Leuze electronic OMS2/120 CAN Parts list manual

#Leuze electronic
Laser Measuring Device
OMS2/120 CAN
OMS2/170 CAN
Technical Description
for the
CANopen - Interface

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Impressum
Leuze electronic GmbH + Co KG
Postfach 11 11, D-73277 Owen/Teck
In der Braike1, D-73277 Owen/Teck
Tel.: [phone]
Fax: [phone]
E-mail: [email protected]
http://www.leuze.de
Copyright 2003 Leuze electronic
Right of modification
We reserve the right to make modifications to the information contained in this
document at any time in the interests of improving our products.
Revision index
Revision Date

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Table of Contents
Transportation / Storage..................................................................................................................4
1 Safety..............................................................................................................................................5
1.1 General risk potential.......................................................................................................5
1.2 Safety information............................................................................................................5
1.2.1 Hints on installation..........................................................................................6
1.2.1.1 General interference suppression measures ..................................7
1.3 Intended purpose.............................................................................................................8
1.4 Authorised operators .......................................................................................................10
1.5 Safety measures at the installation site...........................................................................10
2 Assembly instructions ..................................................................................................................11
2.1 Aligning of the laser light spot to the reflector / foil inclination.........................................11
2.2 Parallel operation of laser linear paths ............................................................................13
3 Commissioning / Installation .......................................................................................................14
3.1 Electrical connection........................................................................................................14
3.1.1 Supply voltage .................................................................................................14
3.1.2 CANopen .........................................................................................................14
3.1.2.1 Bus termination ................................................................................15
3.1.2.2 Identifier (Node-ID) ..........................................................................15
3.1.2.3 Baud rate .........................................................................................15
3.1.2.4 Length of the bus line.......................................................................15
3.1.3 Switching input / Switching output ...................................................................16
3.1.4 RS485 - programming interface ......................................................................16
3.1.5 Switching on the supply voltage ......................................................................16
3.1.6 Wiring examples ..............................................................................................17
3.2 CANopen interface ..........................................................................................................18
3.2.1 Bus status ........................................................................................................18
3.2.2 EDS-file............................................................................................................18
3.2.3 The communication profile ..............................................................................19
3.2.3.1 1st Transmit Process Data Object (asynchronous)..........................19
3.2.3.2 2nd Transmit Process Data Object (synchronous) ...........................19
3.2.4 Communication specific standard objects .......................................................20
3.2.4.1 Object 1000h: Device Type .............................................................21
3.2.4.2 Object 1001h: Error Register ...........................................................21
3.2.4.3 Object 1002h: Manufacturer Status Register ..................................21
3.2.4.4 Object 1003h: Pre-defined Error Field.............................................22
3.2.4.5 Object 1004h: Number of PDOs supported.....................................23
3.2.4.6 Object 1005h: COB-ID SYNC message ..........................................23
3.2.4.7 Object 1008h: Manufacturer Device Name .....................................24
3.2.4.8 Object 1009h: Manufacturer Hardware Version ..............................24
3.2.4.9 Object 100Ah: Manufacturer Software Version ...............................24
3.2.4.10 Object 100Bh: Node-ID..................................................................24
3.2.4.11 Object 100Ch: Guard-Time............................................................24
3.2.4.12 Object 100Dh: Life Time Factor.....................................................25
3.2.4.13 Object 100Eh: Node Guarding Identifier........................................25
3.2.4.14 Object 1010h: Store Parameters ...................................................25
4 Configuration / Parameter setting via the CANopen master ....................................................27
4.1 Standardized encoder profile area ..................................................................................27
4.1.1.1 Object 2000 - Clear Preset ..............................................................28
4.1.1.2 Object 2001 – Output value in case of an error...............................28
4.1.1.3 Object 2003 - Function external input..............................................28

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4.1.1.4 Object 2004 - Automatic error acknowledgement .............................29
4.1.1.5 Object 2005 – Function error output................................................29
4.1.1.6 Object 2006 – Switching functions...................................................29
4.1.1.7 Object 6000h - Operating parameters .............................................30
4.1.1.8 Object 6003h – Preset Value...........................................................30
4.1.1.9 Object 6004h – Position value .........................................................30
4.1.1.10 Object 6005h – Measuring step.....................................................31
4.1.1.11 Object 6200h – Cyclic timer...........................................................31
4.1.2 Laser diagnostics.............................................................................................31
4.1.2.1 Object 6500h - Operating status......................................................31
4.1.2.2 Object 6501h – Measuring step.......................................................32
4.1.2.3 Object 6503h - Alarms .....................................................................32
4.1.2.4 Object 6504h - Supported alarms....................................................33
4.1.2.5 Object 6505h - Warnings .................................................................33
4.1.2.6 Object 6506h - Supported warnings ................................................33
4.1.2.7 Object 6507h – Software version.....................................................33
4.1.2.8 Object 6508h - Operating time.........................................................34
4.1.2.9 Object 6509h - Offset value .............................................................34
4.1.2.10 Object 650Ah - Manufacturer offset value .....................................34
4.1.2.11 Object 650Bh - Serial number .......................................................34
5 Emergency Message .....................................................................................................................34
6 Transmitting of the laser position value .....................................................................................35
6.1 Read/Write Service Data Object .....................................................................................36
6.1.1 Read SDO: ......................................................................................................36
6.1.2 Write SDO:.......................................................................................................37
7 Causes of Faults and Remedies ..................................................................................................38
8 Maintenance...................................................................................................................................39
8.1 General Maintenance Information ...................................................................................39
8.2 Repair, Maintenance .......................................................................................................39
9 Appendix ........................................................................................................................................40
9.1 Specifications...................................................................................................................40
9.2 References ......................................................................................................................41
9.3 Definitions and Abbreviations ..........................................................................................42
Drawings
Dimensioned drawing ..................................................................... 04-K2200-001
Transportation / Storage
Transport instructions
Do not drop the device or expose it to shocks or vibrations!
Device contains an optical system with glass elements.
Only use the original packaging!
The wrong packaging material can cause damage to the device during transportation.
Storage
Storage temperature : -20 to +75°C
Store in dry conditions.

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1 Safety
1.1 General risk potential
The Laser Measuring Device OMS2 CANopen cannot be operated independently, but
is installed as part of an overall system usually consisting of several interacting
components. For this reason, the laser measuring device is not equipped directly with
a protective device.
Warning
The corresponding measures must be taken in order to avoid person and
property damages.
However, in the event of an error via the error register "Object 1001h: Error Register",
S21 a generally occurred error is displayed by setting the bit 5. Via the "Object 1003h:
Pre-defined Error Field", S22 the error occurred generally is specified and the cause
described in detail. Via the "Emergency Message", S34 the Error Register/Error Field
can be read. It is therefore essential to integrate the error messages into your own
safety system via the evaluation software (e.g. a PLC).
All persons responsible for the assembly, start-up and operation of the device must
• be suitably qualified
• adhere strictly to this operating manual.
Your safety and the safety of your equipment depends on this!
1.2 Safety information
This operating manual contains information which must be observed in the interests of
your own personal safety and that of your equipment. The safety hints are
emphasised by a warning triangle and classified according to the degree of danger as
follows:
Warning
means that failure to take the relevant safety precautions can lead to serious damage
to property or injuries.
i
Note
refers to important information and features of the product, plus tips on its application.

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1.2.1 Hints on installation
Since the Laser Measuring Device is normally used as part of a larger system, these
hints are merely intended as a guide for integrating the device safely into its
environment.
Warning
• During the operation of the Laser Measuring Device it isn't allowed to interrupt the
laser beam. If it comes nevertheless to an interruption, at the restart of the
automatic operation mode first the validity (plausibility) of the measured value has
to be checked.
• Precautionary measures must be taken to allow an interrupted program to be
properly resumed following a voltage drop or failure. Dangerous operating
conditions must not be permitted to arise even for short periods. If necessary, an
"EMERGENCY STOP" must be forced.
• EMERGENCY STOP devices according to EN 60204/IEC 204 (VDE 0113) must
remain operational in all operating modes of the programmable controller. The
release of the EMERGENCY STOP devices must not trigger an uncontrolled or
undefined reactivation of the equipment.
• The safety and accident prevention regulations applicable to the specific
application must be observed.
• In the case of permanently installed plants or systems without an all-pole mains
switch and/or fuses, one of these devices must be installed accordingly and the
equipment connected to a PE conductor.
• In the case of 24 V supplies, make sure the extra-low voltage is reliably
disconnected. Only use power supply units manufactured to the standards
IEC 364 - 4 - 41 / HD 384.04.41 (VDE 0100 Part 410).
• Fluctuations or deviations of the supply voltage from the nominal value must not
exceed the tolerance limits stated in the specifications, otherwise operational
failures and dangerous states in the electrical assemblies cannot be ruled out.
• Connecting and signal wires must be installed in such a way as to prevent the
automation functions from being hampered by inductive and capacitive
interference.
• The units of the automation system and their operating elements must be installed
in such a way as to ensure adequate protection against accidental actuation.
• In order to prevent a wire or strand breakage on the signal side from causing
undefined states in the programmable controller, suitable hardware and software
safety precautions must be taken with regard to the I/O interface.

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1.2.1.1 General interference suppression measures
• Lay the (shielded) connecting cable to the device at a sufficient distance or in a
separate room from any power cables which are subject to interference. Otherwise
the data transmission of the measured value can be interfered.
• To ensure reliable data transmission, use fully shielded cables and make sure they
are well earthed. For differential data transfer (CAN-Bus), twisted-pair wires must
be used in addition.
• Use a minimum cable cross-section of 0.22 mm2for data transfer purposes.
• Avoid crossing cables where possible. If unavoidable, only cross them at right-
angles.
• Ensure continuous wiring of the shield and a large contact area on special shield
clampings or cable screw glands (see arrows).
ERR
RUN
OK
120
X
1
DIP-Switch
ON
OFF
2
0
2
7
Figure 1: Connection cap with cable screw glands and shield clampings

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1.3 Intended purpose
The measuring system is used for recording linear movements and processing the
measured data for a downstream control system with a CANopen Field Bus interface
according to ISO/DIS 11898.
The laser measuring device with CANopen protocol supports the device profile for
Encoder CiA Draft standard 406, version 2.0.
Particularly the measuring system is designed for the use of distance measurements
for the detection of the position and positioning of:
! High-bay storage devices and lifting gears
! Crane systems
! Side-tracking skates and truck storage vehicles
! Transfer machines
Warning
Switch off the voltage supply before carrying out wiring work or opening and
closing electrical connections!
Check all electrical connections before switching on the system!
Incorrectly wired connections can cause operating failures of the laser, while wrong
connections can lead to serious personal injuries and damage to property.
Mechanical or electrical modifications to the measuring systems are prohibited
for safety reasons!
In particular the following uses are forbidden
- operation in areas where interruption of the laser beam, e.g. by covering the
laser lens opening, can lead to equipment damage or injury to personnel
- in environments, in which strong rain, snow, fog, steams or direct insolations
etc. can influence the laser beam intensity negatively
- operation in rooms with explosive atmospheres
- operation for medical purposes
With use-purposes over 120m measuring length, a special reflector must to be
used!

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Warning
Laser beam
Do not look into the beam
Laser class : 2
Acc. to EN 60 825-1 : 1994 + A11:1996
Max. laser power Pmax. : ≤1 mW
Wavelength λ: 670 nm
• In the case of Class 2 laser devices, the eye is protected against brief, accidental
glances at the beam by the blinking reflex. For this reason, devices of this class
can be used without additional protective measures provided the operator is not
required to look into the laser beam deliberately for longer periods, i.e. 0.25 s, or to
look repeatedly into the laser beam itself or the directly reflected beam.
• The device must be installed in such a way that the exposure of persons to the
laser beam can only happen accidentally.
• The laser beam may only extend as far as is necessary for the range
measurement. The beam must be limited at the end of the useful range by a
diffusely reflecting target area in such a way as to minimise the danger from direct
or diffuse reflection. For this purpose, you should use the Leuze electronic
reflecting foil supplied with the device.
• The area outside the operating range where the unshielded laser beam falls should
be limited as far as possible and should remain out of bounds, particularly in the
area above and below eye level.
i
Note
The start-up, operating and programming instructions contained in this manual are
mandatory.

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1.4 Authorised operators
The start-up and operation of this device may only be performed by qualified
personnel. For the purposes of this manual, the term "qualified personnel" refers to
persons who are authorised to operate, earth and label equipment, systems and
power circuits according to recognised safety standards.
1.5 Safety measures at the installation site
Warning
Do not perform any welding work once the device is connected and switched on!
Variations in potential can destroy the device or restrict its operation.
Do not touch plug contacts with your hands!
Static charges may destroy electronic components of the device.
Do not connect unused inputs!
Observe the voltage supply range:
Standard device: 18-27 V DC (+/- 5 %)
Device with heating: 24 V DC
Clean lens opening of the laser and the reflecting foil regularly!
(see chapter "Maintenance", page 39)
i
Note
Make sure that the environment of the installation site is protected against corrosive
media (acids, etc.)

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2 Assembly instructions
The adjustment of the laser measuring device in the vertical plain is carried out via
four studs (A) in the mounting plate. The adjustment in the horizontal plane can be
made by four hexagon bolts (B). It has to be taken into account that the screw
diameter is approx. 1-2 mm smaller than the through bore of the mounting plate. Exact
dimensional properties are on the dimensional drawing in the rear part of the
document.
A
B
Figure 2: Mechanical adjustment possibilities
2.1 Aligning of the laser light spot to the reflector / foil inclination
The laser beam of the OMS2 must be on the reflecting foil at any time. This can be
done using the light spot of the laser diode, which is still clearly visible on the
reflecting foil even at long distance. When aligning the laser measuring device, the
user may need to take measures to ensure that it can be mechanically adjusted.
The size of the reflecting foil must be such that the light spot cannot be displaced from
the reflector by vibrations. The laser light spot must always be on the reflecting foil to
100%.
With the shipment of the OMS/120 a reflection foil with the size of 20 x 20 [ cm ] is
provided. Other sizes can be ordered on request.
For the laser measuring device OMS/170 a special reflector (Fresnel Retro Reflector)
Art.-No.: 500 36208 must to be used.
i
Note
Reflecting foils by other manufacturers should be used only after consultation with
Leuze electronic, as all the information in the "Specifications" chapter refers to the foil
already supplied with the device.

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Procedure:
• Figure 3: Detection of the surface reflectivity:
- At first attaching the reflector foil flatly and drive plant on minimal
distance Laser – Foil.
- Centering paper (C) in front of the laser optics so, that the laser beam
can unhinderedly emerge by an approx. 2 cm hole. Now, the interfering
signal (B) should get visible on the paper (C). To the better location of
the interfering signal (B) the reflector foil can be moved also a little.
Here it is valid: angle of incidence = angle of reflection
• Figure 4: Transmitting away the surface reflectivity:
- Rotate the reflector foil in the Y- or in the Z-axis so, that the interference
signal (B) always is outside the laser lens. Nevertheless keeping the
inclination of the reflector foil as low as possible to minimize measuring
errors caused by misalignments in the procedure movement. For
example, if the light spot drifts on the reflector foil around, small
differences arise as a result of the oblique position.
- Fix reflector foil
Figure 3: Detection of the surface reflectivity
(A)
real wanted signal, is always
thrown back 180° independ-
ently of the reflector inclina-
tion
(B)
Surface reflectivity
(interference signal)
(C)
Paper with an approx. 2 cm
large hole in the center
Figure 4: Transmitting away the surface reflectivity

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2.2 Parallel operation of laser linear paths
It has to be taken care in the parallel operation of laser linear paths that a minimum
distance of 1 m is kept. The reflector foil inclination must be made in such a way that
the surface reflectivity (see arrows) points not into the other laser linear path.
The alignment is carried out as described in chapter 2 / 2.1.
Figure 5: Minimum distance in parallel operation

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3 Commissioning / Installation
3.1 Electrical connection
i
Note
At the realization of the electrical connection the references in chapter 1.2.1, starting
from page 6 must be considered.
In order to be able to carry out the connection, the connection cap must be removed
from the laser first.
For this the screws (A) are loosened and the cap (B) is removed away from the laser.
A
B
A
ERR
RUN
OK
120
X
1
DIP-Switch
ON
OFF
2
0
2
7
3.1.1 Supply voltage
Pin 7 0V, GND
Pin 8 Standard: 18 – 27 V DC
Device with heating: 24 V DC (±5%)
123456 789 10 11121314 151617181920
3.1.2 CANopen
Pin 15 GNDI (reference potential CAN_L / CAN_H)
Pin 16 Shield (internal RC-element onto case)
Pin 17 CAN_H
Pin 18 CAN_H
Pin 19 CAN_L
Pin 20 CAN_L
123456 7891011121314 15 16 17 18 19 20

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3.1.2.1 Bus termination
For the communication a defined no-signal level must be guaranteed on the CAN bus.
To this both line ends have to be terminated with terminating resistors.
In the laser measuring device is not provided an add-on connection of the terminating
resistor. Therefore, if the laser measuring device is the last slave in the CAN bus line,
the termination must be made manually with a terminating resistor of 121 ohms
between the CAN_H and CAN_L lines.
3.1.2.2 Identifier (Node-ID)
The identifier (laser address) 1 – 64 is
adjusted via the DIL-switches 1-6:
DIL-1 = ID 20, DIL-6 = ID 25
The Node-ID is the adjusted hardware
number by the DIL-switches 1-6 + 1.
That means:
all 6 switches off = 0, Node-ID = 1
(see also "Object 100Bh: Node-ID", S24)
Note:
The adjusted address may be assigned
only once in the CANopen bus.
123456 7891011121314 15 16 17 18 19 20
DIP-Switch
ON
OFF
2
0
2
7
1
3.1.2.3 Baud rate
The baud rate is adjusted via the DIL-
switches 7-8:
DIP-7 DIP-8 Baud rate
OFF OFF 20 kbps
ON OFF 125 kbps
OFF ON 500 kbps
ON ON 1000 kbps
123456 7891011121314 15 16 17 18 19 20
DIP-Switch
ON
OFF
2
0
2
7
1
3.1.2.4 Length of the bus line
The max. bus line lenght is dependent on the adjusted baud rate:
Baud rate Line length [m]
20 kbps up to 2500
125 kbps up to 500
500 kbps up to 100
1000 kbps up to 25

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3.1.3 Switching input / Switching output
The programming of the switching input /switching output is carried out either directly
via the bus, or via the PC software "OMSConfiguration Tool".
Functions of the switching input:
- Preset
- Switch off laser diode
- Failure quit
Functions of the switching output:
- Temperature- ,
- Intensity- ,
- Hardware-Fail-Output or
- every fail
Pin 1 GND, reference potential pin 2
Pin 2 Switching output
Pin 3 Switching input
123456 7891011121314 15 16 17 18 19 20
3.1.4 RS485 - programming interface
The RS485 programming interface was developed mainly only as service interface for
the technician.
Primarily therefore the programming possibilities via the CANopen should be used.
Via the PC software "OMSConfiguration Tool" and a PC adapter the connection to the
laser measuring device is established. More informations see page 17 or in the
OMSConfiguration Tool software manual.
Pin 9 RS485–
Pin 10 RS485+
123456 7891011 12 13 14 15 16 17 18 19 20
3.1.5 Switching on the supply voltage
After the connection, baud rate and Node-ID-setting has been carried out, the supply
voltage can be switched on.
After power on and finishing the initialisation, the laser goes to the Pre-operational state
and waits for command. If the laser detects an internal error, an emergency message
with the error code will be transmitted (see chapter "Emergency Message", S34).

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3.1.6 Wiring examples
*Shield connection, see chapter 1.2.1.1 page 7.
CANopen - connection
7
8
15
16
17
18
19
20
0V
Supply Voltage
GNDI
Shield (internal RC-element onto case)
CAN_H
CAN_H
CAN_L
CAN_L
OMS2
*
0V
US Shield GNDI CAN_L CAN_H
X1
RS485-connection with parameter setting via "OMSConfiguration Tool"
7
8
9
10
0V
Supply Voltage
RS485-
RS485+
OMS2
*
*
0V
US
X1
1
2
3
GND, reference potential pin 2
Switching Output
Switching Input
14
15
16
1
2
11-27 VDC
Case / Shield
0 V
Switch Cabinet
Module
MA OMS1 PCAS
PC adapter
MA OMS1 PCA
PC
+
OMS Configuration Tool
RS485-
RS485+
RS485
RS232
optional

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3.2 CANopen interface
The CAN-Bus-Interface is defined by the international norm ISO/DIS 11898 and
specifies the two lowest layers of the ISO/DIS CAN Reference Model.
The CAN-BUS-Interface with the BUS-Driver PCA83C250T is galvanic isolated of the
laser electronic and becomes the power over internal DC/DC-converter. There is no
external power supply necessary for the CAN-BUS-Driver.
The conversion of the laser information to the CAN message format (CAN 2.0A) is
done by the CAN-controller SJA1000. The function of the CAN-controller is controlled
by a watchdog .
The CANopen Communication Profile (CIA standard DS 301) is a subset of CAN
Application Layer ( CAL ) and describes, how the services are used by devices. The
CANopen Profile allows the definition of device profiles for decentralised I/O.
The laser with CANopen-protocol support the Device Profile for Encoder ( CIA Draft
Standard Proposal 406, Version 2.0 ). The encoders support the extended functions
in Class C2 .
The communication functionality and objects, which are used in the laser profile, are
described in a EDS-File ( Electronic Data Sheet ).
When using a CANopen Configuration Tool ( e.g.:CANSETTER ), the user can read
the objects of the laser (SDOs) and program the functionality.
The selection of transmission rate and node number is done by hardware (switches).
3.2.1 Bus status
At the connection cap the laser has 3 LEDs, which display the bus status of the laser:
LEDs Off Laser is not on-line
- Device may not be powered
RUN, green On-line, with connections in the established state
- Device is allocated to a master
RUN,
green flashing
Recoverable fault
- e.g. I/O-connections are in the timed-out state
(Node-Guarding active)
ERR, red - Turn off system, after that turn on system
- Replace laser device
ERR,
rot flashing - Off-Line
OK, green Laser hardware ok
ERR
RUN
OK
3.2.2 EDS-file
The EDS-file (electronic data sheet) contains all informations about the laser specific
parameters and operating modes of the laser measuring device. The EDS-file is
needed by the CANopen network configuration tool to be able to configure or to take
into operation the laser measuring device duly.
Leuze electronic supplies a disk containing the EDS-file. The disk is component of the
device. The EDS-file has the file name "OMS2.EDS".

#Leuze electronic Commissioning / Installation
#Leuze electronic GmbH + Co KG, Postfach 11 11, D-73277 Owen/Teck, In der Braike1, D-73277 Owen/Teck, Tel. ++49 (0)7021/5730, Fax ++49 (0)7021/573199
Date: 01.07.2003 LZ - ELE - BA - GB - 0009 - 00 Page 19 of 42
3.2.3 The communication profile
Two process data objects (PDO) are implemented in the device. One is used for
asynchronous transmission and the other one for the cyclic transmission functions.
The output position value is transmitted in binary code:
COB-ID Output Position Value
11 Bit Byte 0 Byte 1 Byte 2 Byte 3
2
7to 202 15 to 282 23 to 216 2 31 to 224
3.2.3.1 1st Transmit Process Data Object (asynchronous)
This PDO transmit the position value of the laser in an asynchronous way. The cyclic
timer is stored in index 6200h.
Index Sub-Index Comment Default Value
1800h 0 number of supported entries 3
1 COB-ID used by PDO 1 180h + Node-ID
2 transmission type 254
3 inhibit time 0
1A00h 0 number of mapped objects 1
1 Position value 60040020h
3.2.3.2 2nd Transmit Process Data Object (synchronous)
This PDO transmit the position value of the laser in a cyclic way (on request). Request
by remote frame and/or sync telegrams.
Index Sub-Index Comment Default Value
1802h 0 number of supported entries 3
1 COB-ID used by PDO 2 280 + Node-ID
2 transmission type 1
3 inhibit time 0
1A02h 0 number of mapped objects 1
1 Position value 60040020h

Commissioning / Installation #Leuze electronic
#Leuze electronic GmbH + Co KG, Postfach 11 11, D-73277 Owen/Teck, In der Braike1, D-73277 Owen/Teck, Tel. ++49 (0)7021/5730, Fax ++49 (0)7021/573199
Page 20 of 42 LZ - ELE - BA - GB - 0009 - 00 Date: 01.07.2003
3.2.4 Communication specific standard objects
Following table gives an overview on the supported indices in the communication
profile area:
Index (h) Object Name Type Attr.
1000 VAR
device type Unsigned32 const
1001 VAR
error register Unsigned8 ro
1002 VAR
manufacturer status register Unsigned32 ro
1003 ARRAY
pre-defined error field Unsigned32 ro
1004 ARRAY
Number of PDOs supported Unsigned32 ro
1005 VAR
COB-ID SYNC-message Unsigned32 rw
1008 VAR
device name Vis-String const
1009 VAR
hardware version Vis-String const
100A VAR
software version Vis-String const
100B VAR
Node-ID Unsigned32 ro
100C VAR
guard time Unsigned16 rw
100D VAR
life time factor Unsigned8 rw
100E VAR
COB-ID guarding protocol Unsigned32 ro
1010 VAR
store parameters Unsigned32 rw