Scaime eNod4-F BOX User manual

NU-Soft-eNod4F-E-0716_235704-C.doc
SCAIME SAS –Technosite Altéa –294, Rue Georges Charpak –74100 JUVIGNY - FRANCE
Tél. : [phone] –www.scaime.com
eNod4-F
Digital Process Transmitter
Software User Manual

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1 ENOD4 PRODUCT RANGE ...................................................................................... 7
1.1 General presentation..................................................................................... 7
1.2 Versions ........................................................................................................... 7
1.2.1 Communication protocol versions........................................................ 7
1.2.2 IO+ version............................................................................................... 7
1.3 eNodView Software........................................................................................ 7
2 COMMUNICATION AND FUNCTIONING MODES.................................................. 8
2.1 Communication protocols Modbus RTU and SCMBus ................................ 8
2.2 Functioning mode .......................................................................................... 8
2.3 HMI name ........................................................................................................ 8
2.4 Simultaneous functioning of communications ............................................ 9
2.4.1 Standard version ..................................................................................... 9
2.4.2 Profibus version...................................................................................... 10
2.4.3 Ethernet versions ................................................................................... 11
3 MODBUS RTU......................................................................................................... 12
3.1 Physical interfaces ....................................................................................... 12
3.2 Byte format.................................................................................................... 12
3.3 Modbus RTU supported functions................................................................ 12
3.4 Frames structure ........................................................................................... 12
3.4.1 Function (03H/04H) –read N input registers (N = 30 max)................ 12
3.4.2 Function (06H) –write single register................................................... 12
3.4.3 Function (10H) –preset multiple registers (N = 30 max).................... 13
3.4.4 Error frames ............................................................................................ 13
3.5 Address and Baud rate................................................................................ 13
3.6 Product identification................................................................................... 13
3.7 Measurement transmission.......................................................................... 13
3.8 EEPROM error management........................................................................ 13
4 SCMBUS / FAST SCMBUS ...................................................................................... 14
4.1 Physical interfaces ....................................................................................... 14
4.2 SCMBus and fast SCMBus features ............................................................. 14
4.3 Byte format.................................................................................................... 14
4.4 Frames structure ........................................................................................... 14
4.4.1 Transmission organization .................................................................... 14
4.4.2 Reading request .................................................................................... 15
4.4.3 Functional command request (tare, zero...) ...................................... 15
4.4.4 Error frame.............................................................................................. 15
4.5 Address and Baud rate................................................................................ 15
4.6 Product identification................................................................................... 15
4.7 Measurement transmission.......................................................................... 15
4.8 Continuous transmission .............................................................................. 16
4.9 EEPROM error management........................................................................ 16
5 CANOPEN ............................................................................................................. 17
5.1 Physical interface......................................................................................... 17
5.2 LED CANopen ............................................................................................... 17
5.3 Frame format ................................................................................................ 17
5.4 Messages transfers hierarchy...................................................................... 18
5.5 eNod4 status remote management ........................................................... 19
5.5.1 NMT commands .................................................................................... 20

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5.5.2 Synchronization messages................................................................... 20
5.5.3 Emergency messages .......................................................................... 20
5.6 Error control services.................................................................................... 21
5.6.1 Heartbeat and boot-up ........................................................................ 21
5.6.2 Node guarding ...................................................................................... 21
5.7 Access to the object dictionary ................................................................. 22
5.7.1 SDO communication ............................................................................ 23
5.7.2 PDO communications........................................................................... 24
5.8 CANopen command and response registers ........................................... 25
5.9 Communication objects.............................................................................. 25
5.9.1 0x1001 / 0x00 : error register................................................................ 26
5.9.2 0x1003 : Pre-defined error field............................................................ 26
5.9.3 0x1005 / 0x00 : synchronization messages COB-ID .......................... 26
5.9.4 0x100C / 0x00 : guard time.................................................................. 26
5.9.5 0x100D / 0x00 : life time factor ............................................................ 27
5.9.6 0x1010 : Store parameters.................................................................... 27
5.9.7 0x1014 / 0x00 : Emergency COB-ID .................................................... 27
5.9.8 0x1016 : Heartbeat consumer time ..................................................... 27
5.9.9 0x1017 / 0x00 : Heartbeat producer time........................................... 27
5.9.10 0x4800 : Safety mode ......................................................................... 27
5.9.11 Error behavior ...................................................................................... 27
5.10 PDO-related communication objects...................................................... 27
5.10.1 RPDO default mapping....................................................................... 27
•0x1600 : RPDO1 mapping parameters ........................................................... 27
•0x1601 : RPDO2 mapping parameters ........................................................... 27
•0x1602 : RPDO3 mapping parameters ........................................................... 27
•0x1603 : RPDO4 mapping parameters ........................................................... 27
•0x1604 : RPDO5 mapping parameters ........................................................... 27
5.11 Product identification................................................................................. 27
•0x1009 : Manufacturer hardware version ...................................................... 27
•0x100A : Manufacturer software version........................................................ 27
•0x1018 : Identity object ................................................................................... 27
5.12 Measurement transmission........................................................................ 27
5.13 EEPROM error management...................................................................... 27
6 CANOPEN TPDO MAPPING.................................................................................. 31
6.1 Default TPDOs Mapping ............................................................................... 31
•0x1A00 : TPDO1 mapping................................................................................ 31
•0x1A01 : TPDO2 mapping................................................................................ 31
•0x1A02 : TPDO3 mapping................................................................................ 32
7 PROFIBUS DPV1..................................................................................................... 33
7.1 Physical interface......................................................................................... 33
7.2 GSD file .......................................................................................................... 33
7.3 Cyclic exchanges........................................................................................ 33
7.3.1 Cyclic inputs modules .......................................................................... 33
7.3.2 Cyclic inputs/outputs modules............................................................ 33
7.4 Acyclic exchanges...................................................................................... 34
7.5 eNod4 Profibus DP features ......................................................................... 34
7.5.1 Sync........................................................................................................ 34
7.5.2 Freeze..................................................................................................... 34

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7.5.3 Fail-safe.................................................................................................. 34
7.5.4 Profibus DP standard and extended diagnoses................................. 34
7.6 Product identification................................................................................... 35
7.7 Measurement transmission.......................................................................... 35
7.8 EEPROM error management........................................................................ 35
8 PROFIBUS MODULES LIST ...................................................................................... 36
9 MEASUREMENT AND STATUS ................................................................................ 38
9.1 Measurement transmission.......................................................................... 38
9.1.1 Gross measurement.............................................................................. 38
9.1.2 Net measurement ................................................................................. 38
9.1.3 Tare value .............................................................................................. 38
9.1.4 Factory calibrated points ..................................................................... 38
9.1.5 Preset Tare value ................................................................................... 38
9.1.6 Measurement status.............................................................................. 39
9.2 Weighing diagnosis...................................................................................... 40
9.2.1 Global weighing diagnosis .................................................................. 40
9.2.2 Sensor input control .............................................................................. 41
10 PROCESSING FUNCTIONAL COMMANDS ......................................................... 42
10.1 Principles ..................................................................................................... 42
10.2 Functional commands list.......................................................................... 43
10.3 Functional commands description........................................................... 44
10.3.1 Reset ..................................................................................................... 44
10.3.2 EEPROM storage .................................................................................. 44
10.3.3 Restore default settings....................................................................... 44
10.3.4 Zero....................................................................................................... 44
10.3.5 Tare ....................................................................................................... 45
10.3.6 Cancel tare.......................................................................................... 45
10.3.7 Cancel last command........................................................................ 45
10.3.8 Theoretical scaling.............................................................................. 45
10.3.9 Zero adjustment .................................................................................. 45
10.3.10 Start physical calibration.................................................................. 45
10.3.11 Calibration zero acquisition ............................................................. 45
10.3.12 Segment 1 acquisition ...................................................................... 45
10.3.13 Segment 2/3 acquisition .................................................................. 45
10.3.14 Store calibration ................................................................................ 45
10.3.15 Logical outputs 1-4 activation/deactivation.................................. 45
10.3.16 Zero offset adjustment ...................................................................... 46
10.3.17 Dynamic zero acquisition................................................................. 46
10.3.18 Preset tare .......................................................................................... 46
10.3.19 Sensor input reference...................................................................... 46
10.3.20 Sensor input control .......................................................................... 46
10.3.21 Clear totalization & errors counter................................................... 46
10.3.22 Dosing / batch start / resume .......................................................... 46
10.3.23 Dosing stop / batch cancel ............................................................. 46
10.3.24 Suspend batch .................................................................................. 46
10.3.25 Emptying hopper (cleaning)............................................................ 47
10.3.26 Refilling start....................................................................................... 47
10.3.27 Refilling stop....................................................................................... 47
10.3.28 Learning cycle on next cycle.......................................................... 47

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10.3.29 Flow rate calibration ......................................................................... 47
10.3.30 Auto Measurement in two or three points for flow rate calibration47
10.3.31 PID parameters auto-adjustment .................................................... 47
10.3.32 Clear grand total............................................................................... 48
10.3.33 Clear general total............................................................................ 48
11 CALIBRATION SETTINGS AND PROCEDURES ..................................................... 49
11.1 Principles ..................................................................................................... 49
11.2 Calibration methods .................................................................................. 50
11.3 Settings description .................................................................................... 50
11.3.1 Maximum capacity ............................................................................ 50
11.3.2 Number of calibration segments....................................................... 50
11.3.3 Calibration loads 1/2/3 ...................................................................... 50
11.3.4 Sensor sensitivity.................................................................................. 50
11.3.5 Scale interval....................................................................................... 50
11.3.6 Zero calibration ................................................................................... 50
11.3.7 Span coefficients 1/2/3 ...................................................................... 50
11.3.8 Span adjusting coefficient ................................................................. 51
11.3.9 Calibration place g value / place of use g value ........................... 51
11.3.10 Zero offset........................................................................................... 51
12 FILTERS ................................................................................................................. 52
12.1 Principles ..................................................................................................... 52
12.2 Settings description .................................................................................... 53
12.2.1 A/D conversion rate............................................................................ 53
12.2.2 Filters activation & order..................................................................... 53
12.2.3 Low-pass filter cut-off frequency ....................................................... 53
12.2.4 Limitations ............................................................................................ 54
12.2.5 Depth of moving average filter on weights ...................................... 54
12.2.6 Tolerance of clipping filter on instant flow rates .............................. 54
12.2.7 Average flow rate determination depth........................................... 54
13 CONFIGURATION OF INPUT/OUTPUT ................................................................. 55
13.1 Principles ..................................................................................................... 56
13.1.1 Logical inputs....................................................................................... 56
13.1.2 Analog output (IO+ version) .............................................................. 57
13.1.3 Logical outputs .................................................................................... 58
13.2 Settings description .................................................................................... 60
13.2.1 Logical inputs assignment.................................................................. 60
13.2.2 Holding time (debounced time)........................................................ 62
13.2.3 Analog output(s) assignment (IO+ version) ..................................... 63
13.2.4 External value to control analog output (IO+ version).................... 63
13.2.5 Logical outputs 1&2 assignment........................................................ 64
13.2.6 Logical outputs 3&4 assignment........................................................ 65
13.2.7 Weight quantity per pulse on logical output.................................... 65
13.2.8 Set points functioning ......................................................................... 66
13.2.9 Set points high and low values .......................................................... 67
13.3 Input/output level....................................................................................... 68
14 LEGAL FOR TRADE OPTIONS............................................................................... 69
14.1 Principles ..................................................................................................... 69
14.2 Settings description .................................................................................... 69
14.2.1 Legal for trade switch ......................................................................... 69

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14.2.2 Legal for trade software version ........................................................ 69
14.2.3 Legal for trade counter....................................................................... 69
14.2.4 Legal for trade checksum .................................................................. 70
14.2.5 Zero functions ...................................................................................... 70
14.2.6 Stability criterion.................................................................................. 70
14.2.7 Decimal point position........................................................................ 71
14.2.8 Weight unit ........................................................................................... 71
14.2.9 Flow rate time unit............................................................................... 71
14.2.10 Save Tare and Zero in non-volatile memory .................................. 71
15 LOSS IN WEIGHT FEEDER..................................................................................... 72
15.1 Settings list................................................................................................... 72
15.2 Settings description .................................................................................... 75
16 REGISTERS TABLE ................................................................................................. 80
17 CRC-16 CALCULATION ALGORITHM................................................................. 90

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1ENOD4 PRODUCT RANGE
1.1 General presentation
eNod4 is a high speed digital process transmitter with programmable functions and powerful signal
processing capabilities. eNod4 offers operating modes for advanced process control both static and
dynamic.
Quick and accurate:
•Analog to digital conversion rate up to 1920 meas/s with maximum scaled resolution of ±500 000 points.
•Digital filtering and measurement scaling.
•Measurement transmission up to 1 000 meas/s.
Easy to integrate into automated system:
•USB, RS485 and CAN communication interfaces supporting ModBus RTU, CANopen® and PROFIBUS-DPV1
(depending on version) communication protocols.
•Digital Inputs/Outputs for process control.
•Setting of node number by rotary switches and communication baud rate by dip switches.
•Integrated selectable network termination resistors.
•Wiring by plug-in terminal blocs.
1.2 Versions
1.2.1 Communication protocol versions
•Strain gauges load-cell conditioner with CANopen® and ModBus RTU communication.
•Strain gauges load-cell conditioner with Profibus DP-V1 and ModBus RTU communication.
•Strain gauges load-cell conditioner with Modbus TCP and ModBus RTU communication.
•Strain gauges load-cell conditioner with EtherNet/IP and ModBus RTU communication.
•Strain gauges load-cell conditioner with Profinet IO and ModBus RTU communication.
•Strain gauges load-cell conditioner with EtherCAT and ModBus RTU communication.
EDS, GSD, ESI and GSDML configuration files for above protocols can be downloaded from our web site:
http://www.scaime.com
1.2.2 IO+ version
In conjunction with all communication protocol versions, eNod4 can supports an opto-insulated board fitted
with:
•2 additional digital inputs and 1 speed sensor dedicated input.
•0-5V or 0-10V analog output voltage.
•4-20mA, 0-24mA, 0-20mA or 4-20mA with alarm at 3.6mA analog output current.
1.3 eNodView Software
So as to configure eNod4, SCAIME provides eNodView software tool. eNodView is the software dedicated
to eNod devices and digital load cell configuration from a PC. This simple graphical interface allows
accessing the whole functionalities of eNod4 for a complete setting according to the application.
eNodView features and functions:
•eNod4 control from a PC
•Calibration system
•Modification/record of all parameters
•Measure acquisition with graphical display
•Numerical filters simulation
•Frequential analysis FFT
•Process control
•Network parameter
eNodView software is available in English and French version and can be downloaded from our web site:
http://www.scaime.com or ordered to our sales department on a CD-ROM support.

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2COMMUNICATION AND FUNCTIONING MODES
Name
Modbus
address
CANopen®
Index/sub-
index
Profibus cyclic
IN/OUT
Acyclic DPV1
slot/index
Type
Access
Functioning mode / Serial
protocol AUX/USB
0x003E
0x2000/0x00
R : 0x02E8
W: 0x02E9
0x07 / 0x39
Uint
RW
Nom IHM
0x0034
0x3701/0x00
/
0x0B / 0x00
String
RW
2.1 Communication protocols Modbus RTU and SCMBus
Modbus RTU, SCMBus, and fast SCMBus communication protocols are accessible through AUX, USB. Modbus RTU or
Profibus only depending on version on DB9 connection.
The protocol can be changed via the « Functioning mode/ serial protocol » register (see below).
bits b9b8
Protocol
00
SCMBus
01
Modbus RTU
11
Fast SCMBus
Note: To be applied, any modification of this setting must be followed by an EEPROM back up and device reboots
(hardware or software).
2.2 Functioning mode
The « Functioning mode/ serial protocol » register offers the possibility to change the eNod4 application according to
the following list:
Note: To be applied, any modification of this setting must be followed by an EEPROM back up and device reboots
(hardware or software).
2.3 HMI name
The “HMI name” is a string of 4 characters freely usable to identify the node on any HMI connected to eNod.
bits
b1b0
Functioning mode
eNod4-T
eNod4-C
eNod4-D
eNod4-F
eNod4-B
00
Transmitter
Transmitter
Transmitter
Transmitter
Transmitter
01
/
Checkweigher
transmitter on request
Dosing by filling
Dosing
Belt scale
10
/
/
Dosing by unfilling
/
Belt weigh feeder

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2.4 Simultaneous functioning of communications
2.4.1 Standard version
•DIN Version
PC Connection
AUX Connection
PLC Connection
eNodTouch
•BOX Version
Simultaneous
Communication
RS485 PLC
RS485 AUX
CAN
USB
Yes*
No
Yes*
RS485 PLC
Yes
No
RS485 AUX
Yes*
(*)Simultaneous use of CAN or RS485 PLC communication with USB or RS485 AUX can reduce performance of this
interface.

PC Connection

PLC Connection
PC Connection
AUX Connection
PLC Connection
PROFIBUS-DPV1
eNodTouch

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2.4.2 Profibus version
•DIN Version
PC Connection
AUX Connection
PLC Connection
PROFIBUS-DPV1
eNodTouch
•BOX Version
Simultaneous
Communication
Profibus
RS485 AUX
USB
Yes*
No
Profibus
Yes*
(*)Simultaneous use of Profibus with USB or RS485AUX can reduce performance of this interface.

PC Connection

PLC
Connection

PROFIBUS
-
DPV1
PC Connection
AUX Connection
PLC Connection
PROFIBUS-DPV1
eNodTouch

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2.4.3 Ethernet versions
•DIN Version
•BOX Version
Simultaneous
Communication
Ethernet
RS485 AUX
USB
Yes*
No
Ethernet
Yes*
(*)Simultaneous use of Ethernet with USB or RS485 AUX can reduce performance of this interface.

PC Connection

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3MODBUS RTU
3.1 Physical interfaces
Modbus RTU communication protocol can be used either through eNod4 USB port, AUX port. Modbus RTU or Profibus
only depending on version on DB9 connection.
USB port behaves as a full duplex interface whereas the DB9 and AUX ports support half-duplex RS485
communication. Supported baud rates are 9600, 19200, 38400, 57600, and 115200.
For a complete description of the recommendations about eNod4 RS485 connection, please refer to the user manual
“characteristics and functioning” of the eNod4.
Note: using eNod4 through USB requires installing first the necessary USB drivers available on the website
http://www.scaime.com.
3.2 Byte format
Data transmitted to eNod4 thanks to Modbus RTU communication protocol must respect following format:
•1 start bit
•8 data bits
•no parity
•2 stop bits
Every Modbus RTU frame is ended by a CRC-16 2-bytes code whose polynomial generator is
(cf. CRC-16 calculation algorithm).
3.3 Modbus RTU supported functions
As a Modbus RTU slave, eNod4 supports following Modbus RTU functions:
Function
Code
read N registers*
03H/ 04H
write 1 register*
06H
write N registers*
10H
* 1 register = 2 bytes, maximum admitted value for N is 30.
Note: Broadcast addressing is not allowed by eNod4.
3.4 Frames structure
During a read or write transaction, the two bytes of a register are transmitted MSB first then LSB.
If a data is coded on 4 bytes (that means it requires two registers), the two LSB are stored in the low address register
and the two MSB are stored in the high address register.
3.4.1 Function (03H/04H) –read N input registers (N = 30 max)
•request command sent to the slave :
slave address
03Hor 04H
starting register
offset
N registers
CRC16
1 byte
1 byte
2 bytes
2 bytes
2 bytes
•slave response :
slave address
03Hor 04H
NB *
data 1
…
CRC16
1 byte
1 byte
1 byte
2 bytes
2 bytes
2 bytes
* NB: number of read bytes (= N*2)
3.4.2 Function (06H) –write single register
•request command sent to the slave :
slave address
06H
register offset
data
CRC16
1 byte
1 byte
2 bytes
2 bytes
2 bytes
G(x) = x16+ x15 + x2+ 1

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•slave response :
slave address
06H
register offset
data
CRC16
1 byte
1 byte
2 bytes
2 bytes
2 bytes
3.4.3 Function (10H) –preset multiple registers (N = 30 max)
•request command sent to the slave :
slave address
10H
starting register
offset
N registers
NB
Data 1
…
CRC16
1 byte
1 byte
2 bytes
2 bytes
1 byte
2 bytes
2 bytes
2 bytes
•slave response :
slave address
10H
starting register
offset
N registers
CRC16
1 byte
1 byte
2 bytes
2 bytes
2 bytes
3.4.4 Error frames
•frame format in case of a transaction error :
slave address
Function code
+ 80H
error code
CRC16
1 byte
1 byte
1 byte
2 bytes
•Error codes meaning :
Error code
Meaning
description
01H
illegal function
Modbus-RTU function not supported by eNod4
02H
illegal data address
register address requested out of eNod4 register table
03H
illegal data value
forbidden data values for the requested register
04H
eNod4 not ready
eNod4 is not ready to answer (for example measurement
request during a taring operation)
3.5 Address and Baud rate
Address Modbus RTU
Meaning
Access
Type
0x0001
Address and Baud rate
RO
Uint
Reads the address and baud rate selected on the front panel via the rotary switches and dipswitches.
3.6 Product identification
Software and product versions of the eNod4 are accessible via Modbus RTU.
Address Modbus RTU
Meaning
Access
Type
0x0000
SW and product version
RO
Uint
The 12 LSB bits define the software version (073H= 115) and the 4 MSB bits define the product version (6Hfor the
eNod4).
3.7 Measurement transmission
As a master/slave protocol, measurement transmission in Modbus protocol is only done on master request.
3.8 EEPROM error management
Functioning and calibration parameters are stored in EEPROM. After every reset the entireness of parameters stored
in EEPROM is checked. If a default appears, measurements are set to 0xFFFF and default is pointed out in
measurement status.

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4SCMBUS / FAST SCMBUS
4.1 Physical interfaces
SCMBus and fast SCMBus communication protocols can be used either through eNod4 USB port and AUX port.
USB port behaves as a full duplex interface whereas the DB9 and AUX ports support half-duplex RS485
communication. Supported baud rates are 9600, 19200, 38400, 57600, and 115200.
For a complete description of the recommendations about eNod4 RS485 connexion, please refer to the user manual
“characteristics and functioning” of the eNod4.
Note : using eNod4 through USB requires installing first the necessary USB drivers available on the website
http://www.scaime.com.
4.2 SCMBus and fast SCMBus features
SCMBus and its variant fast SCMBus can be imbricate into ModBus RTU protocol if the setting ‘communication
protocol’ is set to SCMBus or fast SCMBus. That means that eNod4 continues answering Modbus RTU frames but it
also allows the device to send frames coded according to SCMBus/fast SCMBus format.
Each protocol has its advantages:
•in SCMBus measurements are transmitted as ASCII with the decimal point and the unit integrated to the
frame
•fast SCMBus is dedicated to fast measurement transmission as the frames are the most compact as
possible
•both protocols allow to communicate without any master request (continuous transmission or sampling
triggered by a logical input)
4.3 Byte format
Data transmitted to eNod4 thanks to SCMBus or fast SCMBus communication protocol must respect following format:
•1 start bit
•8 data bits
•no parity
•2 stop bits
in SCMBus protocol, data is encoded as ASCII numeral characters (30H..... 39H) and ASCII hexadecimal characters (3AH
..... 3FH).
in fast SCMBus protocol, data is encoded as signed hexadecimal (see frame structure paragraph) below.
SCMBus CRC-8 byte is generated by the following polynomial:
G(x) = x8 + x7+ x4 + x3+ 1
The CRC-8 polynomial result can be determined by programming the algorithm corresponding to the following
diagram:
Note: The frame error detection can be ignored. Value 0xFF of the CRC-8 always is admitted by eNod4 and a received
frame which is ended by such CRC-8 is considered as a frame without any error.
•Fast SCMBus checksum byte is obtained by summing all the frame previous bytes then setting b7 bit to 1.
4.4 Frames structure
4.4.1 Transmission organization
•frame : eNod4 address first
•byte : lsb first

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•multi-bytes data : MSB first
4.4.2 Reading request
•request
Address
Command
CR
CRC
1 Hex byte
1 Hex byte (command)
1 ASCII byte (0DH)
1 Hex byte
•SCMBus response
Address
Status
Value
CR
CRC
1 Hex byte
2 Hex bytes
N ASCII Hex bytes
1 ASCII byte (0DH)
1 Hex byte
If the ‘decimal point position’ and the ‘unit’ settings are assigned to a non-null value, the response frame when
transmitting measurement contains the decimal point character (2EH) and the unit that is separated from the
measurement value by a space ASCII character (20H).
•Fast SCMBus response
STX
Status word
Value
Cks
ETX
02H
2 Hex bytes
3 signed Hex bytes (2’s
complement)
Σ of previous bytes
and b7 bit set to 1
03H
Note: Because values are encoded in signed hexadecimal bytes format (2’s complement) some data bytes can be
equal to STX (02H) or ETX (03H) or DLE (10H) so before those specific bytes values a DLE (10H)byte is inserted. The
eNod4 address is not transmitted in the frame.
4.4.3 Functional command request (tare, zero...)
•request :
Address
Command
CR
CRC
1 Hex byte
1 Hex byte (command)
1 ASCII byte (0DH)
1 Hex byte
•response (SCMBus and fast SCMBus) :
Address
Command
CR
CRC
1 Hex byte
1 Hex byte (command)
1 ASCII byte (0DH)
1 Hex byte
If the command execution is successful, eNod4 sends back the request frame that has been received as an
acknowledgement.
4.4.4 Error frame
In case of an error upon reception of a request, eNod4 sends back an error frame that contains an error code:
•response (SCMBus and fast SCMBus) :
Address
Error code
CR
CRC
1 Hex byte
1 Hex byte (command)
1 ASCII byte (0DH)
1 Hex byte
•The error codes are listed below:
Error code
Meaning
Description
FEH
unknown command
requested command is not supported by eNod4
FFH
error during command execution
ex. : tare when gross meas.<0
4.5 Address and Baud rate
Address and baud rate identical to Modbus RTU (See § Modbus RTU)
4.6 Product identification
Product identification identical to Modbus RTU (See § Modbus RTU)
4.7 Measurement transmission
Measurement transmission can be triggered by a master request but it might also be triggered and used through the
following options:
•transmission triggered by a rising or falling edge on a logical input

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•transmission at a configurable period (defined in ms) while a logical input is maintained at a given logical
level
•continuous transmission at a configurable period (defined in ms) after a master request. The transmission
is then stopped by another master instruction, be careful not to use this mode in half-duplex at a too high
rate.
4.8 Continuous transmission
SCMBus and fast SCMBus communication protocols allow eNod4 to transmit measurements at a user-defined rate
without the need for successive master queries. To perform this measurement acquisition mode, it is necessary to set
first the ‘sampling period’ (in ms):
Address SCMBus
Description
Accès
Type
0x003F
SCMBus Measurement
transmission period
RW
Uint
A value of 0 implies that measurement transmission is synchronized on the A/N conversion rate. The continuous
transmission is triggered and stopped by reception of the following commands:
SCMBus/fast SCMBus functional command
Command code
start net measurement transmission
E0H
start factory calibrated points transmission
E1H
start brut measurement transmission
E2H
stop continuous transmission
E3H
Note 1: the measurement transmission rate also depends on the baud rate. So, to achieve the fastest transmission, it
is necessary to use the highest baud rate.
Note 2: as RS485 is a half-duplex communication medium, it can be a little hard to transmit the ‘stop continuous
transmission’ query if the bandwidth is saturated. Therefore, prefer USB communication channel to reach the highest
measurement transmission rate.
4.9 EEPROM error management
EEPROM management identical to Modbus RTU (See § Modbus RTU)

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5CANOPEN
5.1 Physical interface
eNod4 is equipped with a CAN 2.0A compatible interface supporting CANopen® communication protocol. The device
can be connected to a CAN bus using CANH and CANL connections. A REF pin can also be connected. Supported baud
rates are 50000, 125000, 250000, 500000 and 1000000.
For a complete description of the recommendations about eNod4 CAN connexion, please refer to documentation
“characteristics and functioning”.
5.2 LED CANopen
The subsequent table describes the meaning of the LEDs for the CAN:
Color
State
Meaning
Red
Single Flash
At least one of the error counters of the CAN controller has reached or
exceed the warning level (too many error frame)
Double Flash
A guard event (NMT-slave or NMT-master) or a heartbeat event
(heartbeat consumer) has occurred
On
The CAN controller is bus off
Flash
Self-test: while the device is performing its power up testing, the LED
shall be flashing red
Green
Blinking
The device is in state PRE OPERATIONAL
Single Flash
The device is in state STOPPED
On
The device is in state OPERATIONAL
5.3 Frame format
Every data frame sent on the CAN bus has the following structure:
-Start of frame (SOF) : 1 bit
The beginning of a request or a data frame is indicated by the transmission of one
dominant bit.
-Arbitration field : 12 bits
This field contains the message COB-ID on 11 bits and the RTR bit, dominant for data
frames and recessive for remote frames.
-Control field : 6 bits
The first two bits are reserved and must be transmitted as dominant. The four remaining bits encode the
size of the transmitted data in bytes. This is called «Data length code» (DLC) with 0 DLC 8.

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-Data : de 8 à 64 bits
For each byte, the most significant bit (MSB) is transmitted first.
-Cyclic Redundancy Check (CRC) : 16 bits
The result of the CRC calculation is made up of 15 bits that guarantee the integrity of the
transmitted message. The last bit is used to delimit the field and always is transmitted as
dominant.
-Acknowledgement (ACK) : 2 bits
During two bus clock periods, the bus is available for acknowledgement of the message. All
the nodes that received the message without error generate a dominant bit. Else, an error
frame is generated. The second bit is always recessive.
-End of frame (EOF) : 7 bits
The end of the frame is represented by a sequence of 7 consecutive recessive bits.
The CANopen® layer defines particularly the content of the arbitration and the control fields and the data field
structure.
5.4 Messages transfers hierarchy
CANopen® is a communication protocol especially dedicated to industrial applications. It allows connecting up to 127
different devices on a same bus giving them the possibility to access the bus at any time. Simultaneous emissions are
managed by an arbitration system that uses priority levels.
This control hierarchy of data transfers guarantees that there is no frame collision on the bus while ensuring a high
level of reliability in communications. The low priority messages are cancelled and reissued after a delay.
The protocol defines several message types characterized by their COB-ID (Communication Object Identifier) that
determines the message priority level. The COB-ID is composed of a function code and the node identifier (between 1
and 127).
The node identifier is the device’s address on the network. The function code specifies the priority and the purpose of
the message. Assignment of a particular identifier to each device connected to the bus is mandatory.
eNod4 supports 6 different message types :
CANopen® messages
COB-ID (hex)
NMT
0
SYNC
80
EMCY
81-FF
TPDO1
181 –1FF
RPDO1
201 –280
RPDO2
301 –380
RPDO3
401 –480
▪read/write requests : SDO (Service Data Object)
▪real time transfers : PDO (Process Data Object)
▪nodes state management : NMT (Network Management)
▪warnings : EMCY (Emergency)
▪synchronization events : SYNC (Synchronization)
▪node status indications : Boot-up/Heartbeat and Node guarding
▪

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RPDO4
501 –580
RPDO5(IO+ version)
681 –6FF
TPDO2
281 –2FF
TPDO3
381 –3FF
SDO (Tx)
581 –5FF
SDO (Rx)
601 –67F
Heartbeat/Boot-up
701 –77F
5.5 eNod4 status remote management
For the CANopen® network, eNod4 is considered as a NMT slave. It means that its state can be modified by a NMT
master present on the bus.
As other CANopen® nodes, eNod4 can be set into one of the four existing states, allowing or forbidding the
reception/emission of CAN messages.
These four states constitute the following NMT state machine:
1 : eNod4 device power-up
2 : automatic transition after the end of initialization
3 : reception of a ‘Start Node’ indication
4 : reception of a ‘Stop Node’ indication
5 : reception of an ‘Enter pre-operational mode’ indication
6 : reception of a ‘Reset node’ or a ‘Reset communications’ indication
eNod4 communication capacities for each state are given in the following table :
Initialization
Pre-operational
Operational
Stopped
SDO
X
X
X
X
PDO
X
X
SYNC
X
X
X
X
Emergency
X
X
X
X
NMT
X
X
X
X
X
X

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Boot-up
X
X
Heartbeat
X
X
X
X
X
X
5.5.1 NMT commands
Except during the initialization phase, eNod4 is able to handle any NMT master’s requests for changing its current
state. All these network management messages are constituted the same way: a two-byte data frame with a COB-ID
equal to zero:
The 2nd byte of the data field contains the node identifier of the device concerned by the request. Its value must be
between 0Hand 7FH. The 0Hvalue means that the NMT command concern all the nodes of the network.
The 1st byte codes the command sent to the node. There are five existing commands supported:
« Start node »: 01H. eNod4 is set into operational state
« Stop node »: 02H. eNod4 is set into stopped state
« Reset node »: 81H. Resets eNod4 (with the same effects as a power-up), back into
initialization state.
« Reset communication »: 82H. Back into initialization state and communication parameters
reset.
« Enter pre-operational mode »: 80H. eNod4 is set into pre-operational state
5.5.2 Synchronization messages
SYNC messages are emitted on the bus by a producer node (generally the NMT master). This service is unconfirmed so
the consumer nodes do not have to respond to SYNC messages. A SYNC message does not carry any data (DLC = 0).
eNod4 is only seen as a SYNC messages consumer whose COB-ID is stored at index 1005H, sub-index 00Hof the object
dictionary.
5.5.3 Emergency messages
eNod4 internal errors are reported via emergency frames. Two types of errors can trigger the transmission of an
emergency message:
▪communication errors
▪A/D converter input signal range exceeded
Every emergency frame is built as follows:
COB-ID
DLC
byte 0
byte 1
byte 2
byte 3
byte 4
byte 5
byte 6
byte 7
80H
+ ID eNod4
8
emergency code
error register
content
additional information
Emergency message is an unconfirmed service. A frame is emitted when a new error occurs and when it is
acknowledged. The table below describes the emergency standard codes supported by eNod4-Tand the translation of
the additional information bytes (in ASCII):
Emergency codes (hex.)
Meaning
0
error acknowledged
3200
voltage error
8120
CAN bus communication error
8130
life guard error
Additional information’s (hex.)
4B4F
no error
474C
life time has elapsed or Heart Beat not received
COB-ID
DLC
byte 1
byte 2
0
2
NMT code
Node identifier