Lika SMAL I6 Series User manual

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.1 www.lika.it
www.lika.biz
User manual
SMALI6…
(CANlift, DSP417)
Des ription
This manual d scrib s th products of SMAL s ri s.
Th purpos of this syst m is to m asur lin ar displac m nts on lift syst m and
on automation syst ms. Th d vic is compos d by a s nsor with an int grat d
conv rsion l ctronic that moving along th magn tic tap , g n rat s a signal
quival nt to an absolut ncod r.
Th s nsor has to b match d with MTAL magn tic tap .
Chapters
1 Saf ty summary
2 Id ntification
3 Mounting r comm ndations
4 Quick r f r nc
5 El ctrical conn ctions
6 CANlift int rfac (DSP417)
7 S tup

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.2 www.lika.it
www.lika.biz
1  Safety summary
Safety
• obs rv th prof ssional saf ty and accid nt pr v ntion r gulations
applicabl to your country during d vic installation and op ration;
• installation has to b carri d out by qualifi d p rsonn l only, without pow r
supply and stationary m chanics parts;
• th d vic must b us d only for th purpos appropriat to its d sign;
• high curr nt, voltag and rotating parts can caus s rious or fatal injury.
Ele tri al safety
• switch OFF th voltag b for conn cting th d vic ;
• conn ct according to instructions of “El ctrical conn ctions”;
• according to th 89/336/CEE norm on l ctromagn tic
compatibility, following pr cautions must b tak n:
 b for handling and installing, discharg l ctrical charg from
your body and tools which may com in touch with th d vic ;
 pow r supply must b stabl without nois , install EMC filt rs on d vic
pow r supply if n d d;
 always us shi ld d and twist d cabl s if possibl ;
 avoid cabl s runs long r than n c ssary;
 avoid running th signal cabl n ar high voltag pow r cabl s;
 mount th d vic as far as possibl from any capacitiv or inductiv nois
sourc , shi ld th d vic from nois sourc if n d d;
 minimiz nois by conn cting shi ld or conn ctor housing to ground (GND).
Mak sur that ground (GND) is not aff ct d by nois . Th shi ld conn ction
point to ground can b situat d both on th d vic sid and on us r’s sid .
Th b st solution to minimiz th int rf r nc must b carri d out by th
us r.
Me hani al safety
• install according to th s ction “Mounting instructions” with stationary
m chanics parts;
• do not disass mbl th d vic ;
• do not tool th d vic ;
• do not subj ct th d vic to knocks or shocks;
• prot ct th syst m against solv nts and substanc s damaging it;
• r sp ct th nvironm ntal charact ristics of th product;
• b sur that th syst m is mount d wh r hard or sharp obj cts ( .g. m tal
chips) do not com into contact with th magn tic tap and th bottom of
th s nsor h ad. If th s conditions cannot b avoid d provid a wip r or
pr ssuriz d air.
2  Identifi ation
Th d vic can b id ntifi d by th lab l's data (ord ring cod , s rial numb r).
This information is list d in th d liv ry docum nt. For t chnical f atur s of th
product, r f r to th t chnical catalogu .

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.3 www.lika.it
www.lika.biz
3  Mounting instru tions
3.1 Sensor mounting
Do not tool th d vic .
A  Fix th d vic to th squar with M5 scr ws.
B  Conn ct th cabl .
C  Put th squar at th cabin roof adjusting th ov rhangs according to th
d sir d working position and th n fix it.
Hol for M5 scr ws

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.4 www.lika.it
www.lika.biz
3.2 Magneti tape
Th magn tic tap must b ins rt on th d vic hol and fix d at th nds of
th lift van . Th magn tic tap must b fr to slid into d vic .
Th activ sid of magn tic tap (black sid ), how v r install d, has to fac th
activ part of magn tic s nsor on l ctronic board
Install s nsor and magn tic tap according to th abov figur . Th arrow shows
positiv counting dir ction.
Th syst m do sn't work if mount d incorr ctly.
conn ctor arrow on
magn tic tap

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.5 www.lika.it
www.lika.biz
4  Qui k referen e
Th d vic position can b r ad using d fault param t rs.
Follow th st ps b low:
1  s t “ v nt tim r”;
2  s t “op rational” mod ;
3  r ad position (cyclic mod ).
St p 1 is n c ssary only at first tim th d vic is us d.
If param t rs ar stor d (“Stor param t rs” function, s obj ct 1010h) th
v nt tim r will b alr ady s t at th n xt pow r on of th d vic .
Main d fault valu s ar :
Baud rat = 500 Kbit/s
Nod ID = 1
Lift numb r = 1
Car position unit = 1
Set “event timer” (100ms = 64h)
Mast r  SMAL
COBID Cmd Index Sub Pro ess data
601 2B 06 19 05 64 00  
SMAL  Mast r
COBID Cmd Index Sub Pro ess data
581 60 06 19 05 00 00 00 00
Stor param t rs (s obj ct 1010h) to sav th n w valu .
Set Operational mode
Mast r  SMAL
COBID Cmd NodeID
000 01 01
Read position every 100ms
SMAL  Mast r
COBID Byte 0 Byte 1 Byte 2 Byte 3
18C Low … … High

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.6 www.lika.it
www.lika.biz
5  Ele tri al onne tions
ATTENTION:
minimiz nois by conn cting shi ld or d vic body to ground (GND). Mak sur
that ground (GND) is not aff ct d by nois . It’s r comm nd d to provid th
ground conn ction as clos as possibl to th d vic .
M12 Colour Des ription
2 R d +10Vdc +30Vdc
Supply voltag
3 Black 0 Vdc
Supply voltag
4 Whit CAN_H
5 Blu CAN_L
1 Shi ld CAN_Shi ld
M12 onne tor:
mal , frontal sid
5.1 LED indi ator
Thr LEDs show th status of th CAN int rfac following th tabl b low:
GREEN LED 1 Des ription
ON Pow r supply ON
OFF Pow r supply OFF
RED LED 2 Des ription
ON Bus off
Doubl flash Nod guarding rror
Singl flash Warning limit r ach d
Blinking G n ric rror or flash m mory rror
OFF No rror
GREEN LED 3 Des ription
ON Th ncod r is in stat Op rational
Singl flash Th ncod r is in stat Stopp d
Blinking Th ncod r is in stat Pr Op rational
During d vic initialization an hardwar t st is mad to ch ck if LEDs work
corr ctly.
L1 L2 L3

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.7 www.lika.it
www.lika.biz
5.2 Bus termination
A r sistor is provid d und r thr ad d cap (cabl output sid ), which must b
us d as a lin t rmination on th last d vic . To activat it slid th RT switch.
RT Des ription
ON if SMAL is last d vic of CANbus lin
OFF if SMAL is not last d vic of CANbus lin
5.3 Baud rate
Th bit rat can b s t in softwar mod .
Th bit rat is d fin d by th obj ct 300000 of th Obj ct Dictionary, it can b
modifi d by SDO m ssag s.
D fault: Baud rat = 500 Kbit/s
5.4 Node number
Th nod numb r can b s t in softwar mod .
P rmissibl addr ss s li b tw n 1 and 127.
Th nod numb r is d fin d by th obj ct 300100 of th Obj ct Dictionary, it
can b modifi d by SDO m ssag s.
D fault: Nod ID = 1
5.5 Lift number
Th lift numb r can b s t in softwar mod .
Th lift numb r is d fin d by th obj ct 600100 of th Obj ct Dictionary, it can
b modifi d by SDO m ssag s.
D fault: Lift numb r = 1
ATTENTION:
At first start up, th mast r d vic has to d t ct th baud rat of th slav
(scanning of baud rat ). Onc communication has b n stablish d a diff r nt
baud rat , a nod numb r and lift numb r can b s t (obj cts 3000h, 3001h and
6001h). Aft r s tting transmit a "r s t nod " command and stor param t rs.
To avoid conflict b tw n Slav s, this op ration should b carri d out only with
on d vic conn ct d to th n twork.
RT
ON OFF

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.8 www.lika.it
www.lika.biz
6  CANlift interfa e (DSP 417)
Lika d vic s ar always slav units, th y r sp ct th “Application profil for lift
control”, and ar d fin d as “Car position unit 1”.
For v ry omitt d sp cify, r f r to th docum nts “CiA Draft Standard 301” and
“CiA Draft Standard Proposal 417” availabl on www.cancia.org.
6.1 EDS file
CANlift d vic s ar suppli d with EDS fil Lika_SMAL_DS417_V1.eds (s
nclos d support or www.lika.biz > PRODUCTS > LINECOD > SMAL).
Install EDS fil on CANop n® mast r d vic .
6.2 State ma hine
Th CANlift d vic provid a stat working, th d vic may b switch d in
diff r nt stat s nding a sp cific NMT m ssag .
Th stat diagram is show b low:
(1) Pow r on
(2) Stat initialization finish d, th bootup m ssag is
s nt automatically
(3) NMT m ssag : ”Start r mot nod ”
(4) NMT m ssag : ”Ent r pr op rational”
(5) NMT m ssag : ”Stop r mot nod ”
(6) NMT m ssag : ”R s t nod ” or “R s t comm.”
Initialization
Pr op rational
Op rational
Stopp d
Bootup m ssag
(1)
(2)
(3)
(4)
(4) (5)
(5) (3)
(6)
(6)
(6)

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.9 www.lika.it
www.lika.biz
6.2.1 Initialization
This is th first stat th CANlift d vic nt rs aft r pow ron or hardwar r s t.
Aft r finishing th basic CANlift d vic initialization th d vic r ad th
param t rs stor d in EPROM, than th d vic s nd a bootup m ssag and
nt rs autonomously into th “Pr op rational” stat .
6.2.2 Preoperational
In this stat communication via SDOs is possibl . PDOs do not xist, so PDO
communication is not allow d. Configuration of PDOs and param t rs may b
p rform d by a configuration application.
Th d vic may b switch d into th Op rational stat dir ctly by s nding a
“Start r mot nod ” m ssag .
6.2.3 Operational
In this stat all communication obj cts ar activ . Th constructor us s th
param t rs as d scrib d in th obj ct dictionary and may s nt proc ss data
using PDO. Obj ct dictionary acc ss via SDO is possibl .
Th d vic may b switch d into th Pr op rational stat dir ctly by s nding a
“Ent r pr op rational” m ssag .
6.2.4 Stopped
In this stat th d vic is forc d to stop th communication altog th r ( xc pt
nod guarding, if activ ). PDO and SDO communications ar not allow d.
Th d vic may b switch d into th Op rational stat or Pr op rational stat
dir ctly by s nding th sp cific NMT m ssag .

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.10 www.lika.it
www.lika.biz
6.3 Communi ation obje ts
Th r ar 4 typ of communication m ssag s:
• N twork manag m nt NMT: th NMT mast r controls th NMT stat of th
NMT slav s.
• Proc ss Data Obj cts PDO: us d to transf r th r altim data.
• S rvic Data Obj ct SDO: us d to provid dir ct acc ss to ntri s of a
CANlift d vic s obj ct dictionary.
• Sp cial Function Obj ct:
 SYNC: provid s th basic n twork synchronization m chanism. Aft r this
s rvic th consum rs may s nt r altim data.
 Em rg ncy: obj ct transmitt d only onc p r rror v nt.
 Nod guard: us d to know th slav status.
R lation b tw n d vic stat s and communication obj cts:
Initial. Pr op r. Op rat. Stopp d
NMT X X X
PDO X
SDO X X
Sync X
Em rg X X
Bootup X
Nod g. X X X
6.3.1 Predefined onne tion set
Master  Slave broad ast
COB (Obj ct) Kind Function cod
(binary) COBID (h x)
NMT 0000 000
SYNC 0001 080
peartopear obje t
EMERGENCY 0001 081  0FF
PDO 1 (tx) 0011 18C  1FF
SDO (tx) 1011 581  5FF
SDO (rx) 1100 601  67F
Nod guard 1110 701  77F
Bootup 1110 701  77F
“COB kind” (tx or rx) is s n from th slav d vic point of vi w.

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.11 www.lika.it
www.lika.biz
6.4 NMT obje ts
NMT structur :
COBID (11 bit) 2 CAN Data Bytes
Func.cod Nod ID Command Slav ID
0000 0 NMT Func. Slav ID
if Slav ID = 00h, th NMT m ssag is dir ct d to all n twork nod .
Command NMT Fun tion Status node
01 h x Start r mot nod Op rational
02 h x Stop r mot nod Stopp d
80 h x Ent r pr op rational Pr op rational
81 h x R s t nod Pr op rational
82 h x R s t communication Pr op rational
6.5 Bootup obje ts
Bootup m ssag structur :
COBID(hex) 1 CAN Data Byte
700+Nod ID 00
6.6 PDO obje ts
PDO(tx) m ssag s ar always compos d by 4 CAN Data Byt s and th y ar us d
from th ncod r to transmit th position valu .
PDO structur :
IDENTIFIER 4 CAN Data Bytes
COBID(h x) Byt 0 Byt 1 Byt 2 Byt 3
18C 27  20 215  28 223 216 231 224
Low … … High
PDO1 Cyclic mod : cyclic transmission.
Th d vic us s th PDO1 to transmit th position valu p riodically and
ind p nd ntly from th Mast r.
Th cycl tim is d fin d by th param t r “Ev nt tim r” (obj ct 1906h sub 5).
To activat or d activat PDO1 s obj ct 1906h sub 1.
To modify CODID of PDO1 s obj ct 1906h sub 1.
To s t synchronous or cyclic transmission s obj ct 1906h sub 2.

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.12 www.lika.it
www.lika.biz
6.7 SDO obje ts
SDOs m ssag s ar us d to r ad or modify Slav param t rs. Th s param t rs
ar d scrib d in th “Obj ct dictionary”.
Max 4 byt s ar us d for CAN data, oth r 4 byt s ar us d for Command, Ind x
and Subind x fi lds. SDOs ar always follow d by confirmation.
Wh n th Mast r s nds a SDO to a Slav , it always r pli s (with Warning in cas
of rror).
SDO structur :
IDENTIFIER from 4 to 8 CAN data bytes
COBID(h x) 0 1 2 3 4 5 6 7
F.C. Nod ID Com Ind x Sub Data
1 byt LSB MSB 1 byt LSB … … MSB
Com command
Index param t r ind x
Sub param t r subind x
Data param t r valu
6.7.1 Command
Th command byt contains th typ of t l gram transmitt d on th CAN
n twork.
Thr typ s of t l gram ar availabl :
• S t: to s nd configuration param t rs to a d vic ;
• R q: us d by Mast r to r ad data from a d vic ;
• Warnings: us d by Slav to s nd rror m ssag s to th Mast r ( .g. ind x
do s not xist, …).
Command COB COB type Data
length
22h S t M  S r qu st not sp c.
23h S t M  S r qu st 4 byt
2Bh S t M  S r qu st 2 byt
2Fh S t M  S r qu st 1 byt
60h S t S  M confirmation 0 byt
40h R q M  S r qu st 0 byt
42h R q S  M r ply not sp c.
43h R q S  M r ply 4 byt
4Bh R q S  M r ply 2 byt
4Fh R q S  M r ply 1 byt
41h R q S  M r ply s gm nt d SDO
80h Warning S  M r ply 4 byt

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.13 www.lika.it
www.lika.biz
6.8 Obje t di tionary
Each impl m nt d obj ct is list d as follows:
Indexsubindex Obj ct nam [data typ s, attribut ]
• Ind x and subind x ar in h xad cimal valu s.
• Attribut :
ro = r ad only acc ss
rw = r ad and writ acc ss
Unsign d16 data typ :
Data bytes
byt 4 byt 5
LSByt MSByt
Unsign d32 data typ :
Data bytes
byt 4 byt 5 byt 6 byt 7
LSByt … … MSByt
6.8.1 Standard obje ts (DS 301)
100000 D vic typ [Unsign d32, ro]
D fault = 0600 01A1h: car position unit, DSP 417
100100 Error r gist r [Unsign d8, ro]
In cas of rror bit 0 of this obj ct is s t to "1".
D fault = 00h
1003 Pr d fin d rror fi ld
This obj ct contains th last 4 rrors which hav g n rat d an m rg ncy
m ssag .
• 00 Numb r of actual rrors [Unsign d8, rw]
(writ 00h to d l t th rror history)
• 01 Last rror occurr d [Unsign d32, ro]
• 0204 Pr vious rrors occurr d[Unsign d32, ro]
100500 COB_ID SYNC m ssag [Unsign d32, rw]
D fault = 0000 0080h

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.14 www.lika.it
www.lika.biz
100800 Manufactur r d vic nam [String, ro]
Contains th nam of d vic manufactur r.
D fault = “Lika”
100900 Hardwar v rsion [String, ro]
Contains th hardwar v rsion of d vic .
100A00 Softwar v rsion [String, ro]
Contains th softwar v rsion of d vic .
100C00 Guard tim [Unsign d16, rw]
Contains th Guard tim xpr ss d in ms c (millis conds)
D fault = 03E8h
100D00 Lif tim factor [Unsign d8, rw]
D fault = 05h
“Guard tim ” and “Lif tim factor” obj cts ar us d in “Nod guarding protocol”
controll d by Mast r. For mor d tails s chapt r 6.11.
101001 Stor param t rs [Unsign d32, rw]
Us this obj ct to sav all param t rs in nonvolatil m mory.
Writ "sav " in th data byt s:
Mast r  Slav
COBID Cmd Index Sub Data bytes
600+ID 23 10 10 01 73 61 76 65
Slav  Mast r (confirmation)
COBID Cmd Index Sub Data bytes
580+ID 60 10 10 01 00 00 00 00

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.15 www.lika.it
www.lika.biz
101101 R stor d fault param t rs [Unsig32, rw]
With this obj ct all param t rs ar r stor d to d fault valu s.
Writ "load" in th data byt s and p rform a "R s t nod " command:
Mast r  Slav
COBID Cmd Index Sub Data bytes
600+ID 23 11 10 01 6C 6F 61 64
Slav  Mast r (confirmation)
COBID Cmd Index Sub Data bytes
580+ID 60 11 10 01 00 00 00 00
Mast r  Slav (r s t nod )
COBID Cmd Slave ID
000 81 ID
Slav  Mast r (Bootup)
COBID Cmd
700+ID 00
NOTE:
Sav d fault valu s with th “Stor param t rs” function (s obj ct 1010h).
101400 COBID EMCY [Unsign d32, rw]
This obj ct d fin s th COBID us d for m rg ncy m ssag s (EMCY).
D fault = 80h+Nod ID
101500 Inhibit tim EMCY [Unsign d16, rw]
Inhibit tim of m rg ncy m ssag s (EMCY) xpr ss d in multipl s of 100 µs.
D fault = 32h
1018 Id ntification obj ct
• 01 V ndor numb r [Unsign d32, ro]
• 02 Product numb r [Unsign d32, ro]
• 03 R vision numb r [Unsign d32, ro]

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.16 www.lika.it
www.lika.biz
1906 PDO1 param t rs
PDO1 is us d by d fault for cyclic transmission of th position valu .
S obj ct 1906h sub 5 for s tting of cyclic tim r.
• 01 COBID of PDO1 [Unsign d32, rw]
D fault = 0000 018Ch
• 02 Transmission typ [Unsign d8, rw]
D fault = FFh (cyclic transmission)
• 03 Inhibit tim [Unsign d8, rw]
D fault = 00h
• 04 R s rv d
• 05 Ev nt Tim r
D fault = 00h (disabl d)
ATTENTION:
Th COBID of PDO1 for CANlift d vic s follows th lift numb r and th car
position unit. If mor d vic s ar conn ct d to th n twork with th sam lift
numb r, b sur to s t diff r nt COBID of PDO1 for ach d vic .
NOTE:
• Th transmission of PDO1 can b nabl d (or disabl d) s tting to “0” (or “1”)
th most significant bit (MSB) us d by PDO (obj ct 1906h, sub1).
0000 018Ch: PDO1 nabl
8000 018Ch: PDO1 disabl d.
• Cyclic transmission or synchronous transmission can b modifi d s tting th
obj ct 1906h sub 2:
01h: synchronous transmission ach SYNC;
02h: synchronous transmission aft r 2 SYNC;
…
FEh: cyclic transmission (s obj ct 3007h for cyclic tim r)
FFh: cyclic transmission (s obj ct 1906h sub 5 for cyclic tim r)
1B0601 PDO1 mapping param t r [Unsig32, rw]
This obj ct contains th mapp d position valu of th ncod r according to th
DSP417 d vic profil .
D fault = 6383 0120h

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.17 www.lika.it
www.lika.biz
5.8.2 Manufa turer spe ifi obje ts
300000 Baud rat [Unsign d8, rw]
This obj ct can b us d to s t th baud rat (transmission rat ) according to th
following tabl :
Data byte Baud rate
00h 20 Kbit/s
01h 50 Kbit/s
02h 100 Kbit/s
03h 125 Kbit/s
04h 250 Kbit/s
05h (d fault) 500 Kbit/s
06h 800 Kbit/s
07h 1000 Kbit/s
Th corr ct proc dur to chang th baud rat is:
• s t obj ct 3000h
• s nd a “r s t nod ” (or “r s t communication”),
• stor param t r.
Mast r  Slav
COBID Cmd Index Sub Data byte
600+ID 2F 00 30 00 s tabl
Slav  Mast r (confirmation)
COBID Cmd Index Sub Data byte
580+ID 60 00 30 00 00
Mast r  Slav (r s t nod )
COBID Cmd Slave ID
000 81 ID
S t th Mast r d vic to th n w baud rat :
Slav  Mast r (Bootup with n w baud rat )
COBID Cmd
700+ID 00
NOTE:
Stor param t rs (s obj ct 1010h), to sav th n w baud rat valu .

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.18 www.lika.it
www.lika.biz
300100 Nod ID [Unsign d8, rw]
This obj ct d fin s th nod id ntifi r of th d vic .
Th corr ct proc dur to chang th Nod ID is:
• s t obj ct 3001h
• s nd a “r s t nod ”
• stor param t r.
D fault = 01h
Mast r  Slav
COBID Cmd Index Sub Data byte
600+ID 2F 01 30 00 n w Nod ID
Slav  Mast r (confirmation)
COBID Cmd Index Sub Data byte
580+ID 60 01 30 00 00
Mast r  Slav (r s t nod )
COBID Cmd Slave ID
000 81 old ID
Slav  Mast r (Bootup with n w Nod ID)
COBID Cmd
700+ID 00
NOTE:
Stor param t rs (s obj ct 1010h) to sav th n w Nod ID valu .
300700 Cyclic tim [Unsign d16, rw]
Cyclic tim r is us d to s t a tim b tw n two following PDO transmissions
during cyclic transmission.
D fault = 0064h (100ms)

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.19 www.lika.it
www.lika.biz
6.8.3 Devi e profile obje ts (DSP 417)
NOTE:
In ord r to simplify th us and to avoid gaps of DSP417 profil , LIKA d vic s
don’t support th dynamic allocation of obj cts bas d on th lift numb r
param t r.
Ind x and subind x valu ar fix valu s and r f rr d to:
“lift numb r” = 1, “car position unit” = 1.
This s tting do sn’t g n rat rrors b caus th COBID of SDO d p nds on th
Nod ID (s obj ct 300100).
600100 Lift numb r [Unsign d8, rw]
This obj ct contains th numb r of th lift to which this d vic is assign d.
Possibl valu ar :
Data byte Des ription
01h (d fault) lift 1
02h lift 2
04h lift 3
08h lift 4
10h lift 5
20h lift 6
40h lift 7
80h lift 8
Th corr ct proc dur to chang lift numb r is:
• s t obj ct 6001h
• s nd a “r s t nod ”
• stor param t r.
D fault = 01h
Mast r  Slav
COBID Cmd Index Sub Data byte
600+ID 2F 01 60 00 n w lift
Slav  Mast r (confirmation)
COBID Cmd Index Sub Data byte
580+ID 60 01 60 00 00
Mast r  Slav (r s t nod )
COBID Cmd Slave ID
000 81 Nod ID
Slav  Mast r (Bootup)
COBID Cmd
700+ID 00
NOTE:
Stor param t rs (s obj ct 1010h) to sav th n w Nod ID valu .

SMAL CANlift
MAN SMAL I6 E 1.3.doc Pag.20 www.lika.it
www.lika.biz
638001 Op rating param t rs [Unsign d16, rw]
Bit Fun tion bit = 0 bit = 1
0…2 not us d
3 M asuring dir ction standard inv rt d
4…15 not us d
D fault = 0000h
M asuring dir ction d fin s which d vic dir ction incr as or d cr as th
position valu .
NOTE:
Total m asuring rang
th max position valu is 0008 0000h (=524288 = 2^19).
638201 Pr s t valu [Unsign d32, rw]
This obj ct allows to s t th ncod r position to a Pr s t valu .
Th pr s t valu must not xc d th total m asuring rang .
638301 Position valu [Unsign d32, ro]
This obj ct contains th position valu . Th valu is transmitt d according to th
s ttings in obj ct 1906h.
63C001 Op rating status [Unsign d16, ro]
Bit Fun tion bit = 0 bit = 1
0…2 not us d
3 M asuring dir ction Standard Inv rt d
4…14 not us d
15 Actual op rating
status
Stop/
Pr op r. Op rat.
Actual op rating status:
us this function to know th actual op rating status (s chapt r 6.2):
bit 15 = 0: “Stopp d” or ”Pr op rational” stat ;
bit 15 = 1: “Op rational” stat .
63C100 M asuring st p [Unsign d32, ro]
This obj ct d fin s th m asuring st p that is output by th d vic . Th
m asuring st p is giv n in nanom t r [nm].
D fault = 000F 4240h x = 1 000 000nm =1mm.