1
HN.50.Y1.0210-1998
Tech Note
CAN bus components
HN.50.Y1.02 is new
Introduction
Book 9 Partition 5
Danfoss has introduced a new remote control
system with CAN bus components that will
give customers greater flexibility as far as their
particular application needs are concerned. In
the new series, focus has been particularly
concentrated on:
• Improved performance
• Lower installation costs
• Easier servicing
• Improved safety
• Flexibility
CAN components can be used together with
PVG 32, PVG 120 and PVG 83.
What is CAN bus The CAN (Controller Area Network) bus was
originally designed for the automobile industry.
It is a serial communication interface in which
special emphasis is placed on the following
parameters:
• Safety
• Reliability
• Real time control
• Costs (installation/service)
Introduction
2 HN.50.Y1.02
CAN communication
CAN communication works on the prioritising
of messages, thus CAN uses familiar and
established methods such as CSMA/CA
(Carrier Sense, Multiple Access with Collision
Avoidance) with improved capability to avoid
collision (non-destructive bit arbitration). This
means that the message with the lowest identification code will have access to the bus
before other messages, ensuring that the
capacity of the bus can be utilised to the maximum.
The speed of the bus is limited by its length,
see below.
CANopen CAN components communicate using a
protocol. A protocol can be compared to a
language. The different protocols on the
market are adapted to the applications in
which they are used.
The CANopen protocol is particularly suitable
for mobile applications. There are many
suppliers on the market whose products work
together with CANopen, therefore it is easy to
put together a comprehensive CANopen
system.
CANopen uses objects for communication.
The most common are:
Service Data Object(SDO)
SDOs transfer large amounts of information
that is not time-critical eg setting-up parameters.
Process Data Object (PDO)
PDOs are used to transfer data that are timecritical. For example, joysticks transfer signals
via PDOs.
NMT is a special part that handles emergency
situations and other network administration.
Via an emergency object, the individual nodes
(components) are able to send a warning of
emergency situations. In this way, other CANopen components are able to identify the node
point from which the emergency call was sent.
CANopen specifies an Object Dictionary (OD)
that describes all parameters in the product.
This OD does not function solely as a specification file, but also as an interface with other
CANopen devices. In other words, a description is given detailing which parameters are
necessary to activate the different functions
the product can perform.
CAN communication is best understood in the
following way:
Instead of sending a message from component A to unit B, it is broadcast. Each component, a PVG CIP for example, is then able to
listen in and col-lect information relevant to it
selv. The message format is designated COB
(Communication Object), which applies to all
messages.
A COB has an identification code (COB-ID)
that makes it possible for a component, a PVG
CIP for example, to sort and prioritise transmitted communication objects (COBs). The
COB-ID clearly identifies the COB in a network.
Baud rate
Bus length
HN.50.Y1.02 3
The example above shows the structure of a
joystick COB.
1. A COB is started by sending a 0 (start of
frame).
2. An identification code (COB-ID) is sent and
through bit arbitration the message having
the lowest bit identification code is allowed
to continue.
3. RTR (Remote Transmission Request)
specifies whether the sender wishes to
receive or send data to the message
receiver.
4. DLC specifies the length of the data field.
5. The data field contains information on, for
example, joystick data.
6. The CRC field is used as a safety control
for finding bit error.
7. The receipt field is a position in which all
other components acknowledge receiving a
message.
Prop 1 Prop 4Prop 3 Prop 1-4 Push 1 Push 2Prop 2
Start of frame
Identification code
RTR (Remote
Transmission Request)
DLC (Data
Length Code)
Data field CRC
Receipt field
Push...
4 HN.50.Y1.02
CAN components supplied by Danfoss can be
identified from the abbreviation CIP (CAN
Interfaced Product). We supply the following:
• PVG CIP
• Prof 1 CIP
• CIP Configuration Tool
Our objective is to supply CAN components
which are not only capable of communicating
with our own products, but also with other
Danfoss CAN concept standard available components. There are
many suppliers of CANopen components on
the market and therefore it is simple, inexpensive and very flexible to set up a comprehensive system.
The CIP Configuration Tool is designed to
guide hydraulic system designers/ service
technicians through system setup.
Prof 1 CIP The Prof 1 CIP joystick is available in many
mechanical configurations. To simplify the way
in which this information is shown in the COB,
the maximum configuration possibilities are
always built in. Depending on the actual configuration of the joystick, some of the fields for
proportional or on/off signals contain no information. The joystick sends information on the
first PDO (Process Data Object). As standard,
it sends cyclically at T
c
= 10 ms.
The Emergency Object is used if a fault arises
in the joystick.
Prof 1 CIP can be ordered as described in
Tech Note HN.50.Z3 Joystick Prof 1. New
modules for Prof 1 CIP are shown in the table
below.
Prof 1 CIP contains new functions often requested in hydraulic systems:
Joystick guide (x - y interlook)
This function ensures that only the first proportional signal activated from the control lever is
sent (prop 1 or prop 2).
Memory function
This function makes it possible for the user to
hold a proportional function by pressing a
selected memory button (on/off) in the
joystick. The associated proportional signal
can be deactivated by pressing the memory
button again or by activating the proportional
function in the opposite direction.
PVG CIP is designed to control up to eight
sections equipped with PVEO, PVEM, PVEH
or PVES, and versions with float position control.
PVG CIP is able to receive COBs sent in
joystick format from four joysticks or other
sources. The joystick signals are distributed to
the PVEs in relation to the actual setup. The
CAN signals are converted to proportional or
on/off values on the output pins of the module.
PVG CIP contains functions often used in
hydraulic systems:
PVG CIP • Two different ramps (principle 1 from EH
boxes)
• Flow limitation
• Deadband compensation
• Gain
• Software tuning of spool characteristics
• Spool float position control
• Power saving
• Service and diagnosing
• Softwiring
PVG CIP must be ordered as a separate com-
ponent with code number as follows.
Name Code no. 162B.... Pos. no. in code no. list Description
Length 230 mm with
Cable 6100 6
AMP 282404-1, male plug
AMP 282107-1, tab house
Main function module with
5100 5 CAN electronics
electronics
Name
Code no.
Description
155U....
PVG CIP 5660 With AMP plug 1-967280-1, male plug
HN.50.Y1.02 5
Supply voltage U
dc
10 - 30 V DC
Max. supply voltage 36 V DC
Max. pulsation (peak to peak) 5%
Common to PVG CIP & Prof 1 CIP
Power supply
Baud rate 10 Kbit/s - 1000 Kbit/s
Communication profile CANopen ver. 3.0
Typical start-up time < 500 ms
CAN Full CAN
CAN interface - ISO 11898 ver. 2.0 B
Emission EN 50081-2
Immunity EN 50082-2
HF immunity
ISO 14892 (60 V/m, 20 MHz - 1000 MHz)
ISO 13766 (60 V/m, 20 MHz - 1000 MHz)
EMC - EMC Directive (89/336/ECC)
Ambient temperature
Storage temperature -40°C to +90°C
Operating temperature -30°C to +70°C
Environmental data
Technical data
Prof 1 CIP
CAN_TERM Pin 1
CAN+ Pin 4
PVG CIP
CAN_TERM Pin 16
CAN+ Pin 3
Termination
A CAN bus must be terminated at both ends
where CAN+ and CAN- are to be connected
via a 120 Ω resistor.
The CIP Configuration Tool is a program
developed for setting up systems consisting of
PVG CIP and Prof 1 CIP.
CIP Configuration Tool
Termination can be effected by connecting a
jumper between the pins given below (a 120 Ω
resistor is fitted in the component).
ISO 11898
Vehicles, interchange of digital information - Controller Area
Network (CAN) for high-speed communication
CANopen communication profile for industrial systems, CiA
CANopen standard draft 3.0
Revision 3.0
EMC Directive 89/336/ECC
ISO 14892 Agricultural and forestry machines - electromagnetic compatibility
ISO 13766 Earth-moving machinery - electromagnetic compatibility
References
Name
Code no.
Description
155U....
CIP Configuration Tool 5670 Product contents
• CIP Configuration Tool
• CIP Downloading Utility
• CANview
• CAN dongle
• Documentation, examples, help files
6 HN.50.Y1.02
Prof 1 CIP data format The data format is independent of the mecha-
nical configuration. It is manufactured so that
a signal for an 8-bit processor can be extracted without signal manipulation. This gives 8bit signal resolution, and in order to get full
resolution (10 bit) signal manipulation is
necessary. This is standard on PVG CIP.
The data format is “twos complement” and is
shown in the figure below.
1 byte SIGN----MSB --------------------------------------------------------Prop1------------------------------------------------------------------2 byte SIGN----MSB --------------------------------------------------------Prop2-------------------------------------------------------------------3 byte SIGN----MSB --------------------------------------------------------Prop3-------------------------------------------------------------------4 byte SIGN----MSB --------------------------------------------------------Prop4-------------------------------------------------------------------5 byte rest_Prop4 - LSB rest_Prop3 - LSB rest_Prop2 - LSB rest_Prop1 - LSB
6 byte Push 8 Push 7 Push 6 Push 5 Push 4B Push 4A Push 3B Push 3A
8 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit
SIGN = +/−
MSB = Most significant bit
LSB = Least significant bit
HN.50.Y1.02 7
Voltage, neutral position 50% of U
dc
Voltage, full flow port A
25% of U
dc
Version with float position control 35% of U
dc
Voltage, full flow port B
75% of U
dc
Version with float position control 65% of U
dc
Voltage, float position
Version with float position control 80% of U
dc
control
Alarm input signals
Low < 1,6 V
High > 85% of U
dc
Max. linearity deviation 3%
Max. pulsation content (f > 2 kHz) 5%
Max. band width 10 Hz
Max. output current ± 1 mA
PVEM/H/S
Max. output current 1,2 A
PVEO
Max. output current 3 A
PVPE/PVPX
IP classification IP 66, IEC 529
Environmental data
Note: To ensure maximum safety, the normally open (NO)
version of PVPE/PVPX is recommended.
PVE outputs 8
PVE types that can be connected
PVEO, PVEM, PVEH, PVES incl.
versions with float position
PVPX/PVPE outputs 1
Resolution 9 bit (-100% to +100%)
AMP part no. 1-967280-1, PCB-connector
AMP part no. 1-967281-1, Timer house
Plug type
AMP part 0-929937-1, junior contact
(Only part no. 1-967280-1 supplied with PVG)
AMP part 0-962876-2, micro contact
AMP part no. 0-965643-1, cover
Seals and plugs
CAN setting Slave only
Electrical
PVG CIP specification
Pin number Name
1 PVPX out
2 CAN+
3 CAN+
4 Alarm_1
5 Alarm_2
6 Gnd
7 Alarm_3
8 Alarm_4
9 Alarm_5
10 Gnd
11 Alarm_6
12 Alarm_7
13 Alarm_8
14 Gnd
15 U
dc
16 CAN_TERM
17 Gnd
18 PVE1_A ♣ PVE1 signal ∇
19 PVE2_A ♣ PVE2 signal ∇
20 PVE3_A ♣ PVE3 signal ∇
21 Gnd
Pin number Name
22 PVE4_A ♣ PVE4 signal ∇
23 PVE5_A ♣ PVE5 signal ∇
24 PVE6_A ♣ PVE6 signal ∇
25 Gnd
26 PVE7_A ♣ PVE7 signal ∇
27 PVE8_A ♣ PVE8 signal ∇
28 Gnd
29 U
dc
30 CAN31 CAN32 PVE1_B ♣ PVE1 U
dc
∇
33 PVE2_B ♣ PVE2 U
dc
∇
34 PVE3_B ♣ PVE3 U
dc
∇
35 Gnd
36 PVE4_B ♣ PVE4 U
dc
∇
37 PVE5_B ♣ PVE5 U
dc
∇
38 PVE6_B ♣ PVE6 U
dc
∇
39 Gnd
40 PVE7_B ♣ PVE7 U
dc
∇
41 PVE8_B ♣ PVE8 U
dc
∇
42 Gnd
Plug connections
♣ When using PVEO
∇ When using PVEM/H/S
Fail-safe condition Alarm condition
PVG CIP Prof 1 CIP PVG CIP
8 HN.50.Y1.02
Safety aspects Both PVG CIP and Prof 1 CIP are designed to
give maximum safety. They both incorporate
self-test functions, signal protection and
‘watchdogs.
The self-test is performed when power is
applied and before any of the PVE outputs are
activated. The unit then goes to the operating
function and a series of running tests are
carried out. A list of these tests is given below.
Self-tests
PVG CIP Prof 1 CIP
1. Internal RAM test
2. External RAM test
3. EE-PROM test
4. FLASH test
5. Test of feedback monitoring (tests all outputs
for short-circuiting to earth and Udc)
1. Watchdog
2. PVEH alarms
3. Signal protection
1. Watchdog
2. Potentiometer control
1. Internal RAM test
2. EE-PROM test
3. FLASH test
Running tests
PVG CIP Prof 1 CIP
As analog version
Environmental/mechanical
Proportional signals max. 4
Resolution 9 bit (-100% to +100%)
Operating buttons on/off max. 6
DIP switch settings DIP no. 1
Open = CANopen min. master
Closed = CANopen slave
DIP switch settings DIP no. 2
Open = Default baudrate and Node id
Closed = Baudrate and Node id acc. to OD
AMP part no. 282404-1, male plug
Plug type
AMP part no. 282403-1, female plug
Only part no. 282404-1
and no. 282107-1 supplied
AMP 282107-1, tab house
AMP 282089-1, plug house
Seals and plugs
Electrical
Prof 1 CIP specification
Pin number Name
1 CAN_TERM
2U
dc
3 Frame
4 CAN+
5 CAN-
Plug connections
To ensure optimum system function, two safety levels are used:
• Fail-safe condition
• Alarm condition
Alarm signal sent on bus so that
a third unit is able to take appropriate action.
Depending on OD-index 2108
subindex 1, PVPX/PVPE dump
valve dumps pressure in alarm
condition. Because this is an NO
valve (normally open) voltage
must be cut off.
Neutral position signal sent from
the joystick to all PVEs.
Alarm signal sent on bus so that
a third unit is able to take appropriate action.
PVE forced to neutral position.
Voltage supply to PVE cut off.
Alarm signal sent on bus so that
a third unit is able to take appropriate action.
HN.50.Y1.02 9
Fail-safe condition arises when faults of the
following types occur:
OD-index 2018
subindex 9 HEX
Activation of PVPX/PVPE
0
No PVPX
=> must not dump in alarm condition
1
PVPX can be controlled from an external source
=> must not dump in alarm condition
2
PVPX controlled from an external source, or by alarm condition
=> must dump in alarm condition
PVG CIP
Alarm condition arises on faults of the following types:
Prof 1 CIP
The table below shows at which settings
PVPX/PVPE dumps in alarm condition.
Fault code HEX Description
500E PVEH alarm #1, pin 3
500F PVEH alarm #2, pin 3
5010 PVEH alarm #3, pin 3
5011 PVEH alarm #4, pin 3
5012 PVEH alarm #5, pin 3
5013 PVEH alarm #6, pin 3
5014 PVEH alarm #7, pin 3
5015 PVEH alarm #8, pin 3
Fault code HEX Description
PVEs that go into fail-safe
condition
1000 Generic fault All PVEs
5000 System hardware All PVEs
5001 Self-test fault, internal RAM All PVEs
5002 Self-test fault, external RAM All PVEs
5003 Self-test fault, EE-PROM All PVEs
5004 Self-test fault, FLASH All PVEs
5005 Self-test fault, feedback test # 1 PVE 1
5006 Self-test fault, feedback test # 2 PVE 2
5007 Self-test fault, feedback test # 3 PVE 3
5008 Self-test fault, feedback test # 4 PVE 4
5009 Self-test fault, feedback test # 5 PVE 5
500A Self-test fault, feedback test # 6 PVE 6
500B Self-test fault, feedback test # 7 PVE 7
500C Self-test fault, feedback test # 8 PVE 8
500D Self-test fault, feedback test PVPX All PVEs
5016 Watchdog fault All PVEs
6300
Joystick data format nonconformance All PVEs
8100 Communication fault No PVEs
8101 Protection fault PDO1 PVE controlled by PD01
8102 Protection fault PDO2 PVE controlled by PD02
8103 Protection fault PDO3 PVE controlled by PD03
8104 Protection fault PDO4 PVE controlled by PD04
Fault code hex Description
1000 Generic fault
5000 System hardware
5001 Self-test fault, internal RAM
5003 Self-test fault, EE-PROM
5004 Self-test fault, FLASH
5005 Proportional voltage outside range
5007 Proportional signal registered without corresponding direction change
500F Watchdog fault
10 HN.50.Y1.02
This component is located near the valve and
acts as the interface between PVG and CAN
bus. The interface can control up to eight
PVEs and 1 PVPX/PVPE.
System parameters can be set in the OD (see
overview, page 25), either by using CIP Configuration Tool or with a normal CANopen Configuration Tool.
Setting up PVG CIP can be divided into four
main parts:
1) Identification of components
a) Identification of PVE
b) Identification of PVPX/PVPE
2) Setting up connections
a) To other components on bus
(Prof 1 CIP)
b) Between data (joystick signals) and
PVE/PVPX
3) Setting system-related parameters
a) Baudrate
b) Node identification
c) Softwiring
4) Setting hydraulic-related parameters
a) Deadband compensation
b) Signal gain
c) Flow limitation
d) Software tuning of spool characteristics
e) Ramps (individual on each port, two
different settings for each port)
f) Float position control
g) Power saving
These components also contain facilities for
fault location, servicing and restoring factory
setting.
Component identification
To be able to communicate with PVG CIP it is
necessary to identify the system components:
• Identification of PVE type
• Identification of PVPX/PVPE type
Identification of PVE type Type identification is used to specify how PVG
CIP is to control the PVEs. The types used are
specified as follows:
0: Not accessible
1: PVEO
Units
2: PVEM
3: PVEH/S
4: PVEM (float position control)
5: PVEH (float position control)
Max. 5
Min. 0
Standard 3 (PVEH/S)
Precision 1
OD index 2018 HEX
PVE pins PVEH/S PVEM PVEO
1 + + Port A
2 Signal Signal Port B
3 Alarm N/A N/A
Frame Frame Frame
PVG CIP output/input will be on the following PVE pins, depending on type
Introduction to PVG CIP
HN.50.Y1.02 11
Identification of PVPX PVPX is used as a safety device for the PVG
and dumps to tanks LS pressure in dangerous
situations. With PVG CIP it is possible to select whether PVPX is to dump the LS pressure
if a fault occurs in PVEH/PVES (pin 3).
In all cases of fault from a PVE of type
PVEH/S, PVG CIP will automatically send a
fault message on the bus so that an external
controller or similar unit is able to react to the
information. Whether PVPX is present and
whether it must be activated in the case of a
PVEH/PVES fault can be determined from the
following table.
Note: If an extra component for control of the
PVPX is not mapped, it will automatically be actuated upon start-up.
Units -
PVPX can be set as follows:
0. PVPX N/A
1. PVPX present
• Controlled by external
source, e.g. joystick or
controller input
2. PVPX present:
• Controlled by alarm signal
from PVEH/S
• Controlled by external
source, e.g. joystick or
controller input
Max. Min. Standard 0
Precision OD index 2018 subindex 9 HEX
Connections between data
(joystick signals) and PVE,
PVPX/PVPE
Units Max. Min. Standard 0
Precision OD index 2104 HEX
System-related parameters To be able to set up and service PVG CIP
some system-related parameters have to be
set:
• Baudrate
• Node identification
• Softwiring
To set up which joystick or other sources the
PVG CIP is to listen to, the relevant COB-ID
must be set in the following OD index.
PVG CIP is able to listen to a maximum of four
different COB-IDs.
Connections to other components on bus
Units Max. Min. Standard 0
Precision OD-index 1400 subindex 1 HEX
1401 subindex 1 HEX
1402 subindex 1 HEX
1403 subindex 1 HEX
Note: If some COB-IDs are not used, they
must be set to zero.
To set up the system the joystick on/off and
proportional functions must be directed to the
correct PVEs and PVPX/PVPE. This can be
done by connecting the PVEs to the correct
position on the COB. See example on
page 21.
Control of dump valves
To ensure that an external controller or a
joystick is able to control the PVPX, an on/off
signal can be mapped to control it. Because it
is NO (normally open) a constant voltage must
be applied to PVPX/PVPE so that it does not
dump the LS pressure and thereby deactivate
the PVG. During an alarm condition, voltage
must therefore be removed. In other words, if
a joystick is used, the button that is mapped
for PVPE/PVPX acts as a deadman’s button.
12 HN.50.Y1.02
Node identification Node identification specifies the address
PVG CIP has for the other CAN components
(applies after system reboot).
Units Max. 127
Min. 1
Standard 101
Precision 1
OD index 100B HEX
Hydraulic-related parameters
PVG CIP contains many parameters that can
be adjusted to optimise the input signal before
it is sent to a PVE.
These parameters are:
• Deadband compensation
• Signal gain
• Flow limitation
• Software tuning of spool characteristics
• Ramps (individual on each port and two
different settings for each port)
• Float position control
• Power saving
The purpose of tuning spool characteristics is
to allow software modification of the mechanical spool characteristics made available by the
selected spool. See figure on next page. On a
given joystick movement, the different software characteristics will give a different spool
position and thereby produce another flow.
Softwiring With softwiring it is possible for any joystick
signal to be sent to one or more PVEs.
Softwiring is made via an SDO, making it possible to introduce changes during operation.
See example on page 21.
Note: On/off and proportional signals must
not be mixed.
Baudrate
The speed of communication must be set. The
baudrate becomes effective after system
reboot.
Note: The baudrates 10 and 800 are not
supported by CIP Configuration Tool
v.1.00.
Units [kbit/s]
Max. 1000
Min. 10
Standard 250
Precision *
OD index 201A HEX
* 10, 20, 50, 100, 125, 250, 500, 800, 1000.
HN.50.Y1.02 13
The above diagram shows all functions in connection with one port, using four points A, B,
C, and D. Points A and D define the limits of
the graph and thus the range of the functions
that transform a joystick signal to a PVE output in the PVG CIP which then controls the
position of the spool in the valve accordingly.
A : Defines deadband compensation and
initial flow.
B, C : Defines software tuning of the spool
characteristics. Coordinates for B and
C are specified to suit the graph and
must be scaled every time A and D are
changed. This means that seen from
points B and C, A always corresponds
to (0,0) and D always to (100,100).
D : Defines joystick gain and flow
limitation.
1. The diagram shows the signal condition for only one port
(e.g. port A).
2. Circles indicate parameters that can be set.
PVE input signal (%) /
Spool position
Flow (%)
Joystick.
Output signal (%)
Deadband compensation
(point A)
This function compensates for the deadband
in the PVG spool. The parameters specify a
set of coordinates and linear interpolation is
performed from (joystick signal, 0) to the
function when the deadband compensation is
worked out. The function cannot be used in
connection with on/off signals.
Joystick signal, PVG CIP output signal
The joystick signal can be scaled with this
function. The function cannot be used in connection with on/off signals.
Note: 100% corresponds to normal ampli-
fication. Lower figures give larger
amplification.
Units [%]
Max. 100
Min. 25
Standard 100
Precision 1
OD index
2004 HEX port A
2005 HEX port B
Units [x, y]: [%,%]
Max. (100, 100)
Min. (0,0)
Standard (0,0)
Precision (1,1)
2000 HEX port A x-coordinate
OD index
2001 HEX port A y-coordinate
2002 HEX port B x-coordinate
2003 HEX port B y-coordinate
Signal gain
(value D
x
)
14 HN.50.Y1.02
This function limits the PVE output signal and
thereby valve flow. The parameter is specified
in percentage since the mechanical characteristics of the PVG CIP spool are not known.
The function cannot be used in connection
with on/off signals.
Units [%]
Max. 100
Min. Ay (from deadband compensation)
Standard 100
Precision 1
OD index
2006 HEX port A
2007 HEX port B
Flow limitation (value Dy)
Software tuning of spool
characteristics (points B,
C)
Used to change spool characteristics. This
means that the spool need not be changed
when only minor changes are necessary. The
spool characteristics obtained are limited by
its physical characteristics. The function cannot be used in connection with on/off signals.
On the basis of the two coordinate sets B and C, the best
approximated curve through
these points is drawn in.
Depending on the position of
the points, the curve is either
a second-order or third-order
polynomial.
Note: Points B and C are specified to suit A
and D which always represent (0,0)
and (100,100) for this function.
Units
1: (Bxx, Byy)
2: (Cxx, Cyy)
Max.
(Bx, By) = (100, 100)
(Cx, Cy) = (100, 100)
Min.
(Bx, By) = (0,0)
(Cx, Cy) = (0,0)
Standard
1: (33,33)
2: (66, 66)
2008 HEX (Bx_ port A)
2009 HEX (By_ port B)
200A HEX (Cx_ port A)
OD index
200B HEX (Cy_ port A)
200C HEX (Bx_ port B)
200D HEX (By_ port B)
200E HEX (Cx_ port B)
200F HEX (Cy_ port B)
PVE input signal (%) /
Spool position
Joystick (%)
output signal
HN.50.Y1.02 15
Ramps After signal tuning of points A-D as specified
in the previous figure, the signal follows the
ramp that is specified here. Two sets of ramps
are available for each PVE output (see figure
below). Both work on ramp principle 1, familiar
in the EHR modules. Fast operation can be
obtained by setting Tdown_A and Tdown_B
on zero. The function cannot be used in connec-tion with on/off signals.
Port A (Tup_A, Tdown_ A )
Port B (Tup_B, Tdown_ B )
Units [ms]
Max. (5000, 5000)
Min. (0,0)
Standard (0,0)
Precision 1
2010 HEX (Ramp1 Tup_port A)
2011 HEX (Ramp1 Tdown_port A)
2012 HEX (Ramp1 Tup_port B)
OD index
2013 HEX (Ramp1 Tdown_port B)
2014 HEX (Ramp2 Tup_port A)
2015 HEX (Ramp2 Tdown_port A)
2016 HEX (Ramp2 Tup_port B)
2017 HEX (Ramp2 Tdown_port B)
Ramp switch
Units -
The ramp switch can
be set in four ways:
0: No ramps
1: Ramp 1 used
permanently
2: Ramp 2 used
permanently
[ ]: Switch between ramp 1
and ramp 2 using an on/off
signal.
If this is the case, the
address of the on/off (OD
index 2100-2103) must be
entered in this field.
Max. 3 sec.
Min. 0
Standard 0
Precision 1
OD index 2019 HEX
Used to select the active ramp setting for a
PVG CIP output.
Port B
Port B
Port A
Port A
16 HN.50.Y1.02
The following functions are provided to enable
servicing and fault location on PVG CIP:
• Activation of PVE
• Diagnosing
• Restoring factory settings
Enable PVE This function is used for servicing. It activates
or deactivates individual PVE signals, i.e.
when the function is deactivated, a neutral
signal is sent to the PVE irrespective of the
received CAN message.
Units Max. 1 (activated)
Min. 0 (deactivated)
Standard 1
Precision 1
OD index 201B HEX
Diagnosing When diagnosing it is possible to see the last
25 faults and their types. See fault types under
“Safety aspects”, page 9.
Note: The value 0 signifies no fault.
OD index 1003 HEX
Fault location/service parameters
The float position control function makes it
possible to connect ports A and B to tank.
This is performed mechanically by a specially
designed spool. Two steps are necessary to
activate the function:
1. The proportional function connected to the
float position control function must be
established.
OD index 2104 HEX
OD index 2105 HEX
The signal for the float position PVE must
be activated say more than x% in the
direction of port B.
Units [%]Max. 100
Min. 10
Standard 10
Precision 1
OD index 201D HEX
Power save time Defines the time delay from inactivity (PVE
signal = neutral) until power to the PVEs is cut
off (individually).
Units [s]
Max. 20
Min. 0 (not connected)
Standard 0
Precision 1
OD index 201C HEX
The function can be deactivated in two ways:
• If the joystick is moved towards port A by
a signal of more than 10%.
• If the joystick is within 10% signal to both
ports A and B and the button is activated.
2. The button used to activate the float position is mapped.
Float position control function
HN.50.Y1.02 17
Restoring factory settings Factory settings of all accessible parameters
are stored permanently in PVG CIP. This
function is used to restore all parameter settings to “Factory standard” by overwriting the
existing parameter settings.
Restoring can be performed at several levels
by writing a signature “LOAD” in reverse order
to the respective subindexes:
• All parameters
• Communication parameters
- Node ID
- Baudrate
• Functions
• Connection between Prof 1 CIP and
PVG CIP
Units DOAL 64616F6C HEX
Standard Precision 1
OD index 1011 HEX
18 HN.50.Y1.02
This component is based on the Prof 1
joystick and can therefore be set up for many
mechanical configurations. The joystick also
contains other functions often used on the
hydraulics market. The associated parameters
can be set in the OD (see page 29) either
using the CIP Configuration Tool or standard
CANopen configuration tools.
Setting up Prof 1 CIP can be divided into four
main parts:
1) Setting up the mechanical Prof 1 CIP
2) Setting up hydraulic-related parameters
a) Guide function
b) Memory
3) Setting system-related parameters
a) Baudrate setting
b) Node identification
c) Cyclic trigger
d) Node guarding
4) Fault location and servicing
a) Restoring factory settings
b) Diagnosing
Setting up the mechanical Prof 1 CIP
The Prof 1 joystick is available in many
mechanical configurations. To simplify the way
in which this can be represented in the COB,
the maximum configuration is always sent.
This means that four proportional and six
on/off signals are packed in one COB. Depen-
ding on the actual configuration of the joystick,
some of the fields for proportional and/or
on/off signals carry no information. For the
same reason it is not necessary to make any
adjustments from joystick to joystick because
of different mechanical setups.
Setting up hydraulicrelated parameters
Prof 1 CIP also contains functions that are
often used in hydraulic systems:
• Joystick guide function. This function
prioritises the main axis in the joystick by
giving first priority to the axis activated first.
Joystick gate function
Units Max. 1 (function activated)
Min. 0 (function deactivated)
Standard 0
Precision 1
OD index 3002 HEX
OD index 3007 HEX
The function can be activated/deactivated
in:
Introduction to Prof 1 CIP
• The memory function makes it possible for
the user to set the joystick so that it trans
fers a proportional signal to the bus even
though the joystick is in neutral.
The proportional signal can be maintained
deleted from the memory by pressing a
button. This button and the proportional
function can be mapped in:
System-related parameters To be able to set up and service Prof 1 CIP,
the following system-related parameters must
be adjusted:
The communication speed must be set. The
baudrate comes into effect after system
reboot.
Note: The baudrates 10 and 800 are not
supported by CIP Configuration Tool
v.1.00.
Baudrate
Units [kbit/s ]
Max. 1000
Min. 10
Standard 250
Precision *
OD index 3000 HEX
* 10, 20, 50, 100, 125, 250, 500, 800, 1000.
Units Max. 1 (function activated)
Min. 0 (function deactivated)
Standard 0
Precision 1
OD index 3004 HEX
• Baudrate
• Node identification
• Cyclic trigger
• Node guarding
HN.50.Y1.02 19
Cyclic trigger The joystick sends information on the first
PDO (tx). As standard, the joystick transfers
cyclically using T
c
= 10 ms. NMT is used if a
fault arises in the joystick. The NMT object is a
standard emergency object in CANopen.
Node identification specifies which address
Prof 1 CIP has.
OD index 1003 HEX
Units [ms]
Max. 200
Min. 10
Standard 10
Precision 1
OD index 3005 HEX
Node identification
Fault location/service parameters
The following functions are provided in Prof 1
CIP for servicing and fault location:
• Diagnosing
• Restoring factory settings
Diagnosing Here, it is possible to see the last ten faults
and their type (see page 9).
Note: The value 0 signifies no fault.
Units Max. 127
Min. 1
Standard 100
Precision 1
OD index 100B HEX
Restoring factory settings Factory settings of all accessible parameters
are stored permanently in Prof 1 CIP. This
function is used to re-establish all parameter
settings to “Factory standard” by overwriting
the existing parameter settings.
Re-establishment can be performed at several
levels by writing a signature “LOAD” in reverse
order to the respective subindexes:
• All parameters
• Communication parameters
- Node ID
- Baudrate
• Functions and connections between
Prof 1 CIP and PVG CIP
Units DOAL 64616F6C HEX
Min. 0 (deactivated)
Standard Precision 1
OD index 1011 HEX
Node guarding Used in minimum systems where Prof 1 CIP is
master. The function checks whether all components/nodes (max. 20) on the bus work. If
they do not, the components involved receive
a reset on their Node ID via the CAN bus.
Units Node ID
Max. 127
Min. 0
Standard 0
Precision 1
OD index 3008 HEX subindex 1-20
20 HN.50.Y1.02
This program pack offers the user several
different programs for meeting various requirements:
CIP Configuration Tool
Setting up a system consisting exclusively of
PVG CIP and Prof 1 CIP via a graphical user
interface. It takes the user through setting up
a system in an easily understandable and
instructive way. It cannot set up components
from a third party. However, the hydraulic
parameters in PVG CIP and Prof 1 CIP can be
adjusted with advantage even though CAN
components from a third party are involved.
CIP Downloading Utility
This program enables the adjustment of
CANopen parameters on all CANopen components, direct in the OD (see example on
page 21).
System requirements • Windows 95 or higher
• Recommended Pentium microprocessor (or
higher)
• 16 Mb RAM (recommended)
• PEAK dongle (CAN communication interface)
• PS/2 mouse port
Introduction to CIP Configuration Tool
CANview
CANview is a program able to read the activity
taking place on the bus. It is therefore a tool
that can be used in servicing.
The program pack also contains a dongle
(PEAK) which is the interface between the PC
and CAN bus.
P.S. We recommend the use of PEAK’s
dongle in connection with our software.
Installation of CIP Configuration Tool
To install a CIP Configuration Tool:
1. Insert the CD-ROM in the CD-ROM drive.
2. From Start, select Run and write
x:\setup.exe (where x is the CD-ROM
drive).
3. Follow the displayed instructions.
21HN.50.Y1.02
This is an example of setting up the parameters in connecting a Prof 1 CIP joystick with a
PVG CIP. The example is divided into steps:
Step 1: Connection of PDOs
Step 2: Setup of PVE types
Step 3: Connections between Prof 1 CIP and
PVG CIP outputs
The example is based on the following
requirements:
Example of system setup via CIP Downloading Utility
Output Type
1 PVEH
2 PVEO
3 PVEH float position control
4 N/A
5 N/A
6 N/A
7 N/A
8 N/A
Prof 1 CIP PVG CIP
Plug 1 PVE 1
Push 3A PVE 2 port A
Push 4A PVE 2 port B
Plug 2 PVE 3 (inverted)
Push 5 PVE 3 (float position
(control activated)
PVG group Connection
To be able to send information between Prof 1
CIP and PVG CIP components, the Prof 1 CIP
send-PDO and PVG CIP receive-PDO match
each other. Since both comply with the CANopen standard, the connection must be established by the system designer.
Stage 1:
Connection of PDOs
There is a connection between the joystick
node ID and the corresponding COB-ID. It is
used to send and receive PDOs and is made
up as follows:
Since the standard ID of Prof 1 CIP is 100, the
corresponding send-PDO uses COB-ID:
100+384d = 484d
To connect the PVG CIP to the COB-ID of a
Prof 1 CIP it is also necessary to change the
PVG CIP receive-PDO to 484d.
Joysticks: PVG CIP:
This is done by changing the index 1400 HEX,
Subindex 1 = 484d, where d states that the
figure is decimal.
COB-ID (send-PDO)
COB-ID (receive-PDO)
22 HN.50.Y1.02
1400, sub 1
Step 2: Setting up PVE types
PVE (PVEM/H/S) types are used to select
the PVG CIP control function. The types are
defined in Index 2018, subindex 1-8 (see
page 27).
Not accessible 0
PVEO 1
PVEM 2
PVEH/S 3
PVEM (float position control) 4
PVEH (float position control) 5
In this example the following changes have:
Screen dump of type setup
Applicable PVE types:
HN.50.Y1.02 23
Step 3: Connecting joystick signals to PVE outputs
In the PVG CIP OD the inputs have indexes
1400-1403. In this OD range only the format of
incoming message is shown, not the values.
The values of incoming joystick signals can be
read from the index range 2100-2103.
Index for changing Index from which
COB-ID, see step 1 values can be read
1stPDO 1400, sub 1 2100, sub 1-C
2ndPDO 1401, sub 1 2101, sub 1-C
3rdPDO 1402, sub 1 2102, sub 1-C
4thPDO 1403, sub 1 2103, sub 1-C
PVG CIP inputs can be connected with Prof 1
CIP outputs by writing the corresponding
value index in the PVG CIP input mapping
structure.
Connections between inputs and outputs in
PVG CIP are made as follows:
PROP1 PVE1 A
PROP2 PVE1 B
PROP3 PVE2 A
PROP1 PROP4 PVE2 B
PROP2 Push 3A PVE3 A
1
st
PDO
PROP3 Push 3B PVE3 B
PROP4 Push 4A PVE4 A
REST Push 4B PVE4 B
D1 1-8 Push 5 PVE5 A
Push 6 PVE5 B
Push 7 PVE6 A
Push 8 PVE6 B
PVE7 A
PROP1 PVE7 B
PROP2 PVE8 A
PROP3 PVE8 B
PROP1 PROP4 PVPX
PROP2 Push 3A
2
nd
PDO
PROP3 Push 3B
Float position control
PROP4 Push 4A
mapping
OD 2105
REST Push 4B
DI 1-8 Push 5 PVE1
Push 6 PVE2
Push 7 PVE3
Push 8 PVE4
PVE5
PROP1 PVE6
PROP2 PVE7
PROP3 PVE8
PROP1 PROP4
PROP2 Push 3A
3
rd
PDO
PROP3 Push 3B
PROP4 Push 4A
REST Push 4B
DI 1-8 Push 5
Push 6
Push 7
Push 8
PROP1
PROP2
PROP1 PROP3
PROP2 PROP4
4
th
PDO
PROP3 Push 3A
PROP4 Push 3B
REST Push 4A
DI 1-8 Push 4B
Push 5
Push 6
Push 7
Push 8
OUTPUT
OD 2104
FORMAT
OD 1400-1403
VALUE
OD 2100-2103
24 HN.50.Y1.02
This means that in this example we must
make the following connections in PVG CIP
OD index 2104 HEX.
*) Note: If a proportional signal is connected
to, for example, PVE 3 B
instead of
A
, the signal becomes inverted.
*)
HN.50.Y1.02 25
Parameter list 1 of 5 for
PVG CIP
(shortened version of OD)
Index Subindex Parameter Name
1000 Device Type
1001 Error Register
1003 error field
1003 0 Number of errors
1003 1 Standard error code
1004 Number of PDOs supported
1004 0 Number of PDOs supported
1004 1 Number of synchronous PDOs
1004 2 Number of asynchronous PDOs
1008 Manufaturer Device Name
1009 Hardware Version
100A Software Version
100B Node-ID
100C Guard Time
100D Life time factor
100E Node guarding ID
1011 Restore parameters
1011 0 Largest supported sub-index
1011 1 Restore all default parameters
1011 2
Restore communication default
parameters
1011 4 Restore default function settings
1011 5 Restore default output mapping
1400 Number of parameters following
1400 0 Number of entries
1400 1 COB-ID
1400 2 Transmission type
1401 Number of parameters following
1401 0 Number of entries
1401 1 COB-ID
1401 2 Transmission type
1402 Number of parameters following
1402 0 Number of entries
1402 1 COB-ID
1402 2 Transmission type
1403 Number of parameters following
1403 0 Number of entries
1403 1 COB-ID
1403 2 Transmission type
1600 Input values PDO1 index 1600
1600 0 Number of entries
1600 1 Prop1
1600 2 Prop2
1600 3 Prop3
1600 4 Prop4
1600 5 Rest
1600 6 Push3A
1600 7 Push3B
1600 8 Push4A
1600 9 Push4B
1600 A Push5
1600 B Push6
1600 C Push7
1600 D Push8
1601 Input values PDO2 index 1601
1601 0 Number of entries
1601 1 Prop1
1601 2 Prop2
Index Subindex Parameter Name
1601 3 Prop3
1601 4 Prop4
1601 5 Rest
1601 6 Push3A
1601 7 Push3B
1601 8 Push4A
1601 9 Push4B
1601 A Push5
1601 B Push6
1601 C Push7
1601 D Push8
1602 Input values PDO3 index 1602
1602 0 Number of entries
1602 1 Prop1
1602 2 Prop2
1602 3 Prop3
1602 4 Prop4
1602 5 Rest
1602 6 Push3A
1602 7 Push3B
1602 8 Push4A
1602 9 Push4B
1602 A Push5
1602 B Push6
1602 C Push7
1602 D Push8
1603 Input values PDO4 index 1603
1603 0 Number of entries
1603 1 Prop1
1603 2 Prop2
1603 3 Prop3
1603 4 Prop4
1603 5 Rest
1603 6 Push3A
1603 7 Push3B
1603 8 Push4A
1603 9 Push4B
1603 A Push5
1603 B Push6
1603 C Push7
1603 D Push8
2000 Deadband_AX_A
2000 0 Number of PVEs
2000 1 DBC_1_AX_A
2000 2 DBC_2_AX_A
2000 3 DBC_3_AX_A
2000 4 DBC_4_AX_A
2000 5 DBC_5_AX_A
2000 6 DBC_6_AX_A
2000 7 DBC_7_AX_A
2000 8 DBC_8_AX_A
2001 Deadband_AY_A
2001 0 Number of PVEs
2001 1 DBC_1_AY_A
2001 2 DBC_2_AY_A
2001 3 DBC_3_AY_A
2001 4 DBC_4_AY_A
2001 5 DBC_5_AY_A
26 HN.50.Y1.02
Parameter list 2 of 5 for
PVG CIP
(shortened version of OD)
Index Subindex Parameter Name
2001 6 DBC_6_AY_A
2001 7 DBC_7_AY_A
2001 8 DBC_8_AY_A
2002 Deadband_AX_B
2002 0 Number of PVEs
2002 1 DBC_1_AX_B
2002 2 DBC_2_AX_B
2002 3 DBC_3_AX_B
2002 4 DBC_4_AX_B
2002 5 DBC_5_AX_B
2002 6 DBC_6_AX_B
2002 7 DBC_7_AX_B
2002 8 DBC_8_AX_B
2003 Deadband_AY_B
2003 0 Number of PVEs
2003 1 DBC_1_AY_B
2003 2 DBC_2_AY_B
2003 3 DBC_3_AY_B
2003 4 DBC_4_AY_B
2003 5 DBC_5_AY_B
2003 6 DBC_6_AY_B
2003 7 DBC_7_AY_B
2003 8 DBC_8_AY_B
2004 GAIN
2004 0 Number of PVEs
2004 1 GAIN_1_DX_A
2004 2 GAIN_2_DX_A
2004 3 GAIN_3_DX_A
2004 4 GAIN_4_DX_A
2004 5 GAIN_5_DX_A
2004 6 GAIN_6_DX_A
2004 7 GAIN_7_DX_A
2004 8 GAIN_8_DX_A
2005 GAIN_DX_B
2005 0 Number of PVEs
2005 1 GAIN_1_DX_B
2005 2 GAIN_2_DX_B
2005 3 GAIN_3_DX_B
2005 4 GAIN_4_DX_B
2005 5 GAIN_5_DX_B
2005 6 GAIN_6_DX_B
2005 7 GAIN_7_DX_B
2005 8 GAIN_8_DX_B
2006 Flow Limit
2006 0 Number of PVEs
2006 1 FLOW LIMIT_1_DY_A
2006 2 FLOW LIMIT_2_DY_A
2006 3 FLOW LIMIT_3_DY_A
2006 4 FLOW LIMIT_4_DY_A
2006 5 FLOW LIMIT_5_DY_A
2006 6 FLOW LIMIT_6_DY_A
2006 7 FLOW LIMIT_7_DY_A
2006 8 FLOW LIMIT_8_DY_A
2007 FLOW LIMIT
2007 0 Number of PVEs
2007 1 FLOW LIMIT_1_DY_B
2007 2 FLOW LIMIT_2_DY_B
2007 3 FLOW LIMIT_3_DY_B
Index Subindex Parameter Name
2007 4 FLOW LIMIT_4_DY_B
2007 5 FLOW LIMIT_5_DY_B
2007 6 FLOW LIMIT_6_DY_B
2007 7 FLOW LIMIT_7_DY_B
2007 8 FLOW LIMIT_8_DY_B
2008 SW TUNE BX A
2008 0 Number of PVEs
2008 1 SW TUNE_1_BX_A
2008 2 SW TUNE_2_BX_A
2008 3 SW TUNE_3_BX_A
2008 4 SW TUNE_4_BX_A
2008 5 SW TUNE_5_BX_A
2008 6 SW TUNE_6_BX_A
2008 7 SW TUNE_7_BX_A
2008 8 SW TUNE_8_BX_A
2009 SW TUNE BY A
2009 0 Number of PVEs
2009 1 SW TUNE_1_BY_A
2009 2 SW TUNE_2_BY_A
2009 3 SW TUNE_3_BY_A
2009 4 SW TUNE_4_BY_A
2009 5 SW TUNE_5_BY_A
2009 6 SW TUNE_6_BY_A
2009 7 SW TUNE_7_BY_A
2009 8 SW TUNE_8_BY_A
200A SW TUNE CX A
200A 0 Number of PVEs
200A 1 SW TUNE_1_CX_A
200A 2 SW TUNE_2_CX_A
200A 3 SW TUNE_3_CX_A
200A 4 SW TUNE_4_CX_A
200A 5 SW TUNE_5_CX_A
200A 6 SW TUNE_6_CX_A
200A 7 SW TUNE_7_CX_A
200A 8 SW TUNE_8_CX_A
200B SW TUNE CY A
200B 0 Number of PVEs
200B 1 SW TUNE_1_CY_A
200B 2 SW TUNE_2_CY_A
200B 3 SW TUNE_3_CY_A
200B 4 SW TUNE_4_CY_A
200B 5 SW TUNE_5_CY_A
200B 6 SW TUNE_6_CY_A
200B 7 SW TUNE_7_CY_A
200B 8 SW TUNE_8_CY_A
200C SW TUNE BX B
200C 0 Number of PVEs
200C 1 SW TUNE_1_BX_B
200C 2 SW TUNE_2_BX_B
200C 3 SW TUNE_3_BX_B
200C 4 SW TUNE_4_BX_B
200C 5 SW TUNE_5_BX_B
200C 6 SW TUNE_6_BX_B
200C 7 SW TUNE_7_BX_B
200C 8 SW TUNE_8_BX_B
200D SW TUNE BY B
200D 0 Number of PVEs
200D 1 SW TUNE_1_BY_B
HN.50.Y1.02 27
Parameter list 3 of 5 for
PVG CIP
(shortened version of OD)
Index Subindex Parameter Name
200D 2 SW TUNE_2_BY_B
200D 3 SW TUNE_3_BY_B
200D 4 SW TUNE_4_BY_B
200D 5 SW TUNE_5_BY_B
200D 6 SW TUNE_6_BY_B
200D 7 SW TUNE_7_BY_B
200D 8 SW TUNE_8_BY_B
200E SW TUNE CX B
200E 0 Number of PVEs
200E 1 SW TUNE_1_CX_B
200E 2 SW TUNE_2_CX_B
200E 3 SW TUNE_3_CX_B
200E 4 SW TUNE_4_CX_B
200E 5 SW TUNE_5_CX_B
200E 6 SW TUNE_6_CX_B
200E 7 SW TUNE_7_CX_B
200E 8 SW TUNE_8_CX_B
200F SW TUNE CY B
200F 0 Number of PVEs
200F 1 SW TUNE_1_CY_B
200F 2 SW TUNE_2_CY_B
200F 3 SW TUNE_3_CY_B
200F 4 SW TUNE_4_CY_B
200F 5 SW TUNE_5_CY_B
200F 6 SW TUNE_6_CY_B
200F 7 SW TUNE_7_CY_B
200F 8 SW TUNE_8_CY_B
2010 RAMP1_TUP_A
2010 0 Number of PVEs
2010 1 RAMP1_1_TUP_A
2010 2 RAMP1_2_TUP_A
2010 3 RAMP1_3_TUP_A
2010 4 RAMP1_4_TUP_A
2010 5 RAMP1_5_TUP_A
2010 6 RAMP1_6_TUP_A
2010 7 RAMP1_7_TUP_A
2010 8 RAMP1_8_TUP_A
2011 RAMP1 TDOWN A
2011 0 Number of PVEs
2011 1 RAMP1_1_TDOWN_A
2011 2 RAMP1_2_TDOWN_A
2011 3 RAMP1_3_TDOWN_A
2011 4 RAMP1_4_TDOWN_A
2011 5 RAMP1_5_TDOWN_A
2011 6 RAMP1_6_TDOWN_A
2011 7 RAMP1_7_TDOWN_A
2011 8 RAMP1_8_TDOWN_A
2012 RAMP1 TUP B
2012 0 Number of PVEs
2012 1 RAMP1_1_TUP_B
2012 2 RAMP1_2_TUP_B
2012 3 RAMP1_3_TUP_B
2012 4 RAMP1_4_TUP_B
2012 5 RAMP1_5_TUP_B
2012 6 RAMP1_6_TUP_B
2012 7 RAMP1_7_TUP_B
2012 8 RAMP1_8_TUP_B
2013 RAMP1 TDOWN B
Index Subindex Parameter Name
2013 0 Number of PVEs
2013 1 RAMP1_1_TDOWN_B
2013 2 RAMP1_2_TDOWN_B
2013 3 RAMP1_3_TDOWN_B
2013 4 RAMP1_4_TDOWN_B
2013 5 RAMP1_5_TDOWN_B
2013 6 RAMP1_6_TDOWN_B
2013 7 RAMP1_7_TDOWN_B
2013 8 RAMP1_8_TDOWN_B
2014 RAMP2 TUP A
2014 0 Number of PVE's
2014 1 RAMP2_1_TUP_A
2014 2 RAMP2_2_TUP_A
2014 3 RAMP2_3_TUP_A
2014 4 RAMP2_4_TUP_A
2014 5 RAMP2_5_TUP_A
2014 6 RAMP2_6_TUP_A
2014 7 RAMP2_7_TUP_A
2014 8 RAMP2_8_TUP_A
2015 RAMP2 TDOWN A
2015 0 Number of PVEs
2015 1 RAMP2_1_TDOWN_A
2015 2 RAMP2_2_TDOWN_A
2015 3 RAMP2_3_TDOWN_A
2015 4 RAMP2_4_TDOWN_A
2015 5 RAMP2_5_TDOWN_A
2015 6 RAMP2_6_TDOWN_A
2015 7 RAMP2_7_TDOWN_A
2015 8 RAMP2_8_TDOWN_A
2016 RAMP2 TUP B
2016 0 Number of PVEs
2016 1 RAMP2_1_TUP_B
2016 2 RAMP2_2_TUP_B
2016 3 RAMP2_3_TUP_B
2016 4 RAMP2_4_TUP_B
2016 5 RAMP2_5_TUP_B
2016 6 RAMP2_6_TUP_B
2016 7 RAMP2_7_TUP_B
2016 8 RAMP2_8_TUP_B
2017 RAMP2 TDOWN B
2017 0 Number of PVEs
2017 1 RAMP2_1_TDOWN_B
2017 2 RAMP2_2_TDOWN_B
2017 3 RAMP2_3_TDOWN_B
2017 4 RAMP2_4_TDOWN_B
2017 5 RAMP2_5_TDOWN_B
2017 6 RAMP2_6_TDOWN_B
2017 7 RAMP2_7_TDOWN_B
2017 8 RAMP2_8_TDOWN_B
2018 PVE Type Indicator
2018 0 Number of PVEs + PVPX
2018 1 TYPE_1
2018 2 TYPE_2
2018 3 TYPE_3
2018 4 TYPE_4
2018 5 TYPE_5
2018 6 TYPE_6
2018 7 TYPE_7
28 HN.50.Y1.02
Parameter list 4 of 5 for
PVG CIP
(shortened version of OD)
Index Subindex Parameter Name
2018 8 TYPE_8
2018 9 PVPX AVAILABLE
2019 RAMP MODE
2019 0 Number of PVEs
2019 1 RAMP MODE_1
2019 2 RAMP MODE_2
2019 3 RAMP MODE_3
2019 4 RAMP MODE_4
2019 5 RAMP MODE_5
2019 6 RAMP MODE_6
2019 7 RAMP MODE_7
2019 8 RAMP MODE_8
201A Baudrate
201B ENABLE PVE OUTPUTS
201B 0 Number of PVEs
201B 1 ENABLE_1
201B 2 ENABLE_2
201B 3 ENABLE_3
201B 4 ENABLE_4
201B 5 ENABLE_5
201B 6 ENABLE_6
201B 7 ENABLE_7
201B 8 ENABLE_8
201C Power saving time
201C 0 Number of PVEs
201C 1 POWER SAVING TIME_1
201C 2 POWER SAVING TIME_2
201C 3 POWER SAVING TIME_3
201C 4 POWER SAVING TIME_4
201C 5 POWER SAVING TIME_5
201C 6 POWER SAVING TIME_6
201C 7 POWER SAVING TIME_7
201C 8 POWER SAVING TIME_8
201D FLOAT ACTIVATION LEVEL
201D 0 Number of PVEs
201D 1 FLOAT ACTIVATION LEVEL_1
201D 2 FLOAT ACTIVATION LEVEL_2
201D 3 FLOAT ACTIVATION LEVEL_3
201D 4 FLOAT ACTIVATION LEVEL_4
201D 5 FLOAT ACTIVATION LEVEL_5
201D 6 FLOAT ACTIVATION LEVEL_6
201D 7 FLOAT ACTIVATION LEVEL_7
201D 8 FLOAT ACTIVATION LEVEL_8
2100 Input values PDO 1
2100 0 Number of entries
2100 1 Prop1
2100 2 Prop2
2100 3 Prop3
2100 4 Prop4
2100 5 Push3A
2100 6 Push3B
2100 7 Push4A
2100 8 Push4B
2100 9 Push5
2100 A Push6
2100 B Push7
2100 C Push8
2101 Input values PDO 2
Index Subindex Parameter Name
2101 0 Number of entries
2101 1 Prop1
2101 2 Prop2
2101 3 Prop3
2101 4 Prop4
2101 5 Push3A
2101 6 Push3B
2101 7 Push4A
2101 8 Push4B
2101 9 Push5
2101 A Push6
2101 B Push7
2101 C Push8
2102 Input values PDO 3
2102 0 Number of entries
2102 1 Prop1
2102 2 Prop2
2102 3 Prop3
2102 4 Prop4
2102 5 Push3A
2102 6 Push3B
2102 7 Push4A
2102 8 Push4B
2102 9 Push5
2102 A Push6
2102 B Push7
2102 C Push8
2103 Input values PDO 4
2103 0 Number of entries
2103 1 Prop1
2103 2 Prop2
2103 3 Prop3
2103 4 Prop4
2103 5 Push3A
2103 6 Push3B
2103 7 Push4A
2103 8 Push4B
2103 9 Push5
2103 A Push6
2103 B Push7
2103 C Push8
2104 Output Mapping
2104 0 Number of entries
2104 1 PVE1A
2104 2 PVE1B
2104 3 PVE2A
2104 4 PVE2B
2104 5 PVE3A
2104 6 PVE3B
2104 7 PVE4A
2104 8 PVE4B
2104 9 PVE5A
2104 A PVE5B
2104 B PVE6A
2104 C PVE6B
2104 D PVE7A
2104 E PVE7B
2104 F PVE8A
HN.50.Y1.02 29
Parameter list 5 of 5 for
PVG CIP
(shortened version of OD)
Index Subindex Parameter Name
2104 10 PVE8B
2104 11 PVPX
2105 Float PVE push mapping
2105 0 Number of entries
2105 1 PVE1
2105 2 PVE2
2105 3 PVE3
2105 4 PVE4
2105 5 PVE5
2105 6 PVE6
2105 7 PVE7
2105 8 PVE8
Parameterlist for
Prof 1 CIP
(shortened version of OD)
Index Subindex Parameter Name
1000 Device Type
1001 Error Register
1003 Pre-defined error field
1003 0 Number of Errors
1003 1 Last Error Occured
1004 Number of PDOs
1004 0 Number of PDOs supported
1004 1 Number of synchronous PDOs
1004 2 Number of asynchronous PDOs
1008 Device name
1009 Hardware Version
100A Software Version
100B Node-ID
100C Guard Time
100D Life time factor
100E Node guarding ID
1011 Restore parameters
1011 0 Largest supported sub-index
1011 1 Restore all default parameters
1011 2
Restore communication default
parameters
1011 4 Restore default function settings
1800 Number of parameters following
1800 0 Number of entries
1800 1 COB-ID used by PDO
1800 2 Transmission type
1A00 Transmit PDO mapping
1A00 0 Number of entries
1A00 1 Analog input 1
1A00 2 Analog input 2
1A00 3 Analog input 3
1A00 4 Analog input 4
1A00 5 Rest of Analog Inputs
Index Subindex Parameter Name
1A00 6 Digital input 1
3000 Baudrate
3002 Enable Guide function
3004 Enable Memory function
3005 Cyclic trigger
3006 Mapping structure
3006 0 Number of entries
3006 1 Prop 1
3006 2 Prop 2
3006 3 Prop 3
3006 4 Prop 4
3006 5 Push 3A
3006 6 Push 3B
3006 7 Push 4A
3006 8 Push 4B
3006 9 Push 5
3006 A Push 6
3006 B Push 7
3006 C Push 8
3007 Memory function mapping
3007 0 Number of entries
3007 1 Proportional mapping
3007 2 Button used
6000 Digital input values
6000 0 Number of entries
6000 1 Read_8_Input_1H_8H
6401 Read_Analog_Input_16
6401 0 Number of entries
6401 1 Prop1
6401 2 Prop2
6401 3 Prop3
6401 4 Prop4
30 HN.50.Y1.02
PVG CIP dimensions
HN.50.Y1.02 31
32 HN.50.Y1.02
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