HYDACELECTRONIC HLB 1400 Setup guide

Part No.: 670065 / Status: 2021-05-27 E
Protocol
Description
CANopen
HLB 1400
HYDACLAB
Oil condition sensor
(Translation of original instructions)

Protocol Description HLB 1400 CANopen Page 2
Status 2021-05-27 HYDAC ELECTRONIC GMBH Part no.: 670065
Table of Contents
1Introduction .....................................................................................................................5
1.1Generally .......................................................................................................................5
1.2Changes of technical terms in the context of “political correctness”..............................5
2Functions of the HLB 1400 CANopen ...........................................................................6
3Transmission rates .........................................................................................................6
4CAN-Frames ....................................................................................................................6 
5Node ID.............................................................................................................................7
6Transmission services ...................................................................................................7
6.1Service Data Object (SDO) ...........................................................................................7
6.2Process Data Object (PDO) ..........................................................................................8
6.3Synchronisation Object (SYNC) ....................................................................................9
6.4Emergency Object (EMCY) .........................................................................................10
6.5Heartbeat.....................................................................................................................10
6.6Network Management Services (NMT) .......................................................................11
6.7Boot Up Protocol .........................................................................................................11
7The Object Dictionary ...................................................................................................12
7.1Set-up of the Object Dictionary....................................................................................12
7.2Structure of the device-specific part according to DS404............................................12
8Entries in the Object Dictionary...................................................................................14
8.1Communication Profile Specific Entries (DS301) ........................................................14
8.1.1Index 1000h: DeviceType (read only) ..................................................................14
8.1.2Index 1001h: ErrorRegister (mappable, read only) .............................................. 14
8.1.3Index 1002h: ManufacturerStatusRegister (mappable, read only).......................14
8.1.4Index 1003h: Pre-defined error field (read only)...................................................14
8.1.5Index 1005h: SyncMessageIdentifier (read write) ................................................ 14
8.1.6Index 1008h: ManufacturerDeviceName (const)..................................................15
8.1.7Index 1009h: ManufacturerHardwareVersion (const)...........................................15
8.1.8Index 100Ah: ManufacturerSoftwareVersion (const)............................................15
8.1.9Index 1010h: StoreParameters ............................................................................ 15
8.1.10Index 1011h: RestoreDefaultParameters .............................................................16
8.1.11Index 1014h: CobIdEmergencyMessage (read write) .......................................... 16
8.1.12Index 1017h: ProducerHeartbeatTime (read write) .............................................. 16
8.1.13Index 1018h: IdentifyObject.................................................................................. 16
8.1.14Index 1029h: Error behaviour............................................................................... 17
8.1.15Index 180Xh: TPDO parameters .......................................................................... 17
8.1.16Index 1A0Xh: TPDO mapping parameter............................................................. 18
8.1.17Index 1F80h: NMT-Startup (read write)................................................................19
8.2Device Profile Specific Entries (DS404) ......................................................................20
8.2.1Index 6110h: SensorType .................................................................................... 20
8.2.2Index 6112h: OperatingMode............................................................................... 20
8.2.3Index 7130h/9130h: ProcessValue (mappable) ...................................................20

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8.2.4Index 6131h: PhysicalUnitProcessValue..............................................................21
8.2.5Index 6132h: ProcessValueDecimalDigits ........................................................... 21
8.2.6Index 61B0h:ProcessValueSignalNames.............................................................22
8.2.7Index 6150h: AnalogInputStatus (mappable) .......................................................22
8.3Manufacturer Specific Entries......................................................................................22
8.3.1Index 2001h: NodeID (read write) ........................................................................ 22
8.3.2Index 2002h: Baudrate (read write)...................................................................... 23
8.3.3Index 2100h: Temperature Settings ..................................................................... 23
8.3.4Index 2101h: Oil condition warning thresholds.....................................................24
8.3.5Index 2102h: Oil condition alarm thresholds ........................................................ 24
8.3.6Index 2103h: Reset reference cycle (write only) .................................................. 24
8.3.7Index 2104h: Conductivity measurement method (write only) .............................24
9Layer setting services (LSS) and protocols ...............................................................25
9.1Finite state automaton, FSA ........................................................................................26
9.2Transmission of LSS services .....................................................................................27
9.2.1LSS message format............................................................................................ 27
9.3Switch mode protocols ................................................................................................28
9.3.1Switch mode global protocol ................................................................................28
9.3.2Switch mode selective Protokoll........................................................................... 28
9.4Configuration protocols................................................................................................29
9.4.1Configure Node ID protocol.................................................................................. 29
9.4.2Configure bit timing parameters protocol ............................................................. 30
9.4.3Activate bit timing parameters Protokoll ............................................................... 31
9.4.4Store configuration Protokoll ................................................................................31
9.5Inquire LSS-Address Protokolle ..................................................................................32
9.5.1Inquire Identity Vendor-ID Protokoll .....................................................................32
9.5.2Inquire Identity Product-Code Protokoll................................................................32
9.5.3Inquire Identity Revision-Number Protokoll .......................................................... 33
9.5.4Inquire Identity Serial-Number Protokoll...............................................................33
9.6Inquire Node-ID Protokoll ............................................................................................34
9.7Identification Protocols ................................................................................................35
9.7.1LSS identify remote slave protocol.......................................................................35
9.7.2LSS identify slave protocol ...................................................................................35
9.7.3LSS identify non-configured remote slave protocol..............................................36
9.7.4LSS identify non-configured slave protocol ..........................................................36
9.7.5Fastscan protocol ................................................................................................. 36
10Connection ....................................................................................................................37
10.1Switching on the supply voltage ..................................................................................37
10.2Setting the Node ID and Baud rate by means of LSS services ...................................37
10.2.1Configuration of the Node ID, sequence ..............................................................37
10.2.2Configuration of the Baud rate, sequence............................................................ 38
11Commissioning .............................................................................................................39
11.1CAN interface ..............................................................................................................39
11.2EDS file........................................................................................................................39

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Preface
This manual provides you, as user of our product, with key information on the
operation and maintenance of the equipment.
It will help you to familiarise yourself with the product and assist you in
obtaining maximum benefit in the applications for which it is designed.
This documentation must always be kept at hand.
Please note that the data on the software technology provided in this manual
refers to that available at the time of publication.
Should you find any errors whilst using this manual, or have any suggestions
for improvements, please contact:
HYDAC ELECTRONIC GMBH
Technische Dokumentation
Hauptstrasse 27
66128 Saarbruecken
-Germany-
Phone:[phone] / 509-01
Fax: [phone]
Email: [email protected]
We look forward to receiving your input.
“Putting experience into practice”

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1 Introduction
1.1 Generally
The oil condition sensor HLB 1400 CANopen meets the CANopen standards according
to the following profiles and standards:
[1] CiA DS301, Version: 4.2.0 (21st February 2011)
CANopen application layer and communication profile
[2] CiA DS404, Version 2.1.0 (19th July 2016)
Device profile for measuring devices and closed-loop controllers
[3] CiA DS305, Version: 3.0 (08th May 2013)
Layer setting services (LSS) and protocols
This manual describes the functions supported by the HLB 1400 CANopen. A basic
knowledge of CAN and CANopen is assumed. The exact function is described in the
a.m. Draft Standards. Since both specifications are issued in English, the features
described in this manual are identified using the English description from the
specification and are shown in italics, for clarity.
A more detailed description of the product properties is available in the associated
operating instructions or quickstart guide.
1.2 Changes of technical terms in the context of “political correctness”
HYDAC Electronic GmbH continuously strive to respect human rights and every
individu-al's dignity in any context. However, when it comes to communication
technology, one technical term is still very common "Master – Slave".
In order to avoid this archaic and discriminating expression, the term has been
replaced wherever possible in this documentation, using the following substitution:
"Master – De-vice" ("Device" →"Slave"). Exceptions are only terms which are used in
this form in offi-cial documentation. These exceptions are only used to make it easier
for the reader to understand the connection between this documentation and the official
documents.

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2 Functions of the HLB 1400 CANopen
Measurement of the actual pressure value using:
- Conductivity (resolution 0.1 nS/m or 0.01 nS/m)
- Relative change of conductivity (resolution 1 %)
- Dielectric constant (DC) (resolution 0.01)
- Relative change of dielectric constant (resolution 1 %)
- Saturation level (relative humidity) (resolution 1 %)
- Temperature (resolution 0.1 °C)
- Arrhenius value (resolution 1)
Sending the actual process value as a PDO for the following events:
- Synchronously in relation to received SYNC objects
- Asynchronously, cyclically, in the range 1 millisecond to 1 minute
3 Transmission rates
The HLB 1400 CANopen supports the following transmission rates (Baud rates):
1 Mbit/s
800 kbit/s
500 kbit/s
250 kbit/s
125 kbit/s
50 kbit/s
20 kbit/s
10 kbit/s
The timing complies with DS301, Bit rates and timing.
The transmission rate used is stored in a non-volatile memory. When supplied, it is set to
250 kbit/s and can be changed via the CANbus (see Object Dictionary Index 2002h).
4 CAN-Frames
The HLB 1400 CANopen supports the 11-bit base frames with 11-bit identifier required in
the specification. Extended frames with 29-bit identifier are not supported but are
tolerated. This means that extended frames are not recognised but neither do they
cause errors.

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5 Node ID
To operate the HLB 1400 CANopen in a CANopen network a unique Node ID have to be
set within the network.
The set Node ID is stored in a non-volatile memory, like the transmission rate, and can
also be adjusted via the CAN bus (see Object Dictionary Index 2001h). When supplied
the address 1 is set.
6 Transmission services
6.1 Service Data Object (SDO)
With CANopen, all the device's data (setting parameters and measured data) are filed in
an Object Dictionary under a specified Index. Some entries of the Object Dictionary are
sub-divided still further using a sub index. Using the SDOs, other network nodes can
read from or write to the Object Dictionary of the HLB 1400 CANopen.
The HLB 1400 CANopen takes on the role of a Server, and the device intending to read
or write the data, takes on the role of a Client.
To transmit data the HLB 1400 CANopen has a Receive-SDO which is used for the
reception of data and a Transmit-SDO which serves to send the data. Sequence of the
data transmission:
Reading from Object Dictionary:
1. A device (Client) sends the Receive-SDO of the HLB 1400 CANopen (Server).
This SDO contains an identification to say that the Object Dictionary is to be read, as
well as the Index and sub index.
2. The HLB 1400 CANopen (Server) sends its Transmit-SDO. Here also are the Index
and the Subindex, and the read data.
Writing to the Object Dictionary:
1. A device (Client) sends the Receive-SDO of the HLB 1400 CANopen (Server).
In this SDO there is an identification, to say that the Object Dictionary is to be written
to, as well as the required index, subindex and the data to be entered.
2. The HLB 1400 CANopen (Server) sends its Transmit-SDO. In this there are also the
index and the subindex, as well as an identification to say the Object Dictionary has
been written to.
If an error should occur, e.g. the specified Index does not exist, or an attempt is made to
write to a read only entry, or the data is not within the valid range, then the Transmit-
SDO receives an appropriate Abort SDO Transfer identification and a corresponding
Abort Code (see chapter 1.1 Generally [1])

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The particular COB-ID of the SDO corresponds to the Pre-defined Connection Set
defined in the DS301 and cannot be altered.
COB IDs for Service Data Objects
SDO COB ID
Receive – SDO 600h+Node-ID
Transmit – SDO 580h+Node-ID
6.2 Process Data Object (PDO)
Data transmission using SDOs is indeed very flexible, but has some disadvantages
when transmitting measured values or actuating variables: only one piece of data can be
read, the data must first be requested with an SDO and because the relevant Index and
Sub index is also transmitted, what is known as the overhead increases further.
For this reason CANopen defines what is known as Process Data Objects. These
contain only the necessary useful data. There are two types of PDO:
Transmit PDOs
These enable the measuring instrument to send its measured values.
HLB 1400 provides 2 TPDO.
Receive-PDOs
With these, the actuating variables can be transmitted to an actuator or a controller.
HLB 1400 does not provide any RPDOs.
What is known as the PDO Mapping stipulates which data is now in a PDO. This PDO
Mapping is stored in the Object Dictionary (see Object Dictionary, Index 1A00h and
1A01h).
The PDO Transmission Type stipulates with which ID and for which event a PDO is
transmitted. These settings are also stored in the Object Dictionary (see Object
Dictionary, Index 1800h and 1801h).
Events which result in a PDO being sent:
1. Receipt of a SYNC object (synchronous transmission).
2. Expiry of an adjustable cycle time in the range 1 milliseconds to 1 minute (cyclical
transmission).

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HLB 1400 CANopen implements two Transmit-PDOs, which transmit the current process
values, see table below.
Range Properties Default settings
General
Settings
Baud rate 250 kbit/s
Node ID 1
Power ON Status Pre-Operational
TPDO1 Transmission Type
254
Event Timer 10 ms
Byte 0, 1 absolute / absolute temp.
compensated conductivity
INTEGER16; 0.1 nS/m
Byte 2, 3 relative Change of electrical
conductivity
INTEGER16; 1 %
Byte 4, 5 absolute / absolute temp.
compensated Dielectric constant
INTEGER16; 0.01
Byte 6, 7 relative change of the Dielectric
constant
INTEGER16; 1 %
TPDO2 Transmission Type 254
Event Timer 10 ms
Byte 0, 1 Saturation; INTEGER16
1 %
Byte 2, 3 Temperature; INTEGER16
0.1 °C
Byte 4, 5, 6, 7 Arrhenius value; INTEGER32
1
6.3 Synchronisation Object (SYNC)
SYNC objects are used to implement a synchronous data transmission. A SYNC object
is in fact a CAN message with a defined identifier, without data. CANopen differentiates
between SYNC Producers and SYNC Consumers. SYNC Producers are devices on the
bus which send a SYNC at adjustable time intervals. SYNC Consumers are devices
which react to receiving a SYNC. In a CANopen network several SYNC objects can
exist. The individual SYNC objects are differentiated by means of the SYNC ID which
corresponds to the CAN identifier used. The SYNC ID used is stored in the Object
Dictionary.
The HLB 1400 CANopen provides the functionality of a SYNC Consumer. If the PDO
Transmission Type is set appropriately, a PDO is sent on receipt of a SYNC. The SYNC-
ID is pre-set to 80h and can be changed in the Object Dictionary (see Object Dictionary,
Index 1005h). In PDO Transmission Type the number of received SYNC objects which
result in a PDO being sent, can be set.

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6.4 Emergency Object (EMCY)
EMCY objects are sent when an error occurs. EMCY objects contain an Emergency
Error Code, the contents of an Error register as well as a Manufacturer specific Error
Field. If a notified error is eliminated or disappears, this is also notified by a special
EMCY object.
An emergency message will be sent, if an error occurs or if this error disappears. The
message is structured as follows:
Error Emergency
ErrorCode
Manufacturer
SpecificErrorField
Error Category
No Error 0000h 0000h Error eliminated
Error while
loading user
set-up
FF00h 0001h Manufacturer-specific
error (bit 7)
Temperature
exceeds the
operating
range
FF00h 0002h Manufacturer-specific
error (bit 7)
Measurement
errors
FF00h 0003h Manufacturer-specific
error (bit 7)
CAN Error
passive
8120h 0004h Communication error
(bit 4)
Recovered
from Bus-off
8140h 0005h Communication error
(bit 4)
The EMCY object has the pre-set ID 80h+Node ID and can be changed in the Object
Dictionary (see Object Dictionary, Index 1014h).
6.5 Heartbeat
Using the Heartbeat Protocol the individual nodes can be monitored. CANopen
differentiates between the following functions:
1. Heartbeat Producer
sends a Heartbeat object in cyclical intervals.
2. Heartbeat Consumer
monitors the sending of certain Heartbeat objects.
The cycle time can be adjusted in the Object Dictionary to milliseconds. If a time interval
of 0 is specified, this means "Heartbeat not active".
With the Heartbeat object the status of the Heartbeat Producers is also transmitted in the
form of bytes.
Meaning of the Heartbeat object contents