WIKA MH-4-CAN Operator's manual

Special documentation
EN
Special documentation for CANopen, model MH-4-CAN
Pressure sensor, model MH-4-CAN

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WIKA special documentation, model MH-4-CAN
EN Special documentation, model MH-4-CAN Page 3 - 74
© 02/2022 WIKA Alexander Wiegand SE & Co. KG
All rights reserved. / Alle Rechte vorbehalten.
WIKA®is a registered trademark in various countries.
WIKA®ist eine geschützte Marke in verschiedenen Ländern.
Prior to starting any work, read the installation instructions!
Keep for later use!
Vor Beginn aller Arbeiten Einbauanleitung lesen!
Zum späteren Gebrauch aufbewahren!

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Contents
Contents
1. Model MH-4-CAN 6
1.1 General information . . . . . . . . . . . . . . . . . . . .6
1.2 Features . . . . . . . . . . . . . . . . . . . . . . . .6
1.3 CANopen feature summary . . . . . . . . . . . . . . . . .6
1.4 Supported bitrates . . . . . . . . . . . . . . . . . . . .6
1.5 CAN frames. . . . . . . . . . . . . . . . . . . . . . .6
2. Quick start guide 7
2.1 Quick start introduction . . . . . . . . . . . . . . . . . . .7
2.2 Connecting and powering the device . . . . . . . . . . . . . .7
2.3 Configuring the device . . . . . . . . . . . . . . . . . . .7
2.4 Starting the device . . . . . . . . . . . . . . . . . . . .8
2.5 Service Data Object (SDO) . . . . . . . . . . . . . . . . .8
2.5.1 SDO read object . . . . . . . . . . . . . . . . . . .8
2.5.2 SDO write object . . . . . . . . . . . . . . . . . . .9
3. CANopen communication 9
3.1 CANopen introduction . . . . . . . . . . . . . . . . . . .9
3.2 Device profile 404. . . . . . . . . . . . . . . . . . . . 10
3.3 Service data object (SDO) . . . . . . . . . . . . . . . . . 10
3.3.1 SDO read object . . . . . . . . . . . . . . . . . . 11
3.3.2 SDO write object . . . . . . . . . . . . . . . . . . 11
3.3.3 Abort SDO Transfer . . . . . . . . . . . . . . . . . 12
3.3.4 SDO Abort Codes . . . . . . . . . . . . . . . . . . 12
3.4 Transmit process data object (TPDO) . . . . . . . . . . . . . 13
3.4.1 TPDO mapping . . . . . . . . . . . . . . . . . . . 13
3.4.2 Changing the TPDO mapping . . . . . . . . . . . . . . 14
3.4.3 TPDO transmission types . . . . . . . . . . . . . . . 15
3.5 Network management (NMT) . . . . . . . . . . . . . . . . 16
3.5.1 Module Control Protocol . . . . . . . . . . . . . . . . 16
3.5.2 Error Control Services . . . . . . . . . . . . . . . . 17
3.5.3 Bootup Service . . . . . . . . . . . . . . . . . . . 17
3.6 Emergency object (EMCY). . . . . . . . . . . . . . . . . 17
4. The Object Dictionary 18
4.1 Object Dictionary – Communication Profile Area . . . . . . . . . 18
4.1.1 Object 1000h: Device Type . . . . . . . . . . . . . . . 18
4.1.2 Object 1001h: Error Register . . . . . . . . . . . . . . 18
4.1.3 Object 1003h: Predefined Error Field . . . . . . . . . . . 18
4.1.4 Object 1005h: COB-ID SYNC . . . . . . . . . . . . . . 20
4.1.5 Object 1008h: Manufacturer Device Name . . . . . . . . . 21

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4.1.6 Object 1009h: Manufacturer Hardware Version . . . . . . . . 21
4.1.7 Object 100Ah: Manufacturer Software Version . . . . . . . . 21
4.1.8 Object 1010h: Store Parameter Field . . . . . . . . . . . 21
4.1.9 Object 1011h: Restore Default Parameters . . . . . . . . . 23
4.1.10 Object 1014h: COB ID EMCY . . . . . . . . . . . . . . 24
4.1.11 Object 1015h: Inhibit Time Emergency . . . . . . . . . . . 25
4.1.12 Object 1017h: Producer Heartbeat Time . . . . . . . . . . 25
4.1.13 Object 1018h: Identity Object . . . . . . . . . . . . . . 25
4.1.14 Object 1800h to 1801h: Transmit PDO Communication Parameter . 27
4.1.15 Object 1A00h to 1A01h: Transmit PDO Mapping Parameter . . . . 28
4.1.16 Object 1F80h: NMT Startup . . . . . . . . . . . . . . 31
4.2 Object Dictionary – Device Profile Area . . . . . . . . . . . . 32
4.2.1 Object 6110h: AI Sensor Type . . . . . . . . . . . . . . 32
4.2.2 Object 6112h: AI Operating Mode . . . . . . . . . . . . 33
4.2.3 Object 6125h: AI Autozero . . . . . . . . . . . . . . . 34
4.2.4 Object 6126h: AI Scaling Factor . . . . . . . . . . . . . 34
4.2.5 Object 6127h: AI Scaling Offset . . . . . . . . . . . . . 35
4.2.6 Object 6130h: AI Input PV . . . . . . . . . . . . . . . 36
4.2.7 Object 6131h: AI Physical Unit PV . . . . . . . . . . . . 37
4.2.8 Object 6132h: AI Decimal Digits PV . . . . . . . . . . . . 39
4.2.9 Object 6133h: AI Interrupt Delta Input PV . . . . . . . . . . 40
4.2.10 Object 6134h: AI Interrupt Lower Limit Input PV . . . . . . . . 41
4.2.11 Object 6135h: AI AI Interrupt Upper Limit Input PV . . . . . . . 42
4.2.12 Object 6136h: AI Interrupt Hysteresis Input PV . . . . . . . . 42
4.2.13 Object 6148h: AI Span Start . . . . . . . . . . . . . . 43
4.2.14 Object 6149h: AI Span End . . . . . . . . . . . . . . . 44
4.2.15 Object 6150h: AI Status . . . . . . . . . . . . . . . . 45
4.2.16 Object 61A0h: AI Filter Type . . . . . . . . . . . . . . 47
4.2.17 Object 61A1h: AI Filter Constant . . . . . . . . . . . . . 47
4.2.18 Object 7100h: AI Input FV . . . . . . . . . . . . . . . 48
4.2.19 Object 7130h: AI Input PV . . . . . . . . . . . . . . . 49
4.2.20 Object 7133h: AI Interrupt Delta Input PV . . . . . . . . . . 50
4.2.21 Object 7134h: AI Interrupt Lower Limit Input PV . . . . . . . . 51
4.2.22 Object 7135h: AI Interrupt Upper Limit Input PV . . . . . . . . 52
4.2.23 Object 7136h: AI Interrupt Hysteresis Input PV . . . . . . . . 53
4.2.24 Object 7148h: AI Span Start . . . . . . . . . . . . . . 53
4.2.25 Object 7149h: AI Span End . . . . . . . . . . . . . . . 54
4.2.26 Object 9130h: AI Input PV . . . . . . . . . . . . . . . 55
4.2.27 Object 9133h: AI Interrupt Delta Input PV . . . . . . . . . . 56
4.2.28 Object 9134h: AI Interrupt Lower Limit Input PV . . . . . . . . 57
4.2.29 Object 9135h: AI Interrupt Upper Limit Input PV . . . . . . . . 58
4.2.30 Object 9136h: AI Interrupt Hysteresis Input PV . . . . . . . . 59
Contents

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4.2.31 Object 9148h: AI Span Start . . . . . . . . . . . . . . 60
4.2.32 Object 9149h: AI Span End . . . . . . . . . . . . . . . 61
4.3 Object Dictionary – Manufacturer Specific Area. . . . . . . . . . 62
4.3.1 Object 2010h: Measuring Range Start PV . . . . . . . . . . 62
4.3.2 Object 2011h: Measuring Range End PV . . . . . . . . . . 63
4.3.3 Object 2012h: Original Physical Unit PV . . . . . . . . . . 64
4.3.4 Object 2020h: Minimum Value PV . . . . . . . . . . . . 65
4.3.5 Object 2021h: Maximum Value PV . . . . . . . . . . . . 66
4.3.6 Object 2022h: Reset Min Max Value PV . . . . . . . . . . 67
4.3.7 Object 2023h: Damping PV . . . . . . . . . . . . . . . 68
4.3.8 Object 2320h: Node-ID . . . . . . . . . . . . . . . . 69
4.3.9 Object 2321h: Bitrate . . . . . . . . . . . . . . . . . 70
5. Emergency Object (EMCY) 70
6. References 74
7. Change log 74
Contents

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1. Model MH-4-CAN
1.1 General information
The MH-4-CAN is a pressure sensor providing measurements through a CANopen
interface implementing device profile DS404.
1.2 Features
Sample rate (pressure): 640 µs
Settling time: 2 ms
1.3 CANopen feature summary
CANopen feature summary
CANopen type NMT Slave
Bitrate From 20 kBit/s to 1 Mbit/s
Number of transmit PDOs 2
PDO Mapping Dynamic
PDO Triggering Events Synchronous, asynchronous
Heartbeat Protocol Supported
Emergency Messages Supported
Device Profile CiA 404
Layer Setting Services (LSS) Supported
Default settings
Node-ID 1
Bitrate 250 kBit/s
1.4 Supported bitrates
■1.000 kBit/s
■800 kBit/s
■500 kBit/s
■250 kBit/s
■125 kBit/s
■50 kBit/s
■20 kBit/s
■Automatic bit rate detection
1.5 CAN frames
The pressure transmitter supports standard CAN frames with 11-bit identifier. Extended
frames with 29-bit identifier are not supported but tolerated.
1. Model MH-4-CAN

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2. Quick start guide
2.1 Quick start introduction
This chapter describes setting the sensor up using a simple CAN-Software without
specialized CANopen support. The sensor may be configured entirely using raw CAN
telegrams.We recommend to use a software with build-in CANopen support.
Please do note this is only a couple of possible configurations, for full details please
refer to the official CANopen specification.
2.2 Connecting and powering the device
First setup the sensor:
■Connect the CAN interface to your PC (e.g. PEAK PCAN-USB, Ixxat USB-to-
CAN) and to the sensor and start the CAN-Software (e.g. PEAK PCAN-View, Ixxat
canAnalyser3 Mini). Ensure you use the correct bitrate and Node-ID of the pressure
transmitter.
■When the MH-4 is powered up it sends a Boot-Up message
ID DLC Byte0
700h + Node-ID 1 00h
The sensor is now in PRE-OPERATIONAL mode and ready to be configured by SDO
(if necessary).
2.3 Configuring the device
The sensor is now ready to be configured and started. Choose one of the following
transmission methods:
■Acyclic synchronous transmission (transmission type = 0)
Triggered when the SYNC message is received and one of the mapped process data
has changed its value after the last transmission.
■Cyclic synchronous transmission (transmission type = 1 ... 240) (default = 1)
Triggered when a SYNC message is received (type = 1), each second SYNC
message received (type = 2), etc.
■Asynchronous event/timer triggered
■Timer triggered (transmission type = 254)
Adjustable in ms (via Object 1800h.5)
■Event triggered (transmission type = 254/255)
If the measured value falls below or exceeds an adjustable limit.
If the measured value has changed by more than a delta value compared to the
last transferred measured value.
In order to change the transmission type object 1800h.2 must be changed to the
appropriate transmission type using SDO write access (see 2.5).
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2.4 Starting the device
The configured device must now be started by the master:
■In order to send PDO-messages the sensor has to be set to OPERATIONAL mode
Master transmits:
ID DLC Byte0 Byte1
00h
(0 = all nodes)
2 01h Node-ID
The sensor is now in OPERATIONAL mode
■Depending on the previous selected transmission type the master needs to send the
SYNC object:
Master transmits:
ID DLC
80h 0
The received data now looks like (depending on configuration):
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4
180h +
Node-ID
5 6130h subindex 1 6150h
subindex 1
This data is called TPDO.
2.5 Service Data Object (SDO)
2.5.1 SDO read object
The SDO read object to read an dictionary entry:
Master transmits:
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
600h +
Node-ID
8 CS =
40h
LSB MSB Subindex 00h 00h 00h 00h
Index
MH-4 CAN replies:
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
580h +
Node-ID
8 CS LSB MSB Subindex LSB MSB
Index Data
2. Quick start guide

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CS Number of valid bytes
4Fh 1 (Byte4)
4Bh 2 (Byte4 - Byte5)
47h 3 (Byte4 - Byte6)
43h 4 (Byte4 – Byte7)
2.5.2 SDO write object
The SDO read object to write data to an dictionary entry:
Master transmits:
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
600h +
Node-ID
8 CS LSB MSB Subindex LSB MSB
Index Data
CS Number of valid bytes
2Fh 1 (Byte4)
2Bh 2 (Byte4 - Byte5)
27h 3 (Byte4 - Byte6)
23h 4 (Byte4 – Byte7)
MH-4 CAN replies:
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
580h +
Node-ID
8 CS =
60h
LSB MSB Subindex 00h 00h 00h 00h
Index
Other values for CS than 60h are abort codes, indicating a failed SDO write (see 3.3).
3. CANopen communication
3.1 CANopen introduction
CANopen is a communication protocol using the CAN bus to provide sensor access and
measurements.
All CANopen data is stored in the CANopen dictionary. CANopen supports a couple of
different objects to access the object dictionary entries:
■SDO (Service Data Object): Used to access any object of the object dictionary. Offers
read and write functionality. Usually used to indentify and configure the sensor.
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■TPDO (Transmit Process Data Object): Provides status and measurement
information with a low communication overhead. Usually used to retrieve the
measured data.
The CANopen dictionary contains all data the sensor provides. It consists of multiple
entries with the following properties (in excerpts):
■Index: The 16bit object index, usually written in hexadecimal, e.g.: 1000h
■Subindex: Each object may contain up to 255 subobjects. If no subobjects are
supported a subindex of 0 is used. In case of existing subobjects subindex 0 provides
a UNSIGEND8 value indicating the number of provided subobjects.
■Data Type: The data type, e.g.: UNSIGEND32 (unsigned 32 bit integer)
■Access: The permitted dictionary access, e.g.: RW (ReadWrite), RO (Read Only)
■Default Value: The default value of an object after CANopen device initialization
■PDO Mapping: When yes the object may be transmitted by TPDO (depending on
TPDO configuration, see 3.4.1)
In the following document objects and subobjects are referenced by following
nomenclature: “object.subobject” (e.g. 1A00h.01 means object index 1A00h, subobject
01h). All indices are given as hex numbers.
CANopen devices implement different device profiles, which provide different
funktioniality and object entries.
3.2 Device profile 404
The sensor implements the CANopen devicve profile 404 for measuring devices.This
adds a couple of object dictionary entries, ranging from 6110h to 9149h.
The measurement values are called analog input process values. Mainly they are
provided through the entries 6130h, 7130h and 9130h (Analog input PV).
A couple of objects, like the analog input PV exist in 3 ways, distinguished by the fist
character:
■6xxxh The resulting data type is REAL32 (IEE 754)
■7xxxh The resulting data type is INTEGER16
■9xxxh The resulting data type is INTEGER32
Entries like these are often referred to in a form like x130h, which means ‘any kind of
analog input’
3.3 Service data object (SDO)
Service Data Objects are used to access the entries of the transmitters object dictionary.
Therefore the dictionary entries are accessed by index and subindex.
Therefore the master sends a specific request message followed by an reply from the
sensor.
3. CANopen communication