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CAN Interface (HG 73350)

HG 7335xZA

English, Revision 03, Date: 20.11.2015

6.5.4.13 Transmit PDO_1 Parameter

6.5.4.14 Transmit PDO_2 Parameter

Index

Sub Index

Name

Format

Attr.

Map

Default

Meaning

0x1800

TxPDO_1
Parameter

Unsigned 8

0x04

number of sub
indexes

COB ID

Unsigned 32

0x40000180
+ Node-ID

PDO_1 valid, ID
= 0x180 + Node-
ID

Transmis-
sion Type

Unsigned 8

255

Asynchronous
event-driven

Inhibit Time

Unsigned 16

100

shortest time
period between
to transmissions
in a multiple from
100

Event Time

Unsigned 16

cycle time in ms

Table 34

CAN: Transmit PDO_1 Parameter

Index

Sub Index

Name

Format

Attr.

Map

Default

Meaning

0x1801

TxPDO_2
Parameter

Unsigned 8

0x04

number of sub
indexes

COB ID

Unsigned 32

0x40000280
+ Node-ID

PDO_2 valid, ID
= 0x280 + Node-
ID

Transmis-
sion Type

Unsigned 8

255

Asynchronous
event-driven

Inhibit Time

Unsigned 16

100

shortest time
period between
to transmissions
in a multiple from
100

Event Time

Unsigned 16

cycle time in ms

Table 35

CAN: Transmit PDO_2 Parameter

Содержание HG 7335 ZA Series

Страница 1: ...nection of 2 antennas interfaces CANopen HG 73350ZA Profibus HG 73351ZA HG 7335xZA English Revision 03 Dev by W M Date 20 11 2015 Authors RAD A F G tting KG Celler Str 5 D 31275 Lehrte R ddensen Germa...

Страница 2: ...e signal 10 4 4 The Control LEDs 11 4 4 1 CAN Bus HG 73350 11 4 4 2 Profibus HG 73351 11 5 Software 12 5 1 Monitor program 12 5 1 1 Main menu 12 5 1 2 Antenna menu 14 5 1 3 CAN menu HG 73350 16 5 1 4...

Страница 3: ...mit PDO_1 Parameter 32 6 5 4 14 Transmit PDO_2 Parameter 32 6 5 4 15 Mapping TxPDO_1 33 6 5 4 16 Mapping TxPDO_2 33 6 5 4 17 Manufacture Parameter parameters of the antenna 34 6 5 4 18 Manufacture par...

Страница 4: ...Content HG 7335xZA English Revision 03 Date 20 11 2015 4 14 3 Trade Marks and Company Names 50...

Страница 5: ...g a terminal program e g HyperTerm or for the CAN version via the various SDOs of the CANopen protocol 1 1 Variant Overview The interpreter is available in two variants that differ in the interface Th...

Страница 6: ...ks are shown in Figure 1 labeled ANT1 and ANT2 They are allocated as follows These panel jacks provide connection to the antennas It is irrelevant whether one or two antennas are connected When using...

Страница 7: ...ilable for most plugs and jacks The CAN connectors can also be used as power supply ATTENTION Do not connect 24V to pin 4 or 5 2 2 3 Profibus HG 73351 Two 5 pin B coded M12 male female indicated as BU...

Страница 8: ...plug is used in Figure 1 referred to as PWR RS232 This connection serves as the power supply Additionally the serial interface RS 232 can be used for parametrization Pin Signal Annotation 1 24 V 2 Nc...

Страница 9: ...is able to calculate and display the deviation scaled to mm For a position calibration the following things are required positioning of the antenna at nominal height The nominal height must correspond...

Страница 10: ...ls have been scaled An input amplitude of 1 Vpp reaches a full range of 75 between sum channel and the difference channel The Node ID is pre set to 1 The maximal incoming signal of all data streams ha...

Страница 11: ...ibus 4 4 1 CAN Bus HG 73350 The green LED BUS flashes after turning on the device It shows the status of the device Node stop LED flashes slowly Node reset communication and node preoperational LED fl...

Страница 12: ...ect the PC to the interpreter and start HyperTerm The monitor will start after pressing m or 5 1 1 Main menu According to the variant the following menu appears Figure 3 Screenshot Main menu of the mo...

Страница 13: ...nels are operational Selecting a menu with respectively the menus for the two antenna systems can be chosen see 5 1 2 on page 14 opens the CAN menu see 5 1 3 on page 16 opens the Profibus menu see 5 1...

Страница 14: ...tenna 1 will be explained The sub menu for antenna 2 is identical Figure 5 Screenshot Antenna menu By pressing the frequency in the range of 1 to 28 kHz can be modified Please note that the antenna HG...

Страница 15: ...the calibration the maximum of the voltage S1 is saved in Us1 In Udl1 and Udr1 the maximum of the voltage D1 on the left and right side from the wire is saved During this procedure the sensor has to b...

Страница 16: ...lable in the asynchronous mode is the inhibit time of PDO_1 In PDO_1 the system status and the cal culated distances are transmitted The inhibt time is the shortest time period between two periods tha...

Страница 17: ...first 1 the low order byte of a 16bit word is transmitted first 5 1 4 Profibus Menu HG 73351 The specification of the Profibus telegrams is shown in chapter 7 on page 38 The Profibus menu is made up...

Страница 18: ...found above the conductor By using the cor responding potentiometer for the antenna it has to be trimmed to approx 12000 units The maximum of the difference voltage can be found at a corresponding di...

Страница 19: ...am ming is displayed by points The symbol o shows that the procedure is finished Figure 10 Screenshot Firmware upload Afterwards the new firmware is started immediately If the transmission was not suc...

Страница 20: ...ecific information please refer to the corresponding norms or open the website http www can cia org en standardization technical documents where after a free registration you can download the technica...

Страница 21: ...ss Data Objects maximum 8 Byte process data TxPDO Transmit PDO the process data sent by a device RxPDO Receive PDO the process data received by a device SDO Service Data Objects serves for reading and...

Страница 22: ...mode 255 with inhibit time 0 event time 0 and saving of the parameters Additionally it can be deactivated activated temporarily by setting deleting the highest bit in the corre sponding PDO COB identi...

Страница 23: ...s its status after each transmission of PDO_1 4 0x10 calibration is active 3 0x08 DC monitoring Ud1 is OK 2 0x04 DC monitoring Ud2 is OK 1 0x02 not connected 0 0x01 Checksum of the EEprom parameter is...

Страница 24: ...on page 40 is reached 6 3 Heartbeat The device supports the heartbeat mode If a heartbeat time 0 is set in the CAN menu the status of the device is sent to the identifier 0x700 node address after the...

Страница 25: ...20000 object is not implemented SDO_ABORT_TRANSFER 0x08000020 During saving loading of parameters the signature load or save has not been used When calling calibration signature cali has not been used...

Страница 26: ...pped to Receive PDO_1 1 RO Specification of Appl Object 1 2 RO Specification of Appl Object 2 0x1800 0 RO Number of entries of Transmit PDO_1 1 RW COB ID 2 RW Transmission Type C 3 RW Inhibit Time C 5...

Страница 27: ...y 1 M 2 RW Frequency 2 M 3 RW Threshold CD1 LED M 4 RW Threshold CD2 LED M 5 RW Height of Ant 1 M 6 RW Height of Ant 2 M 7 RW Internal Height of Ant 1 M 8 RW Internal Height of Ant 2 M 0x2001 0 RO Num...

Страница 28: ...8 Bit Digital Inputs 1 RO System status 0x6401 0 RO Number of 16 Bit analog Inputs 1 RO Analog Input Us1 2 RO Analog Input Ud1 3 RO Analog Input Us2 4 RO Analog Input Ud2 5 RO X1 mm 6 RO X2 mm Table 2...

Страница 29: ...f sub indexes 01 Name 1 Vis String RO NO G_73 device name 02 Name 2 Vis String RO NO 350Z 03 Name 3 Vis String RO NO A Table 25 CAN Device Name Index Subindex Name Format Attr Map Default Meaning 0x10...

Страница 30: ...orresponding default param eters are loaded A reset is recommended 6 5 4 9 Producer Heartbeat Time When entering 0 as time this function is deactivated Index Sub Index Name Format Attr Map Default Mea...

Страница 31: ...serial num ber of the device Table 31 CAN Identity Object Index Subindex Name Format Attr Map Default Meaning 0x1400 00 RxPDO_1 Parameter Unsigned 8 RO NO 2 number of sub indexes 01 COB ID Unsigned 3...

Страница 32: ...RW No 100 shortest time period between to transmissions in a multiple from 100 s 05 Event Time Unsigned 16 RW No 10 cycle time in ms Table 34 CAN Transmit PDO_1 Parameter Index Sub Index Name Format A...

Страница 33: ...object Unsigned 32 RO No 0x64010610 mapped on Index 0x6401 06 with 16 Bit length X2 Table 36 CAN Mapping TxPDO_1 Index Sub Index Name Format Attr Map Default Meaning 0x1A01 00 number of mapped objects...

Страница 34: ...igned 16 RW Yes 10000 Frequency chan nel 2 in Hz 03 Threshold CD 1 LED Unsigned 16 RW No 1000 threshold for Us1 after exeed ing LED CD1 is lit 04 Threshold CD 2 LED Unsigned 16 RW No 1000 threshold fo...

Страница 35: ...also referred to this frequency Index Sub Index Name Format Attr Map Default Meaning 0x2001 00 number of parameter Unsigned 8 RO No 0x02 number of sub indexes 01 Start Ant 1 calibration Unsigned 32 W...

Страница 36: ...02 Node ID Unsigned 8 RW No 0x01 node address 1 03 Node Config Unsigned 8 RW No 0x01 Start in mode operational Highbyte first see Table 41 Table 42 CAN Manufacture parameter node parameter input outpu...

Страница 37: ...put Unsigned 8 RO Yes system status TxPDO_1 Table 43 CAN 8 bit digital input transmitted in TxPDO 1 Index Sub Index Name Format Attr Map Default Meaning 0x6401 00 number of 16 bit ana log inputs Unsig...

Страница 38: ...mitted they will be ignored Fre quency changes are carried out with the frequency switch time specified in the Tech nical Data Value Format Range Description Status unsigned 8 0 0xff Status bits accor...

Страница 39: ...g too high 3 Wrong transmission parameters set 4 No terminator 1 Control the connections 2 Connect the signal grounds 3 Choose the right parameter using the monitor program see section 5 1 on page 12...

Страница 40: ...CAN Bus not electrically insulated CANopen Device Profil DS 401 Node ID and baud rate can be configured via the serial interface Terminating resistance is not integrated Profibus not electrically insu...

Страница 41: ...41 10 Appendix A Block Diagrams Figure 11 Block diagram HG 73350 CAN Bus Figure 12 Block diagram 73351 Profibus P RS 232 CAN S1 D1 S2 D2 CAN RS 232 BP TP 4 25kHz 40Hz 200kHz 1 25MHz P RS 232 PB S1 D1...

Страница 42: ...Appendix HG 7335xZA English Revision 03 Date 20 11 2015 42 B Diagrams Figure 13 Frequency response interpreter 73350ZA antenna 19200Z Y C Figure 14 Frequency response output compensated...

Страница 43: ...Appendix HG 7335xZA English Revision 03 Date 20 11 2015 43 Figure 15 Band filter characteristics at 5 kHz Q 20 Figure 16 Band filter characteristics at 10 kHz Q 22...

Страница 44: ...Appendix HG 7335xZA English Revision 03 Date 20 11 2015 44 Figure 17 Band filter characteristics at 15 kHz Q 21 Figure 18 Band filter characteristics at 20 kHz Q 22...

Страница 45: ...the latest version of the ESD file for the CAN configuration for download from our homepage at http www goetting agv com components 7335x D GSD File HG 73351 You can find the latest version of the GS...

Страница 46: ...AN menu HG 73350 16 Figure 8 Screenshot Profibus Menu HG 73351 17 Figure 9 Screenshot Firmware update 18 Figure 10 Screenshot Firmware upload 19 Figure 11 Block diagram HG 73350 CAN Bus 41 Figure 12 B...

Страница 47: ..._2 23 Table 15 Examples for the conversion in PDO_2 23 Table 16 CAN displayed numbers for RPDO 24 Table 17 CAN Heartbeat device statuses 24 Table 18 CAN SDO error codes 25 Table 19 CAN overview of obj...

Страница 48: ...40 CAN coding of the node baudrate 36 Table 41 CAN coding of the node baudrate 36 Table 42 CAN Manufacture parameter node parameter 36 Table 43 CAN 8 bit digital input transmitted in TxPDO 1 37 Table...

Страница 49: ...gh out the entire document In addition each document has an index listed behind the front page including pages and whenever the document has more than 10 pages following the actual system description...

Страница 50: ...re used according to the description This instruction manual has been drawn up to the best of our knowledge Installation setup and operation of the device will be on the customer s own risk Liability...

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