Cedes ObjectC 100 I/O Manual

Programmer’s Guide
© CEDES Safety & Automation AG Oct 2009 Vers 1.022 http://csa.cedes.com/ Part No. 105 828 E
ObjectC 100 I/O
ObjectC 100 CAN
ObjectC 100 RS485
Multiple Proximity Switch systems
for object recognition
English
Deutsch
IMPORTANT NOTICE
FOLLOW THE INSTRUCTIONS GIVEN IN THIS MANUAL CAREFULLY. FAILURE TO DO
SO MAY CAUSE CUSTOMER COMPLAINTS AND SERIOUS CALL BACKS. KEEP
INSTRUCTION MANUAL ON SITE.
OBJECTC-100 / OBJECT100 SYSTEMS ARE NOT SAFETY SYSTEMS! THIS MEANS
THAT ANY USE FOR THE PROTECTION OF PEOPLE IS FORBIDDEN.
Multiple Proximity Switch systems
for object recognition: Measurement light curtain
system to measure the dimensions of objects
quickly and reliably

ObjectC 100 Programmer's Guide
2http://csa.cedes.com/ © CEDES Safety & Automation AG
Content
1. Introduction.................................................. 3
2. ObjectC 100 CAN.......................................... 3
2.1. Communication Protocol (CAN) .....................3
2.2. CAN Standard mode.....................................3
2.2.1. Telegram (CAN) ...........................................3
2.2.2. Spontaneous telegram (CAN)........................4
2.2.3. Baud rate.....................................................4
2.2.4. CAN address................................................4
2.2.5. Commands and responses (CAN / RS485) ....5
2.2.5.1. Light curtain status (spontaneous response) (01
[01 Hex]) 6
2.2.5.2. Pseudo-command (02 [02 Hex]) ....................... 6
2.2.5.3. Get status controller (04 [04 Hex])..................... 7
2.2.5.4. Test function light curtain (06 [06 Hex]) ............. 7
2.2.5.5. Get light curtain status (08 [08 Hex]) ................. 7
2.2.5.6. Get number of beams (18 [12 Hex]) ................. 8
2.2.5.7. Trigger (1 standard scan) (20 [14 Hex])............. 8
2.2.5.8. Start permanent standard scan (22 [16 Hex])..... 8
2.2.5.9. Stop permanent standard scan (24 [18 Hex])..... 9
2.2.5.10. Get scan counter (26 [1A Hex]) ......................... 9
2.2.5.11. Set parameter (28 [1C Hex])............................. 9
2.2.5.12. Set default configuration (30 [1E Hex]) ............ 11
2.2.5.13. Start permanent scan with overhang monitoring
(32 [20 Hex]).................................................................. 11
2.2.5.14. Stop permanent scan with overhang monitoring
(34 [22 Hex]).................................................................. 12
2.2.5.15. Get overhang scan counter (36 [24 Hex])........ 12
2.2.5.16. Get beam status (38 [26 Hex]) ........................ 13
2.2.5.17. Get zone status (40 [28 Hex]) ......................... 13
2.2.5.18. Get parameter value (42 [2A Hex]) ................. 13
2.2.5.19. Restart (44 [2C Hex]) ...................................... 14
2.2.5.20. Get beam status with light curtain status (100 [64
Hex]) 14
2.3. Extended CAN mode...................................14
2.3.1. Boot-up message........................................15
2.3.2. Watchdog message ....................................15
2.3.3. Initialization of the extended CAN mode......15
2.3.4. CAN addresses in the extended CAN mode.16
2.3.5. Extended commands and responses (CAN)..16
2.3.5.1. State sector X-axis (64 [40 Hex])...................... 16
2.3.5.2. State sector Y-axis (66 [42 Hex])...................... 17
2.3.6. Event Mode ................................................17
2.3.7. Limitation of data frequency using the event
mode .....................................................17
2.3.8. Periodic mode ............................................18
2.3.9. Period duration ..........................................19
2.3.10. Single/Periodic evaluation...........................19
2.3.11. X-Y Measurement with zones.......................19
2.3.11.1. Example ........................................................ 20
3. ObjectC 100 RS485 ..................................... 21
3.1. RS485 communication.................................21
3.1.1. RS485 protocol structure .............................21
3.1.2. RS485 commands and responses................21
3.1.3. RS485 communication example 1 ...............21
3.1.4. Timing (RS485)...........................................22
3.2. Master programming (RS485)......................23
3.3. Technical data RS485..................................23
4. Advanced Features .................................... 23
4.1. Light curtain design .....................................23
4.2. Beam counting direction..............................24
4.3. Measurement reference point.......................25
4.4. Pitch and height measurement.....................25
4.5. Measurement accuracy................................26
4.6. Measurement velocity ..................................26
4.7. Blanked beams ...........................................27
4.8. Zone monitoring .........................................27
4.9. Overheight monitoring ................................29
4.10. Overhang monitoring..................................29
4.10.1. Overhang monitoring with time delay..........30
4.10.2. Overhang monitoring with external sensors .31
4.11. Trigger and hold.........................................32
5. ObjectC 100 default settings...................... 32

Programmer's Guide ObjectC 100
© CEDES Safety & Automation AG http://csa.cedes.com/ 3
1. Introduction
The CEDES Safety & Automation measuring light
curtain system Object100 / ObjectC-100 is intended
to detect an object and measure its dimensions
reliably and quickly. A typical application is
presented in Figure 1. The system consists of the
Object100 emitter and receiver light curtains and the
electronic control unit ObjectC-100. The control unit
has many application features and is available with
various interfaces for communication with a higher
level PLC.
Figure 1: Typical application
The control unit ObjectC 100 is available with the
following interfaces:
Table 1: Object C 100 controller versions
Part no. Part name Description
104 920 ObjectC-100 I/O 2 digital inputs, 6 digital
outputs
104 901 ObjectC-100 CAN 2 digital inputs, 2 digital
outputs, and CAN interface
104 913 ObjectC-100 RS485 2 digital inputs, 2 digital
outputs, and RS485 interface
All controller types are equipped with two digital
outputs, indicating light curtain interrupted or
overheight (i.e. object is too tall) and overhang. The
ObjectC 100 I/O controller offers four aditional
outputs to monitor single beams or groups of beams
(zones). The CAN and RS485 controllers
communicate the state of each beam to a PLC.
This operational guide describes advanced features
and the communication protocols of the controller.
The principial description, settings and
commissioning can be found in the ObjectC 100
manual (Part No. 104 906).
Warning
ObjectC-100 / Object100 systems are not safety
systems! This means that any use for the protection
of people is forbidden.
ObjectC-100 / Object100 systems can only achieve
their function, if the instructions given in this manual,
and the referenced documents are exactly followed,
as well as consulting the valid laws and regulations
at the time of installation. Should these instructions
not be followed or only partially, this may lead to a
premature malfunction of the system. The installer
or system integrator will be fully responsible for the
results in such a situation.
2. ObjectC 100 CAN
2.1. Communication Protocol (CAN)
CAN communication is used for obtaining light
curtain status information. The information about
interrupted beams determines, for example, the size
of an object.
ObjectC°100°CAN offers two CAN modes. The CAN
Standard Mode (chapter°2.2) offers, beside
commands for beam states, the functionality of
overhang and overheight detection. This mode
operates up to the exception of response telegram
01 [01 Hex] as master slave communication. The
master sends a command to the ObjectC 100 CAN
(slave) and gets a response.
This mode is also valid for the ObjectC°100°RS485
controller type. It is selected with DIP switch S1 (7) =
"OFF".
The Extended CAN mode (chapter 0) distinguishes
with XY-axis and sector monitoring advanced timing
modes. In this mode there can be set configuration
parameters, where the ObjectC°100°CAN
autonomously sends status telegram on a change of
light curtain state. The Extended CAN mode is
available for the ObjectC°100°CAN controller type
only and is activated with DIP switch S1 (7) = "ON".
The CAN interface can be used with restrictions in a
CANopen network. Please contact your nearest
CEDES dealer for more information.
2.2. CAN Standard mode
2.2.1. Telegram (CAN)
A CAN telegram consists of a string of bytes. The
telegram starts with an address, followed by 1 byte,
which contains the number of data-bytes that will
follow (DLC). The telegram then finishes with these
data-bytes (in this instance 8 bytes). ObjectC-100
typically uses 8 data-bytes. Not used data-bytes
have to be filled up with 00Hex.
The ObjectC 100 data-bytes are composed of two
command bytes and six parameter bytes. ObjectC-
100-CAN supports the CAN standard 2.0A (standard
frame).

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Table 2: CAN protocol architecture
Address DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Address [08 Hex]
Command
High byte
Command
Low byte Data Data Data Data Data Data
Table 3: CAN command example (Hex) (standard mode)
Address DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
0220 08 00 14 00 00 00 00 00 00
Trigger (1 Standard Scan)
Table 4: CAN response example (Hex)
Address DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
01A0 08 00 15 05 13 0F 32 00 00
Answer 15 (Hex): Interrupted beams: 05-13 (Hex), total interrupted beams: 0F (Hex)
Principally a master sends a command to the
ObjectC°100°CAN controller and afterwards
receives a response telegram. The commands
consist of even numbers (Table 6) and the
responses odd numbers (Table 7) with an offset of
+1. An except are the response telegrams 1 [01
Hex], 65 [41 Hex] and 67 [43 Hex], which will be
transmitted spontaneously.
2.2.2. Spontaneous telegram (CAN)
The state telegram 1 [01 Hex] (Table 8) will be
transmitted, as soon as the state of the light curtain
changes. The status telegram has its own address
(Table 5). This status command can be activated or
deactivated with command 28 [1C Hex], Parameter
62 [3E Hex] (Table 19). The parameter determines if
a status telegram 1 [01 Hex] is sent if:
1. The light curtain status changes (interrupted/not
interrupted)
A telegram is sent if all beams are uninterrupted
or a light beam is interrupted.
2. Change of light beam status
A telegram is sent if the state of at least one light
beam changes.
Warning:
This mode can cause a high communication
frequence!
Notice:
This mode can lead to a high communication rate.
ObjectC 100 RS485 is a slave controller only.
Therefore there are no spontaneous telegrams for
this type.
The extended CAN mode offers the feature of
spontaneous telegrams 65 [41 Hex] (State zone X-
axis) and 67 [43 Hex] (State zone Y-axis). Chapter
2.3 describes this feature.
2.2.3. Baud rate
The baud rate can be selected with the DIP switch
(chapter 6.4 in the Operation Manual). The default
baud rate is set to 125k.
2.2.4. CAN address
The CAN address is defined as follows. The CAN
sub-address can be selected using the DIP switch
S1 (chapter 6.4 in the operation manual). Therefore
up to 15 ObjectC°100°CAN control units can be
used in a CAN network.
Table 5: CAN addresses
Address for receiving
telegram for ObjectC 100 [0220 Hex] + sub-address (= 0220, 0221, ..., 022F Hex)
Address for sending
telegram for ObjectC 100 in
response to receiving
telegram
[01A0 Hex] + sub-address
(= 01A0, 01A1, ..., 01AF Hex)
Address for spontaneous
sending telegram for
ObjectC 100
[02A0 Hex] + sub-address
(= 02A0, 02A1, ..., 02AF Hex)
Receiving and sending of telegrams are related to the control unit
ObjectC 100.

Programmer's Guide ObjectC 100
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2.2.5. Commands and responses (CAN / RS485)
Table 6: ObjectC 100 CAN commands
Command
2 02 Hex Pseudo command
4 04 Hex Get controller status
6 06 Hex Test function light curtain
8 08 Hex Get light curtain status *
18 12 Hex Get number of beams
20 14 Hex Trigger (1 Standard-scan)
22 16 Hex Start permanent scan standard
24 18 Hex Stop permanent scan standard
26 1A Hex Get scan counter
28 1C Hex Set parameters *
30 1E Hex Set default parameters *
32 20 Hex Start permanent scan with overhang monitoring
34 22 Hex Stop permanent scan with overhang monitoring
36 24 Hex Get overhang scan counter
38 26 Hex Get beam status *
40 28 Hex Get zone status *
42 2A Hex Get parameters *
44 2C Hex Reset
64 1) 40 Hex State sector X-axis *
66 2) 42 Hex State sector Y-axis *
Command Byte 1+ 2
100 64 Hex Get beam status with light curtain status *
Data Byte 3 - 8 Data, which must be transmitted with a command.
* This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)
Table 7: ObjectC 100 CAN response telegrams
Response
Response "n+1" to command "n":
1 01 Hex Light curtain status (spontaneous response)
3 03 Hex Pseudo response
5 05 Hex Get status controller
7 07 Hex Values for test function
9 09 Hex Get light curtain status
19 13 Hex Get number of beams
21 15 Hex Height measurement values
23 17 Hex Empty
25 19 Hex Height measurement value
27 1B Hex Number of measurements
29 1D Hex Parameters
31 1F Hex Empty
33 21 Hex Considered first beam and last beam
35 23 Hex Measurement values and overhang status
37 25 Hex Number of overhang measurements
39 27 Hex Beam status
41 29 Hex Get zone status
43 2B Hex Get parameters
45 2D Hex Reset
65 1) 41 Hex State sector X-axis
67 2) 43 Hex State sector Y-axis
(Command nr. + 1)
101 65 Hex Beam status with light curtain status*
Data Byte 3-8 Response data
1) Available only in the extended CAN mode
2) Available in the extended CAN mode and RS485

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2.2.5.1. Light curtain status (spontaneous response) (01 [01 Hex])
The light curtain status is sent whenever a status change is detected in the light curtain. The telegram is sent
spontaneously. The trigger condition can be changed with parameter 62 (telegram 28 set parameter).
Table 8: Spontaneous Response 01 Hex
Response 1 [01 Hex]
Bit Value
Byte 3 0 0 Light curtain free
1 Light curtain interrupted
1 0 Light curtain state not changed
1 Light curtain state changed to the last
measurement
2 0 No light curtain error
1 Emitter and receiver have different beam
numbers or no light curtain connected
3 0 No overheight
1 Overheight detected
4-5 00 No overhang
01 Front overhang
10 Back overhang
11 Front and back overhang
6 0 Permanent scan standard not active
1 Permanent scan standard active
7 0 Permanent scan w. overhang not active
1 Permanent scan w. overhang active
Byte 4 1-2 00 No overhang
01 Front overhang
10 Back overhang
11 Front and back overhang
Byte 5 1 0 No overheight
1 Overheight detected
Byte 6 0 0 Not used
Byte 7 0 0 Not used
Byte 8 0 0 Not used
2.2.5.2. Pseudo-command (02 [02 Hex])
The pseudo-command serves merely to allow the controller to respond to the PLC.
Table 9: Command 02 Hex
Command 2 [02 Hex] Response 3 [03 Hex]
Bit Value Bit Value
Byte 3 - 8 0-7 0 (not used) Byte 3 - 8 0 - 7 0 (Not used)

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2.2.5.3. Get status controller (04 [04 Hex])
With this command, the status of a controller will be sampled. The parameters can be set with command 28
(chapter 2.2.5.11).
Table 10: Command 04 Hex
Command 4 [04 Hex] Response 5 [05 Hex]
Bit Value Bit Value
Byte 3 0-7 0-254 Physical length (number elements)
255 Error
Byte 4 0-7 0-254 Effective length (according to setting
of "fb_offset" to "lb_offset" and pitch
factor)
Byte 5 0-7 0-254 Pitch factor (only for special applications)
Byte 6 1 0 Beam no. 1 on cable end side
1 Beam no. 1 on opposite end to cable
(inverted)
Byte 7 CAN RS485
0-1 0 125 kBit / s 19'200 Bit / s
1 250 kBit / s 2'400 Bit / s
2 500 kBit / s 9'600 Bit / s
3 1 Mbit / s 57'600 Bit / s
Byte 3 - 8 0-7 0 (not used)
Byte 8 0-7 0-255 Software version
2.2.5.4. Test function light curtain (06 [06 Hex])
With this command every beam of the attached light curtain will be tested.
Table 11: Command 06 Hex
Command 6 [06 Hex] Response 7 [07 Hex]
Bit Value Bit Value
Byte 3 0-7 0 Light curtain okay
1 Light curtain defective
Byte 3 - 8 0 - 7 0 (not used)
Byte 4 – 8 0-7 0 (Not used)
2.2.5.5. Get light curtain status (08 [08 Hex])
This command responds with the status information from the last scan. The scan runs permanently, it does not
have to be specifically started.
Table 12: Command 04 Hex
Command 8 [08 Hex] Response 9 [09 Hex]
Bit Value Bit Value
Byte 3 0 0 Light curtain free
1 Light curtain interrupted
1 0 Light curtain state not changed
1 Light curtain state changed to the last
measurement
2 0 No light curtain error
1 Emitter and receiver have different beam
numbers or no light curtain connected
3 0 No overheight
1 Overheight detected
4-5 00 No overhang
01 Front overhang
10 Back overhang
11 Front and back overhang
6 0 Permanent scan standard not active
1 Permanent scan standard active
7 0 Permanent scan w. overhang not active
1 Permanent scan w. overhang active
Byte 3 - 8 0 - 7 0 (not used)
Byte 4-8 Not used
* This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)

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2.2.5.6. Get number of beams (18 [12 Hex])
Indicates the number of beams in the attached light curtain.
Table 13: Command 12 Hex
Command 18 [12 Hex] Response 19 [13 Hex]
Bit Value Bit Value
Byte 3 0-7 0-254 Number of used beams
Byte 4 0-7 0-254 Number of physical beams
Byte 3 - 8 0 - 7 0 (not used)
Byte 5-8 Not used
Note: The used beams count from "fb_offset" to "lb_offset", considering the pitch factor
2.2.5.7. Trigger (1 standard scan) (20 [14 Hex])
When a standard scan is triggered, the object height will be ascertained by monitoring the condition of the entire
light curtain. Only one scan will be carried out and then the beam information will automatically be sent enclosed
in response 21.
Table 14: Command 20 Hex
Command 20 [14 Hex] Response 21 [15 Hex]
Bit Value Bit Value
Byte 3 0-7 0 No beam interrupted
1-254 First interrupted beam 1)
Byte 4 0-7 0 No beam interrupted
1-254 Last interrupted beam 1)
Byte 5 0-7 0 No beam interrupted
1-254 Maximum number of interrupted beams
Byte 6 0-7 1-254 Number of used beams 1)
Byte 7 0-1 0 No overheight
1 Overheight
Byte 3 - 8 0-7 0 Not used
Byte 8 0-1 00 No overhang
01 Front overhang
10 Back overhang
11 Front and back overhang
Note 1) The used beams count from "fb_offset" to "lb_offset", considering the pitch factor.
2.2.5.8. Start permanent standard scan (22 [16 Hex])
In the event of a standard height measurement (standard scan) the object height will be ascertained by
monitoring the condition of the entire light curtain. Continuous scans will be executed and the lowest and highest
interrupted beams will be ascertained until the ‘stop’ command is received. This command lends itself well for
measuring various object types, even those that do not start at beam one or those with open spaces.
Sending command 22 anew, before sending command 24, will reset the scan counter and reset the status values
noted in command 24 (see 2.2.5.9)
Table 15: Command 16 Hex
Command 22 [16 Hex] Response 23 [17 Hex]
Bit Value Bit Value
Byte 3 - 8 0-7 0 Not used Byte 3-8 0-7 0 Not used

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2.2.5.9. Stop permanent standard scan (24 [18 Hex])
Stops the standard height measurement and sends the beam information.
Table 16: Command 24 Hex
Command 24 [18 Hex] Response 25 [19 Hex]
Bit Value Bit Value
Byte 3 0-7 0 Stop measurement after
sending result
1 Continue automatically
a new measurement af-
ter sending result
Byte 3 0-7 0 No beam interrupted
1-254 First interrupted beam 1)
Byte 4 0-7 0 No beam interrupted
1-254 Last interrupted beam 1)
Byte 5 0-7 0 No beam interrupted
1-254 Maximum number of effective beams
ever interrupted
Byte 6 0-7 0 No beam interrupted
1-254 First beam interrupted at last scan
Byte 7 0-7 0 No beam interrupted
1-254 Last beam interrupted at last scan
Byte 4 - 8 0-7 0 Not used
Byte 8 0-1 0 No overheight
1 Overheight
Note: 1) The beams count from "fb_offset" to "lb_offset", considering the pitch factor.
2.2.5.10. Get scan counter (26 [1A Hex])
The responses to this command contain the number of light curtain scans, which have been made since the last
command "start / stop permanent scan" (command 22). The scan counter is stopped with the command "stop
permanent scan". The value counts up to 2.2E12 (4 byte) and then starts at 0 again (overflow).
Table 17: Commend 1A Hex
Command 26 [1A Hex] Response 27 [1B Hex]
Bit Value Bit Value
Byte 3 0-7 0-255 Number of scans (LSB)
Byte 4 0-7 0-255 Number of scans
Byte 5 0-7 0-255 Number of scans
Byte 6 0-7 0-255 Number of scans (MSB)
Byte 3 - 8 0-7 0 Not used
Byte 7-8 0-7 0 Not used
2.2.5.11. Set parameter (28 [1C Hex])
This command is used to set the various parameters shown in Table 19. Using parameter 30 (1E Hex) = 1, all
parameters may be reset to the default values.
Table 18: Command 1C Hex
Command 28 [1C Hex] Response 29 [1D Hex]
Bit Value Bit Value
Byte 3 0-7 23-65 Parameter Byte 3 0-7 0-255 Value
Byte 4 0-7 0-255 Value
Byte 5 - 8 0-7 Not used
Byte 4 -8 0-7 Not used
* This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)

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Table 19: Parameter list
Parameter
Dec Hex Description Effect
to Parameter ID Def. Value Value (dec)
Remarks
23 17 Top element of carrier
zone (inclusive)
All "zc" 1 0 .. 254 Chapter 4.10.1
Figure 10
24 18 Output logic Out 1 All 0 0 Active "Low" (= 0 V)
1 Active "High" (= 24 V)
25 19 Overheight monitoring
(inclusive)
All "oh" 1 0 .. 254 Chapter 4.9
Figure 10
26 1A Output logic Out 2 All 0 0 Active "Low" (= 0V)
1 Active "High" (= 24V)
43 2B First beam offset
(blanked exclusive)
All "fb_offset" 0 0 .. 254 1st active beam number from
light curtain cable end (beam 1)
Chapter 4.5
44 2C Last beam offset
(blanked exclusive)
All "lb_offset" 0 0 .. 254 1st active beam number from
opposite end to cable (beam n)
Chapter 4.5
45 2D Pitch factor All 0 0 .. 15 (only for special applications) Increase resolution
46 2E Beam counting mode All 0 0 1st beam at cable end
1 1st beam at edge end
Chapter 4.1
Mode effects the whole
light curtain definition!
52 34 Function of Out1 All 2 0 Not used
1 Light curtain state output
2 Overhang output
3 Overheight output
53 35 Function of Out2 All 1 0 Not used
1 Overheight output
2 Light curtain state output
3 Overhang output
60 3C Configuration
functionality
All
All
All
I/O
All
-
I/O
-
123 Bit 0=1 Handle Overheight
Bit 1=1 Handle Overhang
Bit 2=0 Auto Overhang with time delay
Bit 2=1 Sensor Overhang
Bit 3=1 Handle zones
Bit 4=1 Handle Potentiometers
Bit 5 Not used
Bit 6=1 Handle Teaching button
Bit 7 Not used
See Chapter 4.9
See Chapter 4.10
See Chapter 4.10.1
See Chapter 4.10.2
See Chapter 4.8
61 3D Allocation of system and
axes
CAN,
RS485
0
0
0
1 Controller with one axe (y-axe)
2 Controller with y- and x-axes
Single light curtain
Cascaded light curtain
According Par 81
62 3E Status message CAN,
RS485
1
0
0 No message telegram
1 Message at change of light
curtain state
2 Message at change of
light beam state 1)
63 3F Inputs depend
potentiometer settings
or parameters
All 0 Bit 0=0 Output duration from Pot 2
Bit 0=1 Output duration from Par 65
Bit 1=0 Overhang t. time from Pot 1
Bit 1=1 Overheight t. time from Par 64
2)
64 40 Overhang tolerance
time (Pot 1) 3)
All 0 0 .. 255 t = n x 13.1 ms According to Par 63
65 41 Output duration
(Pot 2) 3)
All 0 0 .. 255 t = n x 13.1 ms According to Par 63
67
68
43
44
Rx address (L-Byte)
Rx address (H-Byte)
CAN 20
2
0 .. FF Address for receiving
commands
69
70
45
46
Tx addr. (L-Byte)
Tx addr. (H-Byte)
CAN A0
1
0 .. FF Address to sending
answers
71
72
47
48
Stat-Tx addr. (L-Byte)
Stat-Tx addr. (H-Byte)
CAN A0
2
0 .. FF Address for sending
status message
73 49 Baud rate Settings CAN,
RS485
0
0
CAN RS485
0 125k 19200 Baud
1 125k 19200 Baud
2 250k 2400 Baud
3 500k 9600 Baud
4 1M 57600 Baud
76 4),5) 4C Periodic mode CAN 0 0 Periodic mode inactive
1 .. 254 Periodic mode active with
time constant t = n x 13.1 ms
Measuring mode
Single or Periodic
(see Par 83)

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Parameter
Dec Hex Description Effect
to Parameter ID Def. Value Value (dec)
Remarks
78 4),5) 4E Event mode CAN 152 0 Event mode inactive
1 .. 254 Event mode active
See chapter 2.3.6
79 4) 4F Elements per sector
in sector X
CAN,
RS485
1
1
0 Not defined
1 .. 254 Number elements per X-sector
See chapter 2.3.11
80 4) 50 Elements per sector
in sector Y
CAN,
RS485
1
1
0 Not defined
1 .. 254 Number elements per Y-sector
See chapter 2.3.11
81 4)51 Separation of Y-axis CAN,
RS485
0
0
1 .. 254 Number elements of Y-axis See chapter 2.3.11
82 4) 52 Limitation of data
transfer
CAN 5 0 Telegram on every event
1 .. 255 Delay factor (times 13.1 ms)
See chapter. 2.3.7
83 4) 53 Evaluation mode
Single/Periodic
CAN 1 0 Min/Max value of actual measure
1 Min/Max values over period
For periodic
measurement (Par 76)
See Chapter. 2.3.9
84 4) 54 Watchdog
time constant
CAN 141
(2
sec)
0 No watchdog telegrams
1 .. 255 Watchdog period = n x 13.1ms
See Chapter. 2.3.2
95 5F Controller start up delay CAN 77 0 No start up delay
1 .. 255 time constant t = n x 13.1 ms
1) This mode may cause a high telegram frequency and may cause problems with the Bus communication.
2) Select if potentiometer is active or values set by parameter 63-65
3) Delay time 1 = n x 13.1 ms (± 10 ms), n = 1...255
4) Available only in the extended CAN mode (see Chapter 2.3)
5) Periodic and Event mode permitted!
2.2.5.12. Set default configuration (30 [1E Hex])
All parameters revert to default condition. It is the same effect as DIP Switch S1 (8). Command [2C Hex] Reset
should be sent afterwards.
Table 20: Command 1E Hex
Command 30 [1E Hex] Response 31 [1F Hex]
Bit Value Bit Value
Byte 3-8 0-7 0 Not used Byte 3 - 8 0-7 0 Not used
* This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)
2.2.5.13. Start permanent scan with overhang monitoring (32 [20 Hex])
The measurements will be repeated in approx. 10 ms cycles for a 30 beam light curtain. Overhang monitoring is
performed at the same time. After the measurement is completed, the result may be repeatedly read out by
reentering the command 32 [20 Hex].
Sending command 32 anew, before sending command 34, will reset the scan counter and reset the status values
noted in command 35 (see 2.2.5.14).
Table 21: Command 20 Hex
Command 32 [20 Hex] Response 33 [21 Hex]
Bit Value Bit Value
Byte 3 - 8 0-7 0 Not used Byte 3 - 8 0-7 0 Not used

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2.2.5.14. Stop permanent scan with overhang monitoring (34 [22 Hex])
Table 22: Command 22 Hex
Command 34 [22 Hex] Response 35 [23 Hex]
Bit Value Bit Value
Byte 3 0-7 0 No beam interrupted
1-254 First interrupted beam 1)
Byte 4 0-7 0 No beam interrupted
1-254 Last interrupted beam 1)
Byte 5 0-7 0 No beam interrupted
1-254 Maximum number of effective beams
ever interrupted
Byte 6 0-7 0 No beam interrupted
1-254 First beam interrupted at last scan
Byte 7 0-7 0 No beam interrupted
1-254 Last beam interrupted at last scan
Byte 3 - 8 0-7 0 not used
Byte 8
0-7 0 No overhang detected 1 Overhang front detected 2)
2 Overhang back detected 3)
3 Overhang front and back detected
Note 1) The beams count from "fb_offset" to "lb_offset", considering the pitch factor
2) Overhang front means that an overhang is detected as the tray is pulled into the light curtain area.
3) Overhang back means that an overhang is detected as the tray is pulled out of the light curtain area.
4) The command ‘stop permanent scan with overhang monitoring’ may be repeatedly used. The information remains available and
will be reset at the next start command.
2.2.5.15. Get overhang scan counter (36 [24 Hex])
The response to this command contains the number of light curtain scans, which have been made since the last
command permanent scan with overhang monitoring (command 32). The scan counter is stopped with the
command stop permanent scan with overhang monitoring. The value counts up to 2.2E12 (4 byte) and starts at 0
again (overflow).
Table 23: Commend 1A Hex
Command 36 [24 Hex] Response 37 [25 Hex]
Bit Value Bit Value
Byte 3 0-7 0-255 Number of scans (LSB)
Byte 4 0-7 0-255 Number of scans
Byte 5 0-7 0-255 Number of scans
Byte 6 0-7 0-255 Number of scans (MSB)
Byte 3 - 8 0-7 0 Not used
Byte 7 - 8 0-7 0 Not used

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2.2.5.16. Get beam status (38 [26 Hex])
Return the bit-information of 48 beams, considering see also zone status!
Table 24: Command 26 Hex
Command 38 [26 Hex]) Response 39 [27 Hex])
Bit Value Bit
Byte 3 0-7 1-254 First beam to be
considered (x)
Byte 3 0 Beam x+0 0: Beam not interrupted
1 Beam x+1 1: Beam interrupted
: :
7 Beam x+7
Byte 4 - 8 0-7 0 Not used Byte 4 0 Beam x+8 0: Beam not interrupted
: : 1: Beam interrupted
7 Beam x+15
Byte 5 0 Beam x+16 0: Beam not interrupted
: : 1: Beam interrupted
7 Beam x+23
Byte 6 0 Beam x+24 0: Beam not interrupted
: : 1: Beam interrupted
7 Beam x+31
Byte 7 0 Beam x+32 0: Beam not interrupted
: : 1: Beam interrupted
7 Beam x+39
Byte 8 0 Beam x+40 0: Beam not interrupted
: : 1: Beam interrupted
7 Beam x+47
•This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)
•Note: This command can not distinguish between all beams interrupted and a light curtain failure. Use command 0x08 to
verify the response! Use command (100 [64 Hex]) instead.
2.2.5.17. Get zone status (40 [28 Hex])
This command is a simple way to get the status of a certain zone. The zone can be defined by setting a first
beam and last beam (inclusive).
Table 25: Command 28 Hex
Command 40 [28 Hex] Response 41 [29 Hex]
Bit Value Bit
Byte 3 0-7 1-254 First beam of
zone to be
considered
Byte 3 0-7 0 Zone not interrupted
1 Zone interrupted
Byte 4 0-7 1-254 Last beam of
zone to be
considered
Byte 5 - 8 0-7 0 Not used
Byte 4 - 8 0-7 Not used
* This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)
Note: Beam numbers for a zone are inclusive
Example: Byte 3 = 10, Byte 4 = 15 -> Beam 10-15 (inclusive) considered
2.2.5.18. Get parameter value (42 [2A Hex])
The command is used to read out a parameter (Table 19) from the ObjectC 100. The parameter can be set with
command 28 (2.2.5.11).
Table 26: Command 2A Hex
Command 42 [2A Hex] Response 43 [2B Hex]
Bit Value Bit Value
Byte 3 0-7 23-65 Parameter Byte 3 0-7 0-255 Value (see Table 19)
Byte 4 - 8 0-7 0 Not used Byte 4 - 8 0-7 Not used
* This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)
Note: Beam numbers for a zone are inclusive

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2.2.5.19. Restart (44 [2C Hex])
This command restarts the controller. It has the same effect as a power up of the ObjectC 100.
Table 27: Command 2C Hex
Command 44 [2C Hex] Response 45 [2D Hex]
Bit Value Bit Value
Byte 3 - 8 0-7 0 Not used Byte 3 - 8 0-7 0 Not used
2.2.5.20. Get beam status with light curtain status (100 [64 Hex])
Return the bit-information of 40 beams, with status of light curtain !
Table 28: Command 64 Hex
Command 100 [64 Hex]) Response 101 [65 Hex])
Bit Value Bit
Byte 3 0-8 1-254 First beam to be
considered (x)
Byte 3 0 Beam x+0 0: Beam not interrupted
1 Beam x+1 1: Beam interrupted
: :
7 Beam x+7
Byte 4 - 8 0-7 0 Not used Byte 4 0 Beam x+8 0: Beam not interrupted
: : 1: Beam interrupted
7 Beam x+15
Byte 5 0 Beam x+16 0: Beam not interrupted
: : 1: Beam interrupted
7 Beam x+23
Byte 6 0 Beam x+24 0: Beam not interrupted
: : 1: Beam interrupted
7 Beam x+31
Byte 7 0 Beam x+32 0: Beam not interrupted
: : 1: Beam interrupted
7 Beam x+39
Byte 8 0 0 Light curtain free
1 Light curtain interrupted
1 0 Light curtain state not changed
1 Light curtain state changed to the last
measurement
2 0 No light curtain error
1 Emitter and receiver have different beam
numbers or no light curtain connected
4 0
1 Beam number not allow (0 or greater
than available number of beams)
•This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)
2.3. Extended CAN mode
The extended CAN mode is activated with DIP switch S1 (7) = "ON". After set to "ON" a power up is requested.
Table 29: DIP switch for extended mode
DIP switch S1 Remarks
S1 (7) = "ON" Chapter 6.4 Operation Manual
In addition to master-slave communication, the extended CAN mode autonomously sends a telegram for a
change of a light curtain status or single light beam status.
The extended CAN mode offers the additional command "State sector X-axis (64 [40 Hex])" and "State Sector Y-
axis (66 [42 Hex])" as well as parameters for different properties of these commands.

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2.3.1. Boot-up message
After power up of the ObjectC°100°CAN and assuming that the extended CAN mode is activated with DIP switch
S1 (7) = "ON", the controller responds with the boot-up message. Afterwards, the device is ready to receive
initialization data (2.3.3). The boot-up message has the following format:
Table 30: CAN protocol architecture
Id (STD) DLC Byte 1
[0783 Hex] [01 Hex] [01 Hex]
Remark: Id(Std) = [0783 Hex] + Address Offset
(= 0783, 0784, etc. up to 0792 Hex), see chapter 6.4 Operation Manual
2.3.2. Watchdog message
After the boot-up message, ObjectC°100°CAN periodically sends a watchdog message. If the master controller
does not receive a watchdog message for longer than the time specified, the master controller recognizes this as
an error. The periodic time can be set with parameter 84 [54 Hex] (see Table 19). By default this time is set to 2
seconds.
Table 31: Watchdog message
Id (STD) DLC Byte 1
[764 Hex] [01 Hex] Status
Remark: Id(Std) = [0764 Hex] + Address Offset
(= 0764, 0765, etc. up to 0773 Hex), see chapter 6.4 Operation Manual
Table 32: Watchdog state
State
0 Boot-up
4 Stopped
5 Operational
127 Pre-operational
2.3.3. Initialization of the extended CAN mode
The following sequence initializes the extended CAN mode. Thereon the watchdog state changes from state pre-
operational (127) to operational (5).
Table 33: Initialization 1
Id (STD) DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
[00000664 Hex] [08 Hex] 40 00 10 00 00 00 00 00
Remark: Id(Std) = [0664 Hex] + Address Offset
(= 0664, 0665, etc. up to 0673 Hex), see chapter 6.4 Operation Manual
Table 34: Response 1
Id (STD) DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
[000005E4 Hex] [08 Hex] 43 00 10 00 00 00 00 00
Remark: Id(Std) = [05E4 Hex] + Address Offset
(= 05E4, 05E5, etc. up to 05F3 Hex), see chapter 6.4 Operation Manual
Table 35: Initialization 2
Id (STD) DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
[00000664 Hex] [08 Hex] 2B 17 10 00 00 00 00 00
Remark: Id(Std): see Table 33
Table 36: Response 2
Id (STD) DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
[000005E4 Hex] [08 Hex] 60 17 10 00 00 00 00 00
Remark: Id(Std): see Table 34

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The extended CAN mode is now ready. For applications using event triggered telegrams or periodic triggered
telegrams, the parameter 75, 77 79, 80, 81, 82, 83 and 84 have to be set (see chapters 2.3.6 to 2.3.10)
2.3.4. CAN addresses in the extended CAN mode
The communication in the extended CAN mode works on the listed addresses. Like the Standard CAN mode the
address offset is set with DIP switch S1 (see 6.4 in Operation Manual)
Table 37: CAN-Addresses in the extended CAN mode
Receiving and sending of telegrams are related to the ObjectC 100 control unit
2.3.5. Extended commands and responses (CAN)
2.3.5.1. State sector X-axis (64 [40 Hex])
Using parameters the light curtain can be defined in Y- and X- axis as well as sectors (see chapter 1.1.1). The
response to this command sends for each sector of the X-axis one bit, indicating "0" for not interrupted and "1" for
interrupted.
Table 38: Command 40 Hex
Command 64 [40 Hex] Response 65 [41 Hex]
Bit Value Bit Value
Byte 3 0-7 0 No interrupted beam
1-254 Lowest interrupted beam
Byte 4 0-7 0 No interrupted beam
0-254 Hi
g
hest interru
p
ted beam
Byte 5 0 Zone X1 0: Sector not interrupted
: : 1: Sector interrupted
7 Zone X8
Byte 6 0 Zone X9 0: Sector not interrupted
: : 1: Sector interrupted
7 Zone X16
Byte 7 0 Zone X17 0: Sector not interrupted
: : 1: Sector interrupted
7 Zone X24
Byte 3-8 0-7 0
Byte 8 0 Zone X25 0: Sector not interrupted
: : 1: Sector interrupted
7 Zone X32
•This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)
Address for receiving telegram for ObjectC 100 [0264 Hex] + Address Offset
(= 0264, 0265, etc. up to 0273 Hex)
Address for sending telegram for ObjectC 100 in response
to receiving telegram [01E4 Hex] + Address Offset (= 01E4, 01E5 etc. up to 01F3 Hex)

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2.3.5.2. State sector Y-axis (66 [42 Hex])
Using parameters the light curtain can be defined in Y- and X- axis as well as sectors (see chapter 1.1.1). The
response to this command sends for each sector of the Y-axis one bit, indicating "0" for not interrupted and "1" for
interrupted.
Table 39: Command 42 Hex
Command 66 [42 Hex] Response 67 [43 Hex]
Bit Value Bit Value
Byte 3 0-7 0 No interrupted beam
1-254 Lowest interrupted beam
Byte 4 0-7 0 No interrupted beam
0-254 Hi
g
hest interru
p
ted beam
Byte 5 0 Zone Y1 0: Sector not interrupted
: : 1: Sector interrupted
7 Zone Y8
Byte 6 0 Zone Y9 0: Sector not interrupted
: : 1: Sector interrupted
7 Zone Y16
Byte 7 0 Zone Y17 0: Sector not interrupted
: : 1: Sector interrupted
7 Zone Y24
Byte 3-8 0-7 0
Byte 8 0 Zone Y25 0: Sector not interrupted
: : 1: Sector interrupted
7 Zone Y32
* This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)
2.3.6. Event Mode
The point in time when the light curtain carries out a measurement effects the result. The following chapters
describe these effects.
The event mode is activated using the following parameters.
Table 40: Settings for event mode
Parameter Value Description
75 [4B Hex]
Periodic measuring
0 Periodic mode inactive
77 [4D Hex]
Event measuring
1 Event mode active
The event mode lends itself for recognizing objects. In an ‘event’, the controller sends a telegram "State sector X-
axis (65 [41 Hex])" and/or "State sector Y-axis (67 [43 Hex])". The points in time are not periodic.
In Figure 2, diverse objects pass through the Object100 light curtain on a conveyor belt with a constant speed. An
interruption in the light curtain or a change of a beam state (point in time E) triggers a transmission of a status
telegram.
2.3.7. Limitation of data frequency using the event mode
Using the event mode (chapter 2.3.6) each change of beam status causes a telegram transmission. In an
application with a short light curtain, a telegram can be transmitted more than every 5 seconds. This can overload
the CAN network communication. Parameter 82 [52 Hex] (Table 19) offers the limitation of data transfer.
Figure 2: The goods G1, G2, G3, G4 on the conveyor belt cause an event triggered
message (E)

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Table 41: Limitation of data transfer
Parameter Value n Description
82 [52 Hex]
Limitation of data transfer
0
1-255
Telegram at every event
delay of n times 13.1 ms
td= n x13.1 ms td Delay time [ms]
nValue of parameter 82 [52 Hex]
An Event (E) triggers a measurement, but it is performed in a delay of the time td. Therefore only an object of a
certain size and speed is recognized (Figure 3 G1, G2 and G4).
Figure 3: The goods trigger events (E) but the measurements are performed with a
delay (M)
2.3.8. Periodic mode
Periodic mode is activated with these parameters.
Table 42: Parameters for periodic mode
Parameter Value n Description
75 [4B Hex]
Periodic measuring 3-255 Periodic mode active with time
constant tp
77 [4D Hex]
Event measuring 0 Event mode inactive
After the periodic time of t = n x 13.1 ms, the response telegrams "State sector X-axis (64 [40 Hex])" and/or
"This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)
State sector Y-axis (66 [42 Hex])"are transmitted. The periodic mode lends itself to collect the length and/or
profile of an object.
Figure 4: The periodic mode triggers measurements in time intervals of Tn = n x 13.1
ms, T1, T2, T3, T4, T5 etc. ). It lends itself for applications to determine the length or
the profile of goods (G1).
For object G1, according to Figure 4, passing the light curtain with a constant speed, the length is calculated as:

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lmin = (T5-T2) xv
lmax = (T6-T1) xv
lmin Minimum length
lmax Maximum length
T1 Last measurement before detecting object G1
T2 First measurement after detecting G1
T5 Last measurement while detecting G1
T6 First measurement G1 is no longer detected
v Speed (constant)
2.3.9. Period duration
The duration of the period for periodic mode (2.3.8) determines parameter 75 [4B Hex]. It is calculated
accordingly:
tp= n
x13.1 [ms] + tm
tp Period duration [ms]
nMultiplier according to parameter 75 (3.. 255)
tm Measurement time 0 ... 25 ms (see chapter 4.6)
The measurement time tmhas to be added as
tolerance. Its calculation is documented in chapter
4.6. It is dependant on the light curtain length and,
with a light curtain of 250 elements, amounts to 25
ms.
2.3.10. Single/Periodic evaluation
The periodic mode (chapter 2.3.8) can be specified as a single or a periodic evaluation.
Table 43: Parameter for single/periodic evaluation
Parameter Value Event measuring
0 Single Min/Max 1) of the actual (last) measurement
83 [53 Hex]
Single/Periodic evaluation 1 Periodic Min/Max 1) of the last period
1) Min/Max refers to telegram 65 [41 Hex] and 67 [43 Hex]
When single evaluation is selected, the controller sends the minimum and maximum values of the actual
measurement every periodic time point (e.g. T1 in Figure 5) with telegram 65 [41 Hex] and 67 [43 Hex]. Minimum
refers to the lowest interrupted beam number and maximum refers to the highest interrupted beam. In this case,
objects that are too small or that arrive in the detection area too quickly, i.e. during an interval, are not detected
(see Figure 5, goods G1 and G3 not detected).
With the periodic evaluation, the minimum and maximum values refer to the entire passing period, i.e. T1 to T2,
T2 to T3 etc. This means, the lowest and highest interrupted beams during this period. In this mode the goods G1
and G3 of Figure 5 are recognized.
Figure 5: Goods which fall in a time interval due to smaller size or travelling too quickly
will only be recognized in the periodic evaluation of periodic mode.
2.3.11. X-Y Measurement with zones
With a cascading Object100 light curtain system, a X-Y measurement can be performed. Using commands 64
[40 Hex] and 66 [42 Hex] the lowest and highest interrupted beams can be requested. According to configuration,
the response telegrams 65 [41 Hex] and 67 [43 Hex] can also be sent spontaneously (see chapter 2.3.6 - 2.3.10).
The parameters 79 [4F Hex] and 80 [50 Hex] allow the definition of up to 32 zones per axis. The condition of
each zone can be seen in the response telegrams 65 [41 Hex] and 67 [43 Hex]. It is important to note that the Y-
axis is always the light curtain closest to the controller, irrespective of whether it is vertical or horizontal. It is
strongly recommended that the y-axis section of the light curtain is set up vertically to avoid confusion with
results.

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Figure 6: The cascading light curtain nearest to the controller is
determined as the Y-axis. Its length has to be configured with
parameter 81 [51 Hex].
2.3.11.1. Example
A storage rack with screws is monitored using a cascading Object100 light curtain. A master controller controls
whether the correct parts are picked. A box has a width of 20 cm (X-axis) and a height of 15 cm (Y-axis). The
rack measures 2.2m in width and 1.5 m in height. Therefore it can store 11 trays per level over 10 levels.
Figure 7: The monitoring of part picking is solved using separate
zones.
The configuration of the ObjectC°100°CAN controller is carried out thus:
Table 44: CAN commands for the configuration of the example above
Byte
Command Par Value Add-
ress DLC 1 2 3 4 5 6 7 8
Deactivation of periodic mode 28 [1C Hex] 75 [4B Hex] 0 [01 Hex] 0220 08 00 1C 4B 00 00 00 00 00
Activation of event mode 28 [1C Hex] 77 [4D Hex] 1 [01 Hex] 0220 08 00 1C 4D 01 00 00 00 00
Elements per zone in X-axis
(20 cm = 8 beams, pitch 25 mm) 28 [1C Hex] 79 [4F Hex] 08 [08 Hex] 0220 08 00 1C 4F 08 00 00 00 00
Elements per zone in Y-axis
(15 cm = 6 beams, pitch 25 mm) 28 [1C Hex] 80 [50 Hex] 06 [06 Hex] 0220 08 00 1C 50 06 00 00 00 00
Separation of Y-axis
(1.5 m = 60 beams, pitch 25 mm) 28 [1C Hex] 81 [51 Hex] 60 [3C Hex] 0220 08 00 1C 51 3C 00 00 00 00
With this configuration, the ObjectC°100 sends a command at every interruption of the light curtain.
Example: The operator picks from the 5th tray (X-axis) of the 3rd row (Y-axis).