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CANOPEN TPDO MAPPING

6.1

Default TPDOs Mapping

•

0x1A00 : TPDO1 mapping

Sub-index

Description

Access

Default value

Type

0x00

number of supported objects

0x05

Unsigned8

0x01

mapped object

0x20040008 (response
register)

Unsigned32

0x02

mapped object

0X50070110
(Dosing status)

Unsigned32

0x03

mapped object

0X51000008
(logical inputs level)

Unsigned32

0x04

mapped object

0X52000008
(logical outputs level)

Unsigned32

0x05

mapped object

0X50070210
(Dosing errors report)

Unsigned32

In NMT operational state,

eNod4

is able to execute any received command through RPDO1 and consequently changes

of response register are sent through TPDO1

•

0x1A01 : TPDO2 mapping

Sub-index

Description

Access

Default value

Type

0x00

number of supported objects

R/W

0x02

Unsigned8

0x01

mapped object

R/W

0X50050120
(Instant flow rate)

Unsigned32

0x02

mapped object

R/W

0X50050220
(average flowrate)

Unsigned32

0x03

mapped object

R/W

Unsigned32

Содержание eNod4-F BOX

Страница 1: ...U Soft eNod4F E 0716_235704 C doc SCAIME SAS Technosite Alt a 294 Rue Georges Charpak 74100 JUVIGNY FRANCE T l 33 0 4 50 87 78 64 www scaime com eNod4 F Digital Process Transmitter Software User Manua...

Страница 2: ...max 12 3 4 2 Function 06H write single register 12 3 4 3 Function 10H preset multiple registers N 30 max 13 3 4 4 Error frames 13 3 5 Address and Baud rate 13 3 6 Product identification 13 3 7 Measur...

Страница 3: ...Heartbeat producer time 27 5 9 10 0x4800 Safety mode 27 5 9 11 Error behavior 27 5 10 PDO related communication objects 27 5 10 1 RPDO default mapping 27 0x1600 RPDO1 mapping parameters 27 0x1601 RPDO...

Страница 4: ...ption 44 10 3 1 Reset 44 10 3 2 EEPROM storage 44 10 3 3 Restore default settings 44 10 3 4 Zero 44 10 3 5 Tare 45 10 3 6 Cancel tare 45 10 3 7 Cancel last command 45 10 3 8 Theoretical scaling 45 10...

Страница 5: ...1 A D conversion rate 53 12 2 2 Filters activation order 53 12 2 3 Low pass filter cut off frequency 53 12 2 4 Limitations 54 12 2 5 Depth of moving average filter on weights 54 12 2 6 Tolerance of c...

Страница 6: ...or trade checksum 70 14 2 5 Zero functions 70 14 2 6 Stability criterion 70 14 2 7 Decimal point position 71 14 2 8 Weight unit 71 14 2 9 Flow rate time unit 71 14 2 10 Save Tare and Zero in non volat...

Страница 7: ...Strain gauges load cell conditioner with EtherNet IP and ModBus RTU communication Strain gauges load cell conditioner with Profinet IO and ModBus RTU communication Strain gauges load cell conditioner...

Страница 8: ...bits b9b8 Protocol 00 SCMBus 01 Modbus RTU 11 Fast SCMBus Note To be applied any modification of this setting must be followed by an EEPROM back up and device reboots hardware or software 2 2 Functio...

Страница 9: ...X Connection PLC Connection eNodTouch BOX Version Simultaneous Communication RS485 PLC RS485 AUX CAN USB Yes No Yes RS485 PLC Yes No RS485 AUX Yes Simultaneous use of CAN or RS485 PLC communication wi...

Страница 10: ...PLC Connection PROFIBUS DPV1 eNodTouch BOX Version Simultaneous Communication Profibus RS485 AUX USB Yes No Profibus Yes Simultaneous use of Profibus with USB or RS485AUX can reduce performance of th...

Страница 11: ...0716_235704 C doc 2 4 3 Ethernet versions DIN Version BOX Version Simultaneous Communication Ethernet RS485 AUX USB Yes No Ethernet Yes Simultaneous use of Ethernet with USB or RS485 AUX can reduce pe...

Страница 12: ...nomial generator is cf CRC 16 calculation algorithm 3 3 Modbus RTU supported functions As a Modbus RTU slave eNod4 supports following Modbus RTU functions Function Code read N registers 03H 04H write...

Страница 13: ...ue forbidden data values for the requested register 04H eNod4 not ready eNod4 is not ready to answer for example measurement request during a taring operation 3 5 Address and Baud rate Address Modbus...

Страница 14: ...as ASCII with the decimal point and the unit integrated to the frame fast SCMBus is dedicated to fast measurement transmission as the frames are the most compact as possible both protocols allow to c...

Страница 15: ...onal command request tare zero request Address Command CR CRC 1 Hex byte 1 Hex byte command 1 ASCII byte 0DH 1 Hex byte response SCMBus and fast SCMBus Address Command CR CRC 1 Hex byte 1 Hex byte com...

Страница 16: ...urement transmission period RW Uint A value of 0 implies that measurement transmission is synchronized on the A N conversion rate The continuous transmission is triggered and stopped by reception of t...

Страница 17: ...Double Flash A guard event NMT slave or NMT master or a heartbeat event heartbeat consumer has occurred On The CAN controller is bus off Flash Self test while the device is performing its power up te...

Страница 18: ...us giving them the possibility to access the bus at any time Simultaneous emissions are managed by an arbitration system that uses priority levels This control hierarchy of data transfers guarantees t...

Страница 19: ...existing states allowing or forbidding the reception emission of CAN messages These four states constitute the following NMT state machine 1 eNod4 device power up 2 automatic transition after the end...

Страница 20: ...emitted on the bus by a producer node generally the NMT master This service is unconfirmed so the consumer nodes do not have to respond to SYNC messages A SYNC message does not carry any data DLC 0 e...

Страница 21: ...e different following values 04H the node is in the stopped state 05H the node is in the operational state 7FH the node is in the pre operational state Using Heartbeat protocol allows a NMT master to...

Страница 22: ...ged when the state is changed by a NMT command and after reception of a new remote transmit request Switching to the stopped NMT state because of a node guarding error may cause eNod4 to be set into a...

Страница 23: ...the server uses the SDO Tx COB ID 580H ID eNod4 The command byte depends on the requested data length Client request Server response read data 40H 43H 4 bytes data 4BH 2 bytes data 4FH 1 byte data wr...

Страница 24: ...ication parameters describe the functioning of the PDO and the PDO mapping describes its content eNod4 uses 3 TPDO 2 are programmable and 5 RPDO The PDO transmission mode can be set in the correspondi...

Страница 25: ...objects Some settings are specific as defined by the CANopen communication specification Code hex cyclic acyclic event synchronous asynchronous remote transmit request Effect 00 X X X X X X PDO transm...

Страница 26: ...unsigned32 Description This entry of the object dictionary stores the errors that have been reported by emergency telegrams The reported errors counter sub index 00H is accessible through write or re...

Страница 27: ...O the ASCII string save 65766173H to sub index 0x01 of entry 0x1010 of the object dictionary called save all parameters in the EDS file 0x65 e 0x76 v 0x61 a 0x73 s When accessing to sub index 1 with a...

Страница 28: ...d4 leaves the safety mode upon reception of a new NMT command Warning In safety mode when the eNod4 is in stopped NMT state functioning is also inhibited using Modbus and SCMBus communication For exam...

Страница 29: ...RPDO1 and the response register value changes are automatically transmitted through TPDO1 0x1601 RPDO2 mapping parameters Sub index Description Access Default value Type 0x00 number of supported objec...

Страница 30: ...ansmission mechanisms that are presented in PDO communication All the measurements can be exchanged either through SDO read requests or through TPDO TPDO trigger sources are described in a table of PD...

Страница 31: ...ts level Unsigned32 0x04 4st mapped object RO 0X52000008 logical outputs level Unsigned32 0x05 5st mapped object RO 0X50070210 Dosing errors report Unsigned32 In NMT operational state eNod4 is able to...

Страница 32: ...alue Unsigned32 0x03 3rd mapped object R W 0 Unsigned32 Note TPDO2 and TPDO3 mapping are programmable TPDO1 mapping is not programmable To set a new mapping the procedure is as following Set eNod4 F i...

Страница 33: ...llows writing or reading data by writing commands into eNod4 cyclic outputs The module Reg Command Response uses the eNod4 functional command mechanism defined in another chapter The only difference c...

Страница 34: ...is received The Synchro mode stops upon reception of a Unsync command 7 5 2 Freeze The reception of a Freeze command causes eNod4 cyclic inputs to be frozen Their state is not updated until a new Free...

Страница 35: ...record 0 of Identification and Maintenance I M0 A Profibus master can access its content through standard DPV1 request 7 7 Measurement transmission In Profibus DPV1 communication protocol measurements...

Страница 36: ...stant flow rate 4 bytes 0 NA 3 Average flow rate 4 bytes Dosing quality factor 4 bytes Output control 6 bytes IN 6 Flow rate control output 4 bytes 0 NA 4 Control output value 2 bytes Totalization 10...

Страница 37: ...value to control analog output 2 bytes 10 The module Cmd Resp Reg uses the mechanism of eNod4 functional commands defined in another chapter The only difference is for reset and Restore default setti...

Страница 38: ...D 0x0A 0x00 long RW Sensor input control result 0x0A46 0x5004 0x04 M R 0x024E 0x0A 0x01 Int RO Sensor input control result max tolerance 0x0A47 0x5004 0x05 R 0x020A W 0x020B 0x0A 0x02 Uint RW 9 1 Meas...

Страница 39: ...ntrol result out of tolerances OR Sensor input control command in progress OR failed timeout OR Sensor input reference command in progress causes a logical output assigned to the defective measurement...

Страница 40: ...in an error mode in order to warn about any defection on the measurement chain defective measurement This variable is set active when at least one of the followings conditions occurs all that set bit...

Страница 41: ...value is automatically determined and stored after executing the sensor input reference command When the sensor input reference command is in progress the bits b3b2 in the Measurement status are set...

Страница 42: ...commands thanks to a couple of registers except in SCMBus protocols the command register dedicated to accept the functional commands the response register gives the state of the command currently bei...

Страница 43: ...Segment 1 acquisition DBH Segment 2 acquisition DCH Segment 3 acquisition DDH Store calibration DEH end of calibration physical theoretical procedure OUT1 activation deactivation E6H only possible if...

Страница 44: ...eption a reset functional command Moreover the settings listed below need to be stored and will only be taken into account at the next device reboot span adjusting coefficient calibration place g valu...

Страница 45: ...irst must be told to enter the physical calibration mode It is the first step of a sequential procedure 10 3 11 Calibration zero acquisition The calibration zero acquisition is the second step of the...

Страница 46: ...must not be realized when any process cycle that use weight is in progress because weight variables do not reflect the real weight whilst command is in progress This command can fail error in response...

Страница 47: ...ed 10 3 29 Flow rate calibration So that eNod4 can carry out an expected flow rate dosing in the best possible conditions the flow rate calibration is required This also applies when eNod4 is used bot...

Страница 48: ...rm successive dosing cycle sequence to calculate optimized PID coefficients Kp Ti and Td The number of cycle sequence can be fixed by user parameter It is strongly recommended that Td parameter does n...

Страница 49: ...t 1 0x001A 0x3006 0x04 R 0x0436 W 0x0437 0x03 0x05 Float RW Span coefficient 2 0x001C 0x3006 0x05 R 0x0438 W 0x0439 0x03 0x06 Float RW Span coefficient 3 0x001E 0x3006 0x06 R 0x043A W 0x043B 0x03 0x07...

Страница 50: ...Linear installations only need one segment Admitted values from 1 up to 3 11 3 3 Calibration loads 1 2 3 Before starting a physical calibration procedure each calibration segment must be given a corr...

Страница 51: ...2 places The eNod4 calculates a ratio applied to the measure which compensates the difference of gravity between the 2 places The g value are expressed in 10 6 m s 2 9805470 is equivalent to g 9 8054...

Страница 52: ...7 0x04 0x03 Uint RW Tolerance of clipping filter on instant flow rates 0x003A 0x4001 0x05 R 0x0248 W 0x0249 0x04 0x04 Uint RW Average flow rate determination depth 0x0059 0x4700 0x03 R 0x0278 W 0x0279...

Страница 53: ...signal processing chain Note the filters activation order setting can be accessed through a 16 bits register except in CANopen communication protocol where this word is divided into 2 8 bits registers...

Страница 54: ...terferences If enable this filter computes the mean of a specified last number of measures which are output of the previous filters The number of measures is defined by depth of moving average filter...

Страница 55: ...0x4509 0x01 R 0x0254 W 0x0255 0x06 0x00 byte RW Output 2 functioning 0x0044 MSB 0x4509 0x02 byte Output 3 functioning 0x0045 LSB 0x4509 0x03 R 0x0256 W 0x0257 0x06 0x01 byte RW Output 4 functioning 0x...

Страница 56: ...egative logic A holding time de bounced time attached to all inputs can be configured Available functions see hereunder table Function Operating mode transmitter Loss in weight feeder None Tare Cancel...

Страница 57: ...command operates on front in a bistable functioning mode In dosing mode the first rising or falling edge according to the configured logic on this input causes an emptying procedure The second one wil...

Страница 58: ...ves current or voltage outputs generally coupled to the extraction device Data is expressed in 0 01 of the high value of current or voltage analog outputs Maximal level output value corresponds to the...

Страница 59: ...surements Input image the output is dedicated to copying a logical input level outputs 1 and 3 correspond to inputs 1 and 3 outputs 2 and 4 correspond to input 2 and 4 Level on request the input level...

Страница 60: ...measurement transmission period setting 0110 Dynamic zero Same like equivalent functional command describe in functional commands 0111 Start Stop refilling Not directly equivalent compared to function...

Страница 61: ...mission rate is fixed by the measurement transmission period setting 0110 Dynamic zero Same like equivalent functional command describe in functional commands 0111 Start Stop refilling Not directly eq...

Страница 62: ...t initiates refilling the second stops it Note 1 the functions with a only are possible in SCMBus and fast SCMBus protocols Note 2 in CANopen communication protocol to use the send TPDOX function it i...

Страница 63: ...flow rate b4 polarity 0 unipolar could be set only with gross measurement 1 bipolar b7 b6 b5 output voltage settings 000 disable 001 0 V 5 V 010 0 V 10 V b10 b9 b8 output current settings 000 disable...

Страница 64: ...ternal totalizer In loss in weight feeder mode 1000 Flowrate alarm In loss in weight feeder mode 1001 Batch complete In loss in weight feeder mode 1010 Refilling in progress In loss in weight feeder m...

Страница 65: ...output level when enabled 1 positive logic defines the output level when enabled 13 2 6 Logical outputs 3 4 assignment Similar to the outputs 1 2 configuration parameter see previous paragraph replac...

Страница 66: ...y if output 2 assigned to the set point function 1 hysteresis b6 b5 set point 2 comparison measurement 00 gross 01 net 10 Sensor input control result b7 reserved 0 b8 or b0 in CANopen set point 3 comm...

Страница 67: ...ation mode hysteresis window and by a couple of values that are constantly compared to the gross or net measurement or to dosing result or dosing running total depending on the configuration the set p...

Страница 68: ...vel 1 high b3 With IO version only else 0 0 low IN4 level 1 high b7 b4 0 reserved 0 b8 note 1 0 low OUT1 level 1 high b9 note 1 0 low OUT2 level 1 high b10 note 1 0 low OUT3 level 1 high b11 note 1 0...

Страница 69: ...e in Modbus RTU value set to 1 in CANopen and in Profibus DP and during zero and tare acquisitions 14 2 2 Legal for trade software version This RO value identifies the version of the part of the softw...

Страница 70: ...y setting b0 bit or b1 bit to 1 When activated both options are effective on a 10 range of the maximum capacity 2 if the legal for trade option is enabled 14 2 6 Stability criterion The stability crit...

Страница 71: ...characters and data has no consistency There is no automatic calculation to adjust flowrate values neither flowrate calibration values Note the unit is directly integrated to SCMBus protocol frames s...

Страница 72: ...efilling high level 0x0062 0x4701 0x06 R 0x0484 W 0x0485 0x07 0x08 Ulong RW Refilling inflight value 0x0064 0x4701 0x07 R 0x0486 W 0x0487 0x07 0x09 long RW Cycle and alarm options 0x005F 0x4701 0x04 R...

Страница 73: ...aximum batch time 0x0074 0x4704 0x07 R 0x02A4 W 0x02A5 0x07 0x18 Uint RW Totalizer value Great WU 0x008D 0x5006 0x01 M R 0x04F0 See modules list Ulong RO Complementary totalizer value 0x008F 0x5006 0x...

Страница 74: ...0x470B 0x03 R 0x04CE W 0x04CF 0x07 0x2C float RW Calibration of flow rate point 4 flow rate value 0x0A10 0x470B 0x04 R 0x04D0 W 0x04D1 0x07 0x2D float RW Calibration of flow rate point 5 flow rate val...

Страница 75: ...utput of moving average filter on successive values of instant flowrate Nominal flow rate target of flow rate expressed in weight unit per flow rate time unit Dosing weight deviation weight deviation...

Страница 76: ...ht unit cf totalization Weight to totalize inflight value in batch mode inflight value target in weight unit to apply to the weight to totalize cf totalization Learning cycle end of refill delay delay...

Страница 77: ...the refilling whether it is a manual or automatic control lack of material clogging valve or control failure cf refilling alarms Expressed in seconds Time interval for weight variation control on ref...

Страница 78: ...t unit x 1000 This totalization can be cleared separately by the clear general total command The data of this totalizer is being permanently backed up internally cf totalization Extraction time time m...

Страница 79: ...don t accept derivate correction or a very low value for the derivate term PID behaviour eNod4 is fitted with an automatic adjustment device of the PID parameters Slow Fast or stable behaviour can be...

Страница 80: ...ion 0x0008 LSB 0x3605 0x00 R 0x0218 W 0x0219 0x01 0x03 Byte RW Metrology decimal point position 0x0008 MSB 0x3700 0x02 Byte Metrology Weight unit 0x0009 0x3700 0x01 R 0x041A W 0x041B 0x01 0x04 String...

Страница 81: ...output IO version 0x0032 0x5050 0x00 M R 0x023C W 0x023D See modules list 0x06 0x0C Uint RW Reserved 2 bytes 0x0033 HMI HMI name 0x0034 0x3701 0x00 0x0B 0x00 String RW Filtering A D conversion rate 0x...

Страница 82: ...outputs Output 4 functioning 0x0045 MSB 0x4509 0x04 byte Inputs outputs Set point 1 high value 0x0046 0x4601 0x02 R 0x025A W 0x025B 0x06 0x02 Long RW Inputs outputs Set point 1 low value 0x0048 0x460...

Страница 83: ...s 0x005F 0x4701 0x04 R 0x0280 W 0x0281 0x07 0x06 Uint RW Dosing Refilling low level 0x0060 0x4701 0x05 R 0x0482 W 0x0483 0x07 0x07 Ulong RW Dosing Refilling high level 0x0062 0x4701 0x06 R 0x0484 W 0x...

Страница 84: ...0x07 0x1A Uint RW Dosing Weight to totalize inflight value 0x0078 0x4705 0x03 R 0x04AA W 0x04AB 0x07 0x1B long RW Dosing Nominal flow rate 0x007A 0x4706 0x00 R 0x04AC W 0x04AD 0x07 0x1C float RW Rese...

Страница 85: ...RO Inputs outputs Logical ouput level 0x0094 MSB 0x5200 0x00 M Byte Dosing Dosing weight deviation 0x0095 0x5007 0x05 M R 0x04FA See modules list float RO Measures Preset Tare 0x0097 0x5004 0x02 M R 0...

Страница 86: ...s CANopen Index sub index Profibus cyclic IN OUT Acyclic DPV1 slot index Type Access Dosing General total Great WU 0x00A4 0x5006 0x05 M R 0x04F6 See modules list Ulong RO Dosing Extraction time 0x00A6...

Страница 87: ...control output value 0x0A05 0x470A 0x06 R 0x02BE W 0x02BF 0x07 0x25 Uint RW Dosing Calibration of flow rate point 7 control output value 0x0A06 0x470A 0x07 R 0x02C0 W 0x02C1 0x07 0x26 Uint RW Dosing...

Страница 88: ...0x0A1C 0x470B 0x0A R 0x04DC W 0x04DD 0x07 0x33 float RW Dosing Segments number for the calibration curve of flow rate 0x0A1E 0x4709 0x00 R 0x02B2 W 0x02B3 0x07 0x1F Uint RW Reserved 36 bytes 0x0A1F D...

Страница 89: ...Defective measurement debounced time 0x0A48 0x4509 0x06 R 0x02EC W 0x02ED 0x06 0x0D Uint RW Measures Inputs outputs Defective measurement alarm activation time 0x0A49 0x4509 0x07 R 0x02EE W 0x02EF 0x...

Страница 90: ...E NU Soft eNod4F E 0716_235704 C doc 17 CRC 16 CALCULATION ALGORITHM FFFFh CRC16 CRC16 XOR octet n CRC16 i 0 D calage gauche CRC 16 carry over CRC16 XOR A001h CRC16 oui non i i 1 i 8 non oui n n 1 Fin...

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