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Page Manual MSC-64

2.3 CANopen

The CANopen Gateway follows the CAN2.0B recommendations. It receives both 11-bit

identifiers, and tolerates 29-bit identifiers. It only transmits 11-bit identifiers.

The Gateway is always quiet on the CANbus until the NMT Start command is received,

except for the very first ‘node guard’ message.

When started, the TPDO1 is used to send current status information. The backplane is

scanned approx. 10 times per second. This gives 64 modules X 10 = 640 status messages

per second if all 64 modules are installed. The TPDO1 holds the Gateway status, the module

number, the module status and either net or gross weight, depending on the SDO selection.

The default is the Gross value. When filling is in progress the Gateway transmits a TPDO2

every time a module changes state to ‘wait for trigger’. This TDPO2 contains the module

number, the module status and the dosed weight. In Check Weigher applications the

TPDO2 is used to send triggered measurements.

With RDPO1 frames you can send simple commands without an acknowledgement. The

functions are: select Gross or Net value in TPDO1, Set or Clear System zero, Set or Clear

Tare.

With RPDO2 frames you can send Triggers or Stop triggers. For the filling application the

trigger can be used to start the Filling Cycle. On checkweigher applications the trigger can

start measurements and a stop-trigger will stop further internal retriggers.

In case of an overrun, error or failure an EMERGENCY message is sent to the CAN

controller indicating the nature of the error or failure.

EMERGENCY messages are transmitted when the CAN controller tries to set up a module

not present, or not functioning, or when a module fails to answer the normal backplane scan

or when a module comes back on-line.

RPDO3 and RPDO4 are ignored by the Gateway.

SDOs are handled according to profile and CANopen recommendation.

The NMT protocol will use the ‘node guarding’ method (no heartbeat), but are otherwise fully

implemented

The “SDO

Block

Download Protocol”

may be implemented later.

Содержание MCS-64

Страница 1: ...Sen Sig Sig Sen Exc Logic in Load Cells Logic out C 0 1 2 3 C C 0 1 2 3 C FLINTEC www flintec com Y 5 V 0 5 1 6 9 BC 470uF HP FUSE 5X20 FLINTEC Fl112081 B16 FLINTEC Fl1 12081 B16 PWR Com 6 5 4 3 2 1...

Страница 2: ...l blocks Header for ribbon cable to extension board PWR Com In 0 Out 0 Err In 1 Out 1 In 2 Out 2 In 3 Out 3 LDM 88 1 LDM 88 1 PWR Com 6 5 4 3 2 1 0 PB Adresse Profibus Connector Act PGM 86 1 PGM 86 1...

Страница 3: ...80 x 23 x 100 mm with two M3 fixing screws for mounting on boards MB89 1 2 3 4 Power supply 12 24 V DC 10 60 mA reversed voltage burst and ESD protected Power consumption 1 5 W max EMC CE 73 23 EEC 93...

Страница 4: ...COMMANDS 28 4 1 System diagnosis Commands ID IV IS 29 4 2 Calibration Commands CE CM CI DS DP CZ CG AZ AG ZT FD CS 30 4 3 Motion detection Commands NR NT 34 4 4 Filter setting Commands FM FL UR 35 4 5...

Страница 5: ...sion Board MB 89 3 for 4 LDM 88 x 55 5 4 Extension Board MB 89 4 for 8 LDM 88 x 56 5 5 Address setup guide extension boards for 1 16 channels 57 5 6 Address setup guide extension boards for up to 32 c...

Страница 6: ...e of the Gateway and the Load Cell Digitizing Modules LDM88 with the available firmware versions standard 88 183 filling 88 184 loss in weight 88 185 1 3 Acronyms and Definitions 1 3 1 Acronyms This s...

Страница 7: ...ommunicates with 4 levels of priority on the backplane The highest priority communication is initiated on direct commands from the CAN controller either by accessing a SDO or by using RPDO3 The second...

Страница 8: ...applications the TPDO2 is used to send triggered measurements With RDPO1 frames you can send simple commands without an acknowledgement The functions are select Gross or Net value in TPDO1 Set or Clea...

Страница 9: ...ribed below 0001 Under range 0002 Over range 0004 Not within Zero range not yet implemented zero 0008 Exactly zero 0010 No motion still stand steady state 0020 Tare set 0040 Preset tare 0 tare is meas...

Страница 10: ...verrun Emergency message 3 2 Communication Profile The parameters which are critical for communication are determined in the communication profile This includes the data for manufacturer s product nom...

Страница 11: ...fe Time Factor UI8 rw 3 Wait time is set by the NMT Master or the configuration tool 100E 0 Node guarding identifier UI32 ro 0x700 NodeID Node guarding identifier 1010 0 1 2 Number of elements Save al...

Страница 12: ...ure Asynchronous communication 1403 0 1 2 Number of elements COB ID Transmission type UI8 UI32 UI8 ro ro ro 2 80000500H NodeID FFH Communication parameters of 4 th Receive PDO Determined using the CAN...

Страница 13: ...time of PDO in 100 s steps A repeated transmission of the PDO is prevented within the defined interval of the inhibit time Event based sending of PDO value when a dosed value is present 1802 0 1 2 3 N...

Страница 14: ...odule scanned Gateway Status 1A01 0 1 2 3 4 Number of mapped Entries in Tx PDO 2 1 st Object 2 nd Object 3 rd Object 4 th Object UI8 UI32 UI32 UI32 UI32 ro ro ro ro ro 8 20010420H 20020110H 20020208H...

Страница 15: ...Tare Dosed weight Dosed tare Average weight A D sample H B Device ID H B FW Version Device Status ADC Reference UI8 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 ro ro ro ro ro ro ro ro ro ro ro ro 11...

Страница 16: ...ling process TRIG the next filling cycle 2006 0 1 2 3 4 Number of entries LDM select 0 63 Factory Default Direct command 1 Direct command 2 UI8 UI8 UI8 UI8 UI8 ro wo wo wo wo 4 LDM LDM Number of syste...

Страница 17: ...meter 18 th Parameter 19 th Parameter UI8 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 ro rw rw rw rw rw rw rw rw rw rw rw rw rw rw rw rw rw rw rw 19 Number of parameter...

Страница 18: ...light value in percent Range 0 50 Zero check average time in milliseconds Tare delay in milliseconds Tare average time in milliseconds 0 Tare off Delay after pre fill in milliseconds Blanking time in...

Страница 19: ...rw rw rw rw rw rw rw rw 12 Number of calibration parameters Absolute gain calibrate TAC protected Absolute zero calibrate TAC protected Calibrate enable enables TAC when the TAC is written Calibrate...

Страница 20: ...valve open 0002 Fine valve open 0004 Dose program running 0008 Not used 0010 Not used 0020 Not used 0040 Tare out of range no filling in this cycle 0080 Zero out of range FF00 The High byte has the fo...

Страница 21: ...Retriggers Count UI8 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 ro rw rw rw rw rw rw rw rw rw rw rw rw 12 Number of Check Weigher parameters Trigger Level Trigger Egde ReTrigWindow ReTrigTime Hol...

Страница 22: ...point 3 Set point 4 UI8 I32 I32 I32 I32 ro rw rw rw rw 4 Number of Set point parameters Set point 1 hysteresis Set point 2 hysteresis Set point 3 hysteresis Set point 4 hysteresis 27FF Number of entr...

Страница 23: ...8 REAL32 REAL32 REAL32 ro ro ro ro 3 Number of entries in the mass flow data Mass Flow Value Mass Flow Trend Total Mass 2B00 2B3F for LDM 0 63 0 1 2 3 4 5 Number of entries Decimal Point Scale dTime d...

Страница 24: ...These entries are mandatory according to DS401 They are the same as for index 6402 but shifted 8 bits to the right value 256 6402 0 1 2 3 4 5 6 7 Number of entries Gross weight Net Weight Tare Dosed w...

Страница 25: ...Manual MCS 64 Page 25 Notices...

Страница 26: ...sion LDM 88 1 Average Weight GA is available and refreshes when a new measurement is ready only for firmware 88 183 Dosed Weight GD is available and refreshes when a new measurement is ready only for...

Страница 27: ...e setting channel 3 Index 2102 Subindex 9 Can be used to get information regarding all the commands available e g Net weight channel 1 Index 2900 Subindex 2 AD sample channel 3 Index 2902 Subindex 7 N...

Страница 28: ...AZ AG ZT FD CS 30 4 3 Motion detection Commands NR NT 34 4 4 Filter setting Commands FM FL UR 35 4 5 Set Zero Tare and Reset Zero Tare Commands SZ RZ ST RT 37 4 6 Output Commands GG GN GT GS 39 4 7 S...

Страница 29: ...se to this request gives the firmware version of the active device IS Request device status 2900sub0A Master PC PLC sends Device responds IS S 240000 example The response to this request comprises of...

Страница 30: ...or setup the maximum output value Permitted values are between 1 99999 Master PC PLC sends Device responds Result CM M 30000 Request CM 30000 CE E 00017 example Request TAC counter CE 17 CE_17 OK Cali...

Страница 31: ...ence active DP_0 OK Setting no decimal point CZ Set calibration zero point 2300sub0A This is the reference point for all weight calculations and is subject to TAC control Master PC PLC sends Device re...

Страница 32: ...0000 Request Meas range 2 000 mV V CE E 00017 example Request TAC counter CE 17 CE_17 OK Calibration sequence active AG_19998_90900 OK new Measuring range 1 9998 mV V 90900 d Factory default 200000 2...

Страница 33: ...and the TAC will be incremented by 1 Note All calibration and setup information will be lost by issuing this command Master PC PLC sends Device responds Result CE E 00017 example Request TAC counter...

Страница 34: ...idered as stable Permitted values are between 0 and 65535 Master PC PLC sends Device responds Result NR R 00010 Request NR 10 d NR_2 OK Setting NR 2 WP OK Setting saved NR 2 i e fluctuations within a...

Страница 35: ...rder with Gaussian characteristic damping is 40 dB decade see table mode 0 The digital FIR filter works as a low pass filter with quick response damping see table mode 1 Factory default 0 FL Setup fil...

Страница 36: ...e preceeding IIR or FIR filter an average will be calculated The average will be calculated over 2UR samples Permitted values 0 7 see table below UR 0 1 2 3 4 5 6 7 No of samples 1 2 4 8 16 32 64 128...

Страница 37: ...ange NR and the No motion time NT If the weight signal is stable the response to the IS command Device Status will show the signal stable bit active and the SZ command will be accepted OK If the signa...

Страница 38: ...T OK Tare performed If the weight signal is stable the response to the IS command Device Status will show the signal stable bit active and the ST command will be accepted OK If the signal stable bit i...

Страница 39: ...sent in TPDO1 if selected by index 1A00sub01 Master PC PLC sends Device responds Result GN G 01 000 Net weight 1 000 d GT Get Tare value 2000 2001sub03 Master PC PLC sends Device responds Result GT T...

Страница 40: ...n the setpoint value is reached Example Setpoint Hysteresis Load OFF ON S1 20 00 kg H1 1 00 kg increasing 21 01 kg 0 21 00 kg S1 20 00 kg H1 1 00 kg decreasing 20 00 kg 19 99 0 kg S1 20 00 kg H1 1 00...

Страница 41: ...ed net weight A1 0 Not filtered gross weight A1 1 Not filtered net weight Request Set base for setpoint 1 Master PC PLC sends Device responds Result A1 1 00000 Allocation gros weight A1_1 OK Allocatio...

Страница 42: ...es are 0 500 ms Master PC PLC sends Device responds Result MT M 00100 Request MT 100 ms MT_500 OK Setting MT 500 ms Note MT 0 means disabled trigger and average function Factory default 0 GA Get Avera...

Страница 43: ...dge and parameter 1 select rising edge Master PC PLC sends Device responds Result TE E 001 Request TE 1 TE_0 OK Setting TE 0 Factory default 0 falling edge Note This command cannot be used together wi...

Страница 44: ...TW Tare Window Typical Checkweigher Signal Basic settings Typ Checkweigher settings DX 1 full duplex UR 0 max 600 meas s TL 65535 off RT 65535 off TW 10 d TI 200 ms SD 100 ms MT 300 ms FL 2 8 Hz Trig...

Страница 45: ...sends Device responds Result RW R 65535 Request RW 65535 RW_500 OK Setting RW 500d Factory default 65535 TT Re Trigger Time 2500sub04 Set the re trigger time in milliseconds ms Re trigger time is the...

Страница 46: ...zero The new average tare value is calculated over the average tare time defined by TI If the tare average is outside tare window the tare will not be updated Master PC PLC sends Device responds Resul...

Страница 47: ...1 and 126 Note Setting the device address to 0 or 127 are not allowed Address 0 is used by the Network Management Protocol NMT Request Master PC PLC sends Device responds Result AD A 001 Request Addre...

Страница 48: ...and precedes the CS command See the CE and CS commands on page 26 Both the setup parameters and the setpoint parameters are stored in EEPROM using the WP and SS commands respectively WP Save the setup...

Страница 49: ...D21 DI SC AC GD DT SD Remark These commands are only available in firmware 88 184 Note All setups should be stored with the SD command before power off A separate description of these commands is avai...

Страница 50: ...1 to PL5 LC LI GF GR GM Remark These commands are only available in firmware 88 185 Note All setups should be stored with the SL command before power off A separate description of these commands is av...

Страница 51: ...required 32 10 Measurements sec 64 5 Measurements sec This speed estimation is for example valid for gross net weight For applications like check weighers filling loss in weight etc each LDM 88 1 calc...

Страница 52: ...e pages describe the MCS 64 pcbs and the address setups for the expansion boards 5 1 Base Board MB 89 1 for 1 Gateway and 2 LDM 88 x Exc Sen Sig Sig Sen Exc Exc Sen Sig Sig Sen Exc Logic in Load Cells...

Страница 53: ...Page Manual MSC 64 54 5 2 Extension Board MB 89 2 for 2 LDM 88 x...

Страница 54: ...ig Sig Sen Exc Exc Sen Sig Sig Sen Exc Exc Sen Sig Sig Sen Exc Logic in Load Cells Logic out C 0 1 2 3 C C 0 1 2 3 C C 0 1 2 3 C C 0 1 2 3 C BC 470uF HP ON DIP R2 R1 MT1 MT27 MT28 MT2 J14 J13 J12 J11...

Страница 55: ...t C 0 1 2 3 C C 0 1 2 3 C C 0 1 2 3 C BC 470uF HP R2 R1 J14 J13 J12 Exc Sen Sig Sig Sen Exc C 0 1 2 3 C J11 Exc Sen Sig Sig Sen Exc Exc Sen Sig Sig Sen Exc Exc Sen Sig Sig Sen Exc Exc Sen Sig Sig Sen...

Страница 56: ...MB 89 2 MB 89 2 1 2 3 4 5 OFF ON MB 89 3 1 2 3 4 OFF ON MB 89 3 MB 89 3 MB 89 3 MB 89 3 1 2 3 4 5 OFF ON MB 89 2 MB 89 3 1 2 3 4 OFF ON MB 89 3 1 2 3 4 5 OFF ON MB 89 2 MB 89 4 1 2 3 OFF ON 2 ch 4 ch...

Страница 57: ...B 89 4 30 ch MB 89 4 1 2 3 OFF ON MB 89 4 MB 89 4 MB 89 2 MB 89 1 MB 89 2 MB 89 3 MB 89 4 26 ch MB 89 4 MB 89 1 MB 89 2 MB 89 3 MB 89 4 32 ch MB 89 4 1 2 3 OFF ON MB 89 4 MB 89 2 MB 89 3 1 2 3 OFF ON...

Страница 58: ...gic out C 0 1 2 3 C C 0 1 2 3 C Y 5 V 0 BC 470uF HP J7 J8 J9 V DC 12 24 V DC PC6 20kg C3 Shield Input 0 Common VDC or VDC Service Port RS 232C For checkweigher application Trigger measuring signal or...

Страница 59: ...ero Input 0 Input 1 pos Pulse Logic in Load Cells Logic out C 0 1 2 3 C C 0 1 2 3 C Y 5 V 0 BC 470uF HP J7 J8 J9 Output 0 coarse feed Output 1 fine feed GND 12 24 V DC PC6 20kg C3 Remark Valves switch...

Страница 60: ...1 35 V DC 500 mA or 25 V AC 500 mA 50 60 Hz Inputs LDM 88 1 opto isolated 10 30 V DC max 3 mA Output 1 0 Output 3 2 Output 4 3 Common C Output 2 1 Output 1 0 Output 3 2 Output 4 3 Common C Output 2 1...

Страница 61: ...DM 88 184 for dosing filling of fluids LDM 88 185 for mass flow trend and totalizing of fluids powder 5 11 Appendix For CANbus communication via PC Win2000 XP with USB port you can use PCAN USB Adapte...

Страница 62: ...articles are in accordance with the supporting documents as supplied by the manufacturer To ensure this the necessary monitoring measures during production have been met We the manufacturer are under...

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