IFM DTM424 User manual

Operating instructions
RFID read/write head
with CANopen interface
706404 / 03 08 / 2020
UK

RFID read/write head with CANopen interface
2
Contents
1 Preliminary note � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
1�1 Symbols used� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2�1 General� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2�2 Target group � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2�3 Electrical connection � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 4
2�4 Tampering with the device � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3 General information � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�1 CANopen technology � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
3�2 Reference� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5
4 Functions and features � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5 Installation� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�1 General installation instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�2 Notes on ID tag mounting� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
5�3 Avoiding interference � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6
6 Indicators of the DTM424 / 425 / 428 / 434 / 435 � � � � � � � � � � � � � � � � � � � � � � � � 7
7 Indicators of the DTC510 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 7
8 Indicators of the DTC600 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 8
9 CANopen interface � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
9�1 CANopen functions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
9�2 Change the node ID and bit rate � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 9
9�2�1 Change the node ID and bit rate in the object directory� � � � � � � � � � 10
9�2�2 Set the note ID and bit rate via LSS� � � � � � � � � � � � � � � � � � � � � � � � � 10
9�3 Set-up� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
9�4 Use with 32-bit data types � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �11
9�5 Communication types of the process data object (PDO) � � � � � � � � � � � � � �11
9�6 Object directory (OD) � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 13
9�7 Error messages � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 17
9�8 Monitoring activity via heartbeat� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19
9�9 Change objects � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 19
9�10 Process data objects � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 20
9�10�1 Transmit process data objects (TPDO) � � � � � � � � � � � � � � � � � � � � � 20
9�10�2 Receive process data objects (RPDO) � � � � � � � � � � � � � � � � � � � � � 21
9�11 Device status � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 22
9�12 Deactivate antenna � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 23
9�13 Select the ID tag type � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 24
9�14 Read information of an ID tag � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 25
9�15 RSSI value � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 25
9�16 ID tag detection filter � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 26
9�16�1 Object UID filter depth � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27
9�16�2 Object zero ID filter depth � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27

UK
RFID read/write head with CANopen interface
3
10 Data transfer with the ID tag� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 27
10�1 Read UID (Unique Identification Number) of the ID tag � � � � � � � � � � � � � 27
10�2 Read data from the ID tag via PDO transfer � � � � � � � � � � � � � � � � � � � � � 27
10�2�1 Example 1 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 28
10�2�2 Example 2 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 28
10�3 Write data to the ID tag via PDO transfer� � � � � � � � � � � � � � � � � � � � � � � � 29
10�3�1 Example 1 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 30
10�3�2 Example 2 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 30
10�4 Error handling for PDO transfer � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 31
10�5 Read data from the ID tag via SDO transfer � � � � � � � � � � � � � � � � � � � � � 31
10�5�1 Example � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 32
10�6 Write data to the ID tag via SDO transfer� � � � � � � � � � � � � � � � � � � � � � � � 32
10�6�1 Example � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 32
10�7 Lock data ranges on the ID tag via SDO transfer� � � � � � � � � � � � � � � � � � 33
10�7�1 Example � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 33
10�8 Error handling for SDO transfer � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 33
11 EDS file � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 34
12 Maintenance, repair and disposal� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 35
13 Glossary � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 36
Licences and trademarks
All trademarks and company names used are subject to the copyright of the respective companies�

RFID read/write head with CANopen interface
4
1 Preliminary note
This document applies to devices of the type "RFID read/write head with CANopen
interface" (e�g� art� no�: DTM425)� This document is part of the device�
This document is for specialists� These specialists are people who are qualified by
their appropriate training and their experience to see risks and to avoid possible
hazards that may be caused during operation or maintenance of the device� The
document contains information about the correct handling of the device�
Read this document before use to familiarise yourself with operating conditions,
installation and operation� Keep this document during the entire duration of use of
the device�
Adhere to the safety instructions�
1.1 Symbols used
►Instruction
> Reaction, result
[…] Designation of keys, buttons or indications
→Cross-reference
Important note
Non-compliance may result in malfunction or interference�
Information
Supplementary note
2 Safety instructions
2.1 General
These instructions are an integral part of the device� They contain texts and figures
concerning the correct handling of the device and must be read before installation
or use�
Observe the operating instructions� Non-observance of the instructions, operation
which is not in accordance with use as prescribed below, wrong installation or
incorrect handling can seriously affect the safety of operators and machinery�
2.2 Target group
These instructions are intended for authorised persons according to the EMC
and low-voltage directives� The device must be installed, connected and put into
operation by a qualified electrician�
2.3 Electrical connection
Disconnect the unit externally before handling it�

UK
RFID read/write head with CANopen interface
5
The connection pins may only be supplied with the signals indicated in the
technical data and/or on the device label and only the approved accessories of ifm
may be connected�
The device does not have an internal CAN terminating resistor� A
connection cable without terminating resistor can cause interference on the
CAN bus�
► Use 120 Ω terminating resistors or a connection cable with integrated
terminating resistor, e�g� article EVC492 �
2.4 Tampering with the device
In case of malfunctions or uncertainties please contact the manufacturer� Any
tampering with the device can seriously affect the safety of operators and
machinery� This is not permitted and leads to the exclusion of any liability and
warranty claims�
3 General information
3.1 CANopen technology
The CANopen communication profile is based on the CAN Application Layer (CAL)
specification of the CiA organisation� CANopen is considered as a robust fieldbus
with highly flexible configuration options� It is used in many different applications
which are based on different application profiles� CANopen comprises a concept to
configure and communicate real-time data using synchronous and asynchronous
messages� Four message types (objects) are distinguished�
1� Administration messages (layer management, network management and
identifier distribution)
2� Service Data Objects (SDO)
3� Process Data Objects (PDO)
4� Predefined Objects (emergency)
For further information please refer to the CiA-CAN specification (CiA 301 -
CANopen)�
3.2 Reference
http://www�can-cia�org
CAN Application Layer, DS 201 …207 CiA
LSS profile DS305 CiA
CAN-based communication profile DS 301 CiA
CAN specification version 2�0 A Robert Bosch GmbH

RFID read/write head with CANopen interface
6
4 Functions and features
The RFID read/write head is used for reading of and writing to ID tags� The read/
write head is configured and data is exchanged via the integrated CANopen
interface�
Typical applications are for example the identification of interchangeable tools and
attachments on mobile machines�
5 Installation
5.1 General installation instructions
Observe the separate mounting instructions�
When mounting several read/write heads adhere to the minimum distances
between the systems�
The immediate vicinity of powerful HF emission sources such as welding
transformers or converters can affect operation of the read/write heads�
5.2 Notes on ID tag mounting
Installation of the ID-Tags in or on metal reduces the read and write distances
The orientation of the read/write head antenna axis must correspond with the
axis of the ID tag coil�
5.3 Avoiding interference
The device generates a modulated electrical field with a frequency of 13�56 MHz�
To avoid interference of the data communication no other devices generating
interference emission in this frequency band must be operated in its vicinity� Such
devices are for example frequency converters and switched-mode power supplies�

UK
RFID read/write head with CANopen interface
7
6 Indicators of the DTM424 / 425 / 428 / 434 / 435
Operating status LED red LED green LED yellow
preoperational off permanently on off
preoperational and
ID tag detected
off flashes alternately with
yellow LED (every 1�6 s)
flashes alternately with
green LED (every 1�6 s)
operational off flashes (every 0�4 s) off
operational and ID tag
detected
off off permanently on
configuration error flashes (every 0�4 s) LED reacts according to the current operating status
error in the CAN network flashes (every 1�2 s)
CAN bus off permanently on off off
LSS service active flashes off off
hardware error detected
in the device
off off flashes
7 Indicators of the DTC510
1: green (operating status) / red (error)
2: yellow (ID tag)
Operating status LED red LED green LED yellow
preoperational off on off; on if an ID tag has been
detected in the reading field
operational off flashes (2�5 Hz) off; on if an ID tag has been
detected in the reading field
configuration error flashes alternately with
green LED (2�5 Hz)
flashes alternately
with red LED (2�5 Hz)
off; on if an ID tag has been
detected in the reading field
error in the CAN
network
flashes alternately with
green LED (0�8 Hz)
flashes alternately
with red LED (0�8 Hz)
off; on if an ID tag has been
detected in the reading field
CAN bus off on off off; on if an ID tag has been
detected in the reading field
LSS service active flickers irregularly off off; on if an ID tag has been
detected in the reading field
hardware error
detected in the device
off off flickers irregularly

RFID read/write head with CANopen interface
8
8 Indicators of the DTC600
1 2 3
1: LED operating status (green)
2: 4 LEDs signal strength (yellow)
3: LED CANopen status (green/red)
LED operating status (green) Description
off unit not operational (without power supply)
on unit operational (high-frequency field is generated)
flashes unit in standby (high-frequency field deactivated)
4 LEDs signal strength (yellow) Description
off no ID tag in the field
up to 4 LEDs on depending on the signal strength of the ID tag in the field, up to
4 LEDs are on
flashing once successful read or write access to ID tag
flashing fast several times unsuccessful read or write access to ID tag
LED CANopen status (green/red) Description
green permanently on preoperational status
green flashing (2�5 Hz) operational status
flashing green or red alternately (2�5 Hz) configuration error
flashing green or red alternately (0�8 Hz) error in the CAN network
red permanently on CAN bus off
red flickers irregularly LSS service on

UK
RFID read/write head with CANopen interface
9
9 CANopen interface
The RFID read/write head has a standardised CANopen interface according to
CiA DS-301� All measured values and parameters can be accessed via the object
directory (OD)� The individual configuration can be saved in the internal permanent
memory�
9.1 CANopen functions
The following CANopen functions are available:
●64 transmit and receive process data objects (TPDO1��64, RPDO1��64) in two
possible operating modes:
– individual check via a remote transmit request telegram (RTR)
– event-controlled transmission
●Error messages per emergency object (EMCY) with support of the:
– general error register
– manufacturer-specific status register
– error list
●Heartbeat monitoring mechanism
●Status and error indication via LED
●In addition to the CiA DS-301 functionality there are more manufacturer and
profile-specific characteristics:
– setting of the node ID and the bit rate via object directory entry (SDO)
– configuration and reading/writing of operational data via service data objects
(SDO)
●Support of the layer settings service (LSS)
●Support of synchronous process data transmission (SYNC)
9.2 Change the node ID and bit rate
The device supports several options how to change the node ID and the bit rate�
The device is delivered with the node ID 32 and a bit rate of 125 Kbits/s�
Each node ID must only be assigned once in the CANopen network� If a node
ID is assigned several times, malfunction in the CANopen network will result�

RFID read/write head with CANopen interface
10
9.2.1 Change the node ID and bit rate in the object directory
The node ID is entered in the object directory in the objects 0x20F0 and 0x20F1�
If the two values are identical, the setting is stored and is active after a software
reset of the device� Values between 1 and 127 may be used as node ID�
The bit rate is entered in the objects 0x20F2 and 0x20F3� If the two values are
identical, the setting is stored and is active after a software reset of the device� The
following values may be used as bit rate:
Value Bit rate
0 1000 kBits/s
1 800 kBits/s
2 500 kBits/s
3 250 kBits/s
4 125 kBits/s
5 100 kBits/s
6 50 kBits/s
7 20 kBits/s
If a master is used in the CANopen network for central storage of parameters,
the changed values for node ID (0x20F0 and 0x20F1) and bit rate (0x20F2
and 0x20F3) must be additionally entered in the master�
Otherwise the values will be reset during each start of the CANopen network�
9.2.2 Set the note ID and bit rate via LSS
Using the layer setting service (LSS) an LSS master can change the node ID and
bit rate of the device (LSS slave) via the CAN bus� The LSS master sets all LSS
slaves to a configuration mode� Each LSS slave can be unambiguously identified
via the device data (vendor ID, product code, revision number and serial number)�
To change the bit rate the LSS master transfers the new bit rate in the
configuration mode with the service "Configure timing bit"� The LSS slave replies
to the LSS master if the new bit rate is supported� Then the LSS master transmits
the time "switch_delay" via the service "Activate bit timing” after which the new bit
rate should be activated� After activation the LSS master switches the LSS slave
again to the operating mode�
To change the node ID the LSS master transfers the new node ID in the
configuration mode� The LSS slave replies to the master if the new node ID is
valid� After changing the node ID the LSS master switches the LSS slave again to
the operating mode�
The new bit rate and node ID become active after a software reset of the LSS
slave�

UK
RFID read/write head with CANopen interface
11
9.3 Set-up
The CANopen standard CiA301 defines three possible operating states:
Pre-Operational
In the pre-operational state no PDO messages (process data) can be transmitted�
The pre-operational state is used to set the sensor parameters or as standby
mode�
During booting in the pre-operational mode, the device reports the bootUP
message "0x700+Node-ID" to the CAN bus�
Operational
In the operational state all communication services are carried out� The operational
state is used to exchange the process data while in operation�
Stopped
In the stopped state only NMT messages (network management) are possible�
This allows almost complete separation of redundant or faulty sensors from the
bus�
The master or network manager can request the sensor via NMT messages to
change the state accordingly�
9.4 Use with 32-bit data types
CANopen defines data types with a maximum size of 64 bits (8 bytes)� By means
of the data type, the user data of ID tags is transmitted efficiently via the CANopen
interface� The data type is also used for the default setting of the device and the
EDS file�
However, some controllers can only process data types with a maximum width
of 32 bits (4 bytes)� In order to support all types of controllers, the device offers
alternative data objects whose data types are restricted to max� 32 bits� These
data objects are marked by the addition “32 bits” in these instructions� Additonally,
an EDS file is supplied for use of the data types that is read by the controller
software�
By default, the device uses 64-bit data types (e�g� for the preconfigured PDOs)�
The setting must be adapted to the use of 32-bit data types� The setting can be
changed via the controller software, by reading the corresponding EDS file�
9.5 Communication types of the process data object (PDO)
The TPDO can be checked at any time by transmitting a remote transmission
request telegram (RTR)� Otherwise the TPDOs are sent automatically as soon as
their value changes (event-driven)�
As an option, the CANOpen service "SYNC" can be used (see CiA 301, 7�2�5
Synchronization object (SYNC))� For the synchronised transmission CANopen
provides the SYNC object at which the TPDOs are transmitted after every "nth"
reception of a SYNC telegram�

RFID read/write head with CANopen interface
12
A total of 64 TPDOs and 64 RPDOs is available; on delivery only the first 4 of each
are active� If the configuration of the CANopen network allows it, the remaining
process data objects can also be activated�
The process data is assigned to the linear address range in the standard settings
of the ID tag� The TPDO1 maps e�g� the first 8 bytes of the user data memory of
the ID tag�
Reading of the memory and transmission of the data via TPDO is effected
automatically as soon as a new ID tag is detected�
Writing of the data to the ID tag is effected in the same way by write access to the
respective RPDO�
Data transfer per process data object is only possible in the "Operational"
operating mode (→ 9.3 Set-up).
The preset TPDOs and RPDOs are allocated 64-bit data objects� For use of
32-bit controllers, the settings of the PDOs must be adapted (→ 9.4 Use with
32-bit data types)�

UK
RFID read/write head with CANopen interface
13
9.6 Object directory (OD)
Index Subindex Name (object) Type Access Default
value
PDO
mapping
capability
Save
object
value
CANopen communication (CiA 301)
0x1000 0x00 Device type u32 ro 0x00000000 - -
0x1001 0x00 Error register u8 ro 0x00 - -
0x1003 0x01
0x02
Predefined error field 032 ro 0x00000000
0x1005 0x00 COB ID SYNC u32 rw 0x00000000 - yes
0x1008 0x00 Manufacturer device
name
vSTR ro article no� of
the device
- -
0x1009 0x00 Manufacturer hardware
version
vSTR ro current
hardware
version
- -
0x100A 0x00 Manufacturer software
version
vSTR ro current
software
version
- -
0x1010 0x01 Save parameters
(save device parameters
in non-volatile memory)
u32 rw 0x00000000 - -
0x1011 0x01 Load default
communication
parameters
u32 rw 0x00000000 - -
0x1014 0x00 COB ID EMCY
(COB ID emergency
message)
u32 rw Node ID+
0x80
-
0x1015 0x00 Inhibit time EMCY
(inhibit time between
EMCY messages)
u16 rw 0x0000 - yes
0x1017 0x00 Producer heartbeat time
(time difference between
sent heartbeats in ms)
u16 rw 0x0000 - yes
0x1018 0x01 Vendor ID u32 ro 0x0069666D - -
0x02 Product code u32 ro product
code of
the device
version
- -
0x03 Revision number u32 ro main
revision
and current
software
version
- -
0x04 Serial number u32 ro serial
number of
the device
- -

RFID read/write head with CANopen interface
14
Index Subindex Name (object) Type Access Default
value
PDO
mapping
capability
Save
object
value
0x1200 0x01 COB ID client to server u32 ro Node ID+
0x600
- -
0x02 COB ID client to server u32 ro Node ID+
0x580
- -
0x1400-
0x143F
0x01 RPDO parameter: COB
ID
u32 rw (→ 9.10.2) - yes
0x02 RPDO parameter:
transmission type
u8 ro 0xFF - yes
0x1600-
0x163F
0x01-0x08 RPDO mapping u32 rw (→ 9.10.2) - yes
0x1800-
0x183F
0x01 TPDO parameter: COB
ID
u32 rw (→ 9.10.1) - yes
0x02 TPDO parameter:
transmission type
u8 rw 0xFF - yes
0x03 TPDO parameter: inhibit
time
u16 rw 0x00 - yes
0x1A00-
0x1A3F
0x01-0x08 TPDO mapping u32 rw (→ 9.10.1) - yes
Bus configuration
0x20F0 0x00 NODE ID setting A
(node ID for CANopen
communication)
u8 rw 32 - auto-
save
0x20F1 0x00 NODE ID setting B
(node ID for CANopen
communication)
u8 rw 32 - auto-
save
0x20F2 0x00 Bit rate setting A
(CAN bus bit rate)
u8 rw 4 - auto-
save
0x20F3 0x00 Bit rate setting B
(CAN bus bit rate)
u8 rw 4 - auto-
save
Status and control of the reader
0x2150 0x00 Device status (device
status flags)
u32 ro yes -
0x2151 0x00 Antenna active
(enable HF front end of
the device)
bool rw 1 - yes
0x2160 0x01-
0xFE
Definition ID tag type
(name of supported tags)
dom ro (→ 9.13) - -
0x2161 0x00 Selection ID tag type
(value selects ID tag type
defined in 0x2160)
u8 rw 2 - yes

UK
RFID read/write head with CANopen interface
15
Index Subindex Name (object) Type Access Default
value
PDO
mapping
capability
Save
object
value
0x2162 0x00 RSSI u8 ro - yes -
ID tag information
0x2180 0x00 Current UID
(UID of the ID tag in
the read range, PDO
mappable)
u64 ro 0x00000000
00000000
yes -
0x2181 0x00 Current DSFID
(DSFID of the ID tag in
the read range, PDO
mappable)
u8 ro 0x00 yes -
0x2182 0x01 ID tag information: UID u64 ro 0x00000000
00000000
- -
0x02 ID tag information:
DSFID
u8 ro 0x00 - -
0x03 ID tag information: AFI u8 ro 0x00 - -
0x04 ID tag information:
memory size
u32 ro 0x00000000 - -
0x05 ID tag information: IC
reference
u8 ro 0x00 - -
0x06 ID tag information: ID
tag type
(detected ID tag type,
defined in 0x2160)
u8 ro 0x00 - -
0x2190 0x00 Current UID 4 upper
bytes (32 bits)
(UID of the ID tag in
the read range, PDO
mappable)
u32 ro 0x00000000
00000000
yes -
0x2191 0x00 Current UID 4 lower
bytes (32 bits)
(UID of the ID tag in
the read range, PDO
mappable)
u32 ro 0x00000000
00000000
yes -
Read mappable data
0x2200 0x01-0x40 Address read start point
(start of the address
range on the ID tag to
be read)
u16 rw (→ 9.10.2) - yes
0x2201 0x01-0x40 Read length
(length of the memory
range on the ID tag to be
read; max� 8 bytes)
u8 rw (→ 9.10.2) - yes

RFID read/write head with CANopen interface
16
Index Subindex Name (object) Type Access Default
value
PDO
mapping
capability
Save
object
value
0x220A 0x01-0x40 ID tag data
(8 bytes of ID tag data,
updated when new ID
tag enters the read area)
u64 ro yes -
0x220B 0x01-0x40 ID tag data (32 bits)
(4 bytes of ID tag data,
updated when new ID
tag enters the read area)
u32 ro yes -
Read data range
0x2280 0x00 Address read start point
(start of the address
range on the ID tag to
be read)
u16 rw 0x0000 - yes
0x2281 0x00 Read length
(length of the memory
area on the ID tag to be
read)
u16 rw 0x0000 - yes
0x2282 0x00 ID tag data
(requested data from
the ID tag as configured
in objects 0x2280 and
0x2281)
dom ro - -
Write data mappable
0x2300 0x01-0x40 Address write start point
(start of the address
range on the ID tag to be
written)
u16 rw (→ 9.10.1) - yes
0x2301 0x01-0x40 Write length
(length of the memory
range on the ID tag to be
written, max� 8 bytes)
u8 rw (→ 9.10.1) - yes
0x2302 0x01-0x40 Auto-write
(automatic write access if
a new ID tag is detected)
bool rw 0 - yes
0x230A 0x01-0x40 ID tag data
(8 bytes of ID tag data)
u64 rw yes -
0x230B 0x01-0x40 ID tag data (32 bits)
(4 bytes of ID tag data)
u32 rw yes -
0x231E 0x00 Write trigger (32 bits)
upper PDOs
u32 rw 0x00000000
00000000
yes -
0x231F 0x00 Write trigger (32 bits)
lower PDOs
u32 rw 0x00000000
00000000
yes -

UK
RFID read/write head with CANopen interface
17
Index Subindex Name (object) Type Access Default
value
PDO
mapping
capability
Save
object
value
Write data range
0x2380 0x00 Address write start point
(start of the address
range on the ID tag to be
written)
u16 rw 0x0000 - yes
0x2381 0x00 Write length
(length of the memory
area on the ID tag to be
written)
u16 rw 0x0000 - yes
0x2382 0x00 ID tag data
(data to be written to
the ID tag as configured
in objects 0x2380 and
0x2381)
dom wo - -
Lock data range
0x2480 0x00 Address lock start point
(start of the address
range on the ID tag to be
locked, must correspond
to the ID tag areas)
u16 rw 0x0000 - yes
0x2481 0x00 Lock length
(length of the memory
range on the ID tag to be
locked, must correspond
to the ID tag ranges)
u16 rw 0x0000 - yes
0x2482 0x00 Tag lock trigger
(trigger for locking
data on the ID tag as
configured in objects
0x2480 and 0x2481)
bool wo - -
UID filter
0x4603 0x00 UID filter depth s8 rw 0x00 - yes
0x4605 0x00 Zero ID filter depth s8 rw 0x02 - yes
9.7 Error messages
The device supports a number of emergency messages that are sent in the event
of a communication, hardware or RFID error� If one of these errors occurs, the
error register (OD index 0x1001) and the pre-defined error field (OD index 0x1003)
are updated�
The COB ID of the emergency message can be changed in the object "COB
ID EMCY" (OD index 0x1014)� By setting bit 31 in this object the emergency
messages are deactivated�

RFID read/write head with CANopen interface
18
The disable time between two emergency messages can be defined via the object
0x1015� The indication is made in steps of 100 µs�
The COB ID of the emergency messages is preset to 0x80 + node ID�
Emergency
error code
Error register
(0x1001)
Manufacturer
error code
Manufacturer
error name
Emergency description
0x8210 0x11 protocol - PDO not processed due
to length error
0x8130 0x01 monitoring - node guarding or
heartbeat error
0x8100 0x11 monitoring - general
communication error, send in case
of bus off
0x5000 0x81 0x01 device hardware error (antenna
error)
0x4200 0x09 0x02 device temperature too high
0xFF00 0x81 0x01 RX: ISO_
COMMAND_
ERROR_NO_
RESPONSE
ID tag did not answer, maybe ID
tag is no longer in the field
0xFF00 0x81 0x02 RX: ISO_
COMMAND_
ERROR_RX_
ERROR
error while receiving the answer
from the ID tag (CRC error, framing
error, collision, etc�)
0xFF01 0x81 0x01 TX: ISO_
COMMAND_
ERROR_NO_
RESPONSE
ID tag did not answer, maybe ID
tag is no longer in the field
0xFF01 0x81 0x02 TX: ISO_
COMMAND_
ERROR_RX_
ERROR
error while receiving the answer
from the ID tag (CRC error, framing
error, collision, etc�)
0xFF02 0x81 0x01 ISO_TAG_
ERROR_
COMMAND_NOT_
SPECIFIED
The specified command is not
supported� Example: command
code error
0xFF02 0x81 0x02 ISO_TAG_
ERROR_
COMMAND_
SYNTAX
Cannot recognise the command�
The number of blocks is too high�
Example: format error
0xFF02 0x81 0x03 ISO_TAG_
ERROR_
OPTION_NOT_
SUPPORTED
indicated options are not supported
0xFF02 0x81 0x0F ISO_TAG_
ERROR_OTHER
other errors

UK
RFID read/write head with CANopen interface
19
Emergency
error code
Error register
(0x1001)
Manufacturer
error code
Manufacturer
error name
Emergency description
0xFF02 0x81 0x10 ISO_TAG_
ERROR_BLOCK_
NOT_USABLE
The specified block cannot be used
(or was not found)�
0xFF02 0x81 0x11 ISO_TAG_
ERROR_BLOCK_
ALREADY_
BLOCKED
The specified block has already
been locked and cannot be locked
again
0xFF02 0x81 0x12 ISO_TAG_
ERROR_
BLOCK_NOT_
UPDATEABLE
The specified block has already
been locked and its contents
cannot be updated
0xFF02 0x81 0x13 ISO_TAG_
ERROR_BLOCK_
WRITE_VERIFY
The specified block could not be
programmed normally (a write
verify error occurred)�
0xFF02 0x81 0x14 ISO_TAG_
ERROR_BLOCK_
LOCK_VERIFY
The specified block could not be
locked normally (a lock verify error
occurred)
0xFF03 0x81 0x00 STATUS_
BUFFER_OVERFL
internal buffer overflow
9.8 Monitoring activity via heartbeat
By means of the heartbeat function the activity of a device in the CANopen
network can be monitored by the master� The device regularly sends a heartbeat
message containing the device status�
The heartbeat function is activated by entering a value greater than "0" into
the heartbeat interval time object (OD index 0x1017)� The value indicates the
time between two heartbeat signals in milliseconds� The heartbeat function is
deactivated with the value "0"�
9.9 Change objects
Changes of the objects in the object directory are applied at once� The changes
will get lost by a reset� To prevent this the objects have to be saved in the internal
permanent memory (flash)� All objects marked in the object directory as "Save
object value: yes" are permanently stored in the device flash� By writing the
command "save" (65766173h) to save the objects (OD index 1010h/01h) all
current objects of the object directory are transferred to the flash memory�
The objects can be reset to factory setting by writing the command "load"
(64616F6Ch) to the OD index 1011h/01h� After a reset the changes are applied�
Depending on the architecture of the CANopen network the objects can also be
stored centrally in a CANopen master� In this case the objects are transferred
to the device when the system is started and the locally stored values are
overwritten�

RFID read/write head with CANopen interface
20
Special features of the object node ID (OD index 0x20F0 and 0x20F1) and
the bit rate (OD index 0x20F2 and 0x20F3):
● Changes of the objects are only applied after a reset (→ 9.2 Change the
node ID and bit rate)�
●The objects cannot be transferred to the flash via the OD index
1010h/01h�
●The objects cannot be reset to the factory setting via the OD index
1011h/01h�
9.10 Process data objects
64 transmit and receive process data objects each are available� On delivery 4
process data objects are active�
9.10.1 Transmit process data objects (TPDO)
The table below contains the transmit process data objects (TPDO) on delivery�
Settings for
PDO mapping
Object directory ID tag memory
TPDO COB Mapped
object index
Mapped object
subindex
Mapped object
length
Address
read start
point
Read
length
1 Node ID +
0x0180
0x2150 0x00 0x20 device status
2 Node ID +
0x0280
0x220A 0x01 0x40 0x00000000 0x08
3 Node ID +
0x0380
0x220A 0x02 0x40 0x00000008 0x08
4 Node ID +
0x0480
0x220A 0x03 0x40 0x00000010 0x08
5 0 (deactivated) 0x220A 0x04 0x40 0x00000018 0x08
64 0 (deactivated) 0x220A 0x3F 0x04 0x000001F0 0x08
The preset TPDOs and RPDOs are allocated 64-bit data objects� For use of
32-bit controllers, the settings of the TPDOs and RPDOs must be adapted
(→ 9.4 Use with 32-bit data types).