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DIGITAL TRANSDUCER

Configuration and CAN Interface

PRELIMINARY

CANopen

PCS III Technical Description CANopen 1r1 UK 310715.docx
09/02/2021

S2Tech srl

Network start will be as follows:

System power on

The DigiTran CANopen device sends its Node Guarding Message (all values in Hex)
Tx Dir. COB-ID Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

S->M

71A

After 1s the DigiTran CANopen device sends two Emergency Messages (only COB-ID is correct, real message data may be dif-
ferent)
Tx Dir. COB-ID Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

S->M

09A

S->M

09A

Network Master sends the PDO transmit options to the device, via SDO channel

•

SDO Write Byte, Index 0x1800, Subindex 0x02, Tx Type = After each SYNC = 01 (Byte4)

Tx Dir. COB-ID Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

M->S

61A

S->M

59A

Network Master sends the Start Network NMT message to the CANopen device
Tx Dir. COB-ID Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

M->S

000

Device is now in Operational state, data can be exchanged on the network

Each time the Network Master sends the SYNC message, the CANopen device sends PDO data messages

Tx
Dir.

COB-
ID

Byte0

Byte1

Byte2

Byte3

Byte4

Byte5

Byte6

Byte7

M->S

080

S->M

19A

Net
LowByte

Net
MidByte1

Net
MidByte2

Net
HighByte

Gross
LowByte

Gross
MidByte1

Gross
MidByte2

Gross
HighByte

If needed, the Master can send PDO data to the Slave (PDO data depends on Device configuration)

Содержание PCS III

Страница 1: ...on CANopen 1r1 UK 310715 docx S2Tech DigiTran PCS III Displacement Transducer PRELIMINARY MANUAL Technical Description User s Guide Configuration and CANopen Interface Analog Output CANopen S2Tech S R...

Страница 2: ...ANSDUCER MANUFACTURING MATERIALS 11 4 6 2 MANUFACTURING MATERIALS FOR PARTS NEAR TO THE TRANSDUCER 11 4 6 3 INSTALLATION IN CYLINDERS 12 4 7 EXTERNAL INSTALLATION 13 5 MAGNETIC CURSORS 13 5 1 DIFFEREN...

Страница 3: ...sages 31 15 Parameterization of the CANopen interface with SDO Services 31 15 1 Assigning baud rate 31 15 2 Assigning NodeID 32 15 3 Saving the settings 32 16 Node configuration 32 16 1 Node identific...

Страница 4: ...settings 48 19 Peak value monitoring Errore Il segnalibro non definito 20 Zero Reset operation Errore Il segnalibro non definito 21 APPENDIX 49 21 1 DigiTran compatibility for non CANopen networks 49...

Страница 5: ...k 0 23 03 15 First issue 1 0 1 0 SP FM 1 31 07 15 Single cursor transducer with analog and digital outputs 2 0 1 0 SP FM NOTE This manual describes the basic product s functions referable to the 2 0 f...

Страница 6: ...N 61000 4 6 2009 EN 61000 4 8 2010 EN 61000 4 11 2004 EN 61326 2 3 2013 Test report reference 290401 1TRFEMC Manufacturer S2Tech srl Address via Imperia 28 Milan Italy Equipment type Magnetostrictive...

Страница 7: ...surement s rod end and on electronics head F User defined Measurement obtained using a Linearization Module and an additional Filter Module processing the A B or D measurements to obtain in example a...

Страница 8: ...nications parameters Setting Baud rate Setting Node ID 4 INSTALLATION HINTS 4 1 POWER SUPPLY Series PC electronics is equipped with built in voltage regulators that allow transducers to re ceive a pow...

Страница 9: ...formed using twisted pairs shielded cables that are specifically designed for data transmission applications Note 3 inside the transducer no line termination resistor is installed so an external line...

Страница 10: ...r reversed configuring the unit through the digital Modbus connection For voltage output a signal of 0 00Vdc is not obtainable as the transducer is supplied with only positive voltage The minimum volt...

Страница 11: ...ized measurement Cursor 1 if appropriate Firmware is installed 0x2008 2 Result of interpolation on Linearization table using A B or C measurement as input E Filtered measurement if appropriate Firmwar...

Страница 12: ...G MATERIALS The working principle requires that the manufacturing materials of the probe cylindrical rod the hexagonal part and relative fastening nuts of the head and the floats be made of non magnet...

Страница 13: ...d to install the transducer considering Figure 1 Transducer s installation as for Fig 2 where the surrounding parts are made of magnetic material M soft metal usually steel should be considered very c...

Страница 14: ...o the magnetostrictive waveguide axis In order to work it is essential that their magnetic field is sufficiently high and it is entirely coupled along the waveguide 5 2 POLARITY OF MAGNETIC FIELD Magn...

Страница 15: ...Cursors with opposing poles on the two base planes Important in order to work correctly it is necessary that the polarity towards the measuring heads corresponds to the one indicated in Figure 3 The...

Страница 16: ...if the cursor is not detected For performance optimization the Customer must supply S2Tech with all the installation conditions 6 4 MAGNETS CHOSEN BY THE USER It must have a high magnetic field invari...

Страница 17: ...o the cursor or vice versa due to vibration shocks or not good axial alignment of the probe do not have a great effect on measuring NOTE 2 The PCS and PCP models are supplied in two versions in one ve...

Страница 18: ...E The outside pressure has a radial direction on the external wall of the probe itself and axial on the tip of the probe A fig 3 Radial action tends to reduce press the circular walls of the probe but...

Страница 19: ...8 58 The minimum distance between the two cursors in order not to interfere one with the other is 100 mm Aluminum cursor or 120 mm for standard floaters Smaller distances can generate interference bet...

Страница 20: ...modify the corresponding parameters the CANopen connection is used The characterization points may describe a linear relationship between the X and Y variables or may describe a non linear relationsh...

Страница 21: ...easurement X is to be processed by the module providing the computed value from the interpolation Example of linearization table 32 elements Reference point for the INPUT X Reference point for the OUT...

Страница 22: ...dingly to the order as Current 4 20 or 0 20 mA straight or reversed or Voltage 0 10 or 0 5 V straight or reversed output This hardware setting cannot be changed on the field To activate the analog out...

Страница 23: ...itrary values within the 0 to 65535 range allows the definition of non standard Signal Ranges considering the following examples A Standard output range I e Idx 0x2101 D 3 Value Voltage Output c DACmi...

Страница 24: ...zation keeping the slope of the calibration performed by Factory 12 Diagnostic These transducers perform at the power on a self diagnostic routine in order to verify the correct working conditions wit...

Страница 25: ...ing Module 9000 9499 2009 0 0xFF 9500 9999 2109 0 0xFF 15 0x22 CANopen Interface 15000 15499 200F 0 0xFF 15500 15999 210F 0 0xFF 13 2 Definitions Baud rate Data transmission speed on the CAN bus CAN C...

Страница 26: ...ct with others via Parameters A parameter is any variable used in the Slot to store a value or status related to the Slot process For CANopen instruments Variables and Constants values are stored in N...

Страница 27: ...er Code 1 c Product INT8U RO S2Tech Product Code 2 c SwVersion INT8U RO Firmware Version 3 c SwRevision INT8U RO Firmware Revision 4 c Sernum INT32U RWP 0 99999999 Serial Number 0x2100 5 c SlotType 0...

Страница 28: ...Description 0xF0 0xF8 GLB SAVE Save all Transducer s non volatile parameters into Non Volatile Memory 0xF3 0xFB RESET RESETs the Transducer SYSTEM module special STATUS values Value Description 0xF8 0...

Страница 29: ...g when applicable and transmission or turning off the PDO Setting guard time and life time factor Transducer operating parameters Working range Linearization points Auto zeroing Cycle time of the PDO...

Страница 30: ...lso assigned according to the ID allocation procedure used in the CANopen standard If the system is being used in a CANopen network ID assignment is handled by a distributor DBT master When configurin...

Страница 31: ...mission Time Possible data intervals kbaud ms ms 1000 0 250 2 800 0 32 2 500 0 5 2 250 1 2 125 2 4 100 2 5 4 50 5 6 20 12 5 14 Table 1 Relationship between baud rate transmission time and possible dat...

Страница 32: ...0003 6000 RX Queue overflow 0004 6000 TX Queue overflow 0005 6000 Node Guarding failure Table 4 Emergency Object error messages 15 Parameterization of the CANopen interface with SDO Services The tran...

Страница 33: ...orrectly ended the procedure by verifying that the Status value 2000 0 returns to 0 This command sequence is used to save all Pitagora non volatile parameters into Non Volatile Memory This Command sav...

Страница 34: ...n steps of 1 ms Use Table 6 as a guide for making these settings Data interval Baud rate kBaud 1 ms 250 3 ms 100 10 ms 50 Table 6 Baud rate as a function of data interval when sending PDOs Communicati...

Страница 35: ...es the data for manufacturer s product nomenclature for identification or the parameters for object mapping Abbreviations used in Tables ro read only rw read write UI8 Unsigned8 UI16 Unsigned16 UI32 U...

Страница 36: ...F 1000 TPDO1 B Parameter 5 c TPdoParam 2 INT16U RO 0 0xFFFF 1000 TPDO2 A Parameter 6 c TPdoParam 3 INT16U RO 0 0xFFFF 1000 TPDO2 B Parameter 7 c TPdoParam 4 INT16U RO 0 0xFFFF 1000 TPDO3 A Parameter 8...

Страница 37: ...transmission mapped as follows RxPDO1 Value A Value B RxPDO2 Value A Value B RxPDO3 Value A Value B RxPDO4 Value A Value B Transducer data in the four Tx and Rx PDOs Four PDOs are available to send me...

Страница 38: ...fferent errors which occurred A maximum of 16 different errors are managed 0x1005 0 COB ID Sync messg UI32 rw 80H COB ID of the SYNC object 0x1008 0 Manufacturer Device Name VS ro 01 48 S2Tech Device...

Страница 39: ...1 Restore all parameters UI32 rw 1 By writing the signature load 0x64616F6C all the factory default settings are loaded 2 Restore Communication Parameters UI32 rw 1 By writing the signature load 0x64...

Страница 40: ...ter each SYNC object 2 240d Transmit after 2 240 SYNC objects 252d Update PDO on SYNC transmit PDO only on RTR 253d Update PDO asynchronously transmit PDO only on RTR 254d Continuous transmission 255d...

Страница 41: ...cedure 2 Transmission type UI8 rw FFH Indicate transmission type 0 Transmit on demand using SYNC object after timer runs out 1 Transmit after each SYNC object 2 240d Transmit after 2 240 SYNC objects...

Страница 42: ...ted within the defined interval of the inhibit time 5 Event timer UI16 rw 0 Cyclic sending of PDO value Default 10 ms 0x1801 0 Number of elements UI8 ro 5 Communication parameters of 2nd Transmit PDO...

Страница 43: ...NodeID Determined using the CANopen minimum system ID assignment procedure 2 Transmission type UI8 rw 1 Indicate transmission type 0 Transmit on demand using SYNC object after timer runs out 1 Transmi...

Страница 44: ...FOR INTERNAL USE 4 d xStatus INT8U RESERVED FOR INTERNAL USE 5 d tValue INT32S RESERVED FOR INTERNAL USE 6 d VPeak INT32S RESERVED FOR INTERNAL USE 7 d VPeakT INT32S RESERVED FOR INTERNAL USE 8 d VPea...

Страница 45: ...U RW 0 65535 0 Decimal point position for Parameter 6 10 c PosDp 7 INT16U RW 0 65535 0 Decimal point position for Parameter 7 11 c nParam INT8U RW 0 12 0 Number of valid elements 12 c Unit INT8U RW 0...

Страница 46: ...0x7FFFFFFF 0x7FFFFFFF Net Position in Mech Units 6 d ValoreMT INT32S RO 0x7FFFFFFF 0x7FFFFFFF Net Value Tare in Mech Units 7 d ValoreLin INT32S RO 0x7FFFFFFF 0x7FFFFFFF Linearized value in Mech Units...

Страница 47: ...d tAD_ntc1 INT16U RO 0 0xfff Ntc1 tempAD NTC NTC installed on the transducer s PCB 1A d tAD_ntc2 INT16U RO 0 0xfff Ntc2 tempAD NTC installed on the tip of the measuring rod 1B d tC_ntc1 INT16U RO 0 0...

Страница 48: ...0 DAC out min F c DACMax INT16U RW 0 0xffff 0xffff DAC out Max 10 c MAXround INT8U RW 0 4 0 Max number of timer reloads 11 c NTC1 INT8U RW 0 2 0 Board ntc type 0 absent 12 c NTC2 INT8U RW 0 2 0 Rod s...

Страница 49: ...d in the engineering units and resolution used during calibration of the transducer Second PDO contains Gross and Peak measurements Other measurements can be transmitter with the PDO upon Customizatio...

Страница 50: ...less practical since CANopen protocol knowledge is needed furthermore it can be a good practice for the Layer2 Network to use a CANopen compatible COB ID numbering scheme even if no CANopen protocol...

Страница 51: ...t contain any information about Database location of data it delivers it just delivers data and it is User s responsibility to keep track of data meaning inside of the PDO message from a certain point...

Страница 52: ...ssage with COB ID 0x0600 7 0x0607 Command Byte0 of the CAN message contains the SDO protocol command code read write Valid command codes are 0x40 Read 0x2F Write BYTE 8 bit 0x2B Write WORD 16 bit 0x23...

Страница 53: ...e Subindex expressed as an 8 bit number Data In case of a read command Byte4 to Byte7 of the CAN message contain the value read from the Object addressed by Index and Subindex in little endian format...

Страница 54: ...te Some PDO attributes define how the PDO data are exchanged with the network A simple and deterministic method of exchanging PDO data is to configure the PDO attributes so that PDO can be sent on rec...

Страница 55: ...ignored by the Master 5 Network Master sends the Start Network NMT message to the CANopen devices 6 Devices are in Operational state data can be exchanged 7 Each time the Network Master sends the SYN...

Страница 56: ...O transmit options to the device via SDO channel SDO Write Byte Index 0x1800 Subindex 0x02 Tx Type After each SYNC 01 Byte4 Tx Dir COB ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 M S 61A 2F 00...

Страница 57: ...1 UK 310715 docx 09 02 2021 S2Tech srl 56 58 Tx Dir COB ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 M S 21A Data0 Data3 Data7 9 If ever needed a Device can be returned back in PreOperational st...

Страница 58: ...ransistors diodes microprocessors memories and whatever else not covered by semiconductor Manufacturers warranty The Buyer shall check the delivered Product within 10 days from receipt after this limi...

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