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GLDM 64.1 Technical Manual rev. 1.30 February 
2020 

Page 40 of 50 

 

7.2.  The PDOs 

The Weight and status is sent using TPDO1. One TPDO1 is sent each time a new measurement is ready. The 
high measuring rate of the GLDM 

64.1 will result in approx. 1200 TPDO1’s per second. If the PLC system 

can’t handle 1.200 meas./sec., the output rate can be reduced – see the command NS1_6 (index 2007 sub 6), 
only for CANbus available. 
The TPDO2 is sent when an average measurement is ready. The TPDO2 has the same format as TPDO1. 
The TPDO3 is sent when the tare changes. It has the same format as TPDO1. 

 

The format of the TPDO1, TPDO2 and TPDO3 is: 

 

32 bit 

16 Bit 

8 bits 

8 Bit 

Weight 

Qualifier 

Module Number 

Type 

 

The first field is a single precision float value carrying weight information, gross or net value if it is a TDPO1, 
average weight if it is a TPDO2 and tare value if it is a TPDO3. 

The qualifier follows as a 16 bit field with the following values defined: 

0x0001 - Under range, 
0x0002 - Over range, 

0x0008 - Center zero, 
0x0010 - No motion, 
0x0020 - Tare set, 

0x0080 

– ADC Error, 

0x0100 - Set-point 0 (source>limit), 
0x0200 - Set-point 1, 
0x0400 Set-point 2, 
0x0800 Set-point 3, 
0x1000 Filling in progress, 
0x2000 Filling complete, 
0x4000 Average data ready. 

 

The third field is the module number (CAN Open address) as an unsigned 8 bit value. 

The fourth field is a code identifying the type of the weight field defined as: 

0x00 = Gross weight. 
0x01 = Net weight. 
0x02 = Tare weight. 
0x03 = Average weight. 

 

TPDO1 

 

➢

  Weight values are available at all times 

➢

 

 

The following table shows the information of TPDO1: 

32 bit 

16 bit 

8 bit 

8 bit 

 

➢

  Default: Net weight. 

➢

  Refresh time: Controlled by the setup of command UR. 

➢

  Format: Floating point single precision (IEEE 754) 

 

TPDO2 

➢

  Average weight GA is available and refreshes when a new measurement is ready. 

 

TPDO3 

➢

  Tare weight GT is available and refreshes when a new tare value is set. 

Weight 

Module Status 

Module Number 

0 or 1 

 

Содержание GLDM 64.1

Страница 1: ...uary 2020 Page 1 of 50 Load Cell Digital Module Type GLDM 64 1 TECHNICAL MANUAL FIRMWARE TYPE 0 BASIC INCLUDING COMMUNICATION PROFILE CANOPEN Firmware Version 64 181 v 3 00 or higher Hardware Version 64 105 v 1 xx Document No X64 Rev 1 30 EN ...

Страница 2: ...R RS 14 6 1 1 ID Get Device Identity 14 6 1 2 IV Get Firmware Version 14 6 1 3 IS Get Device Status 14 6 1 4 SR Software Reset 15 6 1 5 RS Read Serial Number 15 6 2 Calibration Commands CE CM n CI MR DS DP CZ CG ZT FD IZ ZR ZI TM TN ZN AZ AG CS 15 6 2 1 CE Read TAC Counter Open Calibration Sequence 15 6 2 2 CM n Set Maximum Output Value 15 6 2 3 CI Set Minimum Output Value 16 6 2 4 MR Set Multi ra...

Страница 3: ...Value automatically 26 6 7 5 SL Send Data String Average Gross and Status automatically 26 6 7 6 SW Send Data String Net Gross and Status continuously 26 6 8 Commands for External I O Control IN IO and OM 27 6 8 1 IN Read status of the logic inputs 27 6 8 2 IO Read modify the status of the logic outputs 27 6 8 3 OM Control of the logic outputs by the host application 27 6 9 Setpoint Output Command...

Страница 4: ...eraging Time for Re trigger Function 36 6 13 3 TS Stop Value for Re trigger Function 36 6 13 4 DT Short time Averaging Period 36 6 13 5 TW Window for Automatic Taring 37 6 13 6 TI Averaging Time for Automatic Taring 37 6 13 7 Example of Live Multihead Scale Measurement with DOP4 38 7 CANopen interface 39 7 1 General 39 7 2 The PDOs 40 7 3 The SDOs 41 7 4 Communication Profile 41 7 5 Object Directo...

Страница 5: ...up Four Transducers shall not be liable against any damages or problems arising from the use of any options or any consumable products other than those designated as Original Group Four Transducers Products NOTICE The contents of this manual are subject to change without notice Copyright 2012 2020 by Group Four Transducers ApS DK 3540 Lynge Femstykket 6 Denmark RIGHTS AND LIABILITIES 2 Safety Inst...

Страница 6: ... scale intervals n 10 000 Minimum input voltage per VSI µV 0 2 Measuring range FS mV V 3 3 Maximum resolution at FS approx incr 880000 Measuring rate Hz 9 4 to 1200 Digital filter cut off frequency 3dB Hz 0 25 to 18 Bridge excitation voltage VDC 5 Linearity error relative to full scale 0 0005 Temperature effect on zero relative to full scale 10 K 0 0003 Typical Temperature effect on span 10 K 0 00...

Страница 7: ...ad cell 13 Sen Sense for load cell 14 Exc Excitation for load cell Colour code of standard load cells e g Group Four 3 3 Load Cell Connection The load cell wiring should be made carefully before energizing to avoid damages to the amplifier and the load cells The input resistance of the load cells that you want to connect should be 50 Ω ohms In case of using a load cell scale with 4 wire cable you ...

Страница 8: ...he CAN open interface The serial port supports ASCII Protocol 3 6 CANbus Interface The CANbus interface can be used for communication in a CANopen network with transmission speed 10 1000 kbit s The CAN lines CANH 5 and CANL 4 can be connected to a CANopen master Termination resistors must be present in the CAN network A 120 Ω resistor inside the GLDM 64 1 can be switched ON OFF using jumper 6 When...

Страница 9: ...libration commands In case the seal switch is closed the following commands or menus can t be proceeded Calibration Zero Calibration Gain Calibration Absolute Zero Calibration Absolute Gain Calibration Minimum Calibration Maximum Zero Tracking Zero Range Display Step Size Decimal Point Calibration Save Factory Default Non Volatile Tare Non Volatile Zero Initial Zero power ON 3 8 Logic Inputs Outpu...

Страница 10: ...e _ and Enter CR LF Master PC SPS sends Slave GLDM 64 1 responds Meaning ID D 6410 Identity of the device IV V 0131 Firmware version of the device GN N 1234 56 Net weight with algebraic sign floating point 4 3 Baud Rate For baud rate setup use command BR see chapter 8 10 4 Factory default 115200 baud 4 4 Getting Started You will require PC or PLC with a RS232 communication port One GLDM 64 1 conne...

Страница 11: ...9 GA Output Get Triggered Average Value None 23 32 GG Output Get Gross Value None 23 GI Retrieves an image file from the LDU s EEPROM None 31 GL Output Get Data String Average Gross Status None 24 GN Output Get Net Value None 23 GS Output Get ADC Sample Value None 23 GT Output Get Tare Value None 23 GW Output Get Data String Net Gross Status None 23 H n Setpoints Hysteresis for Setpoint S0 H0 S1 H...

Страница 12: ... SW Auto transmit Send Data String Net Gross Status continuously None 25 SX Auto transmit Send ADC Sample Value continuously None 25 SZ Scale function System Zero Point None 21 TD Transmit delay For compatibility only 0 255 ms TE Trigger function Trigger on Rising Edge 1 or Falling Edge 0 0 or 1 32 TI Trigger function Averaging Time for Automatic Tarring 0 65535 ms 36 TL Trigger function Trigger L...

Страница 13: ...ce types on a bus 8 1 2 IV Get Firmware Version SDO 2900 sub 09 Master PC SPS sends Slave GLDM 64 1 responds IV V 0300 The response to this request gives the firmware version of the device 8 1 3 IS Get Device Status SDO 2900 sub 0A Master PC SPS sends Slave GLDM 64 1 responds IS S 067000 example The response to this request comprises of two 3 digit decimal values 067 and 000 which can be decoded a...

Страница 14: ...ed to check if critical parameters have been change without re verification After each calibration save CS the TAC counter increases by 1 8 2 2 CM n Set Maximum Output Value CM CM1 SDO 2300 sub 07 CM2 SDO 2300 sub 0E CM3 SDO 2300 sub 0F This command CM n with n 1 2 or 3 is used to set up the maximum output value respective the switching point in multi range applications Permitted values are from 0...

Страница 15: ...nds Meaning MR M 00000 Request MR 0 Multi interval CE E 00017 example Request TAC counter CE17 CE17 OK Calibration sequence active MR1 OK Setup MR 1 Multi range Note Single range applications ignore this parameter 8 2 5 DS Set Display Step Size SDO 2300 sub 0C This command allows the output to step up or down by a unit other than 1 Permitted values are 1 2 5 10 20 50 100 200 and 500 Master PC SPS ...

Страница 16: ...fference to the zero point calibration is less than approx 0 02mV V then the GLDM will respond with an error message ERR too 8 2 9 ZT Enable Disable Zero Tracking SDO 2100 sub 12 This command enables or disables the zero tracking ZT 0 disables the zero tracking and ZT 1 or higher enables the zero tracking Issuing the command without any parameter returns the current ZT value Permitted values are 0...

Страница 17: ...ables the standard zero range of 2 of max Master PC SPS sends Slave GLDM 64 1 responds Meaning CE E 00017 example Request TAC counter CE17 CE17 OK Calibration sequence active ZR100 OK Setup Zero range 100 d 8 2 13 ZI Initial Zero Range SDO 2300 sub 10 Define the initial zero range 0 999999 d If ZI is non zero the device will perform an automatic Set Zero when the weight stabilizes with the No moti...

Страница 18: ... setup in mV V Permitted values are 33000 3 3000 mV V Master PC SPS sends Slave GLDM 64 1 responds Meaning AZ Z 00796 Request Zero point 0 0796 mV V CE E 00017 example Request TAC counter CE17 CE17 OK Calibration sequence active AZ_00500 OK New Zero point 0 0500 mV V Factory default 00 000d 0 0000mV V input signal 8 2 18 AG Absolute gain calibration eCal SDO 2300 sub 01 The command AG is used as a...

Страница 19: ...eved whenever the signal is steady for the period of time set by NT during which it cannot fluctuate by more than NR increments The stable condition activates the relevant bit of responses to Info Status IS Following functions are disabled if motion is detected Calibrate Zero CZ Calibrate Gain CG Set Zero SZ and Set Tare ST After such a command the system returns an error ERR if the signal is not ...

Страница 20: ...ass filter and Gaussian characteristics The attenuation is 40dB decade 12 dB octave The digital FIR filter works as a low pass filter with quick response damping see table mode 1 Factory default 0 IIR filter 8 4 2 FL Filter setting SDO 2100 sub 04 This command defines the 3dB filter cut off frequency Master PC SPS sends Slave GLDM 64 1 responds Meaning FL F 00003 Request FL 3 4 Hz FL1 OK Setup FL ...

Страница 21: ...w current zero can be set up by using the SZ command If the SZ command is issued and accepted then all weight values will then be based on the new current zero Please remember that the zero value will be subject to the Zero tracking function if enabled If the weight signal is not stable as defined by No motion range NR and No motion time NT then both the set zero SZ and set tare ST commands will b...

Страница 22: ... tare command to be accepted Master PC SPS sends Slave GLDM 64 1 responds Meaning ST OK Tare performed Net operation 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 is not active the ST command will be rejected and the GLDM will respond with ERR error 8 5 4 RT Reset Ta...

Страница 23: ...value 125785 d For service purposes it may be helpful to note the GS values for the no load or zero output and when the calibration load is applied 8 6 5 GW Get Data String Net Gross and Status n a Master PC SPS sends Slave GLDM 64 1 resp Meaning GW W 000100 00110005AB example Net value 000100 d no decimal point Gross value 001100 d no decimal point Status bits 1 0 Hex Status bits 2 5 Hex Check su...

Страница 24: ...Gross value 001100 d no decimal point Status bits 1 0 Hex Status bits 2 5 Hex Check sum B6 Hex For check sum status bits 1 and status bits 2 see command GW 8 6 8 OF Output Format for Data String GW and GL n a This command puts the range information and or the decimal point into the long data strings of the GW and GL output response Master PC SPS sends Slave GLDM 64 1 responds Meaning CE E 00017 ex...

Страница 25: ... SPS sends Slave GLDM 64 1 responds Meaning SA OK Auto Transmit triggered average value This command will start to auto transmit the measurement value of the current trigger cycle The trigger setup commands are described in the chapters 8 12 and 8 13 8 7 5 SL Send Data String Average Gross and Status automatically Master PC SPS sends Slave GLDM 64 1 resp Meaning SL L 000100 00110005B6 example Aver...

Страница 26: ...d FET conducting Please note that the status of the logic outputs is normally determined by the internal setpoints see section 8 9 3 and therefore setting the logic output status using the IO commands is not allowed Setting Master PC SPS sends Slave GLDM 64 1 responds Meaning IO_0010 OK Set output 1 active IO_0011 OK Set outputs 0 and 1 active However the OM command can be used to allow the status...

Страница 27: ...GLDM 64 1 Technical Manual rev 1 30 February 2020 Page 27 of 50 returned regardless of the OM setting Sending OM_0000 disables the external logic output control ...

Страница 28: ...0000 Request Setpoint S0 10000 d S0_3000 OK Setup Setpoint S0 3000 d S1 S1 011000 Request Setpoint S1 11000 d S1_5000 OK Setup Setpoint S1 5000 d 8 9 2 H n Hysteresis and Switching Action for a Setpoint H0 SDO 2700 sub 01 H1 SDO 2700 sub 02 H2 SDO 2700 sub 03 H3 SDO 2700 sub 04 The setpoint switching logic is defined by the numeric value and polarity of the hysteresis Examples of the switching act...

Страница 29: ...A0_1 OK Setup Source Net for setpoint S0 A0 A0 00001 Request Source Net for setpoint S0 A1_1 OK Setup Source Net for setpoint S1 Note All changes to the setpoint settings have to be stored in the EEPROM using the SS command See chapter 8 11 3 8 9 4 HT Hold time for all Setpoints SDO 2500 sub 05 This command defines the hold time for the setpoint limit The signal has to exceed the setpoint limit co...

Страница 30: ...l and CAN Interface n a The command NS Interface Param New Value can display or set various communication parameters in the device The parameter Interface addresses the physical interface on the device and the parameter Param addresses the available parameters for this interface All GLDM devices have a serial channel UART and a CAN interface Serial channel Interface 0 The following parameters are ...

Страница 31: ... the following baud rates can be setup 9600 19200 38400 57600 115200 230400 and 460800 Baud Master PC SPS sends Slave GLDM 64 1 responds Meaning BR B 115200 Request 115200 Baud factory default BR230400 OK Setup 230400 Baud Factory default 115200 baud Note After editing the baud rate you first have to save the changes command WP and then restart the device 8 10 5 DX Full Duplex Serial channel n a M...

Страница 32: ... action unless it is preceded by the CE_XXXXX 8 11 2 WP Save the Setup Parameters SDO 2004 sub 03 With this command the settings of the Filter FL FM the No motion NR NT and the communication AD BR DX will saved in the EEPROM Master PC SPS sends Slave GLDM 64 1 responds Meaning WP OK Setup data saved WP ERR Error 8 11 3 SS Save Setpoint Parameters SDO 2004 sub 05 With this command the setpoints S n...

Страница 33: ...d time plot of a typical checkweigher cycle see below 8 12 3 GA Get Triggered Average Value SDO 2900 sub 06 This command reads the measurement result of a measurement cycle The measurement value has been averaged according the defined measuring time Master PC SPS sends Slave GLDM 64 1 responds Meaning GA A 001 100 Request GA 1100 g Note For preventing errors during the read out of the data the reg...

Страница 34: ... trigger commands SD and TL Default setting TL 999999 trigger level disabled Note All trigger possibilities are always available in parallel If a software trigger command TR or a hardware trigger digital input IN0 will be used the trigger level should be set to its maximum value TL 999999 This setting disables the trigger level Figure Time plot of a typical checkweigher cycle 8 12 7 SA Send Trigge...

Страница 35: ...64 1 Technical Manual rev 1 30 February 2020 Page 35 of 50 8 12 8 Example of Live Checkweigher Measurement with DOP4 This is an example of recording a checkweigher measurement while passing the weighing belt ...

Страница 36: ...RW 500 d 8 13 2 TT Averaging Time for Re trigger Function SDO 2500 sub 04 This command defines a special average time while the re trigger function is active If this time period has been elapsed the measurement cycle will be finished The setting TT 0 disables the re trigger function Default setting TT 65535 ms Master PC SPS sends Slave GLDM 64 1 responds Meaning TT T 65535 Request TT 65535 ms TT30...

Страница 37: ...raged tare value falls outside this window then the tare value will not be updated Default setting TW 0 automatic taring disabled Master PC SPS sends Slave GLDM 64 1 responds Meaning TW T 00000 Request TW 0 d TW100 OK Setup TW 100 d 8 13 6 TI Averaging Time for Automatic Taring SDO 2500 sub 07 This command defines the averaging time for the automatic taring Within this time period the system calcu...

Страница 38: ...Technical Manual rev 1 30 February 2020 Page 38 of 50 8 13 7 Example of Live Multihead Scale Measurement with DOP4 This is an example of recording a multihead scale measurement while potatoes fall into the scale ...

Страница 39: ...mits 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 checkweigher 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 RPD...

Страница 40: ...if it is a TPDO3 The qualifier follows as a 16 bit field with the following values defined 0x0001 Under range 0x0002 Over range 0x0008 Center zero 0x0010 No motion 0x0020 Tare set 0x0080 ADC Error 0x0100 Set point 0 source limit 0x0200 Set point 1 0x0400 Set point 2 0x0800 Set point 3 0x1000 Filling in progress 0x2000 Filling complete 0x4000 Average data ready The third field is the module number ...

Страница 41: ...Are only available on request See tables 6 5 Object Directory Can be used for complete setup of the GLDM 64 1 via CAN bus master e g Filter setting Index 2100 Subindex 4 Filter Mode setting Index 2100 Subindex 9 Can be used to get information regarding all the commands available e g Net weight Index 2900 Subindex 2 AD sample Index 2900 Subindex 7 7 4 Communication Profile The parameters which are ...

Страница 42: ...B ID Emergency Message UI32 ro 0x80 Node ID COB ID of the Emergency Object 0x1017 0x00 Heartbeat Time UI16 rw 0 Producer Heartbeat time in ms If index 0x1017 is non zero the Heartbeat protocol is used otherwise the Node guard protocol is used 0x1018 0x00 0x01 0x02 0x03 0x04 Identity Object Vendor ID Product Code Revision Number Serial Number UI8 UI32 UI32 UI32 UI32 ro ro ro ro ro 4 0x269 0x6410 Nu...

Страница 43: ...0060408 Mapping parameters of the 2nd Receive PDO Object is a bitwise command Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Cmd 0x1602 0x00 Number of mapped Entries in Rx PDO 3 UI8 ro 0 Mapping parameters of the 3rd Receive PDO disabled 0x1603 0x00 Number of mapped Entries in Rx PDO 4 UI8 ro 0 Mapping parameters of the 4th Receive PDO disabled 0x1800 0x00 0x01 0x02 Number of elements COB ID Transmission...

Страница 44: ...ct 4th Object UI8 UI32 UI16 UI8 UI8 ro ro ro ro ro 4 0x29000620 0x29000D10 0x20070208 0x00000000 Mapping parameters of the 2nd Transmit PDO 32 bit IEEE754 floating point average value Qualifier Module number Value type 0x1A02 0x00 0x01 0x02 0x03 0x04 Number of mapped Entries in Tx PDO 3 1st Object 2nd Object 3rd Object 4th Object UI8 UI32 UI16 UI8 UI8 ro ro ro ro ro 4 29000320H 29000D10H 0x2007020...

Страница 45: ... Save general set up parameters WP command Save dosing setup parameters command SD command Save set point parameters SS command 0x2005 0x00 0x01 0x02 0x03 Number of entries Start command Stop command Trigger command UI8 ro wo wo wo 0x03 Number of entries Start Cycle SC command Abort Cycle AC command Trigger TR command 0x2006 0x00 0x01 0x02 0x03 0x04 Number of entries Dummy Factory Default Command ...

Страница 46: ...r Preset Tare UI8 UI32 UI32 UI32 UI8 UI32 UI8 UI8 UI16 UI8 UI16 UI16 UI8 U32 UI16 UI32 UI32 UI8 UI8 UI32 UI32 UI32 UI8 I32 ro rw rw rw rw rw rw ro rw rw rw rw rw rw rw rw rw rw rw rw rw rw rw rw 0x17 0 0 0 3 0 0 0 1 1000 0 0 0 0 0 0 0 0 0 0 1 0 Number of parameters Not used Not used Not used Filter setting FL command Not used Digital Outputs IO command Digital Inputs IN command Measuring Time MT c...

Страница 47: ... I32 I32 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 rw rw rw rw 0x17 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 Number of parameters PreFill Mode PD1 command Inflight Correction PD2 command Zero Check time PD3 command Tare Delay PD4 command Tare Average Time PD5 command Delay After Prefill PD6 command B...

Страница 48: ...te min TAC protected CI command Not used Calibrate zero TAC protected CZ command Decimal point TAC protected DP command Display step size TAC protect DS command Multi range multi interval selection TAC protected MR command Calibrate max 2 TAC protected CM2 command Calibrate max 3 TAC protected CM3 command Initial zero range TAC protected ZI command Zero range TAC protected ZR command Tare mode TAC...

Страница 49: ...oint 1 Alloc source set point 2 Alloc source set point 3 Alloc source set point 4 UI8 UI8 UI8 UI8 UI8 ro rw rw rw rw 0x04 0 0 0 0 Number of Set point parameters Set point 1 allocation source A0 command Set point 2 allocation source A1 command Set point 3 allocation source A2 command Set point 4 allocation source A3 command 0x2900 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0...

Страница 50: ...fficers at the relevant National Weights Measures Office will then reveal the extent of any pattern testing that may be necessary to ensure compliance Restrictions upon usage when in Approved applications A number of performance restrictions must come into force These restrictions are the number of display divisions which become limited to 10000 divisions and the sensitivity per display division w...

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