IFM DTM434 User manual
Operating instructions
CANopen interface
RF-identification system
DTM434
DTM435
Read/write head
11464563 / 0006 / 2022
GB
DTM434 DTM435
2
Contents
1 Preliminary note ............................................................. 4
1.1 Symbols used.......................................................... 4
1.2 Warnings used ......................................................... 4
1.3 Legal and copyright information ............................................ 4
2 Safety instructions............................................................ 5
3 Intended use................................................................ 6
4 Items supplied............................................................... 7
5 Function ................................................................... 8
5.1 ID tags ............................................................... 8
5.2 Device overview........................................................ 8
6 Installation.................................................................. 9
6.1 Notes on the unit installation............................................... 9
6.2 Avoiding interference .................................................... 9
6.3 Mechanical design ...................................................... 9
6.4 Install device........................................................... 10
6.5 Mounting distances...................................................... 10
6.6 Positioning of the ID tags ................................................. 11
7 Electrical connection.......................................................... 13
7.1 Wiring................................................................ 13
8 Operating and display elements................................................. 14
9 Operation .................................................................. 15
9.1 CANopen interface...................................................... 15
9.1.1 CANopen functions.................................................. 15
9.1.2 Change the Node ID and bit rate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
9.1.3 Set-up............................................................ 16
9.1.4 Use of 32 bit data types .............................................. 17
9.1.5 Communication types of the process data object (PDO) . . . . . . . . . . . . . . . . . . . . . . 17
9.1.6 Object directory (OD) ................................................ 17
9.1.7 Error messages..................................................... 23
9.1.8 Monitoring activity via Heartbeat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
9.1.9 Change objects..................................................... 24
9.1.10 Process data objects................................................. 24
9.1.11 Device status ...................................................... 25
9.1.12 Deactivate antenna.................................................. 27
9.1.13 Select the ID tag type................................................ 27
9.1.14 Read information of an ID tag.......................................... 28
9.1.15 RSSI value........................................................ 28
9.1.16 ID tag detection filter................................................. 28
9.2 Data transfer with an ID tag................................................ 30
9.2.1 Read UID of the ID tag............................................... 30
9.2.2 Read data from the ID tag via PDO transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
9.2.2.1 Example 1.................................................... 30
9.2.2.2 Example 2.................................................... 31
9.2.3 Write data to the ID tag via PDO transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
9.2.3.1 Example 1.................................................... 32
9.2.3.2 Example 2.................................................... 32
9.2.4 Error handling for PDO transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
9.2.5 Read data from the ID tag via SDO transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
9.2.5.1 Example..................................................... 33
9.2.6 Write data to the ID tag via SDO transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
9.2.6.1 Example..................................................... 34
9.2.7 Lock data range on the ID tag via SDO transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
9.2.7.1 Example..................................................... 34
9.2.8 Error codes during SDO transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
9.3 EDS file............................................................... 36
DTM434 DTM435
4
1 Preliminary note
You will find instructions, technical data, approvals and further information using the QR code on the
unit / packaging or at www.ifm.com.
1.1 Symbols used
Requirement
Instructions
Reaction, result
[...] Designation of keys, buttons or indications
Cross-reference
Important note
Non-compliance may result in malfunction or interference.
Information
Supplementary note
1.2 Warnings used
ATTENTION
Warning of damage to property
1.3 Legal and copyright information
© All rights reserved by ifm electronic gmbh. No part of these instructions may be reproduced and
used without the consent of ifm electronic gmbh.
All product names, pictures, companies or other brands used on our pages are the property of the
respective rights owners.
DTM434 DTM435
5
2 Safety instructions
General
• The unit described is a subcomponent for integration into a system.
– The system architect is responsible for the safety of the system.
– The system architect undertakes to perform a risk assessment and to create documentation in
accordance with legal and normative requirements to be provided to the operator and user of
the system. This documentation must contain all necessary information and safety instructions
for the operator, the user and, if applicable, for any service personnel authorised by the
architect of the system.
• Read this document before setting up the product and keep it during the entire service life.
• The product must be suitable for the corresponding applications and environmental conditions
without any restrictions.
• Only use the product for its intended purpose (Ò → Intended use).
• If the operating instructions or the technical data are not adhered to, personal injury and/or damage
to property may occur.
• The manufacturer assumes no liability or warranty for any consequences caused by tampering with
the product or incorrect use by the operator.
• Installation, electrical connection, set-up, operation and maintenance of the product must be
carried out by qualified personnel authorised by the machine operator.
• Protect units and cables against damage.
Radio equipment
In general, radio equipment must not be used in the vicinity of petrol stations, fuel depots, chemical
plants or blasting operations.
uDo not transport and store any flammable gases, liquids or explosive substances near the unit.
Interference of electronic and medical devices
Operation can affect the function of electronic devices that are not correctly shielded.
uDisconnect the device in the vicinity of medical equipment.
uContact the manufacturer of the corresponding device in case of any interference.
DTM434 DTM435
7
4 Items supplied
• Read/write head
• 2x hexagonal nut
The device is supplied without installation and connection accessories.
Available accessories: www.ifm.com.
The optimum function is not ensured when using components from other manufacturers.
DTM434 DTM435
8
5 Function
5.1 ID tags
The ID tags are passively operated without a battery. The energy required for operation is provided by
the read/write head.
The energy is provided via an inductive coupling. The integrated antenna coil in the read/write head
generates a magnetic field which partly penetrates the antenna coil of the ID tag. A voltage is
generated by induction that supplies the data carrier with energy.
The device supports ID tags according to ISO 15693.
5.2 Device overview
DTM434
Article number: DTM434
Function: Read/write head
Type designation: DTMHF IBRWCOUS03
Type: M30, flush mountable
DTM435
Article number: DTM435
Function: Read/write head
Type designation: DTMHF INRWCOUS03
Type: M30, non flush mountable
DTM434 DTM435
9
6 Installation
6.1 Notes on the unit installation
When mounting several RFID units adhere to the minimum distances between the systems.
Flush mounting of a read/write head in metal reduces the read/write distance.
Device performance can be affected if positioned in the immediate vicinity of powerful HF
emission sources such as welding transformers or converters.
6.2 Avoiding interference
The device generates a modulated electrical field with a frequency of 13.56 MHz.
Avoid interference with data communication:
uDo not operate any devices in the vicinity that use the same frequency band.
wSuch devices are for example frequency converters and switched-mode power supplies.
If there are other devices in the same frequency band in the vicinity:
uThe mounting distances between the devices should be as large as possible.
uUse the devices in alternating operation.
uSwitch the HF field of the device on/off.
6.3 Mechanical design
DTM434
Fig.1: DTM434
1 Sensing face
DTM435
Fig.2: DTM435
1 Sensing face
DTM434 DTM435
10
6.4 Install device
uFix the device using the supplied nuts (M30).
DTM434
Fig.3: Flush mounting
DTM435
Fig.4: Non-flush mounting
6.5 Mounting distances
DTM434
Operating mode Distance side (A) Distance front (B)
For reading and writing ≥ 60 mm ≥ 120 mm
DTM434 DTM435
11
DTM435
Operating mode Distance side (A) Distance front (B)
For reading and writing ≥ 100 mm ≥ 200 mm
6.6 Positioning of the ID tags
The sensing face marks the centre of the integrated antenna coil of the read/write head.
uAlign the sensing face of the read/write head and the ID tag in the same way.
For installation in or on metal use the ID tags provided for this purpose.
Position the ID tag in the area of the sensing face. When doing so, the angle of aperture and the
operating distance must be adhered to (→ Data sheet of the device).
DTM434
D
Fig.5: Position the ID tag
uAlign the ID tag on the central axis of the antenna of the device.
wThe distance “D” is indicated in the data sheet.
DTM435
D
Fig.6: Position the ID tag
DTM434 DTM435
12
uAlign the ID tag on the central axis of the antenna of the device.
wThe distance “D” is indicated in the data sheet.
DTM434 DTM435
13
7 Electrical connection
The device must be connected by a qualified electrician.
Device of protection class III (PC III).
The electrical supply must only be made via PELV/SELV circuits.
uDisconnect power before connecting the device.
7.1 Wiring
uConnect the device to the CAN bus using the M12 connector.
wVoltage is supplied via the CAN bus.
Pin assignment Wiring
M12 connector, A-coded, 5 poles
4
2 1
3
5
1: Shield
2: U+
3: GND
4: CAN high
5: CAN low
The CAN bus connection is almost trouble-free if the following points are considered:
uUse cables approved for CAN bus.
uTerminate the cables with 120 Ω terminating resistors.
Information on available sockets see: www.ifm.com.
DTM434 DTM435
14
8 Operating and display elements
DTM434 DTM435
1
1
1 LEDs green / yellow / red
LED State Description
green on Operating status pre-operational
flashes every 1.6 s alternating with yellow
LED
Operating status pre-operational and ID tag detected
flashes every 0.4 s Operating status operational
yellow on Operating status operational and ID tag detected
flashes every 1.6 s alternating with green
LED
Operating status pre-operational and ID tag detected
flashes Device hardware fault
red flashes every 0.4 s alternating with other LED
colours
Configuration error
flashes every 1.2 s alternating with other LED
colours
Error in the CAN bus network
on CAN bus not accessible
flashes LSS service active
DTM434 DTM435
15
9 Operation
9.1 CANopen interface
The 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.
The device is delivered with node ID 32 and a bit rate of 125 Kbits/s.
uOnly use cables approved for CANopen.
uTerminate the cables using terminating resistors (120 Ω).
wThe ifm cable EVC492 contains integrated terminating resistors.
9.1.1 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 remote transmission request telegram (RTR)
– event-controlled transmission
• Error messages via 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)
9.1.2 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.
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:
DTM434 DTM435
16
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.
Change the Node 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.
9.1.3 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.
DTM434 DTM435
17
9.1.4 Use of 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.
Additionally, 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.
9.1.5 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.
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.
In the standard settings, the process data is assigned to the linear address range 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 writing access to the respective RPDO.
Data transfer per process data object is only possible in the "Operational" operating status.
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.
9.1.6 Object directory (OD)
CANopen communication (CiA 301)
Index
Subindex
Name
(object)
Type
Access
Default
value
PDO
mapping
capability
Save
object
value
0x1000 0x00 Device type u32 ro 0x00000000 - -
0x1001 0x00 Error register u8 ro 0x00 - -
0x1003 0x01
0x02
Pre-defined error field u32 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 hard-
ware version
- -
0x100A 0x00 Manufacturer software version vSTR ro Current soft-
ware version
- -
DTM434 DTM435
18
Index
Subindex
Name
(object)
Type
Access
Default
value
PDO
mapping
capability
Save
object
value
0x1010 0x01 Save parameters
(Save device parameters in non-
volatile memory)
u32 rw 0x00000000 - -
0x1011 0x01 Load default communication pa-
rameters
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 ver-
sion
- -
0x04 Serial number u32 ro Serial number
of the device
- -
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 Link - yes
0x02 RPDO parameter: Transmission
type
u8 ro 0xFF - yes
0x1600
0x163F
0x01-0x
08
RPDO mapping u32 rw Link - yes
0x1800
0x183F
0x01 TPDO parameter: COB ID u32 rw Link - yes
0x02 TPDO parameter: Transmission
type
u8 rw 0xFF - yes
0x03 TPDO parameter: Inhibit time u16 rw 0x00 - yes
0x1A00
0x1A3F
0x01-0x
08
TPDO mapping u32 rw Link - yes
Bus configuration
Index
Subindex
Name
(object)
Type
Access
Default
value
PDO
mapping
capability
Save
object
value
0x20F0 0x00 Node ID Set-
ting A (Node
ID for CAN-
open commu-
nication)
u8 rw 32 - Auto-save
0x20F1 0x00 Node ID Set-
ting B (Node
ID for CAN-
open commu-
nication)
u8 rw 32 - Auto-save
DTM434 DTM435
19
Index
Subindex
Name
(object)
Type
Access
Default
value
PDO
mapping
capability
Save
object
value
0x20F2 0x00 Bit rate set-
ting A (CAN
bus bit rate)
u8 rw 4 - Auto-save
0x20F3 0x00 Bit rate set-
ting B (CAN
bus bit rate)
u8 rw 4 - Auto-save
Status and control of the reader
Index
Subindex
Name
(object)
Type
Access
Default
value
PDO
mapping
capability
Save
object
value
0x2150 0x00 Device status
(device status
flags)
u32 ro yes -
0x2151 0x00 Antenna ac-
tive (enable
HF front end
of the device)
bool rw 1 - yes
0x2160 0x01-
0xFE
Definition ID
tag type
(name of sup-
ported ID
tags)
dom ro Link - -
0x2161 0x00 Selects ID tag
type (value
selects ID tag
type defined
in 0x2160)
u8 rw 2 - yes
0x2162 0x00 RSSI u8 ro - yes -
ID tag information
Index
Subindex
Name
(object)
Type
Access
Default
value
PDO
mapping
capability
Save
object
value
0x2180 0x00 Current UID
(UID of the ID
tag in the
reading
range, PDO
mappable)
u64 ro 0x000000000
0000000
yes
0x2181 0x00 Current DS-
FID (DSFID
of the ID tag
in the reading
range, PDO
mappable)
u8 ro 0x00 yes
0x2182 0x01 ID tag infor-
mation: UID
u64 ro 0x000000000
0000000
-
0x02 ID tag infor-
mation: DS-
FID
u8 ro 0x00 -
0x03 ID tag infor-
mation: AFI
u8 ro 0x00 -
0x04 ID tag infor-
mation: Mem-
ory size
u32 ro 0x00000000 -
0x05 ID tag infor-
mation: ATQA
u16 ro 0x0000 -
DTM434 DTM435
20
Index
Subindex
Name
(object)
Type
Access
Default
value
PDO
mapping
capability
Save
object
value
0x2182 0x06 Tag informa-
tion: ID tag
type
(detected ID
tag type, de-
fined in
0x2160)
u8 ro 0x00 -
0x2190 0x00 Current UID
upper 4 bytes
(32 bit) (UID
of the ID tag,
in reading
range, PDO
mappable)
u32 ro 0x000000000
0000000
yes
0x2191 0x00 Current UID
lower 4 bytes
(32 bit) (UID
of the ID tag,
in reading
range, PDO
mappable)
u32 ro 0x000000000
0000000
yes
Read mappable data
Index
Subindex
Name
(object)
Type
Access
Default
value
PDO
mapping
capability
Save
object
value
0x2200 0x01-0x40 Read start
address in the
user memory
(start of the
address
range on the
ID tag to be
read)
u16 rw Link - yes
0x2201 0x01-0x40 Read length
(length of the
memory
range on the
ID tag to be
read; max. 8
bytes)
u8 rw Link - yes
0x220A 0x01-0x40 ID tag data (8
bytes ID tag
data, updated
when new ID
tag enters the
reading
range)
u64 ro yes -
0x220B 0x01-0x40 ID tag data
(32 bit) (4
bytes of ID
tag data, up-
dated when
new ID tag
enters the
reading
range)
u32 ro yes -
This manual suits for next models
1
Table of contents
Other IFM RFID System manuals
