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SMAL CANlift

MAN SMAL I6 E 1.3.doc

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6.3 Communication objects

There are 4 type of communication messages:

•

Network management NMT: the NMT master controls the NMT state of the
NMT slaves.

•

Process Data Objects PDO: used to transfer the real;time data.

•

Service Data Object SDO: used to provide direct access to entries of a
CANlift devices object dictionary.

•

Special Function Object:

; SYNC: provides the basic network synchronization mechanism. After this

service the consumers may sent real;time data.

; Emergency: object transmitted only once per error event.
; Nodeguard: used to know the slave status.

Relation between device states and communication objects:

Initial.

Pre;oper.

Operat.

Stopped

NMT

PDO

SDO

Sync

Emerg

Boot;up

Nodeg.

6.3.1 Predefined connection set

Master

Slave broadcast

COB (Object) Kind

Function code

(binary)

COB;ID (hex)

NMT

0000

000

SYNC

0001

080

peartopear object

EMERGENCY

0001

081 ; 0FF

PDO 1 (tx)

0011

18C ; 1FF

SDO (tx)

1011

581 ; 5FF

SDO (rx)

1100

601 ; 67F

Nodeguard

1110

701 ; 77F

Boot;up

1110

701 ; 77F

“COB kind” (tx or rx) is seen from the slave device point of view.

Содержание DSP417

Страница 1: ...lacements on lift system and on automation systems The device is composed by a sensor with an integrated conversion electronic that moving along the magnetic tape generates a signal equivalent to an absolute encoder The sensor has to be matched with MTAL magnetic tape Chapters 1 Safety summary 2 Identification 3 Mounting recommendations 4 Quick reference 5 Electrical connections 6 CANlift interfac...

Страница 2: ...e signal cable near high voltage power cables mount the device as far as possible from any capacitive or inductive noise source shield the device from noise source if needed minimize noise by connecting shield or connector housing to ground GND Make sure that ground GND is not affected by noise The shield connection point to ground can be situated both on the device side and on user s side The bes...

Страница 3: ...3 Mounting instructions 3 1 Sensor mounting Do not tool the device A Fix the device to the square with M5 screws B Connect the cable C Put the square at the cabin roof adjusting the overhangs according to the desired working position and then fix it Hole for M5 screws ...

Страница 4: ...vane The magnetic tape must be free to slide into device The active side of magnetic tape black side however installed has to face the active part of magnetic sensor on electronic board Install sensor and magnetic tape according to the above figure The arrow shows positive counting direction The system doesn t work if mounted incorrectly connector arrow on magnetic tape ...

Страница 5: ...e object 1010h the event timer will be already set at the next power on of the device Main default values are Baud rate 500 Kbit s Node ID 1 Lift number 1 Car position unit 1 Set event timer 100ms 64h Master SMAL COB ID Cmd Index Sub Process data 601 2B 06 19 05 64 00 SMAL Master COB ID Cmd Index Sub Process data 581 60 06 19 05 00 00 00 00 Store parameters see object 1010h to save the new value S...

Страница 6: ... Shield CAN_Shield M12 connector male frontal side 5 1 LED indicator Three LEDs show the status of the CAN interface following the table below GREEN LED 1 Description ON Power supply ON OFF Power supply OFF RED LED 2 Description ON Bus off Double flash Node guarding error Single flash Warning limit reached Blinking Generic error or flash memory error OFF No error GREEN LED 3 Description ON The enc...

Страница 7: ...Permissible addresses lie between 1 and 127 The node number is defined by the object 3001 00 of the Object Dictionary it can be modified by SDO messages Default Node ID 1 5 5 Lift number The lift number can be set in software mode The lift number is defined by the object 6001 00 of the Object Dictionary it can be modified by SDO messages Default Lift number 1 ATTENTION At first start up the master...

Страница 8: ... file Lika_SMAL_DS417_V1 eds see enclosed support or www lika biz PRODUCTS LINECOD SMAL Install EDS file on CANopen master device 6 2 State machine The CANlift device provide a state working the device may be switched in different state sending a specific NMT message The state diagram is show below 1 Power on 2 State initialization finished the boot up message is sent automatically 3 NMT message S...

Страница 9: ...y a configuration application The device may be switched into the Operational state directly by sending a Start remote node message 6 2 3 Operational In this state all communication objects are active The constructor uses the parameters as described in the object dictionary and may sent process data using PDO Object dictionary access via SDO is possible The device may be switched into the Pre oper...

Страница 10: ...echanism After this service the consumers may sent real time data Emergency object transmitted only once per error event Nodeguard used to know the slave status Relation between device states and communication objects Initial Pre oper Operat Stopped NMT X X X PDO X SDO X X Sync X Emerg X X Boot up X Nodeg X X X 6 3 1 Pre defined connection set Master Slave broadcast COB Object Kind Function code b...

Страница 11: ...p message structure COB ID hex 1 CAN Data Byte 700 Node ID 00 6 6 PDO objects PDO tx messages are always composed by 4 CAN Data Bytes and they are used from the encoder to transmit the position value PDO structure IDENTIFIER 4 CAN Data Bytes COB ID hex Byte 0 Byte 1 Byte 2 Byte 3 18C 27 20 215 28 223 216 231 224 Low High PDO1 Cyclic mode cyclic transmission The device uses the PDO1 to transmit the...

Страница 12: ... MSB Com command Index parameter index Sub parameter sub index Data parameter value 6 7 1 Command The command byte contains the type of telegram transmitted on the CAN network Three types of telegram are available Set to send configuration parameters to a device Req used by Master to read data from a device Warnings used by Slave to send error messages to the Master e g index does not exist Comman...

Страница 13: ...te 4 byte 5 byte 6 byte 7 LSByte MSByte 6 8 1 Standard objects DS 301 1000 00 Device type Unsigned32 ro Default 0600 01A1h car position unit DSP 417 1001 00 Error register Unsigned8 ro In case of error bit 0 of this object is set to 1 Default 00h 1003 Pre defined error field This object contains the last 4 errors which have generated an emergency message 00 Number of actual errors Unsigned8 rw wri...

Страница 14: ...rw Contains the Guard time expressed in msec milliseconds Default 03E8h 100D 00 Life time factor Unsigned8 rw Default 05h Guard time and Life time factor objects are used in Node guarding protocol controlled by Master For more details see chapter 6 11 1010 01 Store parameters Unsigned32 rw Use this object to save all parameters in non volatile memory Write save in the data bytes Master Slave COB I...

Страница 15: ...es 580 ID 60 11 10 01 00 00 00 00 Master Slave reset node COB ID Cmd Slave ID 000 81 ID Slave Master Boot up COB ID Cmd 700 ID 00 NOTE Save default values with the Store parameters function see object 1010h 1014 00 COB ID EMCY Unsigned32 rw This object defines the COB ID used for emergency messages EMCY Default 80h NodeID 1015 00 Inhibit time EMCY Unsigned16 rw Inhibit time of emergency messages E...

Страница 16: ...ted to the network with the same lift number be sure to set different COB ID of PDO1 for each device NOTE The transmission of PDO1 can be enabled or disabled setting to 0 or 1 the most significant bit MSB used by PDO object 1906h sub1 0000 018Ch PDO1 enable 8000 018Ch PDO1 disabled Cyclic transmission or synchronous transmission can be modified setting the object 1906h sub 2 01h synchronous transm...

Страница 17: ...Kbit s 06h 800 Kbit s 07h 1000 Kbit s The correct procedure to change the baud rate is set object 3000h send a reset node or reset communication store parameter Master Slave COB ID Cmd Index Sub Data byte 600 ID 2F 00 30 00 see table Slave Master confirmation COB ID Cmd Index Sub Data byte 580 ID 60 00 30 00 00 Master Slave reset node COB ID Cmd Slave ID 000 81 ID Set the Master device to the new ...

Страница 18: ...ID Cmd Index Sub Data byte 600 ID 2F 01 30 00 new Node ID Slave Master confirmation COB ID Cmd Index Sub Data byte 580 ID 60 01 30 00 00 Master Slave reset node COB ID Cmd Slave ID 000 81 old ID Slave Master Boot up with new Node ID COB ID Cmd 700 ID 00 NOTE Store parameters see object 1010h to save the new Node ID value 3007 00 Cyclic time Unsigned16 rw Cyclic timer is used to set a time between ...

Страница 19: ...00 Lift number Unsigned8 rw This object contains the number of the lift to which this device is assigned Possible value are Data byte Description 01h default lift 1 02h lift 2 04h lift 3 08h lift 4 10h lift 5 20h lift 6 40h lift 7 80h lift 8 The correct procedure to change lift number is set object 6001h send a reset node store parameter Default 01h Master Slave COB ID Cmd Index Sub Data byte 600 ...

Страница 20: ...ot exceed the total measuring range 6383 01 Position value Unsigned32 ro This object contains the position value The value is transmitted according to the settings in object 1906h 63C0 01 Operating status Unsigned16 ro Bit Function bit 0 bit 1 0 2 not used 3 Measuring direction Standard Inverted 4 14 not used 15 Actual operating status Stop Pre oper Operat Actual operating status use this function...

Страница 21: ...et value Integer32 ro This object contains the Offset value This value is the shift difference between physical position of the device and position relative to the Preset value NOTE Save new values with the Store parameters function see object 1010h otherwise they will be lost in case of commands like Reset node Reset communication or power off ...

Страница 22: ...e guarding error 5530h Flash memory error 6 11 Node guarding protocol On start up the Node guarding protocol is disabled the Master device can enable the protocol by sending an RTR remote transmit request Guard time time between 2 RTR Node life time max device response time Node life time Obj_100C Obj_100D Node guarding is enabled if Node life time 0 If the Slave is not guarded within the Node lif...

Страница 23: ... Slave COB ID Cmd Nodo Operational 000 01 ID Pre operational 000 80 ID Set Operating parameter measuring direction inverted Master Slave Set request COB ID Cmd Index Sub Data bytes 600 ID 2B 80 63 01 08 00 Slave Master Set confirmation COB ID Cmd Index Sub Data bytes 580 ID 60 80 63 01 00 00 Set Preset value preset 1000 03E8h Master Slave Set request COB ID Cmd Index Sub Data bytes 600 ID 23 82 63...

Страница 24: ... ID 40 06 19 01 Slave Master Req reply COB ID Cmd Index Sub Data bytes 580 ID 43 06 19 01 B0 B1 B2 B3 COB ID used by PDO1 B3 24 B2 16 B1 8 B0 set to 1 the most significant bit B3 0x80 Set new COB ID used by PDO1 Master Slave Set request COB ID Cmd Index Sub Data bytes 600 ID 23 06 19 01 B0 B1 B2 B3 Slave Master Set confirmation COB ID Cmd Index Sub Data bytes 580 ID 60 06 19 01 00 00 00 00 Set Cyc...

Страница 25: ...ID 40 06 19 01 Slave Master Req reply COB ID Cmd Index Sub Data bytes 580 ID 43 06 19 01 B0 B1 B2 B3 COB ID used by PDO1 B3 24 B2 16 B1 8 B0 set to 0 the most significant bit B3 0x7F Set new COB ID used by PDO1 Master Slave Set request COB ID Cmd Index Sub Data bytes 600 ID 23 06 19 01 B0 B1 B2 B3 Slave Master Set confirmation COB ID Cmd Index Sub Data bytes 580 ID 60 06 19 01 00 00 00 00 NOTE Sav...

Страница 26: ...SMAL CANlift MAN SMAL I6 E 1 3 doc Pag 26 www lika it www lika biz ...

Страница 27: ...SMAL CANlift MAN SMAL I6 E 1 3 doc Pag 27 www lika it www lika biz ...

Страница 28: ...an Vers Description 1 0 1st issue 1 1 Chapter 4 4 up to date 1 2 General revision 1 3 Chapter 5 update Lika Electronic Via S Lorenzo 25 36010 Carrè VI Italy Tel 39 0445 806600 Fax 39 0445 806699 Italy eMail info lika it www lika it World eMail info lika biz www lika biz ...

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