Flintec PC6D User Manual

Type PC6D Digital Load Cell

Technical Manual

Document no. G142-Rev1.6-GB

Flintec GmbH
Bemannsbruch 9
74909 Meckesheim
GERMANY

Page 2

Manual PC6D CANopen

Contents

Part A: CANopen .................................................................................... pages 4 - 24

Part B: Commands ................................................................................. pages 25 - 45

ART A.................................................................................................................................5

P

1 INTRODUCTION............................................................................................................5

1.1 IDENTIFICATION AND SCOPE .....................................................................................5

1.2 PURPOSE.................................................................................................................5

1.3 ACRONYMS AND DEFINITIONS ...................................................................................5

1.3.1 Acronyms........................................................................................................5

2 SYSTEM DETAILED DESIGN.....................................................................................6

2.1 GENERAL.................................................................................................................6

2.2 CANOPEN................................................................................................................7

3 CANOPEN PROFILE...................................................................................................8

3.1 THE PDOS...............................................................................................................8

3.2 NETWORK MANAGEMENT ..........................................................................................9

3.3 COMMUNICATION PROFILE......................................................................................10

3.4 OBJECT DIRECTORY...............................................................................................10

3.5 QUICK START GUIDE..............................................................................................22

3.5.1 Process data objects ....................................................................................22

3.5.2 Service data objects .....................................................................................23

4 NOTES ........................................................................................................................24

4.1 FIRMWARE UPDATE (VIA CANOPEN).......................................................................24

4.2 FIRMWARE UPDATE (VIA PC)..................................................................................24

Manual PC6D CANopen Page

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PART B...............................................................................................................................25

5 COMMANDS................................................................................................................25

5.1 SYSTEM DIAGNOSIS COMMANDS – ID, IV, IS ..........................................................26

5.2 CALIBRATION COMMANDS – CE, CM, DS, DP, CZ, CG, ZT, FD, CS......................27

5.3 MOTION DETECTION COMMANDS – NR, NT.............................................................30

5.4 FILTER SETTING COMMANDS – FM, FL, UR ............................................................31

5.5 SET ZERO/TARE AND RESET ZERO/TARE COMMANDS – SZ, RZ, ST, RT.................33

5.6 OUTPUT COMMANDS – GG, GN, GT, GS ...............................................................35

5.7 SETPOINT COMMANDS - SN, HN, AN.......................................................................36

5.8 COMMUNICATION SETUP COMMANDS – AD, BR, TERMINAL RESISTOR.....................38

5.9 TRIGGER COMMANDS – SD, MT, GA, TE, TR, TL ..................................................39

5.10 TRIGGER SPECIAL COMMANDS– RW, TT, TS, DT, TW, TI, HT...............................42

5.11 SAVE CALIBRATION, SETUP & SETPOINT PARAMETERS COMMANDS – CS, WP, SS...45

Page Manual PC6D CANopen

4

Part A
1 Introduction

1.1 Identification and Scope

This document describes the system design for a CANopen interface of the PC6D. It
describes the protocol used and the CAN open profile used to access the PC6D

1.2 Purpose

The purpose of this document is to specify the functionality, and performance of the PC6D
CANopen interface.

1.3 Acronyms and Definitions

1.3.1 Acronyms

This section includes a list of all abbreviations and acronyms used throughout the document
in alphabetical order.

CAN Controller Area Network
CANopen A higher layer protocol using the CAN.
Function A software entity that encapsulates some computations and can be used

without worrying about its implementation
NMT Network Management Protocol
PDO Process Data Object
Process A software entity that executes a computational entity, including modules

and functions.
RPDO Receive PDO
SDO Service Data Object
TPDO Transmit PDO

Manual PC6D CANopen Page

5

2 System Detailed Design

2.1 General

This software connects a physical load cell to a CANopen network. The PC6D digitizes, filters
and processes the analog inputs. It transports commands, responses and results from and to
the CANbus.

CANopen

Network

&

Power

Load Cell Sensor

Microcomputer

&

CAN interface

Analog Amplifiers

&

A/D converter

Figure 1- The PC6D Load-Cell

Page Manual PC6D CANopen

6

2.2 CANopen

The PC6D follows the CAN2.0B recommendation. It receives both 11-bit identifiers, and
tolerates 29-bit identifiers. It only transmits 11-bit identifiers.

The PC6D is always quiet on the CANbus until the NMT Start command is received, except
for the very first ‘node guard’ message.

When started, the TPDO1 is used to send current status information. The TPDO1 holds the
module status and either net or gross weight, depending on the SDO selection. The default is
the Net value.

The TDPO2 is used for reporting ‘on-demand’ average measurements and reporting set-point
events.

The TDPO3 is used for reporting change in the Tare value.
In case of an overrun, error or failure an EMERGENCY message is sent to the CAN controller

indicating the nature of the error or failure.
EMERGENCY messages are transmitted when the CAN controller tries to set up a module

not present, or not functioning, when a module fails to answer the normal backplane scan and
when a module comes back online.

The RPDO1 can be used to set/reset Zero and Tare, and for quick selection of the Net weight
(default) or Gross weight as the data contained in TPDO1.

The RPDO2 can be used to send software triggers to start average measurements.
RPDO3 and RPDO4 are ignored by the PC6D.
SDOs are handled according to profile and CANopen recommendation.
The NMT protocol will use the ‘node guarding’ method.
The “SDO Block Download Protocol” may be implemented later.

Manual PC6D CANopen Page

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3 CANopen profile

3.1 The PDOs

The weight and status is sent constantly to the CANbus. The TPDO1 is sent 20 times per
second. The TPDO2 is sent every time the PC6D finishes a triggered measurement or a Set­Point is crossed. The TPDO3 is sent every time the Tare value is changed.

The format of the TPDO1, TPDO2 and TPDO3 is:

32 bit 16 Bit 8 bits 8 Bit

Weight Module Status Source Unused, zero

 The first field is carrying weight information Gross or Net value if it is a TDPO1, Average

or Set-Point weight if it is a TPDO2.
Tare value if TPDO3.

 Then module state follows as a 16 bit field width the following values:

$0001 - Under range
$0002 - Over range
$0004 - Not within Zero range (not yet implemented, zero)
$0008 - Exactly zero
$0010 - No motion, still stand, steady state
$0020 - Tare set
$0040 - Preset tare (0=tare is measured, 1=tare is set by user)
$0080 - Invalid weighing (wire-break, A/D ref. out of range)
$0100 - Set-point 1 (source>limit)
$0200 - Set-point 2
$0400 - Set-point 3
$0800 - Set-point 4
$1000 - Unused, zero
$2000 - Unused, zero
$4000 - Unused, zero
$8000 - Cold start

 Source is zero in TPDO1 and TPDO3, and has the following meaning in TPDO2:

0 – (zero) Average result
1 – Setpoint 1 crossed
2 – Setpoint 2 crossed
3 – Setpoint 3 crossed
4 – Setpoint 4 crossed

Page Manual PC6D CANopen

8

The format of the RPDO1 and RPDO2 is:

8 Bit 8 Bit

LDM select Command byte

Note: On PC6D the LDM selector byte is ignored.
The command byte of RPDO1 is used as follows:

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Cmd: SnG SnN RZ SZ RT ST

Where

- SnG means select Gross Weight

- SnN means select Net Weight

- ST means Set Tare

- RT means Reset (Clear) Tare

- SZ means Set Zero

- RZ means Reset (Clear) Zero

The command byte of RPDO2 is used as follows:

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Cmd: TR TS

Where

- TR is a software trigger that starts an average measurement.

- TS Trigger Stop; stop triggered measurement(s).

3.2 Network management

The PC6D implements the Network Management protocol with the node guarding protocol.
The PC6D also implements an address setup feature. The network controller may change a

PC6D node address using COB-ID = 0.
The frame must be sent while the PC6D is in its PRE-OPERATIONAL state and it must have
the following contents:

8 bits 8 Bit 48 bit (12 BCD digits)

Hex: 55 New CAN-ID BCD coded serial number

The serial number must be BCD coded and right-justified with as many leading zeros as
needed to make 12 BCD digits.

All PC6D on the CANbus will receive the message, but only the PC6D with the serial number
given will react to, and echo the frame with 55h changed to AAh. The PC6D will save the new
setting immediately and then restart itself.

Manual PC6D CANopen Page

9

3.3 Communication Profile

The parameters which are critical for communication are determined in the communication
profile.

This includes the data for manufacturer's product nomenclature, for identification, or the
parameters for object mapping.

Abbreviations used in Tables:

ro
rw

wo

UI8
UI16
UI32

I32

REAL32

VS

read only
read / write

write only
(read will not be regarded as an error, but returns undefined results)

Unsigned8
Unsigned16
Unsigned32
Signed32
32 bit IEEE754 floating point
Visible String

3.4 Object Directory

The object directory of the CANbus communication module is described below:

Page Manual PC6D CANopen

10

Communication Profile (Tables)

Index Sub-

index

1000 0 Device Type UI32 ro 00040191H Device Type

1001 0 Error Register UI8 ro 0 0: No error

1005 0 COB-ID Sync messg. UI32 rw 80H COB-ID of the SYNC object

1006 0 Communication cycle

100C 0 Guard Time UI16 rw 320 Cycle time in ms, set by the NMT Master or the configuration tool.
100D 0 Life Time Factor UI8 rw 3 Wait time is set by the NMT Master or the configuration tool.
100E 0 Node guarding

1014 0 COB-ID Emergency

1017 0 Heartbeat Time UI16 rw 0 Producer Heartbeat time. If index 1017h is nonzero Heartbeat is

1018 0

1
2
3
4

1400

1401 0

0
1

2

1

2

Name Type Attri-

bute

UI32 rw 50000 Minimum interval between TDPO1 (default 20Hz).

Period

UI32 rw 0x700 +

identifier

UI32 rw 80H +

Message

Identity Object
Vendor ID
Product Code
Revision Number
Serial Number
Number of elements
COB-ID

Transmission type
Number of elements
COB-ID

Transmission type

UI8
UI32
UI32
UI32
UI32
UI8
UI32

UI8
UI8
UI32

UI8

ro
ro
ro
ro
ro
ro
ro

ro
ro
ro

ro

Default­value

NodeID

NodeID

4 Number of entries

2
80000200H
+ NodeID
FFH
2
80000300H
+ NodeID
FFH

Meaning

<TBD>

Bit 0: General error in Gateway Module
Bit 4: Error in CAN communication module
Bit 7: Manufacturer-specific error

Min=833 (1200Hz rate).

Node guarding identifier

COB-ID of the Emergency Object

used, else Node-guard protocol is used.

Vendor ID
Product Code
Revision Number
Serial Number
Communication parameters of 1st Receive PDO
Determined using the CANopen minimum system ID assignment
procedure.
Asynchronous communication.
Communication parameters of 2nd Receive PDO
Determined using the CANopen minimum system ID assignment
procedure.
Asynchronous communication.

Manual PC6D CANopen Page

11

Index Sub-

index

1401 0

1
2

1402 0

1
2

1403 0

1
2

1600

0
1

1601

0
1

1602

0 Number of mapped

1603

0 Number of mapped

Name Type Attri-

bute
Number of elements
COB-ID

Transmission type
Number of elements
COB-ID

Transmission type
Number of elements
COB-ID

Transmission type
Entries in Rx PDO 1

st

Object Cmd. Byte

1

nd

Object Cmd. Byte

2

Entries in Rx PDO 2

st

Object LDM#

1

nd

Object Cmd. Byte.

2

UI8
UI32

UI8
UI8
UI32

UI8
UI8
UI32

UI8
UI8
UI32
UI32

UI8
UI32
UI32

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

UI8 ro 0 Mapping parameters of the 3

Entries in Rx PDO 3

UI8 ro 0 Mapping parameters of the 4

Entries in Rx PDO 4

Default­value
2
80000300H
+ NodeID
FFH
2
400H +
NodeID
FFH
2
80000500H
+ NodeID
FFH
1
20060108
20060308

1
20060108
20060408

Meaning

nd

Communication parameters of 2

Receive PDO
Determined using the CANopen minimum system ID assignment
procedure.
Asynchronous communication.

rd

Communication parameters of 3

Receive PDO
Determined using the CANopen minimum system ID assignment
procedure.
Asynchronous communication.

th

Communication parameters of 4

Receive PDO
Determined using the CANopen minimum system ID assignment
procedure.
Asynchronous communication.

st

Mapping parameters of the 1

st

Object is ignored by the PC6D.

1

nd

2

Object is a bitwise command:

Receive-PDO

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Cmd: SnG SnN RZ SZ RT ST

nd

Mapping parameters of the 2

st

Object is ignored by the PC6D.

1

nd

2

Object is a bitwise command:

Receive-PDO

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Cmd: TR TS

rd

Receive- PDO (disabled)

th

Receive-PDO (disabled)

Manual PC6D CANopen Page

12

Index Sub-

index

1800

0
1

2
3

1801

0
1

2
3

1802

0
1

2
3

1803

0
1

2
3

Name Type Attri-

bute
Number of elements
COB-ID

Transmission type
Inhibit Time

Number of elements
COB-ID

Transmission type
Inhibit Time

Number of elements
COB-ID

Transmission type
Inhibit Time

Number of elements
COB-ID

Transmission type
Inhibit Time

UI8
UI32

UI8
UI16

UI8
UI32

UI8
UI16

UI8
UI32

UI8
UI16

UI8
UI32

UI8
UI16

ro

rw

rw

rw

ro

rw

rw

rw

ro

rw

rw

rw

ro

ro

ro

ro

Default­value
3
180H +
NodeID
FFH
10

3
280H +
NodeID
FFH
10

3
380H +
NodeID
FFH
10

3
80000480H
+ NodeID
FFH
10

Meaning

st

Communication parameters of 1

Transmit PDO
Determined using the CANopen minimum system ID assignment
procedure.
Asynchronous communication.
Transmit inhibit time of PDO in 100 μs steps. A repeated
transmission of the PDO is prevented within the defined interval of
the inhibit time.
Cyclic sending of PDO value (default 20 times / sec.)

nd

Communication parameters of 2

Transmit PDO
Determined using the CANopen minimum system ID assignment
procedure.
Asynchronous communication.
Transmit inhibit time of PDO in 100 μs steps. A repeated
transmission of the PDO is prevented within the defined interval of
the inhibit time.
Event based sending of PDO value (when a dosed value is present)

rd

Communication parameters of 3

Transmit PDO
Determined using the CANopen minimum system ID assignment
procedure.
Asynchronous communication.
Transmit inhibit time of PDO in 100 μs steps. A repeated
transmission of the PDO is prevented within the defined interval of
the inhibit time.
Event based sending of PDO value (when Rx PDO 3 has been
processed by the system)

th

Communication parameters of 4

Transmit PDO
Determined using the CANopen minimum system ID assignment
procedure.
Asynchronous communication.
Transmit inhibit time of PDO in 100 μs steps.
(not used, will not be transmitted)

Manual PC6D CANopen Page

13

Index Sub-

index

1A00

0
1

2
3
4

1A01

0
1

2
3
4

1A02

0 Number of mapped

1A03

0 Number of mapped

Name Type Attri-

bute
Number of mapped
Entries in Tx PDO 1

st

Object

1

nd

Object

2

rd

Object

3

th

Object

4

Number of mapped
Entries in Tx PDO 2

st

Object

1

nd

Object

2

rd

Object

3

th

Object

4

Entries in Tx PDO 3

st

Object

1

nd

Object

2

UI8
UI32

UI32
UI32
UI32

UI8
UI32

UI32
UI32
UI32

UI8
UI32

UI32

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

UI8 ro 0 Mapping parameters of the 4

Entries in Tx PDO 4

Default­value
4

20010220H
20020110H
20020208H
20020308H

4
20010420H

20020110H
20020208H
20020308H

2
20010320H

20020110H

Meaning

st

Mapping parameters of the 1

Transmit-PDO

32 bit Integer (default) or float weight value.
Module Status

-*Module ID [0...63]. The current module scanned.

-*Gateway Status

-*these fields reads 0 (zero) on PC6D

nd

Mapping parameters of the 2

Transmit-PDO

32 bit Integer (default) or float weight value.
Module Status
Data source (0=average,1..4 = set-points).

-*Gateway Status

-*this field reads 0 (zero) on PC6D

rd

Mapping parameters of the 3

Transmit- PDO

32 bit Integer (default) or float tare value.
Module Status

th

Transmit-PDO (disabled)

Manual PC6D CANopen Page

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Index Sub-

index

2000

0
1
2
3
4
5
6

2001

0
1
2
3
4
5
6
7
8
9
A
B

2002

0
1
2
3

2003

0

1..16

Name Type Attri-

bute
Number of entries
Gross weight
Net Weight
Tare
Dosed weight
Dosed tare
Average weight

Number of entries
Gross weight
Net Weight
Tare
Dosed weight
Dosed tare
Average weight
A/D sample
H&B Device ID
H&B FW Version
Device Status
ADC Reference

Number of entries

st

Object

1

nd

Object

2

rd

Object

3

Number of entries
Hardware ID bytes

UI8
REAL32
REAL32
REAL32
REAL32
REAL32
REAL32

UI8
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32

UI8
UI16
UI8
UI8

UI8
UI8

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

Default­value
6

11

4

16

Meaning

Number of entries in command input array.
Weight values as 32 bit IEEE754 floating point.

Dosed values always read 0 (zero) on PC6D

Number of entries in info array.
Weight and info values as 32 bit signed integer

Dosed values always read 0 (zero) on PC6D

Number of objects in the dosed result.
Module Status
Data source (0=average,1..4=setpoints).

-*Gateway Status

-*this field reads 0 (zero) on PC6D

Number of bytes in hardware identification array.

Manual PC6D CANopen Page

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Index Sub-

index

2004

2006

2007

0
1

2
3
4
5

0
1
2
3
4

0
1
2
3

Name Type Attri-

bute
Number of entries.
Save:
Analog output
Calibration
General set-up
Dosing parameters
Set-points

Number of entries
LDM select [0..63]
Factory Default
Direct command 1
Direct command 2

Number of entries
PC6D Bps
PC6D Address
PC6D Bus Config

UI8
UI8

UI8
UI8
UI8
UI8

UI8
UI8
UI8
UI8
UI8

UI8
UI8
UI8
UI8

ro

wo

wo

wo

wo

wo

ro

wo

wo

wo

wo

ro

rw

rw

rw

Default­value
5

4

2
2
1
1

Meaning

Number of parameters.
Save settings;
save analog output parameters (not PC6D),
save calibration settings,
save general set-up parameters,
save dosing setup parameters (not PC6D),
save set-point parameters.

Index 2006 is only for mapping reference (do not access).
Restores the factory defaults, if the TAC is enabled.

Direct bitwise command byte 1 to LDM
Direct bitwise command byte 2 to LDM

Commands bits are:

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Byte1
Byte2 TR TS

Sng,SnN: select Gross or Net in PDO1(tx),
ST,RT: Set/Reset Tare,
SZ,RZ: Set/Reset Zero,
TR: Software trigger,
TS: Trigger Stop.

Number of parameters
Bits/second: 1=1Mbit, 2=500Kb, 3=250Kb, 4=125Kb, 5=50Kb.
CANopen network address 1 … 126.
CANopen configuration: 1=Terminal Resistor ON, 0=Term.Res. OFF
These values are saved to EEPROM when a write occurs to index
2004sub3 (General setup), and takes effect after next power-on.

SnG SnN ST RT SZ RZ

Manual PC6D CANopen Page

16

Index Sub-

index

2100

0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
10
11
12
13

Name Type Attri-

bute
Number of entries.

st

Parameter

1

nd

Parameter

2

rd

Parameter

3

th

Parameter

4

th

Parameter

5

th

Parameter

6

th

Parameter

7

th

Parameter

8

th

Parameter

9

th

Parameter

10

th

Parameter

11

th

Parameter

12

th

Parameter

13

th

Parameter

14

th

Parameter

15

th

Parameter

16

th

Parameter

17

th

Parameter

18

th

Parameter

19

UI8
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32

ro

rw

rw

rw

rw

rw

rw

rw

rw

rw

rw

rw

rw

rw

rw

rw

rw

rw

rw

rw

Default-

Meaning
value
19 Number of parameters.

-*Analog source

-*Analog high

-*Analog low

Filter setting

-*Filter Factor

-*Digital Outputs

-*Digital Inputs

Measuring Time

Filter mode

No-motion range

No-motion time

-*Digital outputs mask

Tare

Start Delay

Trigger Edge

Trigger Level

Update rate

Zero track (TAC protected)

Δ Time

-*not implemented on PC6D

Manual PC6D CANopen Page

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Index Sub-

index

2300

2500

0
1
2
3
4
5
6
7
8
9
A
B
C
D

0
1
2
3
4
5
6
7
8

Name Type Attri-

bute
Number of entries.
Absolute gain
Absolute zero
Calibrate enable
Calibrate gain
Set calibration point B
Set calibration point A
Calibrate max
Calibrate min
Calibrate save
Calibrate zero
Decimal point
Display step size
Local gravity

Number of entries.
Trigger Level
Trigger Egde
ReTrigWindow
ReTrigTime
HoldTime
TareWindow
TareTime
ReTrigStop

UI8
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32

UI8
I32
I32
I32
I32
I32
I32
I32
I32

ro

rw

rw

rw

rw

rw

rw

rw

rw

rw

rw

rw

rw

rw

ro

rw

rw

rw

rw

rw

rw

rw

rw

Default­value
12

Meaning

Number of calibration parameters.

-*Absolute gain calibrate (TAC protected)

-*Absolute zero calibrate (TAC protected)

Calibrate enable (enables TAC when the TAC is written)
Calibrate gain (TAC protected)

-*Set calibration point B

-*Set calibration point A

Calibrate max (TAC protected)
Calibrate min (TAC protected)
Calibrate save (TAC protected)
Calibrate zero (TAC protected)
Decimal point (TAC protected)

-*Display step size (TAC protect)

Adjust calibration of zero and gain according to new entered gravity
vs. gravity of factory calibration. Remark: Proceeding factory default
(2006 sub 2) changes local gravity back to factory calibration.

-*not implemented on PC6D

8 Number of Check-Weigher parameters

Trigger Level
Trigger Egde
ReTrigWindow
ReTrigTime
HoldTime
TareWindow
TareTime
ReTrigStop

Manual PC6D CANopen Page

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Index Sub-

2600

2700

2800

index
0
1
2
3
4

0
1
2
3
4

0
1
2
3
4

Name Type Attri-

bute
Number of entries.
Set-point 1
Set-point 2
Set-point 3
Set-point 4

Number of entries.
Set-point 1
Set-point 2
Set-point 3
Set-point 4

Number of entries.
Set-point 1
Set-point 2
Set-point 3
Set-point 4

UI8
I32
I32
I32
I32

UI8
I32
I32
I32
I32

UI8
UI8
UI8
UI8
UI8

ro

rw

rw

rw

rw

ro

rw

rw

rw

rw

ro

rw

rw

rw

rw

Default­value
4 Number of Set-point parameters.

4 Number of Set-point parameters.

4 Number of Set-point parameters.

Meaning

Set-point 1 value
Set-point 2 value
Set-point 3 value
Set-point 4 value

Set-point 1 hysteresis
Set-point 2 hysteresis
Set-point 3 hysteresis
Set-point 4 hysteresis

Set-point 1 source
Set-point 2 source
Set-point 3 source
Set-point 4 source

Manual PC6D CANopen Page

19

Index Sub-

2900

index
0
1
2
3
4
5
6
7
8
9
10
11

Name Type Attri-

bute
Number of entries
Gross weight
Net Weight
Tare
Dosed weight
Dosed tare
Average weight
A/D sample
Device ID
Firmware Version
Device Status
ADC Reference

UI8
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32
I32

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

Default­value
11

Meaning

Number of entries in info array.
Weight and info values as 32 bit signed integer

Manual PC6D CANopen Page

20

Index Sub-

index

6401

6402

6403

0
1
2
3
4
5
6

0
1
2
3
4
5
6
7

0
1
2
3
4
5
6

Name Type Attri-

bute
Number of entries
Gross weight
Net Weight
Tare
Dosed weight
Dosed tare
Average weight

Number of entries
Gross weight
Net Weight
Tare
Dosed weight
Dosed tare
Average weight
A/D sample

Number of entries
Gross weight
Net Weight
Tare
Dosed weight
Dosed tare
Average weight

UI8
I16
I16
I16
I16
I16
I16

UI8
I32
I32
I32
I32
I32
I32
I32

UI8
REAL32
REAL32
REAL32
REAL32
REAL32
REAL32

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

ro

Default­value
6 Number of entries in the 16 bit analog input module

7 Number of entries in the 32 bit analog input module

6

Meaning

These entries are mandatory according to DS401. They are the same
as for index 6402, but shifted 8 bits to the right (value/256).

Dosed values always read 0 (zero) on PC6D

These values are the internal long integer representation of the
weight (the integer values are multiplied by 10^dp [2300sub0B]).
Index 6402 is a sub-set of index 2001.

Dosed values always read 0 (zero) on PC6D

Number of entries in the float analog input module
These values are the floating-point representation of the weight as
they are transmitted in the PDO1(tx).
Index 6403 is a replica of index 2000.

Dosed values always read 0 (zero) on PC6D

Manual PC6D CANopen Page

21

22

3.5 Quick Start Guide

Notes:

• The PC6D is always quiet on the CANbus until the NMT Start command is received,
except for the very first ‘node guard’ message.

• Default setting for PC6D is CANopen address 1 @ 500 kbit/sec.

3.5.1 Process data objects

TPDO1

 Weight values are available at all times (see page 7 or 9)
 The following table shows the information of TPDO1 (8 byte, firmware 102.183):

Remark: special firmware (version 102.186) supporting 6 byte available on request

 Default : net weight.
 Refresh time: every 50 ms per channel, see note below.
 Format: Floating point single precision (IEEE 754)

Note:

A timer is controlled by index 1006 which is a silence time after transmission of a TPDO1 in
which no further TPDO1 messages is sent regardless of the output rate from the ADC and
filter system. This timer only applies to TPDO1.

This means that the default filter setting FL=3, type IIR, UR=0 produces 1200 samples. But
the default value 50000 µs in index 1006 means that only every 60th sample is actually
transmitted, the 59 others are blocked by this timer.

On the other hand if you use a FIR filter with FL=8 you will only get a maximum of 150
measurements per second even if you try to set the index 1006 to 100 µs (10kHz). UR will
have the usual effect.

TPDO2

8 byte format as TPDO1, except the “Module Number” contains a code:

0 => Average weight (is available and refreshes when a new value is ready)

1=> Setpoint 1 crossed
2=> Setpoint 2 crossed
3=> Setpoint 3 crossed
4=> Setpoint 4 crossed

32 bit 16 Bit 8 Bit 8 Bit

Weight Module Status Module number Gateway State

Weight Module Status 0 0

Page Manual PC6D CANopen

TPDO3

8 byte format as TPDO1. It is sent every time the tare changes and value set is the new tare
value.

RPDO1

 The following commands can be executed direct (see Index 1600):

Examples:

- Setting tare for channel 2: transmit RPDO1 [01 08]

- Setting gross weight in TPDO1 for channel 1: transmit RPDO1 [00 128]

32 bit 16 Bit 8 Bit 8 Bit

Weight Module Status 0 0

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Cmd: SG SN ST RT SZ RZ
128 64 08 04 02 01

RPDO2

 The following commands can be executed direct (see Index 1601):

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Cmd: TR TS
128 01

Example:

- Setting trigger start for channel 5: transmit RPDO1 [04 128]

3.5.2 Service data objects

SDO’s

 Are only available on request
 See tables 3.3 Object Directory
 Can be used for complete setup of the System MCS-64 via CANbus master, e.g.:

- Filter setting channel 1: Index 2100, Subindex 4

- Filter Mode setting channel 3: Index 2102, Subindex 9

 Can be used to get information regarding all the commands available, e.g.:

- Net weight channel 1: Index 2900, Subindex 2

- AD sample channel 3: Index 2902, Subindex 7

Note: Index 2000 and 2001 refer to the CANbus standards (document DS 301, which is
available on request). Using Index 2000 and 2001 you will only get the weight information (no
channel info). Using Index 2900 – 293F you get the weight and channel information.

Manual PC6D CANopen Page

23

4 Notes

At PC6D you can download firmware updates:

• via CANopen or

• via PC.

4.1 Firmware Update (via CANopen)

This piece of firmware resides in Flash memory block 0 and 5. Its primary function is
to load new software versions to Flash blocks 1 … 4.

This is used to allow firmware update through the CANbus using a special protocol.
Please ask Flintec for the description.

4.2 Firmware Update (via PC)

For this purpose we have a special programmer software for an easy download of the
firmware. Additional you need a converter “RS232/CANbus” or “USB/CANbus”. We
recommend the a converter “USB/CANbus”.

For CANbus communication via PC (Win2000/XP) with USB-port you can use:

PCAN-USB-Adapter

Supplier: PEAK-System Technik GmbH, D-64293 Darmstadt
article no. IPEH-002021

www.peak-system.com

/ [email protected]

Page Manual PC6D CANopen

24

Part B

5 COMMANDS

These pages describe the ASCII commands as they must be used e.g. by the DOP software.
At each command the equivalent CAN index and sub-index are given for reference.

For better clarity, all commands are divided into groups as described on the following pages.

PART B...............................................................................................................................25

5 COMMANDS................................................................................................................25

5.1 SYSTEM DIAGNOSIS COMMANDS – ID, IV, IS ..........................................................26

5.2 CALIBRATION COMMANDS – CE, CM, DS, DP, CZ, CG, ZT, FD, CS......................27

5.3 MOTION DETECTION COMMANDS – NR, NT.............................................................30

5.4 FILTER SETTING COMMANDS – FM, FL, UR ............................................................31

5.5 SET ZERO/TARE AND RESET ZERO/TARE COMMANDS – SZ, RZ, ST, RT.................33

5.6 OUTPUT COMMANDS – GG, GN, GT, GS ...............................................................35

5.7 SETPOINT COMMANDS - SN, HN, AN.......................................................................36

5.8 COMMUNICATION SETUP COMMANDS – AD, BR, TERMINAL RESISTOR.....................38

5.9 TRIGGER COMMANDS – SD, MT, GA, TE, TR, TL ..................................................39

5.10 TRIGGER SPECIAL COMMANDS– RW, TT, TS, DT, TW, TI, HT...............................42

5.11 SAVE CALIBRATION, SETUP & SETPOINT PARAMETERS COMMANDS – CS, WP, SS...45

Manual PC6D CANopen Page

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5.1 System Diagnosis Commands – ID, IV, IS

Use these commands to get type, firmware version or device status of PC6D. These
commands are sent without parameters.

ID Request of device identity [ 2900sub08 ]

Master (PC / PLC) sends Devices responds

ID D:2010

The response to this request gives the actual identity of the active device. This is particularly
useful when trying to identify different device types on a bus.

IV Request of firmware version [ 2900sub09 ]

Master (PC / PLC) sends Device responds

IV V:0100

The response to this request gives the firmware version of the active device.

IS Request device status [ 2900sub0A ]

Master (PC / PLC) sends Device responds

IS S:067000 (example)

The response to this request comprises of two 3-digit decimal values, which can be
decoded according to the table below:

Leftmost 3-digit value: Rightmost 3-digit value:
1 Signal stable 1 (not used)
2 Zero action performed 2 (not used)
4 Tare active 4 (not used)
8 (not used) 4 (not used)
16 Setpoint 0 active 4 (not used)
32 Setpoint 1 active 4 (not used)
64 Setpoint 2 active 4 (not used)
128 Setpoint 3 active 4 (not used)

The example decodes the result S:067000 as follows:
Signal stable (no-motion) 1

Zero action 2
Output 2 active 64 (only as software value)

Total 67
Note: the bits that are not used are set to zero.

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5.2 Calibration Commands – CE, CM, DS, DP, CZ, CG, ZT, FD, CS

Note: TAC represents Traceable Access Code (calibration counter).
CE TAC counter reading [ 2300sub03 ]

With this command you get the TAC counter reading or you can enable a calibration
sequence.

Master (PC / PLC) sends Device responds Result

CE

CE_17 OK

E+00017 (example) Request: TAC-counter CE 17

Calibration sequence active

This command must be issued PRIOR to any attempt to set the calibration parameters
CZ, CG etc. In legal for trade applications the TAC counter can be used to check if critical
parameters have been changed without re-verification. After each calibration the TAC
counter increases by 1.

CM Set maximum output value [ 2300sub07 ]
This command is used for setup the maximum output value. Permitted values are

between 1…200000.

Master (PC / PLC) sends Device responds Result

CM M+30000
CE

E+00017 (example) Request: TAC-counter CE 17

CE_17 OK

CM_50000 OK

Request : CM = 30000

Calibration sequence active

Setting: CM = 50000

This value will determine the point at which the output will change to “oooooo”, signifying
over-range.

Note: The range, in which a scale can be set to zero (SZ) or automatic zero tracking (ZT) is
active, is +/- 2% of CM value.

Factory default: CM = 99999.
DS Display step size [ 2300sub0C ]
This command allows the output to step up or down by a unit other than 1. Permitted

values are 1, 2, 5, 10, 20, 50, 100 and 200.

Master (PC / PLC) sends Device responds Result

DS S+00002
CE

E+00017 (example) Request: TAC-counter CE 17

CE_17 OK
DS_50 OK

Request : display step size 2

Calibration sequence active

Setting: DS = 50

Manual PC6D CANopen Page

27

DP Set decimal point position [ 2300sub0B ]
This command allows the decimal point to be positioned anywhere between leftmost and

rightmost digits of the 5-digit output result. Position 0 means no decimal point.

Master (PC / PLC) sends Device responds Result

DP P+00002
CE

E+00017 (example) Request: TAC-counter CE 17

CE_17 OK

DP_0 OK

Request : position of dec. point

Calibration sequence active

Setting: no decimal point

CZ Set calibration zero point [ 2300sub0A ]
This is the reference point for all weight calculations, and is subject to TAC control.

Master (PC / PLC) sends Device responds Result

CE

CE_17 OK

CZ OK

E+00017 (example) Request: TAC-counter CE 17

Calibration sequence active

Zero point set

Factory default: approx. 0 mV/V input signal
CG Set calibration gain (span) value [ 2300sub04 ]
This is the reference point for calibration under load, and is subject to TAC control.

Permitted values are 1…250000.

Master (PC / PLC) sends Device responds Result

CG G+20000
CE

E+00017 (example) Request: TAC-counter CE 17

CE_17 OK

CG_50000 OK

Request : span 20000d

Calibration sequence active

Setting: span 50000d

For calibration an input signal near the display maximum (CM) will give the best system
performance. The minimum calibration load of at least 20% is recommended.

Factory correct calibration default: 200000 d = 2.000 mV/V input signal = 20 kg
ZT Zero tracking [ 2100sub12 ]

This command enables or disables the zero tracking. Parameter = 0 disables the zero
tracking and parameter = 1 enables the zero tracking. Issuing the command without any
parameter returns the current ZT value.

Master (PC / PLC) sends Device responds Result

ZT Z:001

CE

E+00017 (example) Request: TAC-counter CE 17

CE_17 OK

ZT_0 OK

Request : ZT status (ON)

Calibration sequence active

Setting: ZT = OFF

Page Manual PC6D CANopen

28

Zero tracking will be performed only on results less than +/-0.5 d at a rate of 0.4 d/sec, where
d = display step size (see DS command). The zero can only be tracked to +/- 2% of maximum
(see CM command).

Factory default: ZT=0
FD Factory default settings [ 2006sub02 ]
This command puts the PC6D back to a known state. The data will be written to the

EEPROM and the TAC will be incremented by 1.
Note: All calibration and setup information will be lost by issuing this command!

Only the factory temperature correction table and serial number are preserved.

Master (PC / PLC) sends Device responds Result

CE

CE_17 OK

FD OK

E+00017 (example) Request: TAC-counter CE 17

Calibration sequence active

Factory default setting

CS Save the calibration values [ 2004sub02 ]
This command results in the calibration values being saved to EEPROM, and causes the

TAC to be incremented by 1.

Master (PC / PLC) sends Device responds Result

CE

CE_17 OK

CS OK

E+00017 (example) Request: TAC-counter CE 17

Calibration sequence active

Calibration values saved

The CS command saves all of the calibration group values, as set by CZ, CG, CM, DS, DP
and ZT. The command returns ERR and has no updating action unless it is preceded by the
CE_XXXXX.

Manual PC6D CANopen Page

29

5.3 Motion detection Commands – NR, NT

The motion detection facility provides a means of disabling certain functions whenever a
condition of instability, or “motion”, is detected. The “no-motion”, or “stable” condition is
achieved whenever the signal is steady for the period of time set by NT, during which it
cannot fluctuate by more than NR increments.The stable condition activates the relevant bit
of responses to “Info Status” (IS).

The following functions are disabled if motion is detected: “Calibrate Zero” (CZ) “Calibrate
Gain” (CG) “Set Zero” (SZ) and “Set Tare” (ST).

NR No Motion range [ 2100sub0A ]
This is the range within which the weighing signal is allowed to fluctuate and still be

considered as “stable”. Permitted values are between 0 and 65535.

Master (PC / PLC) sends Device responds Result

NR R+00010

NR_2 OK

WP OK

Request: NR = 10 d

Setting: NR = 2

Setting saved

NR = 2 i.e. fluctuations within a maximum of ± 2 d, in the period NT, will be considered
“stable”.

Factory default: NR = 1.
NT Stabilisation time for in motion band [ 2100sub0B ]
This sets the time (in milliseconds) over which the weight signal is checked to see if it is

“stable” or has “no-motion“. The weight signal has to vary by less than NR divisions over the
time period NT to be considered ‘stable’.
Permitted range 0-65535 milliseconds.

Master (PC / PLC) sends Device responds Result

NT T+01000

NT_500 OK

WP OK

Request: NT = 1000 ms

Setting: NT = 500 ms

Setting saved

If the value of NT =500 milliseconds, the output must not fluctuate more than NR
increments within 500 milliseconds in order to be considered “stable”.

Factory default: NT = 1000 [=1000 ms].

Page Manual PC6D CANopen

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5.4 Filter setting Commands – FM, FL, UR

Using the commands FM and FL, a digital filter type and strength can be set which will
eliminate most of the unwanted disturbances. The command UR is used for the average
building. Please note that these filters are positioned immediately after the A/D Converter and
therefore affect all aspects of the weighing operation.

[Please read the note TPDO1 regarding index 1006 on page 22]

FM Filter Mode FIR / IIR [ 2100sub09 ]

Choose filter mode, permitted values are “0” for IIR and “1” for FIR.

Master (PC / PLC) sends Device responds Result

FM M+00001

FM_0 OK

WP OK

Request: FM = 1 (FIR)

Setting: FM = 0 (IIR)

Setting saved

The digital IIR filter works as a low-pass filter of 2nd order with Gaussian characteristic,
damping is 40 dB/decade; see table mode 0.

The digital FIR filter works as a low-pass filter with quick response; damping see table
mode 1.

Factory default: 0
FL Setup filters [ 2100sub04 ]

Command for setup cut off frequency, permitted values are 0 … 8.

Master (PC / PLC) sends Device responds Result

FL F+00003

FL_1 OK

WP OK

Request: FL = 3

Setting: FL = 1

Setting saved

Filter values can be chosen between 0 and 8, see table below.
FL= 0 means no filter in mode 0 or 1 (command FM).

Factory default: 3

Mode 0 Characteristic (IIR-Filter)

FL

0 no filtering
1 55 18 57 1200
2 122 8 78 1200
3 242 4 96 1200
4 322 3 104 1200
5 482 2 114 1200
6 963 1 132 1200
7 1923 0.5 149 1200
8 3847 0.25 164 1200

Settling time to 0.1%

* Output-rate = 1200/2

(ms)

UR

samples/s ** Antialiasing filter 17 Hz @ 60 dB/dec

3dB Cut-off frequency

(Hz)

**

Damping @300Hz

(dB)

1200

Output-rate*

(samples/s)

Manual PC6D CANopen Page

31

Mode 1 Characteristic (FIR-Filter)

FL

0 no filtering
1 47 19.7 48 64 >90 >80 1200
2 93 9.8 24 32 >90 >40 600
3 140 6.5 16 21 >90 >26 400
4 187 4.9 12 16 >90 >20 300
5 233 3.9 10 13 >90 >16 240
6 280 3.2 8 11 >90 >13 200
7 327 2.8 7 9 >90 >11 172
8 373 2.5 6 8 >90 >10 150

Settling time

to 0.1%

(ms)

3 dB Cut-off

(Hz)

**

20 dB

damping at

frequency

(Hz)

1200

40 dB

damping at

frequency

(Hz)

Damping in

the

stopband

(dB)

Stopband

(Hz)

Output rate

max.

(samples/s)

** Antialiasing filter 17 Hz @ 60 dB/decade

Attention: In mode 1 the output rate is dependant on the selected filter level (FL) and will be
automatically adjusted by the PC6D.

UR Set the update rate (average building) [ 2100sub11 ]
This command will define over how many measurements, from the preceeding IIR or FIR

filter, an average will be calculated. The average will be calculated over 2

UR

samples.

Permitted values 0...7 (see table below).

UR 0 1 2 3 4 5 6 7

No. of samples 1 2 4 8 16 32 64 128

Check / adjustment update rate:

Master (PC / PLC) sends Device responds Result

UR U+0001

UR_4 OK

Request: average over 2 samples
Setting: average over 16 samples

Factory default: 0 [no average, = 1200 samples/s]

Remark to Mode 1

Dependency Output Rate - averaging UR - Filter FL

UR Output Rate samples/s

0 1200 1200 600 400 300 240 200 172 150
1 600 600 300 200 150 120 100 85.7 75
2 300 300 150 100 75 60 50 43 37.5
3 150 150 75 50 37.5 30 25 21.4 18.7
4 75 75 37.5 25 18.7 15 12.5 10.7 9.4
5 37.5 37.5 18.7 12.5 9.4 7.5 6.26 5.36 4.68
6 18.7 18.7 9.4 6.26 4.68 3.76 3.12 2.68 2.34
7 9.4 9.4 4.68 3.12 2.34 1.88 1.56 1.34 1.18

FL0

FL1

19.7 Hz

FL2

9.8 Hz

FL3

6.5 Hz

FL4

4.9 Hz

FL5

3.9 Hz

FL6

3.2 Hz

FL7

2.8 Hz

FL8

2.5 Hz

Page Manual PC6D CANopen

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5.5 Set Zero/Tare and Reset Zero/Tare Commands – SZ, RZ, ST, RT

The following commands allow you to set and reset zero and tare values. The zero set during
calibration remains the ‘true zero’ but new ‘current zero’ can be set using the SZ command. If
the SZ command is issued and accepted then all weight values will then be based on the new
‘current zero’. Please remember that zero value will be subject to the Zero tracking function if
enabled.

If the weight signal is not stable (as defined by the No motion range NR and the No
motion time NT) then both the set zero SZ and set tare ST commands will be disabled.

Also the Set Zero SZ command is not allowed if the new zero value required and the
‘calibration zero’ differ by more than 2 % of the CM value (maximum allowable value).

SZ Set Zero RPDO1 [ 00 02 ]
This command sets a new “current zero” which is then the basis of all weight values until

further updated by the zero tracking function, another SZ command or the “reset zero”
command RZ. The SZ command will fail (LDU responds with ERR) if the new “current zero” is
more than 2% (of the CM value) higher or lower than the “true zero” set during calibration.
The SZ command will also fail if the weight signal is not stable as defined by the No motion
range (NR) and the No motion time (NT). If the weight signal is “stable”, the response to the
IS command (Device Status) will show the “signal stable” bit active and the SZ command will
be accepted (OK). If the “signal stable” bit is not active, the SZ command will be rejected and
the LDU will respond with ERR (error).

Master (PC / PLC) sends Device responds Result

SZ OK

Set Zero performed

The SZ command is issued without any parameters and will return either the OK or ERR
response. If the SZ command is accepted the PC6D responds with OK and the “zero action
performed” bit of the device status (IS) response will be active.
Is the command acknowledged by the PC6D with OK, the status bit for Zero (request IS) is
set to 1. A renewed SZ command or the reset zero command [ RZ ] changes the current zero
point. The command is not implemented, if the current measured value is more than ±2% of
the maximum display value [ CM ] of calibrated zero point [ CZ ].
PC6D response is ERR (error).

RZ Reset Zero Point RPDO1 [ 00 01 ]
This command cancels the SZ command and the zero reading reverts to that set by the CZ

command during calibration.

Master (PC / PLC) sends Device responds Result

RZ OK

The PC6D responds to the RZ command with either OK or ERR. If OK is returned then the
“zero action performed” bit in the Device Status (IS) response will be set to “0”.

Zero point CZ active again

Manual PC6D CANopen Page

33

ST Set Tare RPDO1 [ 00 08 ]
This command will activate the net weighing function by storing the current weight value as a

tare.
The weight signal must be “stable” within the limits set by NR (No Motion Range) and NT (No

Motion Time) commands for the “signal stable” bit to be active and set tare command to be
accepted.

Master (PC / PLC) sends Device responds Result

ST OK

Tare performed

If the weight signal is “stable”, the response to the IS command (Device Status) will show the
“signal stable” bit active and the ST command will be accepted (OK). If the “signal stable” bit
is not active, the ST command will be rejected and the LDU will respond with ERR (error).

RT Reset Tare RPDO1 [ 00 04 ]
The weighing signal returns to gross mode.

Master (PC / PLC) sends Device responds Result

RT OK

Tare deactivated

The PC6D responds to the RT command with either OK or ERR. If OK is returned then the
“tare active” bit in the Device Status (IS) response will be set to “0”.

Page Manual PC6D CANopen

34

5.6 Output Commands – GG, GN, GT, GS

The following commands “Get” the Gross, Net, Tare and ADC (Sample) values from the
PC6D. Available on the CAN profile index 2000 and 2001 in floating point and integer
respectively.

GG Get Gross value [ 2000/2001sub01 ]
Normally sent in TPDO1, if selected by index 1A00sub01.

Master (PC / PLC) sends Device responds Result

GG G+01.100

Gros weight 1.100 d

GN Get Net value [ 2000/2001sub02 ]
Normally sent in TPDO1, if selected by index 1A00sub01.

Master (PC / PLC) sends Device responds Result

GN G+01.000

Net weight 1.000 d

GT Get Tare value [ 2000/2001sub03 ]

Master (PC / PLC) sends Device responds Result

GT T+00.100

Tare weight 100 d

GS Get ADC Sample value [ 2900sub07 ]
This command gets the actual Analogue to Digital Converter (ADC) value. This can be useful

during development or when calibrating to see how much of the ADC range is being used.

Master (PC / PLC) sends Device responds Result

GS S+125785

AD-value = 125.785 d

For service applications, it is helpful to note the GS values for the “no-load” or “zero” output
and when the “calibration load” is applied.

Manual PC6D CANopen Page

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5.7 Setpoint Commands - Sn, Hn, An

The PC6D has 4 setpoints where the status is dependent on the weight value. Each of them
can be assigned as an independent setpoint value (Sn) with a corresponding
hysteresis/switch action (Hn) and base (An – switch on the gross or the net weight).

S1 Setpoint 1 [ 2600sub01 ]
Request / Setting

Master (PC / PLC) sends Device responds Result

S1 1+01500

S1_03000 OK

Setpoint S1 = 1500 d

Setting: Setpoint S1 = 3000 d

Similarly to read or set setpoint 2, use S2 instead of S1, etc. (2600sub02)
H1 Hysteresis setpoint 1 [ 2700sub01 ]
Using the H1 command, the hysteresis on the setpoint value is set by the numeric value and

the polarity of this numeric value defines whether the setpoint switches on or off when the
setpoint value is reached.

Example

Setpoint Hysteresis Load OFF ON

S1 = 20.00 kg H1 = -1.00 kg increasing ≥ 21.01 kg 0 ... 21.00 kg
S1 = 20.00 kg H1 = -1.00 kg decreasing ≥ 20.00 kg 19.99 ... 0 kg
S1 = 20.00 kg H1 = 1.00 kg increasing 0... 19.99 kg ≥ 20.00 kg

S1 = 20.00 kg H1 = 1.00 kg decreasing 19.00. ..0 kg

≥ 19.01 kg

Example of negative hysteresis of 1.00 kg (H1 = -100) on a setpoint (S1) of 20.00 kg
(lines 1 & 2 of table above):

When the weight is increasing between 0 kg and 21.00 kg the setpoint is “ON”. Once the
weight increases above 21.00 kg then the logic output is “OFF”. The setpoint will come “ON”
again when the weight value drops below 20.00 kg.

Example of positive hysteresis of 100 kg (H1 = +1.00) on a setpoint of 20.00 kg
(lines 3 & 4 of table above):

When the weight is increasing between 0 kg and 19.99 kg the setpoint is “OFF”. Once the
weight increases above 19.99 kg then the setpoint is “ON”. The setpoint will switch “OFF”
again when the weight value drops below 19.00 kg.

Page Manual PC6D CANopen

36

Request / Set Hysteresis value for setpoint 1

Master (PC / PLC) sends Device responds Result

H1 1-00100

H1_100 OK

H1_-100 OK

Request: neg. Hysteresis

Setting: pos. Hysteresis
Setting: neg. Hysteresis

Setpoint range between ± 1 (minimum) and ± 199999 (maximum).
Similarly to read or set the setpoint 1 hysteresis, use H2 instead of H1 etc. (2700sub02)

A1 Request / Set the base for setpoint 1 [ 2800sub01 ]
The A1 command defines the base on which the setpoint value acts. If A1 is set to “0”

then setpoint 1 acts on the unfiltered gross weight. If A1 is set to “1” then setpoint 1 acts on
the unfiltered net weight.

A1 = 0
A1 = 1

Not filtered gross weight

Not filtered net weight

Request / Set base for setpoint 1

Master (PC / PLC) sends Device responds Result

A1 1+00000

A1_1 OK

Allocation gros weight

Allocation net weight

Similarly to read or set the setpoint 1 base, use A2 instead of A1 etc. (2800sub02)
The PC6D transmits one TPDO2 every time a setpoint changes state. The weight sent in the

TPDO2 is the weight that caused the TPDO2 to be transmitted, Net or Gross as selected for
the actual setpoint. The TPDO2 also holds the Weighing status flags and the setpoint
Number.
If two (or more) setpoint have exactly the same settings the setpoint with the higher number
will be “hidden”.

NOTE: All changes to the setpoint settings have to be stored in EEPROM using the SS
command. See section 5.10.

Manual PC6D CANopen Page

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5.8 Communication setup Commands – AD, BR, Terminal Resistor

NOTE: These settings will only take effect after a power on reset (remember to store the
settings using the WP command [2004sub03] before turning the power off.)

AD Device address setup / request [ 2007sub02 ]

It is possible to set the network address of the device using the AD command. (Address
range between 1 and 126).

Note: Setting the device address to 0 or 127 are not allowed. Address 0 is used by the
Network Management Protocol (NMT).

Request

Master (PC / PLC) sends Device responds Result

AD A:001

AD_49 OK

Factory default: Address 1

Request: Address 1
Setting: Address 49

BR Request / Setup CAN Speed [ 2007sub01 ]

With this command the following bits/second rates can be setup:

- 1 = Mbit

- 2 = 500 kbit/s

- 3 = 250 kbit/s

- 4 = 125 kbit/s

- 5 = 50 kbit/s

Master (PC / PLC) sends Device responds Result

BR B:001

BR_2 OK

Request: CAN speed 1 Mbit /s
Setting: CAN speed 500 kbit/s

Factory default: 500 kbit/s.

Terminal Resistor ON / OFF [ 2007sub03 ]

A build in terminal resisitor is switchable via CANopen

- 1 = ON

- 0 = OFF

Factory default: ON.

Page Manual PC6D CANopen

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5.9 Trigger Commands – SD, MT, GA, TE, TR, TL

Note: All setups should be stored with the WP command before power off.
SD Start Delay [ 2500sub0A ]

Set the delay between falling/rising edge of trigger pulse and start of measurement.
Permitted values are 0 … 65535 ms.

Master (PC / PLC) sends Device responds Result

SD S+00100

SD_200 OK

Request: SD=100 ms

Setting: SD=200 ms

Factory default: 0 [= 0 ms]

MT Measuring Time [ 2500sub09 ]
Set the time over which the average value will be built.

Permitted values are 0 …65535 ms.

Master (PC / PLC) sends Device responds Result

MT M+00100

MT_500 OK

Request: MT=100 ms

Setting: MT=500 ms

Note: MT = 0 means disabled trigger and average function.
Factory default: 0

GA Get Average [ 2900sub06 ]
Issuing the GA command the PC6D returns the latest average weight value by using the MT

setup. On PC6D it is not necessary to ask for this. The average result is sent in a TPDO2
when ready, or re-triggered.

Master (PC / PLC) sends Device responds Result

GA A+01.100

Answer: GA=1.100 g

Note: During the time between the trigger condition being accepted and the average
value being updated, the GA command will return the value 99999 when it has been
triggered or 88888 when it has been retriggered or 99996 when the system tried to
change Tare or Zero before end of measurement.

[ Remark: When started this function, the latest average weight is availabe in TPDO2. ]

Manual PC6D CANopen Page

39

TL Trigger Level [ 2500sub01 ]
Set the trigger level for rising edge start of measurement. Permitted values are in the

range 0…262143.

Master (PC / PLC) sends Device responds Result

TL T+99999

TL_1000 OK

With regard to the trigger commands SD and MT, a check weighing will automatically start
when the weight overshoots by e.g. 1.000d (increments), e.g. 100,0 g.

Factory default: 199999

TE Trigger Edge [ 2500sub02 ]

Issuing the TE command selects rising or falling edge trigger. Parameter = 0 select falling
edge and parameter = 1 select rising edge.

Request: TL=99999

Setting: TL=1000

Master (PC / PLC) sends Device responds Result

TE E:001

TE_0 OK

Factory default: 0 [falling edge]

Note: This command cannot be used together with the TL command.

TR Trigger RPDO2 [ 00 80 ]

[This command will start the measuring cycle in the same way as the hardware trigger
input.]

Master (PC / PLC) sends Device responds Result

TR OK

Request: TE=1

Setting: TE=0

Trigger started

Note: This function can be used as a soft trigger in a check weigher application (firmware

102.183).

[ Special returned values are:

- 99999 = trigged measurement in progress

- 88888 = Re-Trigger in progress

- 99996 = Tried to change Tare or Zero before end of measurement ]
[ The Trigger function can also be stopped by sending 01 instead of 80 with RPDO2 [00 01]. ]

Factory default: 199999

Page Manual PC6D CANopen

40

t

Basic settings

DX : 1 (full duplex)

UR : 0 (max. 600 meas./s)

TL : 65535 (off)

Typ. Checkweigher settings

RT : 65535 (off)

TW : 10 d

TI : 200 ms

SD : 100 ms

MT : 300 ms

FL : 2 (8 Hz)

MT

Measuring T im e

SD

Start Delay

Typical Checkweigher Signal

Trigger point

choose 1 of 3:

1. Light barrier or

2. TR command or

3. TL Trigger Level

TI

M

(g)

Tare Interval

Tare

TW

Window

Manual PC6D CANopen Page

41

5.10 Trigger Special Commands– RW, TT, TS, DT, TW, TI, HT

Remark: These commands are only available in firmware 102.183.v.1.10.

Note: All setups should be stored with the WP command before power off.
RW Re-Trigger Window [ 2500sub03 ]

Set the re-trigger window in counts (digits) without decimal point. If the weight relative to the

current average value changes by more than the RW value the average cycle will be
restarted using TT as measure time.To automatically issue the re-trigger command, the time
period over which an increase of weight average is measured has to be defined by using the
command DT. Permitted values are 0 …65535 counts.

Master (PC / PLC) sends Device responds Result

RW R+65535

RW_500 OK

Factory default: 65535
TT Re-Trigger Time [2500sub04 ]

Set the re-trigger time in milliseconds [ms]. Re-trigger time is the average time used by the re-

trigger function. If set to zero the re-trigger function is disabled.

Permitted values are 0 …65535 ms.

Master (PC / PLC) sends Device responds Result

TT T+65535

TT_300 OK

Factory default: 65535
TS Re-Trigger Stop [ 2500sub08 ]

Set the re-trigger stop in counts (digits) without decimal point. In case of a (TS) decrease in

weight relative to the current average value the re-trigger function is stopped.

Permitted values are 0 …65535 counts.

Master (PC / PLC) sends Device responds Result

TS T+00000

TS_480 OK

Factory default: 00000

[ The Re-Trigger function can also be stopped by sending 01 instead of 80 with
RPDO2 [00 01]. ]

Request: RW=65535

Setting: RW=500d

Request: TT=65535

Setting: TT=300ms

Request: TS=00000

Setting: TT=480d

Page Manual PC6D CANopen

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DT Delta Time [ 2500sub0B ]
Set the Delta Time in milliseconds [ms]. During MT and TT timeframes "sub-averages" will be

calculated by the system over the time DT. If a sub-average is outside the re-trigger window,
the re-trigger function is automatic started. Permitted values are 0 …65535 ms.

Master (PC / PLC) sends Device responds Result

DT T+00000

DT_50 OK

Factory default: 00000

Request: DT=00000

Setting: TT=50ms

TW Tare Window [ 2500sub06 ]
Set the Tare Window in in counts (digits) without decimal point. Tare window (TW) allows an

automatic Tare update. If TW = 0 this function is not active. If TW = 100, this means a new
tare value will be taken when the net average weight of an empty scale is within 100 counts
or division of zero. The new average tare value is calculated over the average tare time
defined by TI. If the tare average is outside tare window, the tare will not be updated.
Permitted values are 0 …65535 counts.

Master (PC / PLC) sends Device responds Result

TW T+00000

TW_100 OK

Factory default: 00000
TI Tare Time [ 2500sub07 ]
Set the Tare Time in milliseconds [ms]. During the Tare Time a “tare-average” will be

calculated by the system. Permitted values are 0 …65535 ms.

Master (PC / PLC) sends Device responds Result

TI T+00000

TI_200 OK

Factory default: 00000
HT Hold Time [ 2500sub05 ]
Set the Hold Time in milliseconds [ms]. During the Hold Time the weight value must be over

setpoint that a digital output can be switched. This means that a short signal peak will not
lead to the switching of a digital output. Permitted values are 0 …65535 ms.

Master (PC / PLC) sends Device responds Result

HT T+00000

HT_200 OK

Factory default: 00000

Request: TW=00000

Setting: TW=100d

Request: TI=00000

Setting: TI=200ms

Request: HT=00000

Setting: HT=200ms

Manual PC6D CANopen Page

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5.11 Save calibration, setup & setpoint parameters Commands – CS, WP, SS

The setup and calibration parameters can be divided into 3 groups:

 Calibration parameter: CZ, CG, DS, DP & ZT are saved by the CS command.
 Setup parameters (other than setpoint): FL, FM, NR, NT, BR, AD, etc. are saved by the

WP command.
 Setpoint parameters: Sn, Hn and An are saved by the SS command.
CS Save the calibration parameters [ 2004sub02 ]
Note: Calibration parameters can only be saved if the TAC code is known and precedes the

CS command. See the CE and CS commands on page 27 / 29.
Both the setup parameters and the setpoint parameters are stored in EEPROM using the WP

and SS commands respectively.
WP Save the setup parameters [ 2004sub03 ]
With this command the settings of the “Filter” (FL, FM) , the “No-Motion” (NR, NT) and the

communication (AD, BR) will be saved in the EEPROM.

Master (PC / PLC) sends Device responds Result

WP OK
WP ERR

Parameter saved

Error

SS Save the “setpoint” set-up parameters [ 2004sub05 ]
With this command the settings of the setpoints (Sn), the “setpoint hysteresis” (Hn) and the

“setpoint action” (An) will be saved in the EEPROM.

Master (PC / PLC) sends Device responds Result

SS OK
SS ERR

Parameter saved

Error

Manual PC6D CANopen Page

45

DDEECCLLAARRAATTIIOONN OOFF CCOONNFFOORRMMIITTYY

ß

0

Product: Digital load cell
Manufacturers designation:
Manufacturer:

As manufacturer of the article we herewith assures that the article meets the requirements of
the European legislation covering technical instruments, the standard safety rules, other
safeguard regulations as well as the generally approved rules for technical safety,
environmental protection and electromagnetic compatibility. It is further assured that the
articles are in accordance with the supporting documents as supplied by the manufacturer.

To ensure this the necessary monitoring measures during production have been met.
We, the manufacturer, are under obligation to produce to relevant parties upon request

written supporting evidence or by other means i.e. factory visits, spot checks etc. that the
production requirements have been met.

Electronic articles have been manufactured and tested according to the following regulations:

Safety regulations:

PC6D
Flintec GmbH, Bemannsbruch 9, DE74909 Meckesheim,

Germany

CENELEC EN 60742

Electromagnetic Compatibility:

and further requirements as listed in the order specifications as agreed upon.

Meckesheim, April 20, 2007

Signature:
i.V. Gisbert Greulich

Being the responsible person employed and appointed by Flintec GmbH

EN 55011 and EN 61000.