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References

 

 

#Leuze electronic

 GmbH + Co KG, Postfach 11 11, D-73277 Owen/Teck, In der Braike1, D-73277 Owen/Teck, Tel. ++49 (0)7021/5730, Fax ++49 (0)7021/573199

 

Date: 01.07.2003 

LZ - ELE - BA - GB - 0009 - 00 

Page 41 of 42

 

9.2 References 

 
 

1 : 

ISO 11898: Road Vehicles Interchange of Digital Information - Controller Area 
Network (CAN) for high-speed Communication, November 1993 

   

2  : 

Robert Bosch GmbH, CAN Specification 2.0 Part A and B, September 1991 

   

3  : 

CiA DS-201 V1.1, CAN in the OSI Reference Model, February 1996 

   

4  : 

CiA DS-202-1 V1.1, CMS Service Specification, February 1996 

   

5  : 

CiA DS-202-2 V1.1, CMS Protocol Specification, February 1996 

   

6  : 

CiA DS-202-3 V1.1, CMS Encoding Rules, February 1996 

   

7  : 

CiA DS-203-1 V1.1, NMT Service Specification, February 1996 

   

8  : 

CiA DS-203-2 V1.1, NMT Protocol Specification, February 1996 

   

9  : 

CiA DS-204-1 V1.1, DBT Service Specification, February 1996 

 

 

10  : 

CiA DS-204-2 V1.1, DBT Protocol Specification, February 1996 

 

 

11  : 

CiA DS-205-1 V1.1, LMT Service Specification, February 1996 

 

 

12  : 

CiA DS-205-2 V1.1, LMT Protocol Specification, February 1996 

 

 

13  : 

CiA DS-206 V1.1, Recommended Layer Naming Conventions, February 1996 

 

 

14  : 

CiA DS-207 V1.1, Application Layer Naming Conventions, February 1996 

 

 

15  : 

CiA DS-301 V3.0, CANopen Communication Profile based on CAL, October 1996 

 

 

16  : 

CiA DS-406 V2.0, CANopen Profile for Encoder, May 1998 

 

Summary of Contents for OMS2/120 CAN

Page 1: ...Leuze electronic Laser Measuring Device OMS2 120 CAN OMS2 170 CAN Technical Description for the CANopen Interface...

Page 2: ...Leuze electronic GmbH Co KG Postfach 11 11 D 73277 Owen Teck In der Braike1 D 73277 Owen Teck Tel 0049 07021 5730 Fax 0049 07021 573199 E mail info leuze de http www leuze de Copyright 2003 Leuze ele...

Page 3: ...ge 16 3 1 6 Wiring examples 17 3 2 CANopen interface 18 3 2 1 Bus status 18 3 2 2 EDS file 18 3 2 3 The communication profile 19 3 2 3 1 1st Transmit Process Data Object asynchronous 19 3 2 3 2 2nd Tr...

Page 4: ...06h Supported warnings 33 4 1 2 7 Object 6507h Software version 33 4 1 2 8 Object 6508h Operating time 34 4 1 2 9 Object 6509h Offset value 34 4 1 2 10 Object 650Ah Manufacturer offset value 34 4 1 2...

Page 5: ...r Field S22 the error occurred generally is specified and the cause described in detail Via the Emergency Message S34 the Error Register Error Field can be read It is therefore essential to integrate...

Page 6: ...an uncontrolled or undefined reactivation of the equipment The safety and accident prevention regulations applicable to the specific application must be observed In the case of permanently installed p...

Page 7: ...ission of the measured value can be interfered To ensure reliable data transmission use fully shielded cables and make sure they are well earthed For differential data transfer CAN Bus twisted pair wi...

Page 8: ...k storage vehicles Transfer machines Warning Switch off the voltage supply before carrying out wiring work or opening and closing electrical connections Check all electrical connections before switchi...

Page 9: ...s i e 0 25 s or to look repeatedly into the laser beam itself or the directly reflected beam The device must be installed in such a way that the exposure of persons to the laser beam can only happen a...

Page 10: ...ccording to recognised safety standards 1 5 Safety measures at the installation site Warning Do not perform any welding work once the device is connected and switched on Variations in potential can de...

Page 11: ...laser beam of the OMS2 must be on the reflecting foil at any time This can be done using the light spot of the laser diode which is still clearly visible on the reflecting foil even at long distance W...

Page 12: ...ittle Here it is valid angle of incidence angle of reflection Figure 4 Transmitting away the surface reflectivity Rotate the reflector foil in the Y or in the Z axis so that the interference signal B...

Page 13: ...2 Parallel operation of laser linear paths It has to be taken care in the parallel operation of laser linear paths that a minimum distance of 1 m is kept The reflector foil inclination must be made in...

Page 14: ...st be considered In order to be able to carry out the connection the connection cap must be removed from the laser first For this the screws A are loosened and the cap B is removed away from the laser...

Page 15: ...he CAN_H and CAN_L lines 3 1 2 2 Identifier Node ID The identifier laser address 1 64 is adjusted via the DIL switches 1 6 DIL 1 ID 20 DIL 6 ID 25 The Node ID is the adjusted hardware number by the DI...

Page 16: ...171819 20 3 1 4 RS485 programming interface The RS485 programming interface was developed mainly only as service interface for the technician Primarily therefore the programming possibilities via the...

Page 17: ...nnection 7 8 15 16 17 18 19 20 0V Supply Voltage GNDI Shield internal RC element onto case CAN_H CAN_H CAN_L CAN_L OMS2 0V US Shield GNDI CAN_L CAN_H X1 RS485 connection with parameter setting via OMS...

Page 18: ...encoders support the extended functions in Class C2 The communication functionality and objects which are used in the laser profile are described in a EDS File Electronic Data Sheet When using a CANo...

Page 19: ...3 2 3 1 1st Transmit Process Data Object asynchronous This PDO transmit the position value of the laser in an asynchronous way The cyclic timer is stored in index 6200h Index Sub Index Comment Default...

Page 20: ...r 1000 VAR device type Unsigned32 const 1001 VAR error register Unsigned8 ro 1002 VAR manufacturer status register Unsigned32 ro 1003 ARRAY pre defined error field Unsigned32 ro 1004 ARRAY Number of P...

Page 21: ...ce Profile Number 406 196h and a second 16 bit field which gives information on the type of device Structure of parameter Unsigned32 const Device Type Device Profile Number Encoder Type Byte 0 Byte 1...

Page 22: ...0 0 0 2 7 2 6 2 5 2 4 2 3 2 2 2 1 2 0 Description of the error code No error Byte 0 0x00 Corresponds to the normal condition Intensity Bit 0 in byte 0 The bit is set if an intensity value of smaller 8...

Page 23: ...e 3 Transmitted PDOs Received PDOs Sub index 0 Transmitted PDOs 2 Received PDOs 0 Sub index 1 Transmitted PDOs 1 Received PDOs 0 Sub index 2 Transmitted PDOs 1 Received PDOs 0 3 2 4 6 Object 1005h COB...

Page 24: ...le string See also object 6507 3 2 4 10 Object 100Bh Node ID This object contains the Node ID device address The value is selected by 6 hardware switches and cannot be changed using SDO services Unsig...

Page 25: ...Object 100Eh Node Guarding Identifier The identifier is used for the node guarding and the life guarding procedure Unsigned32 Read MSB LSB 31 30 29 28 11 10 0 reserved 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0...

Page 26: ...been executed at the next power on the parameters will have there old values By write access the device stores the parameters to the non volatile memory In order to avoid storage of parameters by mis...

Page 27: ...that all indices shown in the Index column are hexadecimal The overview of all laser entries are shown below Index Object Name Data Length Attr Parameters 2000 VAR Clear Preset Unsigned8 rw 2001 VAR...

Page 28: ...Output of the last valid position 4 1 1 3 Object 2003 Function external input Determines whether the switching input is to be used as Preset input Switch off Laser Diode LD or Failure reset input Wit...

Page 29: ...finition of the error see Description of the error code S22 Unsigned8 Read Write 0 disabled default 1 Temperature 2 Intensity 3 Hardware 4 all errors 4 1 1 6 Object 2006 Switching functions Unsigned8...

Page 30: ...increasing distance to the laser values increasing 1 With increasing distance to the laser values decreasing 4 1 1 8 Object 6003h Preset Value The Preset function can be used to adjust the laser to an...

Page 31: ...transmission of the position value is set when the cyclic timer is programmed 0 Values between 1 ms and 65535 ms can be selected e g 1 ms 1 h 256 ms 100 h This value isn t saved in the device permanen...

Page 32: ...of parameter Unsigned16 Read Alarms Byte 0 Byte 1 error code Reserved for further use 2 7 2 6 2 5 2 4 2 3 2 2 2 1 2 0 Description of the error code No error Byte 0 0x00 Corresponds to the normal cond...

Page 33: ...nsity warning No Yes 5 13 Reserved for further use 14 15 Manufacturer specific functions 4 1 2 5 Object 6505h Warnings This object is not supported By read access the value is always 0 4 1 2 6 Object...

Page 34: ...erial number of the laser device 4 byte 5 Emergency Message Emergency messages are triggered by the occurrence of a device internal malfunction and are transmitted from the concerned application devic...

Page 35: ...ransmission The 1st transmit PDO object 1800h transmit the position value of the laser The cyclic time is defined by the value of the cyclic timer object 6200H This transmission starts automatically a...

Page 36: ...Identifier 600h Node ID Read SDOs Byte 0 1 2 3 4 5 6 7 content Code Index Sub index Data 0 Data 1 Data 2 Data 3 40h low high byte 0 0 0 0 The Read SDO telegram has to be send to the slave The slave a...

Page 37: ...nt Code Index Sub index Data 0 Data 1 Data 2 Data 3 2xh low high byte 0 0 0 0 Format byte 0 MSB LSB 7 6 5 4 3 2 1 0 0 0 1 0 n 1 1 n number of data bytes bytes 4 7 that does not contain data If only 1...

Page 38: ...ng foil 3 Rule out an interruption of the laser beam If the possibility of soiling or interruption of the laser signal can be ruled out the device must be replaced Bit 1 Device temperature The tempera...

Page 39: ...vice does not in general require maintenance by the operator i Note If the lens opening of the laser or the reflecting foil become dirty clean with a soft cloth Do not use an aggressive cleaning mater...

Page 40: ...S485 and PC soft OMSConfiguration Tool CANopen Interface CAN Bus Interface according to ISO DIS 11898 Data protocol CAN 2 0 A CANopen Device Profile for Encoder CiA DS 406 V2 0 Output code Binary Baud...

Page 41: ...iA DS 202 2 V1 1 CMS Protocol Specification February 1996 6 CiA DS 202 3 V1 1 CMS Encoding Rules February 1996 7 CiA DS 203 1 V1 1 NMT Service Specification February 1996 8 CiA DS 203 2 V1 1 NMT Proto...

Page 42: ...ct CAN Message A unit of transportation in a CAN Network Data must be sent across a Network inside a COB COB ID COB Identifier Identifies a COB uniquely in a Network The identifier determines the prio...

Page 43: ......

Page 44: ...ze Vogtle Malanca s r l Tel Int 39 02 26110643 Fax Int 39 02 26110640 E mail ivoleuze tin it http www ivoleuze com Galoz electronics Ltd Tel Int 972 0 3 9023456 Fax Int 972 0 3 9021990 E mail admin ga...

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