Danfoss DST 730 Operating guide

Operating guide

Top level inclination sensor

CANopen output

DST X730

ia.danfoss.com.

Operation guide | DST 730 Top level inclination sensor

Table of Contents		1.	General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
		1.1	Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
		1.2	General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
		1.3	Abbreviations and terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
		2.	Electrical connections . . . . . . . . . . . . . . . . . . . . . . . . .	. . .	. . .	. . . . 4
		2.1	M12 x 1, 5-pin 43-01090 . . . . . . . . . . . . . . . . . . . . . . .	. . .	. . .	. . . .4
		2.2	6 wires output 18 AWG 1.65 mm OD . . . . . . . . . . . . . . . . .	. . . . . . . . . .5
		3.	Network Management (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
		8.	Restore default parameter . . . . . . . . . . . . . . . . . . . . .	. . .	. . .	. . . . 6
		4.	Baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . .7
		5.	Node-ID and resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
		6.	Parameter settings . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . .7
		7.	Restore default parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
		8.	Heartbeat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
		9	Error handling . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . .	. . .	. . . . 8
		10.	SDO communication and read/write commands . . . . . . . . . .	. . .	. . .	. . . . 9
		11.	PDO communication and Angle calculation . . . . . . . . . . . . . .	. . .	. . .	. . . . 9
		12.	CANopen features summary . . . . . . . . . . . . . . . . . . . .	. . .	. . .	. . . .17
		13.	Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . .21
		14.	Digital filter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
		15.	Communication examples . . . . . . . . . . . . . . . . . . . . . . .	. . .	. . .	. . . .22
1.	General Information	1.1	Contact

Danfoss A/S

Industrial Automation

DK-6430 Nordborg

Denmark

www.ia.danfoss.com

E-mail: [e-mail]

1.2 General

The document describes the standard CANopen implementations created. It is addressed to CANopen system integrators and to CANopen device designers who already know the content of standards designed by C.i.A. (CAN in Automation).

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Operation guide | DST X730 Top level inclination sensor

1.3 Abbreviations and terms

Abbreviation/term	Definition
CAN	Controller Area Network
	Describes a serial communication bys that implements the “physical” level 1 and the
	“data link” level 2 of the ISO/OSI reference model.
CAL	CAN Application Layer
	Describes implementation of the CAN in level 7 “application” of the ISO/OSI reference
	model form which CANopen derives.
CMS	CAN Message Specification
	CAL service element. Defines the CAN Apllication Layer for the various industrial
	applications.
COB	Communication Object
	Unit of transport of data in a CAN network (aCAN message). A maximum of 2,048 COBs
	may be present i a CAN network, each of which may transport from 0 to a maximum of
	8 bytes.
COB-ID	COB Identifier
	Identifying element of a CAN message. The identifier determines the priority of a COB
	in case of multiple messages in the network.
D1 - D8	Data from 1 to 8
	Number of data bytes in the data field of a CAN message.
DLC	Data Length Code
	Number of data bytes transmitted in a single frame.
ISO	International Standard Organization
	International authority providing standards for various merchandise sectors.
NMT	Network Management
	CAL service element. Describes how to configure, initialize, manage errors in a CAN
	network.
PDO	Process Data Object
	Process data communication objects (with high priority).
RXSDO	Receive SDO
	SDO objects received from the remote device.
SDO	Service Data Object
	Service data communication objects (with low priority). The value of this data is
	contained in the “Objects Dictionary” of each device in the CAN network.
TXPDO	Transmit PDO
	PDO objects transmitted by the remote device.
TXSDO	Transmit SDO
	SDO objects transmitted by the remote device.

NOTE:

The numbers followed by the suffix “h” represent a hexadecimal value, with suffix “b” a binary value, and with suffix “d” a decimal value. The value is decimal unless specified otherwise.

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Operation guide | DST 730 Top level inclination sensor

2. Electrical connections 2.1 M12 x 1, 5-pin 43-01090

CONNECTIONS

1.: NC

2.: + VS (+10 - +36 VDC) 3.: GROUND

4.: CAN-L

5.: CAN-H

NOTE:

Please make sure that the CANbus is terminated. The impedance measured between CAN-H and CAN-L must be 60 ohm that means the cable must be connected to a 120 ohm resistor on each ends of the bus line. Internally the tranducer is not terminated with the resistor of 120 ohm.

Do not confuse the signal lines of the CAN bus, otherwise communication with the transducer is impossible.

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Operation guide | DST X730 Top level inclination sensor

2.2 6 wires output 18 AWG 1.65 mm OD

Cables output IEC 60332

Cable 7 pole 0.5 mm²

OD 6.4 mm

CONNECTIONS

White: +Vs (+10 - +36 Vdc)

Yellow: GROUND

Grey: CAN-H

Blue: CAN-L

Pink: NC

Green: NC

Brown: NC

NOTE:

Please make sure that the CANbus is terminated. The impedance measured between CAN-H and CAN-L must be 60 ohm that means the cable must be connected to a 120 ohm resistor on each ends of the bus line. Internally the tranducer is not terminated with the resistor of 120 ohm.

Do not confuse the signal lines of the CAN bus, otherwise communication with the transducer is impossible.

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Operation guide | DST 730 Top level inclination sensor

3.Network Management The device supports CANopen network

(NMT)	management functionality NMT Slave (Minimum
	Boot Up).

8. Restore default parameter

Every CANopen device contains an international Network Management server that communicates with an external NMT master. One device in a network, generally the host, may act as the NMT master.

Through NMT messages, each CANopen device’s network management server controls state changes within its built-in Communication

State Machine.

This is independent from each node’s operational state machine, which is device dependant and described in Control State

Machine.

It is important to distinguish a CANopen device’s operational state machine from its Communication State Machine.

CANopen sensors and I/O modules, for example, have completely different operational state machines than servo drives. The “Communication State Machine” in all CANopen devices, however, is identical as specified by the DS301.

NMT messages have the highest priority. The 5 NMT messages that control the Communication State Machine each contain 2 date bytes that identify the node number and a command to that node’s state machine.

Table 1 shows the 5 NMT messages surpported, and Table 2 shows the correct message for sending these messages.

NMT Message	COB-ID	Data Byte 1	Data Byte 2
Start Remote Node	0	01h	Node-ID’
Stop Remote Node	0	02h	Node-ID’
Pre-operational State	0	80h	Node-ID’
Reset Node	0	81h	Node-ID’
Reset Communication	0	82h	Node-ID’
	* Node-ID = Drive address (from 1 to 7Fh)

Table 1

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Arbitration					Data Field
Field
COB-ID	RTR	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
000h	0	See table 1	See table 2			These bytes are not sent

Table 2

4. Baud rate	Node-ID can be configurable via SDO
	communication object =x20F2 and 020F3 (see
	communication examples at the end of this
	coument).
	The default Baud rate is 250kbit/s.

Important Note:

Changing this parameter can disturb the network! Use the service only if one device is connected to the network!

5.Node-ID and resolution Node-ID can be configurable via SDO

communication object 0x20F0 and 0x20F1 (see communication examples at the end of this documentation).

The default Node-ID is 7F.

Important note:

Changing this parameter can disturb the network! Use the service only if one device is connected to the network!

6. Parameter settings	All object dictionary parameters (object with
	marking PARA) can be saved in a special
	section of the internal EEPROM and secured by
	checksum calculation.
	The special LSS parameters (objects with
	marking LL-PARA), also part of the objec
	dictionary, will be also saved in a special
	section of the internal EEPROM and secured by
	checksum calculation.

Due to the internal architecture of the microcontroller the parameter write cycles are limited to 100,000 cycles.

7.	Restore default	All object dictionary parameters (objects with
	parameters	marking PARA) can be restored to factory default
		values via SDO communication (index 0x1011).

8. Heartbeat	The heartbeat mechanism for this device
	isestablished through cyclic transmission of
	the heartbeat message done by the heartbeat
	producer.
	One or more devices in the network are aware
	of this heartbeat message. If the herartbeat
	cycle fails from the heartbeat producer the local
	application on the heartbeat consumer will be
	informed about that event.
	Heartbeat Message

The implementation of either guarding or heartbeat is mandatory.

The device supports Heartbeat Producer functionality.

The producer heartbeat time is defined in object 0x1017.

COB-ID	Byte	0
700+Node-ID	Content	NMT State

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Operation guide | DST 730 Top level inclination sensor

9 Error handling Principle

Emergency messages (EMCY) shall be triggered by internal errors on device and they are assigned the highest possible priority to ensure that they get access to the bus without delay (EMCY Producer). By default, the EMCY contains the error field with pre-defined error numbers and additional information.

Error Behavior (object 0x4000)

If a serious device failure is detected the object 0x4000 specifies, to which state the module shall be set:

0:Pre-operational

1:Mo state change (default)

2:Stopped

EMCY Message

The EMCY COB-ID is defined in object 0x1014. The EMCY message consists of 8 bytes. It contains an emergency error code, the contents of object 0x1001 and 5 byte of manufacturer specific

error code. The device uses only the 1st byte as manufacturer specific error code.

Byte	Byte 1		Byte 3			Byte 4		Byte 5	Byte 6
	Byte 2								Byte 7
									Byte 8
Description	Emergency		Error Register		Manufacturer			Manufacturer	Manufacturer
	Error code 1)		(object 0x1001 2))		specific error code			specific error code	specific error code
					(always 0x00)			(object 0x4001)	NOT IMPLEMENTED
									(always 0x00)
1) Error code				0x0000 Error Reset on no ERrror (Error Register = 0)
						0x1000 Generic error
			2) Always 0
		Supported Manufacturer Specific Error Codes (object 0x4001)
		Manufacturer Specific Error Code						Description
		(bit field)
			0bxxxxxxx1 (a)			Sensor Error TYPE DST X730 Z-360 (e.g. angle under/above
						limits, self-test failure, MEMS IC communication error)
			0bxxxxxxx1 (a)			Sensor Error X-axis TYPE DST X730 XY-0xx (e.g. angle under/
						above limits, self-test failure, MEMS IC communication error)
			0bxxxxxxx1 (a)			Sensor Error Y-axis TYPE DST X730 XY-0xx (e.g. angle under/
						above limits, self-test failure, MEMS IC communication error)
			0bxxx1xxxx					Program checksum error
			0bxx1xxxxx				Flash limit reached - error
			0bx1xxxxxx				LSS Parameter checksum error
		(a)
		An angle error will be generated if the actual measured angle is under or above limits.
		Example of limits for different versions are reported below:
		DST X730 dual axis version ± 10º Error limit are ± 11º (± 11º are also the FSO angles STOP)
		DST X730 dual axis version ± 15º Error limit are ± 16.5º (± 16.5º are also the FSO angles STOP)
		DST X730 dual axis version ± 20º Error limit are ± 22º (± 22º are also the FSO angles STOP)
		DST X730 dual axis version ± 30º Error limit are ± 33º (± 33º are also the FSO angles STOP)
		DST X730 dual axis version ± 45º Error limit are ± 49.5º (± 49.5º are also the FSO angles STOP)
		DST X730 dual axis version ± 60º Error limit are ± 66º (± 66º are also the FSO angles STOP)
		DST X730 dual axis version ± 90º Error limit are ± 87º (± 87º are also the FSO angles STOP)

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10.SDO communication and read/write commands

The device fulfils the SDO Server functionality. With Service Data Object (S.D.O.) the access to entries of a device Object Dictionary is provided. As these entries may contain data of arbitrary size and data typ SDOs can be used to transfer multiple data sets from a client to a server and vice versa.

Structure of SDO-request by the Master

COB-ID	DLC	Byte 1	Byte 2		Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
600+Node-ID	8	CMD		Index		Sub-Index	Data	Data	Data	Data
		Structure of SDO-answer by the Slave
COB-ID	DLC	Byte 1	Byte 2		Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
580+Node-ID	8	RES		Index		Sub-Index	Data	Data	Data	Data
		Write Access, Data Transfer from Host to Slave					Read Access, Data Transfer form Slave to Host

Each access to object dictionary is checked by the slave for validity. Any write access to nonexistent objects, to read - only objects or with a non-corresponding data format are rejected and answered with a corresponding error message.

CMD determines the direction of data transfer and the size of the data object:

23 hex Sending of 4-byte data (bytes 5 - 8 contian a 32 bit value) 2B hex Sending of 2-byte data (bytes 5, 6 contain a 16-bit value 2F hex Sending of 1-byte data (byte 5 contians an 8-bit value)

The Slave answers:

RES response of the slave: 60 hex Data sent successfully 80 hex Error

Any read access to non-existing objects is answered with an error message.

CMD determines the direction of data transfer:

40 hex read access (in any case)

The Slave answers:

RES Response of the slave:

42 hex Bytes used by node when replying to read command with 4 or less data

43 hex Bytes 5 - 8 contain a 32-bit value 4B hex Bytes 5, 6 contain a 16-bit value 4F hex Byte 5 contains an 8-bit value 80 hex Error

11. PDO communication		Transmit PDO #0
and Angle calculation		This PDO transmits asynchronously the position
		value of the angle sensor. The Tx PDO#0 shall
		be transmitted cyclically, if the cyclic timer
		(object 0x1800.5) is programmed > 0. Values
		between 4 ms and 65535 ms shall be selectable
		by parameter settings. The Tx PDO#0 will be
		transmitted by entering the “Operational” state.
								Byte 5
	Byte		Byte 1	Byte 2		Byte 3	Byte 4	Byte 6
								Byte 7
								Byte 8
			X Axis	X Axis		Y Axis	Y Axis
	Description		object	object		object	object	(0x00)
			(0x6010)	(0x6010)		(0x6020)	(0x6020)
			Low-Byte	High-Byte		Low-Byte	High-Byte

Inthe following figures an example of PDO mapping is reported in the case of Angle X = 0.00º and

Angle Y = 0.00º (Node-ID = 7Fh and resolution ± 0.01º

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Angle X = 0.00°

Angle Y = 0.00°

ID	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
1FFh	00h	00h	00h	00h	00h	00h	00h	00h

Angle X:

Byte 2 MSB (00h) = 00h; Byte 1 LSB (00h) = 00h; Angle X = 0000h to decimal 0d (resolution

±0.01°) = 0.00°

In the following figures an example of PDO mapping is reported in the case of Angle X = + 45.00° and Angle Y = 0.00°.

(Node-ID = 7Fh and resolution ± 0.01°)

Angle Y:

Byte 4 MSB (00h) = 00h; Byte 3 LSB (00h) = 00h Angle Y = 0000h to decimal 0d (resolution

±0.01°) = 0.00°

Angle X = +45.00°

Angle Y = 0.00°

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ID	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
1FFh	94h	11h	00h	00h	00h	00h	00h	00h

Angle X:

Byte 2 MSB (11h) = 11h; Byte 1 LSB (94h) = 94h; Angle X = 1194h to decimal 4500d (resolution

±0.01°) = +45.00°

In the following figures an example of PDO mapping is reported in the case of Angle X = -45.00° and Angle Y = 0.00°. (Node-ID = 7Fh and resolution ± 0.01º)

Angle Y:

Byte 4 MSB (00h) = 00h; Byte 3 LSB (00h) = 00h Angle Y = 0000h to decimal 0d (resolution

±0.01°) = 0.00°

Angle X = -45.00°

Angle Y = 0.00°

ID	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
1FFh	6Bh	EEh	00h	00h	00h	00h	00h	00h

Angle X:

Byte 2 MSB (EEh) = EEh; Byte 1 LSB (6Bh) = 6Bh; Angle X = EE6Bh to decimal 61035d

If the Angle X in decimal is greater thanm 32768, the Angle X is NEGATVE and it must be computed as below (resolution ± 0.01°

Angle X = EE6Bh to decimal 61035d Angle X = Angle X (in decimal) - 65535d =

61035d - 65535d = -4500d (resolution ± 0.01°) = -45.00°

Angle Y:

Byte 4 MSB (00h) = 00h; Byte 3 LSB (00h) = 00h Angle Y = 0000h to decimal 0d (resolution ±0.01°) = 0.00°

In the following figures an example of PDO mapping is reported in the case of Angle X = 0.00° and Angle Y = 0.00°

(Node-ID = 7Fh and resolution ± 0.01°)

Angle X = 0.00°

Angle Y = 0.00°

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Operation guide | DST 730 Top level inclination sensor

ID	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
1FFh	00h	00h	00h	00h	00h	00h	00h	00h

Angle X:

Byte 2 MSB (00h) = 00h; Byte 1 LSB (00h) = 00h; Angle X = 0000h to decimal 0d (resolution

±0.01°) = 0.00°

In the following figures an example of PDO mapping is reported in the case of Angle X = 0.00° and Angle Y = +45.00°.

(Node-ID = 7Fh and resolution ±0.01°)

Angle Y:

Byte 4 MSB (00h) = 00h; Byte 3 LSB (00h) = 00h Angle Y = 0000h to decimal 0d (resolution

±0.01°) = 0.00°

Angle X = -0.00°

Angle Y = +45.00°

ID	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
1FFh	00h	00h	94h	11h	00h	00h	00h	00h

Angle X:

Byte 2 MSB (00h) = 00h; Byte 1 LSB (00h) = 00h; Angle X = 0000h to decimal 0d (resolution

±0.01°) = 0.00°

In the following figures an example of PDO mapping is reported in the case of Angle X = 0.00° and Angle Y = +45.00°.

(Node-ID = 7FH and resolution ± 0.01°)

Angle Y:

Byte 4 MSB (11h) = 11h; Byte 3 LSB (94h) = 94h Angle Y = 1194h to decimal 4500d (resolution

±0.01°) = +45.00°

Angle X = -0.00°

Angle T = -45.00°

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ID	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7	Byte 8
1FFh	00h	00h	6Bh	EEh	00h	00h	00h	00h

Angle X:

Byte 2 MSB (00h) = 00h; Byte 1 LSB (00h) = 00h; Angle X = 0000h to decimal 0d (resolution

±0.01°) = 0.00°

Angle Y:

Byte 4 MSB (EEh) = EEh; Byte 3 LSB (6Bh) = 6Bh Angle Y = EE6Bh to decimal 61035d

If the Angle Y in decimal is greater than 32768, the Angle Y is NEGATIVE and it must be computed as below (resolution ± 0.01°)

Angle Y = EE6Bh to decimal 61035d

Angle Y = Angle Y (in decimal) - 65535d = 61035d - 65535d = -4500d (resolution ± 0.01°) = -45.00°

Transmit PDO#0 - Single axis configuration Z (-180° - +180°) model DST X730 Z-360

This PDO transmits synchronously the position value of the inclinationsensor. The Tx PDO#0 shall be transmitted cyclically, if the cyclic timer (object 0x1800.5) is programmed > 0. Values between 4 ms and 65535 ms shall be selectable by parameter settings. The Tx PDO#0 will be transmitted by entering the “Operational” state.

				Byte 3
				Byte 4
	Byte	Byte 1	Byte 2	Byte 5
				Byte 6
				Byte 7
				Byte 8
		Z Axis	Z Axis
	Description	(object 0x6010)	(object 0x6010)	(0x00)
		Low-Byte	High-Byte

Int he following figures an example of PDO mapping is reported in the case of Angle Z = -180.0º (in 0 - 360º configuration the equivalent angle is 0.00º).

(Node-ID = 7Fh and resolution ± 0.01º

Angle Z = -180.00°

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