Leuze electronic OMS2/120 CAN, OMS2/170 CAN Technical Description

# Leuze electronic

Laser Measuring Device

OMS2/120 CAN
OMS2/170 CAN

Technical Description

for the

CANopen - Interface

#Leuze electronic

Impressum

Leuze electronic GmbH + Co KG

Postfach 11 11, D-73277 Owen/Teck
In der Braike1, D-73277 Owen/Teck
Tel.: [phone]
Fax: [phone]
E-mail: [e-mail]
http://www.leuze.de

 Copyright 2003 Leuze electronic

Right of modification

We reserve the right to make modifications to the information contained in this
document at any time in the interests of improving our products.

Revision index

Revision Date

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#Leuze electronic

Table of Contents

Transportation / Storage.................................................................................................................. 4

1 Safety..............................................................................................................................................5

1.1 General risk potential.......................................................................................................5

1.2 Safety information............................................................................................................ 5

1.2.1 Hints on installation.......................................................................................... 6

1.2.1.1 General interference suppression measures ..................................7

1.3 Intended purpose.............................................................................................................8

1.4 Authorised operators .......................................................................................................10

1.5 Safety measures at the installation site........................................................................... 10

2 Assembly instructions..................................................................................................................11

2.1 Aligning of the laser light spot to the reflector / foil inclination......................................... 11

2.2 Parallel operation of laser linear paths ............................................................................ 13

3 Commissioning / Installation .......................................................................................................14

3.1 Electrical connection........................................................................................................14

3.1.1 Supply voltage .................................................................................................14

3.1.2 CANopen .........................................................................................................14

3.1.2.1 Bus termination ................................................................................15

3.1.2.2 Identifier (Node-ID) ..........................................................................15

3.1.2.3 Baud rate .........................................................................................15

3.1.2.4 Length of the bus line.......................................................................15

3.1.3 Switching input / Switching output ................................................................... 16

3.1.4 RS485 - programming interface ......................................................................16

3.1.5 Switching on the supply voltage ......................................................................16

3.1.6 Wiring examples ..............................................................................................17

3.2 CANopen interface ..........................................................................................................18

3.2.1 Bus status ........................................................................................................18

3.2.2 EDS-file............................................................................................................18

3.2.3 The communication profile ..............................................................................19

3.2.3.1 1st Transmit Process Data Object (asynchronous)..........................19

3.2.3.2 2nd Transmit Process Data Object (synchronous) ...........................19

3.2.4 Communication specific standard objects .......................................................20

3.2.4.1 Object 1000h: Device Type .............................................................21

3.2.4.2 Object 1001h: Error Register ........................................................... 21

3.2.4.3 Object 1002h: Manufacturer Status Register ..................................21

3.2.4.4 Object 1003h: Pre-defined Error Field............................................. 22

3.2.4.5 Object 1004h: Number of PDOs supported.....................................23

3.2.4.6 Object 1005h: COB-ID SYNC message ..........................................23

3.2.4.7 Object 1008h: Manufacturer Device Name .....................................24

3.2.4.8 Object 1009h: Manufacturer Hardware Version ..............................24

3.2.4.9 Object 100Ah: Manufacturer Software Version ...............................24

3.2.4.10 Object 100Bh: Node-ID.................................................................. 24

3.2.4.11 Object 100Ch: Guard-Time............................................................ 24

3.2.4.12 Object 100Dh: Life Time Factor.....................................................25

3.2.4.13 Object 100Eh: Node Guarding Identifier........................................ 25

3.2.4.14 Object 1010h: Store Parameters ...................................................25

4 Configuration / Parameter setting via the CANopen master ....................................................27

4.1 Standardized encoder profile area ..................................................................................27

4.1.1.1 Object 2000 - Clear Preset ..............................................................28

4.1.1.2 Object 2001 – Output value in case of an error...............................28

4.1.1.3 Object 2003 - Function external input.............................................. 28

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#Leuze electronic

4.1.1.4 Object 2004 - Automatic error acknowledgement .............................29

4.1.1.5 Object 2005 – Function error output................................................29

4.1.1.6 Object 2006 – Switching functions...................................................29

4.1.1.7 Object 6000h - Operating parameters .............................................30

4.1.1.8 Object 6003h – Preset Value...........................................................30

4.1.1.9 Object 6004h – Position value .........................................................30

4.1.1.10 Object 6005h – Measuring step..................................................... 31

4.1.1.11 Object 6200h – Cyclic timer...........................................................31

4.1.2 Laser diagnostics.............................................................................................31

4.1.2.1 Object 6500h - Operating status...................................................... 31

4.1.2.2 Object 6501h – Measuring step....................................................... 32

4.1.2.3 Object 6503h - Alarms .....................................................................32

4.1.2.4 Object 6504h - Supported alarms.................................................... 33

4.1.2.5 Object 6505h - Warnings .................................................................33

4.1.2.6 Object 6506h - Supported warnings ................................................33

4.1.2.7 Object 6507h – Software version.....................................................33

4.1.2.8 Object 6508h - Operating time.........................................................34

4.1.2.9 Object 6509h - Offset value .............................................................34

4.1.2.10 Object 650Ah - Manufacturer offset value ..................................... 34

4.1.2.11 Object 650Bh - Serial number .......................................................34

5 Emergency Message.....................................................................................................................34

6 Transmitting of the laser position value .....................................................................................35

6.1 Read/Write Service Data Object .....................................................................................36

6.1.1 Read SDO: ......................................................................................................36

6.1.2 Write SDO:....................................................................................................... 37

7 Causes of Faults and Remedies ..................................................................................................38

8 Maintenance...................................................................................................................................39

8.1 General Maintenance Information ...................................................................................39

8.2 Repair, Maintenance .......................................................................................................39

9 Appendix ........................................................................................................................................40

9.1 Specifications...................................................................................................................40

9.2 References ......................................................................................................................41

9.3 Definitions and Abbreviations .......................................................................................... 42

Drawings

Dimensioned drawing ..................................................................... 04-K2200-001

Transportation / Storage

Transport instructions

Do not drop the device or expose it to shocks or vibrations!

Device contains an optical system with glass elements.

Only use the original packaging!

The wrong packaging material can cause damage to the device during transportation.

Storage

Storage temperature : -20 to +75°C

Store in dry conditions.

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electronic #Leuze Safety

1 Safety

1.1 General risk potential

The Laser Measuring Device OMS2 CANopen cannot be operated independently, but
is installed as part of an overall system usually consisting of several interacting
components. For this reason, the laser measuring device is not equipped directly with
a protective device.

Warning

The corresponding measures must be taken in order to avoid person and
property damages.

However, in the event of an error via the error register "Object 1001h: Error Register",
S21 a generally occurred error is displayed by setting the bit 5. Via the "Object 1003h:
Pre-defined Error Field", S22 the error occurred generally is specified and the cause
described in detail. Via the "Emergency Message", S34 the Error Register/Error Field
can be read. It is therefore essential to integrate the error messages into your own
safety system via the evaluation software (e.g. a PLC).

All persons responsible for the assembly, start-up and operation of the device must

• be suitably qualified

• adhere strictly to this operating manual.

Your safety and the safety of your equipment depends on this!

1.2 Safety information

This operating manual contains information which must be observed in the interests of
your own personal safety and that of your equipment. The safety hints are
emphasised by a warning triangle and classified according to the degree of danger as
follows:

Warning

means that failure to take the relevant safety precautions can lead to serious damage
to property or injuries.

i

Note

refers to important information and features of the product, plus tips on its application.

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Safety #Leuze electronic

1.2.1 Hints on installation

Since the Laser Measuring Device is normally used as part of a larger system, these
hints are merely intended as a guide for integrating the device safely into its
environment.

Warning

• During the operation of the Laser Measuring Device it isn't allowed to interrupt the
laser beam. If it comes nevertheless to an interruption, at the restart of the
automatic operation mode first the validity (plausibility) of the measured value has
to be checked.

• Precautionary measures must be taken to allow an interrupted program to be
properly resumed following a voltage drop or failure. Dangerous operating
conditions must not be permitted to arise even for short periods. If necessary, an
"EMERGENCY STOP" must be forced.

• EMERGENCY STOP devices according to EN 60204/IEC 204 (VDE 0113) must
remain operational in all operating modes of the programmable controller. The
release of the EMERGENCY STOP devices must not trigger an uncontrolled or
undefined reactivation of the equipment.

• The safety and accident prevention regulations applicable to the specific
application must be observed.

• In the case of permanently installed plants or systems without an all-pole mains
switch and/or fuses, one of these devices must be installed accordingly and the
equipment connected to a PE conductor.

• In the case of 24 V supplies, make sure the extra-low voltage is reliably
disconnected. Only use power supply units manufactured to the standards
IEC 364 - 4 - 41 / HD 384.04.41 (VDE 0100 Part 410).

• Fluctuations or deviations of the supply voltage from the nominal value must not
exceed the tolerance limits stated in the specifications, otherwise operational
failures and dangerous states in the electrical assemblies cannot be ruled out.

• Connecting and signal wires must be installed in such a way as to prevent the
automation functions from being hampered by inductive and capacitive
interference.

• The units of the automation system and their operating elements must be installed
in such a way as to ensure adequate protection against accidental actuation.

• In order to prevent a wire or strand breakage on the signal side from causing
undefined states in the programmable controller, suitable hardware and software
safety precautions must be taken with regard to the I/O interface.

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electronic #Leuze Safety

X

1.2.1.1 General interference suppression measures

• Lay the (shielded) connecting cable to the device at a sufficient distance or in a

separate room from any power cables which are subject to interference. Otherwise

the data transmission of the measured value can be interfered.

• To ensure reliable data transmission, use fully shielded cables and make sure they

are well earthed. For differential data transfer (CAN-Bus), twisted-pair wires must

be used in addition.

• Use a minimum cable cross-section of 0.22 mm

2

for data transfer purposes.

• Avoid crossing cables where possible. If unavoidable, only cross them at right-

angles.

• Ensure continuous wiring of the shield and a large contact area on special shield

clampings or cable screw glands (see arrows).

ERR

OK

RUN

120

1

DIP-Switch

0

2

Figure 1: Connection cap with cable screw glands and shield clampings

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ON

OFF

7

2

Safety #Leuze electronic

1.3 Intended purpose

The measuring system is used for recording linear movements and processing the
measured data for a downstream control system with a CANopen Field Bus interface
according to ISO/DIS 11898.

The laser measuring device with CANopen protocol supports the device profile for
Encoder CiA Draft standard 406, version 2.0.

Particularly the measuring system is designed for the use of distance measurements
for the detection of the position and positioning of:

! High-bay storage devices and lifting gears
! Crane systems
! Side-tracking skates and truck storage vehicles
! Transfer machines

Warning

Switch off the voltage supply before carrying out wiring work or opening and
closing electrical connections!

Check all electrical connections before switching on the system!

Incorrectly wired connections can cause operating failures of the laser, while wrong
connections can lead to serious personal injuries and damage to property.

Mechanical or electrical modifications to the measuring systems are prohibited
for safety reasons!

In particular the following uses are forbidden

- operation in areas where interruption of the laser beam, e.g. by covering the

laser lens opening, can lead to equipment damage or injury to personnel

- in environments, in which strong rain, snow, fog, steams or direct insolations

etc. can influence the laser beam intensity negatively

- operation in rooms with explosive atmospheres

- operation for medical purposes

With use-purposes over 120m measuring length, a special reflector must to be
used!

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electronic #Leuze Safety

Warning

i

Laser beam
Do not look into the beam
Laser class : 2
Acc. to EN 60 825-1 : 1994 + A11:1996
Max. laser power P
Wavelength λ : 670 nm

• In the case of Class 2 laser devices, the eye is protected against brief, accidental
glances at the beam by the blinking reflex. For this reason, devices of this class
can be used without additional protective measures provided the operator is not
required to look into the laser beam deliberately for longer periods, i.e. 0.25 s, or to
look repeatedly into the laser beam itself or the directly reflected beam.

• The device must be installed in such a way that the exposure of persons to the
laser beam can only happen accidentally.

• The laser beam may only extend as far as is necessary for the range
measurement. The beam must be limited at the end of the useful range by a
diffusely reflecting target area in such a way as to minimise the danger from direct
or diffuse reflection. For this purpose, you should use the Leuze electronic
reflecting foil supplied with the device.

• The area outside the operating range where the unshielded laser beam falls should
be limited as far as possible and should remain out of bounds, particularly in the
area above and below eye level.

max.

: ≤ 1 mW

Note

The start-up, operating and programming instructions contained in this manual are
mandatory.

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Safety #Leuze electronic

1.4 Authorised operators

The start-up and operation of this device may only be performed by qualified
personnel. For the purposes of this manual, the term "qualified personnel" refers to
persons who are authorised to operate, earth and label equipment, systems and
power circuits according to recognised safety standards.

1.5 Safety measures at the installation site

Warning

Do not perform any welding work once the device is connected and switched on!

Variations in potential can destroy the device or restrict its operation.

Do not touch plug contacts with your hands!

Static charges may destroy electronic components of the device.

Do not connect unused inputs!

Observe the voltage supply range:

Standard device: 18-27 V DC (+/- 5 %)
Device with heating: 24 V DC

Clean lens opening of the laser and the reflecting foil regularly!

(see chapter "Maintenance", page 39)

i

Note

Make sure that the environment of the installation site is protected against corrosive
media (acids, etc.)

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electronic #Leuze Mounting

2 Assembly instructions

The adjustment of the laser measuring device in the vertical plain is carried out via
four studs (A) in the mounting plate. The adjustment in the horizontal plane can be
made by four hexagon bolts (B). It has to be taken into account that the screw
diameter is approx. 1-2 mm smaller than the through bore of the mounting plate. Exact
dimensional properties are on the dimensional drawing in the rear part of the
document.

B

A

Figure 2: Mechanical adjustment possibilities

2.1 Aligning of the laser light spot to the reflector / foil inclination

The laser beam of the OMS2 must be on the reflecting foil at any time. This can be
done using the light spot of the laser diode, which is still clearly visible on the
reflecting foil even at long distance. When aligning the laser measuring device, the
user may need to take measures to ensure that it can be mechanically adjusted.
The size of the reflecting foil must be such that the light spot cannot be displaced from
the reflector by vibrations. The laser light spot must always be on the reflecting foil to
100%.
With the shipment of the OMS/120 a reflection foil with the size of 20 x 20 [ cm ] is
provided. Other sizes can be ordered on request.
For the laser measuring device OMS/170 a special reflector (Fresnel Retro Reflector)
Art.-No.: 500 36208 must to be used.

i

Note

Reflecting foils by other manufacturers should be used only after consultation with
Leuze electronic, as all the information in the "Specifications" chapter refers to the foil
already supplied with the device.

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Mounting #Leuze electronic

Procedure:

Figure 3: Detection of the surface reflectivity:

•

•

- At first attaching the reflector foil flatly and drive plant on minimal

distance Laser – Foil.

- Centering paper (C) in front of the laser optics so, that the laser beam

can unhinderedly emerge by an approx. 2 cm hole. Now, the interfering
signal (B) should get visible on the paper (C). To the better location of
the interfering signal (B) the reflector foil can be moved also a little.
Here it is valid: angle of incidence = angle of reflection

Figure 4: Transmitting away the surface reflectivity:

- Rotate the reflector foil in the Y- or in the Z-axis so, that the interference

signal (B) always is outside the laser lens. Nevertheless keeping the
inclination of the reflector foil as low as possible to minimize measuring
errors caused by misalignments in the procedure movement. For
example, if the light spot drifts on the reflector foil around, small
differences arise as a result of the oblique position.

- Fix reflector foil

Figure 3: Detection of the surface reflectivity

(A)

real wanted signal, is always
thrown back 180° independ­ently of the reflector inclina­tion

(B)

Surface reflectivity
(interference signal)

(C)

Paper with an approx. 2 cm
large hole in the center

Figure 4: Transmitting away the surface reflectivity

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electronic #Leuze Mounting

2.2 Parallel operation of laser linear paths

It has to be taken care in the parallel operation of laser linear paths that a minimum
distance of 1 m is kept. The reflector foil inclination must be made in such a way that
the surface reflectivity (see arrows) points not into the other laser linear path.

The alignment is carried out as described in chapter 2 / 2.1.

Figure 5: Minimum distance in parallel operation

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3 Commissioning / Installation

X

3.1 Electrical connection

i

Note

At the realization of the electrical connection the references in chapter 1.2.1, starting
from page 6 must be considered.

In order to be able to carry out the connection, the connection cap must be removed
from the laser first.
For this the screws (A) are loosened and the cap (B) is removed away from the laser.

B

electronic Commissioning / Installation #Leuze

ERR

OK

RUN

A

3.1.1 Supply voltage

Pin 7 0V, GND

Pin 8 Standard: 18 – 27 V DC

Device with heating: 24 V DC (±5%)

3.1.2 CANopen

Pin 15 GNDI (reference potential CAN_L / CAN_H)

Pin 16 Shield (internal RC-element onto case)

Pin 17 CAN_H

Pin 18 CAN_H

Pin 19 CAN_L

Pin 20 CAN_L

120

A

1

DIP-Switch

ON

0

2

OFF

7

2

123456 789 10 11121314 151617181920

123456 7891011121314 15

16 17 18 19 20

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electronic #Leuze Commissioning / Installation

3.1.2.1 Bus termination

For the communication a defined no-signal level must be guaranteed on the CAN bus.
To this both line ends have to be terminated with terminating resistors.
In the laser measuring device is not provided an add-on connection of the terminating
resistor. Therefore, if the laser measuring device is the last slave in the CAN bus line,
the termination must be made manually with a terminating resistor of 121 ohms
between the CAN_H and CAN_L lines.

3.1.2.2 Identifier (Node-ID)

The identifier (laser address) 1 – 64 is
adjusted via the DIL-switches 1-6:

DIL-1 = ID 2
The Node-ID is the adjusted hardware

number by the DIL-switches 1-6 + 1.
That means:
all 6 switches off = 0, Node-ID = 1

(see also "Object 100Bh: Node-ID", S24)

Note:

The adjusted address may be assigned
only once in the CANopen bus.

3.1.2.3 Baud rate

0

, DIL-6 = ID 2

5

123456 78910 11121314 15 16 1718 1920

DIP-Switch

1

0

2

ON

OFF

7

2

The baud rate is adjusted via the DIL­switches 7-8:

DIP-7 DIP-8 Baud rate

OFF OFF 20 kbps

ON OFF 125 kbps

OFF ON 500 kbps

ON ON 1000 kbps

3.1.2.4 Length of the bus line

The max. bus line lenght is dependent on the adjusted baud rate:

Baud rate Line length [m]

20 kbps up to 2500
125 kbps up to 500
500 kbps up to 100
1000 kbps up to 25

123456 7891011121314 15 16 1718 1920

DIP-Switch

1

0

2

ON

OFF

7

2

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3.1.3 Switching input / Switching output

The programming of the switching input /switching output is carried out either directly
via the bus, or via the PC software "OMSConfiguration Tool".

Functions of the switching input:

- Preset

- Switch off laser diode

- Failure quit

Functions of the switching output:

- Temperature- ,

- Intensity- ,

- Hardware-Fail-Output or

- every fail

Pin 1 GND, reference potential pin 2

Pin 2 Switching output

Pin 3 Switching input

3.1.4 RS485 - programming interface

The RS485 programming interface was developed mainly only as service interface for
the technician.
Primarily therefore the programming possibilities via the CANopen should be used.
Via the PC software "OMSConfiguration Tool" and a PC adapter the connection to the
laser measuring device is established. More informations see page 17 or in the
OMSConfiguration Tool software manual.

Pin 9 RS485–

Pin 10 RS485+

3.1.5 Switching on the supply voltage

After the connection, baud rate and Node-ID-setting has been carried out, the supply
voltage can be switched on.

After power on and finishing the initialisation, the laser goes to the Pre-operational state
and waits for command. If the laser detects an internal error, an emergency message
with the error code will be transmitted (see chapter "Emergency Message", S34).

electronic Commissioning / Installation #Leuze

123456 78910111213141516 17 18 19 20

123456 7891011 12 1314 15 16 17 18 1920

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electronic #Leuze Commissioning / Installation

3.1.6 Wiring examples

* Shield connection, see chapter 1.2.1.1 page 7.

CANopen - connection

0V

US

Shield

GNDI

CAN_L

CAN_H

*

X1

7

8

OMS2

0V

Supply Voltage

15

16

17

18

19

20

GNDI

Shield (internal RC-element onto case)

CAN_H

CAN_H

CAN_L

CAN_L

RS485-connection with parameter setting via "OMSConfiguration Tool"

X1

GND, reference potential pin 2

Switching Output

Switching Input

0V

Supply Voltage

RS485-

RS485+

optional

Switch Cabinet
Module
MA OMS1 PCAS

1

2

3

0V

US

RS485-

1

2

RS485+

*

*

7

8

9

10

OMS2

11- 2 7 VDC

0 V

Case / Shield

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14

15

16

PC adapter
MA OMS1 PCA

RS485

RS232

PC

+

OMS Configuration Tool

3.2 CANopen interface

The CAN-Bus-Interface is defined by the international norm ISO/DIS 11898 and
specifies the two lowest layers of the ISO/DIS CAN Reference Model.

The CAN-BUS-Interface with the BUS-Driver PCA83C250T is galvanic isolated of the
laser electronic and becomes the power over internal DC/DC-converter. There is no
external power supply necessary for the CAN-BUS-Driver.

The conversion of the laser information to the CAN message format (CAN 2.0A) is
done by the CAN-controller SJA1000. The function of the CAN-controller is controlled
by a watchdog .

The CANopen Communication Profile (CIA standard DS 301) is a subset of CAN
Application Layer ( CAL ) and describes, how the services are used by devices. The
CANopen Profile allows the definition of device profiles for decentralised I/O.

The laser with CANopen-protocol support the Device Profile for Encoder ( CIA Draft
Standard Proposal 406, Version 2.0 ). The encoders support the extended functions
in Class C2 .

The communication functionality and objects, which are used in the laser profile, are
described in a EDS-File ( Electronic Data Sheet ).
When using a CANopen Configuration Tool ( e.g.:CANSETTER ), the user can read
the objects of the laser (SDOs) and program the functionality.

The selection of transmission rate and node number is done by hardware (switches).

3.2.1 Bus status

At the connection cap the laser has 3 LEDs, which display the bus status of the laser:

LEDs Off

RUN, green

RUN,

green flashing

ERR, red

ERR,

rot flashing

OK, green

3.2.2 EDS-file

The EDS-file (electronic data sheet) contains all informations about the laser specific
parameters and operating modes of the laser measuring device. The EDS-file is
needed by the CANopen network configuration tool to be able to configure or to take
into operation the laser measuring device duly.
Leuze electronic supplies a disk containing the EDS-file. The disk is component of the
device. The EDS-file has the file name "OMS2.EDS".

Laser is not on-line

- Device may not be powered

On-line, with connections in the established state

- Device is allocated to a master

Recoverable fault

- e.g. I/O-connections are in the timed-out state
(Node-Guarding active)

- Turn off system, after that turn on system

- Replace laser device

- Off-Line

Laser hardware ok

electronic Commissioning / Installation #Leuze

ERR

OK

RUN

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#Leuze electronic Commissioning / Installation

3.2.3 The communication profile

Two process data objects (PDO) are implemented in the device. One is used for
asynchronous transmission and the other one for the cyclic transmission functions.

The output position value is transmitted in binary code:

COB-ID Output Position Value

11 Bit Byte 0 Byte 1 Byte 2 Byte 3

3.2.3.1 1

2

7

to 20 2

st

Transmit Process Data Object (asynchronous)

This PDO transmit the position value of the laser in an asynchronous way. The cyclic
timer is stored in index 6200h.

Index Sub-Index Comment Default Value

15

to 28 2

23

to 216 2

31

to 224

3.2.3.2 2

1800h 0 number of supported entries 3

1 COB-ID used by PDO 1 180h + Node-ID

2 transmission type 254

3 inhibit time 0

1A00h 0 number of mapped objects 1

1 Position value 60040020h

nd

Transmit Process Data Object (synchronous)

This PDO transmit the position value of the laser in a cyclic way (on request). Request
by remote frame and/or sync telegrams.

Index Sub-Index Comment Default Value

1802h 0 number of supported entries 3

1 COB-ID used by PDO 2 280 + Node-ID

2 transmission type 1

3 inhibit time 0

1A02h 0 number of mapped objects 1

1 Position value 60040020h

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3.2.4 Communication specific standard objects

Following table gives an overview on the supported indices in the communication
profile area:

Index (h) Object Name Type Attr.

1000 VAR

1001 VAR

1002 VAR

1003 ARRAY

1004 ARRAY

1005 VAR

1008 VAR

1009 VAR

100A VAR

100B VAR

100C VAR

100D VAR

100E VAR

1010 VAR

device type

error register

manufacturer status register

pre-defined error field

Number of PDOs supported

COB-ID SYNC-message

device name

hardware version

software version

Node-ID

guard time

life time factor

COB-ID guarding protocol

store parameters

Unsigned32 const

Unsigned8 ro

Unsigned32 ro

Unsigned32 ro

Unsigned32 ro

Unsigned32 rw

Vis-String const

Vis-String const

Vis-String const

Unsigned32 ro

Unsigned16 rw

Unsigned8 rw

Unsigned32 ro

Unsigned32 rw

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3.2.4.1 Object 1000h: Device Type

Contains information about the device type. The object at index 1000h describes the
type of device and its functionality. It is composed of a 16 bit field which describes the
device profile that is used (Device Profile Number 406 = 196h) and a second 16 bit
field which gives information on the type of device.

Structure of parameter

Unsigned32, const

Device Type

Device Profile Number Encoder Type

Byte 0 Byte 1 Byte 2 Byte 3

196h 27 to 20 2

Encoder type

Code Definition

15

to 28

08 Laser measuring device

3.2.4.2 Object 1001h: Error Register

This object contains the error register for the device. If an alarm bit is set (object

6503), bit 5 is set in the error register.

Unsigned8, Read

Bit Meaning

0 0

1 0

2 0

3 0

4 0

5 device profile specific

6 0

7 0

3.2.4.3 Object 1002h: Manufacturer Status Register

This object is not used by the laser, by read access the value is always "0".

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3.2.4.4 Object 1003h: Pre-defined Error Field

This object contains an occurred laser error and indicates the error via the Emergency
object.

Index Sub-Index Comment Type

1003h 0 number of errors / clear error code Unsigned8

1 standard error field Unsigned32

Sub-index 0: The entry in sub-index 0 contains the number of occurred errors and
registers it in sub-index 1.

After elimination of the error the error code can be cleared about a write
access on sub-index 0.

Sub-index 1: The error field consists of an 8 bit error code.

Unsigned32, Read

Standard Error Field

Byte 0 Byte 1 Byte 2 Byte 3

error code 0 0 0

27 26 2524 23 22 21 20 - - -

Description of the error code

No error
Byte 0 = 0x00

Intensity
Bit 0 in byte 0

Corresponds to the normal condition

The bit is set, if an intensity value of smaller 8% is
present, or the laser beam is interrupted and leads to the
error value output.

The bit is set, if the device temperature is outside of the
Temperature
Bit 1 in byte 0

range from 0 - 50 °C. A low range deviation has still no

influence on the measurement and is therefore to be

regarded as a warning.

Hardware
Bit 2 in byte 0

Laser diode switched off
Bit 3 in byte 0

The bit is set, if an internal hardware error were noticed

and leads to the error value output.

The bit is set, if the laser diode was switched off over the

bus, or the switching input. Serves only for information

purposes.

The bit is set, if an intensity value of smaller 12% were
Intensity warning
Bit 4 in byte 0

determined and means that the measuring system optics,

or the reflecting foil is to be cleaned. However, the device

operates error-freely furthermore.

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3.2.4.5 Object 1004h: Number of PDOs supported

This object contains information about the maximum number of PDOs supported by
the laser.

Index Sub-Index Comment Type

1004h 0 number of PDOs supported Unsigned32

1 number of synchronous PDOs Unsigned32

2 number of asynchronous PDOs Unsigned32

Sub-index 0 describes the overall number of PDOs supported (synchronous / asynchronous).
Sub-index 1 describes the number of synchronous PDOs supported by the laser.
Sub-index 2 describes the number of asynchronous PDOs supported by the laser.

Unsigned32, Read

Number of PDOs

Byte 0 Byte 1 Byte 2 Byte 3

Transmitted PDOs Received PDOs

Sub-index 0: Transmitted PDOs = 2, Received PDOs = 0
Sub-index 1: Transmitted PDOs = 1, Received PDOs = 0
Sub-index 2: Transmitted PDOs = 1, Received PDOs = 0

3.2.4.6 Object 1005h: COB-ID SYNC message

This object defines the COB-ID of the synchronisation object ( SYNC). Further, it
defines whether the device processes the SYNC or whether the device generates the
SYNC.

Unsigned32, Read/Write
MSB LSB

31 30 29 28-11 10-0

1 0 0 0 00 1000 0000

Bit 31 = 1 , Device processes SYNC message
Bit 31 = 0 , Device does not generate SYNC message

Bit 30 = 0
Bit 29 = 0 , 11 bit ID (CAN 2.0A)
Bit 28 -11 = 0
Bit 10 - 0 = 11 bit SYNC-COB-IDENTIFIER, default value = 080h

If a SYNC-telegram with the identifier, defined in this object ( 080H ), and data length
= 0 has been received by the device, the position value of the laser is transmitted by

nd

Transmit PDO (object 1802).

the 2
The default value 80 H in byte 0 (bit 0 -7) can be overwritten by another value (≠ 0).
The new adjusted value is stored permanently about "Object 1010h: Store
Parameters".

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Commissioning / Installation #Leuze electronic

3.2.4.7 Object 1008h: Manufacturer Device Name

Contains the manufacturer device name (visible string) "OMS2".

3.2.4.8 Object 1009h: Manufacturer Hardware Version

Contains the manufacturer hardware version (visible string).

3.2.4.9 Object 100Ah: Manufacturer Software Version

Contains the manufacturer software version (visible string).
See also object 6507.

3.2.4.10 Object 100Bh: Node-ID

This object contains the Node-ID (device address).

The value is selected by 6 hardware switches and cannot be changed using SDO
services.

Unsigned32, Read

Byte 0 Byte 1 Byte 2 Byte 3

Node-ID reserved reserved reserved

Value range: 1 - 64.

The Node-ID is the selected hardware number by switches + 1. That means:

all 6 switches off = 0, Node-ID = 1
switch bit 5 = on = 32, Node-ID = 33

3.2.4.11 Object 100Ch: Guard-Time

The objects of index 100CH and 100DH include the guard time in milli-seconds and
the life time factor. The life time factor multiplied with the guard time gives the live time
for the node guarding protocol.

Unsigned16, Read/Write

Guard-Time

Byte 0 Byte 1

27 to 20 2

Node_ID

15

to 28

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3.2.4.12 Object 100Dh: Life Time Factor

The life time factor multiplied with the guard time gives the life time for the node
guarding protocol. If the result is "0", no node guarding is supported.

Unsigned8, Read/Write

Life Time Factor

Byte 0

27 to 20

3.2.4.13 Object 100Eh: Node Guarding Identifier

The identifier is used for the node guarding and the life guarding procedure.

Unsigned32, Read

MSB LSB

31 30 29 28-11 10-0

reserved 0 000000000000000000 11 bit identifier

Bit 10 - 0 = 11 bit identifier, value = 700h + Node-ID

3.2.4.14 Object 1010h: Store Parameters

This object supports the saving of parameters in non volatile memory (EEPROM).

Index Sub-Index Comment Type

1010h 0 largest supported sub-index Unsigned8

1 save all parameters Unsigned32

Sub-index0: The entry in sub-index 0 contains the largest sub-index which is supported.
Value = 1.

Sub-index1: By read access the device provides information about its saving possibility.

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Unsigned32, Read/Write
MSB LSB

bits 31-2 1 0

value = 0 0 1

By read access the device provides information about its saving possibility.

Bit 0 = 1, the device saves parameters only on command. That means, if parameters
have been changed by the user and no "Store Parameter Command" has been
executed, at the next power on, the parameters will have there old values.

By write access the device stores the parameters to the non volatile memory.
In order to avoid storage of parameters by mistake, storage is only executed when a
specific signature is written to the object. The signature is "save".

Unsigned32
Signature MSB LSB

e v a s

65h 76h 61h 73h

On reception of the correct signature, the device stores the parameters. If the storing
failed, the device responds with abort domain transfer, error class 6 , error code 6
(hardware fault). See also Object 6503h - Alarms.

If a wrong signature is written, the device refuses to store and responds with abort
domain transfer, error class 8, error code 0.

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#Leuze electronic Configuration / Parameter Setting

4 Configuration / Parameter setting via the CANopen master

The configuration of the laser occurs alternatively via the configuration software of the
CANopen - master or via the OMSConfiguration Tool-software. With a download of
the control parameters the parameters, which were configured via the
OMSConfigration Tool-software, will be overwritten by the control.
In this instruction only the configuration via the CANopen - master is described. The
PC program OMSConfiguration Tool is described in an instruction of its own.

4.1 Standardized encoder profile area

Each encoder shares the dictionary entries from 6000h to 65FFh. These entries are
common to encoders. Additionally the laser measuring device uses the entries from
2000 to 2006h.
NOTE that all indices shown in the "Index" column are hexadecimal.

The overview of all laser entries are shown below:

Index Object Name Data Length Attr.

Parameters

2000 VAR Clear Preset Unsigned8 rw
2001 VAR Output value in case of an error Unsigned8 rw
2002 VAR Error value (not supported) Unsigned32 rw
2003 VAR Function external input Unsigned8 rw
2004 VAR Automatic error acknowledgement Unsigned8 rw
2005 VAR Function error output Unsigned8 rw
2006 VAR Switching functions Unsigned8 rw
6000 VAR Operating parameters Unsigned16 rw
6003 VAR Preset value Unsigned32 rw
6004 VAR Position value Unsigned32 ro
6005 REC Measuring step Unsigned32 ro
6200 VAR Cyclic-Timer Unsigned16 rw

Diagnostics

6500 VAR Operating status Unsigned16 r
6501 VAR Measuring step Unsigned32 ro
6503 VAR Alarms Unsigned16 r
6504 VAR Supported alarms Unsigned16 r
6505 VAR Warnings Unsigned16 r
6506 VAR Supported Warnings Unsigned16 r
6507 VAR Software version Unsigned32 r
6508 VAR Operating time Unsigned32 r
6509 VAR Offset value Signed32 r
650A VAR Manufacturer offset value Signed32 r
650B VAR Serial number Unsigned32 r

On the following pages each single object is explained in detail.

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Configuration / Parameter Setting #Leuze electronic

4.1.1.1 Object 2000 - Clear Preset

Via this object, the zero-point correction calculated in "Object 6003h – Preset Value" is
deleted. The correction arises from the difference of the desired preset value to the
physical laser position. That means, after deletion of the zero-point correction the
laser outputs his "real" physical position.

Unsigned8, Read/Write

0 Clear Preset

1 No clearing

4.1.1.2 Object 2001 – Output value in case of an error

Determines, which data value is to be transmitted in the case of an error. The data
value is output, if the laser can output no more measurement. This is given e.g., if a
beam interruption is present.

Unsigned8, Read/Write

0 Null (default)

1 0xFF All 24 bits are set to '1' (0xFFFFFF or -1)

2 last valid value Output of the last valid position

4.1.1.3 Object 2003 - Function external input

Determines, whether the switching input is to be used as

- Preset input

- Switch-off Laser-Diode (LD) or

- Failure reset - input

With connection of the switching input as Preset-input the laser is adjusted on the
predefined position value in "Object 6003h – Preset Value", S30. With connection the
switching input as LD-input the laser diode is switched off for the extension of the life
time. If in the PC-program "OMSConfiguration-Tool" in the basic parameters the
switching-off of the laser diode is carried out automatically, the LD-switching input
does not have a function.

Unsigned8, Read/Write

0 disabled (default)

1 Preset function

2 LD switching input

3

Error

acknowledgement

The position is set to "0"

Function switched off, following parameters without

meaning

External switching input is determined as Preset input.

Software execution see chapter

"Object 2006 – Switching functions", S29.

External switching input is used for switching-off of the

laser diode. Software switching-off see chapter

"Object 2006 – Switching functions", S29.

External switching input is used as error acknowledge-

ment. Software acknowledgement see chapter

"Object 1003h: ", S22.

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#Leuze electronic Configuration / Parameter Setting

4.1.1.4 Object 2004 - Automatic error acknowledgement

Determines, whether occurring error reports should be cleared automatically after
eliminating the trouble.

Unsigned8, Read/Write

not automatically

0

(default)

1 automatically

4.1.1.5 Object 2005 – Function error output

Determines, the function of the error output (external switching output). Definition of
the error see "Description of the error code", S22.

Unsigned8, Read/Write

0 disabled (default)

1 Temperature

2 Intensity

3 Hardware

4 all errors

4.1.1.6 Object 2006 – Switching functions

Unsigned8, Read/Write

Switch off laser diode
Bit 0 = 1

Switch on laser diode
Bit 1 = 1

Execute Preset
Bit 2 = 1

A read access returns the status of the laser diode:

0 Laser diode is switched off

1 Laser diode is switched on

An occurring error report can be cleared via "Object 1003h:

", S22 or via "Object 2003 - Function external input", S28.

An occurring error report is cleared automatically after

remedying of the error.

By setting this bit the laser diode (LD) is switched off for
the extension of the life time. If in "Object 2003 - Function
external input", S28 = "LD-switching input" is preselected,
or in the PC-program "OMSConfiguration-Tool" in the
basic parameters the switching-off of the laser diode is
carried out automatically, this function is ineffective.

By setting this bit the laser diode is switched on. This
function is ineffective if: see "Switch off laser diode" above.

By setting this bit the laser is adjusted to the value
deposited in "Object 6003h – Preset Value", S30.

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Configuration / Parameter Setting #Leuze electronic

4.1.1.7 Object 6000h - Operating parameters

The operating parameters contain the functions for code sequence.

Structure of parameter

Unsigned16, Read/Write

Bit Function Bit = 0 Bit = 1

0 Code Sequence increasing decreasing

1 reserved

3 - 11 reserved

12-15 Manufacturer specific functions

Code sequence:

The code sequence defines whether increasing or decreasing position values are
output.

(default)

0

1 With increasing distance to the laser, values decreasing

4.1.1.8 Object 6003h – Preset Value

The Preset function can be used to adjust the laser to any position value within a
range of 0 to measuring length in increments.
The output position value is set to the parameter "Preset value" when writing to this
object. The call of "Object 1010h: Store Parameters" isn't necessary.

Structure of parameter

Unsigned32, Read/Write

With increasing distance to the laser, values increasing

Preset value

Byte 0 Byte 1 Byte 2 Byte 3

27 to 20 2

15

to 28 2

23

to 216 2

31

to 224

4.1.1.9 Object 6004h – Position value

The object 6004h "Position value" defines the output position value for the
communication objects 1800h and 1802h.

Structure of parameter

Unsigned32, Read

Position value

Byte 0 Byte 1 Byte 2 Byte 3

27 to 20 2

15

to 28 2

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23

to 216 2

31

to 224

#Leuze electronic Configuration / Parameter Setting

4.1.1.10 Object 6005h – Measuring step

About the measuring step the resolution of the measuring system is defined.

Index Sub-Index Comment Type

6005h 0 number of entries Unsigned8
1 measuring step Unsigned32

Unsigned32, Read

Measuring step

Byte 0 Byte 1 Byte 2 Byte 3

27 to 20 2

Input value in 1/100 mm 0 0

Input value in 1/100 mm
1 mm e.g. corresponds to the input value of 100. That means, that the laser
output 1 step / mm.

Default value: 100, maximum value: 65535

4.1.1.11 Object 6200h – Cyclic timer

Defines the parameter "Cyclic timer". A Cyclic transmission of the position value is set,
when the cyclic timer is programmed > 0. Values between 1 ms and 65535 ms can be
selected.

e.g.: 1 ms = 1 h
256 ms = 100 h

This value isn't saved in the device permanently and is lost with switching off the
supply voltage. With each restart the cyclic timer is ≠ 0 and must always be rewritten
therefore.

When the laser is started with the NODE START command and the value of the cyclic
timer is > 0, the 1

st

transmit PDO (object 1800h) transmit the laser position.

4.1.2 Laser diagnostics

4.1.2.1 Object 6500h - Operating status

This object contains the operating status of the laser. It gives information on laser
internal programmed parameters.
(see also "Object 6000h - Operating parameters")

Structure of parameter

Unsigned16, Read

15

to 28 2

23

to 216 2

31

to 224

Bit Function Bit = 0 Bit = 1

0 Code Sequence increasing decreasing
1 reserved

3 - 11 reserved

12 - 15 Manufacturer specific functions

0 = With increasing distance to the laser, values increasing
1 = With increasing distance to the laser, values decreasing

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Configuration / Parameter Setting #Leuze electronic

4.1.2.2 Object 6501h – Measuring step

The object 6501h indicates the adjusted resolution of the measuring system in 1/100 mm.
(see also "Object 6005h – Measuring step")

Structure of parameter

Unsigned32, Read

Measuring step

Byte 0 Byte 1 Byte 2 Byte 3

27 to 20 2

adjusted resolution in 1/100 mm 0 0

4.1.2.3 Object 6503h - Alarms

Additionally to the emergency message, object 6503h provides further alarm
messages. An alarm is set if a malfunction in the laser could lead to incorrect position
value. If an alarm occurs, the according bit is set to logical high until the alarm is
cleared and the laser is able to provide an accurate position value.

Structure of parameter

Unsigned16, Read

15

to 28 2

23

to 216 2

31

to 224

Alarms

Byte 0 Byte 1

error code Reserved for further use

27 26 25 24 23 22 21 20 -

Description of the error code

No error
Byte 0 = 0x00

Intensity
Bit 0 in byte 0

Corresponds to the normal condition

The bit is set, if an intensity value of smaller 8% is

present, or the laser beam is interrupted and leads to the

error value output.

The bit is set, if the device temperature is outside of the
Temperature
Bit 1 in byte 0

range from 0 - 50 °C. A low range deviation has still no

influence on the measurement and is therefore to be

regarded as a warning.

Hardware
Bit 2 in byte 0

Laser diode switched off
Bit 3 in byte 0

The bit is set, if an internal hardware error were noticed

and leads to the error value output.

The bit is set, if the laser diode was switched off over the

bus, or the switching input. Serves only for information

purposes.

The bit is set, if an intensity value of smaller 12% were
Intensity warning
Bit 4 in byte 0

determined and means that the measuring system optics,

or the reflecting foil is to be cleaned. However, the device

operates error-freely furthermore.

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#Leuze electronic Configuration / Parameter Setting

4.1.2.4 Object 6504h - Supported alarms

Object 6504h contains the information on supported alarms by the laser.

Structure of parameter

Unsigned16, Read

Bit Function Bit = 0 Bit = 1

0 Intensity No Yes

1 Temperature No Yes

2 Hardware No Yes

3 Laser diode switched off No Yes

4 Intensity warning No Yes

5 - 13 Reserved for further use

14 - 15 Manufacturer specific functions

4.1.2.5 Object 6505h - Warnings

This object is not supported.
By read access the value is always "0" .

4.1.2.6 Object 6506h - Supported warnings

This object is not supported.
By read access the value is always "0" .

4.1.2.7 Object 6507h – Software version

This object contains the software version which is implemented in the laser. It is
combined to a revision number and an index. The version-no. is indicated in ASCII
code.

e.g.: Version: 2.12
Binary: 0011 0010 0010 1110 0011 0001 0011 0010
Hex: 32 2E 31 32

Structure of parameter

Unsigned32, Read

Software version

Byte 0 Byte 1 Byte 2 Byte 3

27 to 20 2

15

to 28 2

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7

to 20 2

15

to 28

Emergency Message #Leuze electronic

4.1.2.8 Object 6508h - Operating time

The operating time function indicates the operation hours of the activated laser diode.

4.1.2.9 Object 6509h - Offset value

This object contains the offset value calculated by the preset function. The offset value
is stored and can be read from the laser.

4.1.2.10 Object 650Ah - Manufacturer offset value

This object is not supported.
By read access the offset value is "0".

4.1.2.11 Object 650Bh - Serial number

This object contains the serial number of the laser device (4 byte).

5 Emergency Message

Emergency messages are triggered by the occurrence of a device internal malfunction
and are transmitted from the concerned application device to the other devices with
highest priority.

Emergency Message

Byte 0 1 2 3 4 5 6 7

Error

content

Emergency

Error Code

COB-Identifier = 080h + Node-ID

If the laser detects an internal error, an emergency message will be transmitted with
the error code of "Object 1003h: Pre-defined Error Field", S22 and the error register
object 1001H. Additionally to the emergency object the according bit in "Object 6503h

- Alarms"; S32 is set.

If the error disappears, the laser transmits an emergency message with error code "0"
(reset error / no error) and error register "0". To this it is prerequisite that the error
acknowledgment was set to "automatically" (see "Object 2004 - ", S29).

register

(object

1001H)

0 0 0 0 0

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#Leuze electronic Transmitting of the laser position value

6 Transmitting of the laser position value

Before the laser position can be transferred the laser has to be started with the Node
Start command.

Node Start Protocol

COB-Identifier = 0

Byte 0 Byte 1

1 Node-ID

Node Start command with the Node-ID of the laser (slave) starts only this device.

Node Start command with Node-ID = 0 starts all slaves connected to the bus.

After the Node Start command the laser transmit the position value one time with the
COB-ID of object 1800h.

Now the laser position value can be transmitted in different ways:

Asynchronous Transmission

st

The 1
time is defined by the value of the cyclic timer (object 6200H). This transmission starts
automatically after the Node Start command and the value of the cyclic timer is > 0.

The default value of the COB-ID is 180h + Node-ID.

Cyclic Transmission

The 2
(remote / sync).
The laser receives a remote frame with the COB-ID (default value 280h + Node-ID)

The laser receives a sync telegram with the COB-ID (default value 080h) defined in
object 1005h. All slaves with the this SYNC-COB-ID will transmit the position value.

To stop the transmission of the laser position the laser has to be stopped with the
Node Stop command.

Node Stop Protocol

transmit PDO (object 1800h) transmit the position value of the laser. The cyclic

nd

transmit PDO (object 1802) transmit the position value of the laser on request

COB-Identifier = 0

Byte 0 Byte 1

2 Node-ID

Node Stop command with the Node-ID of the laser (slave) stop only this device.

Node Stop command with Node-ID = 0 stop all slaves connected to the bus.

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Transmitting of the laser position value #Leuze electronic

6.1 Read/Write Service Data Object

The transfer of the Service Data Object (SDO) is done by the CMS Multiplexed
Domain protocol (CIA DS202/2).

6.1.1 Read SDO:

(Initiate Domain Upload)

Request Protocol format:

COB-Identifier = 600h + Node-ID

Read SDOs

Byte 0 1 2 3 4 5 6 7

content Code Index

40h low high byte 0 0 0 0

The Read SDO telegram has to be send to the slave.

The slave answers with the following telegram:

Response Protocol format:

COB-Identifier = 580h + Node-ID

Byte 0 1 2 3 4 5 6 7

content Code Index

4xh low high byte data data data data

Format byte 0:

MSB LSB

7 6 5 4 3 2 1 0

0 1 0 0 n 1 1

n = number of data bytes ( bytes 4-7) that does not contain data.

If only 1 data byte (Data 0) contains data the value of byte 0 is "4FH".

If byte 0 = 80h the transfer has been aborted.

Sub-

index

Data 0 Data 1 Data 2 Data 3

Read SDOs

Sub-

index

Data 0 Data 1 Data 2 Data 3

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#Leuze electronic Transmitting of the laser position value

6.1.2 Write SDO:

(Initiate Domain Download)

Request Protocol format:

COB-Identifier = 600h + Node-ID

Write SDOs

Byte 0 1 2 3 4 5 6 7

content Code Index

2xh low high byte 0 0 0 0

Format byte 0:

MSB LSB

7 6 5 4 3 2 1 0

0 0 1 0 n 1 1

n = number of data bytes ( bytes 4-7) that does not contain data.

If only 1 data byte ( Data 0 ) contains data the value of byte 0 is "2FH".

The Write SDO telegram has to be send to the slave.

The slave answers with the following telegram:

Response Protocol format:

COB-Identifier = 580h + Node-ID

Byte 0 1 2 3 4 5 6 7

content Code Index

60h low high byte 0 0 0 0

If byte 0 = 80h the transfer has been aborted.

Sub-

index

Data 0 Data 1 Data 2 Data 3

Read SDOs

Sub-

index

Data 0 Data 1 Data 2 Data 3

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Causes of Faults and Remedies #Leuze electronic

7 Causes of Faults and Remedies

The error causes are determined in "Object 1003h: ", S22. Depending on setting the
error messages must be acknowledged for resetting the error code (see chapter. "Object
1003h: ", S22 / "Object 2003 - Function external in", S28 and "Object 2004 - , S29").

Error code Cause Remedy

The device checks

1. Clean measuring system optics

2. Clean reflecting foil

3. Rule out an interruption of the laser beam

If the possibility of soiling or interruption of the laser signal
can be ruled out, the device must be replaced.

Appropriate measures must be taken to prevent the device
from overheating or undercooling.

Bit 0

Intensity error

Bit 1

Device temperature

the intensity of the

received laser signal

continuously, it was

detected a below-

minimum intensity.

The temperature has

exceeded or fallen

short of the range of

0 - 50°C at the

housing of the device

Bit 2

Hardware error

Bit 3

Laser diode

switched off

Bit 4

Intensity warning

The device has

detected an internal

hardware error.

The bit is set, if the

laser diode was

switched off over the

bus, or the switching

input.

The device deter-

mined an intensity of

< 12%.

If the error occurs repeated, the device must be replaced.

Serves only for information purposes.

This message is only a warning and means that the

measuring system optics, or the reflecting foil is to be

cleaned. However, the device operates error-freely

furthermore.

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electronic #Leuze Maintenance

8 Maintenance

8.1 General Maintenance Information

The Laser Measuring Device does not, in general, require maintenance by the
operator.

i

8.2 Repair, Maintenance

Note

If the lens opening of the laser or the reflecting foil become dirty, clean with a soft
cloth.

Do not use an aggressive cleaning material such as thinner or acetone !

Repairs to the devices must only be carried out by the manufacturer.

Contact your Leuze electronic distributor or service organisation should repairs be
required. The addresses are listed on the last page of this description.

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Date: 01.07.2003 LZ - ELE - BA - GB - 0009 - 00 Page 39 of 42

9 Appendix

9.1 Specifications

Note

i

The electric characteristics have validity, only after an operating time of approximate
30 minutes.

Measuring principle

Ra nge OMS2/120 CAN / OMS2/170 CAN

* Resolution

Operating voltage

Standard device

Device with heating

Power consumption (no-load)

Power consumption with heating

Opto-transmitter

Wavelength λ
Max. laser power
Laser protection class 2 according to EN 60 825-1: 1994 + A11:1996
Average Lifetime 50 000 h

Measured value output / refresh cycle

Integration time

Reproducibility

Programming via

CANopen Interface

Data protocol CAN 2.0 A, CANopen Device Profile for Encoder CiA DS-406 V2.0

Output code Binary

Baud rate (via switches)

Special features

* Switching input / Switching output

Levels switching input 1-level > +8V, 0-level < +2V, up to ±35V, 5 kOhm
Levels switching output 1-level > US-2V, 0-level < 1 V, up to 100mA

* programmable parameter

Environmental conditions

EMC

Operating temperature range

Device with heating -30 to +50°C

Thermal drift

Storage temperature range

Relative air humidity

1)

Degree of protection

1)

The protection class is valid for the device with screwed-together cable glands.

electronic Specifications #Leuze

Phase delay time measurement

0,2 – 120 m / 0,2 – 170 m (with Fresnel Retro Reflector)

Standard resolution 1mm, other one programmable

18-27 V DC (± 5%)

24 V DC (± 5%)

< 6 watts

< 60 watts

Laser diode (red light)

670 nm

P ≤ 1 mW

1000 values / s

1 ms

± 2 mm

CANopen bus by means of ESD-file

alternatively via RS485 and PC soft "OMSConfiguration Tool"

CAN Bus Interface according to ISO/DIS 11898

- 20 kbps, line length up to 2500 m

- 125 kbps, line length up to 500 m

- 500 kbps, line length up to 100 m

- 1000 kbps, line length up to 25 m
Programming of the following parameters via the CAN-Bus:
Preset value, Clear Preset, Output value in case of an error,

Function ext. input, Automatic error acknowledgement,
Function error output, Switching functions, Operating pa­rameters, Position value, Measuring step, Cyclic transmitting
of the position values

EN 61000-4-2 (IEC-801-2) / EN 61000-4-4 (IEC-801-4)

0-50°C

1 ppm / °C

-20 to +75°C

98 % (non condensing)

IP 65 (DIN 40 050)

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#Leuze electronic References

9.2 References

1 :

2 : Robert Bosch GmbH, CAN Specification 2.0 Part A and B, September 1991

3 : CiA DS-201 V1.1, CAN in the OSI Reference Model, February 1996

4 : CiA DS-202-1 V1.1, CMS Service Specification, February 1996

5 : CiA DS-202-2 V1.1, CMS Protocol Specification, February 1996

6 : CiA DS-202-3 V1.1, CMS Encoding Rules, February 1996

7 : CiA DS-203-1 V1.1, NMT Service Specification, February 1996

8 : CiA DS-203-2 V1.1, NMT Protocol Specification, February 1996

9 : CiA DS-204-1 V1.1, DBT Service Specification, February 1996

10 : CiA DS-204-2 V1.1, DBT Protocol Specification, February 1996

11 : CiA DS-205-1 V1.1, LMT Service Specification, February 1996

12 : CiA DS-205-2 V1.1, LMT Protocol Specification, February 1996

13 : CiA DS-206 V1.1, Recommended Layer Naming Conventions, February 1996

14 : CiA DS-207 V1.1, Application Layer Naming Conventions, February 1996

15 : CiA DS-301 V3.0, CANopen Communication Profile based on CAL, October 1996

16 : CiA DS-406 V2.0, CANopen Profile for Encoder, May 1998

ISO 11898: Road Vehicles Interchange of Digital Information - Controller Area
Network (CAN) for high-speed Communication, November 1993

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Definitions / Abbreviations #Leuze electronic

9.3 Definitions and Abbreviations

CAL

CAN Application Layer. The application layer for CAN-based networks as

CAN

Controller Area Network. Data link layer protocol for serial communication

CiA

CAN in Automation international manufacturer and user organisation e.V.:

CMS

CAN-based Message Specification. One of the service elements of the

COB

specified by CiA in Draft Standard 201 ... 207.

as specified in ISO 11898.

non-profit association for Controller Area Network (CAN).

application layer in the CAN Reference Model.

Communication Object. (CAN Message) A unit of transportation in a CAN

Network. Data must be sent across a Network inside a COB.

COB-ID COB-Identifier. Identifies a COB uniquely in a Network. The identifier

determines the priority of that COB in the MAC sub-layer too.

DBT

Distributor. One of the service elements of the application in the CAN

Reference Model. It is the responsibility of the DBT to distribute COB-ID´s
to the COB´s that are used by CMS.

LMT

Layer Management. One of the service elements of the application in the

CAN Reference Model. It serves to configure parameters of each layer in
the CAN Reference Model.

NMT

Network Management. One of the service elements of the application in

the CAN Reference Model. It performs initialisation, configuration and error
handling in a CAN network.

PDO

Process Data Object. Object for data exchange between several devices.

SDO

Service Data Object. Peer to peer communication with access to the

Object Dictionary of a device.

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Vertrieb und Service

Leuze electronic

Leuze electronic GmbH + Co KG
Postfach 1111, D-73277 Owen/Teck
T el. (07021) 5730, Fax [phone]

E-mail: [e-mail]
http://www.leuze.de

A

Ing. Franz Schmachtl KG
Tel. Int. + 43 (0) 732/7646 -0
Fax Int. + 43 (0) 732/785036
E-mail: [e-mail]
http://www.schmachtl.at

ARG

Nortécnica S. R. L.
Tel. Int. + 54 (0) 11/4757- 3129
Fax Int. + 54 (0) 11/4757-10 88
E-mail: [e-mail]

+

NZAUS

Balluff-Leuze Pty. Ltd.
Tel. Int. + 61 (0) 3/ 9764 2366
Fax Int. + 61 (0) 3/ 9753 3262
E-mail: [e-mail]

B

Leuze electronic nv/ sa
Tel. Int. + 32 (0) 2/2531600
Fax Int. + 32 (0) 2/2531536
E-mail: [e-mail]

BR

Leuze electronic Ltda.
Tel. Int. + 55 (0) 11/4195-6134
Fax Int. + 55 (0) 11/4195-6177
E-mail: [e-mail]
http://www.leuze.com.br

CH

Leuze electronic AG
Tel. Int. + 41 (0) 1/8340204
Fax Int. + 41 (0) 1/8332626
E-mail: [e-mail]

CO

Componentes Electronicas Ltda.
Tel. Int. + 57 (0) 4/35110 49
Fax Int. + 57 (0) 4/3511019
E-mail: [e-mail]

CZ

Schmachtl CZ Spol. SR. O.
Tel. Int. + 420 (0) 2/ 44001500
Fax Int. + 420 (0) 2/ 44910700
E-mail: [e-mail]
http://www.schmachtl.cz

DK

Desim Elektronik APS
Tel. Int. + 45/70220066
Fax Int. + 45/70222220
E-mail: [e-mail]

D

Leuze electronic GmbH + Co KG
Geschäftsstelle Dresden
Telefon [phone]
Telefax [phone]
E-mail: [e-mail]

Lindner electronic GmbH
Vertrieb Nord, Hannover
Telefon [phone]
Telefax (0511) 9660 57-57
E-mail: [e-mail]

W+ M plantechnik
Dipl.-Ing. Wörtler GmbH + Co.
Vertrieb West, Wuppertal
Telefon [phone]
Telefax [phone]
E-mail: [e-mail]

LZ-V-VI-D-0001-00

Leuze electronic GmbH +Co KG
Geschäftsstelle Frankfurt
Telefon [phone]
Telefax [phone]
E-mail: [e-mail]

Leuze electronic GmbH + Co KG
Geschäftsstelle Owen/Bad.-Württ.
Telefon [phone]
Telefax (070 21) 9850-911
E-mail: [e-mail]

Leuze electronic GmbH + Co KG
Geschäftsstelle München
Telefon [phone]
Telefax 08141/5350220
E-mail: [e-mail]

50- 910

E

Leuze electronic S.A.
Tel. Int. + 34 93/4 097900
Fax Int. + 34 93/4 903515
E-mail: [e-mail]

ET

APlus Systems
Tel. int. + 20 (0) 2/ 4189036
Fax int. + 20 (0) 2/ 4141280
E-mail: [e-mail]

F

Leuze electronic sarl.
Tel. Int. + 33 (0) 1/60051220
Fax Int. + 33 (0) 1/60050365
E-mail: [e-mail]
http://www.leuze-electronic.fr

FIN

SKS-automaatio
Tel. Int. + 358 (0) 9/852661
Fax Int. + 358 (0) 9/8526820
E-mail: [e-mail]
http://www.sks.fi

GB

Leuze Mayser electronic Ltd.
Tel. Int. + 44 (0) 1480/408500
Fax Int. + 44 (0) 1480/403808
E-mail: [e-mail]
http://www.leuzemayser.co.uk

GR

UTECO A.B.E.E.
Tel. Int. + 30 (0) 210/4210050
Fax Int. + 30 (0) 210/4212033
E-mail: [e-mail]

+++

All Impex GmbH
Tel. + Fax [phone]
E-mail: adz-sensor@

LTLVESTRUS

narod.ru

H

Kvalix Automatika Kft.
Tel. Int. + 36 (0) 1/3990615
Fax Int. + 36 (0) 1/36984 88
E-mail: [e-mail]
http://www.kvalix.hu

HK

Sensortech Company
Tel. Int. + 852/265101 88
Fax Int. + 852/265103 88
E-mail: [e-mail]

I

IVO Leuze Vogtle Malanca s.r.l.
Tel. Int. + 39 02/ 26110643
Fax Int. + 39 02/ 26110640
E-mail: [e-mail]
http://www.ivoleuze.com

IL

Galoz electronics Ltd.
Tel. Int. + 972 (0) 3/9023456
Fax Int. + 972 (0) 3/9021990
E-mail: [e-mail]

IND

Global Tech Corp.
Tel. Int. + 91 (0) 20/447 0085
Fax Int. + 91 (0) 20/4470086
E-mail: [e-mail]

J

C. Illies & Co., Ltd.
Tel. Int. + 81 (0) 3/34434111
Fax Int. + 81 (0) 3/34434118
E-mail: [e-mail]
http://www.illies.de

KOR

Leuze electronic Co., Ltd.
Tel. Int. + 82 (0) 31/
Fax Int. + 82 (0) 31/3828522
E-mail: [e-mail]
http://www.leuze.co.kr

3828228

MAL

Ingermark (M) SDN.BHD
Tel. Int. + 60 (0) 3/ 60342788
Fax Int. + 60 (0) 3/ 60342188
E-mail: [e-mail]

MEX

Leuze Lumiflex México, S.A. de C.V.
Tel. Int. + 52 (0) 81/83524060
Fax Int. + 52 (0) 81/83524034
E-mail: [e-mail]
http://www.leuze.de

N

Elteco A/ S
Tel. Int. + 47 (0) 35/ 573800
Fax Int. + 47 (0) 35/ 573849
E-mail: [e-mail]
http://www.elteco.no

NL

Leuze electronic B.V.
Tel. Int. + 31 (0) 418/ 653544
Fax Int. + 31 (0) 418/ 653808
E-mail: [e-mail]
http://www.leuze.nl

P

LA2P, Lda.
Tel. Int. + 351 (0) 21/44470 70
Fax Int. + 351 (0) 21/44470 75
E-mail: [e-mail]
http://www.la2p.pt

PL

Balluff Sp. z. o. o.
Tel. Int. + 48 (0) 22/65196 79
Fax Int. + 48 (0) 22/84297 28
E-mail: [e-mail]

RCH

Imp. Tec. Vignola S.A.I.C.
Tel. Int. + 56 (0) 32/256521
Fax Int. + 56 (0) 32/258571
E-mail: [e-mail]

ROC

Great Cofue Technology Co., Ltd.
Tel. Int. + 886 (0) 2/298380 77
Fax Int. + 886 (0) 2/298533 73
E-mail: [e-mail]

RO

O`Boyle s.v.l.
Tel. Int. + 40 (0) 5620 1346
Fax Int. + 40 (0) 5622 1036
E-mail: [e-mail]
http://www.oboyle.ro

RSA

Countapulse Controls (PTY.) Ltd.
Tel. Int. + 27 (0) 11/6157556
Fax Int. + 27 (0) 11/6157513
E-mail: [e-mail]

S

Leuze SensorGruppen AB
Tel. + 46 (0) 8/ 7315190
Fax + 46 (0) 8/ 7315105
E-mail: [e-mail]

++

SGP

Balluff Asia Pte Ltd
Tel. Int. + 65/ 625243 84
Fax Int. + 65/ 625290 60
E-mail: [e-mail]

RPRI

SK

Schmachtl SK s.r.o.
Tel. Int. + 421 (0) 2/54 789293
Fax Int. + 421 (0) 2/54 772147
E-mail: [e-mail]

SLO

Tipteh d.o.o.
Tel. Int. + 386 (0) 1/2005150
Fax Int. + 386 (0) 1/2005151
E-mail: [e-mail]
http://www.tipteh.si

TH

Industrial Electrical Co. Ltd.
Tel. Int. + 66 (0) 2/6 42- 6700
Fax Int. + 66 (0) 2/6 42-42 49
E-mail: [e-mail]

TR

MEGA Teknik elek. San. ve Tic. Ltd.
Tel. Int. + 90 (0) 212/32004 11
Fax Int. + 90 (0) 212/320 0416
E-mail: [e-mail]
http://www.megateknik.com

+

CDN

USA

Leuze Lumiflex Inc.
Tel. Int. + 1 (0) 973/58601 00
Fax Int. + 1 (0) 973/586 1590
E-mail: [e-mail]
http://www.leuze-lumiflex.com

VC

TR Electronic GmbH
Shanghai Rep. Office
Tel. Int. + 86(0)21/ 58314825
Fax Int. + 86(0)21/ 58314829
E-mail: [e-mail]

D 167/01 – 02/03 Artikel-Nr. 500 38 947