Danfoss DST X510, DST X520 Operating guide

Operation guide

Rotary position sensors CANopen output

DST X510 and DST X520

ia.danfoss.com

Operation guide | DST X510 and DST X520 Rotary position sensors CANopen

Table of contents

Contents

1. General information..............................................................................................................................................2

1.1 Contact........................................................................................................................................................... 2

1.2 General............................................................................................................................................................ 2

1.3 Abbreviations................................................................................................................................................ 3

2. Electrical connections............................................................................................................................... 4

2.1 Deutsch version with shaft...................................................................................................................... 4

2.2 AMP Supersxeal with shaft...................................................................................................................... 5

2.3 AMP Superseal without shaft................................................................................................................. 6

2.4 Cable without shaft.................................................................................................................................... 7

2.5 Functional Block......................................................................................................................................... 8

3. Network Management............................................................................................................................. 8

4. Baud rate............................................................................-........................................................................... 9

5. Node-ID and Resolution........................................................................................................................... 9

6. Parameter settings...................................................................................................................................... 9

7. Restore defalut parameters..................................................................................................................... 10

8. Restore default parameters..................................................................................................................... 10

9. Error handling.............................................................................................................................................. 10

10. SDO communication................................................................................................................................. 11

11. PDO communication and Angle calculation..................................................................................... 11

12. CANopen features summary................................................................................................................... 15

13. Communication examples................................................................................................................... 19

1. General Information

1.1 Contact

Danfoss A/S Industrial Automation DK-6430 Nordborg Denmark www.ia.danfoss.com E-mail: IA-Sensorglobaltechnicalsupport@danfoss.com

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 X510 and DST X520 Rotary position sensor CANopen

1.3 Abbreviations and terms

Abbreviation/term Denition

CAN

CAL

CMS

COB

COB-ID

D1 - D8

DLC

ISO

NMT

PDO

RXSDO

SDO

TXPDO

TXSDO

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.

CAN Application Layer Describes implementation of the CAN in level 7 “application” of the ISO/ OSI reference model form which CANopen derives.

CAN Message Specication CAL service element. Denes the CAN Apllication Layer for the various industrial applications.

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 Identier Identifying element of a CAN message. The identier determines the priority of a COB in case of multiple messages in the network.

Data from 1 to 8 Number of data bytes in the data eld of a CAN message.

Data Length Code Number of data bytes transmitted in a single frame.

International Standard Organization International authority providing standards for various merchandise sectors.

Network Management CAL service element. Describes how to congure, initialize, manage errors in a CAN network.

Process Data Object Process data communication objects (with high priority).

Receive SDO SDO objects received from the remote device.

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.

Transmit PDO PDO objects transmitted by the remote device.

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 X510 and DST X520 Rotary position sensors CANopen

2. Electrical Connections 2.1 Deutsch version with shaft

CONNECTIONS

1.: OV (GND)

2.: + VS (+9 - +36 VDC)

3.: NC

4.: NC

5.: CAN-L

6.: 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 X510 and DST X520 Rotary position sensor CANopen

2.2 AMP version with shaft

NOTE:

CONNECTIONS

1.: OV (GND)

2.: + VS (+9 - +36 VDC)

3.: NC

4.: NC

5.: CAN-L

6.: CAN-H

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Operation guide | DST X510 and DST X520 Rotary position sensors CANopen

2.3 AMP Superseal version without shaft

M10 CH17 Magnet

< Suggested less than 1°

Air gab

NOTE:

CONNECTIONS

1.: OV (GND)

2.: + VS (+9 - +36 VDC)

3.: NC

4.: NC

5.: CAN-L

6.: CAN-H

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Operation guide | DST X510 and DST X520 Rotary position sensor CANopen

2.4 Cable version without shaft

NOTE:

Make sure that the CANbus is terminated. The inpedance measured between CAN-H and CAN-L mus be 60 ohm that means the cable must b e connected to a 120 ohm resistor on each end of the bus line. Internally the transducer is not terminated with resistor of 120 ohm. Do not confuse the signal lines of the CANbus, otherwise communication with the transducer is impossible.

CONNECTIONS

Black: GROUND Red: + SUPPLY 1 Yellow: NC Green: NC Blue: CAN-L White: CAN-H

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Operation guide | DST X510 and DST X520 Rotary position sensors CANopen

2.5 Functional Block

Power Management

+ Vs

GND

Angle 1 (CCW) Hall- CHIP 1

Angle 2(CW) Hall- CHIP 2

3. Network Management (NMT)

Data & Diagnostic

Main Controller

Data & Diagnostic

The device supports CANopen network management functionality NMT Slave (Minimum Boot Up).

CAN Transceiver

4. Baud rate4. Baud rate4. Baud rate

CAN-H

CAN-L

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Operation guide | DST X510 and DST X520 Rotary position sensor CANopen

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.

NMT Message COOB-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 Communica<tion 0 82h Node-ID*

* Node-ID = Drive address (from 1 to 7Fh)

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 dierent operational state machines than servo drives. The “Communication State Machine” in all CANopen devices, however, is identical as specied 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.

Table 1

Arbitration 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

4. Baud rate

5. Baud rate

6. Parameter settings

Baud rate can be congurable via Layer Setting Services and Protocol (LSS) and via SDO communication (index 0x5999).

The default Baud rate is 250kbit/s.

Node-ID can be congurable via Layer Setting Services and Protocol (LSS) and via SDO communication (index 0x5999). This parameters are called LSS parameters (marking LSS-PARA). The resolution can be congurable by using manufacturing specic objec 0x2100.

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.

Date Field

Important Note:

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

The default Node-ID is 7F. The default resolution is 0.1°.

Important note:

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

the network!

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

connected to

Table 2

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7. Restore default parameters

8. Restore default parameters

9. Error handling

All object dictionary parameters (objects with marking PARA) can be restored to factory default

values via SDO communication (index 0x1011).

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

COB-ID Byte 0

700 + Node-ID Content NMT State

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 eld with pre-dened error numbers and additional information.

Error Behavior (object 0x4000)

If a serious device failure is detected the object 0x4000 species, to which state the module shall be set: =: Pre-operational 1: Mo state change (default) 2: Stopped

The implementation of either guarding or heartbeat is mandatory. The device supports Heartbeat Producer functionality. The producer heartbeat time is dened in object 0x1017.

EMCY Message

The EMCY COB-ID is dened 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 specic error code. The device uses only the 1st byte as manufacturer specic

error code. When a failure ccurs, the reading of the angular position from the failed channel presents an out-of-range value, i.e. 0xFFFF.

Supported Manufacturer Specic Error Codes (object 0x4001)

Error code Description

0000 0000 No error

0000 0001 Angle 1 sensor chip error

0000 0010 Angle 2 sensor chip error

0000 0100 Angle mismatch (Angle 1 vs Angle 2) error, object 0x2103

NOT IMPLEMENTED

0001 0000 Program checksum error

0100 0000 LSS Parameter checksum error

1000 0000 Magnetic eld too high/low

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Operation guide | DST X510 and DST X520 Rotary position sensor CANopen

10. SDO communication

COB-ID DLC Byte 1 Byte 2 Byte 3 Byted 4 Byte 5 Byte 6 Byte 7 Byte 8

600+Node-ID 8 CMD Index Sub-Index Data Data Data Data

COB-ID DLC Byte 1 Byte 2 Byte 3 Byted 4 Byte 5 Byte 6 Byte 7 Byte 8

5807+Node-ID 8 RES Index Sub-Index Data Data Data Data

The device fulls the SDO Server functionality. Witi 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

Structure of SDO-answer by the Slave

Write Access, Data Transfer form Host to Slave

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)

Read Access, Data Transfer form Slave to Host

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 and Angle calculation

Byte Byte 1 Byte 2 Byte 3 Byte 4

ANGLE 1

Description

object

(0x2110.1)

High-Byte

The Slave answers:

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

Transmit PDO #0

This PDO transmits asynchronously the position value of the angle sensor. Default transmission rate is 100 ms. The Tx PDO#0 shall be transmitted cyclically, if the cyclic timer (object 0x1800.5) is programmed > 0. Values between 1 ms and 65535 ms shall be selectable by parameter settings. The Tx PDO#0 will be transmitted by entering the “Operational” state.

ANGLE 1

object

(0x2110.2)

Low-Byte

TxPDO# with default mapping when object 0x5001 = 0 (big endian)

ANGLE 2

object

(0x2110.3)

High-Byte

ANGLE 2

object

(0x2110.4)

Low-Byte

Byte 5 Byte 6 Byte 7

(0xFF)

Byte 8

Error Code

(object 0x4001)

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