Posital Fraba ACS080 CANopen User manual

AMERICAS
FRABA Inc.
1800 East State Street, Suite 148
Hamilton, NJ 08 09-2020, USA
T [phone], F [phone]
www.posital.com, [e-mail]
EUROPE
POSITAL GmbH
Carlswerkstrasse 13c
D-510 3 Köln, GERMANY
T [phone], F [phone]
www.posital.eu, [e-mail]
ASIA
FRABA Pte. Ltd.
0 Alexandra Terrace,
#02-05 The Comtech, SINGAPORE 118502
T + 5 514 8880, F + 5 271 1792
www.posital.sg, [e-mail]
ACCELENS (ACS) INCLINOMETER WITH CANOPEN INTERFACE
User Manual

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TABLE OF CONTENTS
General Security Advise ............................. 3
About T is Manual ...................................... 3
1. Introduction.............................................. 4
1.1 ACCELENS (ACS) .......................................... 4
1.2 CANopen Interface ......................................... 4
1.3 ACS CANopen ................................................ 5
1.4 Typical Applications of ACS ............................
2. ACS – Modes And Parameters ............... 6
2.1 Operating Modes ............................................ 7
2.2 Transmission Modes ....................................... 8
2.3 Boot-Up Procedure ......................................... 9
3. Installation.............................................. 10
3.1 Accessories ................................................... 10
3.2 Pin Assignement ........................................... 10
3.3 Installation Precautions ................................. 10
3.4 Mounting Instructions .................................... 11
3. Measurement Axes ....................................... 12
4.ACS Software Configuration ................. 14
4.1 Important Factory Settings ............................ 14
4.2 Active Programming Objects ......................... 14
4.3 Programmable Parameters ........................... 15
4.4 PDO Transmission ........................................ 17
4.5 Explicit Exchanges (SDO) ............................. 19
5. Working Wit Sc neider PLC ............... 21
5.1 Introduction ................................................... 21
5.2 Network Initialization ..................................... 21
5.2.1 Hardware ................................................... 21
5.2.2 Software Project Information ...................... 22
5.3 Configuration ................................................. 25
5.4 Debugging ..................................................... 27
5.4 Run................................................................ 29
6. Troubles ooting ................................... 32
Appendix A: ACS CANopen Objects ....... 33
Object 1000h: Device Type ................................. 33
Object 1001h: Error Register ............................... 33
Object 1003h: Pre-Defined Error Field ................ 34
Object 1005h: Cob-Id Sync ................................. 34
Object 1008h: Mfr Device Name ......................... 34
Object 1009h: Mfr Hardware Version .................. 34
Object 100ah: Mfr Software Version ................... 34
Object 100ch: Guard Time .................................. 35
Object 100dh: Life Time Factor ........................... 35
Object 1010h: Store Parameters ......................... 35
Object 1011h: Restore Parameters ..................... 35
Object 101 h: Consumer Heartbeat Time ........... 3
Object 1017h: Producer Heartbeat Time ............. 3
Object 2200h: Cyclic Timer ................................. 3
Object 2300h: Save Parameter With Reset......... 3
Object 2 00h: Preset X/Z-Axis ........................... 37
Object 3000h: Node Number ............................... 37
Object 3001h: Baudrate ...................................... 37
Object 3100h: Moving Average Filter .................. 38
Object 000h: Resolution* ................................... 38
Object 010h: Position Value X/Z-Axis................ 38
Object 012h: Preset X/Z-Axis ............................ 38
Object 020h: Position Value Y-Axis ................... 39
Appendix B: Ordering Code ..................... 39
Appendix C: Output Grap s ...…………...40
Glossary ..................................................... 40

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General Safe ty Ad vi ce
Important Information
Read these instructions carefully, and have a look
at the equipment to become familiar with the
device before trying to install, operate, or maintain
it.
The following special messages may appear
throughout this documentation & on the
equipment, to warn of potential hazards or to call
attention towards information that
clarifies/simplifies a procedure.
Please Note
Electrical equipment should be serviced only by
qualified personnel. No responsibility is assumed
by POSITAL for any consequences arising out of
the use of this material. This document is not
intended as an instruction manual for untrained
persons.
About T is Ma nual
Background
This user manual explains how to install and
configure the ACS inclinometer with a CANopen
interface with illustrations from a Schneider
TWIDO
®
PLC.
Version Management
Updated On : 20110928
Document Name:
Manual_ACS_CANopen_NewLines.pdf
Imprint
FRABA PTE LTD
0 Alexandra Terrace,
#02-05 The Comtech, SINGAPORE 118502
T + 5 514 8880
Copyrig t
CANopen® and CiA® are registered community
trademarks of CAN in Automation e.V.
© FRABA N.V., all rights reserved - Claims
copyright on this documentation. It is not allowed to
modify, extend, or hand over to a third party and to
copy this documentation without written approval
by FRABA PTE LTD. Nor is any liability assumed
for damages resulting from the use of the
information contained herein. Further, this
publication and features described herein are
subject to change without notice.
User Annotation
All readers are highly welcome to send us
feedback and comments about this document. You
can reach us by e-mail at [e-mail]
The addition of this symbol to a
Danger or Warning safety label
,
indicates that an electrical hazard
exists, which will result in personal
injury if the instructions are not
followed.
This is the safety alert symbol. It is
used for alerting, in case of potential
personal injury or hazards. Obey all
safety messages that follow this
symbol to avoid possible injury or
death.

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1. In tr odu ctio n
This manual explains how to install and configure
the ACS gravity referenced inclinometers (suitable
for industrial, military and heavy duty applications)
with a CANopen interface. The products are fully
compliant with CANopen DS410 standards.
1.1 Accelens (ACS)
ACCELENS inclinometers sense and measure the
angle of tilt (Inclination/Slope/Elevation) of an
object with respect to the force of gravity. The
angle is measured with the relative change in
electrical capacitance.
The basic principle behind this ACS inclinometer is
a Micro-Electro-Mechanical Systems (MEMS)
sensor cell that is embedded to a fully molded
ASIC. A simplified version of the sensor consists
of two electrodes, one is fixed, and the other is
flexible (connected with spring elements). When
the inclinometer is parallel to the surface of
measurement, a corresponding capacitance is
measured. If the sensor is tilted, the flexible
electrode will change its position relative to the
fixed electrode. This results in a change of the
capacitance between the two electrodes which is
measured by the sensor cell. The change of the
capacitance is converted to a corresponding
inclination value.
The MEMS sensor cell in ACS consists of a
micromechanical structure with an array of
electrodes for better accuracy. Under the influence
of gravity, the distance between some electrodes
change and this distance can be detected by
measuring the capacitance between the
electrodes, as explained above. This technology is
available in different grades and lower grades have
entered mass markets like mobile phones or tablet
computers.
The ACS series of inclinometers are available in
two variants. First, a single axis measurement
variant with a range of 0-3 0° ( either clockwise or
counter-clockwise) and the other variant, a dual
axis measurement capable ACS model with a
range of ±80°.
Absolute inclinometers identify all the points of a
movement by means of an unambiguous signal.
Due to their capacity to give clear and exact values
to all inclinations positions, inclinometers have
become one of the interesting alternatives to
singleturn absolute (and incremental) encoders
and a link between the mechanical and control
systems.
Benefits of ACS:
• Small Size and Cost Efficient
• High Protection Class
• High Accuracy
• Very Robust
1.2 CANopen Interface
CANopen is based on the Controller Area Network
(CAN) that was developed by automotive
industries in the 80s and is nowadays used in
many industrial applications. The application
protocol CANopen was introduced by the multi
vendor association CAN in Automation (CiA) to
ensure a full compatibility of industrial automation
products. It is a multiple access system (maximum:
127 nodes), which means that all devices can
access the bus. These devices/nodes are the
components of the CANopen bus and in our case
the node is ACS.

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In simple terms, CANopen works as a client-server
model. Each device checks whether the bus is
free, and if it is free the device can send
messages. If two devices try to access the bus at
the same time, the device with the higher priority
level (lowest ID number) has permission to send its
message.
Devices with the lowest priority level must cancel
their data transfer and wait before re-trying to send
their message. Data communication is carried out
via messages. These messages consist of a
unique COB-ID (refer to glossary) followed by a
maximum of 8 bytes of data. The COB-ID, which
determines the priority of the message, consists of
a function code and a node number. The node
number corresponds to the network address of the
device. It is and has to be unique on a bus in order
to distinguish nodes and prevent any conflict of
interests.
The function code varies according to the type of
message being sent:
• Management messages (LMT, NMT)
• Messaging and service (SDOs)
• Data exchange (PDOs)
• Predefined messages (Synchronization,
Emergency messages)
1.3 ACS CANopen
The ACS CANopen inclinometer corresponds to
the class 2 inclinometer profile with DS 410
CANopen standards, in which the characteristics of
inclinometers with CANopen interface are defined.
The ACS is available in a completely molded and
rugged plastic housing.
The ACS CANopen series of inclinometers are
available in two variants. First, a single axis
measurement variant with a range of 0-3 0° (
either clockwise or anti-clockwise) and the other
variant, a dual axis measurement capable ACS
model with a range of ±80°.
In addition to high resolution, accuracy and
protection class of IP 9K, it has in-built active
linearization and temperature compensation. This
makes ACS suitable for rugged environments and
versatile applications in industrial, heavy duty and
military applications.
The inclinometer supports the following operating
modes:
• Polled mode: The position value is
transmitted only on request.
• Cyclic mode: The position value is sent
cyclically (regular, adjustable intervals) on the bus.
• SYNC mode: The position value is sent after
a synchronization message (SYNC) is received.
The position value is sent every n SYNCs (n ≥ 1).
• State c ange mode: The position value is
transmitted whenever the position of the
inclinometer, in continuous operation, changes.
The CANopen bus interface on the ACS
inclinometers, permit transmission rates of up to
1MB (30 m/100 ft cable for a maximum
speed of 1MB, 5000 m/ 1 ,500 ft cable for a
maximum speed of 10 kB).

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The ACS-CANopen is a flexible measurement
device. This is proved by the fact that it has easily
programmable parameters like Resolution, Preset
and software filters. Other functions such as offset
values, baud rate, and node number can also be
configured using CAN objects in the ACS
inclinometers with ease and according to the
network.
Various software tools for configuration and
parameter-setting are available from different
suppliers. It is easy to align and program the
inclinometers using the EDS (electronic data
sheet) configuration file provided. (Refer to section
3.1)
1.4 Typical Applications of ACS
• Cranes and Construction Machinery
• Medical Systems
• Elevated Platforms
• Mobile Lifts and Fire Engines
• Automated Guided Vehivles (AGV)
• Automatic Assembling Machinery
• Boring and Drilling Applications
• Levelling and Flattening Machinery
2. ACS – Mod es an d Param et ers
The purpose of this chapter is to describe all the
available configuration parameters of the ACS
inclinometers with a CANopen interface.
Before going into details the following information
describes useful technical terms and acronyms for
CANopen network communication.
EDS (Electronic Data S eet)
An EDS file describes the communication
properties of a device on the CAN network (baud
rates, transmission types, I/O features, etc.). It is
provided by the device manufacturer and is used in
the configuration tool to configure a node (like a
driver in an operating system).
PDO (Process Data Object)
CANopen frame containing I/O data.
We distinguish between:
• Transmit-PDOs (TPDOs with data provided by
a node) &
• Receive-PDOs (RPDOs with data to be
consumed by a node).
The transmission direction is always seen from a
node's point of view.
SDO (Service Data Object)
CANopen frames containing parameters. SDOs
are typically used to read or write parameters while
the application is running.
COB-ID (Communication Object Identifier)
Each CANopen frame starts with a COB-ID
working as the Identifier in the CAN frame. During
the configuration phase, each node receives the
COB-ID(s) of the frame(s) for which it is the
provider (or consumer).
NMT (Network Management Protocol)
The NMT protocols are used to issue state
machine change commands (i.e. to start and stop
the devices), detect remote device boot ups and
error conditions.

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2.1 Operating Modes
2.1.1 Mode: Preoperational
When the device is in this state, its configuration
can be modified. However, only SDOs can be
used to read or write device-related data.
The device goes into "Pre-Operational" state:
• After the power up, or
• On receiving the "Enter Pre-
Operational" NMT indication, if it was in
Operational state.
When configuration is complete, the device goes
into one of the following states on receiving the
corresponding indication:
• "Stopped" on receiving the "Stop
Remote Node" NMT indication,
• "Operational" on receiving the "Start
Remote Node" NMT indication.
To set a node to pre-operational mode, the master must send the following message:
Identifier Byte 0 Byte 1 Description
0 h 80 h 00 NMT-PreOp, all nodes
0 h 80 h NN NMT-PreOp, NN
NN: node number
2.1.2 Mode: Start – Operational
The device goes into the "Operational" state if it
was in the "Pre-Operational" state on receiving
the "Start Remote Node" indication. When the
CANopen network is started using the "Node
start" NMT services in "Operational" state, all
device functionalities can be used.
Communication can use PDOs or SDOs.
NOTE: Modifications to the configuration in
"Operational" mode may have unexpected
consequences and should therefore only be
made in "Pre-Operational" mode.
To put one or all nodes in the start operational state, the master has to send the following message:
Identifier Byte 0 Byte 1 Description
0 h 01 h 00h NMT-Start, all nodes
0 h 01 h NN(in hex) NMT-Start, NN
NN: node number

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2.1.3 Mode: Stop Operation
The device goes into the "Stopped" state on
receiving the "Node stop" indication (NMT
service) if it was in "Pre-Operational" or
"Operational" state. In this state, the device
cannot be configured. No service is available to
read and write device-related data (SDO). Only
the slave monitoring function "Node Guarding"
remains active.
To put one or all nodes in the stop operational state, the master has to send the following message:
Identifier Byte 0 Byte 1 Description
0 h 02 h 00h NMT-Stop, all nodes
0 h 02 h NN (in hex) NMT-Stop, NN
NN: node number
2.1.4 Re-initialization of t e Inclinometer
If a node is not operating correctly, it is advisable to carry out a reinitialization.
Identifier Byte 0 Byte 1 Description
0 h 82 h 00h Reset Communication
0 h 81 h NN (in hex) Reset Node
NN: node number
After reinitialization, the inclinometer accesses the bus in pre-operational mode.
2.2 Transmission Modes
Polled Mode
By a remote-transmission-request telegram the connected host calls for the
current process value. The inclinometer reads the current position value,
calculates eventually set-parameters and sends back the obtained process
value by the same identifier.
Cyclic Mode
The inclinometer cyclically transmits (without being called by the host) the
current process value. The cycle time can be programmed in milliseconds
for values between 0 ms and 553 ms.
Sync Mode
After receiving a sync telegram by the host, the inclinometer answers with
the current process value. If more than one node number (encoder) shall
answer after receiving a sync telegram, the answer telegrams of the nodes
will be received by the host in order of their node numbers. The
programming of an offset-time is not necessary. If a node should not answer
after each sync telegram on the CAN network, the parameter sync counter
can be programmed to skip a certain number of sync telegrams before
answering again.

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2.3 Boot-up Procedure
The general boot-up procedure for the ACS CANopen and the mapping of various modes are illustrated
below:
Number Description
1 Module Power up
2 After initialization, the module automatically goes into pre-operational mode
3 NMT: Start Remote Node
4 NMT: Pre-operational Mode
5 NMT: Stop Remote Node
NMT: Reset Node
7 NMT : Reset Communication

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3. In st al l atio n
3.1 Accessories
* The documentation and the EDS file can also be downloaded from our website
ttp://www.posital.sg/
3.2 Pin Assignement
The inclinometer is connected via a 5-pin round M12 connector.
(Standard M12, Male side at sensor, Female at connector counterpart
Or connection cable).
Pin Assignment
3.3 Installation Precautions
WARNING
Do not remove or mount while the inclinometer is under power!
Do not stand on the inclinometer!
Avoid mechanical load!
Article No Article Description
ACS3 0/080 Inclinometer ACS series of Inclinometers (Industrial / Heavy-Duty)
Download Datasheet* ACS Datasheet, specifications and drawings
Download User Manual* Installation and Configuration User Manual (English)
Download EDS-File* Electronic Datasheet (EDS) file for configuration
10001978 PAM5 Female M12, 5pin A-coded connector, with 2m PUR shielded cable
10012182 PAM5 2m Female M12, 5pin A-coded connector, with 5m PUR shielded cable
10005 31 Terminal Resistor External terminal resistors for higher baud rate transmissions
Signal 5 pin round connector pin number
CAN Ground 1
V
S
Supply Voltage 2
0 V Supply Voltage 3
CAN High 4
CAN Low 5

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3.4 Mounting Instructions
ACS is a pre-calibrated device which can be put
into immediate operation, upon simple and easy
installation with a three point mount and setting of
preset. Its compact design and installation
“anywhere” makes it versatile.
The ACS inclinometer can be mounted in any
number of fashions, depending on the situation.
The mounting surface must be plane and free of
dust and grease. We recommend hex-head screws
with M4 or UNC bolts # (ACS Industrial) and M
or UNC bolts #12 (ACS Heavy-Duty) for the best
possible and secure mounting.
Use all the 3 screws for mounting but restrict the
tightening torque in the range of 1.5 – 2.5Nm for
the screws. The M12 connectors are to be
perfectly aligned and screwed till the end with a
tightening torque in the range of 0.4-0. Nm. Use all
the three screws for mounting and also note to use
the same tightening torque for all the screws.
Prior to installation, please check for all connection
and mounting instructions to be complied with.
Please also observe the general rules and
regulations on low voltage technical devices. ACS
Inclination sensors that are based on a MEMS
principle are optimal for fast measurements.
3.5 Bus Termination
If the inclinometer is connected at the end or
beginning of the bus or for higher transmission
baud rates ( ≥50 kB) a termination resistor of
120 Ohm must be used in order to prevent the
reflection of information back into the CAN bus.
The bus wires can be routed in parallel, twisted or
shielded form in accordance with the
electromagnetic compatibility requirements. A
single line structure minimizes reflection.
The following diagram shows the the components for the physical layer of a two-wire CAN-bus:
Can Low Wire
CAN Hig Wire
ACS
Inclinometer
ACS
Inclinometer
120 Ω
120Ω
Other CAN Nodes
PLC
CANopen
Master

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3.6 Measurement Axes
3.6.1 ACS80
Industrial
Heavy-Duty

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3.6.2 ACS360
Industrial
Heavy Duty

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4. AC S S of tw a re Config urat ion
This chapter succeeds the hardware configuration (i.e. installation) as in real time. ACS is a very flexible
device and hence all the parameters can be programmed via CAN bus itself even when attached. This
enables remote configuration. This chapter is primarily divided into two parts- One describing the
methodology for putting the ACS into operation and the other the PDO/SDO programming of ACS.
4.1 Important Factory Settings
Description Object Value
Device Type 1000h 0 x 4019A
Cyclic Timer 2200h 00h (0ms)
Resolution 000h 4h (0.01°)
Node Number
1
3000h 1Fh (32)
Baud Rate
2
3001h 00h (20kB)
ACS080 PDOs 110h, 120h, 010h, 020h
ACS3 0 PDOs 010h
Note: T e factory settings s ould be noted carefully upon installation. Few of t e parameters ave
to be re-programmed in order to make t e ACS inclinometers compatible wit t e controller or t e
already existing CAN bus to w ic it is going to be installed on.
4.2 Active Programming Objects
Active CANopen objects depending on the state of ACS:
The crosses in the table below indicate which CANopen objects are active in each state.
Initialization Pre-Operational Operational Stopped
PDO Object
X
SDO Object
X X
Boot-Up
X X
NMT
X X X
1
The forthcoming ACS inclinometers will be programmed to a default of 1
2
The forthcoming ACS inclinometers will have a default setting of 125kB.

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4.3. Programmable Parameters
Objects are based on the CiA 410 DS V1.2:
CANopen profile for inclinometer (www.can-
cia.org). The following table gives the list of
command identifiers sent and received by the
inclinometer. These are the standard commands
used for communication and transmission between
a master and slave in the CAN bus. It is quite
useful for the analysis of communication logs
between the master and slave and for better
understanding of the system under observation.
Command Function Telegram Description
22h Domain Download Request Parameter to ACS
0h Domain Download Confirmation Parameter received
40h Domain Upload Request Parameter request
43h, 4Bh, 4Fh (*) Domain Upload Reply Parameter to Master
80 h Warning Reply Transmission error
Table 1: Command Description
(*)The value of the command byte depends on the data length of the called parameter.
Command Data lengt Data lengt
43h 4 Byte Unsigned 32
4Bh 2 Byte Unsigned 1
4Fh 1 Byte Unsigned 8
Table 2: Data Lengt of Commands
The following list of objects is the most frequently used objects while programming the CANopen ACS
inclinometer. The whole list of objects is available in Appendix A.
Position Value
(Objects 6010 , 6020 )
The objects 010h and 020h are used to get the inclination positions
from ACS080 in the range of ±80° and the object 010h is used to get the
inclination position from ACS3 0 in the range of 0 - 3 0°.
Store Parameters
(Objects 1010 , 2300 )
These objects are used to store any re-configured parameters. Object
1010h just stores the parameters whereas 2300h stores and saves the
parameters upon reset of the ACS.

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Resolution Per 1°
3
(Object 6000 )
The parameter, resolution per degree is used to program the desired
number of angular divisions per revolution. The values 1, 10, 100, and
1000 can be programmed.
Preset Value
(Objects 6012 / 6013 )
The Preset value is the desired position value, which should be reached
at a certain physical position of the axis. The position value is set to the
desired process value by the parameter pre-set.
Baudrate
(Object 3001 )
The Baud rate can be programmed via SDO (default 20kB
4
).
Node Number
(Object 3000 )
The setting of the node number is achieved via SDO-Object. Possible
(valid) addresses lie between 1 and 9 but each address can only be
used once. For inclinometers programmed via SDO, t e default is
20Hex = Node Number 32
5
Filters
(Objects 3100 /3200 )
Filters can be used to adjust the frequency of measurements and
calculation of position values.
3
The resolution programming functionality is not yet fully operational.
4
The forthcoming ACS sensors will have a default baud rate of 125kB.
5
The forthcoming ACS sensors will have a default node number of 1.
Appendix A as a detailed list of all t e objects
t at can be programmed wit ACS CANopen.
T e data type, data size, default value, r/w
access definition and all sub-indexes are
mentioned in it. It is necessary to read t e
appendix A for clear knowledge before
programming. Appendix A as a lot of
important programming tips w ic are
necessary for t e proper use of t e
inclinometer.

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4.4 PDO Transmission
Process Data Objects (PDOs) communicate
process information/data and enable them to be
exchanged in real time.
A CANOpen device's PDO set describes the
implicit exchanges between this device and its
communication partners on the network.
The exchange of PDOs is authorized when the
device is in "Operational" mode.
Note: T e PDOs can be directly mapped in to
memory locations on t e controller and can be
viewed upon reading t ose memory locations.
An example is provided in t e next section wit
a SCHNEIDER-TWIDO controller.
Object 1800 : 1st Transmit PDO Communication Parameter
This object contains the communication parameter of the 1st transmit PDO.
Subindex * Description Data Type Default
Value Access
Restore
after BootUp
0 0h Number of sub indices Unsigned 8 5 ro yes
01h COB-ID Unsigned 32 180h +
Node ID rw yes
02h Transmission Mode Unsigned 8 FE rw yes
03h Inhibit Time Unsigned 32 0 rw yes
04h Not Available
05h Event Timer Unsigned 32 4h or 0 rw yes
* Subindex: Second degree identifier used in combination with the object. (Follows the object number)
Object 1801 : 2nd Transmit PDO Communication Parameter
This object contains the communication parameter of the 2nd transmit PDO.
Subindex* Description Data Type Default
Value Access
Restore
after BootUp
00h Number of sub indices Unsigned 8 5 ro yes
01h COB-ID Unsigned 32 280h +
Node ID rw yes
02h Transmission Mode Unsigned 8 1 rw yes
03h Inhibit Time Unsigned 32 0 rw yes
04h Not Available
05h Event Timer Unsigned 32 0 rw yes
* Subindex: Second degree identifier used in combination with the object. (Follows the object number)

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Transmission Mode
The transmission mode (Sub index 2) for Objects 1800 and 1801 can be configured as described below:
Transfer
Value
(Dec)
Transmission Mode
Notes
Cyclic Acyclic Sync ro
nous Async ronous RTR
Only
0 X X
Send PDO on first sync
message following an
event
1-240 X X Send PDO every x sync
messages
241-251 Reserved
252 X X Receive Sync and send
PDO on remote request
253 X Update data and send
PDO on remote request
254 X Send PDO on event
255 X Send PDO on Event
In ibit Time
For "Transmit PDOs", the "inhibit time" for PDO
transmissions can be entered in this 1 bit field. If
data is changed, the PDO sender checks whether
an "inhibit time" has expired since the last
transmission. A new PDO transmission can only
take place if the "inhibit time" has expired. The
"inhibit time" is useful for asynchronous
transmission (transmission mode 254 and 255), to
avoid overloads on the CAN bus.
Event Timer
The "event timer" only works in asynchronous
transmission mode (transmission mode 254 and
255). If the data changes before the "event timer"
expires, a temporary telegram is sent. If a value >
0 is written in this 1 -bit field, the transmit PDO is
always sent after the "event timer" expires. The
value is written in sub index 5 of a transmit PDO.
The data transfer also takes place with no change
to data. The range is between 1- 553 ms.
Cyclic Timer
The cyclic timer is useful to set the position
transmission to cyclic mode. The cyclic timer can
be programmed from 0ms to 553 ms. When
enabled, the ACS transmits the position value
contained in the PDO, at constant prescribed
intervals even if there is no change in the position
value. Object 2200h is used to set the cyclic timer
value.

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Object 1A00 : 1st Transmit PDO Mapping Parameter
This object contains the mapping parameter of the 1st transmit PDO.
Subindex Description Data Type
Default
Value Access
Restore after
BootUp
0 Number of sub
indices Unsigned 8 1 ro yes
1 Mapped object Unsigned 32 010 00 10 rw yes
Object 1A01 : 2nd Transmit PDO Mapping Parameter
This object contains the mapping parameter of the 2nd transmit PDO.
Subindex Description Data Type Default Value Access Restore after
BootUp
0 Number of sub
indices
Unsigned 8 1 ro yes
1 Mapped object Unsigned 32 010 00 10 rw yes
4.5 Explicit Exc anges (SDO)
Service Data Objects (SDOs) allow a device's data
to be accessed by using explicit requests. The
SDO service is available when the device is in an
"Operational" or "Pre-Operational" state.
Types of SDO
There are two types of SDO:
• Read SDOs (Download SDOs),
• Write SDOs (Upload SDOs).
The SDO protocol is based on a 'Client / Server'
model:
For a Download SDO:
The client sends a request indicating the object to
be read.
The server returns the data contained within the
object.
For an Upload SDO:
The client sends a request indicating the object to
be written to and the desired value.
After the object has been updated, the server
returns a confirmation message.
For an unprocessed SDO:
In both cases, if an SDO could not be processed,
the server returns an error code.
A typical illustration of SDO for reading t e current baud rate value explicitly is given below:
SDO passed as a new message to t e device

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We used a PEAK™ CAN master for this
illustration. The PCAN
®
-USB adapter enables
simple connection to CAN networks.
The PCAN
®
-USB’s compact plastic casing makes
it suitable for mobile applications. It works as a
master on the CAN bus connection via D-Sub, 9-
pin and in accordance with CiA 102 standards.
[To learn more about Peak CAN click here]
• Object 3001h is to read the baud rate
value from the inclinometer.
• Transmit Message
• ID: 01- Message to NN1
• Length: 8bit word
• Data 0: Read (40) / Write (22)
• Data 1 & 2 : Object in Big Endian
( 3001s is 0130 in Big Endian
format)
• Data 3: Sub-Index (NA)
• Data 4-7: Data to be written (NA
in read command)
• The Received message 581h reads out
the data
Received Message from t e Device
So, SDOs can be used to explicitly read or write
data in ACS CANopen inclinometers. All the
relevant objects that can be configured are
described in Appendix A.
In the above example, 701h is the boot up
message received. Then once we transmit the
SDO command as shown above, we receive a
reply. The received message, 581h, consists of the
domain downloaded. In this case it is the baud rate
as indicated in the above figure.