AXIOMATIC AXRTD8CO User manual
USER MANUAL UMAXRTD8CO
RTD SCANNER,
EIGHT CHANNEL
With CANopen®
USER MANUAL
P/N: AXRTD8CO
Version 2.1.1 Preliminary Documentation – May be Sub ect to Change ii
VERSION HISTORY
Version
Da e
Au hor
Modifica ions
1.0.0 August 13, 2010 Anna Murray Initial Draft
1.0.1 November 10, 2010 Anna Murray Changed fixed width of RS-232 data stream
from 5 to 6 characters. Updated screen
capture
- November 19, 2010 Amanda Wilkins
Changed optical isolation to digital isolation
1.1.0 January 25, 2011 Anna Murray Added new ob ect 5555h
2.0.0 December 19, 2011 Amanda Wilkins
New hardware – updated with certifications
2.1.0 April 26, 2012 Anna Murray Updated section 4.1.5 for Load New Software
to reflect the new bootloader.
2.1.1 October 9, 2012 Amanda Wilkins
Added input resistance range and clarified
isolation.
2.1.1A April 2, 2014 Olek Bogush Added “Short Circuit” and “Open Circuit”
conditions to the Technical Specification.
2.1.1A October 2, 2015 Amanda Wilkins
Updated IP rating to IP67 based on test results
ACRONYMS
AVG Average
CAN Controller Area Network
CANopen® CANopen® is a registered community trademark of CAN in Automation e.V.
CAN-ID CAN 11-bit Identifier
CJ Cold Junction
COB Communication Ob ect
EDS Electronic Data Sheet
EMCY Emergency
LSB Least Significant Byte (or Bit)
LSS Layer Settling Service
MSB Most Significant Byte (or Bit)
MEMS Micro-electromechanical system
NMT Network Management
RO Read Only Ob ect
RPDO Received Process Data Ob ect
RTD Resistive Thermal Device
RW Read/Write Ob ect
SDO Service Data Ob ect
TPDO Transmitted Process Data Ob ect
WO Write Only Ob ect
REFERENCES
[DS-301] CiA DS-301 V4.1 – CANopen Application Layer and Communication Profile.
CAN in Automation 2005
[DS-305] CiA DS-305 V2.0 – Layer Setting Service (LSS) and Protocols. CAN in
Automation 2006
[DS-404] CiA DS-404 V1.2 – CANopen profile for Measurement Devices and Closed
Loop Controllers. CAN in Automation 2002
These documents are available from the CAN in Automation e.V. website http://www.can-cia.org/.
Version 2.1.1 Preliminary Documentation – May be Sub ect to Change iii
TABLE OF CONTENTS
1.
OVERVIEW OF
RTD
SCANNER
..
..
5
1.1. Description of RTD Scanner.......
5
1.2. RTD Measurements.....
7
1.3. Average Measurements...
10
2.
INSTALLATION INSTRUCTIONS
...
.............
11
2.1. Dimensions and Pinout
11
2.2. Installation Instructions ......
13
3.
CANOPEN ®
OBJECT DICTIONARY
.
..
.
..
16
3.1. NODE ID and BAUDRATE..
16
3.1.1. LSS Protocol to Update.....
16
3.2. COMMUNICATION OBJECTS (DS-301 and DS-404)...
20
3.2.1. Ob ect 1000h: Device Type.............
21
3.2.2. Ob ect 1001h: Error Register..............
22
3.2.3. Ob ect 1002h: Manufacturer Status Register............
22
3.2.4. Ob ect 1003h: Pre-Defined Error Field..............
22
3.2.5. Ob ect 100Ch: Guard Time..............
24
3.2.6. Ob ect 100Dh: Lifetime Factor............
24
3.2.7. Ob ect 1010h: Store Parameters............
25
3.2.8. Ob ect 1011h: Restore Parameters............
26
3.2.9. Ob ect 1016h: Consumer Heartbeat Time..............................
28
3.2.10. Ob ect 1017h: Producer Heartbeat Time..............
29
3.2.11. Ob ect 1018h: Identity Ob ect..............
29
3.2.12. Ob ect 1020h: Verify Configuration..............................
30
3.2.13. Ob ect 1029h: Error Behaviour............
31
3.2.14. RPDO Behaviour ......
32
3.2.15. TPDO Behaviour...............
34
3.3. APPLICATION OBJECTS (DS-404)......
36
3.3.1. Ob ect 6100h: RTD Input Field Value.
36
3.3.2. Ob ect 6110h: RTD Sensor Type....
37
3.3.3. Ob ect 6112h: RTD Operating Mode...
37
3.3.4. Ob ect 6114h: ADC Sample Rate.......
38
3.3.5. Ob ect 6126h: RTD Scaling Factor.....
39
3.3.6. Ob ect 6127h: RTD Scaling Offset......
39
3.3.7. Ob ect 7130h: RTD Input Process Value...
40
3.3.8. Ob ect 6150h: RTD Status....
40
Version 2.1.1 Preliminary Documentation – May be Sub ect to Change iv
3.4. MANUFACTURER OBJECTS........
42
3.4.1. Ob ect 2000h: RTD Resistance.......
42
3.4.2. Ob ect 2010h: RTD Microvolts.........
43
3.4.3. Ob ect 2100h: Average Input Field Value......
43
3.4.4. Ob ect 2112h: Average Operating Mode....
44
3.4.5. Ob ect 2126h: Average Scaling Factor...
45
3.4.6. Ob ect 2127h: Average Scaling Offset....
46
3.4.7. Ob ect 2130h: Average Input Process Value....
47
3.4.8. Ob ect 3000h: RTD Coefficient........
48
3.4.9. Ob ect 3010h: Callendar Van Dusen Constant A..
48
3.4.10. Ob ect 3020h: Callendar Van Dusen Constant B..
49
3.4.11. Ob ect 3030h: Callendar Van Dusen Constant C..
50
3.4.12. Ob ect 4000h: Low Temperature Warning Threshold..
51
3.4.13. Ob ect 4010h: High Temperature Warning Threshold..
51
3.4.14. Ob ect 4020h: High Temperature Shutdown Threshold...
52
3.4.15. Ob ect 4030h: Error React Delay.....
52
3.4.16. Ob ect 5000h: Power Supply Measured.....
53
3.4.17. Ob ect 5001h: Current Source Measured...
53
3.4.18. Ob ect 5010h: ADC Filter Frequency.....
54
3.4.19. Ob ect 5555h: Start in Operational......
54
4.
USING RS
-
232 WITH TERA TERM
..
55
4.1. Main Menu Options......
56
4.1.1. V – View Ob ect Dictionary...
57
4.1.2. D – Default Ob ect Dictionary..
58
4.1.3. T – Toggle RS-232 Stream Off/On.
58
4.1.4. S – Show/Stop Diagnostics..
59
4.1.5. L – Load New Software........
59
APPENDIX A
–
Technical Specifica ions
.
.
..
A
LIST OF FIGURES
1. Resistive Input Wiring and Measurement..
5
2. RTD Input Block Diagram.
7
2. Average Measurement Block Diagram...
10
LIST OF TABLES
1. Callendar-Van Dusen Constants for Standard RTD Coefficients..
8
2. LSS Baudrate Indexes........................
18
3. Error Descriptions...............................
23
4. EMCY Error Codes.............................
23
5. Supported RTD Types..........
37
6. RTD Status Values...............
40
7. Supported RTD Coefficients.
48
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 5-62
1. OVERVIEW OF RTD SCANNER
1.1. Descrip ion of RTD Scanner
The following User Manual describes the architecture and functionality of a eight channel
CANopen ® RTD scanner.
There are eight channels on the AXRTD8, each with four pins at the connector for 2, 3 or 4 wire
connections, as well as a fifth pin for a shield. The RTD scanner will source current on pin A for all
types of RTD sensors.
In the case of a 2-wire device, it will read the voltage between Pin A and GND, with no
compensation for any resistance added by the wires. For 3-wire devices, it reads the voltage at Pin
A, as well as that at Pin C. The Pin C reading will allow the device to calculate the approximate
resistance in one wire, and will subtract twice that value from the calculated resistance based on
the voltage measure at A. Lastly, for 4-wire devices, it will read the voltage at Pin B which already
takes into account the resistance of the wire from A. It will also measure the voltage at Pin C to
calculate the return wire resistance, and subtract that from the measured value at B.
Figure 1 – Resis ive Inpu Wiring and Measuremen
In the case of a 4 wire RTD, if the wire to A is broken, the unit will report the load a short circuited
because there will be no voltage on Pin B.
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 6-62
All channels are fully isolated from the CAN lines, and from the power supply. The power supply
was designed for a wide range of nominal inputs of 12V, 24V or 48V and will provide proper
operation from 9 to 60Vdc.
If desired, the average temperature of all the active channels, or all channels from a block of 4, can
be broadcasted to the network using the Average Input function block. This feature is described in
detail in section 1.3.
On power-up, the AXRTD8CO will immediately send the bootup message to the network.
However, in ordered to prevent erroneous readings before all the data from all channels have been
read correctly, the unit will only start broadcasting diagnostic data after 5 seconds have elapsed,
and will not enter “Operational” mode during this period.
To measure voltages, the AXRTD8CO uses a very precise (24bit) dual channel analog-to-digital
converter with a programmable gain. The RTD inputs and the current source (common to all 8
inputs) are multiplexed to the ADC chip. It has a programmable filtering for either 50Hz or 60Hz.
The ADC provides a minimum 100dB normal mode re ection of the line frequency and its
harmonics.
Active channels are scanned sequentially (1 to 8) with approximately 100ms between readings.
For 2-wire types, there is one reading per channel, whereas 3 or 4 wire types require two readings
per channel. On every read-thru of the channels, there is also a measurement taken of the
common current source used to generate the voltage on each channel.
For 3 or 4 wire type channels, the wire resistance is only checked after 600 reads from the AtoD,
since it does not change that frequently. This means the wire resistance is read and update once a
minute.
If all 8 channels are active, it takes approximately 900ms to read through all the channels, and the
current source. Therefore, any individual channel’s reading is updated at least once per second,
less if not all channels are active.
Temperature is measured in ºC, with a 0.1ºC resolution. When installed properly, as described in
section 2.2, the scanner will send temperatures with +/- 1ºC accuracy typical at ambient
temperature.
The scanner can be used to flag low temperature warnings, high temperature warnings, or high
temperature shutdowns. It will also detect and flag open or short circuits on the sensor wires.
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 7-62
1.2. RTD Measuremen s
Figure 2 – RTD Inpu Block Diagram
The block diagram shown in Figure 2 capture the ob ects associated with each RTD channel. Each
channel, 1 through 8, operates in the same fashion as described below.
In order to generate a measurable voltage across each resistive sensor, the scanner multiplexes
an ~4mA current source to each input and reads the voltage generated. (See Figure 1 for more
information.) In order to accurately calculate the resistance from the voltage, the scanner also
multiplexes this source across a fixed reference resistor in order to know exactly what current is
sourced to each channel. The actual current source value is available on read-only ob ect $5001
Curren Source Measured. By default, this ob ect, along with read-only ob ect $5000 Power
Supply Measured, are mapped to TPD04.
Ob ects $3000h RTD Coefficien , $6110 RTD Sensor Type and $6112 RTD Opera ing Mode
determine how the scanner processes the raw microvolt reading and converts it into a temperature
value in degrees Celsius, which is written to read-only ob ect $6100 RTD Inpu Field Value.
The resistance of the sensor is calculated based on the sensor type selected (2-wire, 3-wire or 4-
wire) as per the formulas shown in Figure 1. The RTD Scanner then calculates the temperature
from the measured resistance using the Callendar-Van Dusen constants.
According to IEC751, the non-linearity of the platinum thermometer can be expressed as:
R
= R
o
[1+A +B
2
+C( -100)
3
] in which C is only applicable when < 0 °C.
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 8-62
Depending on the value in ob ect $3000, the ob ects $3010, $3020 and $3030 Callendar-Van
Dusen Cons an A, B and C are automatically updated as necessary. The constants A, B, and C
for a standard sensor are stated in IEC751, and the values used by the scanner are listed below.
Sensor Coefficien
Cons an A
[E
-
03]
Cons an B [E
-
07]
Cons an C [E
-
12]
IEC 00385 3.908300 -5.77500 -4.18301
JIS 003916 3.974673 -5.89730 -4.35300
US 003902 3.960000 -5.93000 -4.30000
Legacy US 003920 3.984800 -5.87000 -4.00000
SAMA 003923 3.981531 -5.853116 -4.35453
Table 1 – Callendar-Van Dusen Cons an s for S andard RTD Coefficien s
Generally speaking, the Callendar-Van Dusen ob ects are treated as read-only variables. However,
should a “User Defined” coefficient be selected, these ob ects would become write-able in order to
allow for RTD sensors not listed in the above table to be connected.
Ob ects $6126 RTD Scaling Fac or and $6127 RTD Scaling Offse are used to convert the field
value to read-only ob ect $7130 RTD Inpu Process Value, which is mapped either to TPDO1 (1
to 4) or TPDO2 (5 to 8) by default.
The formula to convert the field value (FV) to process value (PV) is:
Process Value = (Field Value * Scaling Fac or) + Scaling Offse
While the FV is a real number, containing the temperature in °C, the PV is a 16-bit integer value.
The default scaling has been selected such that the PV will send the temperature with a resolution
of 0.0625 °C/bit and a offset of -273°C. [Scaling Factor = 16, Offset = 4368] Since the maximum
temperature the scanner can measure for a RTD is 1735°C, this means the range of the PV data
will be 0 to 32123 (-273°C to 1735°C.)
Alternatively, it may be desired to send the temperature in Fahrenheit with a 0.1°F resolution per
bit. In this case, the Scaling Factor would be set to 18, and the Offset to 320. Other scaling can be
selected as desired by the user.
In all cases, certain values will be ‘plugged’ into the PV ob ect to indicate various conditions.
Should the associated RTD be disabled by ob ect $6112, then the value in the PV will always be -1
(0xFFFF).
Alternatively, should the scanner detect an open circuit on the sensor, then the PV value will be set
to -512 (0xFE00). A short circuit on the sensor returns a PV value of -448 (0xFE40). Lastly, in the
unlikely case that the processor detects that the ADC converter has stopped working (i.e. no
longer sending updated data on every scan), then the controller will not continue to broadcast the
‘frozen’ data, but rather update the PV value to -384 (0xFE80) to indicate that there is a problem
with the measurement.
In both error conditions mentioned above, open circuit or frozen data, the associated ob ect $6150
RTD S a us will also be updated to reflect the problem. Other faults that the scanner can detect
and flag are determined by the values in ob ects $4000 Low Tempera ure Warning Threshold,
$4010 High Tempera ure Warning Threshold and $4020 High Tempera ure Shu down
Threshold.
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 9-62
The threshold values are always measured with respect to the field value, and have a fixed
resolution of 0.1°C/bit. For example, a value of 1250 in ob ect $4010 means that any measured
temperature greater than or equal to 125°C will flag a high temperature warning. The fault
detection thresholds also have a fixed 1°C built-in hysteresis to clear them. In the example above,
the temperature would have to drop below 124°C to clear the fault once it has been set.
Finally, in order to prevent flooding the network with emergency messages when the temperature
hovers around a warning threshold, the ob ect $4030 Error Reac Delay allows the user to select
how long the fault condition must be present before the status ob ect is updated and the error
reaction is triggered.
Once the status ob ect shows that the FV value is not longer valid, the ob ect $1003 Pre-Defined
Error Field is updated to reflect the appropriate emergency error code and additional information.
Since both a high temperature warning and shutdown could be active at the same time, ob ect
$1003 could have up to 16 entries at any given time. Also, when a sensor error is activated, the
controller will react as specified in ob ect $1029 Error Behaviour.
The error values loaded in the status ob ect $6150 are described in Table 6, while the associated
emergency fields that are loaded into ob ect $1003 are outlined in Table 4.
A couple of other miscellaneous ob ects associated with the RTD channels are three read-only
ob ects $2000 RTD Resis ance, $2010 RTD Microvol s and $6114h ADC Sampling Ra e. These
ob ects are associated directly with the ADC chip used to measure the RTDs and source current
voltages. As channels are disabled, ob ect $6114 is automatically updated by the controller to
reflect approximately how many milliseconds will elapse between each scan of a particular
channel. Ob ects $2000 and $2010 are available for debugging purposes.
Lastly, ob ect $5010 ADC Fil er Frequency is a single value (non-array) that sets the re ection
filter frequency used by the analog-to-digital converter. The only permissible values in this case are
either 50Hz (i.e. Europe) or 60Hz (i.e. North America.)
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 10-62
1.3. Average Measuremen s
Figure 3 – Average Measuremen Block Diagram
There are three types of average values that can be measured and broadcasted on a TPDO.
a) Average of Bank 1 sensors (RTDs 1 to 4, active only)
b) Average of Bank 2 sensors (RTDs 5 to 8, active only)
c) Average of all sensors (active only)
Ob ect $2112 Average Opera ing Mode determines if the average value of any of the above will
be enabled. When enabled by selecting “Normal Operation”, the average of all active channels is
calculated and written to read-only ob ect $2100 Average Inpu Field Value in degrees Celsius. If
a RTD channel is disabled, open or short circuited or ‘frozen’, then the value in the FV ob ect is not
counted in the average calculation.
As with the RTD inputs, the average FV can be converted to a process value using scaling ob ects
$2126 Average Scaling Fac or and $2127 Average Scaling Offse . The formula to convert to
read-only ob ect $2130 Average Inpu Process Value is the same as describe in section 1.2.
By default, all averages are enabled and the calculated PVs are sent on TPDO3.
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 11-62
2. INSTALLATION INSTRUCTIONS
2.1. Dimensions and Pinou
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 12-62
Typical Connec ions – RTD Module:
(Ma ing plug is Deu sch IPD p/n DRC16-40SA wi h socke s 0462-201-16141)
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 13-62
2.2. Ins alla ion Ins ruc ions
NOTES & WARNINGS
• Do not install near high-voltage or high-current devices.
• Ground the chassis for safety purposes and proper EMI shielding.
• Note the operating temperature range. All field wiring must be suitable for that temperature
range.
• Install the unit with appropriate space available for servicing and for adequate wire harness
access (15 cm) and strain relief (30 cm).
• Do not connect or disconnect the unit while the circuit is live, unless the area is known to be
non-hazardous.
MOUNTING
The module is designed for mounting on the engine. If it is mounted without an enclosure, the
RTD Scanner should be mounted vertically with connectors facing left and right to reduce
likelihood of moisture entry.
The RTD wires and CAN communication cable are considered intrinsically safe. The power wires
are not considered intrinsically safe.
Mask all labels if the unit is to be repainted, so label information remains visible.
Mounting ledges include holes sized for M6 or ¼ inch bolts. The bolt length will be determined by
the end-user’s mounting plate thickness. Typically 20 mm (3/4 inch) is adequate.
If the module is mounted off-engine, no wire or cable in the harness should exceed 30 meters in
length. The power input wiring should be limited to 10 meters.
CONNECTIONS
Use the following Deutsch IPD mating plugs to connect to the integral receptacles. Wiring to these
mating plugs must be in accordance with all applicable local codes. Suitable field wiring for the
rated voltage and current must be used. The rating of the connecting cables must be at least
85°C. For ambient temperatures below –10°C and above +70°C, use field wiring suitable for both
minimum and maximum ambient temperature.
Receptacle
Mating Socket (Refer to www.laddinc.com for more
information on the wedgelock and contacts for this
mating plug.)
Power and CAN bus: DT13-08PA DT06-08SA
RTD Interface Receptacle: DRC13-40PA DRC16-40SA
DRC18-40SA
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 14-62
NOISE – ELECTRICAL CONNECTIONS
To reduce noise, separate all RTD wires from power wires. Shielded RTD wires will protect
against ignition and in ector noise.
GROUNDING
Protective Earth (PE) must be connected to the module’s grounding lug to reduce the risk of
electric shock. The conductor providing the connection must have a ring lug and wire larger than or
equal to 4 mm
2
(12 AWG). The ring lug should be placed between the nut and a star washer.
All chassis grounding should go to a single ground point designated for the engine and all related
equipment.
The ground strap that provides a low impedance path for EMI should be a ½ inch wide, flat, hollow
braid, no more than 12 inches long with a suitable sized ring lug for the module’s grounding lug. It
may be used in place of the PE grounding conductor and would then perform both PE and EMI
grounding functions.
SHIELDING
The RTD and CAN wiring should be shielded using a twisted conductor pair. All RTD wire shields
should be terminated on the shield wire available on the 40-pin connector. The RTD wires should
not be exposed for more than 50 mm (2 inches) without shielding. The shield may be cut off at the
RTD end as it does not require termination at that end.
Shields can be AC grounded at one end and hard grounded at the opposite end to improve
shielding effectiveness.
If the module is installed in a cabinet, shielded wiring can be terminated at the cabinet (earth
ground), at the entry to the cabinet or at the RTD Scanner.
INPUT POWER
The main input to the power supply must be of low-impedance type for proper operation. If
batteries are used, an alternator or other battery-charging device is necessary to maintain a stable
supply voltage.
Central suppression of any surge events should be provided at the system level.
The installation of the equipment must include overcurrent protection between the power source
and the RTD Scanner by means of a series connection of properly rated fuses or circuit breakers.
Input power switches must be arranged external to the RTD Scanner.
The power input wiring should be limited to 10 meters.
Note the operating temperature range. All field wiring must be suitable for that temperature range.
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 15-62
RTD INPUT WIRING
Wiring for the RTD input must be shielded cable, 16 or 18 AWG. Cable lengths should be less
than 30 meters. Shielding should be unbroken.
CAN WIRING
The CAN port is electrically isolated from all other circuits. The isolation is SELV rated with respect
to product safety requirements. Refer to the CAN 2.0B specification for more information.
Shielded CAN cable is required. The RTD Scanner provides the CAN port shield connection ac
coupled to chassis ground. The chassis ground stud located on the mounting foot must be tied
directly to Earth Ground.
NETWORK CONSTRUCTION
Axiomatic recommends that multi-drop networks be constructed using a “daisy chain” or
“backbone” configuration with short drop lines.
TERMINATION
It is necessary to terminate the network; therefore an external CAN termination is required. No
more than two network terminators should be used on any one single network. A terminator is a
121Ω, 0.25 W, 1% metal film resistor placed between CAN_H and CAN_L terminals at the end two
nodes on a network.
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 16-62
3. CANOPEN ® OBJECT DICTIONARY
The CANopen ob ect dictionary of the RTD Scanner is based on CiA device profile DS-404 V1.2
(device profile for RTD Scanners). The ob ect dictionary includes Communication Ob ects beyond
the minimum requirements in the profile, as well as several manufacturer-specific ob ects for
extended functionality.
3.1. NODE ID and BAUDRATE
By default, the RTD Scanner ships factory programmed with a Node ID = 127 (0x7F) and with
Baudrate = 125 kbps.
3.1.1. LSS Pro ocol o Upda e
The only means by which the Node-ID and Baudrate can be changed is to use Layer Settling
Services (LSS) and protocols as defined by CANopen ® standard DS-305.
Follow the steps below to configure either variable using LSS protocol. If required, please refer to
the standard for more detailed information about how to use the protocol.
3.1.1.1. Se ing Node-ID
• Set the module state to LSS-configuration by sending the following message:
Item Value
COB-ID 0x7E5
Length 2
Data 0 0x04 (cs=4 for switch state global)
Data 1 0x01 (switches to configuration state)
• Set the Node-ID by sending the following message:
Item Value
COB-ID 0x7E5
Length 2
Data 0 0x11 (cs=17 for configure node-id)
Data 1 Node-ID (set new Node-ID as a hexadecimal number)
• The module will send the following response (any other response is a failure):
Item Value
COB-ID 0x7E4
Length 3
Data 0 0x11 (cs=17 for configure node-id)
Data 1 0x00
Data 2 0x00
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 17-62
• Save the configuration by sending the following message:
Item Value
COB-ID 0x7E5
Length 1
Data 0 0x17 (cs=23 for store configuration)
• The module will send the following response (any other response is a failure):
Item Value
COB-ID 0x7E4
Length 3
Data 0 0x17 (cs=23 for store configuration)
Data 1 0x00
Data 2 0x00
• Set the module state to LSS-operation by sending the following message:
(Note, the module will reset itself back to the pre-operational state)
Item Value
COB-ID 0x7E5
Length 2
Data 0 0x04 (cs=4 for switch state global)
Data 1 0x00 (switches to waiting state)
3.1.1.2. Se ing Baudra e
• Set the module state to LSS-configuration by sending the following message:
Item Value
COB-ID 0x7E5
Length 2
Data 0 0x04 (cs=4 for switch state global)
Data 1 0x01 (switches to configuration state)
• Set the baudrate by sending the following message:
Item Value
COB-ID 0x7E5
Length 3
Data 0 0x13 (cs=19 for configure bit timing parameters)
Data 1 0x00 (switches to waiting state)
Data 2 Index (select baudrate index per table 4)
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 18-62
Index Bit Rate
0
1 Mbit/s
1
800 kbit/s
2
500 kbit/s
3
250 kbit/s
4
125 kbit/s (default)
5
reserved (100 kbit/s)
6
50 kbit/s
7
20 kbit/s
8
10 kbit/s
Table 2 – LSS Baudra e Indexes
• The module will send the following response (any other response is a failure):
Item Value
COB-ID 0x7E4
Length 3
Data 0 0x13 (cs=19 for configure bit timing parameters)
Data 1 0x00
Data 2 0x00
• Activate bit timing parameters by sending the following message:
Item Value
COB-ID 0x7E5
Length 3
Data 0 0x15 (cs=19 for activate bit timing parameters)
Data 1 <delay_lsb>
Data 2 <delay_msb>
The delay individually defines the duration of the two periods of time to wait until the bit timing
parameters switch is done (first period) and before transmitting any CAN message with the new bit
timing parameters after performing the switch (second period). The time unit of switch delay is 1
ms.
• Save the configuration by sending the following message (on the NEW baudrate):
Item Value
COB-ID 0x7E5
Length 1
Data 0 0x17 (cs=23 for store configuration)
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 19-62
• The module will send the following response (any other response is a failure):
Item Value
COB-ID 0x7E4
Length 3
Data 0 0x17 (cs=23 for store configuration)
Data 1 0x00
Data 2 0x00
• Set the module state to LSS-operation by sending the following message:
(Note, the module will reset itself back to the pre-operational state)
Item Value
COB-ID 0x7E5
Length 2
Data 0 0x04 (cs=4 for switch state global)
Data 1 0x00 (switches to waiting state)
The following screen capture (left) shows the CAN data was sent (7E5h) and received (7E4h) by
the tool when the baudrate was changed to 250 kbps using the LSS protocol. The other image
(right) shows what was printed on the debug RS-232 menu while the operation took place.
Between CAN Frame 98 and 99, the baudrate on the CAN Scope tool was changed from 125 to
250 kbps.
UMAXRTD8CO V2.1.1 Preliminary Documentation – May be Sub ect to Change 20-62
3.2. COMMUNICATION OBJECTS (DS-301 and DS-404)
The communication ob ects supported by the RTD Scanner are listed in the following table. A more
detailed description of some of the ob ects is given in the following subchapters. Only those ob ects
that have device-profile specific information are described. For more information on the other
ob ects, refer to the generic CANopen protocol specification DS-301.
Index
(hex)
Object Object Type Data Type Access PDO
Mapping
1000 Device Type VAR UNSIGNED32 RO No
1001 Error Register VAR UNSIGNED8 RO No
1002 Manufacturer Status Register VAR UNSIGNED32 RO No
1003 Pre-Defined Error Field ARRAY UNSIGNED32 RO No
100C Guard Time VAR UNSIGNED16 RW No
100D Life Time Factor VAR UNSIGNED8 RW No
1010 Store Parameters ARRAY UNSIGNED32 RW No
1011 Restore Default Parameters ARRAY UNSIGNED32 RW No
1016 Consumer Heartbeat Time ARRAY UNSIGNED32 RW No
1017 Producer Heartbeat Time VAR UNSIGNED16 RW No
1018 Identity Ob ect RECORD RO No
1020 Verify Configuration ARRAY UNSIGNED32 RW No
1029 Error Behaviour ARRAY UNSIGNED8 RW No
1400 RPDO1 Communication Parameter RECORD RW No
1401 RPDO2 Communication Parameter RECORD RW No
1402 RPDO3 Communication Parameter RECORD RW No
1403 RPDO4 Communication Parameter RECORD RW No
1600 RPDO1 Mapping Parameter RECORD RO No
1601 RPDO2 Mapping Parameter RECORD RO No
1602 RPDO3 Mapping Parameter RECORD RO No
1603 RPDO4 Mapping Parameter RECORD RO No
1800 TPDO1 Communication Parameter RECORD RW No
1801 TPDO2 Communication Parameter RECORD RW No
1802 TPDO3 Communication Parameter RECORD RW No
1803 TPDO4 Communication Parameter RECORD RW No
1A00 TPDO1 Mapping Parameter RECORD RW No
1A01 TPDO2 Mapping Parameter RECORD RW No
1A02 TPDO3 Mapping Parameter RECORD RW No
1A03 TPDO4 Mapping Parameter RECORD RW No
Per the CANopen ® standard DS-301, the following procedure shall be used for re-mapping, and is
the same for both RPDOs and TPDOs.
a) Destroy the PDO by setting bit exis s (most significant bit) of sub-index 01h of the according
PDO communication parameter to 1b
b) Disable mapping by setting sub-index 00h of the corresponding mapping ob ect to 0
c) Modify the mapping by changing the values of the corresponding sub-indices
d) Enable mapping by setting sub-index 00h to the number of mapped ob ects
e) Create the PDO by setting bit exis s (most significant bit) of sub-index 01h of the according
PDO communication parameter to 0b
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