Danfoss DST X800 Operating guide

Operating guide

Data sheet

APP pumps

Wire position sensor CANopen output

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

DST X800

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

ia.danfoss.com.

ro-solutions.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

1. General Information

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

13. Status LED .................................................................................18

14. Communication examples .................................................................19

1.1 Contac t

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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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.

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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2. Electrical connections

2.1 M12 x 1

Single version

CONNECTIONS

1: + SUPPLY 2: GROUND 3: OUPUT 4: n.c.:

Redundant version

CONEC M12 x1; 4-pin 43-01088 connector

CONNECTIONS

1: + SUPPLY 2: GROUND 3: CAN-H 4: CAN-L

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CONNECTIONS

1: + SUPPLY 2: GROUND 3: OUPUT1 4: n.c.: 5: + SUPPLY 6: GROUND 7: OUTPUT 2 8: n.c.

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.

CONEC M12 x1; 8-pin 43-01100 connector

CONNECTIONS

1: + SUPPLY 2: GROUND 3: CAN-H 1 4: CAN-L 1 5: + SUPPLY 6: GROUND 7: CAN-H 2 8: CAN-L 2

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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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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 (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

Description

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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 from 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

The Slave answers:

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

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0.00%

100.00%

8000.0 mm

11. PDO communication

and Length calculation

Byte Byte 1 Byte 2 Byte 3 Byte 4

Description

Transmit PDO #0

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.

Position value

object

(0x6004)

Low-Byte LSB

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)

Posxition value

object

(0x6004)

Posxition value

object

(0x6004)

Position value

object

(0x6004)

High-Byte MSB

Byte 5 Byte 6 Byte 7 Byte 8

(0x00)

0.0 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: Byte 1 LSB (00h) = 00h Byte 2 = 00h Byte 3 = 00h Byte 4 (MSB) = 00h

Position value = 00000000h to decimal 0d (resolution 1 mm) = 0 mm

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8000.0 mm

0.00%

100.00%

25.00%

11.2 Example 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)

2000.0 mm

0.0 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: Byte 1 LSB) = A0h

Position value = 00000FA0h to decimal 4000d

(resolution 1 mm) = 2000.0 Byte 2 = 0Fh Byte 3 = 00h Byte 4 (MSB) = 00h

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8000.0 mm

0.00%

100.00%

60.00%

11.3 Example 1 : TPDO #0 length

4800.0 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)

0.0 mm

4800.0 mm

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

1FFh 80h 25h 00h 00h 00h 00h 00h 00h

Position value: Byte 1 LSB) = 80h

Position value = 00002580h to decimal 9600d

(resolution 1 mm) = 4800.0 Byte 2 = 25h Byte 3 = 00h Byte 4 (MSB) = 00h

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12. CANopen features summary

Communication Proﬁle

The parameters which are critical for

Communication proﬁle. This area is common for all CANopen devices.

communication are determined in the

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 1005h COB-ID SYNC Unsigned 32 Rw 0x00000080 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”

1 Restore all parameters Unsigned 32 Rw

Refer to Danfoss data sheet:

DST X800 Wire position 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

SDO Server Parameter

0 Number of entries Unsigned 8 Ro 2

0x600 + NodeID

0x580 + NodeID

1200h

COB-ID Client to Server

1

(Rx) COB-ID Server to to

2

Server (Tx)

st

1

Transmit PDO

0

Parameter

Unsigned 32 Ro

Unsigned 8 Ro

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

0x01 - 0xf0 = synch cyclic Outputs are only

updated after “n” synch objects.

1800h

Transmission Type

2

Trans PDO-PARA

Unsigned 8 Rw 254 (0xFE)

n = 0c01 (1) - 0xF0 (240

0xFC not implemented

0xFS not implemented

0xFE = asynchronous

0xFF = not implemented

Event Timer

5

Trans PDO-PARA

Insigned 16 Rw 100 (0x65)

0 = Inactive

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

0 Tx PD0 #2 Parameter Unsigned 8 RO 5

3280h + Node-ID0x01 - 0xf0 = synch cyclic Outputs are only

updated after “n” synch objects.

n = 0c01 (1) - 0xF0 (240

0xFC not implemented

0xFS not implemented

0xFE = asynchronous

0xFF = not implemented

0 = Inactive

1802h

1 COB-ID Trans PDO Unsigned 32 Ro

2 Trans type Trans PDO Unsigned 8 Rw 254 (0xFE)

Event Timer Trans

5

PDO-PARA

Unsigned 16 Rw 100 (0x64)

Min = 4; Max = 65535 with unit = 1ms

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1A00h

1A02h

0 Number of entries Unsigned 8 Ro 1

st

1 1

Mapped Object Unsigned 32 Ro 0x60040020

0 Number of entries Unsigned 8 Ro 1

st

1 1

Mapped Object Unsigned 32 Ro 0x63000108

Manufacturer Speciﬁc Proﬁle Objects

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

“Setting the Node-ID”

Tx PDO [X] 0 Mapping Parameter

Wire length is indicated in Idx 6004

Tx PDO [X] Mapping parameter

Wire length is indicated in Idx 6300

Index

20F0h 0

20F1h 0

Sub

Index

Setting of the

“Setting the Baud Rate”

Index

20F2h 0

20F3h 0

Sub

Index

Setting the Baud

Name Type Access Default value Comments

Node-ID

Unsigned 8 Rw 0x7F (=127d)

The node ID used to access the sensor in the

CANopen network

Node-ID

Unsigned 8 Rw 0x7F (=127d)

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

Name Type Access Default value Comments

Baud rate of the Can network

0 = 1000 kBaud

1 = 800 kBaud 2 = 500 kBaud

rate

Unsigned 8 Rw 0x03 (250 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

rate

Unsigned 8 Rw 0x03 (250 kBaud)

3 = 250 kBaud (default)

4= 125 kBaud

5 = 100 kBaud

6 = 50 kBaud 7 = 20 kBaud

A change of the Baud rate is only accepted if the entries 20F2 and 20F3 contain the same changed value. Values 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).

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Index

4000h

Sub

Index

Name Type Access Default value Comments

Error Behavior -

PARA

Unsigned 8 Rw 1

40 01h Error code Unsigned 8 Ro 0

Automatic NMT

5000h

Start after

Unsigned 8 Rw 0

Power-On-PARA

5001h

PDO coding Used - PARA

Unsigned 8 RW 1

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

In this section you will ﬁnd the manufacturer speciﬁc proﬁle indices for transducer. as LINEAR ENCODER

Index

6000h 0

Sub

Index

Name Type Access Default value Comments

Operating Pa-

rameters - PARA

Unsigned 16 Ro 0x00(0d)

0: Pre-operational 1: no state change

2: stopped

Min = 0 & Max = 255

0: no error

Min = 0 & Max = 255

0 = not activated

1: activated

Min = 0 & Max = 1

0: Big Endian

1: Little Endian

Contain the functions for code sequence commissioning diagnostic control and scaling function contorl (*).

Operational functions NOT activated in standard version (always 0x00)

6002h 0

Total measuring

range

Unsigned 32 Ro

6003h 0 Preset value Unsigned 32 Rw 0x00 (0d)

6004h 0 Position value Unsigned 32 Ro

0x000003E8

6005h 0 Measuring steps Unsigned 32 Rw

(1000d)

3

mm

10

Measuring range in 10 mm steps. Example: Measuring rang 8000 mm Total measuring range = 0x0320 (00d)

The preset function supports adaption of the GSF zero point to the mechanical zero point of the system. The output position value is set to the parameter “Preset value” and the oﬀset from the position value is calculated and stored in the GSF.

The object 6004h “Position value” deﬁnes the output position value for the communication objects 1800 h.

The parameter “Linear encoder measuring step settings” deﬁnes the measuring step settings for position value. 103 - 106 mm

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In this section you will ﬁnd the manufacturer speciﬁc proﬁle indices for transducer. as CAM (optional functions NOT activated in standard version)

Index

6300h 0

6301h 0

6302h 0

6310h 0

6311h 0

6312h 0

6313h 0

6314h 0

6315h 0

6316h 0

6317h 0

6320h 0

6321h 0

Sub

Index

Name Type Access Default value Comments

The parameter “CAM state register” deﬁnes the status bit of the cam in a cam channel.

CAM State

register

CAM enable

register

CAM Polarity

Register

CAM 1 _ LOW

LIMIT

CAM 2 _ LOW

LIMIT

CAM 3 _ LOW

LIMIT

CAM 4 _ LOW

LIMIT

CAM 5 _ LOW

LIMIT

CAM 6 _ LOW

LIMIT

CAM 7 _ LOW

LIMIT

CAM 8 _ LOW

LIMIT

CAM 1 _ HIGH

LIMIT

CAM 2 _ HIGH

LIMIT

Unsigned 8 Ro 0x00(0d)

Unsigned 8 Rw 0x00 (0d)

Unsigned 8 Rw 0x00(0d)

Unsigned 32 Rw 0x00(0d)

Unsigned 32 w 0x00(0d)

The status bit set to 1 deﬁnes “cam active”. The status bit set to 0 deﬁnes “cam inactive”. If the polarity bit of a cam is set (refer to index 302h) the actual cam state will be inverted.

Each Cam_polarity_channel contains the actual settings for a maximum of 8 cam’s for one position channel. If the enabled bit is set to 1, the cam state will be calculated by the device. In the other case the cam state of the related cam will be set permanently to 0.

Each Cam_enable_channel contains the calculation state for maximum of 8 cam’s for one position channel. If the polarity bit is set to 1, the cam state of an active CAM will signal by setting the related cam state bit to zero. In the other case the cam state of the related cam will not be inverted.

Each CAM_low_limit channel contians the switch point for the lower limit setting for a max. of 8 cam’s for one position channel.

Each CAM_high_limit channel contians the switch point for the higher limit setting for a max. of 8 cam’s for one position channel.

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Index

6322h 0

6323h 0

6324h 0

6325h 0

6326h 0

6327h 0

6330h 0

6331h 0

6332hh 0

6333h 0

6334h 0

6335h 0

6336h 0

6337h 0

Sub

Index

Name Type Access Default value Comments

CAM 3_ HIGH

LIMIT

CAM 4_ HIGH

LIMIT

CAM 5_ HIGH

LIMIT

CAM 6 _ HIGH

LIMIT

CAM 7 _ HIGH

LIMIT

CAM 8 _ HIGH

LIMIT

CAM 1

HYSTERESIS

CAM 2

HYSTERESIS

CAM 3

HYSTERESIS

CAM 4

HYSTERESIS

CAM 5

HYSTERESISIT

CAM 6

HYSTERESIS

CAM 7

HYSTERESIS

CAM 8

HYSTERESIS

Unsigned 8 Ro 0x00(0d)

Unsigned 8 Rw 0x00 (0d)

Unsigned 8 Rw 0x00(0d)

Unsigned 32 Rw 0x00(0d)

Undesigned 32 Rw 0x00(0d

Each CAM_high_limit channel contians the switch point for the higher limit setting for a max. of 8 cam’s for one position channel.

Each CAM_hystertesis channel contians the delay setting of switch points for a max. of 8 cam’s for one position channel. For illustration of the hysteresis functionality refer below.

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(*) Operating parameters (Object 0x6000)

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

- - - - - - - - - - - - MD SF - -

MSB *** *** *** *** *** *** *** *** *** *** *** *** *** *** LSB

MD = 0/1 Measuring direction UP/DOWN SF = 0/1 Scaling function DISABLE/ENABLE

GSF Cams functionality (optional functions NOT activated in standard version) Each Cam has parmeters for the minimum switch point, the maximum switch point and setting a hesteresis to the switch points. Possible usage of cam’s and switch points.

CAM Active

CAM Inactive

High Limit Low Limit

Position

CAM Active

CAM Inactive

CAM Active

CAM Inactive

CAM Active

CAM Inactive

CAM Active

CAM Inactive

High Limit Low Limit

Low Limit

Position

CAM Active

CAM Inactive

Hysteresis

Low Limit

Hysteresis

High Limit

Position

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Operation guide | DST 800 Wire position sensor

13. Status LED The integrated two color status LED signals the

Run LED LED State Description

recent device state (Run LED, green) as well as CAN communication errors that moight have occured (Error LED), red). The color and the ﬂashing frequency of the LED distinguish the diﬀerent device states as shown below.

Status LED

Oﬀ No power supply is connected

Blinking The device is in state Pre-Operational

Single Flash The device is in state Stopped

ON The device is in state Operational

Error LED

Oﬀ The device is in working condition

Single Flash CAN Warning Limit reached

On The device is in state Bus-Oﬀ

Red/Green On Limit Angles reached (110% FS or ±87º)

Legend

LED green OFF

LED green ON

LED red OFF

LED red ON

LEDs red & green ON together

LED green blinking (200 ms ON/OFF)

LEDs green single ﬂash (500 ms ON/OFF)

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Operation guide | DST X800 Wire position sensor

14. Communication examples

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

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

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

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

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 800 Wire position 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 (default) 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 (default) 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 baud rate 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 X800 Wire position 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 800 Wire position sensor

The supported Node_ID are 0x01 to 0x7F. The answer after the succesful storing 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 X800 Wire position 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:

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 800 Wire position sensor

Example 4: How to activate 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 CMD Index Sub-Index Data

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 1

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:

AQ304245527436en-000101 | IC.PS.P21.M1.02

Operation guide | DST X800 Wire position 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 Position value (via object 0x6003.0) to 0 mm

The value “Preset Value” (Idx 6003.0) aﬀects the display of the Position value. The value entered in “Preset value” immediately correct the measured value of the sensor cell at the instan tacc. A typical application is the compensation of display errors du to mountine (e.g. sensor zeroing). The senosor must ﬁrst to brought to a deﬁned position.

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

With Service data object (S.D.O) the access

to entries of a device Object Dictionary is

provided. As these entries may contain data or

arbitray size and data type SDOs can be used

to transfer multiple data sets from a client to a

server and vice versa.

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

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

RES Response of Slave:

60 hex Data sent successfully 80 hex Error

Consider the actual reading value (Node-ID = 0x7F) is:

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

1FFh 05h 01h 00h 00h 00h 00h 00h 00h

Position value: Byte 1 (LSB) = 05h Byte 2 = 01h Byte 3 = 00h Byte 4 (MSB) = 00h

Position value = 00000105h to decimal 261d (measuring steps 1 mm) = 261 mm

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Operation guide | DST 800 Wire position sensor

With the aim to PRESET the reading value to 0 mm 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 03h 60h 00h 05h 01h 00h 00h

Object:

The preset value function

6003h 0 Preset Value Signed 32 Rw 0x00 (0d)

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 03h 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

supports adaption of the GSF zero point to mechanical zero point of the system (user oﬀset).

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 X800 Wire position sensor

Example 6: 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:

1011h 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 800 Wire position sensor

Example 7: 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

AQ304245527436en-000101 | IC.PS.P21.M1.02

Operation guide | DST X800 Wire position 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 8: 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 800 Wire position 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 01h 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).

AQ304245527436en-000101 | IC.PS.P21.M1.02

Operation guide | DST X800 Wire position sensor

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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. All trade marks in this mate rial are proper ty of the respec tive companies . Danfoss and the Danf oss logotyp e are trademark s of Danfoss A/S. Al l rights reserv ed.

AQ304245527436en-000101 | IC.PS.P21.M1.02 | 32

Danfoss DST X800 Operating guide

Specifications and Main Features

Frequently Asked Questions

User Manual