Siemens FDK:521H1134 User manual

[]
Operating Manual
Order no.: FDK:521H1134
SFIDK.PS.023.A2.02
SITRANS F M MAGFLO

&
SITRANS F C MASSFLO


CANopen add-on module for
USM II transmitters
s

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Contents 1. Introduction ................................................................................................................... 3
2. Technical data ............................................................................................................... 4
3. Installation ..................................................................................................................... 5
3.1 Add-on module ............................................................................................................... 5
3.2 General electrical information ......................................................................................... 6
3.3 USM II connections ........................................................................................................ 6
3.4 Standard CAN connection .............................................................................................. 6
3.5 CAN bus termination ...................................................................................................... 7
3.6 CAN topology .................................................................................................................7
3.7 Cable length versus baudrate ........................................................................................ 7
3.8 Cable specification DC characteristics ........................................................................... 8
3.9 Cable specification cross-section CAN Bus-line cross-sections ..................................... 8
4. Commissioning ............................................................................................................. 9
4.1 CANopen display menu .................................................................................................. 9
4.2 Menu item explanation ................................................................................................. 10
5. Object dictionary overview ........................................................................................ 11
6. PDOs (Process Data Objects) ................................................................................... 12
6.1 What is a PDO .............................................................................................................. 12
6.1.1 TX PDOs ......................................................................................................... 12
6.1.2 RX PDOs ......................................................................................................... 12
7. SDOs (Service Data Objects) ..................................................................................... 13
APPENDIX A
SI-units used in USM II products .................................................................................. 22
APPENDIX B
Raw communication example ....................................................................................... 23

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This manual is intended to provide instructions for the installation and use of the CANopen add-
on module, product code number FDK:085U0228, that can be used in the Siemens Flow
Instruments USM II family of transmitters, which presently includes MAG 6000 and MASS 6000.
The CANopen module is effectively a gateway through which a CANopen master device can have
controlled access to a number of Siemens Flow Instruments USM II signal converter parameters.
This manual is not intended to be a complete tutorial on the CANopen protocol, and it is assumed
the end user already has a general working knowledge of CANopen communications, especially
in respect of master station configuration and operation. However an overview is included in the
following section to explain some of the fundamental aspects of the protocol.
1. Introduction
1. Introduction

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MASS 6000 (2) Value returned is dependent on the BATCH
1) Mass flow + Totalizer 1 function.
2) Density + Temperature + Pct. Fraction A (1) When ON, batch progress is returned.
3) Volume flow + Totalizer 2 (2) When OFF, TOTALIZER 2 is returned.
4) Fraction A (1) + Fraction B (1)
2. Technical data
2. Technical data CANopen specification
NMT(Network Management) Slave
Baud rates 10, 20, 50, 100, 125, 250, 500, 1000 Kbits/s
Number of stations Recommended max. 50 per segment (Total max. 127)
Error control Node guarding, heartbeat
Node id Software, from display
No. of PDO’s MAG: RX=1 TX=2 MASS: RX=1 TX=4
PDO modes Event triggered
PDO linking Yes
PDO mapping Yes, default
No. of SDO’s 1 Server 0 Client
Emergency message No
CANopen version DS-301 V4.01
Framework No
Certified No
Device profile Siemens Flow Instruments specific
Cable specification
Cable design Four wire (two pairs) twisted pair with shield
Shielding CU shielding braid or shielding braid and shielding foil
Impedance 35 up to 165 Ohm at frequencies from 3 to 20 mHz
Cable capacity < 130 pF per meter at 1000 kbit/s at 40 m
Core diameter > 0.34 mm2at 1000 kbit/s at 40 m (corresponds to
AWG 22)
Resistance < 26 Ohm per km at 1000 kbit/s at 40 m
Signal attenuation Max. 9 dB over total length of line section
Max. bus length Up to 1 km at 50 kbit/s. Extendable by repeaters
Default PDO’s:
MAG 6000
1) Volume flow + Totalizer 1 (1) Requires a SENSORPROMflow memory unit
2) Totalizer 2 (2) containing valid fraction data.

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3. Installation
3. Installation
3.1 Add-on module
19” rack mounted versions IP 67 compact versions
The installation procedure for an add-on module to a Siemens Flow Instruments USM II
transmitter is as follows:
1. Unpack the add-on module and
insert it in the bottom of the signal
converter as shown.
2. Press the add-on module in the
direction shown, until it stops and
is firmly seated in position.
3. This completes the add-on mo-
dule installation, and the signal
converter may now be connected
to the terminal box. Communica-
tion with the display/keypad and
the electrical input/output termi-
nals is established automatically
when the power is applied.

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3.2 General electrical
information
3.3 USM II connections The following table shows the connection layout
for the USM II CANopen module:
On the electrical termination boards for USM II transmitters, additional input/output terminals
have been reserved for add-on module functions. The numbering range of these terminals is as
follows, but how many are actually used depends on the type of add-on module. Please refer to
the relevant handbook for other electrical connection information.
Terminals reserved for add-on modules:
MAG 6000: 91 - 97
MASS 6000: 91 - 100
Note
The standard inputs and outputs continue to function and are not affected by the presence of an
add-on module. Any existing transmitter electrical connections can remain undisturbed.
Siemens terminal CANopen signal
number
91 CAN_LO
92 CAN_HI
93 CAN_GND
3.4 Standard CAN con-
nection
For reference purposes, the following table is included to show the pin assignment for a Sub-D-
9 plug configured similar to CiA DS 102 version 2.0. In addition to this specification, contacts are
used for additional purposes.
Pin Signal Description
1 Reserved by CiA
2 CAN_L CAN Low bus line
3 CAN_GND Ground
4 S 1 Control line (do not connect)
5 S 2 Control line (do not connect)
6 (GND) (Optional ground)
7 CAN_H CAN High bus line
8 S 3 Control line (do not connect)
9 V+CAN Power supply
3. Installation

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3.6 CAN topology
3.7 Cable length versus
baudrate
3.5 CAN bus termination
At 1000 kB transmission rate the 40 m cable length cannot be guarantee in all cases. For each
system the transmission delay in reciever/transmitter has to be evaluated for a correct function
of the system.
3. Installation
A CAN system must always be terminated correctly. Two termination resistors must be present,
one in each end of the trunk line.

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3.8 Cable specification
DC characteristics Bus cable
Bus length Length-related Bus-line cross-section Termination Max.
resistance resistance baurade
0 to 40 m 70 mΩ/m 0.25 mm2to 0.34 mm2124 Ω(1%) 1 Mbit/s
AWG23, AWG22 at 40 m
40 to 300 m <60 mΩ/m 0.34 mm2to 0.6 mm2127 Ω(1%) 500 Mbit/s
AWG22, AWG20 at 100 m
300 to 600 m <40 mΩ/m 0.5 mm2to 0.6 mm2150 Ωto 300 Ω100 Mbit/s
AWG20 at 100 m
600 to 1 km <26 mΩ/m 0.75 mm2to 0.8 mm2150 Ωto 300 Ω50 Mbit/s
AWG18 at 1k m
3.9 Cable specification
cross-section CAN
Bus-line cross-
sections
Length 32 nodes 64 nodes 100 nodes
100 m 0.25 mm20.25 mm20.25 mm2
250 m 0.34 mm20.50 mm20.50 mm2
500 m 0.75 mm20.75 mm21.00 mm2
Wire resistance Rw < 21 Ω(32 nodes), < 18.5 Ω(64 nodes), 16 Ω(100 nodes).
At 1000 kB transmission rate the 40 m cable length cannot be guarantee in all cases. For each
system the transmission delay in reciever/transmitter has to be evaluated for a correct function
of the system.
3. Installation

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4. Commissioning
To change (or view) the CANopen settings from the keypad display.
1. Press [Top key] for two seconds. (NOTE: For “View” mode only, skip steps 2 & 3)
2. Type in password (1000) by pressing [Change key] two times, and then press
[Lock key] and hold for two seconds
3. The display now says “Basic settings”
4. Press [Forward key] until you reach the “CANopen module” menu item
5. Press [Lock key]
6. You can now cycle through all the CANopen settings by pressing [Forward key]
7. Select “CANopen NodeID”
8. Type in the address with the [Change key] and [Next key]
9. Lock the setting with the [Lock key]
10. Select “CANopen Baudrate”
11. Select the desired baudrate with the [Change key]
12. Lock the setting with the [Lock key]
13. Select “Update Rate”
14. Select the desired PDO update rate with the [Change key]
15. Lock the setting with the [Lock key]
16. Press [Top key] for two seconds and you return to 1.
4. Commissioning Before communicating with the
master, baudrate, node id and update rate must be selected.
This can be done from the display. Please look in to the transmitter manual to locate the CANopen
menu.
4.1 CANopen display
menu

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4. Commissioning
4.2 Menu item explana-
tion Item Value Comments
CANopen NodeID 0-127 Device address
CANopen Baudrate 10, 20, 50, 100, 125, Communication speed
250, 500, 1000 kBaud
CANopen SW Version VX.xx CANopen firmware version
Node state Uninitialized, The node states refer to CANopen specification CiA
Initializing, DS 301
Stopped, Uninitialised is displayed, when the AOM could not
Operational, read out a correct value for baudrate and/or node Id
PreOperational, from the SENSORPROMunit, i.e. because this is
new. The AOM does not go on the CAN bus then,
but it waits for a user input of correct values
Initialising is displayed after power-on or reset
Stopped is displayed after a communication stop
command sent from the Master
Operational is displayed when all communication is
active
PreOperational is displayed while waiting for
Start_Remote_Node_request
Update rate Set 0, Set 1, Set 2 Only valid for MASS 6000.
Set 0 = 2 Hz update rate on all measurement values
Set 1 = Set 0, except that massflow is 10 Hz
Set 2* = Set 1, except that totalizers are 5 Hz
* only possible in MASS 6000 SW version 2.00 →
Enter progr. Mode? No, yes Yes = enables a firmware update. When yes is
choused, the menu stops and waits for the firmware
update. A reboot must be performed to get out of
program mode
No = firmware update not possible.
(Normal operation)
The settings are all stored in the non-volatile memory of the SENSORPROMunit, and therefore
remembered after a power down. Even if the module or unit is replaced the settings are kept.
If the SENSORPROMunit is NOT used, then the settings are stored in the transmitters memory.
These settings will however be overruled if the SENSORPROMunit is used again.

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5. Object dictionary overview
5. Object dictionary
overview
In the following the object dictionary for the USM II CANopen module is described.
The document shows the MASS 6000 object dictionary. For MAG 6000 some entries are not
available.
The object dictionary is structured by forming logical groups af indexes.
Index range Group Description
1000h Device Type
1001h Error Register
1008h Manufacturer Device Name
1009h Manufacturer HW Version
100Ah Manufacturer SW Version
100Ch Guard Time
100Dh Life Time Factor
100Eh COB-ID Node guarding
1012h COB-ID Time Stamp
1014h COB-ID EMCY
1017h Producer Heartbeat time
1018h Identity Object
1200h Server SDO parameter
1400h RXPDO1ComPar
1600h RXPDO1MapPar
1800h TXPDO1ComPar
1801h TXPDO2ComPar
1802h TXPDO3ComPar(1)
1803h TXPDO4ComPar(1)
1A00h TXPDO1MapPar
1A01h TXPDO2MapPar
1A02h TXPDO3MapPar(1)
1A03h TXPDO4MapPar(1)
2000h Volumeflow Measurement process values and control values
2010h Massflow(1)
2020h Density(1)
2030h Temperature(1)
2040h Fraction A(1)
2050h Fraction B(1)
2100h Totalizer 1 Calculated process values and control/status
values
2101h Totalizer 1 Control
2102h Totalizer 1 Status
2110h Totalizer 2
2111h Totalizer 2 Control
2112h Totalizer 2 Status
2140h Fraction A Percentage(1)
2180h Batch Control Batch configuration parameters
2181h Batch Status Batch status information
2800h Error Most important USM II error
2810h System Control Control sets
2900h Converter Info USM II basic settings
2910h Converter Zero Adjust Zero adjust handling
2A00h Sensor Info Sensor information
(1) MASS 6000 only

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6. PDOs (Process Data Objects)
6. PDOs (Process
Data Objects)
6.1 What is a PDO
Process Data Objects are used to transmit any process data for the process control. The process
data are transmitted without any protocol overhead and by use of the producer/consumer
communication model. All CANopen devices within the network receive the PDO. These devices
are called consumers. Such a consumer can be any kind of output device; this includes devices
with physical outputs like digital outputs or drives, as well as devices with logical outputs such as
control units.
The PDOs are transmitted as broadcasts and therefore without any confirmation back to the
transmitting device. PDOs are controlled in two ways:
•Its communication behaviour represented by the PDO communication parameters
•Its content represented by the PDO mapping parameters.
Two types of PDOs are possible; PDO’s received by the device (RX PDOs) and PDOs transmitted
by the device (TX PDOs).
MASS 6000 default TX PDO
PDO Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
1 Massflow - float 32 Totalizer 1 - float 32
2 Density - float 32 Temperature i16 Fraction A % i16
3 Volumeflow - float 32 Totalizer 2(2) - float 32
4 Fraction A(1) -float 32 Fraction B(1) - float 32
(1) A SENSORPROMunit with valid fraction data is required.
(2) If batch is on, batch progress is returned. Otherwise the totalizer 2 values is returned.
MAG 6000 default TX PDO
PDO Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
1 Volumeflow - float 32 Totalizer 1 - float 32
2 Totalizer 2(2) - float 32 Reserved
(2) If batch is on, batch progress is returned. Otherwise the totalizer 2 value is returned.
The byte ordering is according to the CANopen specification CiA DS-301.
Units are all SI units, except for temperature, which is in °Celsius. Please see appendix A for more
information.
The PDOs can be turned off, and the contents can be changed as needed. If any changes are
made, the settings must be set every time the device is powered up. Please see the SDO chapter
for more information.
MAG 6000/MASS 6000 default RX PDO
6.1.1 TX PDOs
6.1.2 RX PDOs
PDO Byte 0 Byte 1
1 ControlSet 1 ControlSet 2
Please look at System Control index 0x2810 in the SDO chapter, for a detailed description.

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7. SDOs (Service Data Objects)
7. SDOs (Service
Data Objects)
Service Data Objects are used to establish a peer-2-peer connection between two CANopen
devices. This kind of connection is based on a Client/Server mechanism.
The SDO server is the device that is serving the object dictionary to which the access is required.
The SDO client is the device that wants to access the object dictionary of a specific device.
The SDO service is based on two CAN messages with different identifiers. The SDO client uses
one message and the SDO server uses the second message.
There are three different methods for SDO down-/upload:
•Expedited SDO transfer,
•Normal (segmented) SDO transfer, and
•SDO Block transfer. (Not supported)
Device type
Index Object name Access Type PDO Description
mapping
1000h Device type R U32 No 00 = No standardised device profile
Error register
Index Object name Access Type PDO Description
mapping
1001h Error Register R U8 No Always 00h
Manufacturer Device name
Index Object name Access Type PDO Description
mapping
1008h Manufacturer Const. U32 No MASS 6000 CANopen module
Device name or MAG 6000 CANopen module
Manufacturer HW version
Index Object name Access Type PDO Description
mapping
1009h Manufacturer Const Vis. string No 3.0
HW Version
Manufacturer SW version
Index Object name Access Type PDO Description
mapping
100Ah Manufacturer Const. Vis. string No 2.01 or greater
SW Version
Guard time
Index Object name Access Type PDO Description
mapping
100Ch Guard Time R/W U16 No Guard time in milliseconds

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7. SDOs (Service Data Objects)
Life time factor
Index Object name Access Type PDO Description
mapping
100Dh Life Time Factor R/W U8 No Multiplication factor for Guard time
COB-ID node guarding
Index Object name Access Type PDO Description
mapping
100Eh COB-ID Node R/W U32 No Contains the node guarding identifier
Guarding used for node guarding and life
guarding procedure
COB-ID time stamp
Index Object name Access Type PDO Description
mapping
1012h COB-ID Time R/W U32 No Contains the time stamp object
Stamp (TIME), and defines whether
COB-ID EMCY
Index Object name Access Type PDO Description
mapping
1014h COB-ID EMCY R/W U32 No Contains the COB-ID emergency
object
Producer heartbeat time
Index Object name Access Type PDO Description
mapping
1017h Producer heartbeat R/W U16 No Producer heartbeat time defines the
time cycle time of the heartbeat
Identity object
Index Object name Description
1018h Identity Contains general information about
the device
Sub Name Access Type PDO Description
index mapping
0 No. Of Entries R U8 No 4
1 Vendor Id R U32 No 0700 0053h
2 Product code R U32 No MAG 6000 = 0000 0003h
MASS 6000 = 0000 0004h
3 Revision number R U32 No 0002 0001h (Major Minor)
4 Serial Number R U32 No xxxx xxxxh
Server SDO parameter
Index Object name Description
1200h Server SDO parameter Describing the SDOs used in the
device
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R U8 No 2
1 COB-ID client
to server R U32 No See DS301_v401
2 COB-ID server
to client R U32 No See DS301_v401
- this page has been updated 2004.03

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Receive PDO communication parameter
Index Object name Description
1400h Receive PDO communication parameter Contains the communication
parameters for the PDOs, that the
device is to receive
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R U8 No 3
1 COB-ID used R U32 No See DS301_v401
2 Transmission type R U8 No See DS301_v401
3 Inhibit time R U16 No See DS301_v401
7. SDOs (Service Data Objects)
Receive PDO mapping parameter
Index Object name Description
1600h Receive PDO mapping parameter Contains the mapping parameters
for the PDOs, that the device is to
receive
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R/W U8 No Default = 2
1 1’st object to be
mapped R/W U32 No Default = 2810 0108h
2 2’nd object to be
mapped R/W U32 No Default = 2810 0208h
Transmit PDO 1 communication parameter
Index Object name Description
1800h Transmit PDO 1 communication parameter Contains the communication
parameters for the PDOs, that the
device is to send
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R U8 No 3
1 COB-ID used R U32 No See DS301_v401
2 Transmission type R U8 No See DS301_v401
3 Inhibit time R U16 No See DS301_v401
Transmit PDO 1 communication parameter
Index Object name Description
1801h Transmit PDO 2 communication parameter Contains the communication
parameters for the PDOs, that the
device is to send
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R U8 No 3
1 COB-ID used R U32 No See DS301_v401
2 Transmission type R U8 No See DS301_v401
3 Inhibit time R U16 No See DS301_v401

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Transmit PDO 3 communication parameter
Index Object name Description
1802h Transmit PDO 3 communication parameter Contains the communication
parameters for the PDOs, that the
device is to send
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R U8 No 3
1 COB-ID used R U32 No See DS301_v401
2 Transmission type R U8 No See DS301_v401
3 Inhibit time R U16 No See DS301_v401
7. SDOs (Service Data Objects)
Transmit PDO 4 communication parameter
Index Object name Description
1803h Transmit PDO 4 communication parameter Contains the communication
parameters for the PDOs, that the
device is to send
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R U8 No 3
1 COB-ID used R U32 No See DS301_v401
2 Transmission type R U8 No See DS301_v401
3 Inhibit time R U16 No See DS301_v401
Transmit PDO 1 mapping parameter
Index Object name Description
1A00h Transmit PDO 1 mapping parameter Contains the mapping parameters for
the PDOs, that the device is to send
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R/W U8 No MAG 6000: Default = 2
MASS 6000: Default = 2
1 1’st object to be R/W U32 No MAG 6000: Default = 2000 0120h
mapped MASS 6000: Default = 2010 0120h
2 2’nd object to be R/W U32 No MAG 6000: Default = 2010 0120h
mapped MASS 6000: Default = 2010 0120h
3 3’rd object to be R/W U32 No MAG 6000: Default = 0000 0000h
mapped MASS 6000: Default = 0000 0000h
4 4’th object to be R/W U32 No MAG 6000: Default = 0000 0000h
mapped MASS 6000: Default = 0000 0000h
Transmit PDO 2 mapping parameter
Index Object name Description
1A01h Transmit PDO 2 mapping parameter Contains the mapping parameters for
the PDOs, that the device is to send
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R/W U8 No MAG 6000: Default = 1
MASS 6000: Default = 3
1 1’st object to be R/W U32 No MAG 6000: Default = 2110 0120h
mapped MASS 6000: Default = 2020 0120h
2 2’nd object to be R/W U32 No MAG 6000: Default = 0000 0000h
mapped MASS 6000: Default = 2030 0210h
3 3’rd object to be R/W U32 No MAG 6000: Default = 0000 0000h
mapped MASS 6000: Default = 2140 0210h
4 4’th object to be R/W U32 No MAG 6000: Default = 0000 0000h
MASS 6000: Default = 0000 0000h

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7. SDOs (Service Data Objects)
Transmit PDO 3 mapping parameter
Index Object name Description
1A02h Transmit PDO 3 mapping parameter Contains the mapping parameters for
the PDOs, that the device is to send
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R/W U8 No MASS 6000: Default = 2
1 1’st object to be R/W U32 No MASS 6000: Default = 2000 0120h
mapped
2 2’nd object to be R/W U32 No MASS 6000: Default = 2110 0120h
mapped
3 3’rd object to be R/W U32 No MASS 6000: Default = 0000 0000h
mapped
4 4’th object to be R/W U32 No MASS 6000: Default = 0000 0000h
mapped
Transmit PDO 4 mapping parameter
Index Object name Description
1A03h Transmit PDO 4 mapping parameter Contains the mapping parameters for
the PDOs, that the device is to send
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R/W U8 No MASS 6000: Default = 2
1 1’st object to be R/W U32 No MASS 6000: Default = 2040 0120h
mapped
2 2’nd object to be R/W U32 No MASS 6000: Default = 2050 0120h
mapped
3 3’rd object to be R/W U32 No MASS 6000: Default = 0000 0000h
mapped
4 4’th object to be R/W U32 No MASS 6000: Default = 0000 0000h
mapped
Measurement process values
Index Object name Description
2000h Volumeflow
2010h Massflow
2020h Density
2030h Temperature
2040h Fraction A
2050h Fraction B
2140h Fraction A %
2100h Totalizer 1
2110h Totalizer 2/Batch progress value If Batch is ON, Batch progress is
returned
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R U8 No
1 Float value R F32 Yes Value directly from flowmeter
2 Integer value R I16 Yes Calculated from float value and
scale factor
Integer value = float value x scale
3 Integer value scale R/W F32 No Scale factor for Integer value
Default scale for Temperature = 0,1

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7. SDOs (Service Data Objects)
Totalizer X control
Index Object name Description
2101h Totalizer 1 control
2111h Totalizer 2 control
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R U8 No 3
1 Reset W U8 Yes 1: Reset
0,1-255: Reserved
2 Run W U8 Yes 0: Run
1: Hold
2-255: Reserved
3 Direction W U8 No 0: Negative
1: Positive
2: Netto
3-255: Reserved
Totalizer X status
Index Object name Description
2102h Totalizer 1 status
2112h Totalizer 2 status
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R U8 No 3
1 Reset R U8 No Always 0
2 Run R U8 No 0: Run
1: Hold
3 Direction R U8 No 0: Negative
1: Positive
2: Netto
Batch control
Index Object name Description
2180h Batch control
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R U8 No MAG 6000: 8
MASS 6000: 9
1 Mode W U8 No 0: Off
1: On
2-255: Reserved
2 Command W U8 Yes 1: Start
2: Pause
3: Resume
4: Stop
5-255: Reserved
3 Setpoint W F32 No Batch quantity
4 Compensation W F32 No Batch compensation
5 Cycle counter W U32 No Dummy write
6 Cycle counterReset W U8 No 1: Reset cycle counter
0,2-255: Reserved
7 Timeout W U32 No Max. Batch time in seconds
8 Timeout Active W U8 No 0: Off
1: On
2-255: Reserved
9 Lead constant W F32 No MASS 6000 only

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7. SDOs (Service Data Objects)
Batch status
Index Object name Description
2181h Batch status
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R U8 No MAG 6000: 8
MASS 6000: 9
1 Mode R U8 No 0: Off
1: On
2 Command R U8 No 1: Start
2: Pause
3: Stop
3 Setpoint R F32 No Batch quantity
4 Compensation R F32 No Batch compensation
5 Cycle counter R U32 No Cycle counter value
6 Cycle counterReset R U8 No Dummy read
7 Timeout R U32 No Max. Batch time in seconds
8 Timeout Active R U8 No 0: Off
1: On
9 Lead constant R F32 No MASS 6000 only
Error information
Index Object name Description
2800h Error information Contains information about the most
important error from the flowmeter
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R U8 No 1
1 1’st Error R U32 No Please see the flowmeter manual for
detailed information about the error
number
Bit31 .. Bit24 Bit23 Bit22 Bit21 .. Bit0
Number Category Timestamp
Error Number 0: Information Time in minutes since error
1: Warning ocurred
2: Permanent
3: Fatal

CANopen add-on module
SFIDK.PS.023.A2.02
20
7. SDOs (Service Data Objects)
System control
Index Object name Description
2810h System control Containing control sets to control the
flowmeter
Sub Name Access Type PDO Description
index mapping
0 No. of Entries R U8 No 2
1 Control Set 1 W U8 Yes See description below
2 Control Set 2 W U8 Yes See description below
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
T2HR_MASK T2HR_CMD T1HR_MASK T1HR_CMD T2R_MASK T2R_CMD T1R_MASK T1R_CMD
Name Description
T2HR_MASK 0: T2HR_CMD is disabled
1: T2HR_CMD is enabled
T2HR_CMD 0: Totalizer 2 is in RUN mode (normal operation)
1: Totalizer 2 is in HOLD mode
T1HR_MASK 0: T1HR_CMD is disabled
1: T1HR_CMD is enabled
T1HR_CMD 0: Totalizer 1 is in RUN mode (normal operation)
1: Totalizer 1 is in HOLD mode
T2R_MASK 0: T2R_CMD is disabled
1: T2R_CMD is enabled
T2R_CMD 0: No action
1: Totalizer 2 is reset (reset takes place when T2R_CMD changes from 0 to 1)
T1R_MASK 0: T1R_CMD is disabled
1: T1R_CMD is enabled
T1R_CMD 0: No action
1: Totalizer 1 is reset (reset takes place when T1R_CMD changes from 0 to 1)
Control set 1
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Reserved Reserved Reserved BAT_MASK BAT_CMD ZADJ_MASK ZADJ_CMD
Name Description
BAT_MASK 0: BAT_CMD is disabled
1: BAT_CMD is enabled
BAT_CMD 00: Batch STOP command
01: Batch START command
10: Batch PAUSE command
11: Batch RESUME command
ZADJ_MASK 0: ZADJ_CMD is disabled
1: ZADJ_CMD is enabled
ZADJ_CMD 0: No action
1: Start Zero Adjust. The zero adjustment may take a while to finish.
The application has full responsibility to keep track of this period
Control set 2