material is divided into sections, topics, subtopics, and details, with descriptive headings set in bold type. Chapter or section titles appear at the top of every page in large bold type. In the PDF version of this document, clicking an item underlined in blue italic type jumps you to the referenced page in the document. Special Text Formatting Table of Contents Controls and indicators are set in bold black type. A Table of Contents (TOC) appears on the next page. In the PDF version of this document, the TOC entries are hyperlinked. Revision History Revision Date Comment Rev AA January 2014 Supports Rev Danfoss Power Solutions (US) Company. All rights reserved. All trademarks in this material are properties of their respective owners. PLUS+1, GUIDE, and Sauer-Danfoss are trademarks of Danfoss Power Solutions (US) Company. The Danfoss, PLUS+1 GUIDE, PLUS+1 Compliant, and Sauer-Danfoss logotypes are trademarks of Danfoss Power Solutions (US) Company. 2 L AA January 2014

3 Contents... 4 Overview... 4 Inputs... 4 Outputs... 6 About Function Block Connections... 7 Status Logic... 8 IEC Annex D Supplemental Information... 9 L Rev AA January

Overview This manual documents the CLS1000 function block. This function block controls the LED outputs of the Danfoss CLS1000 Laser Sensor and provides position feedback data.

4 Overview This manual documents the CLS1000 function block. This function block controls the LED outputs of the Danfoss CLS1000 Laser Sensor and provides position feedback data. A CLS1000 Laser Sensor measures the linear position of a rotating laser as it strikes the pickup elements mounted on the sensor. Communication between the CLS1000 Laser Sensor and the CLS1000 function block is through CAN. See: About Function Block Connections on page 7 for more information about this function block s connections and signals. Inputs T To avoid compiler errors, use only the data types specified in this table. Function Block Inputs Input Type Range Description CAN Receives CAN messages from the sensor. SA U8 0 to 31 Source address of the sensor that transmits data to this function block. This value sets the least significant byte of the CAN ID for transmitted messages and the least significant byte of the received message filter. 4 L Rev AA January 2014

5 Function Block Inputs Input Type Range Description LED Cmd S8-128 to 127 Sets the feedback LED display pattern of the sensor. -4 = Laser too low out of range -3 = Laser too low large arrow -2 = Laser too low medium arrow -1 = Laser too low small arrow 0 = Laser on grade middle bar 1 = Laser too high small arrow 2 = Laser too high medium arrow 3 = Laser too high large arrow 4 = Laser too high out of range 9 = Lost laser signal All other values = LEDs turn off Enbl Tx BOOL T enables LED data transmission over CAN. F disables LED data transmission over CAN. LED Rate U8 0 to 4 Sets the speed for flashing the feedback LEDs on the sensor. 0 = No flash, LEDs continuously on. 1 = Slow flash, 450 ms on, 450 ms off. 2 = Medium flash, 350 ms on, 350 ms off. 3 = Fast flash, 250 ms on, 250 ms off. 4 = No flash, LEDs off. L Rev AA January

6 Outputs Function Block Outputs Output Type Range Description Status U16 Reports the status of the function block. This output follows the standard bitwise scheme described in the Basic Function Block Library User's Manual (Danfoss part ). Rx Status U8 0 to 5 Reports the status of the laser receiver. 0 = Laser status unknown or not yet received. 1 = Laser in range. 2 = Laser not visible since power on. 3 = Laser is out of range, last seen too high. 4 = Laser is out of range, last seen too low. 5 = Sensor fault Not Avail BOOL T CAN messages from the sensor have not yet been received since power on. F At least one CAN message was received from the sensor since power on. Timeout BOOL T CAN messages from the sensor were received after power on, but have been missing for at least 1 second. F CAN messages from the sensor are periodically received as expected. Also false if no message has been received since startup. Deviation S16 ±1250 Laser strike vertical deviation from center of sensor. 100 = 10.0 mm 6 L Rev AA January 2014

About Function Block Connections Function Block Connections Item Description 1. Bus connection to the hardware s CAN port. 2. The CAN Source Address (ID) of the laser sensor. 3.

6. Reports the status of the function block. 7. Reports the status of the laser sensor. 8. T CAN communications from the sensor have not been received since controller power on.

7 About Function Block Connections Function Block Connections Item Description 1. Bus connection to the hardware s CAN port. 2. The CAN Source Address (ID) of the laser sensor. 3. The LED pattern to show on the laser sensor s display. 4. Enables transmission of the LED pattern command CAN message to the sensor. 5. The flash rate of the LED pattern on the laser sensor s display. 6. Reports the status of the function block. 7. Reports the status of the laser sensor. 8. T CAN communications from the sensor have not been received since controller power on. F CAN communications from the sensor have been received since controller power on. 9. T CAN communications from the sensor were already received, but have stopped for at least 1 second. F CAN communications from the sensor have been received within the last second. 10. Reports the deviation of the laser strike from the center reference point of the sensor. L Rev AA January

8 Status Logic Status Logic Status Hex* Binary Cause Response Correction Invalid setup. 0x LED_Rate is out of the 0 to 4 range. LED data not transmitted to the laser sensor. Set LED_Rate value to the allowed input range. *Most significant bit set to 1 identifies a standard Danfoss status or fault code. 8 L Rev AA January 2014

9 IEC Annex D Supplemental Information IEC Annex D Supplemental Information Item Function block name: Details CLS1000. Function block version: 1.00 Function block development environment: Compatible hardware: This function block developed in compliance with: Competence required of function block integrator: How to contact Danfoss: PLUS+1 GUIDE version and later. Verified in the PLUS+1 GUIDE compile process. When the PLUS+1 GUIDE compiler finds a function block that is incompatible with hardware, it aborts the compile process and logs an error message. The error message gives the location of the function block and states Error 80: component not supported in hwd. Danfoss Software Product Development and Launch Process (PDLP), which includes ISO 9001 and IEC standards. The knowledge, competence, and training required to: Understand this manual. Use the PLUS+1 GUIDE program to develop a machine control application. Follow quality software practices to develop a machine control application. PLUS+1 GUIDE Training and Support Web page ( L Rev AA January

10 Products we offer: Bent Axis Motors Closed Circuit Axial Piston Pumps and Motors Displays Electrohydraulic Power Steering Electrohydraulics Hydraulic Power Steering Integrated Systems Joysticks and Control Handles Microcontrollers and Software Danforss Power Solutions is a global manufacturer and supplier of high-quality hydraulic and electronic components. We specialize in providing state-of-the-art technology and solutions that excel in the harsh operating conditions of the mobile off-highway market. Building on our extensive applications expertise, we work closely with our customers to ensure exceptional performance for a broad range of off-highway vehicles. We help OEMs around the world speed up system development, reduce costs and bring vehicles to market faster. Danfoss Your Strongest Partner in Mobile Hydraulics. Go to for further product information. Wherever off-highway vehicles are at work, so is Danfoss. We offer expert worldwide support for our customers, ensuring the best possible solutions for outstanding performance. And with an extensive network of Global Service Partners, we also provide comprehensive global service for all of our components. Please contact the Danfoss Power Solution representative nearest you. Open Circuit Axial Piston Pumps Orbital Motors PLUS+1 GUIDE Proportional Valves Sensors Comatrol Schwarzmüller-Inverter Local address: Turolla Hydro-Gear Sauer-Danfoss-Daikin Danfoss Power Solutions US Company 2800 East 13th Street Ames, IA 50010, USA Phone: Danfoss Power Solutions GmbH & Co. OHG Krokamp 35 D Neumünster, Germany Phone: Danfoss Power Solutions ApS Nordborgvej 81 DK-6430 Nordborg, Denmark Phone: Danfoss Ltd. Power Solutions (Shanghai) Co. Ltd. Building #22, No.1000 Jin Hai Rd Jin Qiao, Pudong New District Shanghai, China Phone: Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products already on order provided that such alterations can be made without subsequential changes being necessary in specifcations already agreed. All trademarks in this material are property of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss Power Solutions (US) Company. All rights reserved. L Rev AA January Danfoss Power Solutions (US) Company

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