Danfoss DST X710 Operating guide

Operating guide

Data sheet

APP pumps

Entry level inclination sensor
CANopen output

APP 0.6-1.0 / APP 1.5-3.5 / APP (W) 5.1-10.2 /

DST X710

APP 11-13 / APP 16-22 / APP 21-43

ia.danfoss.com.

ro-solutions.com

Operation guide | DST 710 Entry 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 AMP Superseal 6-pin 282108-1 ..........................................................4

2.2 6 wires output 18 AWG 1.65 mm OD .....................................................5

3. Network Management (NMT)............................................................6

4. Baud rate ...................................................................................7

5. Node-ID and resolution .....................................................................7

6. Parameter settings..........................................................................7

7. Resore 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

1. General Information

13. Digital filter setting ........................................................................21

14. Communication examples .................................................................21

1.1 Contac t

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 X710 Entry level inclination sensor

1.3 Abbreviations and terms

Abbreviation/term Definition

CAN Controller Area Network

CAL CAN Application Layer

CMS CAN Message Specification

COB Communication Object

COB-ID COB Identifier

D1 - D8 Data from 1 to 8

DLC Data Length Code

ISO International Standard Organization

NMT Network Management

PDO Process Data Object

RXSDO Receive SDO

SDO Service Data Object

TXPDO Transmit PDO

TXSDO Transmit SDO

Describes a serial communication bys that implements the “physical” level 1 and the
“data link” level 2 of the ISO/OSI reference model.

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

CAL service element. Defines the CAN Apllication Layer for the various industrial
applications.

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.

Identifying element of a CAN message. The identifier determines the priority of a COB
in case of multiple messages in the network.

Number of data bytes in the data field of a CAN message.

Number of data bytes transmitted in a single frame.

International authority providing standards for various merchandise sectors.

CAL service element. Describes how to configure, initialize, manage errors in a CAN
network.

Process data communication objects (with high priority).

SDO objects received from the remote device.

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.

PDO objects transmitted by the remote device.

SDO objects transmitted by the remote device.

© Danfoss | DCS (im) | 2019.04

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 710 Entry level inclination sensor

2. Electrical connections

2.1 AMP Superseal 6-pin 282108-1

CONNECTIONS

1.: OV (GND)

2.: + VS (+10 - +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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2.2 6 wires output 18 AWG 1.65 mm OD

Cables output
18 AWG 1.65 mm OD

CONNECTIONS

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

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Operation guide | DST 710 Entry level inclination sensor

3. Network Management
(NMT)

The device supports CANopen network
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.

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)

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.

Table 1

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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 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.

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.

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.

Data Field

Table 2

Important Note:

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

Important note:

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

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

7. Restore default

parameters

8. Heartbeat

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

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

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Operation guide | DST 710 Entry 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

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.

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

Byte Byte 1

Byte 3 Byte 4 Byte 5 Byte 6

Byte 2

Description Emergency

Error code

1)

Error code 0x0000 Error Reset on no ERrror (Error Register = 0)

1)

Error Register
(object 0x1001

Manufacturer

2)

)

specific error code
(always 0x00)

Manufacturer
specific error code
(object 0x4001)

0x1000 Generic error

2)

Always 0

Byte 7
Byte 8

Manufacturer
specific error code
NOT IMPLEMENTED
(always 0x00)

Supported Manufacturer Specific Error Codes (object 0x4001)

Manufacturer Specific Error Code
(bit field)

0bxxxxxxx1

(a)

Sensor Error TYPE DST X710 Z-360 (e.g. angle under/above

Description

limits, self-test failure, MEMS IC communication error)

0bxxxxxxx1

(a)

Sensor Error X-axis TYPE DST X710 XY-0xx (e.g. angle under/

above limits, self-test failure, MEMS IC communication error)

0bxxxxxxx1

(a)

Sensor Error Y-axis TYPE DST X710 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 X710 dual axis version ± 10º Error limit are ± 11º (± 11º are also the FSO angles STOP)
DST X710 dual axis version ± 15º Error limit are ± 16.5º (± 16.5º are also the FSO angles STOP)
DST X710 dual axis version ± 20º Error limit are ± 22º (± 22º are also the FSO angles STOP)
DST X710 dual axis version ± 30º Error limit are ± 33º (± 33º are also the FSO angles STOP)
DST X710 dual axis version ± 45º Error limit are ± 49.5º (± 49.5º are also the FSO angles STOP)
DST X710 dual axis version ± 60º Error limit are ± 66º (± 66º are also the FSO angles STOP)
DST X710 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

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

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

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

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

Description

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. 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 6
Byte 7
Byte 8

X Axis

object

(0x6010)

Low-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

X Axis

object

(0x6010)

High-Byte

Y Axis

object

(0x6020)

Low-Byte

Y Axis

object

(0x6020)

High-Byte

(0x00)

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Operation guide | DST 710 Entry level inclination sensor

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°.

Angle X = 45.00°
Angle Y = 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°

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Operation guide | DST X710 Entry level inclination sensor

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 resolu-
tion ± 0.01º)

Angle X = -45.00°
Angle Y = 0.00°

Angle Y:

Byte 4 MSB (00h) = 00h; Byte 3 LSB (00h) = 00h
Angle Y = 0000h to decimal 0d (resolution
±0.01°) = 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 = 4 EE6Bh to decimal 61035d
Angle X = Angle X (in decimal) - 65535d =
61035d = 4500d (resolution ± 0.01°) = -45.00°

Angle X = -0.00°
Angle Y = 0.00°

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°)

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Operation guide | DST 710 Entry 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°.

Angle X = -0.00°
Angle T = +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°

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°

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Angle X = -0.00°
Angle T = -45.00°

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Operation guide | DST X710 Entry level inclination sensor

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°

Transmit PDO#0 - Single axis configuration Z
(-180° - +180°) model DST X710 Z-360

Byte Byte 1 Byte 2

Description

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).

Z Axis

(object 0x6010)

Low-Byte

(Node-ID = 7Fh and resolution ± 0.01º

(object 0x6010)

Angle Y:

Byte 4 MSB (EEh) = EEh; Byte 3 LSB (6Bh) = 6Bh
Angle Y = EE6Bh to decimal 61035d (resolution
±0.01°) = 0.00°
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°

This PDO transmits asynchronously 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 5
Byte 6
Byte 7
Byte 8

Z Axis

(0x00)

High-Byte

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Angle Z = -180.00°

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Operation guide | DST 710 Entry level inclination sensor

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

1FFh AFh B9h 00h 00h 00h 00h 00h 00h

Angle Z:

Byte 2 MSB (B9h) = B9h; Byte 1 LSB (AFh) = AFh;
Angle Z = B9AFh to decimal 47535d
If the Angle Z in decimal is greater than
32768, the Angle Z is NEGATIVE and it must be
computed as below (resolution ± 0.01°)
Angle Z = B9AFh to decimal 47535d
Angle Z (in decimal) - 65535d = 47535d ­65535d = - 18000d (resolution ± 0.01°) =

-180.00°

In the following figures an example of PDO
mapping is reported in the case of Angle Z =

-90.0° (in 0 - 360° configuration the equivalent
angle is +90.00°). The Node-ID = 7FH and
resolution ± 0.01°.

Angle Z = 90.00°

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Operation guide | DST X710 Entry level inclination sensor

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

1FFh D7h Dch 00h 00h 00h 00h 00h 00h

Angle Z:

Byte 2 MSB (Dch) = Dch; Byte 1 LSB (D7h) = D7h;
Angle Z = DcD7h to decimal 56535d
If the Angle Z in decimal is greater than
32768, the Angle Z is NEGATIVE and it must be
computed as below (resolution ± 0.01°)
Angle Z = DcD7h to decimal 56535d
Angle Z (in decimal) - 65535d = 56535d ­65535d = - 9000d (resolution ± 0.01°) = -90.00°

In the following figures an example of PDO
mapping is reported in the case of Angle Z =

0.0° (in 0 - 360° configuration the equivalent
angle is +180.00°). The Node-ID = 7FH and
resolution ± 0.01°.

Angle Z = 0.00°

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Operation guide | DST 710 Entry 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 Z:

Byte 2 MSB (00h) = 00h; Byte 1 LSB (00h) = 00h;
Angle Z = 0000h to decimal 0d = 0.00°

In the following figures an example of PDO
mapping is reported in the case of Angle Z =
+ 90.0° (in 0 - 360° configuration the equivalent
angle is +270.00°). The Node-ID = 7FH and
resolution ± 0.01°.

Angle Z = +90.00°

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

1FFh 28h 23h 00h 00h 00h 00h 00h 00h

Angle Z:

Byte 2 MSB (23h) = 23h; Byte 1 LSB (28h) = 28h;
Angle Z = 2328h to decimal 9000d = +90.00°

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Operation guide | DST X710 Entry level inclination sensor

12. CANopen features

summary

Communication Profile

The parameters which are critical for
communication are determined in the
Communication profile.
This area is common for all CANopen devices.

Index

Sub
Index

1000h Device Profile Unsigned 32 Ro 0x0008019A

Name Type Access Default value Comments

Profile 410: Device profile for inclinometer
(not fully implemented)

1001h Error Register Unsigned 8 Ro 0x00 Always ZERO

1008h

1009h

100Ah

1010h

1011h

Manufacturer Device
Name

Manufacturer
Hardware version

Manufacturer Software
version

String Const “GIB”

String Const “1.00”

String Const “1.10”

0 Number of entries Unsigned 8 Ro 1

1 Save all parameters Unsigned 32 Wo

Restore default

0

parameters

Unsigned 8 Ro

1 Restore all parameters Unsigned 32 Rw

Refer to Danfoss data sheet:
GIB: DST X710 Entry level inclination sensor

“save” (0x65766173) to store all parameters
(objects with marking PARA)

“load” (0x64616F6C) to restore all parameters
(objects with marking PARA and LSS-PARA)

1014h 0 Emergency ID Unsigned 32 Rw 0x80 + Node-ID

Min. = 0 & Max. = 65536 with unit = 1 ms

1017h 0

Producer time/ Heart
beat

Unsigned 16 Rw 0

If 0: NOT USED
From 1 - 19 NOT ACCEPTED
From 20 to 65535 ACCEPTED

0 Identity object Unsigned 8 Ro 4

1 Vendor ID Unsigned 32 Ro 0x0000093

1018h

2 Product code Unsigned 32 Ro 0x0000064

Refer to Vendor ID:0x0000093

3 Revision number Unsigned 32 Ro 0x0000001

4 Serial number Unsigned 32 Ro 0x0000000

1200h

1800h

1A00h

SDO Server Parameter

0 Number of entries Unsigned 8 Ro 2

COB-ID Client to Server

1

(Rx)

COB-ID Server to to

2

Server (Tx)

st

1

0

Transmit PDO

Parameter

Unsigned 32 Ro

Unsigned 32 Ro

Unsigned 8 Ro

0x600 + Node­ID

0x580 + Node­ID

1 COB-ID Unsigned 32 Ro 180h + Node-ID

2 Transmission Type Unsigned 8 Rw 254 Asynchronous transmission

3 Inhibit Time Unsigned 16 Rw 4 Min. = 4 & Max. = 65535 with unit = 1 ms

4 Reserved Unsigned 8 Ro

5 Event Timer PARA Insigned 16 Rw 100 Min. = 4 & Max. = 65535 with unit = 1 ms

Tx PDO [X] 0 Mapping Parameter

0 Number of entries Unsigned 8 Ro 2 The inclination of longitudinal axis (long; X)

1 1

st

Mapped Object Unsigned 32 Ro 0x60100010

is indicated in Idx6010 in the cas of dual axis

sensor (±10º - ±90º)

The inclination of transverse axis (tran;Y9 is

indicated in Idx 6020 in the case of dual axis

2 2

nd

Mapped Object Unsigned 32 Ro 0x60200020

The inclination of Z axis is indicated in Idx 6010

sensor (±10º - ±90º)

in the case of single axis sensor (±180º)

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Operation guide | DST 710 Entry level inclination sensor

Manufacturer Specific Profile Objects

In this section you will find the manufacturer
specific profile indices for transducer.+

“Setting the Node-ID”

Index

20F0h 0

20F1h 0

“Setting the Baud Rate”

Index

20F2h 0

20F3h 0

“Setting the Baud Rate”

Sub

Index

Setting of the

Setting of the

Sub

Index

Setting the Baud

Setting the Baud

Name Type Access Default value Comments

Node-ID

Node-ID

A change of the Node-ID is only accepted if
the entries 20F0 and 20F1 contain the same
changed value. Values below 1 / above 127 are
not accepted; the existing setting remains valid.
After setting new entries a reset must be made
so that the new entries become valid (switch off
the module for a short time).

Name Type Access Default value Comments

rate

rate

A change of the Baud rate is only accepted if
the entries 20F2 and 20F3 contain the same
changed value. Values below above 7 are not
accepted; the existing setting remains valid.
After setting new entries a reset must be made
so that the new entries become valid (switch off
the module for a short time).

In this section you will find the
specific profile indices for the tranducer

Unsigned 8 Rw 0x7F (=127d)

Unsigned 8 Rw 0x7F (=127d)

Unsigned 8 Rw 0x03 (250 kBaud)

Unsigned 8 Rw 0x03 (250 kBaud)

manufacturer

The Node-ID used to access tje sensor in the

CANopen network

The Node-ID ised tp access tje sensor in the

CANopen network

Baud rate of the Can network

0 = 1000 kBaud

1 = 800 kBaud
2 = 500 kBaud

3 = 250 kBaud (default)

4= 125 kBaud

5 = 100 kBaud

6 = 50 kBaud
7 = 20 kBaud

Baud rate of the Can network

0 = 1000 kBaud

1 = 800 kBaud
2 = 500 kBaud

3 = 250 kBaud (default)

4= 125 kBaud

5 = 100 kBaud

6 = 50 kBaud
7 = 20 kBaud

Index

4000h

40 01h Error code Unsigned 8 Ro 0 0: no error; Min. = 0 & Max. = 255

5000h

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Sub

Index

Name Type Access Default value Comments

Error Behavior -

PAR A

Automatic NMT

Start after

Power-On - PARA

Unsigned 8 Rw 1

Unsigned 8 Rw 0

0: Pre-operational; 1: no state change;

2: stopped; Min. = 0 & Max. = 255

1: activated; Min. = 0 & Max. = 1

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0: not activated

Operation guide | DST X710 Entry level inclination sensor

“Setting the Digital filter”

Index

2001h 0

Sub

Index

Name Type Access Default value Comments

Filter Setting -

PAR A

Unsigned 8 Rw 0

A change of theFilter Setting is only accepted
after a STORE command (see Store Parameters
setting via SDO 0x1010 Sub 1 and examples of
Filter setting at the end of this manual).

Manufacturer Specific Profile Objects (according to CIA DS-410)

Index

Sub

Index

Name Type Access Default value Comments

6000h 0 Resolution Unsigned 16 Rw 0x32 (50d)

Filter = 0 Slow; Filter = 1 Medium; Filter = 2

Fast; See Par. 14 and examples at the end of

this guide.

Display resolution of the inclination for both

(1)

axes
10d = Inclination is indicated as signed int in

0.01°
50d = Inclination is indicated as signed int in

0.05°
100d = Inclination is indicated as signed int
in 0.1°
500d = Inclination is indicated as signed int
in 0.5°
1000d = Inclination is indicated as signed int
in 1.0°
Note: If the display resolution is changed all
offset values or zero point values which may
have been entered are deleted.
Therefore the sensor must be set before it is
aligned!

6010h 0

6011h 0

6012h 0

Slope Longitu-

dinal

Slope Longitu-

dinal

Operating Pa-

rameter

Slope Longitu-

dinal

Preset Value

(1)

A change of the display resolution in Idx
6000 is only accepted, if the scaling in Idx
6011 and Idx 6021 is activated.

Signed 16 Ro Inclination of the longitudinal axis X (long:X)

Inverting the sign
0b 0000 00x0 deactivated
0b 0000 00x1 activated
Scaling of the measured value
0b 0000 000x deactivated
0b 0000 001x activated(1)

Unsigned 8 Rw 0b000000xx

Value output:
Slope longitudinal = measured value in
dependence of Resolution (Index 6000)
+ Slope Longitudinal Offset
+ Differential Slope Longitudinal Offset

(1)

A change of the display resolution in Idx
6000 is only accepted, if the scaling in Idx
6011 and Idx 6021 is activated.

Corrects the measured sensor value. The

Signed 16 Rw 0x0000

displayed value Slop Longitudinal is set to

the entered value. The offset is indicated in

the index 0x6013

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Operation guide | DST 710 Entry level inclination sensor

Index

Sub

Index

Name Type Access Default value Comments

Offset value calculated from the following
objects:

6013h 0

6014h 0

Slope Longitu-

dinal

Offset

Slope Longitu-

dinal

Differential

Offset

Unsigned 16 Ro 0x0000

Signed 16 Rw 0xoooo

Slope Longitudinal Offset =
Slope Longitudinal Preset Value t
red value t

(t

: istant when the Slope Longitudinal

acc

Preset Value is set)

acc

– measu-

acc

Shifts the displayed value by the entered
value irrespective of “Slope Longitudinal

Preset Value”.

6020h 0 Slope Lateral Unsigned 16 Ro Inclination of the Lateral axis X (long; X)

Inverting the sign
0b 0000 00x0 deactivated
0b 0000 00x1 activated

Scaling of the measured value
0b 0000 000x deactivated
0b 0000 001x activated

(1)

Slope Lateral

6021h 0

Operating Pa-

rameter

Unsigned 8 Rw 0b000000xx

Value output:
Slope Lateral = measured value in depen­dence of Resolution (Index 6000)
+ Slope Lateral Offset
+ Differential Slope Lateral Offset

6022h 0

6023h 0

6024h 0

Slope Lateral

Preset Value

Slope Lateral

Offset

Slope Lateral Dif-

ferential Offset

Signed 16 Rw 0x0000

Signed 16 Ro 0x0000

Signed 16 Rw 0x0000

Ro = the parameter can be read only
Rw = the parameter can be read and also written
Wo = the parameter can be written only

(1)

A change of the display resolution in Idx
6000 is only accepted, if the scaling in Idx
6011 and Idx 6021 is activated.

Corrects the measured sensor value. The

displayed value Slop Lateral is set to the

entered value.

The offset is indicated in the index 0x6023

Offset value calculated from the following
objects:
Slope Lateral Offset =

Slope Lateral Preset Value t
value t

(t
Value is set)

acc

: istant when the Slope Lateral Preset

acc

– measured

acc

Shifts the displayed value by the

entered value irrespective of “Slope Laterall

Preset Value”.

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Operation guide | DST X710 Entry level inclination sensor

13. Digital filter setting The inclination sensor offers the possibility to
suppress the influence of external disturb ing
vibrations. The ionternal lowpass digital filters
(8th order) are programmable in 3 steps (more
steps can be obtained on request and they can
be adjusted for any kind of application).

Filter Selection
(via SDO oggetto 0x2106 Sub 6)

Slow Filter 0 Static inclination measurement with high damping to vibration

Medium

Fast Filter 2 General application with medium high dynamic

14. Communication

examples

Filter code Appliucation

Filter 1

Example 1: How to change the Baud Rate
Setting from 250 kbaud to 500 kbaud

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 type 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

Inclination measurement in applications that requires a certain dynamism, without
overshoot at angle changes with good damping

The sensor has digital filters that can be selected
according to Table 2 below.
Theilter selection is configurable via SDO com­munication objecy 0x2001 Sub 0 (see Manufac­turer Specific Profile Objects and communica­tion examples at the end of this document).

Table 2 - Filter setting

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

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

23 hex Sending of 4-byte data (bytes 5 - 5
contain a 32 bith 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 contains
an 8-bit value)

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

RES Response of Slave:

60 hex Data sent successfully
80 hex Error

A change of the Baud rate is only accepted if
the entries 0x20F2 and 0x20F3 contain the
same changed value. With the aim to change
the baud rate from 250 kBaud (0x03) to 500
kBaud (0x02) write a second SDO (in the
example the Node-ID = 0x7F9

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 2Fh F2h 20h 00h 02h 00h 00h 00h

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Operation guide | DST 710 Entry level inclination sensor

A change of the Baud rate is only accepted if
the entries 0x20F2 and 0x20F3 contain the
same changed value. With the aim to change
the baud rate from 250 kBaud (0x03) to 500
kBaud (0x02) write a second SDO (in the
example the Node-ID = 0x7F9

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 2Fh F3h 20h 00h 02h 00h 00h 00h

Object:

Baud rate of the CAN network
0 = 1000k Baud
1 = 800 kBaud
2 = 500 kBaud
3 = 250 kBaud
4 = 125 kBaud
5 = 100 kBaud
6 = 50 kBaud
7 = 20 kBaud

Baud rate of the CAN network
0 = 1000k Baud
1 = 800 kBaud
2 = 500 kBaud
3 = 250 kBaud
4 = 125 kBaud
5 = 100 kBaud
6 = 50 kBaud
7 = 20 kBaudk

20F2h 0

20F3h 0

Setting of the Baud

rate

Setting of the Baud

rate

Unsigned 8 Rw 0x03 (250 kBaud)

Unsigned 8 Rw

0x03

(250 kBaud)

The supported baudrate are listed in the
following table:

Byte 5 Baudrate

07h 20 kBaud

06h 50 kBaud

05h 100 kBaud

04h 125 kBaud

03h 250 kBbaud

02h 500 kBbaud

01h 800 kBbaud

00h 1000 kBbaud

The answer after successful storing you will receive is:

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h F2h 20h 00h 00h 00h 00h 00h

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h F3h 20h 00h 00h 00h 00h 00h

IMPORTANT NOTE:

A change of the Baud rate is only accepted if the
entries 0x20F2 and 0x20F3 contain the same
changed value. Values above 7 are not accepted;
the existing setting remains valid. Afer setting
the new entries a reset must be made so that the
new entries becom valid (switch off the module
for a short time).

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Operation guide | DST X710 Entry level inclination sensor

Example 2: How to change the ID-Node from
0x7Fh (127d) (Current setting) to 0x06h (6d)

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 type 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

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

23 hex Sending of 4-byte data (bytes 5 - 5
contain a 32 bith 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 contains
an 8-bit value)

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

RES Response of Slave:

60 hex Data sent successfully
80 hex Error

A change of the Node-ID is only accepted if
the entries 0x20F0 and 0x20F1 contain the
same changed value. With the aim to change
the Node-ID from 127 (0x7F) to 6 (0x06)
write a firat SDO (in the example the Node­ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 2Fh F0h 20h 00h 06h 00h 00h 00h

A change of the Node-ID is only accepted if
the entries 0x20F0 and 0x20F1 contain the
same changed value. With the aim to change
the Node-ID from 127 (0x7F) to 6 (0x06)
write a second SDO (in the example the
Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 2Fh F1h 20h 00h 06h 00h 00h 00h

Object:

20F0h 0 Setting of the Node-ID Unsigned 8 Rw

20F1h 0 Setting of the Node-ID Unsigned 8 Rw

0x7F

(0127d)

0x7F

(0127d)

The Node-ID used to access the sensor in

the CANopen

The Node-ID used to access the sensor in

the CANopen

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Operation guide | DST 710 Entry level inclination sensor

The answer after successful storing you will receive is:

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h F0h 20h 00h 00h 00h 00h 00h

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h F1h 20h 00h 00h 00h 00h 00h

IMPORTANT NOTE:

A change of the Node_ID is only accepted if the
entries 0x20F0 and 0x20F1 contain the same
changed value. Values below 1 / above 127
are not accepted; the existing setting remains
valid. Afer setting the new entries a reset must
be made so that the new entries become valid
(switch off the module for a short time).

Example 3: How to change the PDO rate (time
interval) from 100 ms (current setting) to 20
ms

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 type 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

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

23 hex Sending of 4-byte data (bytes 5 - 5
contain a 32 bith 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 contains
an 8-bit value)

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

RES Response of Slave:

60 hex Data sent successfully
80 hex Error

With the aim to change the PDO rate from 100 ms
(0x64) to 20 ms (0x14)

Write (in the example the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 2Bh 00h 18h 05h 14h 00h 00h 00h

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Operation guide | DST X710 Entry level inclination sensor

Object:

0

1 COB-ID Unsigned 32 Ro

1800h

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 00h 18h 05h 00h 00h 00h 00h

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 23h 10h 10h 01h 73h 61h 76h 65h

2 Transmission Type Unsigned 8 Rw 254 Asynchronous transmission

3 Inhibit Time Unsigned 16 Ro 0

4 Reserved // //

5 Timer Unsigned 16 Rw 100 (64)

1st Transmit PDO

Parameter

The answer after successful storing you will receive is:

With the aim to save functionality write the “save” command as below:

Write (in the example the Node-ID = 0x7F)

Note: save command is given by sending the code:

Unsigned 8 Ro

180h +

Node-ID

Min. = 0 & Max. = 65535

with unit = 1 ms

Min. = 0 & Max. = 65535

with unit = 1 ms

73h 61h 76h 65h

Where:

73h = ASCII code “s”
61h = ASCII code “a”
76h = ASCII code “v”
65h = ASCII code “e”

The answer after successful storing you will receive is:

The answer after successful storing you will receive is:

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 10h 10h 01h 00h 00h 00h 00h

IMPORTANT NOTE:

After setting the new entries a reset must be
made so that the new entries become valid
(switch off the module for a short time).

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Operation guide | DST 710 Entry level inclination sensor

Example 4: How toactivate an automatic NMT
Start after Power ON (the PDO will be send
automatically after power ON)

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 type 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

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

23 hex Sending of 4-byte data (bytes 5 - 5
contain a 32 bith 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 contains
an 8-bit value)

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

RES Response of Slave:

60 hex Data sent successfully
80 hex Error

With the aim to activate an automatic NMT
Start after power ON write (in the example
the Node-ID = 0x7F

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 2Fh 00h 50h 00h 01h 00h 00h 00h

Object:

5000h 0

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 00h 50h 00h 00h 00h 00h 00h

Automatic NMT

Start after Power

ON - PARA

The answer after successful storing you will receive is.

With the aim to save functionality write the “save” command as below:

Write (in the example the Node-ID = 0x7F)

Unsigned 8 Rw 0

0 = not activated
1= activated
Min. = 0 & Max. = 1

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 23h 10h 10h 01h 73h 61h 76h 65h

Note: save command is given by sending the code:

73h 61h 76h 65h

Where:

73h = ASCII code “s”
61h = ASCII code “a”
76h = ASCII code “v”
65h = ASCII code “e”

The answer after successful storing you will receive is:

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Operation guide | DST X710 Entry level inclination sensor

The answer after successful storing you will receive is:

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 10h 10h 01h 00h 00h 00h 00h

IMPORTANT NOTE:

After setting the new entries a reset must be
made so that the new entries become valid
(switch off the module for a short time).

Example 5: How to Preset the angle X to 0.00°
(in case of dual axis ± 10° - ± 90°)

The vlues “Preset Value” (Idx 60x2) and “Diffential
Ofset” (Idx 60x4) affects the display of the
longitudianl and the instant t
application is the compensation of display

. A typical

acc

errors dut to mounting (e.g. sensor zeroing).
The sensor must first be brought to a defined
position.
The value “Differential Offset” shifts the
displayed value of the sensor by the entered

Note that the resolution parameter must be
set before aligning the sensor (resolution, Idx

6000)!
With Service Data Object (S.D.O.) the access to
entries of a device Object Dictionay is provided.
As these entries may contain data of arbitrary
size and data type SDOs can be used to transfer
multiple data sets from a client to a server and

vice versa.
value. A set “Preset Value” does not affect
shifting.

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

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

23 hex Sending of 4-byte data (bytes 5 - 5
contain a 32 bith 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 contains
an 8-bit value)

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

RES Response of Slave:

60 hex Data sent successfully
80 hex Error

With the aim to preset the X angle to 0.00° Write (in the example the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 2Bh 12h 60h 00h 00h 00h 00h 00h

Object:

Corrects the measured sensor
value. The displayed value
Slop Longitudinal is set to the
entered value. The offset is

6012h 0

Slop Longitudinal

Preset Value

Signed 16 Rw

indicated in the index 0x6013

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Operation guide | DST 710 Entry level inclination sensor

The answer after successful storing you will receive is.

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 12h 60h 00h 00h 00h 00h 00h

With the aim to save functionality write the “save” command as below:

Write (in the example the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 23h 10h 10h 01h 73h 61h 76h 65h

Note: save command is given by sending the code:

73h 61h 76h 65h

Where:

73h = ASCII code “s”
61h = ASCII code “a”
76h = ASCII code “v”
65h = ASCII code “e”

The answer after successful storing you will receive is.

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 10h 10h 01h 00h 00h 00h 00h

IMPORTANT NOTE:

After setting the new entries a reset must be
made so that the new entries become valid
(switch off the module for a short time).

Example 6: How to Preset the angle Y to 0.00°
(in case of dual axis ± 10° - ± 90°)

The vlues “Preset Value” (Idx 60x2) and “Diffential
Offset” (Idx 60x4) affects the display of the
longitudianl and the instant t
application is the compensation of display

. A typical

acc

errors dut to mounting (e.g. sensor zeroing).
The sensor must first be brought to a defined
position.
The value “Differential Offset” shifts the
displayed value of the sensor by the entered

Note that the resolution parameter must be

set before aligning the sensor (resolution, Idx

6000)!

With Service Data Object (S.D.O.) the access to

entries of a device Object Dictionay is provided.

As these entries may contain data of arbitrary

size and data type SDOs can be used to transfer

multiple data sets from a client to a server and

vice versa.
value. A set “Preset Value” does not affect
shifting.

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

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

23 hex Sending of 4-byte data (bytes 5 - 5
ontain a 32 bith 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 contains
an 8-bit value)

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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

RES Response of Slave:

60 hex Data sent successfully
80 hex Error

With the aim to preset the Yangle to 0.00° Write (in the example the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 2Bh 22h 60h 00h 00h 00h 00h 00h

Object:

Corrects the measured sensor

6022h 0

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 22h 60h 00h 00h 00h 00h 00h

Slop Longitudinal

Preset Value

The answer after successful storing you will receive is.

Signed 16 Rw

value. The displayed value
Slop Longitudinal is set to the
entered value. The offset is
indicated in the index 0x6023

With the aim to save functionality write the “save” command as below:

Write (in the example the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 23h 10h 10h 01h 73h 61h 76h 65h

Note: save command is given by sending the code:

73h 61h 76h 65h

Where:

73h = ASCII code “s”
61h = ASCII code “a”
76h = ASCII code “v”
65h = ASCII code “e”

The answer after successful storing you will receive is.

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 10h 10h 01h 00h 00h 00h 00h

IMPORTANT NOTE:

After setting the new entries a reset must be
made so that the new entries become valid
(switch off the module for a short time).

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Operation guide | DST 710 Entry level inclination sensor

Example 7: How to Preset the angle Z to 0.00°
(in case of single axis ± 180°)

The values “Preset Value” (Idx 60x2) and
“Diffential Offset” (Idx 60x4) affects the display
of the longitudianl and lateral axis. The
value entered in “Preset Value” immediately
corrects the measured value of the sensor
cell at the instant t
is the compensation of display errors due to

. A typical application

acc

mounting (e.g. sensor zeroing).
The sensor must first be brought to a defined

Note that the resolution parameter must be

set before aligning the sensor (resolution, Idx

6000)!

With Service Data Object (S.D.O.) the access to

entries of a device Object Dictionay is provided.

As these entries may contain data of arbitrary

size and data type SDOs can be used to transfer

multiple data sets from a client to a server and

vice versa.
position. The value “Differential Offset” shifts the
displayed value of the sensor by the entered
value. A set “Preset Value” does not affect
shifting.

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

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

23 hex Sending of 4-byte data (bytes 5 - 5
ontain a 32 bith 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 contains
an 8-bit value)

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

RES Response of Slave:

60 hex Data sent successfully
80 hex Error

With the aim to preset the Z angle to 0.00° Write (in the example the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 2Bh 12h 60h 00h 00h 00h 00h 00h

Object:

Corrects the measured sensor
value. The displayed value
Slop Longitudinal is set to the
entered value. The offset is

6012h 0

Slop Laterall Preset

Value

Signed 16 Rw

indicated in the index 0x6013

The answer after successful storing you will receive is.

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 12h 60h 00h 00h 00h 00h 00h

With the aim to save functionality write the “save” command as below:

Write (in the example the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 23h 10h 10h 01h 73h 61h 76h 65h

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Operation guide | DST X710 Entry level inclination sensor

Note: save command is given by sending the code:

73h 61h 76h 65h

Where:

73h = ASCII code “s”
61h = ASCII code “a”
76h = ASCII code “v”
65h = ASCII code “e”

The answer after successful storing you will receive is.

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 10h 10h 01h 00h 00h 00h 00h

IMPORTANT NOTE:

After setting the new entries a reset must be
made so that the new entries become valid
(switch off the module for a short time).

Example 8: How to invert the direction (from
CW to CCW) in angle Z (in case of single axis ±
180°)

The values “Preset Value” (Idx 60x2) and
“Diffential Offset” (Idx 60x4) affects the display
of the longitudianl and lateral axis. The
value entered in “Preset Value” immediately
corrects the measured value of the sensor
cell at the instant t
is the compensation of display errors due to

. A typical application

acc

mounting (e.g. sensor zeroing).

Note that the resolution parameter must be

set before aligning the sensor (resolution, Idx

6000)!

With Service Data Object (S.D.O.) the access to

entries of a device Object Dictionay is provided.

As these entries may contain data of arbitrary

size and data type SDOs can be used to transfer

multiple data sets from a client to a server and

vice versa.
The sensor must first be brought to a defined
position. The value “Differential Offset” shifts the
displayed value of the sensor by the entered
value. A set “Preset Value” does not affect
shifting.

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

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

23 hex Sending of 4-byte data (bytes 5 - 5
ontain a 32 bith 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 contains
an 8-bit value)

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

RES Response of Slave:

60 hex Data sent successfully
80 hex Error

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Operation guide | DST 710 Entry level inclination sensor

With the aim to invert the direction (from CW to CCW) in angle Z (in exam. the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 2Fh 11h 60h 00h 03h 00h 00h 00h

Object:

6011h

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 11h 60h 00h 00h 00h 00h 00h

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 23h 10h 10h 01h 73h 61h 76h 65h

73h 61h 76h 65h

Where:

73h = ASCII code “s”
61h = ASCII code “a”
76h = ASCII code “v”
65h = ASCII code “e”

Slop Laterall Preset

0

Value

The answer after successful storing you will receive is.

With the aim to save functionality write the “save” command as below:

Write (in the example the Node-ID = 0x7F)

Note: save command is given by sending the code:

Signed 8 Rw 0x02 (2d)

Inverting the sign
0b 0000 00x0 deactivated
0b 0000 00x1 activated

The answer after successful storing you will receive is.

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 10h 10h 01h 00h 00h 00h 00h

IMPORTANT NOTE:

After setting the new entries a reset must be
made so that the new entries become valid
(switch off the module for a short time).

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Operation guide | DST X710 Entry level inclination sensor

Example 9: How to change the resolution from
±0.05° to ±0.01°

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 type 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

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

23 hex Sending of 4-byte data (bytes 5 - 5
ontain a 32 bith 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 contains
an 8-bit value)

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

RES Response of Slave:

60 hex Data sent successfully
80 hex Error

With the aim tochange the resolution from ±0.05° 0x32) to ±0.01 •0x0A write (in exam. the Node-ID

= 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 2Bh 00h 60h 00h 0Ah 00h 00h 00h

Object:

Disaplay resolution of the inclination for
both axis

(1)

10d = Inclination is indicated as signed
int in 0.01º
50d = Incation is indicated as signed int
in 0.05º
100d = Inclination is indicated as signed
int in 0.1º
500d = Inclination is indicated as signed

6000h 0 Resolution Unsigned 16 Rw 0x32 (50d)

int in 0.5º
1000d = Inclination is indicated as
signed int in 1.0
Note: If the dsiplay resolution is
changed all offset values or zero point
values which may have been entered
are deleted. Therefore the sensor must
be set before it is aligned!

1) A change of the dsiplay resolution in
Idx 6000mis only accepted, if the scaling
in Idx 6011 and Idx 6021 is activated.

The answer after successful storing you will receive is.

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 00h 60h 00h 00h 00h 00h 00h

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Operation guide | DST 710 Entry level inclination sensor

With the aim to save functionality write the “save” command as below:

Write (in the example the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 23h 10h 10h 01h 73h 61h 76h 65h

Note: save command is given by sending the code:

73h 61h 76h 65h

Where:

73h = ASCII code “s”
61h = ASCII code “a”
76h = ASCII code “v”
65h = ASCII code “e”

The answer after successful storing you will receive is.

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 10h 10h 01h 00h 00h 00h 00h

IMPORTANT NOTE:

After setting the new entries a reset must be
made so that the new entries become valid
(switch off the module for a short time).

Example 10: How to change the filter setting
from FAST (Filter = 2) to SLOW (filter = 0)

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 type 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

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

23 hex Sending of 4-byte data (bytes 5 - 5
ontain a 32 bith 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 contains
an 8-bit value)

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Operation guide | DST X710 Entry level inclination sensor

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

RES Response of Slave:

60 hex Data sent successfully
80 hex Error

With the aim to change the filter settings from FAST response (0x02) to SLOW response (0x00) write

(in exam. the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 2Fh 01h 20h 00h 00h 00h 00h 00h

Object:

2001h 0 Filter Setting Unsigned 8 Rw 2

The answer after successful storing you will receive is.

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 01h 02h 00h 00h 00h 00h 00h

With the aim to save functionality write the “save” command as below:

Write (in the example the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 23h 10h 10h 01h 73h 61h 76h 65h

Note: save command is given by sending the code:

73h 61h 76h 65h

Where:

73h = ASCII code “s”
61h = ASCII code “a”
76h = ASCII code “v”
65h = ASCII code “e”

Filter = 0 Slow
Filter = 1 Medium
Filter = 2 Fast

The answer after successful storing you will receive is.

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 10h 10h 01h 00h 00h 00h 00h

IMPORTANT NOTE:

After setting the new entries a reset must be
made so that the new entries become valid
(switch off the module for a short time).

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Operation guide | DST 710 Entry level inclination sensor

Example 11: How to send the command
RESTORE

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 type 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

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

23 hex Sending of 4-byte data (bytes 5 - 5
ontain a 32 bith 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 contains
an 8-bit value)

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 Date

RES Response of Slave:

60 hex Data sent successfully
80 hex Error

With the aim to restore all parameters to default write

(in exam. the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 23h 11h 10h 01h 6Ch 6Fh 61h 64h

Object:

2001h 1 Load all parameters Unsigned 8 Wo

The answer after successful storing you will receive is.

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 11h 10h 01h 00h 00h 00h 00h

After setting the new entries a reset must be
made so that the new entries become valid
(switch off the module for a short time).

“load” (0x64616F6C) to restore all parameters
(objects with marking PARA and LSSPARA)

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Operation guide | DST X710 Entry level inclination sensor

Example 12: How to disable the Asynchronous
Transmission (Asynchronous TPDO inactive)

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 type 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

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

23 hex Sending of 4-byte data (bytes 5 - 5
ontain a 32 bith 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 contains
an 8-bit value)

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

RES Response of Slave:

60 hex Data sent successfully
80 hex Error

With the aim to disable the asynchronous transmission write the SDO

(in exam. the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 2Bh 00h 18h 05h 00h 00h 00h 00h

Object:

1800h

0

1 COB-ID Trans PDO Unsigned 32 Ro

2

5

1st Transmit PDO

Parameter

Transmission Type

Trans PDO - PARA

Event Timer
PDO - PARA

Unsigned 8 Ro

Unsigned 8 Rw

Unsigned 16 Rw

180+

Node-ID

254

(0xFE)

100

(0x64)

0x01 - 0xF0 = synch cyclic
Outputs are only updated after “n” synch
objects
n = 0x01 (1) - 0xF0 (240)
0xFC not impelemented
0xFD not implemented
0xFE = asynchronous
0xFF = not implemented

0 = inactive
Min. = 4 & Max. = 65535
with unit = 1ms

The answer after successful storing you will receive is.

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 00h 18h 05h 00h 00h 00h 00h

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Operation guide | DST 710 Entry level inclination sensor

With the aim to save functionality write the “save” command as below:

Write (in the example the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 23h 10h 10h 01h 73h 61h 76h 65h

Note: save command is given by sending the code:

73h 61h 76h 65h

Where:

73h = ASCII code “s”
61h = ASCII code “a”
76h = ASCII code “v”
65h = ASCII code “e”

The answer after successful storing you will receive is.

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 10h 10h 01h 00h 00h 00h 00h

IMPORTANT NOTE:

After setting the new entries a reset must be
made so that the new entries become valid
(switch off the module for a short time).

Example 13: How to enable the Synchronous
Transmission (Synchronous TPDO active after
1st sync message)
)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 type 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

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

23 hex Sending of 4-byte data (bytes 5 - 5
ontain a 32 bith 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 contains
an 8-bit value)

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

RES Response of Slave:

60 hex Data sent successfully
80 hex Error

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Operation guide | DST X710 Entry level inclination sensor

With the aim to disable the synchronous transmission with TPDO active after 1st sync message write
the SDO (in exam. the Node-ID = 0x7F)

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 2Fh 00h 18h 02h 01 00h 00h 00h

Object:

0

1 COB-ID Trans PDO Unsigned 32 Ro

1800h

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 00h 18h 02h 00h 00h 00h 00h

2

5

1st Transmit PDO

Parameter

Transmission Type

Trans PDO - PARA

Event Timer
PDO - PARA

The answer after successful storing you will receive is.

With the aim to save functionality write the “save” command as below:

Write (in the example the Node-ID = 0x7F)

Unsigned 8 Ro

Unsigned 8 Rw

Unsigned 16 Rw

180+

Node-ID

254

(0xFE)

100

(0x64)

0x01 - 0xF0 = synch cyclic
Outputs are only updated after “n” synch
objects
n = 0x01 (1) - 0xF0 (240)
0xFC not impelemented
0xFD not implemented
0xFE = asynchronous
0xFF = not implemented

0 = inactive
Min. = 4 & Max. = 65535
with unit = 1ms

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

67Fh 23h 10h 10h 01h 73h 61h 76h 65h

Note: save command is given by sending the code:

73h 61h 76h 65h

Where:

73h = ASCII code “s”
61h = ASCII code “a”
76h = ASCII code “v”
65h = ASCII code “e”

The answer after successful storing you will receive is.

ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

5FFh 60h 10h 10h 01h 00h 00h 00h 00h

IMPORTANT NOTE:

After setting the new entries a reset must be
made so that the new entries become valid
(switch off the module for a short time).

© Danfoss | DCS (im) | 2019.04

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Danfoss A/S

Industrial Automation
DK-6430 Nordborg
Denmark

Danfoss ca n accept no respons ibility for pos sible errors in ca talogues, bro chures and other pr inted material. Da nfoss reserve s the right to alter its p roducts with out notice.
This also a pplies to produc ts already on ord er provided that su ch alterations ca n be made without su bsequential cha nges being nece ssary in speci fications alread y agreed.
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© Danfoss | DCS (im) | 2019.04

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