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9 Operation

9.1 CANopen interface

The read/write head has a standardised CANopen interface according to CiA
DS-301. All measured values and parameters can be accessed via the object
directory (OD). The individual configuration can be saved in the internal
permanent memory.

The device is delivered with node ID 32 and a bit rate of 125 Kbits/s.

Only use cables approved for CANopen.

Terminate the cables using terminating resistors (120 Ω).

The ifm cable EVC492 contains integrated terminating resistors.

9.1.1 CANopen functions

The following

CANopen

functions are available:

• 64 transmit and receive process data objects (

TPDO

1.. 64, RPDO1.. 64) in two

possible operating modes:

– individual check via remote transmission request telegram (RTR)

– event-controlled transmission

• Error messages via emergency object (

EMCY

) with support of the:

– general error register

– manufacturer-specific status register

– error list

•

Heartbeat

monitoring mechanism

• Status and error indication via LED

• In addition to the

CiA

DS-301 functionality there are more manufacturer and

profile-specific characteristics:

– setting of the

Node ID

and the bit rate via object directory entry (

SDO

)

– configuration and reading/writing of operational data via service data objects

(SDO)

• Support of the layer settings service (

LSS

)

• Support of synchronous process data transmission (

SYNC

)

Содержание DTC600

Страница 1: ...Operating instructions CANopen interface RF identification system DTC600 Read write head 11479651 00 12 2022 GB ...

Страница 2: ...nical design 8 6 4 Mounting options 8 6 4 1 Installation with angle bracket E80335 9 6 4 2 Installation with mounting device E80336 9 6 4 3 Installation with fixing bars E80337 10 6 5 Mounting distances 10 6 6 Positioning of the ID tags 11 7 Electrical connection 11 7 1 Wiring 11 8 Operating and display elements 13 9 Operation 15 9 1 CANopen interface 15 9 1 1 CANopen functions 15 9 1 2 Change the...

Страница 3: ...he ID tag 47 9 2 2 Read data from the ID tag via PDO transfer 47 9 2 2 1 Example 1 48 9 2 2 2 Example 2 48 9 2 3 Write data to the ID tag via PDO transfer 49 9 2 3 1 Example 1 50 9 2 3 2 Example 2 51 9 2 4 Error handling for PDO transfer 52 9 2 5 Read data from the ID tag via SDO transfer 52 9 2 5 1 Example 53 9 2 6 Write data to the ID tag via SDO transfer 53 9 2 6 1 Example 53 9 2 7 Lock data ra...

Страница 4: ...entary note 1 2 Warnings used ATTENTION Warning of damage to property 1 3 Legal and copyright information All rights reserved by ifm electronic gmbh No part of these instructions may be reproduced and used without the consent of ifm electronic gmbh All product names pictures companies or other brands used on our pages are the property of the respective rights owners 2 Safety instructions Übersetzu...

Страница 5: ...adhered to personal injury and or damage to property may occur The manufacturer assumes no liability or warranty for any consequences caused by tampering with the product or incorrect use by the operator Installation electrical connection set up operation and maintenance of the product must be carried out by qualified personnel authorised by the machine operator Protect units and cables against da...

Страница 6: ...ld which partly penetrates the antenna coil of the ID tag A voltage is generated by induction that supplies the data carrier with energy The device supports ID tags according to ISO 15693 5 2 CANopen technology The CANopen communication profile is based on the CAN Application Layer CAL specification of the CiA organisation CANopen is considered as a robust fieldbus with highly flexible configurati...

Страница 7: ... HLRWCOUS03 Type Rectangular 6 Installation 6 1 Notes on the unit installation Übersetzung ist nicht mehr aktuell When mounting several RFID units adhere to the minimum distances between the systems Flush mounting of a read write head in metal reduces the read write distance Device performance can be affected if positioned in the immediate vicinity of powerful HF emission sources such as welding t...

Страница 8: ...y u The mounting distances between the devices should be as large as possible u Use the devices in alternating operation u Switch the HF field of the device on off 6 3 Mechanical design Übersetzung ist nicht mehr aktuell 1 2 1 Sensing face 2 Connection can be rotated by 270 6 4 Mounting options The device can be mounted without the accessories u For installation please use the threaded sleeves on ...

Страница 9: ...et E80335 6 4 2 Installation with mounting device E80336 The mounting device is used to mount the unit on a clamp Compatible clamps E21110 with a rod diameter of 12 mm E20795 with a rod diameter of 14 mm E21109 with a rod diameter of 14 mm ...

Страница 10: ...10 6 4 3 Installation with fixing bars E80337 6 5 Mounting distances Operating mode Distance side A Distance front B For reading and writing 1200 mm 900 mm ...

Страница 11: ...d this u Use the RSSI filter 7 Electrical connection The device must be connected by a qualified electrician Device of protection class III PC III The electrical supply must only be made via PELV SELV circuits u Disconnect power before connecting the device 7 1 Wiring u Connect the device to the CAN bus using the M12 connector w Voltage is supplied via the CAN bus Pin assignment Wiring M12 connect...

Страница 12: ...3 GND 4 CAN high 5 CAN low The CAN bus connection is almost trouble free if the following points are considered u Use cables approved for CAN bus u Terminate the cables with 120 Ω terminating resistors Information on available sockets see www ifm com ...

Страница 13: ...nts 1 LEDs 2 Sensing face State Power LED green ID tag LEDs 4 x yellow CAN status LED green CAN status LED red Ready for oper ation without ID tag on Ready for oper ation with ID tag s on up to 4 LEDs on ID tag success fully read writ ten on up to 4 LEDs are flashing 2 x ...

Страница 14: ... CAN status stopped flashing slowly CAN status op erational flashes CAN LSS ser vice active flashing quickly CAN configura tion error flashes CAN warning limit for commu nication error reached flashing slowly CAN status bus off on The maximum receive signal strength depends on the type of the ID tag If the ID tag has a high receive signal strength all LEDs of the signal bar are on w The behaviour ...

Страница 15: ... are available 64 transmit and receive process data objects TPDO1 64 RPDO1 64 in two possible operating modes individual check via remote transmission request telegram RTR event controlled transmission Error messages via emergency object EMCY with support of the general error register manufacturer specific status register error list Heartbeat monitoring mechanism Status and error indication via LE...

Страница 16: ...ing is stored and is active after a software reset of the device Values between 1 and 127 may be used as Node ID The bit rate is entered in the objects 0x20F2 and 0x20F3 If the two values are identical the setting is stored and is active after a software reset of the device The following values may be used as bit rate Value Bit rate 0 1000 kBits s 1 800 kBits s 2 500 kBits s 3 250 kBits s 4 125 kB...

Страница 17: ...ID the LSS master transfers the new Node ID in the configuration mode The LSS slave replies to the master if the new Node ID is valid After changing the Node ID the LSS master switches the LSS slave again to the operating mode The new bit rate and Node ID become active after a software reset of the LSS slave 9 1 3 Set up The CANopen standard CiA301 defines three possible operating states Pre opera...

Страница 18: ... the use of 32 bit data types The setting can be changed via the controller software by reading the corresponding EDS file 9 1 5 Communication types of the process data object PDO The TPDO can be checked at any time by transmitting a remote transmission request telegram RTR Otherwise the TPDOs are sent automatically as soon as their value changes event driven As an option the CANOpen service SYNC ...

Страница 19: ...ubindex Name object Type Access Default value PDO mapping capability Save object value 0x1000 0x00 Device type u32 ro 0x00000 000 0x1001 0x00 Error register u8 ro 0x00 0x1003 0x01 0x02 Pre defined error field u32 ro 0x00000 000 0x1005 0x00 COB ID SYNC u32 rw 0x00000 000 yes 0x1008 0x00 Manufacturer device name vST R ro Article no of the de vice 0x1009 0x00 Manufacturer hard ware version vST R ro C...

Страница 20: ...it time EMCY Inhibit time between EMCY messages u16 rw 0x0000 yes 0x1017 0x00 Producer Heartbeat time Time difference be tween sent heartbeats in ms u16 rw 0x0000 yes 0x1018 0x01 Vendor ID u32 ro 0x00696 66D 0x02 Product code u32 ro Product code of the de vice ver sion 0x03 Revision number u32 ro Main re vision and cur rent soft ware version 0x04 Serial number u32 ro Serial number of the device 0x...

Страница 21: ...s 0x1600 0x163F 0x01 0x08 RPDO mapping u32 rw Link yes 0x1800 0x183F 0x01 TPDO parameter COB ID u32 rw Link yes 0x02 TPDO parameter Transmission type u8 rw 0xFF yes 0x03 TPDO parameter In hibit time u16 rw 0x00 yes 0x1A00 0x1A3F 0x01 0x08 TPDO mapping u32 rw Link yes Bus configuration Index Subindex Name object Type Access Default value PDO mapping capability Save object value 0x20F0 0x00 Node ID ...

Страница 22: ...F2 0x00 Bit rate setting A CAN bus bit rate u8 rw 4 Auto save 0x20F3 0x00 Bit rate setting B CAN bus bit rate u8 rw 4 Auto save Status and control of the reader Index Subindex Name object Type Access Default value PDO mapping capability Save object value 0x2150 0x00 Device status device status flags u32 ro yes 0x2151 0x00 Antenna active enable HF front end of the de vice bool rw 1 yes ...

Страница 23: ...ID tags dom ro Link 0x2161 0x00 Selects ID tag type val ue se lects ID tag type defined in 0x2160 u8 rw 2 yes 0x2162 0x00 RSSI u8 ro yes ID tag information Index Subindex Name object Type Access Default value PDO mapping capability Save object value 0x2180 0x00 Current UID UID of the ID tag in the reading range PDO mappa ble u64 ro 0x00000 0000000 0000 yes ...

Страница 24: ...D DSFID of the ID tag in the reading range PDO mappa ble u8 ro 0x00 yes 0x2182 0x01 ID tag in forma tion UID u64 ro 0x00000 0000000 0000 0x02 ID tag in forma tion DS FID u8 ro 0x00 0x03 ID tag in forma tion AFI u8 ro 0x00 0x04 ID tag in forma tion Memory size u32 ro 0x00000 000 0x05 ID tag in forma tion ATQA u16 ro 0x0000 ...

Страница 25: ... tion ID tag type detect ed ID tag type de fined in 0x2160 u8 ro 0x00 0x2190 0x00 Current UID up per 4 bytes 32 bit UID of the ID tag in reading range PDO mappa ble u32 ro 0x00000 0000000 0000 yes 0x2191 0x00 Current UID low er 4 bytes 32 bit UID of the ID tag in reading range PDO mappa ble u32 ro 0x00000 0000000 0000 yes ...

Страница 26: ...4 0 Read start ad dress in the user memory start of the ad dress range on the ID tag to be read u16 rw Link yes 0x2201 0x01 0x4 0 Read length length of the memory range on the ID tag to be read max 8 bytes u8 rw Link yes 0x220A 0x01 0x4 0 ID tag data 8 bytes ID tag data updated when new ID tag en ters the reading range u64 ro yes ...

Страница 27: ...D tag data 32 bit 4 bytes of ID tag data up dated when new ID tag en ters the reading range u32 ro yes Read data range Index Subindex Name object Type Access Default value PDO mapping capability Save object value 0x2280 0x00 Read start of address start of the ad dress range on the ID tag to be read u16 rw 0x0000 yes ...

Страница 28: ...t value PDO mapping capability Save object value 0x2281 0x00 Read length length of the memory range on the ID tag to be read u16 rw 0x0000 yes 0x2282 0x00 ID tag data re quested data from the ID tag as config ured in objects 0x2280 and 0x2281 dom ro ...

Страница 29: ... 0x01 0x4 0 Write start ad dress start of the ad dress range on the ID tag to be written u16 rw Link yes 0x2301 0x01 0x4 0 Write length length of the memory range on the ID tag to be written max 8 bytes u8 rw Link yes 0x2302 0x01 0x4 0 Auto write ac tivate au tomatic writing access if a new ID tag is de tected bool rw 0 yes ...

Страница 30: ...lue 0x230A 0x01 0x4 0 ID tag data 8 bytes of ID tag data u64 rw yes 0x230B 0x01 0x4 0 ID tag data 32 bit 4 bytes of ID tag data u32 rw yes 0x231E 0x00 Write trigger 32 bits upper PDOs u32 rw 0x00000 000 0000000 0 yes 0x231F 0x00 Write trigger 32 bits lower PDOs u32 rw 0x00000 000 0000000 0 yes ...

Страница 31: ... 0x2380 0x00 Write start ad dress start of the ad dress range on the ID tag to be written u16 rw 0x0000 yes 0x2381 0x00 Write length length of the memory range on the ID tag to be written u16 rw 0x0000 yes 0x2382 0x00 ID tag data da ta to be written to the ID tag as config ured in objects 0x2380 and 0x2381 dom wo ...

Страница 32: ...Save object value 0x2480 0x00 Lock start ad dress start of the ad dress range on the ID tag to be locked Must corre spond to the ID tag rang es u16 rw 0x0000 yes 0x2481 0x00 Lock length length of the memory range on the ID tag to be locked Must corre spond to the ID tag rang es u16 rw 0x0000 yes ...

Страница 33: ...zero ID filter depth s8 rw 0x02 yes 9 1 7 Error messages The device supports a number of error messages that are sent in the event of a communication hardware or RFID error If one of these errors occurs the error register OD index 0x1001 and the error field OD index 0x1003 are updated The COB ID of the emergency message can be changed in the object COB ID EMCY OD index 0x1014 By setting bit 31 in ...

Страница 34: ... or Heartbeat er ror 0x8100 0x11 Monitoring gen eral communi cation error when sending Bus off 0x5000 0x81 0x01 Device hard ware error an tenna error 0x4200 0x09 0x02 Device temper ature too high 0xFF00 0x81 0x01 RX ISO_COM MAND_ER ROR_NO_RE SPONSE ID tag did not answer Possi bly the ID tag is no longer in the field 0xFF00 0x81 0x02 RX ISO_COM MAND_ER ROR_RX_ER ROR Error while re ceiving the an sw...

Страница 35: ... framing er ror collision etc 0xFF02 0x81 0x01 ISO_TAG_ER ROR_COM MAND_NOT_S PECIFIED The command is not support ed Possible reason faulty command 0xFF02 0x81 0x02 ISO_TAG_ER ROR_COM MAND_SYN TAX The command is not detected Possible rea son Number of sections is too high Format er ror 0xFF02 0x81 0x03 ISO_TAG_ER ROR_OP TION_NOT_SU PPORTED Indicated op tions are not supported 0xFF02 0x81 0x0F ISO_T...

Страница 36: ... 0xFF02 0x81 0x13 ISO_TAG_ER ROR_BLOCK_ WRITE_VERI FY The specified section could not be pro grammed nor mally a write verify error oc curred 0xFF02 0x81 0x14 ISO_TAG_ER ROR_BLOCK_ LOCK_VERIFY The specified section could not be locked normally a lock verify error oc curred 0xFF03 0x81 0x00 STA TUS_BUFF ER_OVERFL Internal buffer overflow 9 1 8 Monitoring activity via Heartbeat By means of the Heart...

Страница 37: ...ects can be reset to factory setting by writing the signature Load 64616F6Ch to the OD index 1011h 01h After a reset the changes are applied Depending on the architecture of the CANopen network the objects can also be stored centrally in a CANopen master In this case the objects are transferred to the device when the system is started and the locally stored values are overwritten Special features ...

Страница 38: ...4 0x40 0x000000 18 0x08 64 0 deacti vated 0x220A 0x3F 0x04 0x000001 F0 0x08 The preset TPDOs and RPDOs are allocated 64 bit data objects For use of 32 bit controllers the settings of the TPDOs and RPDOs must be adapted Receive process data objects RPDO The following table contains the receive process data objects RPDO on delivery RPDO Settings for PDO mapping COB Object directory Mapped object ind...

Страница 39: ... 0x000000 18 0x08 64 0 deacti vated 0x230A 0x3F 0x04 0x000001 F8 0x08 The preset TPDOs and RPDOs are allocated 64 bit data objects For use of 32 bit controllers the settings of the TPDOs and RPDOs must be adapted 9 1 11 Device status The current device status is represented in the object Device status OD index 0x2150 sub index 0x00 On delivery the object is assigned to TPDO1 Bit 31 30 29 28 27 26 ...

Страница 40: ...ow 1 Power enabled al ways 1 ant 0 Antenna deactivated 1 Antenna activated present 0 No ID tag present 1 ID tag present busy 0 Idle 1 Read or write ac cess active fr_err 0 Front end OK 1 Front end error de tected hardware problem yes buf_ovfl 0 Buffer ok 1 Buffer overflow de tected yes read_err Error during the last read operation yes write_err Error during the last write operation yes ...

Страница 41: ...framing error colli sion etc Write error codes updated after each write access of the ID tag 0x00 ISO_COMMAND_ER ROR_NO_ERROR No error command suc cessfully executed 0x01 SO_COMMAND_ER ROR_NO_RESPONSE ID tag did not answer may be ID tag is no longer in the field 0x02 ISO_COMMAND_ER ROR_RX_ERROR Error while receiving the an swer from the ID tag CRC error framing error colli sion etc ID tag error co...

Страница 42: ...ction has al ready been locked and its contents cannot be updated 0x13 ISO_TAG_ER ROR_BLOCK_WRITE_ VERIFY The specified section could not be programmed normal ly a write verify error oc curred 0x14 ISO_TAG_ER ROR_BLOCK_LOCK_ VER IFY The specified section could not be locked normally a lock verify error occurred 9 1 12 Deactivate antenna The antenna in the device can be deactivated if the value 0 i...

Страница 43: ... bytes Number of blocks 1 user defined 2 I code SLI 4 28 3 I code SLI S 4 40 4 I code SLI L 4 8 5 F MEM 2k 8 250 6 F MEM 232b 4 58 7 F MEM 8k 32 256 8 TI_32b 4 8 9 TI_256b 4 64 10 ST_128b 4 32 11 ST_256b 4 64 12 ST_8k 4 2048 13 I Code SLIX2 4 79 Via the object 0x2182 0x06 it is possible to poll the ID tag type read by the device First of all the detected ID tag type must be read from the object 0x...

Страница 44: ...y the ID tag in front of the device 0 no ID tag detected 1 minimum signal strength 8 maximum signal strength The maximum signal strength is only reached with certain device ID tag combinations The signal strength depends on the distance between the ID tag and the active face of the device Position changes in the environment e g of metallic objects can influence the signal strength 9 1 16 ID tag de...

Страница 45: ...ations Time ms 0 7 14 21 28 35 42 49 56 63 70 77 84 91 98 105 112 119 126 133 ID tag in the field ID tag not in the field UID filter depth 0 zero ID filter depth 0 ID tag de tected ID tag not de tected UID filter depth 5 zero ID filter depth 0 ID tag de tected ID tag not de tected UID filter depth 0 zero ID filter depth 5 ID tag de tected ...

Страница 46: ...lue is generated The detection in the limit range stabilises as no value will be provided as long as the ID tag has not been steadily detected Object zero ID filter depth The Zero ID filter depth object 0x4605 0x00 allows for determining the number of unsuccessful ID tag detections to be executed by the device The ID tag will no longer be considered on the CAN bus as present ID tag present once th...

Страница 47: ...tically read by the ID tag and transferred by means of the TPDOs via the CAN bus The data that was read by the ID tag and assigned to a TPDO is in the objects 0x220A with the sub indices 0x01 0x40 Only that data is read by the ID tag that is assigned to a TPDO Data objects that are not assigned are not updated automatically There are two objects for each data object that are used for configuration...

Страница 48: ...tart of the address range on the ID tag to be read 0x10 0x2201 0x01 Read length length of the memory range on the ID tag to be read max 8 bytes 0x08 9 2 2 2 Example 2 The data range 0x44 to 0x48 4 bytes is to be transferred with the 6th TPDO TPDO Settings for PDO mapping COB Object directory Object index Object directory Object sub index Object directory Object length 6 Node ID 0x0680 0x220A 0x05 ...

Страница 49: ...tical The ID tag is written to after the data was written to the RPDO and the respective bit was changed in the Write trigger object OD index 0x230F sub index 0x00 MSB LSB Bit 63 62 61 2 1 0 Trig ger tr64 tr63 tr62 tr3 tr2 tr1 De fault value 0 0 0 0 0 0 0 0 0 Trigger Description tr64 Trigger for ID tag data 64 0x230A 0x40 tr63 Trigger for ID tag data 63 0x230A 0x3F tr62 Trigger for ID tag data 62 ...

Страница 50: ... to the configured data length is written to the ID tag Subsequent data is ignored For the writing of more than 8 bytes 4 bytes for 32 bit data objects more RPDOs have to be assigned and the respective data objects have to be configured For 32 bit controllers the object 0x230B must be used instead of object 0x230A The maximum data length is restricted to 32 bit data 4 bytes The trigger is divided ...

Страница 51: ...ransmission PDO Data To the device RPDO 2 0x12345678 Start write access PDO Transmission PDO Data To the device RPDO 1 Select bit 0 status 9 2 3 2 Example 2 The data range 0x44 to 0x48 4 bytes is to be transferred with the 6th RPDO In addition this data is to be written to an ID tag each time it reaches the detection range of the device RPDO Settings for PDO mapping COB Object directory Object ind...

Страница 52: ...or smaller data lengths than 64 bits 32 bits the remaining bits are ignored 9 2 4 Error handling for PDO transfer If a read or write access to an ID tag is not possible the device creates an emergency message on the CAN bus The error code can be read from the error register OD index 0x1001 sub index 0x00 and the predefined error field OD index 0x1003 sub index 0x01 0x02 9 2 5 Read data from the ID...

Страница 53: ...domain data type Up to a data length of 4 bytes transfer is effected as expedited transfer longer data lengths as segmented transfer The recipient must be prepared for temporary storage and processing of the data 9 2 6 Write data to the ID tag via SDO transfer To write data to an ID tag via SDO transfer it is necessary to define the data address and length on the ID tag The address must be indicat...

Страница 54: ...ta length 9 2 7 Lock data range on the ID tag via SDO transfer The data ranges of the ID tag can be write protected The write protection of a data range cannot be removed The start address of the data range to be protected is stored in the object Address lock start point OD index 0x2480 In addition the data range length is stored in the object Write length OD index 0x2481 To activate the write pro...

Страница 55: ...s If there is an error during transfer or during actions caused by the transfer an error is signalled after the SDO transfer SDO error code Description Possible cause 0x05030000 Toggle bit unchanged 0x05040000 SDO protocol expired 0x05040001 Client server command specifier not valid or un known 0x05040002 Invalid block size block mode only 0x05040003 Invalid sequence number block mode only 0x05040...

Страница 56: ... device 0x06060000 Access failed due to a hard ware error 0x06070010 Data type does not match length of the service param eter does not match 0x06070012 Data type does not match service parameter too long 0x06070013 Data type does not match service parameter too short 0x06090011 Sub index does not exist 0x06090030 Invalid value for parameter download only 0x06090031 Value of written parameter is t...

Страница 57: ...object directory fails or no object directory is pres ent e g object directory is generated from the file and the generation fails because of a file error 0x08000024 No data available Data length 0 9 3 EDS file The EDS file serves as a template for different configurations of a device type The EDS file is turned into a DCF file which contains device configurations object values Node ID and bit rat...

Страница 58: ...ontact ifm in case of malfunction u Do not open the housing as the unit does not contain any components which can be maintained by the user The unit must only be repaired by the manufacturer u Clean the device using a dry cloth u Dispose of the unit in accordance with the national environmental regulations 11 Approvals standards For approvals and standards the following information is available Te...

Страница 59: ...S Electronic data sheet EMCY The emergency object contains an alarm message with which the device signals an error Heartbeat Configurable cyclic monitoring among network participants In contrast to node guarding no superior NMT master is required ID tag An ID tag is used to identify objects A read write device is used to read the ID tag via a high frequency radio signal An ID tag consists of an an...

Страница 60: ...DOs consist of a CAN message with identifier and up to 8 bytes of user data PDO mapping Describes the application data transferred with a PDO RPDO Process data object received from the device RSSI The Received Signal Strength Indication is the field strength of the received signal SDO The SDO directly accesses the object directory of a network participant read write An SDO can consist of several C...

Страница 61: ...61 TPDO Process data object sent by the device ...

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