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UMAXTC20CO V1.1.1              Preliminary Documentation – May be Subject to Change                                      31-59 

Sub-Index 2h 
Description Sensor 

Error 

Access RW 
PDO Mapping 

No 

Value Range 

0 = Pre-Operational 
1 = No State Change 
2 = Stopped 

Default Value 

1 (No State Change) 

 

3.2.14. RPDO 

Behaviour 

 
The Thermocouple Scanner can support up to four RPDO messages, but in reality, it does not 
used them. The other RPDO objects are provided simply for compliance with the standard 
CANopen ® Object Dictionary, but are disabled on this module (mapping objects are read-only) 
 
All RPDOs on the Thermocouple Scanner use the same default communication parameters, with 
the PDO IDs set according to the pre-defined connection set described in DS-301. All RPDOs do 
not exist, there is no RTR allowed, they use 11-bit CAN-IDs (base frame valid) and are event-
driven.  
 

Object Description 

Index 

1400h to 1403h 

Name RPDO 

communication 

parameter 

Object Type 

RECORD 

Data Type 

PDO Communication Record 

 
Entry Description 

Sub-Index 0h 
Description Number 

of 

entries 

Access RO 
PDO Mapping 

No 

Value Range 

5 

Default Value 

5 

 

Sub-Index 1h 

 

 

 

Description 

COB-ID used by RPDO 

 

X RPDOx 

ID 

Access RW 

 

 

1 

0200h 

PDO Mapping 

No 

 

2 

0300h 

Value Range 

See value definition in DS-301 

 

3 

0400h 

Default Value 

C00 RPDOx + Node-ID 

 

4 

0500h 

Node-ID = Node-ID of the module. The RPDO COB-IDs are automatically updated if the 
Node-ID is changed by LSS protocol.  
80000000h in the COB-ID indicates that the PDO does not exist (destroyed) 
04000000h in the COB-ID indicates that there is no RTR allowed on the PDO 
 

Содержание AXTC4CO

Страница 1: ...USER MANUAL UMAXTC4CO THERMOCOUPLE SCANNER FOUR CHANNEL With CANopen USER MANUAL P N AXTC4CO...

Страница 2: ...Identifier CJ Cold Junction COB Communication Object EDS Electronic Data Sheet EMCY Emergency LSB Least Significant Byte or Bit LSS Layer Settling Service MSB Most Significant Byte or Bit MEMS Micro e...

Страница 3: ...Version 1 1 0 Preliminary Documentation May be Subject to Change iii These documents are available from the CAN in Automation e V website http www can cia org...

Страница 4: ...Field 20 3 2 5 Object 100Ch Guard Time 22 3 2 6 Object 100Dh Lifetime Factor 22 3 2 7 Object 1010h Store Parameters 23 3 2 8 Object 1011h Restore Parameters 24 3 2 9 Object 1016h Consumer Heartbeat T...

Страница 5: ...re Warning Threshold 47 3 4 13 Object 4010h High Temperature Warning Threshold 48 3 4 14 Object 4020h High Temperature Shutdown Threshold 49 3 4 15 Object 4030h Error React Delay 49 3 4 16 Object 5000...

Страница 6: ...cuit it may take a couple of scans before the appropriate range is found Since there are 8 possible gains an open circuit measured using the lowest gain can take up to 1 6 seconds to be flagged if the...

Страница 7: ...are used to convert the field value to read only object 7130 Thermocouple Input Process Value which is mapped to TPDO1 by default The formula to convert the field value FV to process value PV is Proc...

Страница 8: ...t 4030 Error React Delay allows the user to select how long the fault condition must be present before the status object is updated and the error reaction is triggered Once the status object shows tha...

Страница 9: ...ill be enabled When enabled by selecting Normal Operation the average of all active channels is calculated and written to read only object 2100 Average Input Field Value in degrees Celsius If a thermo...

Страница 10: ...tion temperature is written to read only object 3100 Cold Junction Input Field Value in degrees Celsius As with the thermocouple inputs the average FV can be converted to a process value using scaling...

Страница 11: ...1 2 RS 232 TXD 2 Thermocouple 1 3 RS 232 RXD 3 Thermocouple 1 Shield 4 Not Used plug 4 Thermocouple 2 5 Frame GND 5 Thermocouple 2 6 Batt 6 Thermocouple 2 Shield 7 Batt 7 Thermocouple 3 Shield 8 Not...

Страница 12: ...power wires are not considered intrinsically safe Mask all labels if the unit is to be repainted so label information remains visible Mounting legs include holes sized for M6 or inch bolts The bolt l...

Страница 13: ...e end as it does not require termination at that end Shields can be AC grounded at one end and hard grounded at the opposite end to improve shielding effectiveness If the module is installed in a cabi...

Страница 14: ...the CAN port shield connection ac coupled to the Frame Ground pin on the connector NETWORK CONSTRUCTION Axiomatic recommends that multi drop networks be constructed using a daisy chain or backbone co...

Страница 15: ...be changed is to use Layer Settling Services LSS and protocols as defined by CANopen standard DS 305 Follow the steps below to configure either variable using LSS protocol If required please refer to...

Страница 16: ...llowing message Note the module will reset itself back to the pre operational state Item Value COB ID 0x7E5 Length 2 Data 0 0x04 cs 4 for switch state global Data 1 0x00 switches to waiting state 3 1...

Страница 17: ...00 Activate bit timing parameters by sending the following message Item Value COB ID 0x7E5 Length 3 Data 0 0x15 cs 19 for activate bit timing parameters Data 1 delay_lsb Data 2 delay_msb The delay ind...

Страница 18: ...module will reset itself back to the pre operational state Item Value COB ID 0x7E5 Length 2 Data 0 0x04 cs 4 for switch state global Data 1 0x00 switches to waiting state The following screen capture...

Страница 19: ...400 RPDO1 Communication Parameter RECORD RW No 1401 RPDO2 Communication Parameter RECORD RW No 1402 RPDO3 Communication Parameter RECORD RW No 1403 RPDO4 Communication Parameter RECORD RW No 1600 RPDO...

Страница 20: ...owing manner 0000h reserved 0001h digital input block 0002h analog input block 0004h digital output block 0008h analog output block 0010h controller block 0020h alarm block 0040h 0800h reserved 1000h...

Страница 21: ...x 0 which will clear all errors from the list regardless of whether or not they are still present Clearing the list does NOT mean that the module will return to the error free behaviour state if at le...

Страница 22: ...l ID will be 0x01 for Thermocouple Input 1 0x02 for Thermocouple Input 2 0x03 for Thermocouple Input 3 and 0x04 for Thermocouple Input 4 The EMCY Error Codes supported by this module are reflected in...

Страница 23: ...atibility The standard recommends that newer networks do not use the life guarding protocol but rather heartbeat monitoring instead Both life guarding and heartbeats can NOT be active simultaneously O...

Страница 24: ...rameters in non volatile memory and then confirm the SDO transmission By read access the object provides information about the module s saving capabilities For all sub indexes this value is 1h indicat...

Страница 25: ...defaults only when a specific signature is written to the appropriate sub index The signature is load The signature is a 32 bit unsigned number composed of the ASCII codes of the signature characters...

Страница 26: ...ss RW PDO Mapping No Value Range 0x64616F6C write access 1h read access Default Value 1h Sub Index 2h Description Restore default communication parameters Access RW PDO Mapping No Value Range 0x64616F...

Страница 27: ...tbeat from the module If the Thermocouple Scanner fails to receive a heartbeat from a node in the expected timeframe it will indicate a communication error and respond as per object 1029h Bits 31 24 2...

Страница 28: ...efault Value 0 3 2 11 Object 1018h Identity Object The identity object indicates the data of the Thermocouple Scanner including vendor id device id software and hardware version numbers and the serial...

Страница 29: ...on identified in object 1018h was compiled The date is represented as a hexadecimal value showing day month year as per the format below The time value at sub index 2 is a hexadecimal value showing th...

Страница 30: ...d with the sub index Communication errors are anything associate with the CAN network including life guard or heartbeat events buffer overruns busoff etc Sensor errors are those associated with the se...

Страница 31: ...d connection set described in DS 301 All RPDOs do not exist there is no RTR allowed they use 11 bit CAN IDs base frame valid and are event driven Object Description Index 1400h to 1403h Name RPDO comm...

Страница 32: ...Default Value 255 FFh Event Driven Sub Index 3h Description Inhibit Time Access RW PDO Mapping No Value Range See value definition in DS 301 Default Value 0 Sub Index 4h Description Compatibility ent...

Страница 33: ...Thermocouples 1 and 2 2 0x21300210 Average Value of Bank 2 Thermocouples 3 and 4 3 0x21300310 Average Value of All Thermocouples 4 0x31300010 Cold Junction Temperature Process Value TPDO3 Mapping at O...

Страница 34: ...ged by LSS protocol 80000000h in the COB ID indicates that the PDO does not exist destroyed 04000000h in the COB ID indicates that there is no RTR allowed on the PDO Sub Index 2h Description Transmiss...

Страница 35: ...0 Thermocouple Status ARRAY UNSIGNED8 RO Yes 3 3 1 Object 6100h Thermocouple Input Field Value This read only object represents the measured temperature of the associated thermocouple input in Degrees...

Страница 36: ...ription Largest sub index supported Access RO PDO Mapping No Value Range 4 Default Value 4 Sub Index 1h to 4h X 1 to 4 Description Thermocouple X Sensor Type Access RW PDO Mapping No Value Range See T...

Страница 37: ...l Operation 3 3 4 Object 6114h ADC Sample Rate This read only object is available to reflect the scan rate of each channel It is fixed at 200ms The unit for this object is microseconds Object Descript...

Страница 38: ...ouple X Scaling Factor Access RW PDO Mapping No Value Range 1000 0 to 1000 0 Default Value 16 0 0 0625 C bit 3 3 6 Object 6127h Thermocouple Scaling Offset This object represents the scaling offset wh...

Страница 39: ...3 8 Object 6150h Thermocouple Status This read only object reflects the status of the associated thermocouple input field value When set to zero it indicates that the data measured is within normal o...

Страница 40: ...couple Status Object Type ARRAY Data Type UNSIGNED8 Entry Description Sub Index 0h Description Largest sub index supported Access RO PDO Mapping No Value Range 4 Default Value 4 Sub Index 1h to 4h X 1...

Страница 41: ...INTEGER16 RW No 4010 High Temperature Warning Threshold ARRAY INTEGER16 RW No 4020 High Temperature Shutdown Threshold ARRAY INTEGER16 RW No 4030 Error React Delay ARRAY UNSIGNED16 RW No 5000 Power Su...

Страница 42: ...rmocouple X Microvolt Reading Access RO PDO Mapping No Value Range Dependent on Sensor Type Default Value No 3 4 3 Object 2100h Average Input Field Value This read only object reflects the calculated...

Страница 43: ...C Default Value No 3 4 4 Object 2112h Average Operating Mode This object determines if the averaging calculation is performed for the given sub index When set to one 1 Normal Operation averaging is pe...

Страница 44: ...factor by which the average field value is multiplied to get the process value Object Description Index 2126h Name Average Scaling Factor Object Type ARRAY Data Type FLOAT32 Entry Description Sub Inde...

Страница 45: ...Description Index 2127h Name Average Scaling Offset Object Type ARRAY Data Type FLOAT32 Entry Description Sub Index 0h Description Largest sub index supported Access RO PDO Mapping No Value Range 3 De...

Страница 46: ...e FLOAT32 Entry Description Sub Index 0h Description Largest sub index supported Access RO PDO Mapping No Value Range 3 Default Value 3 Sub Index 1h Description Bank 1 Average PV TC1 and TC2 Access RO...

Страница 47: ...is object represents the scaling factor by which the cold junction field value is multiplied to get the process value Object Description Index 3126h Name Cold Junction Scaling Factor Object Type VAR D...

Страница 48: ...Range 32768 to 32767 Default Value No 3 4 12 Object 4000h Low Temperature Warning Threshold This object sets the low threshold of the normal operating temperature range for each thermocouple s input...

Страница 49: ...flags a high warning in the corresponding thermocouple s status byte 6150 as well as setting an EMCY code in the pre defined error field 1003 The data in sub indexes 1 to 4 is interpreted with a fixed...

Страница 50: ...b index supported Access RO PDO Mapping No Value Range 4 Default Value 4 Sub Index 1h to 4h X 1 to 4 Description Thermocouple X High Shutdown Temp Access RW PDO Mapping No Value Range TC X High Warnin...

Страница 51: ...g the scanner Object Description Index 5000h Name Power Supply Measured Object Type VAR Data Type FLOAT32 Entry Description Sub Index 0h Access RO PDO Mapping Yes Value Range 8 0V to 60 0V Default Val...

Страница 52: ...r slave network When set to TRUE the unit will still power up in BOOT mode and send the pre operation message Five seconds later the unit will automatically switch to OPERATIONAL mode and start broadc...

Страница 53: ...S 232 Transmit 2 RS 232 Receive 3 RS 232 Receive 3 RS 232 Transmit 1 GND Reference 5 RS 232 GND Open Tera Term Pro and set it up as shown in the steps below Free downloadable from Hhttp hp vector co j...

Страница 54: ...59 4 1 Main Menu Options At power up the Main Menu will be displayed after the power up banner has been printed If at any time you wish to see the menu again simply hit m or M and it will be reprinte...

Страница 55: ...rge to print in one shot it will show the PDO communication and mapping parameters then display each object one by one To view the next object simply hit the Enter key If at any time you would like to...

Страница 56: ...ffect after every power cycle i e once on the data will always be sent until turned off The variables that the user can change when selecting to toggle the data stream ON are a Whether the data sent w...

Страница 57: ...the application software be required the units can be reprogrammed by selecting this option If Axiomatic has sent new software select l or L and at the prompt enter the password that was provided by y...

Страница 58: ...mentation May be Subject to Change 58 59 Initialization of the controller program will be displayed and the normal power up messages will be printed Verify the version number in the power up banner ma...

Страница 59: ...ction Communication CAN 1 CAN 2 0Bport protocol CiA CANopen By default the Thermocouple Scanner transmits the process value object 7130 according to the device profile in CiA Standard DS 404 Network T...

Страница 60: ...description of problem Wiring set up diagram application Other comments as needed When preparing the return shipping paperwork please note the following The commercial invoice for customs and packing...

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