Woodward DTSC-200 User manual

37486A
Interface
Software Version 2.0xxx
Manual 37486A
DTSC-200
ATS Controller

Manual 37486A DTSC-200 - ATS Controller
Page 2/86 © Woodward
WARNING
Read this entire manual and all other publications pertaining to the work to be performed before in-
stalling, operating, or servicing this equipment. Practice all plant and safety instructions and precau-
tions. Failure to follow instructions can cause personal injury and/or property damage.
The engine, turbine, or other type of prime mover should be equipped with an overspeed
(overtemperature, or overpressure, where applicable) shutdown device(s), that operates totally inde-
pendently of the prime mover control device(s) to protect against runaway or damage to the engine,
turbine, or other type of prime mover with possible personal injury or loss of life should the mechani-
cal-hydraulic governor(s) or electric control(s), the actuator(s), fuel control(s), the driving mecha-
nism(s), the linkage(s), or the controlled device(s) fail.
Any unauthorized modifications to or use of this equipment outside its specified mechanical, electrical,
or other operating limits may cause personal injury and/or property damage, including damage to the
equipment. Any such unauthorized modifications: (i) constitute "misuse" and/or "negligence" within
the meaning of the product warranty thereby excluding warranty coverage for any resulting damage,
and (ii) invalidate product certifications or listings.
CAUTION
To prevent damage to a control system that uses an alternator or battery-charging device, make sure
the charging device is turned off before disconnecting the battery from the system.
Electronic controls contain static-sensitive parts. Observe the following precautions to prevent dam-
age to these parts.
•
Discharge body static before handling the control (with power to the control turned off, contact a
grounded surface and maintain contact while handling the control).
•
Avoid all plastic, vinyl, and Styrofoam (except antistatic versions) around printed circuit boards.
•
Do not touch the components or conductors on a printed circuit board with your hands or with
conductive devices.
OUT-OF-DATE PUBLICATION
This publication may have been revised or updated since this copy was produced. To verify that you
have the latest revision, be sure to check the Woodward website. The revision level is shown at the
bottom of the front cover after the publication number. The latest version of most publications is avail-
able at:
http://www.woodward.com/publications
If your publication is not there, please contact your customer service representative to get the latest
copy.
Important definitions
WARNING
Indicates a potentially hazardous situation that, if not avoided, could result in death or serious injury.
CAUTION
Indicates a potentially hazardous situation that, if not avoided, could result in damage to equipment.
NOTE
Provides other helpful information that does not fall under the warning or caution categories.
Woodward reserves the right to update any portion of this publication at any time. Information provided by Woodward is believed to be
correct and reliable. However, Woodward assumes no responsibility unless otherwise expressly undertaken.
© Woodward
All Rights Reserved.

Manual 37486A DTSC-200 - ATS Controller
© Woodward Page 3/86
Revision History
Rev.
Date
Editor
Changes
A
2014-01-28
GG
Describes software version 2.0xxx
Changes to previous version
New parameter added:
•12891 ‘Reset Limit Switch Failure’.
See Data Protocol 4701 on page 49.
NEW
11-11-17
TE
Release Software Version 2.0xxx - Based on 37389A
Contents
CHAPTER 1. GENERAL INFORMATION ....................................................................................... 6
Related Documents.................................................................................................................................. 6
Interface Overview ................................................................................................................................... 7
Modbus Half/Full Duplex Application ............................................................................................. 8
CAN Bus................................................................................................................................................... 9
CHAPTER 2. DATA TELEGRAMS ............................................................................................. 10
Interface Monitoring ............................................................................................................................... 10
Transmit Telegram ................................................................................................................................. 10
Modbus ........................................................................................................................................ 10
CANopen ..................................................................................................................................... 10
Receive Telegram .................................................................................................................................. 11
Modbus ........................................................................................................................................ 11
CANopen ..................................................................................................................................... 11
CHAPTER 3. SERIAL INTERFACE............................................................................................. 12
Overview ................................................................................................................................................ 12
Modbus RTU Slave ................................................................................................................................ 13
General Information ..................................................................................................................... 13
Configuration................................................................................................................................ 13
Modbus Addressing and Data Model..................................................................................................... 14
Visualization ........................................................................................................................................... 15
Configuration.......................................................................................................................................... 16
Exception Responses ............................................................................................................................ 19
CHAPTER 4. CANOPEN ......................................................................................................... 20
Introduction............................................................................................................................................. 20
Server Data Objects (SDO) - Communication.............................................................................21
Process Data Objects (PDO)....................................................................................................... 23
Setting the Transmit PDO (Examples)......................................................................................... 24
SYNC Message ........................................................................................................................... 25
Using a CANopen Configuration Program................................................................................... 25
Settings for Connection with External Devices ...................................................................................... 26
Expansion with One IKD 1 (8 Additional External DI/DO) ........................................................... 27
Expansion with Two IKD 1 (16 Additional External DI/DO) ......................................................... 28
Expansion with the Phoenix terminal IL CAN BK 16DI 16DO ..................................................... 30
Description of the DTSC Parameters..................................................................................................... 32
Interfaces: General ...................................................................................................................... 32
General CANopen Parameters.................................................................................................... 33
CANopen Receive PDO (RPDO) {x} ({x} = 1/2)...........................................................................35
Combine Functions with Each Other ........................................................................................... 35
CANopen Transmit PDO (TPDO) {x} ({x} = 1 to 4) ...................................................................... 36

Manual 37486A DTSC-200 - ATS Controller
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FAQ CAN Bus........................................................................................................................................ 38
Recommendations of Woodward ................................................................................................ 38
Device Combinations and Bus Load ........................................................................................... 38
Transmission Telegram ......................................................................................................................... 41
Data Protocol 4701...................................................................................................................... 41
Data Protocol 4800 (Source 1 Data) ........................................................................................... 50
Data Protocol 4801 (Source 2 Data) ........................................................................................... 52
Data Protocol 4802 (Source 1 Data) ........................................................................................... 55
Data Protocol 4803 (Source 2 Data) ........................................................................................... 57
Remote Control Telegram ..................................................................................................................... 60
Description of the Common Data Types................................................................................................ 61
Structure of the PDO-COB-ID Entry (UNSIGNED32) ................................................................. 61
Description of the Object Parameter ..................................................................................................... 62
Data Format of Different Functions ....................................................................................................... 69
Receiving Messages ................................................................................................................... 69
Definition of Protocol Descriptions......................................................................................................... 70
Unsigned Integer ......................................................................................................................... 70
Signed Integer ............................................................................................................................. 71
Transmission Telegram ............................................................................................................... 72
CANopen: Mapping Parameter ................................................................................................... 74
Remote Control...................................................................................................................................... 79
Configuration of the LogicsManager Functions........................................................................... 79
Remote Control Telegram ..................................................................................................................... 80
Remote Control via CAN ....................................................................................................................... 80
Remote Acknowledgement ......................................................................................................... 80
Remote Control via Modbus .................................................................................................................. 83
Sending a Data Protocol via TPDO ....................................................................................................... 85
Cyclically Sending of Data........................................................................................................... 85
Sending of Data on Request ....................................................................................................... 85

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Illustrations And Tables
Illustrations
Figure 1-1: Interface overview.............................................................................................................................. 7
Figure 1-2: Interface overview - serial interface Modbus full-duplex................................................................... 8
Figure 1-3: Interface overview - serial interface Modbus half-duplex .................................................................. 8
Figure 1-4: CAN bus topology.............................................................................................................................. 9
Figure 1-5: Interface - The CAN bus loop ............................................................................................................ 9
Figure3-1: Serial interface - overview..................................................................................................................12
Figure 3-2: Modbus - visualization configurations ..............................................................................................15
Figure 3-3: Modbus - configuration example 1....................................................................................................17
Figure 3-4: Modbus - configuration example 2....................................................................................................17
Figure 3-5: Modbus - configuration example 3....................................................................................................18
Figure 4-1: CANopen interface - overview..........................................................................................................22
Figure 4-2: CANopen interface - CANopen configuration software....................................................................25
Figure 4-3: CANopen interface - external devices...............................................................................................26
Figure 4-4: CANopen Schnittstelle - Einstellungen für externe Geräte ...............................................................27
Figure 4-5: CANopen interface - expansion with two IKD 1...............................................................................28
Figure 4-6: CANopen interface - expansion with Phoenix terminal ....................................................................30
Figure 4-7: Display screen - Ext. acknowledge....................................................................................................79
Figure 4-8: Display screen - configure CAN interface.........................................................................................80
Figure 4-9: CANopen request data for Node ID 1 ...............................................................................................81
Figure 4-10: Display screen - configure device number ......................................................................................81
Figure 4-11: CANopen request data for Node ID 2 .............................................................................................81
Figure 4-12: Display screen - configure Server SDOs .........................................................................................82
Figure 4-13: CANopen request data for additional Server SDO..........................................................................83
Figure 4-14: Modbus - remote control parameter 503..........................................................................................84
Figure 4-15: Modbus - write register ...................................................................................................................84
Figure 4-16: Cyclical sending of data - Sync Message request............................................................................85
Figure 4-17: Cyclical sending of data - reply.......................................................................................................85
Tables
Table 1-1: Manual - overview............................................................................................................................... 6
Table 3-1: Modbus - address range block read.....................................................................................................15
Table 3-2: Modbus - address calculation .............................................................................................................16
Table 3-3: Modbus - data types............................................................................................................................16
Table 3-4: Modbus - exception responses............................................................................................................19

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Chapter 1.
General Information
Related Documents
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Type
English
German
DTSC-200
DTSC-200 - Installation
37482
-
DTSC-200 - Configuration
37483
-
DTSC-200 - Operation
37484
-
DTSC-200 - Application
37485
-
DTSC-200 - Interfaces
this manual 
37486
-
Table 1-1: Manual - overview
Intended Use The unit must only be operated in the manner described by this manual. The prerequisite for a
proper and safe operation of the product is correct transportation, storage, and installation as well as careful oper-
ation and maintenance.
NOTE
This manual has been developed for a unit fitted with all available options. Inputs/outputs, functions,
configuration screens, and other details described, which do not exist on your unit, may be ignored.
The present manual has been prepared to enable the installation and commissioning of the unit. Due to
the large variety of parameter settings, it is not possible to cover every combination. The manual is
therefore only a guide. In case of incorrect entries or a total loss of functions, the default settings may
be taken from the list of parameters enclosed in the configuration manual 37483.

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Interface Overview
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The DTSC-200 provides the following communication interfaces:
•Serial interface 1 (Service Port – DPC cable)
ToolKit
•Serial interface 2 (RS-485)
Modbus
•CAN interface
CANopen
Figure 1-1: Interface overview
NOTE
Please refer to Chapter “Service Port” (Installation Manual 37482) for details.
WARNING
When connecting the direct configuration interface, the Woodward DPC with RJ-45 connector must be
used. Failure to do so may destroy the unit.
Serial interface
1
CAN interface
Modbus RTU Slave
ToolKit
CANopen protocol
Modem
(
RS
-
232
)
PLC
Phoenix
IO module
IKD
1
IO module
DPC
RS
-
232
Serial interface
2
RS
-
485
PC
Modem
(ServLink)

Manual 37486A DTSC-200 - ATS Controller
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Modbus Half/Full Duplex Application
Figure 1-2: Interface overview - serial interface Modbus full-duplex
Figure 1-3: Interface overview - serial interface Modbus half-duplex

Manual 37486A DTSC-200 - ATS Controller
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CAN Bus
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Figure 1-4: CAN bus topology
Characteristics of the CAN interface used by Woodward:
•Standard: Compatible with ISO 11898
•Electrically isolated: Isolation voltage 1,500 VDC
NOTE
Please note that the CAN bus must be terminated with an impedance which corresponds to the wave
impedance of the cable (e.g. 120 Ohm, ¼ W). The CAN bus is terminated between CAN-H and CAN-L.
Figure 1-5: Interface - The CAN bus loop
Bus line Bus line Bus line Bus line
Terminantion
resistor
Terminantion
resistor
120 Ohm 120 Ohm
CAN_H
CAN_L
CAN bus
Node 1 Node 30

Manual 37486A DTSC-200 - ATS Controller
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Chapter 2.
Data Telegrams
Interface Monitoring
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It is possible to monitor the CAN interface for received data of an external I/O board. Refer to the configuration
manual for more information about this monitoring function.
Transmit Telegram
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The transmit telegram provides all measuring and status data of the DTSC. The data has different addresses and
will be transmitted in the respective format depending on the selected interface.
Modbus
Data transmission in Modbus format is performed in the order of the transmit telegram (refer to Appendix A:
Transmission Telegram on page 41). The data addresses may be taken from the respective column of the transmit
telegram.
CANopen
Using the mapped objects, which are described in detail starting on page 23, enables you to send data by setting
the object ID 2C76h on the basis of the CANopen protocol.
This document contains tables of further mapped objects, which may be configured. Refer to Appendix A:
Transmission Telegram on page 41.
NOTE
When using the mapped objects listed in the appendix instead of the complete transmit telegram, the
refresh rate of the messages may be reduced.

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Receive Telegram
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The receive telegram enables to acknowledge alarm messages, which are no longer active, via remote control
In order to execute the desired command, a rise of the pulse of the respective signal from Low to High is re-
quired.
An acknowledgement command must be sent twice. The first rise of the pulse resets the horn. The second rise of
the pulse acknowledges the unit, if the fault is not present anymore.
NOTE
Please note that the respective remote control parameters must be configured in the LogicsManager of
the unit. Refer to the application manual 37485 for more detailed information about this.
Modbus
It is possible to remote control the DTSC using the bits 2 to 4 of control word 1 on address 503. The Remote
Control Telegram in Appendix A on page 60 is valid for both, CANopen as well as Modbus, and indicates the ar-
rangement of the remote control bits.
CANopen
It is possible to remote control the DTSC using the bits 2 to 4 of control word 1 on address 503. The Remote
Control Telegram in Appendix A on page 60 is valid for both, CANopen as well as Modbus, and indicates the ar-
rangement of the remote control bits.

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Chapter 3.
Serial Interface
Overview
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Figure3-1: Serial interface - overview
NOTE
Please refer to Chapter “Service Port” (Installation Manual 37482) for details.
ToolKit
t
Modem RS
-
232
port
PC RS
-
232
port
PLC RS
-
485
port
PLC RS
-
232
port
Serial
1
via DPC
Serial
2

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Modbus RTU Slave
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General Information
Modbus is a serial communications protocol published by Modicon in 1979 for use with its programmable logic
controllers (PLCs). It has become a de facto standard communications protocol in industry, and is now the most
commonly available means of connecting industrial electronic devices. The DTSC supports a Modbus RTU Slave
module. This means that a Master node needs to poll the DTSC slave node. Modbus RTU can also be multi-
dropped, or in other words, multiple Slave devices can exist on one Modbus RTU network, assuming that the se-
rial interface is a RS-485. Detailed Information about the Modbus protocol is available on the following website:
http://www.modbus.org/specs.php
There are also various tools available on the internet. We recommend using ModScan32 which is a Windows ap-
plication designed to operate as a Modbus Master device for accessing data points in a connected Modbus Slave
device. It is designed primarily as a testing device for verification of correct protocol operation in new or existing
systems. It is possible to download a trial version from the following website:
http://www.win-tech.com/html/modscan32.htm
Configuration
EN
Baudrate
Serial interface 2: Baud rate 2.4 / 4.8 / 9.6 / 14.4 / 19.2 / 38.4 / 56 / 115 kBaud
This parameter defines the baud rate for communications. Please note, that all
participants on the service interface must use the same baud rate.
DE
Baudrate
CL2
3170
EN
Parity
Serial interface 2: Parity no / even / odd
The used parity of the service interface is set here.
DE
Parity
CL2
3171
EN
Stop bits
Serial interface 2: Stop bits one / two
The number of stop bits is set here.
DE
Stop Bits
CL2
3172
EN
Full-, halfduplex mode
Serial interface 2: Full-/halfduplex mode Fullduplex / Halfduplex
Fullduplex... Fullduplex mode is enabled.
Halfduplex .. Halfduplex mode is enabled.
DE
Voll-, Halbduplex Modus
CL2
3173
EN
ModBus Slave ID
Serial interface: Modbus Slave ID 0 to 255
The Modbus device address is entered here, which is used to identify the device
via Modbus. If 0 is entered here, the Modbus Slave module is disabled.
DE
ModBus Slave ID
CL2
3185
EN
Modbus Reply delay time
Serial interface: Reply delay time 0,00 to 1,00 s
This is the minimum delay time between a request from the Modbus master and
the sent response of the slave. This time is also required if an external interface
converter to RS-485 is used for example. Please note that you also need the
DPC in this case.
DE
Modbus Zeitverzöger. der Antwort
CL2
3186

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Modbus Addressing and Data Model
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The DTSC Modbus slave module distinguishes between visualization data and configuration & remote control
data. The different data is accessible over a split address range and may be read via the "Read Holding Register"
function. Furthermore, DTSC parameters and remote control data can be written with the "Preset Single Regis-
ters" function or "Preset Multiple Registers" (refer to figure below).
Modicon
address
DTSC
visualization data
Modbus commands:
Read Holding Register (0x03)
450001
450000
DTSC
remote control
&
configuration data
Read Holding (0x03)
Preset Multiple Registers (0x10)
Preset Single Register (0x06)
40001
NOTE
All addresses in this document comply with the Modicon address convention. Some PLCs or PC pro-
grams use different address conventions depending on their implementation. Then the address must
be increased and the leading 4 may be omitted.
Please refer to your PLC or program manual for more information. This determines the address sent
over the bus in the Modbus telegram. The Modbus starting address 450001 of the visualization data
may become bus address 50000 for example.

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Visualization
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The visualization over Modbus is provided in a very fast data protocol where important system data like alarm
states, AC measurement data, switch states and various other information may be polled. According to the DTSC
Modbus addressing range, the visualization protocol can be reached on addresses starting at 450001. On this ad-
dress range it is possible to do block reads from 1 up to 128 Modbus registers at a time.
Modbus Read
Addresses
Description
Multiplier
Units
450001
Protocol-ID
--
450002
Source 2: Voltage VL12
0.1
V
............
.........
.....
.....
............
.........
.....
.....
............
.........
.....
.....
............
.........
.....
.....
450088
Timer state feedback signals
-
-
Table 3-1: Modbus - address range block read
NOTE
Table 3-1 is only an excerpt of the data protocol. It conforms to the data protocol, that is also used by
CAN bus. Refer to Appendix A: Transmission Telegram on page 41 for the complete protocol.
The following exemplary ModScan32 screenshot shows the configurations made to read the visualization proto-
col with a block read of 128 registers.
Figure 3-2: Modbus - visualization configurations

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Configuration
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The Modbus interface can be used to read/write parameters of the DTSC. According to the DTSC Modbus ad-
dressing range for the configuration addresses, the range starts at 40001 and ends at 450000. You can always ac-
cess only one parameter of the system in this address range. The Modbus address can be calculated depending on
the parameter ID as illustrated below:
Parameter ID < 10000
Parameter ID >= 10000
Modbus address =
40000 + (Par. ID+1)
400000 + (Par. ID+1)
Table 3-2: Modbus - address calculation
Block reads in this address range depend on the data type of the parameter. This makes it important to set the cor-
rect length in Modbus registers which depends on the data type (UNSIGNED 8, INTEGER 16, etc.). Refer to Ta-
ble 3-3 for more information.
DTSC types
Modbus
registers
UNSIGNED 8
1
UNSIGNED 16
1
INTEGER 16
1
UNSIGNED 32
2
INTEGER
32
2
LOGMAN
7
TEXT/X
X/2
Table 3-3: Modbus - data types
NOTE
The parameters of the following examples are an excerpt of the parameter list in the appendix of the
Configuration Manual 37483. Please refer to this manual for the complete parameter list.
NOTE
Be sure to enter the password for code level 2 or higher for the corresponding interface to get access
for changing parameter settings.
NOTE
The new entered value must comply with the parameter setting range when changing the parameter
setting.

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Example 1: Addressing the password for the CAN interface:
Par.
ID.
Parameter Setting range Data type
10402
Password for CAN interface1
0000 to 9999
UNSIGNED 16
Modbus address = 400000 + (Par. ID +1) = 410403
Modbus length = 1 (UNSIGNED 16)
The following Modscan32 screenshot shows the configurations made to address parameter 10402.
Figure 3-3: Modbus - configuration example 1
Example 2: Addressing the rated voltage of source 1:
Par.
ID.
Parameter Setting range Data type
1774
Rated voltage S1
50 to 650000 V
UNSIGNED 32
Modbus address = 40000 + (Par. ID +1) = 41775
Modbus length = 2 (UNSIGNED 32)
The following Modscan32 screenshot shows the configurations made to address parameter 1774.
Figure 3-4: Modbus - configuration example 2

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Example 3: Addressing source 2 voltage measuring:
Par.
ID.
Parameter Setting range Data type
1861 S2 voltage measuring
3Ph 4W {0}
3Ph 3W {1}
1Ph 2W {2}
1Ph 3W {3}
UNSIGNED 16
Modbus address = 40000 + (Par. ID +1) = 41862
Modbus length = 1 (UNSIGNED 16)
NOTE
If the setting range contains a list of parameter settings like in this example, the parameter settings are
numbered and start with 0 for the first parameter setting. The number corresponding with the respec-
tive parameter setting must be configured.
The following Modscan32 screenshot shows the configurations made to address parameter 1861, which is con-
figured to "3Ph 4W".
Figure 3-5: Modbus - configuration example 3

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Exception Responses
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The DTSC Modbus interface has multiple exception responses to show that a request could not be executed. Ex-
ception responses can be recognized if the response telegram contains the request function code with an offset
of 128 (0x80 hex).
Table 3-4 explains possible reasons for an exception response that occurred.
DTSC Modbus
Exception Responses
Code
Name
Reason
01
ILLEGAL FUNCTION
•The sent request function code is not supported by the DTSC
Modbus interface.
02
ILLEGAL ADDRESS
•Permission to read/write the parameter is denied.
•The amount of requested registers is wrong to read/write this reg-
isters.
03
ILLEGAL DATA VALUE
•The data value exceeds the min. and max. limitations of the pa-
rameter upon a write request.
•
There is no parameter on the requested address.
Table 3-4: Modbus - exception responses

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Chapter 4.
CANopen
Introduction
≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡
Extract from: Controller Area Network; Basics, Protocols, Chips and Applications; By Prof. Dr.-Ing. K. Etschberger; ISBN: 3-00-007376-0;
also see IXXAT GmbH (http://www.ixxat.de)
The CANopen family profile defines a standardized applica-
tion for distributed industrial automation systems based on
CAN as well as the communication standard CAN CAL.
CANopen is a standard of CAN-in-Automation (CiA) that af-
ter its release, found a broad acceptance, especially in Europe.
CANopen can be considered the leading standard for CAN
based industrial and embedded system solutions.
The CANopen family profile is based on a "Communication
Profile", which specifies the basic communication mechanisms
and their description.
The most important device types such as digital and analog I/O
modules, drives, operating devices, controllers, programmable
controls or encoders, are described by "Device Profiles". The
device profiles define the functionality, parameters, and access
to process data corresponding to the types of standard devices. These standardized profiles permit devices from
different manufacturers to be accessed via the bus in exactly the same manner.
The fundamental element of the CANopen standard is the description of the device functionality through an ob-
ject dictionary (OD). The object dictionary is divided into two sections. The first section contains general device
information like device identification, manufacturer name, etc., as well as communication parameters. The se-
cond section describes the specific device functionality.
A 16-Bit index and an 8-Bit sub-index identify the entry ("object") in the object dictionary. Each entry in the ob-
ject dictionary provide a basis for a standardized network access to the "Application Objects" of a device, such as
input and output signals, device parameters, device functions or network variables.
The functionality and characteristics of a CANopen device can be described by means of an "Electronic Data
Sheet" (EDS) using the ASCII-format. The EDS acts as a kind of template that describes the data and features,
which are accessible via the network. The "Device Configuration File" (DCF) describes the actual device set-
tings. EDS and DCF can be provided in the form of a data carrier, which can be downloaded from the Internet or
stored inside the device.