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38 | DPS 8000 Instruction Manual–English

Appendix

CANopen Object Dictionary

Sub-Index

003

Description

FIR3 pre-scaler

Data Type

UNSIGNED16

Access

PDO Mapping

Default Value

0x0

Sub-Index

004

Description

FIR4 pre-scaler

Data Type

UNSIGNED16

Access

PDO Mapping

Default Value

0x0

Sub-Index

005

Description

FIR5 pre-scaler

Data Type

UNSIGNED16

Access

PDO Mapping

Default Value

0x0

A.2.33 Object 2300h: PDCR Min Pressure

OBJECT DESCRIPTION

INDEX

2300

Name

PDCR Min Press

Object Code

Variable

Data Type

INTEGER32

ENTRY DESCRIPTION

Access

PDO Mapping

Default Value

0x0

A.2.34 Object 2301h: PDCR Max Pressure

OBJECT DESCRIPTION

INDEX

2301

Name

PDCR Max Pressure

Object Code

Variable

Data Type

INTEGER32

ENTRY DESCRIPTION

Access

PDO Mapping

Default Value

0x14331

Summary of Contents for Druck DPS 8000 Series

Page 1: ...Druck com DPS 8000 Series CAN bus Pressure Transducer Instruction Manual ...

Page 2: ......

Page 3: ...s procedures and these should be carried out by authorized service agents or the manufacturer s service departments Druck com For technical advice contact the manufacturer Symbols Abbreviations The following abbreviations are used in this manual WARNING Do not apply pressure greater than the maximum safe working pressure to the sensor 1 A qualified technician must have the necessary technical know...

Page 4: ...CAN Network inside a COB COB ID COB Identifier Identifies a COB uniquely in a Network and determines the priority of the COB dc Direct Current DPS Digital Pressure Sensor EMC Electromagnetic Compatibility EN European Norm F Fahrenheit Degrees FP Floating Point FS Full scale Refers to a full scale value from a transducer or instrument FV Field Value g Acceleration of Gravity g Gauge Pressure versio...

Page 5: ...lish DPS 8000 Instruction Manual iii PIN Personal Identification Number psi Pound force per square inch PV Process Value SDO Service Data Object SDS Sales Data Sheet SI Système International S N Serial Number V Volt Abbreviation Description ...

Page 7: ... Cleaning 7 3 6 4 Adjustment 7 3 7 Returned Goods Procedure 9 3 7 1 Safety Precautions 9 3 7 2 Important Notice 9 3 8 Electromagnetic Compatibility 9 3 8 1 Power Supply and Metering 9 3 8 2 Cable Type 10 3 8 3 Earthing 10 4 Operation 10 4 1 Start Operating 10 4 2 Procedures 10 4 3 Quick Start 11 4 4 Primary Objects 11 4 5 To Change the Operation Node ID and Baud Rate 11 4 6 To Change the Operation...

Page 8: ...2009 The Count Temperature is Less than the Limit 17 4 11 To Monitor the Operation Objects 0x6000 0x6FFFF 17 4 11 1 0x6130 01 0x6130 02 The Pressure and Temperature 17 4 11 2 0x6150 The Pressure and Temperature Status 17 Appendix A CANopen Object Dictionary 19 A 1 Communication Segment 19 A 1 1 Object 1000h Device Type 19 A 1 2 Object 1001h Error Register 19 A 1 3 Object 1003h Pre defined Error Fi...

Page 9: ...6 Object 2212h FIR3 Sample Data 35 A 2 27 Object 2213h FIR4 Samples Size 35 A 2 28 Object 2214h FIR4 Sample Data 36 A 2 29 Object 2215h FIR5 Samples Size 36 A 2 30 Object 2216h FIR5 Sample Data 36 A 2 31 Object 2217h Selected FIR Filter 37 A 2 32 Object 2218h FIR Pre scaler 37 A 2 33 Object 2300h PDCR Min Pressure 38 A 2 34 Object 2301h PDCR Max Pressure 38 A 2 35 Object 2302h PDCR Type 39 A 2 36 ...

Page 11: ...output CAN bus serial communications interface Note The prerequisites for this instruction manual are prior knowledge of the CANopen protocols and standards See Appendix C Bibliography on page 51 for more details 2 1 1 Applications The DPS 8000 series is for automated systems using a CAN bus network and CANopen software standards The pressure transducers in the DPS 8000 series are ideal for automa...

Page 12: ...fic specification drawing indicating the use of additions or deviations to the data sheet specification Refer to the specification drawing if applicable 2 3 Design and Principle of Operation The sensor consists of a pressure connector pressure measuring module a partially encapsulated electronics module and electrical connection facilities structurally combined in a cylindrical metal housing The p...

Page 13: ...n the housing The ambient temperature and the process media to be measured must not exceed the ranges specified in the sensor specification In the negative temperature range it is necessary to exclude the accumulation and freezing of condensate in the working chambers and inside the connecting pipelines for gaseous media and freezing crystallization of the medium or crystallization from it of the ...

Page 14: ... data sheet The error is most noticeable at lower pressure ranges Note The g sensitivity will also create an error in a high vibration environment and the unit should be mounted accordingly 3 2 Safety Measures The operation of sensors in systems whose pressure may exceed the overload values specified in the data sheet or customer specific specification drawing is not allowed Connection and detachm...

Page 15: ... a Pressure Source When mounting the sensor seal the mating surfaces Failure to properly seal may affect performance or calibration accuracy Male threaded pressure connectors must not be sealed or constrained against the face at the base of the thread The forward cone or flat face should always be used as indicated below Depth versions should not be used at hyperbaric pressures above 70 bar 1000 p...

Page 16: ...fer to Section 3 5 on page 7 All applicable tools to connect the pressure and electrical connections as detailed in the applicable system installation manual Table 3 Pressure Containment Product Pressure Range Pressure Containment 81XX 0 to 3 5 bar 0 to 50 psi 7 bar maximum 100 psi maximum 80XX 82XX 83XX 0 to 7 bar 0 to 100 psi 70 bar maximum 1000 psi maximum 7 to 70 bar 100 to 1000 psi 200 bar ma...

Page 17: ...ey all the applicable Control of Substances Hazardous to Health COSHH or Material Safety Data Sheet MSDS references and precautions when handling 3 6 4 Adjustment Druck supplies a calibration certificate with the pressure transducer When it is necessary to recalibrate the pressure transducer use the procedure that appears below Druck recommends a minimum interval of once a year Note Druck can prov...

Page 18: ...AIN AP1 AP2 FV1 FV2 NEW OFFSET OFFSET FV1 AP1 AP1 AP2 FV1 FV2 The value for the NEW OFFSET is in mbar 5 Write the new values for the calibration data back to the CANopen Object Dictionary a Set object 0x2200 00 calibration access pin to 4118 b Set object 0x2207 00 pressure gain to the NEW GAIN value c Set object 0x2208 00 pressure offset to the NEW OFFSET value The value for the NEW OFFSET is in m...

Page 19: ...s with the European Electromagnetic Compatibility Directive 2014 30 EU When appropriately installed the sensors meet and exceed the Commercial and Industrial specifications indicated in Table 5 3 8 1 Power Supply and Metering The quality of the power supply and monitoring equipment will directly affect the EMC performance of the entire system Since Druck Limited has no control over the installatio...

Page 20: ... afforded to any unscreened section of cable or circuit by means of a screened enclosure 4 Operation This section includes The procedures to start and change the operation of the pressure transducer The available data from the pressure transducer 4 1 Start Operating After a successful installation refer to Chapter 4 Operation on page 10 and to start operating requires A CANopen software package to...

Page 21: ...nd to LSS messages the pressure transducer must be in pre operational mode The node ID default value 2 The baud rate default value 250 kbits s In addition object 0x210C can be used to modify the node ID Object 0x210D holds the baud rate To make changes to these and other data dictionary objects permanent save them and cycle the power to the sensor When using the LSS the device must be identified O...

Page 22: ... object 0x1A00 Transmit PDO Mapping to change the data sent in the Transmit PDO maximum size 8 bytes To change the transmit PDO set bit 31 of 0x 1800 1 COB ID to 1 and set 0x IA00 1 to 0 After changing the PDO the process should be reversed Example To monitor the current status of the pressure value set Sub index 0x02 to 0x61500108 Object 0x6150 01 1 byte of data 4 7 To Change the Operation Object...

Page 23: ...the Calibration Data on page 13 The initial values identify the date of the factory calibration one year After each calibration set a new date Refer to Chapter 3 6 4 Adjustment on page 7 4 7 6 0x2207 The Pressure Calibration Gain Refer to 0x2200 To Change the Calibration Data on page 13 Use 0x2207 Pressure Gain to apply a correction to the compensated source pressure Refer to Chapter 3 6 4 Adjustm...

Page 24: ...sed to choose a filter When changing to another filter be aware of the 3 dB settling times below before taking new values 4 7 11 0x2304 The Tag for the Type of Data Use object 0x2304 Tag to identify the type of data that the pressure transducer supplies maximum 10 characters For example Oil mbar 4 8 To Change the Operation Objects 0x6000 0x6FFFF 4 8 1 0x6120 to 0x6124 The Scale Data for Pressure a...

Page 25: ...e Local Limits Minimum Pressure and Temperature Use object 0x6148 Span Start FP to set the local limits for the pressure transducer operation Set the applicable minimum values for the pressure and temperature Refer to 0x2007 The Count Pressure is Less than the Limit on page 16 and 0x2009 The Count Temperature is Less than the Limit on page 17 4 8 4 0x6149 The Local Limits Maximum Pressure and Temp...

Page 26: ...ount Reset the count when applicable For example after calibration 4 10 3 0x2008 The Count Temperature is More than the Limit Use object 0x2008 Temperature Span Overflow Count to monitor the temperature history The count increments one each time the process value is more than the span end value Figure 12 Temperature Span Overflow Count Reset the count when applicable For example after calibration ...

Page 27: ...s 0x2207 to 0x220A and the applicable scale factor object 0x6123 01 Use object 0x1A00 Transmit PDO Mapping to put the applicable data in the Transmit PDO 4 11 2 0x6150 The Pressure and Temperature Status Use object 0x6150 Status to monitor the current status of the pressure and temperature output The individual bits of the status byte are used as follows Data is not valid Value more than the limit...

Page 29: ...ame Device Type Object Code Variable Data Type UNSIGNED32 ENTRY DESCRIPTION Access CONST PDO Mapping No Default Value 0x00020194 A 1 2 Object 1001h Error Register The error register is a field of 8 bits each for a certain error type If an error occurs the bit has to be set OBJECT DESCRIPTION INDEX 1001 Name Error Register Object Code Variable Data Type UNSIGNED8 Index Area 0x1000 to 0x1FFF Communi...

Page 30: ...Index 000 Description Number of Errors Access RW PDO Mapping No Default Value 0x00000000 Sub Index 001 Description Standard Error Field Data Type UNSIGNED32 Access RO PDO Mapping No Default Value 0x00000000 A 1 4 Object 1005h COB ID SYNC COB ID of the Synchronization object The device generates a SYNC message if bit 30 is set The meaning of other bits is equal to the other communication objects OB...

Page 31: ...a Type VISIBLE_STRING ENTRY DESCRIPTION Access CONST PDO Mapping No Default Value DPS8000 DK410 V00 00 A 1 7 Object 100Ch Guard Time This entry contains the guard time in milli seconds When not used it is 0 OBJECT DESCRIPTION INDEX 100C Name Guard Time Object Code Variable Data Type UNSIGNED16 ENTRY DESCRIPTION Access RW PDO Mapping No Default Value 0x00000000 A 1 8 Object 100Dh Life Time Factor T...

Page 32: ...written OBJECT DESCRIPTION INDEX 1010 Name Store Parameter Field Object Code Array Data Type UNSIGNED32 ENTRY DESCRIPTION Sub Index 000 Description Number of Entries Access RO PDO Mapping No Default Value 0x1 Sub Index 001 Description Save all Parameters Data Type UNSIGNED32 Access RW PDO Mapping No Default Value 0x1 A 1 10 Object 1011h Restore Default Parameters This entry supports restoring of d...

Page 33: ...fault Parameters Data Type UNSIGNED32 Access RW PDO Mapping No Default Value 0x0 A 1 11 Object 1012h COB ID Time Stamp COB ID of the Time Stamp Object TIME If bit 31 is set the device consumes the Time Stamp message and if bit 30 is set the device produces the Time Stamp message The meaning of the other bits is equal to the other communication objects OBJECT DESCRIPTION INDEX 1012 Name COB ID Time...

Page 34: ...ime used for emergency message emergency producer The time has to be a multiple of 100 µs OBJECT DESCRIPTION INDEX 1015 Name Inhibit Time Emergency Object Code Variable Data Type UNSIGNED16 ENTRY DESCRIPTION Access RW PDO Mapping No Default Value 0x0000 A 1 14 Object 1017h Producer Heartbeat Time The producer heartbeat time defines the cycle time of the heartbeat When not used the time is 0 The ti...

Page 35: ...Description Vendor Id Data Type UNSIGNED32 Access RO PDO Mapping No Default Value 0x50 Sub Index 002 Description Product Code Data Type UNSIGNED32 Access RO PDO Mapping No Default Value 0x1F40 Sub Index 003 Description Revision number Data Type UNSIGNED32 Access RO PDO Mapping No Default Value 0x6 Sub Index Identity Object 1 Contains a unique value allocated each manufacturer 2 Identifies the manu...

Page 36: ... Object 1800h Transmit PDO Communication Parameter 1 It contains the communication parameters of the current PDO the device is able to transmit OBJECT DESCRIPTION INDEX 1800 Name Transmit PDO Communication Parameter 1 Object Code Record Data Type PDO_COMM_PAR ENTRY DESCRIPTION Sub Index 000 Value Meaning 0 SYNC message transmitted with length 0 1 Reserved 2 to 240 SYNC message transmitted with len...

Page 37: ... within the mapping record This number of entries is also the number of the application variables which shall be transmitted with the corresponding PDO The sub index from 1h to number of entries contain the information about the mapped application variables These entries describe the PDO contents by their index sub index and length All three values are hexadecimal coded The length entry contains t...

Page 38: ...ub Index 004 Description Mapping Entry 4 Data Type UNSIGNED32 Access RW PDO Mapping No Default Value 0x00000000 A 2 Manufacturer Segment A 2 1 Object 2003h Current Time Current Time is 6 bytes TIME_OF_DAY OBJECT DESCRIPTION INDEX 2003 Name Current Time Object Code Variable Data Type UNSIGNED48 ENTRY DESCRIPTION Access RO PDO Mapping No Default Value 0x00 A 2 2 Object 2004h Acquisition Time The tim...

Page 39: ...t Value 0x00 A 2 4 Object 2006h Pressure Span Overflow Count Used in the calculation of 6150 AI Status OBJECT DESCRIPTION INDEX 2006 Name Pressure Span Overflow Count Object Code Variable Data Type UNSIGNED16 ENTRY DESCRIPTION Access RW PDO Mapping No Default Value 0x00 A 2 5 Object 2007h Pressure Span Underflow Count Used in the calculation of 6150 AI Status OBJECT DESCRIPTION INDEX 2007 Name Pre...

Page 40: ...t Used in the calculation of 6150 AI Status OBJECT DESCRIPTION INDEX 2009 Name Temperature Span Underflow Count Object Code Variable Data Type UNSIGNED16 ENTRY DESCRIPTION Access RW PDO Mapping No Default Value 0x00 A 2 8 Object 210Ch Node ID The CAN node ID OBJECT DESCRIPTION INDEX 210C Name Node ID Object Code Variable Data Type UNSIGNED8 ENTRY DESCRIPTION Access RW PDO Mapping No Default Value ...

Page 41: ...s calibration PIN refer to Object 2200h Calibration Access Pin on page 31 OBJECT DESCRIPTION INDEX 2201 Name Last Calibration Year Object Code Variable Data Type UNSIGNED16 ENTRY DESCRIPTION Access RW PDO Mapping No Default Value 0x00 A 2 12 Object 2202h Last Calibration Month Requires calibration PIN refer to Object 2200h Calibration Access Pin on page 31 OBJECT DESCRIPTION INDEX 2202 Name Last C...

Page 42: ...Next Calibration Year Object Code Variable Data Type UNSIGNED16 ENTRY DESCRIPTION Access RW PDO Mapping No Default Value 0x00 A 2 15 Object 2205h Next Calibration Month Requires calibration PIN refer to Object 2200h Calibration Access Pin on page 31 OBJECT DESCRIPTION INDEX 2205 Name Next Calibration Month Object Code Variable Data Type UNSIGNED16 ENTRY DESCRIPTION Access RW PDO Mapping No Default...

Page 43: ...08h Pressure Offset Requires calibration PIN refer to Object 2200h Calibration Access Pin on page 31 OBJECT DESCRIPTION INDEX 2208 Name Pressure Offset Object Code Variable Data Type REAL32 ENTRY DESCRIPTION Access RW PDO Mapping No Default Value 0 0 A 2 19 Object 2209h Temperature Gain Requires calibration PIN refer to Object 2200h Calibration Access Pin on page 31 OBJECT DESCRIPTION INDEX 2209 N...

Page 44: ...DESCRIPTION INDEX 220D Name FIR Samples size Object Code Variable Data Type UNSIGNED8 ENTRY DESCRIPTION Access RW PDO Mapping No Default Value 0x00 A 2 22 Object 220Eh FIR Sample Data Data for the Finite Impulse Response filter OBJECT DESCRIPTION INDEX 220E Name FIR Sample Data Object Code Variable Data Type DOMAIN ENTRY DESCRIPTION Access RW PDO Mapping No Default Value NULL A 2 23 Object 220Fh F...

Page 45: ...ULL A 2 25 Object 2211h FIR3 Samples Size The number of samples in the Finite Impulse Response filter OBJECT DESCRIPTION INDEX 2211 Name FIR3 Samples size Object Code Variable Data Type UNSIGNED8 ENTRY DESCRIPTION Access RW PDO Mapping No Default Value 0x00 A 2 26 Object 2212h FIR3 Sample Data Data for the Finite Impulse Response filter OBJECT DESCRIPTION INDEX 2212 Name FIR3 Sample Data Object Co...

Page 46: ...PTION INDEX 2214 Name FIR4 Sample Data Object Code Variable Data Type DOMAIN ENTRY DESCRIPTION Access RW PDO Mapping No Default Value NULL A 2 29 Object 2215h FIR5 Samples Size The number of samples in the Finite Impulse Response filter OBJECT DESCRIPTION INDEX 2215 Name FIR5 Samples size Object Code Variable Data Type UNSIGNED8 ENTRY DESCRIPTION Access RW PDO Mapping No Default Value 0x00 A 2 30 ...

Page 47: ...RY DESCRIPTION Access RW PDO Mapping No Default Value 0x02 A 2 32 Object 2218h FIR Pre scaler OBJECT DESCRIPTION INDEX 2218 Name FIR Prescaler Object Code Array Data Type UNSIGNED16 ENTRY DESCRIPTION Sub Index 000 Description Number of Entries Access RO PDO Mapping No Default Value 0x05 Sub Index 001 Description FIR pre scaler Data Type UNSIGNED16 Access RW PDO Mapping No Default Value 0x0 Sub Ind...

Page 48: ...efault Value 0x0 Sub Index 005 Description FIR5 pre scaler Data Type UNSIGNED16 Access RW PDO Mapping No Default Value 0x0 A 2 33 Object 2300h PDCR Min Pressure OBJECT DESCRIPTION INDEX 2300 Name PDCR Min Press Object Code Variable Data Type INTEGER32 ENTRY DESCRIPTION Access RW PDO Mapping No Default Value 0x0 A 2 34 Object 2301h PDCR Max Pressure OBJECT DESCRIPTION INDEX 2301 Name PDCR Max Press...

Page 49: ...iod Object Code Variable Data Type UNSIGNED16 ENTRY DESCRIPTION Access RO PDO Mapping No Default Value 0x64 A 2 37 Object 2304h PDCR Text OBJECT DESCRIPTION INDEX 2304 Name PDCR Text Object Code Variable Data Type VISIBLE_STRING ENTRY DESCRIPTION Access RW PDO Mapping No Default Value 0 A 3 Device Profile Segment A 3 1 Object 6100h AI Input FV This object represents the converted value of an analo...

Page 50: ...cription number of entries Access RO PDO Mapping No Default Value 0 0 Sub Index 001 Description AI Input FV 1 Data Type REAL32 Access RO PDO Mapping Yes Default Value 0 0 Sub Index 002 Description AI Input FV 2 Data Type REAL32 Access RO PDO Mapping Yes Default Value 0 0 A 3 2 Object 6101h AI Input Unit OBJECT DESCRIPTION INDEX 6101 Name AI Input Unit Object Code Array Data Type UNSIGNED32 ENTRY D...

Page 51: ...lt Value 0x00000000 A 3 3 Object 6110h AI Sensor Type Specifies the type of sensor connected to the analogue input OBJECT DESCRIPTION INDEX 6110 Name AI Sensor type Object Code Array Data Type UNSIGNED16 ENTRY DESCRIPTION Sub Index 000 Description number of entries Access RO PDO Mapping No Default Value 0x2 Sub Index 001 Description AI Sensor type 1 Data Type UNSIGNED16 Access RW PDO Mapping No De...

Page 52: ...Access RO PDO Mapping No Default Value 0 0 Sub Index 001 Description AI Input scaling 1 FV 1 Data Type REAL32 Access RW PDO Mapping No Default Value 0 0 Sub Index 002 Description AI Input scaling 1 FV 2 Data Type REAL32 Access RW PDO Mapping No Default Value 0 0 A 3 5 Object 6121h AI Input Scaling 1 PV This object defines the process value of the first calibration point for the analogue input chan...

Page 53: ...This object defines the field value of the second calibration point for the analogue input channel It is scaled in physical unit of field value OBJECT DESCRIPTION INDEX 6122 Name AI Input scaling 2 FV Object Code Array Data Type REAL32 ENTRY DESCRIPTION Sub Index 000 Description number of entries Access RO PDO Mapping No Default Value 0 0 Sub Index 001 Description AI Input scaling 2 FV 1 Data Type...

Page 54: ...on number of entries Access RO PDO Mapping No Default Value 0 0 Sub Index 001 Description AI Input scaling 2 PV 1 Data Type REAL32 Access RW PDO Mapping No Default Value 1 0 Sub Index 002 Description AI Input scaling 2 PV 2 Data Type REAL32 Access RW PDO Mapping No Default Value 1 0 A 3 8 Object 6124h AI Input Offset This object defines the additional offset value for the analogue input channel It...

Page 55: ...represents the result of the input scaling block and gives the measured quantity scaled in the physical unit of process values e g degrees centigrade kg kN mm etc OBJECT DESCRIPTION INDEX 6130 Name AI Input PV Object Code Array Data Type REAL32 ENTRY DESCRIPTION Sub Index 000 Description number of entries Access RO PDO Mapping No Default Value 0 0 Sub Index 001 Description AI Input PV 1 Data Type ...

Page 56: ...Index 000 Description number of entries Access RO PDO Mapping No Default Value 0x2 Sub Index 001 Description AI Physical unit PV 1 Data Type UNSIGNED32 Access RW PDO Mapping No Default Value 0xFD4E0000 Sub Index 002 Description AI Physical unit PV 2 Data Type UNSIGNED32 Access RW PDO Mapping No Default Value 0x002D0000 A 3 11 Object 6148h AI Span Start This value specifies the lower limit where pr...

Page 57: ... AI Span End This value specifies the upper limit where process values are expected Process values exceeding this limit are marked as positive overloaded OBJECT DESCRIPTION INDEX 6149 Name AI Span end Object Code Array Data Type REAL32 ENTRY DESCRIPTION Sub Index 000 Description number of entries Access RO PDO Mapping No Default Value 0 0 Sub Index 001 Description AI Span end 1 Data Type REAL32 Ac...

Page 58: ...f bit 1 and bit 2 has not to be possible OBJECT DESCRIPTION INDEX 6150 Name AI Status Object Code Array Data Type UNSIGNED8 ENTRY DESCRIPTION Sub Index 000 Description number of entries Access RO PDO Mapping No Default Value 0x02 Sub Index 001 Description AI Status 1 Data Type UNSIGNED8 Access RO PDO Mapping Yes Default Value 0x0 Sub Index 002 Description AI Status 2 Data Type UNSIGNED8 Access RO ...

Page 59: ...20000 0 1 Mpa Mega pascal 0x06220000 0 0001 mmHg millimetre of mercury 0x00A000001 1 The CANopen value 0x00A00000 shows that the pressure unit is not an SI unit refer to Appendix C Bibliography on page 51 0 7500616 cmHg centimetre of mercury 0x00A00000a 0 07500616 mHg metre of mercury 0x00A00000a 0 0007500616 inHg inch of mercury 0x00A00000a 0 02953 kg cm2 kilogram force per square centimetre 0x00...

Page 61: ... Communication Profile CiA Draft Standard DS 301 Version 4 01 2 CANopen Device Profile for Measurement Devices and Closed Loop Controllers CiA Draft Standard Proposal DSP 404 Version 1 0 3 CANopen Layer Setting Services and Protocol LSS CiA Draft Standard Proposal DSP 305 Version 1 0 4 CANopen Representation of SI Units and Prefixes CiA Draft Recommendation DRP 303 2 Version 1 1 ...

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