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Communication via

 CAN bus (CANopen) 

 

MSA501

 

Date: 12.10.2018 

Art. No. 88734 

Mod. status 330/18 

Page 22 of 51 

Identifier 

Byte 0  Byte 1  Byte 2 

Byte 3  Byte 4  Byte 5  Byte 6  Byte 7 

11/ 29 Bit 

Emergency Error 
Code 

Error Register 
(Objekt 1001h) 

Manufacturer-specific error field 
(not used) 

 

Emergency Error Code: 

Error description 

Error Code 

Cause of the error removed 

0000h 

Bus status changed over to the error passive mode  

8120h 

recovered from Bus Off 

8140h 

Manufacturer-specific Tape-sensor 

FF10h 

Manufacturer-specific Velocity error 

FF12h 

Manufacturer-specific Plausibility error 

FF13h 

Manufacturer-specific Alignment activated? 

FF14h 

Manufacturer-specific Faulty values detected 

FF15h 

Manufacturer-specific Check sum error 

FF16h 

Manufacturer-specific Read/write error EEPROM 

FF17h 

Table 16: Emergency Error Code 

The identifier of the emergency object is set to 80h + node ID by default; however, it can be 
changed via object 1014h (see 

1014h: COB-ID Emergency-Nachricht

). Transmission of an 

emergency message is enabled in the NMT statuses “OPERATIONAL” or “PRE-OPERATIONAL” 
only! Sending of emergency messages can be disabled by setting the COB-ID Valid bit to 1. 

5.5.2

 

Node Guarding 

Node guarding is available for failure monitoring of the CANopen network. During node 
guarding, the master transmits remote frames (RTR, remote transmit request, message request 
telegrams) to the guarding identifiers of the nodes to be monitored. The latter respond with 
the guarding message. This message contains the current NMT status of the node as well as a 
toggle bit whose value must change after each message. The master assumes that a node error 
has occurred if status or toggle bits do not correspond with those expected by the master or if 
there is no response. 

Via objects 100Ch (Guard Time) and 100Dh (Life Time Factor) the time interval (Life-Time) is 
set within which the NMT master expects to receive a response. The time interval “Life Time” 
is calculated from the cycle time “Guard Time”, multiplied with the factor “Life Time Factor”. 
If the NMT master does not receive a response to its RTR frame within the “Life Time”, it may 
react with suitable measures. Upon switching on, node guarding will be enabled by sending 
the first RTR frame of the master to the slave. Node Guarding is deactivated if the value of 
either object (100Ch or 100Dh) is set to 0h. 

The answer of the node to the RTR frame of the master is formed as follows: 

Identifier 

Byte 0 

700h + Node-ID 

Bit 7: Toggle Bit 

Bit 6 … 0 NMT state 

Содержание MSA501

Страница 1: ...330 18 MSA501 Actuator with CANopen interface User manual...

Страница 2: ...communication states 12 5 2 1 2 Toggling between the NMT communication states 13 5 2 2 Boot Up 13 5 2 3 SYNC object 13 5 3 Process data exchange 14 5 3 1 Transfer of process data objects PDO 14 5 3 1...

Страница 3: ...6 2 19 1801h 2nd Transmit PDO Parameter 38 5 6 2 20 1A00h 1 Transmit PDO Mapping Parameter 40 5 6 2 21 1A01h 2 Transmit PDO Mapping Parameter 40 5 6 2 22 5115h Calibrate encoder value 41 5 6 2 23 5116...

Страница 4: ...direct connection with binary or hexadecimal values in which case the extension d will be used e g 1234d Binary values are identified by adding b e g 1011b to the figures whereas hexadecimal values ar...

Страница 5: ...ents of the application This applies to the configuration parameters of the sensor unit as well as to the way it makes available to the system its position values asynchronous or synchronous data tran...

Страница 6: ...us LED CAN diagnosis The CiA DS 303 Part 3 V1 4 0 indicator specification is the basis of the CAN diagnosis LED state Description On LED is permanently on Off LED is permanently off Blinking LED flash...

Страница 7: ...during the startup process The adoption of a node ID or baud rate bus reset later occurs only after re initialization see chapter 5 2 1 Network management NMT services Switch no 1 2 3 4 5 6 7 8 Meanin...

Страница 8: ...erical values The numerical value output by the MSA501 sensor via the interface is always a multiple of the resolution set Example Value output by the sensor 340603 set resolution 0 005 mm position va...

Страница 9: ...ation The MSA501 features an absolute measurement system i e the information of the position value is represented in the scale MBA501 magnetic tape as an absolute value Calibration can be performed at...

Страница 10: ...s documentation If more in depth information is required we recommend the applicable technical literature on CAN or CANopen 5 1 Telegram structure The data telegram of a CAN message consists of the fo...

Страница 11: ...t 30 cannot be set to 1b in the MSA501 the COB ID could be changed at any time The node number Node ID see also object 5F0Ah Node ID and baud rate Bus CAN is assigned once in every bus system with con...

Страница 12: ...omponents are initialized This state is attained after switching on the device or after receipt of the command code 81h Reset node of the own or global addresses Following receipt of the command code...

Страница 13: ...x OPERATIONAL PRE OPERATIONAL STOPPED INITIALISATION Reset Node 5d 0h 81h x OPERATIONAL PRE OPERATIONAL STOPPED INITIALISATION Reset Communication 4d 0h 82h x Table 10 Toggling between communication...

Страница 14: ...h and is assigned to asynchronous transmission TPDO2 is defined via the objects 1801h and 1A01h and serves synchronous transmission The structure of the messages is shown in Table 12 with variable and...

Страница 15: ...s the desired objects and the data length 5 In order to enable mapping the maximally used sub index must be entered in sub index 00h 6 The TPDO is reactivated by deleting the Valid bit of COB ID on 0...

Страница 16: ...PDO1 via COB ID 00000181h COB ID User data Command Index L Index H Sub index Data 0 Data 1 Data 2 Data 3 601h 23h 00h 18h 01h 81h 01h 00h 00h 5 4 Parameter data exchange 5 4 1 Transmission of Service...

Страница 17: ...SDO tx Initiate Download Response Acknowledgment of data acquisition to master Read Request 40h SDO rx Initiate Upload Request Request parameter from slave Read Response 43h SDO tx Initiate Upload Res...

Страница 18: ...r data The segment message has the following structure COB ID User data in binary code Byte 0 read write Byte 1 LSB Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 MSB SDO rx tx Node ID Command byte User da...

Страница 19: ...te 1 low Byte Byte 7 high Byte 5 4 1 3 Error Response in SDO exchange With invalid access an error message Abort is returned to the master The error codes are described in the CANopen profile CiA DS 3...

Страница 20: ...ID User data Command Index LB Index HB Subindex Data 0 Data 1 Data 2 Data 3 581h 43h 4 Bytes g ltig 03h 60h 00h FEh 01h 00h 00h Example of writing SDO parameters with the expedited Request Response Th...

Страница 21: ...Command Index L Index H Subindex Data 0 Data 1 Data 2 Data 3 601h 60h 08h 10h 00h x x x x Response to the request by the slave COB ID User data Command Data 0 Data 1 Data 2 Data 3 Data 4 Data 5 Data 5...

Страница 22: ...Valid bit to 1 5 5 2 Node Guarding Node guarding is available for failure monitoring of the CANopen network During node guarding the master transmits remote frames RTR remote transmit request message...

Страница 23: ...a the node guarding protocol as opposed to the heartbeat that can be received by all subscribers 5 5 3 Heartbeat The master monitors the state of the slave device via Heartbeat protocol While doing th...

Страница 24: ...me Factor Parameter for Node Guarding 29 1010h Store Parameter Object for non volatile storage of the settings 29 1011h Restore Parameter Object for restoring the factory settings 32 1014h COB ID Emer...

Страница 25: ...Number of distinguishable revolutions Number of revolutions the encoder is able to sense 49 6507h Profile and Software Version Indicates the version number of the device profile used and the version n...

Страница 26: ...munication error on the CAN bus passive or bus off 7 manufacturer specific sensor error 1 3 5 6 Not used Faults and errors are signaled at the time of their occurrence by an emergency message 5 6 2 3...

Страница 27: ...x 00h Description number of error messages stored Access rw PDO Mapping no Data type UNSIGNED 8 Default 0h EEPROM yes Subindex 01h 08h Description error messages that occurred Access ro PDO Mapping no...

Страница 28: ...2 Byte 3 Byte 4 Byte 5 Byte 6 4Dh M 53h S 41h A 35h 5 30h 0 31h 1 00h 0 5 6 2 7 1009h Manufacturer Hardware Version Object 1009h indicates the hardware version Subindex 00h Description Hardwareversio...

Страница 29: ...the life time factor set in the master for node guarding see chapter 5 5 2 Node Guarding Value 0h means that Node Guarding is deactivated Subindex 00h Description Life Time Factor Access rw PDO Mappi...

Страница 30: ...h e Read Bit 31 2 0 reserviert Bit 1 0 Device does not independently store parameters Bit 0 1 Device stores parameters after command Subindex 02h Description Save only communication parameters 1000h 1...

Страница 31: ...3h s 61h a 76h v 65h e Read Bit 31 2 0 reserviert Bit 1 0 Device does not independently store parameters Bit 0 1 Device stores parameters after command Subindex 04h Description Save only manufacturer...

Страница 32: ...index Access ro PDO Mapping no Data type UNSIGNED 8 Default 4h EEPROM no Subindex 01h Description Reset all parameters to factory settings Access rw PDO Mapping no Data type UNSIGNED 32 Default 1h EEP...

Страница 33: ...Data content Write Byte 0 Byte 1 Byte 2 Byte 3 6Ch l 6Fh o 61h a 64h d Read Bit 31 1 0 reserviert Bit 0 1 Device permits loading of default parameters Subindex 04h Description Set only manufacturer s...

Страница 34: ...yes Data content Bit 31 0 EMCY object exists is valid 1 EMCY object does not exists is invalid Bit 30 Always 0b Bit 29 0 11Bit Identifier CAN 2 0A 1 29Bit Identifier CAN 2 0B Bit 28 11 0 falls Bit 29...

Страница 35: ...sponds to a multiple of 1 ms Value 0h disables the service 5 6 2 16 1018h Identity Objekt The manufacturer identification number Vendor ID is indicated by object 1018h Subindex 00h Description indicat...

Страница 36: ...ndex 04h Description Serial Number Access ro PDO Mapping no Data type UNSIGNED 32 Default 1h EEPROM yes 5 6 2 17 1200h Server SDO Parameter The COB IDs for the server SDOs are indicated via object 120...

Страница 37: ...00h Description indicates the largest supported sub index Access ro PDO Mapping no Data type UNSIGNED 8 Default 5h EEPROM no Subindex 01h Description COB ID of the PDO1 Access rw writable in the Pre...

Страница 38: ...apping no Data type UNSIGNED 16 Default 0h EEPROM yes Data content The service is disabled by writing the value 0h The content of this object is identical with object 6200h If the value is changed wit...

Страница 39: ...DO is sent after 1d 240d received SYNC messages FDh 253d Device responds only to RTR request if RTR Bit 30 is enabled in the COB ID Subindex 03h Description Inhibit time function is not supported only...

Страница 40: ...he PDO1 message Datenbyte 0 bis 3 Access rw PDO Mapping no Data type UNSIGNED 32 Default 60040020h position value object 6004h Subindex 00h 32bit EEPROM yes Subindex 02h Description 2nd object of the...

Страница 41: ...s 5 6 2 22 5115h Calibrate encoder value With object 5115h calibration can be executed or it informs whether calibration is executed Subindex 00h Description This object enables zeroing of the measure...

Страница 42: ...7999d FFE0C001h 001F3FFFh 5 6 2 24 5122h Register With Object 5122h can be readout the register Subindex 00h Description indicates the largest supported sub index Access ro PDO Mapping no Data type UN...

Страница 43: ...UNSIGNED 8 Default 43h EEPROM no Data content Bit 7 External Reset MCLR Pin bit Bit 6 Software Reset Instruction Flag bit Bit 5 Software Enable Disable of WDT bit Bit 4 Watchdog Timer Time out Flag bi...

Страница 44: ...ID and baud rate Bus CAN Node ID and bus baud rate can be set via object 5F0Ah if the DIP switches only available with SP01 SP03 are set to Use memory see chapter 3 3 DIP switch The adoption of a nod...

Страница 45: ...gs of the operating parameters can be made through object 6000h Subindex 00h Description Operating Parameters Access rw PDO Mapping no Data type UNSIGNED 16 Default 4h EEPROM yes Data content Bit 15 4...

Страница 46: ...no Data type SIGNED 32 Default 0h EEPROM yes Data content 2047999d 2047999d FFE0C001h 001F3FFFh 5 6 2 29 6004h Position value Object 6004h indicates the actual position value of the device Subindex 00...

Страница 47: ...p width of the velocity of the linear sensor The parameter must be indicated as multiple of 0 01 mm s according to CiA DS 406 Access rw PDO Mapping no Data type UNSIGNED 32 Default 100d 64h EEPROM yes...

Страница 48: ...Mapping no Data type UNSIGNED 16 Default 0h EEPROM yes Data content 0d 65535d 0h FFFFh 5 6 2 33 6500h Operating Status The object 6500h indicates the settings programmed with object 6000h Subindex 00...

Страница 49: ...and Software Version The object 6507h indicates the encoder profile used CANopen Device profile for encoders and the version number of the firmware state Subindex 00h Description Profile and software...

Страница 50: ...32 Default 0h EEPROM yes 5 6 2 39 650Ah Module Identification Object 650Ah indicates the manufacturer specific offset value as well as the smallest and largest transferable position value Subindex 00h...

Страница 51: ...cription Largest transferable position value Access ro PDO Mapping no Data type SIGNED 32 Default 1000000d 000F4240h EEPROM no 5 6 2 40 650Bh Serial number Object 650Bh provides the serial number of t...

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