Honeywell DPS CANopen User manual

User/Technical Manual for 50085804, Rev. B
Digital Pressure Sensor with CANopen®, Model DPS
PERSONAL INJURY WARNING
DO NOT USE these products as safety or emergency stop
devices or in any other application where failure of the prod-
uct could result in personal injury.
Failure to comply with these instructions could result in
death or serious injury.
Table of Contents
Chapter 1 - General Information ......................1
Chapter 2 - Technical Data and Performance Details.......3
Chapter 3 - Introduction .............................6
Chapter 4 - Setting Up ..............................7
Chapter 5 - Network Management ....................11
Chapter 6 - Heartbeat Protocol .......................13
Chapter 7 - Process Data Objects ....................13
Chapter 8 - Service Data Objects .....................14
Chapter 9 - Emergency Objects ......................15
Chapter 10 - Operation .............................15
Appendix........................................20
IMPORTANT
It is recommended that you read this document thoroughly
before applying power to this unit.
RELEASE INFORMATION
Document Name Doc. ID Release
No.
Pub.
Date
Digital Pressure Sensor with
CANopen®, Model DPS,
User/Technical Manual
50085804 A May
2013
Digital Pressure Sensor with
CANopen®, Model DPS,
User/Technical Manual
50085804 B April
2016
REFERENCES
The following list identifies all documents that may be sources
of reference for materials discussed in this publication.
• Digital Pressure Sensor with CANopen®, Model DPS,
product sheet

ii sensing.honeywell.com
Digital Pressure Sensor with CANopen®, Model DPS 50085804, Rev. B
The following table lists those symbols used in this document to denote certain conditions.
Table 1 – Table Symbol Denitions
Symbol Denition
,ATTENTION: Identifies information that requires special consideration.
TIP: Identifies advice or hints for the user, often in terms of performing a task.
REFERENCE - EXTERNAL: Identifies an additional source of information outside of the
bookset.
REFERENCE - INTERNAL: Identifies an additional source of information within the book-
set.
CAUTION CAUTION: Indicates a situation which, if not avoided, may result in equipment or work
(data) on the system being damaged or lost, or may result in the inability to properly oper-
ate the process.
mCAUTION: Caution symbol indicates a potentially hazardous situation which, if not avoided,
may result in minor or moderate injury. It may also be used to alert against unsafe practices.
mCAUTION: Caution symbol on the equipment refers the user to the product manual for ad-
ditional information. The symbol appears next to required information in the manual.
mWARNING: Warning symbol indicates a potentially hazardous situation, which, if not
avoided, could result in serious injury or death.
mWARNING: Warning symbol on the equipment refers the user to the product manual for ad-
ditional information. The symbol appears next to required information in the manual.

Sensing and Productivity Solutions 1
Digital Pressure Sensor with CANopen®, Model DPS 50085804, Rev. B
CHAPTER 1 - GENERAL INFORMATION
1.1 Introduction
Honeywell’s Digital Pressure Sensor with CANopen®, Model
DPS, is an addition to Honeywell’s general-purpose pressure
sensors that are pre-configured with a variety of features and
options for use in a wide range of demanding applications.
Model DPS pressure sensors are a rugged, stainless steel, all-
welded devices designed to work with a variety of media, and
built to provide consistent performance in harsh environments.
CANopen®protocol allows customers to:
• Connect to longer distance without losing the
accuracy
• Reduce the wires to be connected
• Take advantage of robust and superior error handling
capability
• Access calibration
• Easily track each device in the network with their
unique serial numbers
• Update rate of each device connected in the network
which can be set at different rates
Configurations for digital measurements are fully temperature
compensated and calibrated for pressure ranges from 10 psi to
10K psi or 1 bar to 700 bar or 70 kPa to 70000 kPa.
Customers can choose from two different accuracies to meet
their specific application requirements:
• ≤30 psi, ±0.25 %FS
• >30 psi, ±0.1 %FS or ±0.25 %FS
1.2 Acronyms and Denitions
Acronym Denition
ADC Analog to Digital Converter
BFSL Best Fit Straight Line
CAN Control Area Network
CiA CAN in Automation
COB-ID Communication Object - Identifier
CS Command Specifier
DLC Data Length Code
EMCY Emergency
FS Full Scale
g Weight in gram
hex Hexadecimal
Hz Hertz
IP65 Ingress Protection Rating
kbps Kilo bit per second
LSB Least Significant Bit
LSS Layer Setting Services
MIL-STD Military Standard
mS millisecond
NMT Network Management
NPT Non Plated Through
oz Ounce
PDO Process Data Object
PSI Pound-force per square inch
RD Read access
SDO Service Data Object
SYNC Synchronous
TPDO Transmission Process Data Object

2 sensing.honeywell.com
Digital Pressure Sensor with CANopen®, Model DPS 50085804, Rev. B
1.3 Features and Benets
(= Competitive Differentiator)
• Wide pressure range [from 10 psi to 10K psi or 1 bar to
700 bar or 70 kPa to 70000 kPa]: Provides support for
many unique applications
Multiple pressure engineering units (psi, bar and kPa):
Eliminates the customer having to make mathematical
conversions, increasing flexibility and simplifying use
• Rugged design: All-welded, 300 series stainless steel and
Hastelloy®design allow for use in a wide range of harsh
environments
• Accuracy options [ ≤ 30 psi, ±0.25 %FS or >30 psi,
±0.1 %FS or ±0.25 %FS]: Allow customers to select the
accuracy level required for their application
• Output: CANbus with CANopen®protocol
• Total Error Band [±2 % FS]: Honeywell specifies Total
Error Band (TEB), the most comprehensive, clear and
meaningful measurement that includes nonlinearity,
repeatability and hysteresis as well as temperature error
• Designed for configurability: A selection of pressure types,
accuracy levels, pressure ranges, pressure connections
and electrical terminations allows customers the ability to
configure the devices to meet their specific application
needs
Connectors: 5-pin M12, which can be used in industrial
applications, and 6-pin Bendix, which can be used in
transportation applications
• Mechanical shock 100 G/11 ms: Allows the device to
withstand harsh environments
• IP65 rated: Provides protection when used in harsh
environments
• CiA (CAN in Automation) certified
1.4 Potential Applications
• Transportation
- Agricultural equipment
- Automotive test benches
- Construction equipment
- Rail equipment testing
- Train communication network
• Industrial
- General industrial process control and factory
automation/industrial equipment
• Medical
- Blood dialysis equipment
- Medical equipment systems (i.e., X-ray collimator, MRI
scanning, etc.)
• Aerospace
- Test and research labs

Sensing and Productivity Solutions 3
Digital Pressure Sensor with CANopen®, Model DPS 50085804, Rev. B
CHAPTER 2 - TECHNICAL DATA AND PERFORMANCE DETAILS
2.1 Physical Dimensions
Code 6a: 6-pin, vented,
Bendix style
Code 6bj: 5-pin vented,
M12 connector
Code 5a
1/4-18 NPT female
Code 5b
1/4-18 NPT male
Code 5c
7/16-20 UNF female
Code 5d
7/16-20 UNF male
Code 5f
G 1/4 B female
Code 5g
G 1/4 B male
Less than
1000 psi
Greater than
1500 psi
Code 5h
1/8-27 NPT female
Code 5i
1/8-27 NPT male
Code 5p
M12-1.5 male
Code 5q
M12-1.5 female
Code 5r
9/16-18 SAE male
Code 5s
9/16-18 SAE female
Less than
1000 psi
Greater than
1500 psi
HPG
HPA
HDW
HDD
Pressure ports

4 sensing.honeywell.com
Digital Pressure Sensor with CANopen®, Model DPS 50085804, Rev. B
2.2 Electrical Termination and Pin Assignment
Electrical connection can be selected from 6-pin Bendix con-
nector or 5-pin M12 connector.
6-pin Bendix connector Pin Assignment
A CAN_SHLD
B CAN_V+
C CAN_GND
D CAN_H
E CAN_L
F NC
M12 electrical connector
5-pin M12 connector Pin Assignment
1 CAN_SHLD
2 CAN_V+
3 CAN_GND
4 CAN_H
5 CAN_L
2.3 Pressure Ports
See available pressure ports in physical dimension diagram
included in Section 2.1.
2.4 Pressure Media Compatibility
Media that is compatible with stainless steel 316L and
Hastelloy®.
2.5 Physical and Environmental Specications
Characteristic Parameter
Weight
(representative of
HPG & HPA)
100 psi: 234 g [8.25 oz]
(1/4-18 NPT port with Bendix)
100 psi: 236 g [8.32 oz]
(1/4-18 NPT port with M12)
Shock 100 g [11 ms] peak
Vibration
MIL-STD-810C, Figure 514.2-5, curve AK,
Table 514.2-V, random vibration test
[overall g rms = 20.7 min.]
Compensated
temperature
range
4 °C to 60 °C [40 °F to 140 °F]
Operating
and storage
temperature
range
-25 °C to 85 °C [-13 °F to 185 °F]
Approvals CiA (CAN In Automation), CE Marked, Dec-
laration of Conformity on request
2.6 Mechanical Specications
Characteristic Parameter
Media1gas, liquid
Overload
(safe), positive
direction
1000 psi and below: 4X full scale or 3000
psi, whichever is less
1500 psi and above: 4X full scale or 15000
psi, whichever is less
Overload
(safe), nega-
tive direction
4X full scale or 250 psi, whichever is less
Overload
(burst), posi-
tive direction
1000 psi and below: 3000 psi
Overload
(burst), nega-
tive direction
1500 psi and above: 15000 psi
Pressure port 200% over capacity
Wetted parts
material Ha C276 & 316L stainless steel
NOTES:
1. The wet/wet differential pressure sensor has two separate, welded
Hastelloy®diaphragms. In wet/dry unit, the wet port (high port) has
all-welded stainless steel and Hastelloy®construction. The dry port
(low port) has no isolation diaphragm.
2.7 Electrical Specications
Characteristic Parameter
Excitation 9 Vdc to 28 Vdc

Sensing and Productivity Solutions 5
Digital Pressure Sensor with CANopen®, Model DPS 50085804, Rev. B
2.8 Recommended Grounding
If there is a provision to ground the enclosure at the applica-
tion being used, use the recommended grounding method as
shown in Figure 1.
Figure 1. Recommended Shielding Diagram 1
If there is no provision to ground the enclosure in the applica-
tion, this shielding method is preferred for wires that run longer.
The shielding of the cable can be connected to CAN_SHLD of
the connector (pin 1 of M12 or Pin A of Bendix) and it can be
grounded at the far end (see Figure 2).
Figure 2. Recommended Shielding Diagram 2
2.9 Performance Specications
At 25 °C [77 °F] and a rated excitation unless otherwise noted
Characteristic Parameter
Accuracy2,3 <30 psi: ±0.25 %FS
>30 psi: ±0.1 %FS, ±0.25 %FS
ADC
resolution 12 bit
Total Error
Band4±2 %FS
User-congu-
rable update
rate
250 Hz (max.); 10 Hz (default)
Baud rate 125 kbps (default)
NOTES:
2. Includes pressure non-linearity (BFSL), pressure hysteresis and non-
repeatability. Thermal errors are not included.
3. Differential sensors are calibrated in positive direction and accuracy
specification is valid in positive direction only.
4. Includes zero error, span error, thermal effect on zero, thermal effect
on span, thermal hysteresis, pressure-non-linearity, pressure hyster-
esis and non-repeatability.
,ATTENTION
1. The wet/wet differential pressure sensor has two
separate, welded Hastelloy®diaphragms. In wet/dry
unit, the wet port (high port) has all-welded stainless
steel and Hastelloy®construction. The dry port (low port)
has no isolation diaphragm.
2. Includes pressure non-linearity (BFSL), pressure
hysteresis, and non-repeatability. Thermal errors are not
included.
3. Differential sensors are calibrated in positive direction
and accuracy specification is valid in positive direction
only.
4. Includes zero error, span error, thermal effect on zero,
thermal effect on span, thermal hysteresis, pressure-
non-linearity, pressure hysteresis, and non-repeatability.

6 sensing.honeywell.com
Digital Pressure Sensor with CANopen®, Model DPS 50085804, Rev. B
CHAPTER 3 - INTRODUCTION
The Digital Pressure Sensor with CANopen®, Model DPS,
implements the standard CANopen®communications protocol.
The CANopen®standards supported are shown in Table 1.
These standards are available from CAN in Automation www.
can-cia.de.
3.1 Supported Standards
Table 1. Supported CANopen®Standards
CANopen®
CiA Standard
Version Description
DS301 4.02 Application layer and communi-
cation profile
DR-303-2 1.1 CANopen®representation of SI
units and prefixes
DSP 305 2.2 CANopen®layer setting services
and protocol
DSP 404 1.0 Measuring devices and closed
loop controllers
The Model DPS pressure sensor is provided with the CANo-
pen®default settings as shown in Table 2.
Table 2. CANopen®Default Settings
Parameter Default
Value
(Hex)
Description
Node-ID 7F The Node-Identifier used for
CANopen®communications
COB-ID PDO 180 +
Node-ID
The communications object iden-
tifier of the process data object
COB-ID SDO 600 +
Node-ID
The communications object iden-
tifier of the service data object
COB-ID
EMERGENCY
80 +
Node-ID
The communications object iden-
tifier of the emergency object
COB-ID NMT 00
The communications object iden-
tifier of the network management
object
COB-ID SYNC 80
The communications object
identifier of the synchronization
object
LSS Master 7E5 The identifier of the layer settings
service master (host)
LSS Slave 7E4
The identifier of the layer settings
service slave (Digital Pressure
Sensor with CANopen®Series)
BOOTUP
HEARTBEAT
COB-ID
700 +
Node-ID
The communications object iden-
tifier for the heartbeat object
Bit rate 125
Kbps
The bit rate that is used for CAN
communications. [Bit rate is
mentioned in decimal]

Sensing and Productivity Solutions 7
Digital Pressure Sensor with CANopen®, Model DPS 50085804, Rev. B
CHAPTER 4 - SETTING UP
4.1 Procedure to Get Started
In order to operate in the host network it is necessary to en-
sure:
1. The Node-ID of the Digital Pressure Sensor with
CANopen®, Model DPS, is not the same as any other node
on the CANbus network.
2. The bit rate of the Digital Pressure Sensor with CANopen®,
Model DPS, matches that of the network to which it is
being connected.
These parameters are configured using the layer settings ser-
vices. These parameters are configured prior to connecting the
Model DPS in the host network.
4.2 Node-ID Conguration
The Node-ID is used to provide unique communication object
identifiers for each CANopen®device on the network. Configur-
ing of the Node-ID can be performed:
1. Prior to connection using the switch mode global
command called Point-to-Point Configuration.
2. On the target network using the switch mode selective
command called Network Configuration.
Table 3 shows the process of performing point-to-point Node-
ID Configuration. Table 4 shows the process of performing
Node-ID Configuration on network.
Table 3. Point to Point Node-ID Conguration
ID(hex) DLC Data(Hex) Comment Direction w.r.t Digital Pressure
Sensor with CANopen®
000 2 80 7F Preoperational node ID 7F Receive
7E5 8 04 01 00 00 00 00 00 00 Configuration state Receive
7E5 8 11 7E 00 00 00 00 00 00 Set node ID 7E Receive
7E4 8 11 00 00 00 00 00 00 00 Response ok Transmit
7E5 8 17 00 00 00 00 00 00 00 Store configuration Receive
7E4 8 17 00 00 00 00 00 00 00 Response ok Transmit
7E5 8 04 00 00 00 00 00 00 00 Waiting state Receive
000 2 81 7F Reset node ID -7F Receive
77E 1 00 Boot up message Transmit
Table 4. Node-ID Conguration On Network
ID(hex) DLC Data(Hex) Comment Direction w.r.t Digital Pressure
Sensor with CANopen®
000 2 80 7E Preoperational node ID 7E Receive
7E5 8 40 62 03 00 00 00 00 00 Vendor ID Receive
7E5 8 41 50 31 44 00 00 00 00 Product code Receive
7E5 8 42 00 00 01 00 00 00 00 Revision no. Receive
7E5 8 43 xx xx xx xx 00 00 00
Serial number, where xx xx xx xx
is the serial number of the device
given along with the Model DPS unit
Receive
7E4 8 44 00 00 00 00 00 00 00 Response ok Transmit
7E5 8 11 7F 00 00 00 00 00 00 Set node ID 7F Receive
7E4 8 11 00 00 00 00 00 00 00 Response ok Transmit
7E5 8 17 00 00 00 00 00 00 00 Store configuration Receive
7E4 8 17 00 00 00 00 00 00 00 Response ok Transmit
7E5 8 04 00 00 00 00 00 00 00 Waiting state Receive
000 2 81 7E Reset node ID -7E Receive
77F 1 00 Boot up message Transmit

8 sensing.honeywell.com
Digital Pressure Sensor with CANopen®, Model DPS 50085804, Rev. B
4.3 Bit Rate Conguration
Configuring of the Bit Rate can be performed:
1. Prior to connection using the switch mode global
command called Point-to-Point configuration.
2. On the target network using the switch mode selective
command called Network Configuration.
Table 5 shows the process of performing point-to-point Bit Rate
configuration. Table 6 shows the process of performing Bit
Rate configuration on network.
Table 5. Point-to-Point Bit Rate Conguration
ID(hex) DLC Data(Hex) Comment Direction w.r.t Digital Pressure
Sensor with CANopen®
000 2 80 7f Preoperational node ID 7f Receive
7E5 8 04 01 00 00 00 00 00 00 Configuration state Receive
7E5 8 13 00 04 00 00 00 00 00 Set bit rate 125 kbit 04 Receive
7E4 8 13 00 00 00 00 00 00 00 Response ok Transmit
7E5 8 17 00 00 00 00 00 00 00 Store configuration Receive
7E4 8 17 00 00 00 00 00 00 00 Response ok Transmit
7E5 8 04 00 00 00 00 00 00 00 Waiting state Receive
000 2 01 00 Enter operational state Receive
1ff 4 Pressure data Transmit
Table 6. Bit Rate Conguration on Network
ID(hex) DLC Data(Hex) Comment Direction w.r.t Digital Pressure
Sensor with CANopen®
000 2 80 7E Preoperational node Id 7E Receive
7E5 8 40 62 03 00 00 00 00 00 Vendor ID Receive
7E5 8 41 50 31 44 00 00 00 00 Product code Receive
7E5 8 42 00 00 01 00 00 00 00 Revision no. Receive
7E5 8 43 xx xx xx xx 00 00 00
Serial number, where xx xx xx xx
is the serial number of the device
given along with the Model DPS unit
Receive
7E4 8 44 00 00 00 00 00 00 00 Response ok Transmit
7E5 8 13 00 04 00 00 00 00 00 Set bit rate 125 Kbit 04 Receive
7E4 8 13 00 00 00 00 00 00 00 Response ok Transmit
7E5 8 17 00 00 00 00 00 00 00 Store configuration Receive
7E4 8 17 00 00 00 00 00 00 00 Response ok Transmit
7E5 8 04 00 00 00 00 00 00 00 Waiting state Receive
000 2 01 00 Enter operational state Receive
1ff 4 Pressure data Transmit