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CANopen add-on module

13

SFIDK.PS.023.A2.02

7. SDOs (Service Data Objects)

7.

SDOs (Service
Data Objects)

Service Data Objects are used to establish a peer-2-peer connection between two CANopen
devices. This kind of connection is based on a Client/Server mechanism.

The SDO server is the device that is serving the object dictionary to which the access is required.
The SDO client is the device that wants to access the object dictionary of a specific device.

The SDO service is based on two CAN messages with different identifiers. The SDO client uses
one message and the SDO server uses the second message.

There are three different methods for SDO down-/upload:

•

Expedited SDO transfer,

•

Normal (segmented) SDO transfer, and

•

SDO Block transfer. (Not supported)

Device type

Index

Object name

Access

Type

PDO

Description

mapping

1000h

Device type

R

U32

No

00 = No standardised device profile

Error register

Index

Object name

Access

Type

PDO

Description

mapping

1001h

Error Register

R

U8

No

Always 00h

Manufacturer Device name

Index

Object name

Access

Type

PDO

Description

mapping

1008h

Manufacturer

Const.

U32

No

MASS 6000 CANopen module

Device name

or MAG 6000 CANopen module

Manufacturer HW version

Index

Object name

Access

Type

PDO

Description

mapping

1009h

Manufacturer

Const

Vis. string

No

3.0

HW Version

Manufacturer SW version

Index

Object name

Access

Type

PDO

Description

mapping

100Ah

Manufacturer

Const.

Vis. string

No

2.01 or greater

SW Version

Guard time

Index

Object name

Access

Type

PDO

Description

mapping

100Ch

Guard Time

R/W

U16

No

Guard time in milliseconds

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Содержание FDK:521H1134

Страница 1: ... Operating Manual Order no FDK 521H1134 SFIDK PS 023 A2 02 SITRANS F M MAGFLO SITRANS F C MASSFLO CANopen add on module for USM II transmitters s ...

Страница 2: ... 7 3 7 Cable length versus baudrate 7 3 8 Cable specification DC characteristics 8 3 9 Cable specification cross section CAN Bus line cross sections 8 4 Commissioning 9 4 1 CANopen display menu 9 4 2 Menu item explanation 10 5 Object dictionary overview 11 6 PDOs Process Data Objects 12 6 1 What is a PDO 12 6 1 1 TX PDOs 12 6 1 2 RX PDOs 12 7 SDOs Service Data Objects 13 APPENDIX A SI units used i...

Страница 3: ...ly a gateway through which a CANopen master device can have controlled access to a number of Siemens Flow Instruments USM II signal converter parameters This manual is not intended to be a complete tutorial on the CANopen protocol and it is assumed the end user already has a general working knowledge of CANopen communications especially in respect of master station configuration and operation Howe...

Страница 4: ...O linking Yes PDO mapping Yes default No of SDO s 1 Server 0 Client Emergency message No CANopen version DS 301 V4 01 Framework No Certified No Device profile Siemens Flow Instruments specific Cable specification Cable design Four wire two pairs twisted pair with shield Shielding CU shielding braid or shielding braid and shielding foil Impedance 35 up to 165 Ohm at frequencies from 3 to 20 mHz Cab...

Страница 5: ...follows 1 Unpack the add on module and insert it in the bottom of the signal converter as shown 2 Press the add on module in the direction shown until it stops and is firmly seated in position 3 This completes the add on mo dule installation and the signal converter may now be connected to the terminal box Communica tion with the display keypad and the electrical input output termi nals is establi...

Страница 6: ...00 91 100 Note The standard inputs and outputs continue to function and are not affected by the presence of an add on module Any existing transmitter electrical connections can remain undisturbed Siemens terminal CANopen signal number 91 CAN_LO 92 CAN_HI 93 CAN_GND 3 4 Standard CAN con nection For reference purposes the following table is included to show the pin assignment for a Sub D 9 plug conf...

Страница 7: ...ransmission rate the 40 m cable length cannot be guarantee in all cases For each system the transmission delay in reciever transmitter has to be evaluated for a correct function of the system 3 Installation A CAN system must always be terminated correctly Two termination resistors must be present one in each end of the trunk line ...

Страница 8: ...o 300 Ω 100 Mbit s AWG20 at 100 m 600 to 1 km 26 mΩ m 0 75 mm2 to 0 8 mm2 150 Ω to 300 Ω 50 Mbit s AWG18 at 1k m 3 9 Cable specification cross section CAN Bus line cross sections Length 32 nodes 64 nodes 100 nodes 100 m 0 25 mm2 0 25 mm2 0 25 mm2 250 m 0 34 mm2 0 50 mm2 0 50 mm2 500 m 0 75 mm2 0 75 mm2 1 00 mm2 Wire resistance Rw 21 Ω 32 nodes 18 5 Ω 64 nodes 16 Ω 100 nodes At 1000 kB transmission...

Страница 9: ...settings by pressing Forward key 7 Select CANopen NodeID 8 Type in the address with the Change key and Next key 9 Lock the setting with the Lock key 10 Select CANopen Baudrate 11 Select the desired baudrate with the Change key 12 Lock the setting with the Lock key 13 Select Update Rate 14 Select the desired PDO update rate with the Change key 15 Lock the setting with the Lock key 16 Press Top key ...

Страница 10: ...m the Master Operational is displayed when all communication is active PreOperational is displayed while waiting for Start_Remote_Node_request Update rate Set 0 Set 1 Set 2 Only valid for MASS 6000 Set 0 2 Hz update rate on all measurement values Set 1 Set 0 except that massflow is 10 Hz Set 2 Set 1 except that totalizers are 5 Hz only possible in MASS 6000 SW version 2 00 Enter progr Mode No yes ...

Страница 11: ...rameter 1400h RXPDO1ComPar 1600h RXPDO1MapPar 1800h TXPDO1ComPar 1801h TXPDO2ComPar 1802h TXPDO3ComPar 1 1803h TXPDO4ComPar 1 1A00h TXPDO1MapPar 1A01h TXPDO2MapPar 1A02h TXPDO3MapPar 1 1A03h TXPDO4MapPar 1 2000h Volumeflow Measurement process values and control values 2010h Massflow 1 2020h Density 1 2030h Temperature 1 2040h Fraction A 1 2050h Fraction B 1 2100h Totalizer 1 Calculated process val...

Страница 12: ...yte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 1 Massflow float 32 Totalizer 1 float 32 2 Density float 32 Temperature i16 Fraction A i16 3 Volumeflow float 32 Totalizer 2 2 float 32 4 Fraction A 1 float 32 Fraction B 1 float 32 1 A SENSORPROM unit with valid fraction data is required 2 If batch is on batch progress is returned Otherwise the totalizer 2 values is returned MAG 6000 default ...

Страница 13: ... Normal segmented SDO transfer and SDO Block transfer Not supported Device type Index Object name Access Type PDO Description mapping 1000h Device type R U32 No 00 No standardised device profile Error register Index Object name Access Type PDO Description mapping 1001h Error Register R U8 No Always 00h Manufacturer Device name Index Object name Access Type PDO Description mapping 1008h Manufacture...

Страница 14: ...emergency object Producer heartbeat time Index Object name Access Type PDO Description mapping 1017h Producer heartbeat R W U16 No Producer heartbeat time defines the time cycle time of the heartbeat Identity object Index Object name Description 1018h Identity Contains general information about the device Sub Name Access Type PDO Description index mapping 0 No Of Entries R U8 No 4 1 Vendor Id R U3...

Страница 15: ...No Default 2 1 1 st object to be mapped R W U32 No Default 2810 0108h 2 2 nd object to be mapped R W U32 No Default 2810 0208h Transmit PDO 1 communication parameter Index Object name Description 1800h Transmit PDO 1 communication parameter Contains the communication parameters for the PDOs that the device is to send Sub Name Access Type PDO Description index mapping 0 No of Entries R U8 No 3 1 CO...

Страница 16: ...e PDOs that the device is to send Sub Name Access Type PDO Description index mapping 0 No of Entries R W U8 No MAG 6000 Default 2 MASS 6000 Default 2 1 1 st object to be R W U32 No MAG 6000 Default 2000 0120h mapped MASS 6000 Default 2010 0120h 2 2 nd object to be R W U32 No MAG 6000 Default 2010 0120h mapped MASS 6000 Default 2010 0120h 3 3 rd object to be R W U32 No MAG 6000 Default 0000 0000h m...

Страница 17: ...s to send Sub Name Access Type PDO Description index mapping 0 No of Entries R W U8 No MASS 6000 Default 2 1 1 st object to be R W U32 No MASS 6000 Default 2040 0120h mapped 2 2 nd object to be R W U32 No MASS 6000 Default 2050 0120h mapped 3 3 rd object to be R W U32 No MASS 6000 Default 0000 0000h mapped 4 4 th object to be R W U32 No MASS 6000 Default 0000 0000h mapped Measurement process value...

Страница 18: ...tion index mapping 0 No of Entries R U8 No 3 1 Reset R U8 No Always 0 2 Run R U8 No 0 Run 1 Hold 3 Direction R U8 No 0 Negative 1 Positive 2 Netto Batch control Index Object name Description 2180h Batch control Sub Name Access Type PDO Description index mapping 0 No of Entries R U8 No MAG 6000 8 MASS 6000 9 1 Mode W U8 No 0 Off 1 On 2 255 Reserved 2 Command W U8 Yes 1 Start 2 Pause 3 Resume 4 Stop...

Страница 19: ...e counterReset R U8 No Dummy read 7 Timeout R U32 No Max Batch time in seconds 8 Timeout Active R U8 No 0 Off 1 On 9 Lead constant R F32 No MASS 6000 only Error information Index Object name Description 2800h Error information Contains information about the most important error from the flowmeter Sub Name Access Type PDO Description index mapping 0 No of Entries R U8 No 1 1 1 st Error R U32 No Ple...

Страница 20: ...HR_CMD 0 Totalizer 1 is in RUN mode normal operation 1 Totalizer 1 is in HOLD mode T2R_MASK 0 T2R_CMD is disabled 1 T2R_CMD is enabled T2R_CMD 0 No action 1 Totalizer 2 is reset reset takes place when T2R_CMD changes from 0 to 1 T1R_MASK 0 T1R_CMD is disabled 1 T1R_CMD is enabled T1R_CMD 0 No action 1 Totalizer 1 is reset reset takes place when T1R_CMD changes from 0 to 1 Control set 1 Bit7 Bit6 B...

Страница 21: ...erter Zero Adjust Zero Adjust parameters Sub Name Access Type PDO Description index mapping 0 No of Entries R U8 No Number of Entries 1 Control W U8 No 1 Reset complete bit in Status 2 Start Automatic Zero Adjust 2 Status R U8 No 1 Zero Adjust completed 2 Zero Adjust in Progress 3 Zero Adjust Time R W U16 No The time it takes to perform an Automatic Zero Adjust 4 Manual Zero Point RW U32 No Manual...

Страница 22: ...perature C Fraction flow A B kg s Fraction flow A pct percent Totalizer 1 2 kg or m3 depending on totalizer mode i e mass flow or volume flow Batch Same as totalizers Note C for temperature is not strictly speaking an SI unit This should be K Kelvin but K is of little practical significance to most users hence the use of C Celcius APPENDIX A SI units used in USM II products ...

Страница 23: ...a F2 B1 CA 45 00 00 10 27 Rx D 9 560 Id 28A Len 8 Data F2 B1 CA 45 00 00 10 27 Rx D 9 620 Id 28A Len 8 Data F2 B1 CA 45 00 00 10 27 Rx D 9 620 Id 18A Len 8 Data 60 80 7A 3E 2C A0 6B 47 Rx D 9 670 Id 38A Len 8 Data 1E 03 1E 38 A8 88 01 40 Rx D 9 840 Id 18A Len 8 Data 3E 24 7A 3E 2C A0 6B 47 Rx D 9 840 Id 38A Len 8 Data BE 13 1E 38 A8 88 01 40 Rx D 9 890 Id 48A Len 8 Data E2 31 7A 3E 00 00 00 00 Rx ...

Страница 24: ...provement are always welcomed Technical data subject to change without prior notice The reproduction transmission or use of this document or its contents is not permitted without express written authority Offenders will be liable for damages All rights including rights created by patent grant or registration of a utility model or design are reserved Copyright Siemens AG 07 2003 All Rights Reserved...

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