Danfoss DST X800 Operating guide

Operating guide

Wire position sensor

CANopen output

DST X800

ia.danfoss.com.

Operation guide | DST 800 Wire position 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 . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . .	.	. . . .4
	3.	Network Management (NMT) . . . . . . . . . . . . . . . .	. . . . . . . . .	.	. . . .5
	4.	Baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . . . .6
	5.	Node-ID and resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
	6.	Parameter settings . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . . . .6
	7.	Restore default parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
	8.	Heartbeat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
	9	Error handling . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . .	. .	. .	.	7
	10.	SDO communication and read/write commands . . . . . .	. . . . . . . . .	. .	. .	.	8
	11.	PDO communication and Length calculation . . . . . . . . .	. . . . . . . . .	. .	. . . .9
	11.1	Example 1 : TPDO #0 length 0.0 mm . . . . . . . . . . . . .	. . . . . . . . .	.	. . . .9
	11.2	Example 2 : TPDO #0 length 2000.0 mm . . . . . . . . . . .	. . . . . . . . .	. . . . 10
	11.3	Example 1 : TPDO #0 length 4800.0 mm . . . . . . . . . . .	. . . . . . . . .	. . . . 11
	12.	CANopen features summary . . . . . . . . . . . . . . . .	. . . . . . . . . . . . . .12
	13.	Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
	14.	Communication examples . . . . . . . . . . . . . . . . . . .	. . . . . . . . .	. .	. .	.19

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 X800 Wire position 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 800 Wire position sensor

2. Electrical connections

2.1 M12 x 1

Single version

	CONNECTIONS	CONEC M12 x1; 4-pin
		43-01088 connector
	1: + SUPPLY
	2: GROUND	CONNECTIONS
	3: OUPUT
		1: + SUPPLY
	4: n.c.:
		2: GROUND
		3: CAN-H
		4: CAN-L
	Redundant version

		CONEC M12 x1; 8-pin
	CONNECTIONS	43-01100 connector
	1: + SUPPLY	CONNECTIONS
	2: GROUND	1: + SUPPLY
	3: OUPUT1	2: GROUND
	4: n.c.:	3: CAN-H 1
	5: + SUPPLY	4: CAN-L 1
	6: GROUND	5: + SUPPLY
	7: OUTPUT 2	6: GROUND
	8: n.c.	7: CAN-H 2
		8: CAN-L 2
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 X800 Wire position 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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Operation guide | DST 800 Wire position sensor

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 X800 Wire position 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			(e.g. potentiometric signal under/above limits, temperature
								under/above limits)
			0bxxx1xxxx					Program checksum error
			0bxxx1xxxx					Program checksum error
			0bxx1xxxxx				Flash limit reached - error
			0bx1xxxxxx				LSS Parameter checksum error

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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

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Operation guide | DST X800 Wire position sensor

11. PDO communication		Transmit PDO #0
and Length calculation		This PDO transmits length value of the position
		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
			Position value	Posxition value		Posxition value	Position value
	Description		object	object		object	object	(0x00)
			(0x6004)	(0x6004)		(0x6004)	(0x6004)
			Low-Byte LSB				High-Byte MSB

11.1 Example 1 : TPDO #0 length 0.0 mm

Below an example of PDO mapping is reported in the case of:

•Node-ID = 7Fh

•Baud rate = 250 kBaud

Linear-encoder Cia406 setting as follow:

1.Total measuring range (object 0x6002.0) = 8000 mm (800 steps x 10 mm)

2.Preset value (object 0x6003.0) = 0 mm (0 steps x 10³ nm)

3.Measuring step (object 0x6005.0) = 1 mm (500 steps x 10³ nm)

4.Position value (object 0x6004.0)

0.00%

100.00%

0.0 mm

8000.0 mm

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

Position value:

Position value = 00000000h to decimal 0d

Byte 1 LSB (00h) = 00h

(resolution 1 mm) = 0 mm

Byte 2 = 00h

Byte 3

= 00h

Byte 4

(MSB) = 00h

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Operation guide | DST 800 Wire position sensor

11.2Example 2 : TPDO #0 length 2000.0 mm

Below an example of PDO mapping is reported in the case of:

•Node-ID = 7Fh

•Baud rate = 250 kBaud

Linear-encoder Cia406 setting as follow:

1.Total measuring range (object 0x6002.0) = 8000 mm (800 steps x 10 mm)

2.Preset value (object 0x6003.0) = 0 mm (0 steps x 10³ nm)

3.Measuring step (object 0x6005.0) = 1 mm (500 steps x 10³ nm)

4.Position value (object 0x6004.0)

0.00%

25.00%

100.00%

2000.0 mm 0.0 mm

8000.0 mm

ID	Byte 1	Byte 2			Byte 3	Byte 4	Byte 5		Byte 6	Byte 7	Byte 8
1FFh	A0h	0Fh			00h	00h	00h		00h	00h	00h
		Position value:						Position value = 00000FA0h to decimal 4000d
		Byte 1 LSB) = A0h						(resolution 1 mm) = 2000.0
		Byte 2	= 0Fh
		Byte 3	= 00h
		Byte 4	(MSB) = 00h

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