Scaime eNod4-F Software User Manual

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NU-Soft-eNod4F-E-0716_235704-C.doc

SCAIME SAS – Technosite Altéa – 294, Rue Georges Charpak – 74100 JUVIGNY - FRANCE

Tél. : +33 (0)4 50 87 78 64 – www.scaime.com

eNod4-F

Digital Process Transmitter

Software User Manual

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1 ENOD4 PRODUCT RANGE ...................................................................................... 7

1.1 General presentation ..................................................................................... 7

1.2 Versions ........................................................................................................... 7

1.2.1 Communication protocol versions ........................................................ 7

1.2.2 IO+ version ............................................................................................... 7

1.3 eNodView Software........................................................................................ 7

2 COMMUNICATION AND FUNCTIONING MODES.................................................. 8

2.1 Communication protocols Modbus RTU and SCMBus ................................ 8

2.2 Functioning mode .......................................................................................... 8

2.3 HMI name ........................................................................................................ 8

2.4 Simultaneous functioning of communications ............................................ 9

2.4.1 Standard version ..................................................................................... 9

2.4.2 Profibus version ...................................................................................... 10

2.4.3 Ethernet versions ................................................................................... 11

3 MODBUS RTU ......................................................................................................... 12

3.1 Physical interfaces ....................................................................................... 12

3.2 Byte format .................................................................................................... 12

3.3 Modbus RTU supported functions ................................................................ 12

3.4 Frames structure ........................................................................................... 12

3.4.1 Function (03H/04H) – read N input registers (N = 30 max) ................ 12

3.4.2 Function (06H) – write single register ................................................... 12

3.4.3 Function (10H) – preset multiple registers (N = 30 max) .................... 13

3.4.4 Error frames ............................................................................................ 13

3.5 Address and Baud rate ................................................................................ 13

3.6 Product identification ................................................................................... 13

3.7 Measurement transmission .......................................................................... 13

3.8 EEPROM error management ........................................................................ 13

4 SCMBUS / FAST SCMBUS ...................................................................................... 14

4.1 Physical interfaces ....................................................................................... 14

4.2 SCMBus and fast SCMBus features ............................................................. 14

4.3 Byte format .................................................................................................... 14

4.4 Frames structure ........................................................................................... 14

4.4.1 Transmission organization .................................................................... 14

4.4.2 Reading request .................................................................................... 15

4.4.3 Functional command request (tare, zero...) ...................................... 15

4.4.4 Error frame.............................................................................................. 15

4.5 Address and Baud rate ................................................................................ 15

4.6 Product identification ................................................................................... 15

4.7 Measurement transmission .......................................................................... 15

4.8 Continuous transmission .............................................................................. 16

4.9 EEPROM error management ........................................................................ 16

5 CANOPEN ............................................................................................................. 17

5.1 Physical interface ......................................................................................... 17

5.2 LED CANopen ............................................................................................... 17

5.3 Frame format ................................................................................................ 17

5.4 Messages transfers hierarchy...................................................................... 18

5.5 eNod4 status remote management ........................................................... 19

5.5.1 NMT commands .................................................................................... 20

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5.5.2 Synchronization messages ................................................................... 20

5.5.3 Emergency messages .......................................................................... 20

5.6 Error control services .................................................................................... 21

5.6.1 Heartbeat and boot-up ........................................................................ 21

5.6.2 Node guarding ...................................................................................... 21

5.7 Access to the object dictionary ................................................................. 22

5.7.1 SDO communication ............................................................................ 23

5.7.2 PDO communications ........................................................................... 24

5.8 CANopen command and response registers ........................................... 25

5.9 Communication objects .............................................................................. 25

5.9.1 0x1001 / 0x00 : error register ................................................................ 26

5.9.2 0x1003 : Pre-defined error field ............................................................ 26

5.9.3 0x1005 / 0x00 : synchronization messages COB-ID .......................... 26

5.9.4 0x100C / 0x00 : guard time .................................................................. 26

5.9.5 0x100D / 0x00 : life time factor ............................................................ 27

5.9.6 0x1010 : Store parameters .................................................................... 27

5.9.7 0x1014 / 0x00 : Emergency COB-ID .................................................... 27

5.9.8 0x1016 : Heartbeat consumer time ..................................................... 27

5.9.9 0x1017 / 0x00 : Heartbeat producer time ........................................... 27

5.9.10 0x4800 : Safety mode ......................................................................... 27

5.9.11 Error behavior ...................................................................................... 27

5.10 PDO-related communication objects ...................................................... 27

5.10.1 RPDO default mapping ....................................................................... 27

• 0x1600 : RPDO1 mapping parameters ........................................................... 27

• 0x1601 : RPDO2 mapping parameters ........................................................... 27

• 0x1602 : RPDO3 mapping parameters ........................................................... 27

• 0x1603 : RPDO4 mapping parameters ........................................................... 27

• 0x1604 : RPDO5 mapping parameters ........................................................... 27

5.11 Product identification ................................................................................. 27

• 0x1009 : Manufacturer hardware version ...................................................... 27

• 0x100A : Manufacturer software version........................................................ 27

• 0x1018 : Identity object ................................................................................... 27

5.12 Measurement transmission ........................................................................ 27

5.13 EEPROM error management ...................................................................... 27

6 CANOPEN TPDO MAPPING .................................................................................. 31

6.1 Default TPDOs Mapping ............................................................................... 31

• 0x1A00 : TPDO1 mapping ................................................................................ 31

• 0x1A01 : TPDO2 mapping ................................................................................ 31

• 0x1A02 : TPDO3 mapping ................................................................................ 32

7 PROFIBUS DPV1 ..................................................................................................... 33

7.1 Physical interface ......................................................................................... 33

7.2 GSD file .......................................................................................................... 33

7.3 Cyclic exchanges ........................................................................................ 33

7.3.1 Cyclic inputs modules .......................................................................... 33

7.3.2 Cyclic inputs/outputs modules ............................................................ 33

7.4 Acyclic exchanges ...................................................................................... 34

7.5 eNod4 Profibus DP features ......................................................................... 34

7.5.1 Sync ........................................................................................................ 34

7.5.2 Freeze ..................................................................................................... 34

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7.5.3 Fail-safe .................................................................................................. 34

7.5.4 Profibus DP standard and extended diagnoses ................................. 34

7.6 Product identification ................................................................................... 35

7.7 Measurement transmission .......................................................................... 35

7.8 EEPROM error management ........................................................................ 35

8 PROFIBUS MODULES LIST ...................................................................................... 36

9 MEASUREMENT AND STATUS ................................................................................ 38

9.1 Measurement transmission .......................................................................... 38

9.1.1 Gross measurement .............................................................................. 38

9.1.2 Net measurement ................................................................................. 38

9.1.3 Tare value .............................................................................................. 38

9.1.4 Factory calibrated points ..................................................................... 38

9.1.5 Preset Tare value ................................................................................... 38

9.1.6 Measurement status .............................................................................. 39

9.2 Weighing diagnosis ...................................................................................... 40

9.2.1 Global weighing diagnosis .................................................................. 40

9.2.2 Sensor input control .............................................................................. 41

10 PROCESSING FUNCTIONAL COMMANDS ......................................................... 42

10.1 Principles ..................................................................................................... 42

10.2 Functional commands list.......................................................................... 43

10.3 Functional commands description ........................................................... 44

10.3.1 Reset ..................................................................................................... 44

10.3.2 EEPROM storage .................................................................................. 44

10.3.3 Restore default settings....................................................................... 44

10.3.4 Zero ....................................................................................................... 44

10.3.5 Tare ....................................................................................................... 45

10.3.6 Cancel tare .......................................................................................... 45

10.3.7 Cancel last command........................................................................ 45

10.3.8 Theoretical scaling .............................................................................. 45

10.3.9 Zero adjustment .................................................................................. 45

10.3.10 Start physical calibration .................................................................. 45

10.3.11 Calibration zero acquisition ............................................................. 45

10.3.12 Segment 1 acquisition ...................................................................... 45

10.3.13 Segment 2/3 acquisition .................................................................. 45

10.3.14 Store calibration ................................................................................ 45

10.3.15 Logical outputs 1-4 activation/deactivation .................................. 45

10.3.16 Zero offset adjustment ...................................................................... 46

10.3.17 Dynamic zero acquisition................................................................. 46

10.3.18 Preset tare .......................................................................................... 46

10.3.19 Sensor input reference...................................................................... 46

10.3.20 Sensor input control .......................................................................... 46

10.3.21 Clear totalization & errors counter ................................................... 46

10.3.22 Dosing / batch start / resume .......................................................... 46

10.3.23 Dosing stop / batch cancel ............................................................. 46

10.3.24 Suspend batch .................................................................................. 46

10.3.25 Emptying hopper (cleaning) ............................................................ 47

10.3.26 Refilling start ....................................................................................... 47

10.3.27 Refilling stop ....................................................................................... 47

10.3.28 Learning cycle on next cycle .......................................................... 47

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10.3.29 Flow rate calibration ......................................................................... 47

10.3.30 Auto Measurement in two or three points for flow rate calibration47

10.3.31 PID parameters auto-adjustment .................................................... 47

10.3.32 Clear grand total ............................................................................... 48

10.3.33 Clear general total ............................................................................ 48

11 CALIBRATION SETTINGS AND PROCEDURES ..................................................... 49

11.1 Principles ..................................................................................................... 49

11.2 Calibration methods .................................................................................. 50

11.3 Settings description .................................................................................... 50

11.3.1 Maximum capacity ............................................................................ 50

11.3.2 Number of calibration segments ....................................................... 50

11.3.3 Calibration loads 1/2/3 ...................................................................... 50

11.3.4 Sensor sensitivity .................................................................................. 50

11.3.5 Scale interval ....................................................................................... 50

11.3.6 Zero calibration ................................................................................... 50

11.3.7 Span coefficients 1/2/3 ...................................................................... 50

11.3.8 Span adjusting coefficient ................................................................. 51

11.3.9 Calibration place g value / place of use g value ........................... 51

11.3.10 Zero offset........................................................................................... 51

12 FILTERS ................................................................................................................. 52

12.1 Principles ..................................................................................................... 52

12.2 Settings description .................................................................................... 53

12.2.1 A/D conversion rate ............................................................................ 53

12.2.2 Filters activation & order ..................................................................... 53

12.2.3 Low-pass filter cut-off frequency ....................................................... 53

12.2.4 Limitations ............................................................................................ 54

12.2.5 Depth of moving average filter on weights ...................................... 54

12.2.6 Tolerance of clipping filter on instant flow rates .............................. 54

12.2.7 Average flow rate determination depth ........................................... 54

13 CONFIGURATION OF INPUT/OUTPUT ................................................................. 55

13.1 Principles ..................................................................................................... 56

13.1.1 Logical inputs....................................................................................... 56

13.1.2 Analog output (IO+ version) .............................................................. 57

13.1.3 Logical outputs .................................................................................... 58

13.2 Settings description .................................................................................... 60

13.2.1 Logical inputs assignment .................................................................. 60

13.2.2 Holding time (debounced time) ........................................................ 62

13.2.3 Analog output(s) assignment (IO+ version) ..................................... 63

13.2.4 External value to control analog output (IO+ version) .................... 63

13.2.5 Logical outputs 1&2 assignment ........................................................ 64

13.2.6 Logical outputs 3&4 assignment ........................................................ 65

13.2.7 Weight quantity per pulse on logical output .................................... 65

13.2.8 Set points functioning ......................................................................... 66

13.2.9 Set points high and low values .......................................................... 67

13.3 Input/output level ....................................................................................... 68

14 LEGAL FOR TRADE OPTIONS ............................................................................... 69

14.1 Principles ..................................................................................................... 69

14.2 Settings description .................................................................................... 69

14.2.1 Legal for trade switch ......................................................................... 69

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14.2.2 Legal for trade software version ........................................................ 69

14.2.3 Legal for trade counter ....................................................................... 69

14.2.4 Legal for trade checksum .................................................................. 70

14.2.5 Zero functions ...................................................................................... 70

14.2.6 Stability criterion .................................................................................. 70

14.2.7 Decimal point position ........................................................................ 71

14.2.8 Weight unit ........................................................................................... 71

14.2.9 Flow rate time unit ............................................................................... 71

14.2.10 Save Tare and Zero in non-volatile memory .................................. 71

15 LOSS IN WEIGHT FEEDER ..................................................................................... 72

15.1 Settings list ................................................................................................... 72

15.2 Settings description .................................................................................... 75

16 REGISTERS TABLE ................................................................................................. 80

17 CRC-16 CALCULATION ALGORITHM ................................................................. 90

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1 ENOD4 PRODUCT RANGE

1.1 General presentation

eNod4 is a high speed digital process transmitter with programmable functions and powerful signal processing capabilities. eNod4 offers operating modes for advanced process control both static and dynamic. Quick and accurate:

• Analog to digital conversion rate up to 1920 meas/s with maximum scaled resolution of ±500 000 points.

• Digital filtering and measurement scaling.

• Measurement transmission up to 1 000 meas/s.

Easy to integrate into automated system:

• USB, RS485 and CAN communication interfaces supporting ModBus RTU, CANopen® and PROFIBUS-DPV1

(depending on version) communication protocols.

• Digital Inputs/Outputs for process control.

• Setting of node number by rotary switches and communication baud rate by dip switches.

• Integrated selectable network termination resistors.

• Wiring by plug-in terminal blocs.

1.2 Versions

1.2.1 Communication protocol versions

• Strain gauges load-cell conditioner with CANopen® and ModBus RTU communication.

• Strain gauges load-cell conditioner with Profibus DP-V1 and ModBus RTU communication.

• Strain gauges load-cell conditioner with Modbus TCP and ModBus RTU communication.

• Strain gauges load-cell conditioner with EtherNet/IP and ModBus RTU communication.

• Strain gauges load-cell conditioner with Profinet IO and ModBus RTU communication.

• Strain gauges load-cell conditioner with EtherCAT and ModBus RTU communication.

EDS, GSD, ESI and GSDML configuration files for above protocols can be downloaded from our web site:

http://www.scaime.com

1.2.2 IO+ version

In conjunction with all communication protocol versions, eNod4 can supports an opto-insulated board fitted with:

• 2 additional digital inputs and 1 speed sensor dedicated input.

• 0-5V or 0-10V analog output voltage.

• 4-20mA, 0-24mA, 0-20mA or 4-20mA with alarm at 3.6mA analog output current.

1.3 eNodView Software

So as to configure eNod4, SCAIME provides eNodView software tool. eNodView is the software dedicated to eNod devices and digital load cell configuration from a PC. This simple graphical interface allows accessing the whole functionalities of eNod4 for a complete setting according to the application. eNodView features and functions:

• eNod4 control from a PC

• Calibration system

• Modification/record of all parameters

• Measure acquisition with graphical display

• Numerical filters simulation

• Frequential analysis FFT

• Process control

• Network parameter

eNodView software is available in English and French version and can be downloaded from our web site:

http://www.scaime.com or ordered to our sales department on a CD-ROM support.

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2 COMMUNICATION AND FUNCTIONING MODES

Name

Modbus

address

CANopen® Index/sub-

index

Profibus cyclic

IN/OUT

Acyclic DPV1

slot/index

Type

Access

Functioning mode / Serial

protocol AUX/USB

0x003E

0x2000/0x00

R : 0x02E8

W: 0x02E9

0x07 / 0x39

Uint

Nom IHM

0x0034

0x3701/0x00

0x0B / 0x00

String

2.1 Communication protocols Modbus RTU and SCMBus

Modbus RTU, SCMBus, and fast SCMBus communication protocols are accessible through AUX, USB. Modbus RTU or Profibus only depending on version on DB9 connection. The protocol can be changed via the « Functioning mode/ serial protocol » register (see below).

bits b9b8

Protocol

SCMBus

Modbus RTU

Fast SCMBus

Note: To be applied, any modification of this setting must be followed by an EEPROM back up and device reboots (hardware or software).

2.2 Functioning mode

The « Functioning mode/ serial protocol » register offers the possibility to change the eNod4 application according to the following list:

Note: To be applied, any modification of this setting must be followed by an EEPROM back up and device reboots (hardware or software).

2.3 HMI name

The “HMI name” is a string of 4 characters freely usable to identify the node on any HMI connected to eNod.

bits b1b0

Functioning mode

eNod4-T

eNod4-C

eNod4-D

eNod4-F

eNod4-B

Transmitter

Checkweigher transmitter on request

Dosing by filling

Dosing

Belt scale

10 / /

Dosing by unfilling

Belt weigh feeder

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2.4 Simultaneous functioning of communications

2.4.1 Standard version

• DIN Version

 PC Connection

 AUX Connection

 PLC Connection

 eNodTouch

• BOX Version

Simultaneous Communication

RS485 PLC

RS485 AUX

CAN

USB

Yes*

RS485 PLC

Yes

RS485 AUX

Yes*

(*)Simultaneous use of CAN or RS485 PLC communication with USB or RS485 AUX can reduce performance of this interface.



PC Connection



PLC Connection

 PC Connection

 AUX Connection

 eNodTouch

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2.4.2 Profibus version

• DIN Version

 PC Connection

 AUX Connection

 PLC Connection

 PROFIBUS-DPV1

 eNodTouch

• BOX Version

Simultaneous Communication

Profibus

RS485 AUX USB

Yes*

Profibus

Yes*

(*)Simultaneous use of Profibus with USB or RS485AUX can reduce performance of this interface.



PC Connection



PLC

Connection



PROFIBUS

DPV1

 PC Connection

 AUX Connection

 eNodTouch

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2.4.3 Ethernet versions

• DIN Version

• BOX Version

Simultaneous Communication

Ethernet

RS485 AUX USB

Yes*

Ethernet

Yes*

(*)Simultaneous use of Ethernet with USB or RS485 AUX can reduce performance of this interface.



PC Connection

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3 MODBUS RTU

3.1 Physical interfaces

Modbus RTU communication protocol can be used either through eNod4 USB port, AUX port. Modbus RTU or Profibus only depending on version on DB9 connection. USB port behaves as a full duplex interface whereas the DB9 and AUX ports support half-duplex RS485 communication. Supported baud rates are 9600, 19200, 38400, 57600, and 115200. For a complete description of the recommendations about eNod4 RS485 connection, please refer to the user manual “characteristics and functioning” of the eNod4. Note: using eNod4 through USB requires installing first the necessary USB drivers available on the website

http://www.scaime.com.

3.2 Byte format

Data transmitted to eNod4 thanks to Modbus RTU communication protocol must respect following format:

• 1 start bit

• 8 data bits

• no parity

• 2 stop bits

Every Modbus RTU frame is ended by a CRC-16 2-bytes code whose polynomial generator is

(cf. CRC-16 calculation algorithm).

3.3 Modbus RTU supported functions

As a Modbus RTU slave, eNod4 supports following Modbus RTU functions:

Function

Code

read N registers*

03H / 04H

write 1 register*

06H

write N registers*

10H

* 1 register = 2 bytes, maximum admitted value for N is 30.

Note: Broadcast addressing is not allowed by eNod4.

3.4 Frames structure

During a read or write transaction, the two bytes of a register are transmitted MSB first then LSB. If a data is coded on 4 bytes (that means it requires two registers), the two LSB are stored in the low address register

and the two MSB are stored in the high address register.

3.4.1 Function (03H/04H) – read N input registers (N = 30 max)

• request command sent to the slave :

slave address

03H or 04H

starting register

offset

N registers

CRC16

1 byte

2 bytes

• slave response :

slave address

03H or 04H

NB *

data 1

…

CRC16

1 byte

2 bytes

* NB: number of read bytes (= N*2)

3.4.2 Function (06H) – write single register

• request command sent to the slave :

slave address

06H

data

CRC16

1 byte

2 bytes

G(x) = x16+ x15 + x2 + 1

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• slave response :

slave address

06H

data

CRC16

1 byte

2 bytes

3.4.3 Function (10H) – preset multiple registers (N = 30 max)

• request command sent to the slave :

slave address

10H

starting register

offset

N registers

Data 1

…

CRC16

1 byte

2 bytes

1 byte

2 bytes

• slave response :

slave address

10H

starting register

offset

N registers

CRC16

1 byte

2 bytes

3.4.4 Error frames

• frame format in case of a transaction error :

slave address

Function code

+ 80H

error code

CRC16

1 byte

2 bytes

• Error codes meaning :

Error code

Meaning

description

01H

illegal function

Modbus-RTU function not supported by eNod4

02H

illegal data address

03H

illegal data value

forbidden data values for the requested register

04H

eNod4 not ready

eNod4 is not ready to answer (for example measurement request during a taring operation)

3.5 Address and Baud rate

Address Modbus RTU

Meaning

Access

Type

0x0001

Address and Baud rate

Uint

Reads the address and baud rate selected on the front panel via the rotary switches and dipswitches.

3.6 Product identification

Software and product versions of the eNod4 are accessible via Modbus RTU.

Address Modbus RTU

Meaning

Access

Type

0x0000

SW and product version

Uint

The 12 LSB bits define the software version (073H = 115) and the 4 MSB bits define the product version (6H for the eNod4).

3.7 Measurement transmission

As a master/slave protocol, measurement transmission in Modbus protocol is only done on master request.

3.8 EEPROM error management

Functioning and calibration parameters are stored in EEPROM. After every reset the entireness of parameters stored in EEPROM is checked. If a default appears, measurements are set to 0xFFFF and default is pointed out in measurement status.

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4 SCMBUS / FAST SCMBUS

4.1 Physical interfaces

SCMBus and fast SCMBus communication protocols can be used either through eNod4 USB port and AUX port. USB port behaves as a full duplex interface whereas the DB9 and AUX ports support half-duplex RS485 communication. Supported baud rates are 9600, 19200, 38400, 57600, and 115200. For a complete description of the recommendations about eNod4 RS485 connexion, please refer to the user manual “characteristics and functioning” of the eNod4. Note : using eNod4 through USB requires installing first the necessary USB drivers available on the website

http://www.scaime.com.

4.2 SCMBus and fast SCMBus features

SCMBus and its variant fast SCMBus can be imbricate into ModBus RTU protocol if the setting ‘communication protocol’ is set to SCMBus or fast SCMBus. That means that eNod4 continues answering Modbus RTU frames but it

also allows the device to send frames coded according to SCMBus/fast SCMBus format. Each protocol has its advantages:

• in SCMBus measurements are transmitted as ASCII with the decimal point and the unit integrated to the

frame

• fast SCMBus is dedicated to fast measurement transmission as the frames are the most compact as

possible

• both protocols allow to communicate without any master request (continuous transmission or sampling

triggered by a logical input)

4.3 Byte format

Data transmitted to eNod4 thanks to SCMBus or fast SCMBus communication protocol must respect following format:

• 1 start bit

• 8 data bits

• no parity

• 2 stop bits

in SCMBus protocol, data is encoded as ASCII numeral characters (30H ..... 39H) and ASCII hexadecimal characters (3AH

..... 3FH).

in fast SCMBus protocol, data is encoded as signed hexadecimal (see frame structure paragraph) below. SCMBus CRC-8 byte is generated by the following polynomial:

G(x) = x

8 + x7

+ x4 + x3 + 1

The CRC-8 polynomial result can be determined by programming the algorithm corresponding to the following diagram:

Note: The frame error detection can be ignored. Value 0xFF of the CRC-8 always is admitted by eNod4 and a received frame which is ended by such CRC-8 is considered as a frame without any error.

• Fast SCMBus checksum byte is obtained by summing all the frame previous bytes then setting b7 bit to 1.

4.4 Frames structure

4.4.1 Transmission organization

• frame : eNod4 address first

• byte : lsb first

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• multi-bytes data : MSB first

4.4.2 Reading request

• request

Address

Command

CRC

1 Hex byte

1 Hex byte (command)

1 ASCII byte (0DH)

1 Hex byte

• SCMBus response

Address

Status

Value

CRC

1 Hex byte

2 Hex bytes

N ASCII Hex bytes

1 ASCII byte (0DH)

1 Hex byte

If the ‘decimal point position’ and the ‘unit’ settings are assigned to a non-null value, the response frame when transmitting measurement contains the decimal point character (2EH) and the unit that is separated from the measurement value by a space ASCII character (20H).

• Fast SCMBus response

STX

Status word

Value

Cks

ETX

02H

2 Hex bytes

3 signed Hex bytes (2’s

complement)

Σ of previous bytes

and b7 bit set to 1

03H

Note: Because values are encoded in signed hexadecimal bytes format (2’s complement) some data bytes can be equal to STX (02H) or ETX (03H) or DLE (10H) so before those specific bytes values a DLE (10H) byte is inserted. The eNod4 address is not transmitted in the frame.

4.4.3 Functional command request (tare, zero...)

• request :

Address

Command

CRC

1 Hex byte

1 Hex byte (command)

1 ASCII byte (0DH)

1 Hex byte

• response (SCMBus and fast SCMBus) :

Address

Command

CRC

1 Hex byte

1 Hex byte (command)

1 ASCII byte (0DH)

1 Hex byte

If the command execution is successful, eNod4 sends back the request frame that has been received as an acknowledgement.

4.4.4 Error frame

In case of an error upon reception of a request, eNod4 sends back an error frame that contains an error code:

• response (SCMBus and fast SCMBus) :

Address

Error code

CRC

1 Hex byte

1 Hex byte (command)

1 ASCII byte (0DH)

1 Hex byte

• The error codes are listed below:

Error code

Meaning

Description

FEH

unknown command

requested command is not supported by eNod4

FFH

error during command execution

ex. : tare when gross meas.<0

4.5 Address and Baud rate

Address and baud rate identical to Modbus RTU (See § Modbus RTU)

4.6 Product identification

Product identification identical to Modbus RTU (See § Modbus RTU)

4.7 Measurement transmission

Measurement transmission can be triggered by a master request but it might also be triggered and used through the following options:

• transmission triggered by a rising or falling edge on a logical input

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• transmission at a configurable period (defined in ms) while a logical input is maintained at a given logical

level

• continuous transmission at a configurable period (defined in ms) after a master request. The transmission

is then stopped by another master instruction, be careful not to use this mode in half-duplex at a too high rate.

4.8 Continuous transmission

SCMBus and fast SCMBus communication protocols allow eNod4 to transmit measurements at a user-defined rate without the need for successive master queries. To perform this measurement acquisition mode, it is necessary to set first the ‘sampling period’ (in ms):

Address SCMBus

Description

Accès

Type

0x003F

SCMBus Measurement transmission period

Uint

A value of 0 implies that measurement transmission is synchronized on the A/N conversion rate. The continuous transmission is triggered and stopped by reception of the following commands:

SCMBus/fast SCMBus functional command

Command code

start net measurement transmission

E0H

start factory calibrated points transmission

E1H

start brut measurement transmission

E2H

stop continuous transmission

E3H

Note 1: the measurement transmission rate also depends on the baud rate. So, to achieve the fastest transmission, it is necessary to use the highest baud rate. Note 2: as RS485 is a half-duplex communication medium, it can be a little hard to transmit the ‘stop continuous transmission’ query if the bandwidth is saturated. Therefore, prefer USB communication channel to reach the highest measurement transmission rate.

4.9 EEPROM error management

EEPROM management identical to Modbus RTU (See § Modbus RTU)

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5 CANOPEN

5.1 Physical interface

eNod4 is equipped with a CAN 2.0A compatible interface supporting CANopen® communication protocol. The device can be connected to a CAN bus using CANH and CANL connections. A REF pin can also be connected. Supported baud rates are 50000, 125000, 250000, 500000 and 1000000.

For a complete description of the recommendations about eNod4 CAN connexion, please refer to documentation “characteristics and functioning”.

5.2 LED CANopen

The subsequent table describes the meaning of the LEDs for the CAN:

Color

State

Meaning

Red

Single Flash

At least one of the error counters of the CAN controller has reached or

exceed the warning level (too many error frame)

Double Flash

A guard event (NMT-slave or NMT-master) or a heartbeat event

(heartbeat consumer) has occurred

The CAN controller is bus off

Flash

Self-test: while the device is performing its power up testing, the LED

shall be flashing red

Green

Blinking

The device is in state PRE OPERATIONAL

Single Flash

The device is in state STOPPED

The device is in state OPERATIONAL

5.3 Frame format

Every data frame sent on the CAN bus has the following structure:

- Start of frame (SOF) : 1 bit

The beginning of a request or a data frame is indicated by the transmission of one dominant bit.

- Arbitration field : 12 bits

This field contains the message COB-ID on 11 bits and the RTR bit, dominant for data frames and recessive for remote frames.

- Control field : 6 bits

The first two bits are reserved and must be transmitted as dominant. The four remaining bits encode the size of the transmitted data in bytes. This is called «Data length code» (DLC) with 0  DLC  8.

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- Data : de 8 à 64 bits

For each byte, the most significant bit (MSB) is transmitted first.

- Cyclic Redundancy Check (CRC) : 16 bits

The result of the CRC calculation is made up of 15 bits that guarantee the integrity of the transmitted message. The last bit is used to delimit the field and always is transmitted as dominant.

- Acknowledgement (ACK) : 2 bits

During two bus clock periods, the bus is available for acknowledgement of the message. All the nodes that received the message without error generate a dominant bit. Else, an error frame is generated. The second bit is always recessive.

- End of frame (EOF) : 7 bits

The end of the frame is represented by a sequence of 7 consecutive recessive bits.

The CANopen® layer defines particularly the content of the arbitration and the control fields and the data field structure.

5.4 Messages transfers hierarchy

CANopen® is a communication protocol especially dedicated to industrial applications. It allows connecting up to 127 different devices on a same bus giving them the possibility to access the bus at any time. Simultaneous emissions are managed by an arbitration system that uses priority levels.

This control hierarchy of data transfers guarantees that there is no frame collision on the bus while ensuring a high level of reliability in communications. The low priority messages are cancelled and reissued after a delay.

The protocol defines several message types characterized by their COB-ID (Communication Object Identifier) that determines the message priority level. The COB-ID is composed of a function code and the node identifier (between 1 and 127). The node identifier is the device’s address on the network. The function code specifies the priority and the purpose of the message. Assignment of a particular identifier to each device connected to the bus is mandatory.

eNod4 supports 6 different message types :

CANopen® messages

COB-ID (hex)

NMT

SYNC

EMCY

81-FF

TPDO1

181 – 1FF

RPDO1

201 – 280

RPDO2

301 – 380

RPDO3

401 – 480

▪ read/write requests : SDO (Service Data Object) ▪ real time transfers : PDO (Process Data Object) ▪ nodes state management : NMT (Network Management) ▪ warnings : EMCY (Emergency) ▪ synchronization events : SYNC (Synchronization) ▪ node status indications : Boot-up/Heartbeat and Node guarding

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RPDO4

501 – 580

RPDO5(IO+ version)

681 – 6FF

TPDO2

281 – 2FF

TPDO3

381 – 3FF

SDO (Tx)

581 – 5FF

SDO (Rx)

601 – 67F

Heartbeat/Boot-up

701 – 77F

5.5 eNod4 status remote management

For the CANopen® network, eNod4 is considered as a NMT slave. It means that its state can be modified by a NMT master present on the bus.

As other CANopen® nodes, eNod4 can be set into one of the four existing states, allowing or forbidding the reception/emission of CAN messages. These four states constitute the following NMT state machine:

 1 : eNod4 device power-up  2 : automatic transition after the end of initialization  3 : reception of a ‘Start Node’ indication  4 : reception of a ‘Stop Node’ indication  5 : reception of an ‘Enter pre-operational mode’ indication  6 : reception of a ‘Reset node’ or a ‘Reset communications’ indication

eNod4 communication capacities for each state are given in the following table :

Initialization

Pre-operational

Operational

Stopped

SDO XX XX

PDO XX

SYNC XX XX

Emergency

XX XX

NMT XX XX XX

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Boot-up

Heartbeat

XX XX XX

5.5.1 NMT commands

Except during the initialization phase, eNod4 is able to handle any NMT master’s requests for changing its current state. All these network management messages are constituted the same way: a two-byte data frame with a COB-ID equal to zero:

The 2nd byte of the data field contains the node identifier of the device concerned by the request. Its value must be between 0H and 7FH. The 0H value means that the NMT command concern all the nodes of the network. The 1st byte codes the command sent to the node. There are five existing commands supported:

 « Start node »: 01

. eNod4 is set into operational state

 « Stop node »: 02

. eNod4 is set into stopped state

 « Reset node »: 81

. Resets eNod4 (with the same effects as a power-up), back into

initialization state.

 « Reset communication »: 82

. Back into initialization state and communication parameters

reset.

 « Enter pre-operational mode »: 80

. eNod4 is set into pre-operational state

5.5.2 Synchronization messages

SYNC messages are emitted on the bus by a producer node (generally the NMT master). This service is unconfirmed so the consumer nodes do not have to respond to SYNC messages. A SYNC message does not carry any data (DLC = 0). eNod4 is only seen as a SYNC messages consumer whose COB-ID is stored at index 1005H, sub-index 00H of the object dictionary.

5.5.3 Emergency messages

eNod4 internal errors are reported via emergency frames. Two types of errors can trigger the transmission of an emergency message:

▪ communication errors ▪ A/D converter input signal range exceeded

Every emergency frame is built as follows:

COB-ID

DLC

byte 0

byte 1

byte 2

byte 3

byte 4

byte 5

byte 6

byte 7

80H

+ ID eNod4

emergency code

error register

content

additional information

Emergency message is an unconfirmed service. A frame is emitted when a new error occurs and when it is acknowledged. The table below describes the emergency standard codes supported by eNod4-T and the translation of the additional information bytes (in ASCII):

Emergency codes (hex.)

Meaning

error acknowledged

3200

voltage error

8120

CAN bus communication error

8130

life guard error

Additional information’s (hex.)

4B4F

no error

474C

life time has elapsed or Heart Beat not received

COB-ID

DLC

byte 1

byte 2 0 2

NMT code

Node identifier

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564F

sensor signal outside of the input signal range

5054

CAN transmitter in error passive state

5052

CAN receiver in error passive state

The error register value is also part of the emergency telegram so as to indicate if other internal errors have been detected. The number of reported errors is given by an error counter in the pre-defined error field located at index 1003H, subindex 00h and the last reported error can be read from the same entry at sub-index 01H.

5.6 Error control services

CANopen® uses smart mechanisms to control permanently the nodes state on the bus. eNod4 supports Boot-up and Heartbeat messages and Node guarding protocol. Using both services is not allowed. If both are configured so as to

be functional, only the Heartbeat mechanism is used.

5.6.1 Heartbeat and boot-up

eNod4 state control can be achieved through the use of Heartbeat and boot-up mechanisms :

 Boot-up: this message sent by eNod4 means that its initialization phase is complete and that the

node has entered into pre-operational state. It consists in the following frame :

 Heartbeat :

- producer mode : if a Heartbeat period (in ms) different from 0 is set in the entry ‘producer

heartbeat time’ of the object dictionary, eNod4 generates at this period a frame containing its state coded on one byte. The corresponding frame is similar to the Boot-up mechanism frame:

eNod4 NMT state byte can take the different following values :

 04

: the node is in the «stopped» state

 05

: the node is in the «operational» state

 7F

: the node is in the «pre-operational» state

Using Heartbeat protocol allows a NMT master to check that all nodes connected to the bus are working correctly.

- Consumer mode: eNod4 also can be configured so as to monitor the NMT state of one particular node of the network (generally the NMT master). The node ID and a period are defined in the entry ‘consumer heartbeat time’ of the object dictionary If corresponding heartbeat is not received within this time, then eNod4 sends an emergency telegram and switches to pre-operational state.

5.6.2 Node guarding

Node guarding protocol is another way to check the nodes state. But unlike Heartbeat protocol, it needs requests from a NMT master. In this case, the NMT master sends periodically a remote transmit request (remote frame) to the node with COB-ID 700H + ID eNod4. eNod4 has to respond by sending a single-byte data frame with its coded state. This frame is similar to Heartbeat frame but there is an important difference. Most significant bit of the state byte is a toggle-bit. The value of this bit must alternate between two consecutive responses from the NMT slave. The value of the toggle-bit of the first response after the Guarding Protocol becomes active is 0. It is only reset to 0 when a ‘reset communications’ or a ‘reset node’ command is received. If two consecutive responses have the same value of the toggle-bit, then the new response should be handled as if it was not received by the NMT master.

COB-ID

DLC

byte 1

700H + ID eNod4

COB-ID

DLC

byte 1

700H + ID eNod4

eNod4 NMT state

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Two parameters of the object dictionary are necessary to set and define node guarding protocol: the ‘guard time’ and the ‘life time factor’:

 Guard time: this parameter expressed in milliseconds indicates the period with which the node is

being polled by the NMT master. This value can be different from one node to another.

 Life time factor: when node guarding protocol is active, node life time is given by multiplication of the

guard time and the life time factor. Node guarding activation is effective when guard time has been set (and if Heartbeat protocol is not used) and after reception of the first remote transmit request. If life time factor is also configured and if no remote transmit request is handled within the node life time, eNod4 sends an emergency telegram then switches to pre-operational state. The life guarding error is acknowledged when the state is changed by a NMT command and after reception of a new remote transmit request. Switching to the stopped NMT state because of a node guarding error may cause eNod4 to be set into a configurable safety mode where parts of its functioning are inhibited

5.7 Access to the object dictionary

The most important element of a CANopen® compatible device is its object dictionary (OD). Each node object that can be accessed via the bus is part of a table called object dictionary. The dictionary entries can be addressed by a couple of an index (2 bytes) and a sub-index (1 byte) with the following organization:

Index (hex.)

Object type

0000

reserved

0001  001F

static data types

0020  003F

complex data types

0040  005F

manufacturer specific complex data bytes

0060  007F

device profile specific static data types

0080  009F

device profile specific complex data types

00A0  0FFF

reserved

1000  1FFF

communication profile area

2000  5FFF

manufacturer specific profile area

5FFF  9FFF

standardized device profile area

A000  FFFF

reserved

Only the greyed elements of the table are accessible through eNod4 OD.

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The whole object dictionary is accessible and can be configured from usual CANopen® configuration tools. This can be done using eNod4 available EDS file.

5.7.1 SDO communication

The model for SDO communication is a client/server model as described below:

The node that sends the request is the client application whereas eNod4 only behaves as the server application. There are two types of requests, write and read requests. Both have the same structure:

COB-ID

DLC

byte 0

byte 1

byte 2

byte 3

byte 4

byte 5

byte 6

byte 7

11 bits

byte

Command

byte

Index

sub-index

Data

580H or 600H

+ ID eNod4

see table

LSB

MSB

LSB - -

MSB

The client request uses the SDO(Rx) COB-ID (600H + ID eNod4 and the server uses the SDO(Tx) COB-ID (580H + ID eNod4).

The command byte depends on the requested data length:

Client request

Server response

read data  40H

43H  4-bytes data

4BH  2-bytes data

4FH  1-byte data

write 4-bytes data  23H

60H

write 2-bytes data  2BH

write 1-byte data  2FH

For a read request, the value of the four last bytes of the frame (data) does not matter. If an error occurs during a SDO communication eNod4 responds with the command byte 80H and the four data bytes contain one of the following SDO abort codes. The data transfer is aborted.

SDO abort codes (hex.)

Description

5040001

SDO command specifier not supported

6010001

unsupported access to an object

6010002

attempt to write a read-only object

6020000

the object does not exist in the object dictionary

6040042

the number and length of the objects to be mapped would exceed PDO

length

6040047

impossible operation (for example reading a net/gross value during a tare

or a zero)

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6070012

data type does not match, length of service parameter too high

6070013

data type does not match, length of service parameter too low

6090011

Sub index object does not exist.

6090030

value range of parameter exceeded

6090031

value of parameter written too high

6090032

value of parameter written too low

8000020

data cannot be stored to the application

8000022

data cannot be transferred or store to the application because of the

present device state

5.7.2 PDO communications

SDO protocol is not the only way to access the object dictionary. PDO allow to transfer data without including their index and sub-index in the frame. Both are stored in an OD specific field called PDO mapping.

The model used for PDO transmissions also is different. It is a Producer/Consumer model in which data are sent by a producer node (TPDO) to a consumer node (RPDO) without any confirmation. Each PDO is described by a combination of two parameters of the OD: the PDO communication parameters and the PDO mapping. The PDO communication parameters describe the functioning of the PDO and the PDO mapping describes its content. eNod4 uses 3 TPDO (2 are programmable) and 5 RPDO. The PDO transmission mode can be set in the corresponding object with the following attributes:

 Synchronous: PDO transmission/reception is triggered by the reception of one or more SYNC messages.

Several options are available :

- cyclic: PDO is sent/received after reception of n (1  n  240) SYNC messages.

- acyclic: PDO is sent at reception of the first SYNC message following a specific device event

(activation of a logical input assigned to ‘send TPDO’ or data variation superior to +/- delta)

- on remote transmit request : PDO is sent after the first SYNC message following a remote

transmit request frame with the PDO COB-ID.

 Asynchronous: PDO transmission/reception does not depend on the SYNC messages on the CAN bus.

Several options are available :

- on remote transmit request : PDO is sent at reception of a remote transmit request frame with

the PDO COB-ID.

- activation of a logical input assigned to ‘send TPDO’ or data variation superior to +/- delta)

- on a timer event : PDO is sent periodically (with an adjustable period).

The following table recaps the trigger modes that can be chosen by entering the hexadecimal code in the PDO communication parameter:

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 Note 1: for RPDO1-2-3-4-5 and TPDO1, only the transmission types FF

and 00H are supported. That means data are updated either immediately upon reception (FFH) or after next SYNC following the RPDO reception (00H). For TPDO1, the FEH transmission type means that the TPDO1 is emitted by eNod4 every time it’s mapped value changes. The 00H transmission type is similar but the emission is triggered by the reception of a SYNC object.

 Note 2: RPDO1-2-3-4-5 and TPDO1 mapping are configured with default values that cannot be modified.

5.8 CANopen command and response registers

In CANopen® communication protocol, the ‘command register’ is mapped into RPDO1 and the ‘response register’ is mapped into TPDO1. When in operational NMT state, eNod4 is able to handle the functional commands received through RPDO1 and the ‘response register’ value changes are automatically transmitted through TPDO1.

5.9 Communication objects

Some settings are specific as defined by the CANopen® communication specification.

Code (hex)

cyclic

acyclic (event)

synchronous

asynchronous

remote

transmit

request

Effect

XX XX

PDO transmission/reception after a SYNC message following one of these events :

- activation of a logical input assigned to ‘send TPDO’

- mapped object variation superior to +/- delta

- Receipt of remote transmit request.

01 – F0

( = n)

XX XX

PDO transmission after n SYNC messages

- Or after receipt of remote transmit request following at less one SYNC.

F1 - FB

reserved

FC XX XX

data update at reception of a remote transmit request and PDO transmission after reception of a SYNC message

FD XX XX

data update and PDO transmission at reception of a remote transmit request

FE XX XX

PDO transmission is triggered by one of these events :

- activation of a logical input assigned to ‘send TPDO’

- mapped object variation superior to +/- delta

- receipt of remote transmit request more for TPDO2 and 3, functioning is identical to code FF

FF XX XX

Periodic TPDO emission. Period can

be configured (min = 1 ms). RPDO handled upon reception TPDO emission after receipt of remote transmit request

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5.9.1 0x1001 / 0x00 : error register

• access : RO

• data type : unsigned8

• default value : 0

• mappable ? : N

• admitted values : see table below

Description: The device internal errors are indicated by flag bits of this byte. b0 bit (generic error) is set to 1 if at least one error is detected.

Bit se to 1

Meaning

generic error detected

reserved (0)

A/D converter input voltage error

reserved (0)

CAN bus communication error

reserved (0)

EEPROM error

5.9.2 0x1003 : Pre-defined error field

Sub-index

Description

Access

Default value

Mappable

(PDO) ?

Type

0x00

reported errors

counter

R/W 0 N

unsigned8

0x01

last reported error

RO 0 N

unsigned32

Description: This entry of the object dictionary stores the errors that have been reported by emergency telegrams. The reported errors counter (sub-index 00H) is accessible through write or read request but 0 is the only allowed value for writing transactions. By writing a zero to this sub-index, the error counter is reset and the last reported error (sub index 01H) is erased. An attempt to write another value is ignored and eNod4 answers the SDO abort code 0x06090030.

5.9.3 0x1005 / 0x00 : synchronization messages COB-ID

• access : R/W

• data type : unsigned32

• default value : 0x80

• mappable ? : N

• admitted values : 0x80 or from 0x7E0 up to to 0x7E3

Description: This object contains the message COB-ID value supported by eNod4 as synchronization messages (used for PDO activating).

5.9.4 0x100C / 0x00 : guard time

• access : R/W

• data type : unsigned16

• default value : 0

• mappable ? : N

• admitted values : from 0 up to 65535

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Description: The ‘life guard’ is one of the two parameters used by the node guarding protocol (errors detection). When ‘Heartbeat time’ is inactive and ‘life guard’ is different from 0, eNod4 responds to NMT master periodic (period equal to life guard) remote transmit requests.

5.9.5 0x100D / 0x00 : life time factor

• access : R/W

• data type : unsigned8

• default value : 0

• mappable ? : N

• admitted values : from 0 up to 255

Description: By multiplying the ‘life guard’ by the ‘life time factor’, the node life time (cf. §4) can be determined. When node guarding is active, if the node has not be polled within this duration (in ms), eNod4 state is set to stopped. eNod4 behavior while stopped can be configured via the object at index 0x4800.

5.9.6 0x1010 : Store parameters

Sub-index

Description

Access

Default value

Mappable (PDO) ?

Type

0x00

largest sub-

index

0x01

unsigned8

0x01

save all

parameters

R/W

0x01

unsigned32

In CANoppen® communication protocol, storing all settings into eNod4 EEPROM memory requires writing through SDO the ASCII string « save » (65766173H) to sub-index 0x01 of entry 0x1010 of the object dictionary (called ‘save all parameters’ in the EDS file).

• 0x65  e

• 0x76  v

• 0x61  a

• 0x73  s

When accessing to sub-index 1 with a SDO read request, eNod4 cell responds with a value of 1 that means that parameters are stored in non-volatile memory only on request. Note: Restore to default settings functional command is not available in CANopen® communication protocol.

5.9.7 0x1014 / 0x00 : Emergency COB-ID

• access : RO

• data type : unsigned32

• default value : 0x81

• mappable ? : N

• admitted values : from 0x81 up to 0xFF

Description: The COB-ID of emergency messages transmitted by eNod4 is stored at this index. Its value automatically is updated if the node identifier is modified.

5.9.8 0x1016 : Heartbeat consumer time

Sub-index

Description

Access

Default value

Mappable

(PDO) ?

Type

0x00

max. sub-index

RO 1 N

unsigned8

0x01

heartbeat consumer

time

RW 0 N

unsigned32

Description: eNod4 is able to monitor the Heartbeat generated by another node (see §4) of the network (in general the master). Two settings must be defined through the object at sub-index 0x01:

 the heartbeat time period, coded on the 16 LSB bits  the node ID of the heartbeat producer to monitor, coded on the 16 MSB bits (from 0x01 up to

0x7F)

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5.9.9 0x1017 / 0x00 : Heartbeat producer time

• access : R/W

• data type : unsigned16

• default value : 0

• mappable ? : N

• admitted values : from 0 up to 65535

Description: If a period different from 0 is written into this index, eNod4 periodically generates a Heartbeat frame. It is expressed in ms and must be comprised between 1 and 65535.

5.9.10 0x4800 : Safety mode

• access : R/W

• data type : unsigned8

• default value : 0H

• admitted values : see table below

Description: This entry defines eNod4 functioning when in stopped NMT state. The safety mode is used when the bit b0 of the byte is set to 1. The functioning mode is then inhibited and outputs logical level are given by b1, b2, b3 and b4 bits. The eNod4 leaves the safety mode upon reception of a new NMT command.

Warning: In safety mode, when the eNod4 is in stopped NMT state, functioning is also

inhibited using Modbus and SCMBus communication. For example, it is not possible to tare or make a zero using RS 485 AUX port, or eNodView connected via USB.

Effect

Notes

safety mode disabled

only valid in stopped state

No action possible also using

Modbus or SCMBus

communication

safety mode enabled

output 1 inhibited

depending on the chosen logic

output 1 set active

output 2 inhibited

depending on the chosen logic

output 2 set active

output 3 inhibited

depending on the chosen logic

output 3 set active

output 4 inhibited

depending on the chosen logic

output 4 set active

5.9.11 Error behavior

Sub-index

Description

Access

Default value

Mappable

(PDO) ?

Type

0x00

Number of error

classes

LS 1 N

unsigned 8

0x01

communication

error

L/ E 0 N

unsigned 8

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Description: If a communication error occurs in operational mode, eNod4 shall enter by default autonomously the pre-operational mode. Alternatively, by error class coding in object 0x1029 eNod4 can enter in the following states:

• 0: Pre-operational

• 1: No state change

• 2: Stopped. refer to ‘Safety mode’

5.10 PDO-related communication objects

5.10.1 RPDO default mapping

• 0x1600 : RPDO1 mapping parameters

Sub-index

Description

Access

Default value

Type

0x00

number of supported

objects

unsigned8

0x01

1st object mapping

0x20030008

(command register)

unsigned32

When in operational NMT state, eNod4 is able to handle the functional commands received through RPDO1 and the ‘response register’ value changes are automatically transmitted through TPDO1.

• 0x1601 : RPDO2 mapping parameters

Sub-index

Description

Access

Default value

Type

0x00

number of supported

objects

unsigned8

0x01

1st object mapping

0x30010120

(calibration load 1)

unsigned32

• 0x1602 : RPDO3 mapping parameters

Sub-index

Description

Access

Default value

Type

0x00

number of supported objects

unsigned8

0x01

1st object mapping

0x25000020

(zero offset)

unsigned32

0x02

2nd object mapping

T, C : 0x30050120

D, F, B : 0x30060120

(span adjusting

coefficient)

unsigned32

• 0x1603 : RPDO4 mapping parameters

Sub-index

Description

Access

Default value

Type

0x00

number of supported

objects

unsigned8

0x01

1st object mapping

0x30020020

(maximum capacity)

unsigned32

0x02

2nd object mapping

0x30040020 (sensitivity)

unsigned32

• 0x1604 : RPDO5 mapping parameters

Sub-index

Description

Access

Default value

Type

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0x00

number of supported

objects

unsigned8

0x01

1st object mapping

0x50500010

(External value to control

analog output)

unsigned32

Note: RPDO5 is default deactivated. To use it you have first to activate it setting 0 to the 32nd bit of the RPDO5 COB-ID object (0x1404/0x01).

5.11 Product identification

The device identification settings are a part of the communication profile area of the object dictionary.

• 0x1009 : Manufacturer hardware version

Sub-index

Description

Access

Default value

Type

0x00

manufacturer hardware

version

0x32302E31

(1.04)

visible string

• 0x100A : Manufacturer software version

Sub-index

Description

Access

Default value

Type

0x00

manufacturer software

version

0x30302E31

(1.00)

visible string

• 0x1018 : Identity object

5.12 Measurement transmission

CANopen® includes smart transmission mechanisms that are presented in § “PDO communication”. All the

measurements can be exchanged either through SDO read requests or through TPDO.

TPDO trigger sources are described in a table of § “PDO communication” and all these communication modes are

possible for measurement transmission. Thanks to the various TPDO transmission types, eNod4 offers possibility to have a high measurement transmission rate (up to 1000 meas/s) or to limit the bus occupation by causing the exchange on an event.

5.13 EEPROM error management

Functioning and calibration parameters are stored in EEPROM NOV RAM. After every reset the entireness of parameters stored in EEPROM is checked. If a default appears, measurements are set to 0xFFFF and default is pointed out to object dictionary (see bit 6 of object 0x5003/0x00).

Sub-index

Description

Access

Default value

Type

0x00

max. sub-index

0x04

unsigned8

0x01

vendor ID

0x00000142

unsigned32

0x02

product code

0x000816E0

unsigned32

0x03

revision number

0x00010000

unsigned32

0x04

serial number

0x000186A1

unsigned32

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6 CANOPEN TPDO MAPPING

6.1 Default TPDOs Mapping

•

0x1A00 : TPDO1 mapping

Sub-index

Description

Access

Default value

Type

0x00

number of supported objects

0x05

Unsigned8

0x01

1st mapped object

0x20040008 (response register)

Unsigned32

0x02

2nd mapped object

0X50070110 (Dosing status)

Unsigned32

0x03

3rd mapped object

0X51000008 (logical inputs level)

Unsigned32

0x04

4st mapped object

0X52000008 (logical outputs level)

Unsigned32

0x05

5st mapped object

0X50070210 (Dosing errors report)

Unsigned32

In NMT operational state, eNod4 is able to execute any received command through RPDO1 and consequently changes of response register are sent through TPDO1

•

0x1A01 : TPDO2 mapping

Sub-index

Description

Access

Default value

Type

0x00

number of supported objects

R/W

0x02

Unsigned8

0x01

1st mapped object

R/W

0X50050120 (Instant flow rate)

Unsigned32

0x02

2nd mapped object

R/W

0X50050220 (average flowrate)

Unsigned32

0x03

3rd mapped object

R/W

Unsigned32

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•

0x1A02 : TPDO3 mapping

Sub-index

Description

Access

Default value

Type

0x00

number of supported objects

R/W

0x02

Unsigned8

0x01

1st mapped object

R/W

0x50060120 (Totalizer value (Great WU)

Unsigned32

0x02

2nd mapped object

R/W

0x50060210 (Complementary totalizer value)

Unsigned32 0x03

3rd mapped object

R/W

Unsigned32

Note : TPDO2 and TPDO3 mapping are programmable. TPDO1 mapping is not programmable. To set a new mapping, the procedure is as following:

• Set eNod4-F in ‘pre-operational mode’ (default state after a reset or a power on).

• Disable current TPDO mapping setting to zero number of supported objects (sub-index 0x00).

• Write new mapping.

• Write in sub-index 0x00 number of supported objects the exact number of objects to map.

Save in EEPROM (SAVE command in object 0x1010 sub-index 0x00).

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7 PROFIBUS DPV1

7.1 Physical interface

An eNod4 device compatible version can be connected to a Profibus DPV1 network thanks to the SUBD 9-pin female connector. eNod4 supports baud rates between 9600 kbps and 12 Mbps with automatic detection. For a complete description of the recommendations about eNod4 Profibus DPV1 connection, please refer to “Characteristics and functioning” documentation.

7.2 GSD file

eNod4 capabilities for Profibus communication are described in the corresponding GSD file (that can be easily read as an ASCII text file). Here are the main information’s contained in this file:

7.3 Cyclic exchanges

7.3.1 Cyclic inputs modules

eNod4 GSD file defines several modules that can be integrated to the Profibus DP cyclic frames. All types of measurements processed by eNod4 can be selected (net/gross/factory calibrated measurement). Moreover it is possible to add the data that contain information about the measurement or the device status.

7.3.2 Cyclic inputs/outputs modules

eNod4 cyclic outputs might be used in combination with cyclic inputs so as to request specific commands to eNod4 (like tare, calibration...) or to modify the values of some settings (for example, set point values). A simple protocol described below allows writing or reading data by writing commands into eNod4 cyclic outputs.

- The module “Reg. Command/Response” uses the eNod4 functional command mechanism defined in

another chapter. The only difference concerns the “reset” and “restore default parameters” commands

which cannot be sent via cyclic exchanges immediately after an eNod4 reboot. To use them with this cyclic exchange module, another command should be used before (cancel tare for example). The ‘command/response register’ described by eNod4 GSD file is constituted by 2 IN/OUT bytes and is working almost the same way. Its functioning will be detailed later in this document.

- The ‘read/write request register’ described by eNod4 GSD file is constituted by 6 IN/OUT bytes :

OUT

Transaction status (2 bytes)

Transaction request (2 bytes)

Data read/written (4 bytes)

Data to be written (4 bytes)

 the Profibus DP master can transmit a read or write request to eNod4 by writing a specific code (see

the codes listed in the appendix) into the transaction request register.

 for a write request, the 4 following OUT bytes can be used so as to enter the new value of the

accessed setting

 eNod4 IN are then updated :

- Transaction status is set to 0xFFFF in case of an error otherwise it takes the same value as the

one entered in the transaction request word.

- For a read transaction, the value of the requested setting is copied into the four IN following

bytes.

- For a write transaction the value of the data to be written is copied into the four IN following

bytes.

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- For 16-bits size data, the data is read/written through the 16 last bits. Ignore the 16 upper bits.

 Note: the transaction request register must be set to 0x0000 before every new transaction.

7.4 Acyclic exchanges

For DPV1 class 1 and class 2 masters, another mechanism is available to write/read data into/from eNod4 device. Acyclic exchanges are supported authorizing a class 1 master to send acyclic requests so as to read or write data into memory area defined by a couple of slot/index. A class 2 master can also send the same requests after initiating a connexion (up to 2) with eNod4. The communication happens without disturbing the cyclic data exchange established between the device and the class 1 master.

 Note: be careful when using acyclic read/write requests. The 4-bytes size data are transmitted as 2x16 bits

blocks that need to be inverted so as to keep their consistency. For example 500 000d (0007A120H) is read/written through acyclic requests as A1200007H.

7.5 eNod4 Profibus DP features

7.5.1 Sync

The Sync command can be transmitted from a master to one or more slaves. When receiving this command, eNod4 device is set into Synchro mode. Thus, the cyclic outputs of all the addressed slaves are maintained in their current state. The cyclic outputs state is not updated until a new Sync command is received. The Synchro mode stops upon reception of a Unsync command.

7.5.2 Freeze

The reception of a Freeze command causes eNod4 cyclic inputs to be frozen. Their state is not updated until a new Freeze command is received. The Frezze mode stops upon reception of an Unfreeze command.

7.5.3 Fail-safe

eNod4 supports the Profibus DP Fail-safe mode. When the Profibus DP master asks eNod4 to switch to Fail-Safe mode, eNod4 functioning changes according to following rules:

 eNod4 Profibus DP cyclic inputs goes on being refreshed  eNod4 Profibus DP cyclic outputs are no more received

eNod4 remains as a “read-only device” until the master goes back to a normal working mode.

7.5.4 Profibus DP standard and extended diagnoses

eNod4 diagnosis frame is composed of a standard and a specific (called extended) parts that allow to inform the Profibus DP master about the device functioning on the communication bus and about device internal errors. The Profibus diagnosis frame has the following structure:

bytes 1-4

bytes 5-6

byte 7

bytes 8-9

standard diagnosis

length of extended

diagnosis

extended diagnosis

content

status

Address

Ident Hi

Ident Low

XX XX (see table

below)

 status 1 & status 2 bytes : both bytes describe eNod4 current state from the Profibus point of

view. Bit b3 of status 1 byte is set to 1 if the extended diagnosis contains one or several errors.

 status 3 byte : always 00

 Address : Profibus address if the DP master that parameterized eNod4 device  Ident. High/Ident. Low bytes : contain eNod4 ident number (0D2D

)

 extended diagnosis content :

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bits

meaning

note

input analog signal out of the A/D

conversion range (negative quadrant)

input analog signal out of the A/D

conversion range (positive quadrant)

b2 0

see §8 for the ‘maximum capacity’

setting description

gross meas.< (- max capacity)

see §8 for the ‘maximum capacity’

setting description

gross meas. > (max capacity)

b4 0 EEPROM OK

Default EEPROM

15..... b5

reserved

7.6 Product identification

As a DPV1 compatible device, eNod4 supports record 0 of Identification and Maintenance (I&M0). A Profibus master can access its content through standard DPV1 request.

7.7 Measurement transmission

In Profibus DPV1 communication protocol, measurements (except for tare value) can be included in the cyclic input frame. The modular slave structure allows the user to select the variables according to his needs. These data cannot be accessed through acyclic requests.

7.8 EEPROM error management

Functioning and calibration parameters are stored in EEPROM NOV RAM. After every reset the entireness of parameters stored in EEPROM is checked. If a default appears, measurements are set to 0xFFFF and default is pointed out into module 1 and bit b4 of extended diagnoses register.

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8 PROFIBUS MODULES LIST

Name

Input data

size in byte

Provided data

Output data

consumed

size in byte

Consumed data

Module ID

Status+Gross

Meas.

(6 bytes IN)

6 Measurement status

(2 bytes)

1 Gross measurement

(4 bytes)

StatIO+Net+Fact

(10 bytes IN)

Inputs – Outputs levels (2 bytes)

Net measurement (4 bytes)

Factory calibrated points (4 bytes)

Flow rates Meas..

(12 b IN)

Instant flow rate (4 bytes)

Average flow rate (4 bytes)

Dosing quality factor (4 bytes)

Output control

(6 bytes IN)

6 Flow rate control output

(4 bytes)

4 Control output value

(2 bytes)

Totalization

(10 bytes IN)

Totalizer value (Great WU) (4 bytes)

Complementary totalizer value (2 bytes)

Totalization flow rate (4 bytes)

Cmd/Resp Reg

(2 b IN/OUT)

Response register

Command register (see § functional commands)

R/W req Reg.

(6 b IN/OUT)

6 Transaction status

(2 bytes)

Transaction request

(2 octets)

Data read/written (4 bytes)

Data to be written (4 octets)

Status/Errors

(12 b IN)

12 Dosing status

(2 bytes)

8 Dosing errors report

(2 bytes)

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Name

Input data

size in byte

Provided data

Output data

consumed

size in byte

Consumed data

Module ID

Dosing errors counter (2 bytes)

Last dosing error (2 bytes)

Dosing quality factor (4 bytes)

Other totals

(8 b IN)

8 Grand total in weight unit

x1000 (4 bytes)

9 General total in weight

unit x1000 (4 bytes)

Ana. Output

(2 b IN/OUT)

External value to control analog output (2 bytes)

The module “Cmd/Resp Reg” uses the mechanism of eNod4 functional commands defined in another chapter. The

only difference is for “reset” and “Restore default settings” commands which cannot be sent via cyclic exchanges

immediately after a restart of eNod4. To be able to use these commands, it must first be processed another command (“cancel Tare” for example). Note: The “Command register” data must be set to 0x0000 before each new command.

The “Ana. Output(2 b IN/OUT)” module allows writing directly the analog output value. This is only possible when the analog output function assignment is set to « Level on request ».

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9 MEASUREMENT AND STATUS

Name

Modbus

address

CANopen® Index/sub-

index

Profibus cyclic

IN/OUT

Acyclic DPV1

slot/index

Type

Access

Measurement status

0x007D

0x5003 / 0x00 (M)

Module 1 (2 first bytes)

Uint

Gross measurement

0x007E

0x5001 / 0x00 (M)

Module 1 (4 last bytes)

Long

Tare value

0x0080

0x5004 / 0x01 (M)

R 0x0470

Long

Net measurement

0x0082

0x5000 / 0x00 (M)

Module 2 (4 bytes starting 3rd byte)

Long

Factory calibrated points

0x0084

0x5002 / 0x00 (M)

Module 2 (4 last bytes)

Long

Preset Tare

0x0097

0x5004 / 0x02 (M)

R: 0x04C4 W: 0x04C5

0x03 / 0x08

Ulong

Defective measurement

debounced time

0x0A48

0x4509/0x06

R:0x0206 W:0x0207

0x06 / 0x0D

Uint

Defective measurement alarm

activation time

0x0A49

0x4509/0x07

R:0x0208 W:0x0209

0x06 / 0x0E

Uint

Sensor input control reference

0x0A44

0x5004 / 0x03 (M)

R : 0x044C W: 0x044D

0x0A / 0x00

long

Sensor input control result

0x0A46

0x5004 / 0x04 (M)

R : 0x024E

0x0A / 0x01

Int

Sensor input control result

max. tolerance

0x0A47

0x5004 / 0x05

R: 0x020A W: 0x020B

0x0A / 0x02

Uint

9.1 Measurement transmission

The eNod4 transmits measurement after signal and data processing through different protocols available. The accessible variables are:

9.1.1 Gross measurement

The ‘gross measurement’ stands for the digital value after measurement scaling. It is affected by all the ‘zero’ functions (power-up zero, zero tracking and zero requests).

9.1.2 Net measurement

The ‘net measurement’ stands for the digital value after measurement scaling and tare subtraction.

9.1.3 Tare value

The ‘tare value’ stores the calibrated value that is subtracted from the ‘gross measurement’ so as to give the ‘net measurement’.

9.1.4 Factory calibrated points

The ‘factory calibrated points” contains the measurement value without the user calibration layer. It is directly linked to the analog input voltage.

9.1.5 Preset Tare value

A previous calculated tare can be restored using this variable.

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9.1.6 Measurement status

The measurement status contains information on eNod4 measurement parameters.

The ‘measurement status’ bytes contain information about every measurement processed by eNod4. See the flags meaning in the table below:

bits

Meaning

Note

b1 b0

gross measurement

only in SCMBus/fast communication protocols

not significant otherwise (00)

net measurement

factory calibrated measurement

tare value

b3 b2 00

measurement OK

Defect: sensor input control result out of tolerances OR Sensor input control command in progress OR failed (timeout) OR Sensor input reference command in progress

causes a logical output assigned to the

‘defective measurement’ function to be

set active. Causes the analog output assigned to a weight or flow rate image to be set in error mode.

gross meas.< (- max capacity) OR gross meas. > (max capacity)

analog signal out of the A/D converter input range

motion

causes an output assigned to the ‘motion’ function to be set active

no motion

measurement out of the ¼ of division

zero in the ¼ of division

b6 0

EEPROM OK

See Note 1

EEPROM failure

reserved

1 in SCMBus and fast SCMBus, 0 otherwise 1 b8

IN1 logical level

IN2 logical level

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bits

Meaning

Note

b10

OUT1 logical level

b11

OUT2 logical level

b12

OUT3 logical level

OUT4 logical level

no tare

at least a tare has been processed

reserved

1 in SCMBus and fast SCMBus, 0 otherwise

Note 1: Functioning and calibration parameters are stored in EEPROM. After every reset the entireness of parameters stored in EEPROM is checked. If a defect appears, measurements are set to 0xFFFF and defect is pointed out in

measurement status. Causes a logical output assigned to the ‘defective measurement’ function to be set active.

Causes the analog output assigned to a weight or flow rate image to be set in error mode.

9.2 Weighing diagnosis

9.2.1 Global weighing diagnosis

An internal alarm flag reflects the integrity of the whole measurement chain. It’s used to set logical output active or

optional analog output in an error mode in order to warn about any defection on the measurement chain (defective measurement). This variable is set active when at least one of the followings conditions occurs:

- all that set bit2 or bit3 of Measurement status:

• sensor input control result out of tolerances

• sensor input control command in progress

• sensor input control command failed (timeout)

• sensor input reference command in progress

• gross meas. < (- max capacity)

• gross meas. > (max capacity)

• analog signal out of the A/D converter input range

- the one that set bit6 of Measurement status: EEPROM failure

This internal alarm flag is featured with adjustable specific de-bounced time and minimal activation time:

9.2.1.1 Defective measurement debounced time

The internal alarm flag is set active only after error conditions have always been true during this de-bounced time. It’s expressed in ms.

9.2.1.2 Defective measurement alarm activation time

The internal alarm flag remains active for this minimal “defective measurement alarm activation time” when it come to be active and whatever the error conditions are during activation. It is expressed in ms.

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9.2.2 Sensor input control

eNod4 features a weighing diagnosis system allowing to check the integrity of analog sensor input by electrically simulating a load, resulting to a simulated weight value. This diagnostic system can be used together with the others defects detection systems in order to achieve overall integrity check of the measurement chain. This system involves two phases initiated by the user:

- The first, just after user calibration, allows taking a simulated reference weight value when the measuring

chain integrity is OK.

- The second, when the user wants to check the integrity of the system, allows to make the difference between

a new simulated weight value and the reference. Then this difference can be compared with a dedicated maximum tolerance value.

9.2.2.1 Sensor input control reference

Reference value expressed in factory calibrated points for the sensor(s) input control test. The value is automatically determined and stored after executing the sensor input reference command. When the sensor input reference command is in progress the bits b3b2 in the Measurement status are set to 0b01. Its default value is zero.

9.2.2.2 Sensor input control result

Result of sensor(s) input control test expressed in 1/10 of user weight unit. Its value is automatically determined and stored after executing the sensor input control command. This test result represents the weight difference between the reference value and the current test value. It is set to -1 when the sensor input control command is in progress or the command failed, these conditions cause the bits b3b2 in the Measurement status to be set to 0b01. Its default value is zero.

9.2.2.3 Sensor input control result max. tolerance

The Sensor input control result variable is compared with the Sensor input control result max. tolerance parameter which is expressed in 1/10 of user weight unit and has a default value of 30. If the sensor input control result value is greater than or equal to Sensor input control result max. tolerance then the bits b3b2 in the Measurement status are set to 0b01.

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10 PROCESSING FUNCTIONAL COMMANDS

Name

Modbus

address

CANopen®

Index/sub-index

Profibus

cyclic IN/OUT

Acyclic

DPV1

slot/index

Type

Access

Command register

0x0090

0x2003 / 0x00 (M)

Module 6

Uint

Response register

0x0091

0x2004 / 0x00 (M)

Module 6

Uint

10.1 Principles

eNod4 device is able to handle several functional commands thanks to a couple of registers (except in SCMBus protocols):

the command register : dedicated to accept the functional commands

the response register : gives the state of the command currently being processed by eNod4 (no command, in

progress, finished, failed)

• 00

 free to accept a new command

• 01

 command execution in progress

• 02

 command execution complete

• 03

 error during command execution

Note: IMPORTANT except in SCMBus/fast SCMBus protocols, to accept a new command, the command register must be set to 00H first. This causes the response register to be set back to 00H.

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10.2 Functional commands list

Functional command

Command

code

Note

Set to idle (00H) response register

00H

See § above

reset*

D0H

EEPROM storage

D1H

Restore default settings

D2H

Zero*

D3H

Tare*

D4H

Cancel tare*

D5H

Cancel current command

D6H

Theoretical scaling

D7H

Zero adjustment

D8H

Start physical calibration

D9H

physical calibration procedure

Calibration zero acquisition

DAH

Segment 1 acquisition

DBH

Segment 2 acquisition

DCH

Segment 3 acquisition

DDH

Store calibration

DEH

end of calibration (physical/theoretical)

procedure

OUT1 activation/deactivation*

E6H

only possible if the outputs are assigned to the associated function

OUT2 activation/deactivation*

E7H

OUT3 activation/deactivation*

E8H

OUT4 activation/deactivation*

E9H

zero offset adjustment

F0H

Dynamic zero acquisition

F1H

Preset tare*

F2H

Sensor input reference

EFH

Sensor input control

FDH

Totalization / errors clear

DFH

Dosing / batch start / resume

E4H Dosing / batch stop / cancel

E5H

Suspend batch

F7H

Emptying hopper (cleaning)

F4H

Refilling start

F5H

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Functional command

Command

code

Note

Refilling stop

F6H

Learning cycle on next cycle

F3H

Auto Measurement in two points for flow

rate calibration

C9H

Auto Measurement in three points for flow

rate calibration

CAH

Flow rate calibration

F8H

PID parameters auto-adjustment

F9H

Clear grand total

EDH

Clear general total

EEH

Note: only the commands with a * can be handled by eNod4 in SCMBus and fast SCMBus protocols.

10.3 Functional commands description

10.3.1 Reset

The ‘reset’ functional command execution is similar to the device power-up. This reboot phase is necessary if the address or/and the baud rate are modified and some settings changes are only taken into account after an EEPROM storage followed by a reset.

10.3.2 EEPROM storage

eNod4 configuration and calibration are stored in a non-volatile memory (EEPROM). If changes are made in the device configuration, sending to eNod4 the ‘EEPROM storage’ functional command will allow eNod4 to keep these modifications after a power shutdown or the reception a ‘reset’ functional command. Moreover the settings listed below need to be stored and will only be taken into account at the next device reboot:

• span adjusting coefficient

• calibration place g value

• place of use g value

• stability criterion

• legal for trade activation switch

• power-up zero

• A/D conversion rate

• Functioning mode and communication protocol

• Analog output voltage and current

10.3.3 Restore default settings

The ‘restore default settings’ command causes eNod4 to be set back to its default configuration. The default configuration corresponds to the one on delivery that means with factory settings. Be careful when using this command, all the default settings are recovered including the stored calibration and the legal for trade indicators. Note: this functional command is not available in CANopen® communication protocol.

10.3.4 Zero

When receiving a ‘zero’ functional command, eNod4 acquires a volatile zero (gross measurement is set to 0) value if the following conditions are respected:

• measurement is stable

• Current gross measurement is within a ±10% (±2% if the legal for trade option is enabled) range of the

‘maximum capacity’. Otherwise, after five seconds the command is cancelled and an execution error is reported. This value is not stored in EEPROM.

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10.3.5 Tare

When receiving a ‘tare’ functional command, eNod4 acquires a volatile tare (net measurement is set to 0) value if the measurement is stable otherwise, after five seconds the command is cancelled and an execution error is reported. If the tare acquisition is successful b14 bit of the ‘measurement status’ is set to 1.

10.3.6 Cancel tare

This command erases the current tare value if at least one tare has been previously processed. It also causes b14 bit of the ‘measurement status’ to be set back to 0.

10.3.7 Cancel last command

This command sets the response register to 00H and allows eNod4 to ignore the functional command previously received and not yet issued (for example to exit a sequential procedure like a physical calibration).

10.3.8 Theoretical scaling

The ‘theoretical scaling’ functional command involves the ‘maximum capacity’ and the ‘sensor sensitivity’ settings. When used, this command realizes an automatic scaling to migrate from the factory calibration to the user calibration. This calibration must then be saved by sending to eNod4 the ‘store calibration’ functional command. Using the ‘zero adjustment’ functional command is also recommended so as to completely adapt eNod4 to the application.

10.3.9 Zero adjustment

The ‘zero adjustment’ functional command allows the user to set his calibration zero value by asking eNod4 to acquire the current factory calibrated measurement. This acquisition duration depends on the measurement stability; if

stability is not reach after 5 seconds, ‘zero adjustment’ command is cancelled and an execution error is reported. If it

is correctly achieved, this calibration zero modification must then be saved by sending to eNod4 the ‘store calibration’ functional command. This functional command can be used any time and has no effect on the user-span that can have been previously configured through a physical or a theoretical calibration procedure.

10.3.10 Start physical calibration

In order to handle a physical calibration with 1 up to 3 know references, eNod4 first must be told to enter the physical calibration mode. It is the first step of a sequential procedure.

10.3.11 Calibration zero acquisition

The ‘calibration zero acquisition’ is the second step of the physical calibration procedure. It can only be used if the ‘start physical calibration’ functional command has been previously received. This acquisition duration depends on the

measurement stability; if stability is not reach after 10 seconds, ‘calibration zero acquisition’ command is cancelled and an execution error is reported.

Note: In specific cases (silo for example), this step is not mandatory because it is possible to command a “zero adjustment” when the silo is empty.

10.3.12 Segment 1 acquisition

It consists in applying a known reference on the sensor then sending the ‘segment 1 acquisition’ functional command. This acquisition duration depends on the measurement stability; if stability is not reach after 10 seconds, ‘actual segment acquisition’ command is cancelled and an execution error is reported.

10.3.13 Segment 2/3 acquisition

Only if the ‘calibration zero acquisition’ and “Segment 1 acquisition” are successful, next step consists in applying a known reference on the sensor then sending the ‘segment X acquisition’ functional command where X depends on the

value stored in the ‘number of calibration segments’ register. This acquisition duration depends on the measurement

stability; if stability is not reach after 10 seconds, ‘actual segment acquisition’ command is cancelled and an execution error is reported.

10.3.14 Store calibration

Only if the ‘segment 1/2/3 acquisition’ is successful, next step consists in validating the new calibration by storing the zero and the span that have been determined in EEPROM.

Note: This functional command has to be transmitted at the end of a physical calibration, after a ‘zero adjustment’, a ‘theoretical scaling’ or a ‘zero offset’.

10.3.15 Logical outputs 1-4 activation/deactivation

If the corresponding logical outputs are assigned to the ‘level on request’ function, they can be enabled/disabled by transmitting one of these functional commands. Upon first reception, the corresponding output is enabled and on next reception it will be disabled. If the requesting logical output is assigned to the wrong function, eNod4 reports an error.

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10.3.16 Zero offset adjustment

It is also possible to adjust the calibration zero value without acquiring a new one. By entering a positive or negative value into the ‘delta zero’ register, the user can quantify the offset (in factory calibrated points) that has to be added or subtracted from the actual calibration zero. This calibration zero modification must then be saved by sending to eNod4 the ‘store calibration’ functional command.

10.3.17 Dynamic zero acquisition

When receiving a dynamic zero acquisition command eNod4 calculates the average of successive weight measures during the time specified in dynamic zero acquisition time parameter. A new zero is then used if the averaged value is within a ±10% (±2% if the legal for trade option is enabled) range of the maximum capacity. There is no stability criteria required. Dynamic zero acquisition can also be launch by an input assigned to this function. Dynamic zero acquisition can be interrupted by sending cancel current command.

10.3.18 Preset tare

With this command it is possible to retrieve a tare value defined previously.

Important: Preset tare parameter value must be stored before sending this command.

10.3.19 Sensor input reference

Sensor input reference command will cause eNod4 to handle special sequence to acquire sensor input control reference value of the load cell sensor input. This command must not be realized when any process cycle that use

weight is in progress (because weight variables do not reflect the real weight whilst command is in progress). This command can fail (error in response register) in case of stability timeout on sensor input. The execution time of this command depends on the weight filtering settings. For any further information about this functionality and result variables see “Weighing diagnosis” § in the MEASUREMENT AND STATUS §.

10.3.20 Sensor input control

Sensor input control command will cause eNod4 to handle special test on sensor input and to deliver a test result. This command must not be realized when any process cycle that use weight is in progress (because weight variables do not reflect the real weight whilst command is in progress). This command can fail (error in response register) in case of stability timeout on sensor input. The execution time of this command depends on the weight filtering settings. For

any further information about this functionality and result variables see “Weighing diagnosis” § in the MEASUREMENT

AND STATUS §.

10.3.21 Clear totalization & errors counter

This command triggers the main totalizer reset. The two parts of the totalizer, the main in weight unit x 1000, and the complementary part in weight unit are then reset. The variables dosing errors report, dosing errors counter and last dosing error are also reset.

10.3.22 Dosing / batch start / resume

In batch mode this command launches or resumes a cycle. A cycle can also be launched by an input assigned to this function. When the command is sent through the command register, eNod4 answers back the control state value through the response register. This command will not issue if a flow rate calibration has not been previously performed. When a cycle starts and depending on parameters setting of eNod4, there will be firstly a refilling. Totalizer may be cleared and a learning cycle initiated. If a batch has been previously suspended, this command allows resuming the cycle and the totalization. The dosing status variable allows monitoring enod4 state during the dosing cycle. Attention: an input can only be assigned to start/stop dosing or suspend/resume batch, with a functioning in a bistable mode and on rising or falling front depending on the selected logic.

10.3.23 Dosing stop / batch cancel

In loss in weight feeder mode, this command allows stopping the running dosing cycle. If a batch is pending, it will be stopped with any possible resumption. Attention: an input can only be assigned to start/stop dosing or suspend/resume batch, with a functioning in a bistable mode and on rising or falling front depending on the selected logic.

10.3.24 Suspend batch

In batch mode this command suspends dosing. It allows any cleaning operation without clearing a batch. Launching a Dosing / batch start/ resume command will resume the dosing cycle.

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Warning: an input can only be assigned to suspend/resume batch, with a functioning in a bistable mode and on rising or falling front depending on the selected logic.

10.3.25 Emptying hopper (cleaning)

In loss in weight feeder mode, this command allows to automatically emptying the hopper (or silo) in preparation of a cleaning process or for changing the dosing product. Dosing is running and totalization works until the gross weight reaches the empty hopper level. An input can be assigned to start/stop hopper emptying, with a functioning in a bistable mode and on rising or falling front depending on the selected logic. It's not possible to suspend an emptying. The command start/stop dosing or suspend/resume batch systematically lead to the emptying shutdown.

10.3.26 Refilling start

This command allows refilling activation. Refilling stops when the gross weight reaches the refilling high level minus the refilling inflight value. Inflight value is not adjusted automatically at each cycle. Refilling can also be initiated/stopped by an input assigned to start/stop refilling, with a functioning in a bistable mode and on rising or falling front depending on the selected logic.

10.3.27 Refilling stop

This command will stop refilling immediately. Refilling can also be initiated/stopped by an input assigned to start/stop refilling, with a functioning in a bistable mode and on rising or falling front depending on the selected logic.

10.3.28 Learning cycle on next cycle

If PID activation, smart refill mode and acquisition of flow rate refill references on learning cycle options are activated, this command will launch a learning cycle after the next refilling phase. This smart refill mode compensates for the flow rate variation due to the product thrust in the hopper or silo so that the flow rate always remains constant throughout the phase. New values for reference flow rate control output start refilling and reference flow rate control output end refilling parameters will be determined.

10.3.29 Flow rate calibration

So that eNod4 can carry out an expected flow rate dosing in the best possible conditions, the flow rate calibration is required. This also applies when eNod4 is used both as constant flow rate totalizer and as loss in weight feeder. From this calibration will depend the accuracy of the flow rate obtained and on the settling time, if a PID controller is activated. This calibration is carried out in minimum two segments by the variable segments number for the calibration curve of flow rate. In case the extraction device has a nonlinear response it is recommended to define maximum segments for the flow rate calibration. In order to calibrate the flow rate, if the control of extraction device is directly provided by eNod4 through an analog control output in current or voltage, analog output functioning of eNod4 must be allocated to level on request function first. For each calibration point of the variable control output value, read the appropriate average flow rate. Then provide each of the Calibration of flow rate point n (control output) and Calibration of flow rate point n (flow rate value) matching with control output value. Validate the flow rate calibration by sending calibration of flow rate command. Finally allocate in the end the current or voltage analog output of eNod4 to flow rate control output function.

10.3.30 Auto Measurement in two or three points for flow rate calibration

In order to calibrate the flow rate, if the control of extraction device is directly provided by eNod4 through an analog control output in current or voltage, analog output functioning of eNod4 must be allocated to level on request function first. There are two commands, the first allows automatic measurement of flow rate in two points (35% & 70% of control output). The second allows automatic measurement of flow rate in three points (20%, 50% & 80%).

At the end of procedure, the flow rate calibration is validating automatically.

10.3.31 PID parameters auto-adjustment

The configuration of the PID controller can be made in a totally automatic way. The behavior of PID controller (slow, fast or stable) must be previously configured. You have also to configure PID adjustment flow rate parameter that will be used for PID auto-adjustment.

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So that this controller automatic adjusting device works, both the weight calibration and the flowrate calibration must be previously carried out.

PID parameters auto-adjustment command will cause eNod4 to perform successive dosing cycle sequence to calculate optimized PID coefficients Kp, Ti and Td. The number of cycle sequence can be fixed by user (parameter). It is strongly recommended that Td parameter does not exceeded value 5.

10.3.32 Clear grand total

Clear great total command allows individual reset of Grand total (in weight unit x1000) totalizer.

10.3.33 Clear general total

Clear general total command allows individual reset of General total (in weight unit x1000) totalizer.

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11 CALIBRATION SETTINGS AND PROCEDURES

Name

Modbus address

CANopen®

Index/sub-

index

Profibus cyclic

IN/OUT

Acyclic DPV1

slot/index

Type

Access

Maximum capacity

0x000C

0x3002 / 0x00 (M)

R : 0x0420 W: 0x0421

0x02 / 0x00

Ulong

Number of calibration

segments

0x000E

0x3000 / 0x00

R : 0x0222 W: 0x0223

0x02 / 0x01

Uint

Calibration load 1

0x000F

0x3001 / 0x01 (M)

R : 0x0424 W: 0x0425

0x02 / 0x02

Ulong

Calibration load 2

0x0011

0x3001 / 0x02

R : 0x0426 W: 0x0427

0x02 / 0x03

Ulong

Calibration load 3

0x0013

0x3001 / 0x03

R : 0x0428 W: 0x0429

0x02 / 0x04

Ulong

Sensor sensitivity

0x0015

0x3004 / 0x00 (M)

R : 0x042A W: 0x042B

0x02 / 0x05

Ulong

Scale interval

0x0017

0x3003 / 0x00

R : 0x022C W: 0x022D

0x02 / 0x06

Uint

Zero calibration

0x0018

0x3005 / 0x00

R : 0x0434 W: 0x0435

0x03 / 0x04

Long

Span coefficient 1

0x001A

0x3006 / 0x04

R : 0x0436 W: 0x0437

0x03 / 0x05

Float

Span coefficient 2

0x001C

0x3006 / 0x05

R : 0x0438 W: 0x0439

0x03 / 0x06

Float

Span coefficient 3

0x001E

0x3006 / 0x06

R : 0x043A W: 0x043B

0x03 / 0x07

Float

Span adjusting coefficient

0x0020

0x3006 / 0x01 (M)

R : 0x042E W: 0x042F

0x03 / 0x00

Ulong

Calibration place g value

0x0022

0x3006 / 0x02

R : 0x0430 W: 0x0431

0x03 / 0x01

Ulong

Place of use g value

0x0024

0x3006 / 0x03

R : 0x0432 W: 0x0433

0x03 / 0x02

Ulong

Zero offset

0x0092

0x2500 / 0x00 (M)

R : 0x0472 W: 0x0473

0x03 / 0x03

Long

11.1 Principles

eNod4 is factory calibrated to deliver 500 000 counts for 2mV/V with a load cell on the A3 input connector. The measurement scaling in eNod4 can be adapted to his application by the user. Some settings and the 2 calibration methods allow the user to define his specific span according to his sensors characteristics.

When using eNod4 for legal for trade purpose, it is

imperatively required to activate the legal for trade switch

BEFORE any calibration procedure (cf § legal for trade switch).

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11.2 Calibration methods

Measurement scaling can be defined using one of the two following methods:

• Theoretical calibration involving the sensitivity of the sensor and a user-defined corresponding

capacity

• Physical calibration involving 1, 2 or 3 know loads (for a load cell)

Both can be achieved thanks to the functional commands.

11.3 Settings description

11.3.1 Maximum capacity

The ‘maximum capacity’ stands for the maximum sensor/load cell signal range. When the absolute value of the gross measurement exceeds its value plus 9 divisions, the b3 bit (positive overloading) or the b2 bit (negative overloading) of the measurement status is set to 1 (it can activate a logical output if it is assigned to the ‘defective measurement’ function). The zero acquisition (on request or at power-up) is done only if the gross measurement value is contained between a ±10% range of the ‘maximum capacity’ (±2% if the legal for trade option is active). The ‘maximum capacity’ setting also allows calibrating eNod4 in case of a theoretical calibration in association with the sensor sensitivity. Measurement scaling will be automatically adapted so as to deliver a gross measurement value equivalent to the ‘maximum capacity’ for an analog signal corresponding to the sensor sensitivity. After a theoretical calibration, the maximum capacity can be changed to fit to the application. Admitted values : from 1 up to 10000000.

11.3.2 Number of calibration segments

The ‘number of calibration segments’ defines how many calibration segments are used during the physical calibration procedure. Linear installations only need one segment. Admitted values : from 1 up to 3.

11.3.3 Calibration loads 1/2/3

Before starting a physical calibration procedure, each calibration segment must be given a corresponding user value (for example, 1000 points for a 1 kg load). Admitted values : from 1 up to 10000000.

11.3.4 Sensor sensitivity

The ‘sensor sensitivity’ setting is used to achieve a theoretical calibration. The stored value for this parameter is the load cell sensitivity in mV/V. The user can adapt the value delivered by eNod4 for the associated signal using the ‘maximum capacity’ and the ‘sensor sensitivity’. This setting is expressed with a 10-5 factor (197500 is equivalent to a 1.975 mV/V load cell sensitivity or a 1.975 V input voltage). Admitted values : from 1 up to 1000000.

11.3.5 Scale interval

The ‘scale interval’ is the minimal difference between two consecutive indicated values (either gross or net). Modification of scale interval is taking into account after a new calibration. Admitted values : 1/2/5/10/20/50/100

11.3.6 Zero calibration

Zero calibration value corresponds to the A/D converter points measured during the ‘zero acquisition’ step of a physical calibration. For a theoretical calibration this value must be set. It can be set automatically with the ‘zero adjustment’ command. Note: To be applied, any modification of this setting must be followed by an EEPROM back up and device reboots (hardware or software). Admitted values : from 0 up to +-10000000

11.3.7 Span coefficients 1/2/3

These coefficients are computed and written during calibration process. Writing these coefficients could be done if you want to restore a previous calibration. Note: To be applied, any modification of this setting must be followed by an EEPROM back up and device reboots (hardware or software). Admitted values : different from 0.

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11.3.8 Span adjusting coefficient

The ‘span adjusting coefficient’ allows adjusting initial calibration. Adjustment applies linearly on the whole calibration curve. This coefficient has a 10-6 factor (1000000 is equivalent to a span adjusting coefficient that is equal to 1). Note: To be applied, any modification of this setting must be followed by an EEPROM back up and device reboots (hardware or software). Admitted values : from 900000 up to 1100000.

11.3.9 Calibration place g value / place of use g value

When the calibration place and the place of use of a measuring chain are different, a deviation can appear due to the difference of g (gravity) between the 2 places. The eNod4 calculates a ratio applied to the measure which compensates the difference of gravity between the 2 places. The g value are expressed in 10-6 m.s-2 (9805470 is equivalent to g = 9.805470 m.s-2). The eNodView software can help to determine the g value of a place. Note: To be applied, any modification of this setting must be followed by an EEPROM back up and device reboots (hardware or software). Admitted values : different from 0.

11.3.10 Zero offset

The ‘Zero offset’ value contains the offset in factory calibrated points that can be added/subtracted (if its value is positive or negative) to the zero calibration value when using the ‘zero offset’ functional command. Once the command has been successfully achieved, this register is set to 0. Note: The ‘Zero offset’ value is not stored into EEPROM memory and is always equal to 0 after a device power-up or a software reset

Admitted values: different from 0.

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12 FILTERS

Name

Modbus address

CANopen® Index/sub-

index

Profibus cyclic

IN/OUT

Acyclic DPV1

slot/index

Type

Access

A/D conversion rate

0x0036

0x4000 / 0x00

R : 0x0240 W: 0x0241

0x04 / 0x00

Uint

filters activation

0x0037 LSB

0x4001 / 0x01 (byte)

R : 0x0242 W: 0x0243

0x04 / 0x01

Byte

Low-pass order

0x0037 MSB

0x4001 / 0x02 (byte)

Byte

Low-pass cut-off frequency

0x0038

0x4001 / 0x03

R : 0x0244 W: 0x0245

0x04 / 0x02

Uint

Depth of moving average filter

on weight

0x0039

0x4001 / 0x04

R : 0x0246 W: 0x0247

0x04 / 0x03

Uint

Tolerance of clipping filter on

instant flow rates

0x003A

0x4001 / 0x05

R : 0x0248 W: 0x0249

0x04 / 0x04

Uint

Average flow rate determination

depth

0x0059

0x4700 / 0x03

R : 0x0278 W: 0x0279

0x07 / 0x02

Uint

12.1 Principles

eNod4 contains 4 filtering layers that are user-configurable :

• filtering related to the A/D conversion rate (with rejection of the mains frequency)

• a low-pass Bessel-type filter

• a moving average weight filter

• a self-adaptive filter

Except for the A/D conversion rate that is always enabled, none of these filters is mandatory. However, to perform accurate measurements we recommend setting a combination of filters. eNodView software may be helpful in designing the best filter configuration for the application.

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12.2 Settings description

12.2.1 A/D conversion rate

It contains a code which represents the A/D conversion rate and the rejection. See table below:

Rejection

60 Hz

50 Hz

b3 b2 b1 b0

A/D conversion rate (measures/s)

50-Hz rejection

60-Hz rejection

0000

100

120

0001

0010

0011

12.5

0100

6.25

7.5

1001

1600*

1920*

1010

800*

960*

1011

400*

480*

1100

200

240

* values that can only be selected in transmitter mode.

Note: To be applied, any modification of this setting must be followed by an EEPROM back up and device reboots

(hardware or software).

12.2.2 Filters activation & order

This setting allows to define what filters are enabled in eNod4 signal processing chain. Note: the filters activation & order setting can be accessed through a 16-bits register except in CANopen® communication protocol where this word is divided into 2 8-bits registers:

Meaning

self-adaptive filter disabled

self-adaptive filter enabled

b10 b9 b8

000

low-pass filter disabled

010

2nd order low-pass filter

011

3rd order low-pass filter

100

4th order low-pass filter

Note: In CANopen® communication protocol (according to version), this word is divided into 2 bytes of 8-bits registers. Bits b8 to b15 are therefore equivalent to bits b0 to b7 of the corresponding address (see CANopen® Register table).

12.2.3 Low-pass filter cut-off frequency

This register contains the low-pass filter cut-off frequency expressed in Hz and multiplied by 100. That means that 690 is equivalent to 6.90 Hz. The value must be compliant with the table shown below. Admitted values: from 10 up to 20000.

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12.2.4 Limitations

Recursive filters like eNod4 low-pass filters are computed according to the filter order, the desired cut-off frequency and the sampling rate. There are some limitations to respect in order to ensure a safe functioning of the signal processing. They are listed in the table below:

A/D conversion rate

(meas/s)

min low-pass cut-off

frequency (Hz)

A/D conversion

rate (meas/s)

min low-pass cut-off

frequency (Hz)

50 Hz rejection

60 Hz rejection

2nd order

3rd order

2nd order

3rd order

6.25

0.10

7.5

0.10

12.5

0.10

0.15

0.10

0.15

0.20

50*

0.15

0.25

60*

0.20

0.30

100*

0.25

0.50

120*

0.30

0.60

200*

0.50

1.00

240*

0.60

1.20

400

1.00

2.00

480

1.20

2.40

800

2.00

4.00

960

2.40

4.80

1600

4.00

8.00

1920

4.80

9.60

(*) values of A/D conversion rate that are accessible in feeder mode.

12.2.5 Depth of moving average filter on weights

A moving average filter on weight can be set in cascade after previous filters. This filter is used to smooth the weight value in case of random interferences. If enable, this filter computes the mean of a specified last number of measures which are output of the previous filters. The number of measures is defined by depth of moving average filter on weights parameter. A high filter depth will give a better stability, with a longer response time.

Filter depth admitted values: 0(disabled) up to 128.

12.2.6 Tolerance of clipping filter on instant flow rates

When eNod4 is used in loss in weight feeder, it's possible to operate a clipping filter on the successive values of flow rate. Clipping range is defined in 0.1% of the nominal flow rate. This filter will substitute flow rate values outside the clipping range by the meaning of precedent flow rate values. It allows to suppress short asynchronous physical disturbances on weight measures due to the environment. The filter is disabled when parameter is cleared.

12.2.7 Average flow rate determination depth

This parameter specifies the depth of the moving average filter on successive instant flow rate values in order to produce the average flow rate. The average flow rate is only produced for display and generally it is appropriate to set average flow rate determination depth parameter to the maximal value 128. The filter is disabled when parameter is cleared.

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13 CONFIGURATION OF INPUT/OUTPUT

Name

Modbus

address

CANopen®

Index/sub-

index

Profibus cyclic

IN/OUT

Acyclic DPV1

slot/index

Type

Access

Logical input 1 functioning

0x0042 LSB

0x4501 / 0x02

R : 0x0250 W: 0x0251

0x05 / 0x00 byte

Logical input 2 functioning

0x0042 MSB

0x4501 / 0x03

byte

Logical input 3 functioning

(IO+ version)

0x0041 LSB

0x4501 / 0x04

R : 0x026A W: 0x026B

0x05 / 0x02 byte

Logical input 4 functioning

(IO+ version)

0x0041 MSB

0x4501 / 0x05

byte

holding time

0x0043

0x4501 / 0x01

R : 0x0252 W: 0x0253

0x05 / 0x01

Uint

Analog output functioning

(IO+ version)

0x0040

0x4509 / 0x05

R : 0x026C W: 0x026D

0x06 / 0x0B

Uint

External value to control analog

output (IO+ version)

0x0032

0x5050 / 0x00 (M)

R : 0x023C W: 0x023D + See modules list

0x06 / 0x0C

Uint

Output 1 functioning

0x0044 LSB

0x4509 / 0x01

R : 0x0254 W: 0x0255

0x06 / 0x00 byte

Output 2 functioning

0x0044 MSB

0x4509 / 0x02

byte

Output 3 functioning

0x0045 LSB

0x4509 / 0x03

R : 0x0256 W: 0x0257

0x06 / 0x01 byte

Output 4 functioning

0x0045 MSB

0x4509 / 0x04

byte

Weight quantity per pulse on

logical output

0x0057

0x4707 / 0x00

R : 0x02AE W: 0x02AF

0x07 / 0x1D

Uint

Set point 1 high value

0x0046

0x4601 / 0x02

R : 0x025A W: 0x025B

0x06 / 0x02

Long

Set point 1 low value

0x0048

0x4601 / 0x03

R : 0x025C W: 0x025D

0x06 / 0x03

Long

Set point 2 high value

0x004A

0x4601 / 0x04

R : 0x025E W: 0x025F

0x06 / 0x04

Long

Set point 2 low value

0x004C

0x4601 / 0x05

R : 0x0260 W: 0x0261

0x06 / 0x05

Long

Set point 3 high value

0x004E

0x4609 / 0x02

R : 0x0262 W: 0x0263

0x06 / 0x06

Long

Set point 3 low value

0x0050

0x4609 / 0x03

R : 0x0264 W: 0x0265

0x06 / 0x07

Long

Set point 4 high value

0x0052

0x4609 / 0x04

R : 0x0266 W: 0x0267

0x06 / 0x08

Long

Set point 4 low value

0x0054

0x4609 / 0x05

R : 0x0268 W: 0x0269

0x06 / 0x09

Long

1&2 Set points functioning

0x0056 LSB

0x4601 / 0x01

R : 0x0258

0x06 / 0x0A

byte

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Name

Modbus

address

CANopen®

Index/sub-

index

Profibus cyclic

IN/OUT

Acyclic DPV1

slot/index

Type

Access

3&4 Set points functioning

0x0056 MSB

0x4609 / 0x01

W: 0x0259 byte

Logical input level

0x0094 LSB

0x5100 / 0x00 (M)

Module 2

Byte

Logical ouput level

0x0094 MSB

0x5200 / 0x00 (M)

Byte

13.1 Principles

eNod4 device is fitted with 2 logical inputs (4 logical inputs for IO+ version) and 4 logical outputs that are fully configurable.

13.1.1 Logical inputs

Each input can work individually in positive or negative logic. A holding time (de-bounced time) attached to all inputs can be configured. Available functions see hereunder table:

Function

Operating mode

transmitter

Loss in weight feeder

None

●

Tare

●

Cancel tare

●

Zero

●

Transmit measurement

(in SCMBus/fast SCMBus, in CANopen TPDO2

sending if input 1, TPDO3 sending if input 2)

●

Continuous measurement transmit

(SCMBus/fast SCMBus only)*

● Dynamic zero

● ● Start/Stop refilling**

●

Start/Stop emptying hopper**

●

Start/Stop dosing**

● Suspend/Resume batch**

●

Emergency stop

●

Reset totalization and dosing error counter

●

Sensor input control

●

* command operates on logical level ** these commands operates on front in a bistable functioning mode. For example for the Start/Stop refilling command, the first front initiates refilling, the second stops it.

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Note: Most of functions set to logical inputs can also be sent by ‘functional commands’; for a precise description see § ‘functional commands’.

• None : the input has no function

• Tare : a rising (positive logic) or a falling edge (negative logic) causes a tare function to be triggered .

• Cancel tare : a rising (positive logic) or a falling edge (negative logic) causes the current stored tare to be

erased.

• Zero : a rising (positive logic) or a falling edge (negative logic) causes a zero function to be triggered.

• Transmit measurement : only available in CANopen® and SCMBus/fast SCMBus protocols and in

transmitter mode only. A rising (positive logic) or a falling edge (negative logic) triggers a measurement transmission.

• Continuous transmit measurement : only available in SCMBus/fast SCMBus protocols. Measurements are

continuously transmitted at a rate defined by the measurement transmission period parameter while the input is maintained at the chosen level.

• Dynamic zero : this input activation will cause eNod4 to perform zero function. This zeroing acquisition is

not conditioned by stability criterion and consists in a moving average of measures during an adjustable parameter dynamic zero acquisition time. The new current zero is not stored permanently and can be canceled by a reset of the module.

• Start/Stop refilling : this command operates on front in a bistable functioning mode. In dosing mode, the

first rising or falling edge (according to the configured logic) on this input causes a refilling procedure. The second one will stop it.

• Start/Stop emptying hopper : this command operates on front in a bistable functioning mode. In dosing

mode, the first rising or falling edge (according to the configured logic) on this input causes an emptying procedure. The second one will stop it.

• Start/Stop dosing : this command operates on front in a bistable functioning mode. In dosing mode, the

first rising or falling edge (according to the configured logic) on this input starts dosing. The second one stops it.

• Suspend/Resume batch : this command operates on front in a bistable functioning mode. In dosing mode,

the first rising or falling edge (according to the configured logic) on this input suspends the batch. The second one resumes it.

• Emergency stop : a rising (positive logic) or a falling edge (negative logic) triggers an emergency stop which

immediately stops the dosing, the totalization and eventually the refilling.

• Reset totalization and dosing error counter : a rising (positive logic) or a falling edge (negative logic)

triggers the main totalizer reset. Both parts of the totalizer, the main in weight unit x1000 and the complementary part in weight unit are then reset. The dosing errors counter variable is also reset.

• Sensor input control : a rising (positive logic) or a falling edge (negative logic) triggers a test routine of the

sensor input and produces a test result.

13.1.2 Analog output (IO+ version)

An optional analog board in current and voltage might be used with eNod4 to provide IO+ version. This must be asked when ordering eNod4 product. Voltage output might be set either 0-5V or 0-10V, and the current output to 4-20mA, 0-24mA , 0-20mA or 4-20mA with alarm at 3.6mA. Both output (current and voltage) might separately be enable. Settings are effective after eNod4 reset. Analog output affectation function is common to both current and voltage output and might be assigned to followings:

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function

Operating mode

transmitter

loss in weight feeder

none ● ●

gross measurement ● ●

net measurement ● ●

level on request ● ●

flow rate control output

●

instant flow rate ● ●

average flow rate ● ●

• None : analog outputs have no function.

• Gross measurement : analog outputs can be assigned to gross measurement copy. Maximal level value is

related to Maximum Capacity parameter and works in mono-quadrant functioning. Bi-quadrant option can only be applied to gross measurement copy. When this option is activated, the lowest value of current and voltage levels corresponds to -MC and the highest value to +MC.

• Net measurement : analog outputs can be assigned to net measurement copy. Maximal value is related to

Maximum Capacity parameter and works in mono-quadrant functioning only. The highest value of current and voltage levels corresponds to +MC in only one quadrant.

• Level on request : analog outputs are driven by master requests through the external value to control

analog output variable (in 0.01% of the full scale of current or voltage analog outputs).

• Flow rate control output : PID controller output data (activated or not) drives current or voltage outputs

generally coupled to the extraction device. Data is expressed in 0.01% of the high value of current or voltage analog outputs. Maximal level output value corresponds to the maximal flowrate (see § flow rate calibration).

• Instant flow rate : analog outputs can be assigned to instant flow rate copy. Maximal level output value

corresponds to the maximal flowrate (see § flow rate calibration).

• Average flow rate : analog outputs can be assigned to average flow rate copy. Maximal level output value

corresponds to the maximal flowrate (see § flow rate calibration).

When analog output is assigned to “Gross measurement”, “Net measurement”, “Instant flow rate” or “Average flow rate” its value jumps to a special error value when the internal alarm flag described in “Weighing diagnosis” § in the

MEASUREMENT AND STATUS § is activated. This allows to warn about defection of the measurement chain. The error value on analog output is defined depending on voltage or current settings as described in following table:

Setting

Analog output error mode value

0 - 5V

5.5 V

0 - 10V

11 V

4 - 20mA

no output current

0 - 20mA*

no output current

0 - 24mA*

no output current

4 mA - 20 mA with alarm at 3.6 mA

3.6 mA, voltage output is deactivated (High-Z state)

* no error detection possible in this setting

13.1.3 Logical outputs

Each output can work individually in positive or negative logic

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The available functions are:

function

Operating mode

transmitter

Loss in weight feeder

none

● ● set point

● ● motion

●

defective measurement

● ● input image

●

level on request

●

cycle in progress

●

External totalizer

●

Flow rate alarm

●

Batch complete

●

Refilling in progress

●

Extraction activated

●

Volumetric phase

●

• None : the output has no function

• Setpoint : each output can be assigned to a configurable set point (set point 1 corresponds to output 1, set

point 2 to output 2, set point 3 to output 3 and set point 4 to output 4).

• Motion : the output is dedicated to copying the stability flag level.

• Defective measurement : the output level is set when the internal alarm flag described in “Weighing

diagnosis” § in the MEASUREMENT AND STATUS § is activated. This allows to warn about defection of the

measurement chain. Flowrate, refilling, empty or full hopper or too long batch alarms are not considered as defective measurements.

• Input image : the output is dedicated to copying a logical input level (outputs 1 and 3 correspond to inputs

1 and 3, outputs 2 and 4 correspond to input 2 and 4).

• Level on request : the input level is driven by master requests.

• Cycle in progress : in dosing mode, indicates that a dosing cycle is running.

• External totalizer : this output is dedicated to deliver pulses for external totalizer device.

If a logical output is assigned to external totalizer function, eNod4 will send a pulse every time totalization result will reach a multiple of weight value defined in weight quantity per pulse on logical output parameter expressed in weight unit x1000.

• Flowrate alarm : the output is dedicated to copying dosing alarms. Alarms might be flow rate, control

output level, refilling, batch too long, empty hopper, full hopper or external totalizer overflow.

• Batch complete : in dosing mode, indicates that a batch is complete.

• Refilling in progress : indicates that a refilling process is running.

• Extraction activated : in dosing mode, indicates that the extraction device is activated.

• Volumetric phase : in dosing mode, indicates volumetric or gravimetric phases.

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13.2 Settings description

13.2.1 Logical inputs assignment

The following table describes the possible assignments.

bits

meaning

note

b3 b2 b1 b0

input 1 (and input 3 if IO+ version) assignment

0000

none

the input has no function

0001

tare

equivalent to the functions described in

§ functional commands

0010

zero

0011

cancel tare

0100

transmit measurement*/send TPDO2**

data is transmitted on the bus at every rising or falling edge (depending on the chosen logical) Transmitter mode only

0101

Continuous transmit measurement*

Data is transmitted on the bus while the input is maintained at the right level (depending on the chosen logical). Transmission rate is fixed by the measurement transmission period setting

0110

Dynamic zero

Same like equivalent functional command describe in § functional commands

0111

Start / Stop refilling**

Not directly equivalent compared to functional commands

1000

Start / Stop hopper emptying**

Not directly equivalent compared to functional commands

1001

Start/Stop dosing**

Not directly equivalent compared to functional commands

1010

Suspend / Resume batch**

Not directly equivalent compared to functional commands

1011

Emergency stop

There is no associated functional command

1100

Clear totalization and errors counter

Same like equivalent functional command describe in § functional commands

1101

Sensor input control

Same like equivalent functional command describe in § functional commands

input 1&3 logical

negative logic

defines the edge (or level) that triggers input 1 function

positive logic

b6 b5

measurement to be transmitted

gross

only for SCMBus/fast SCMBus

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bits

meaning

note

net

protocols, no effect otherwise

factory calibrated measurement

bits

meaning

note

b11 b10 b9 b8

(or b3 b2 b1 b0 in CANopen®)

input 2 (and input 4 if IO+ version) assignment

0000

none

the input has no function

0001

tare

equivalent to the functions described in

§ functional commands

0010

zero

0011

cancel tare

0100

transmit measurement*/send TPDO3**

data is transmitted on the bus at every rising or falling edge (depending on the chosen logical) Transmitter mode only

0101

Continuous transmit measurement*

Data is transmitted on the bus while the input is maintained at the right level (depending on the chosen logical). Transmission rate is fixed by the measurement transmission period setting

0110

Dynamic zero

Same like equivalent functional command describe in § functional commands

0111

Start / Stop refilling**

Not directly equivalent compared to functional commands

1000

Start / Stop hopper emptying**

Not directly equivalent compared to functional commands

1001

Start/Stop dosing**

Not directly equivalent compared to functional commands

1010

Suspend / Resume batch**

Not directly equivalent compared to functional commands

1011

Emergency stop

There is no associated functional command

1100

Clear totalization and errors counter

Same like equivalent functional command describe in § functional commands

1101

Sensor input control

Same like equivalent functional command describe in § functional commands

(or b4 in CANopen®)

input 2&4 logical

negative logic

defines the edge (or level) that triggers input 1 function

positive logic

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bits

meaning

note

14 b13

(or b6 b5 in CANopen®)

measurement to be transmitted

gross

only for SCMBus/fast SCMBus protocols, no effect otherwise

net

factory calibrated measurement

** these commands operates on front in a bistable functioning mode. For example for the Start/Stop refilling command, the first front initiates refilling, the second stops it.

Note 1: the functions with a * only are possible in SCMBus and fast SCMBus protocols. Note 2: in CANopen® communication protocol, to use the ‘send TPDOX’ function, it is necessary to configure the TPDO

communication parameters (and particularly the communication type) and the mapping for the corresponding TPDO.

13.2.2 Holding time (debounced time)

The holding time (de-bounced time) corresponds to the minimum required stabilization time of the logical inputs before their activation. If the input level varies within this interval, it is ignored.

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13.2.3 Analog output(s) assignment (IO+ version)

The following tables describe the possible assignments.

bits

meaning

note

b3 b2 b1 b0

analog output(s) assignment

0000

none

the output level does not vary

0001

copy gross weight

Adjustable polarity

0010

copy net weight

0011

level on request

parameter External value to control

analog output will drive analog output

0100

flow rate control output

in loss in weight feeder mode (for extraction device control)

0101

copy instantaneous flow rate

0110

copy average flow rate

polarity

unipolar

could be set only with gross measurement

bipolar

b7 b6 b5

output voltage settings

000

disable

001

0 V - 5 V

010

0 V - 10 V

b10 b9 b8

output current settings

000

disable

001

4 mA - 20 mA 010

0 mA - 20 mA 011

0 mA - 24 mA

100

4 mA - 20 mA with alarm at 3.6 mA

voltage output is inactive (High-Z state)

13.2.4 External value to control analog output (IO+ version)

If an external device (e.g. PLC) would like to control extraction command through eNod4 analog output, so that output must be set on level on request function. In this configuration eNod4 will copy external value to control analog output parameter on analog output in current and voltage. The external value parameter is expressed in 0.01% of full scale of analog output current or voltage.

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13.2.5 Logical outputs 1&2 assignment

The following table describes the possible assignments.

bits

meaning

note

b3 b2 b1 b0

output 1 assignment

0000

None

the output level does not vary

0001

Set point 1

functioning described by the ‘set point functioning’ setting and by the ‘set point 1 high and low values’

0010

Motion

copies the motion flag of the status bytes (cf. § status register)

0011

Defective measurement

reflect the internal alarm flag described in “Weighing diagnosis” § in the MEASUREMENT AND STATUS §

0100

Input 1 image

copies input 1 level

0101

Level on request

output 1 level is driven by the ‘OUT1 activation/deactivation’ functional command (cf. §

functional commands)

0110

Cycle in progress

In loss in weight feeder mode

0111

External totalizer

In loss in weight feeder mode

1000

Flowrate alarm

In loss in weight feeder mode

1001

Batch complete

In loss in weight feeder mode

1010

Refilling in progress

In loss in weight feeder mode

1011

Extraction activated

In loss in weight feeder mode

1100

Volumetric phase

In loss in weight feeder mode

output 1 logical

negative logic

defines the output level when enabled

positive logic

b11 b10 b9 b8

(or b3 b2 b1 b0 in

CANopen®)

output 2 assignment

0000

none

the output level does not vary

0001

set point 2

functioning described by the ‘set point functioning’ setting and by the ‘set point 2 high and low values’

0010

motion

copies the motion flag of the status bytes (cf. § status register)

0011

defective measurement

reflect the internal alarm flag described in “Weighing diagnosis” § in the MEASUREMENT AND STATUS §

0100

input 2 image

copies input 2 level

0101

level on request

output 2 level is driven by the ‘OUT2 activation/deactivation’ functional command (cf. §

functional commands)

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bits

meaning

note

0110

Cycle in progress

In loss in weight feeder mode

0111

External totalizer

In loss in weight feeder mode

1000

Flowrate alarm

In loss in weight feeder mode

1001

Batch complete

In loss in weight feeder mode

1010

Refilling in progress

In loss in weight feeder mode

1011

Extraction activated

In loss in weight feeder mode

1100

Volumetric phase

In loss in weight feeder mode

b12

(or b4 in CANopen®)

output 2 logical

negative logic

defines the output level when enabled

positive logic

defines the output level when enabled

13.2.6 Logical outputs 3&4 assignment

Similar to the outputs 1&2 configuration parameter, see previous paragraph (replacing all references to output 1 by output 3 and all references to output 2 by output 4).

13.2.7 Weight quantity per pulse on logical output

When a logical output is assigned to external totalizer, a pulse is generated every time the totalization increases a multiple of a weight quantity per pulse on logical output. The maximum pulse frequency is 10 Hz and pulse duration is fixed at 50ms. The output pulse is not rounded (i.e. the pulse is issued only once weight quantity per pulse on logical output is strictly exceeded).

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13.2.8 Set points functioning

The following table describes the possible assignments.

bits

meaning

note

set point 1 commutation mode

window

only if output 1 assigned to the ‘set point’ function

hysteresis

b2 b1

set point 1 comparison measurement

gross

net

Sensor input control result

reserved (0)

set point 2 commutation mode

window

only if output 2 assigned to the ‘set point’ function

hysteresis

b6 b5

set point 2 comparison measurement

gross

net

Sensor input control result

reserved (0)

(or b0 in CANopen®)

set point 3 commutation mode

window

only if output 3 assigned to the ‘set point’ function

hysteresis

b10 b9

(or b2 b1 in CANopen®)

set point 3 comparison measurement

gross

net

Sensor input control result

b11

(or b3 in CANopen®)

reserved (0)

b12

(or b4 in CANopen®)

set point 4 commutation mode

window

only if output 4 assigned to the ‘set point’ function

hysteresis

b14 b13

(or b6 b5 in CANopen®)

set point 4 comparison measurement

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bits

meaning

note

gross

net

Sensor input control result

b15

(or b7 in CANopen®)

reserved (0)

13.2.9 Set points high and low values

Each set point is described by its commutation mode (hysteresis/window) and by a couple of values that are constantly compared to the gross or net measurement or to dosing result or dosing running total (depending on the configuration the set point has been given) in order to define the corresponding output logical level. For more details about the set points functioning, please refer to documentation eNod4 "characteristics and functioning". Admitted values: from -1000000 to 1000000.

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13.3 Input/output level

The level of the eNod4 Input/output can be read according to the following table:

Bits

Meaning

Note

0 low

IN1 level

high

low

IN2 level

high

With IO+ version only, else 0

low

IN3 level

high

With IO+ version only, else 0

low

IN4 level

high

b7 ... b4

reserved (0)

b8 (note 1)

low

OUT1 level

high

b9 (note 1)

low

OUT2 level

high

b10 (note 1)

low

OUT3 level

high

b11 (note 1)

low

OUT4 level

high

b15 ... b12 (note 1)

reserved (0)

Note 1: In CANopen® communication protocol (according to version), this word is divided into 2 bytes of 8-bits registers. Bits b8 to b15 are therefore equivalent to bits b0 to b7 of the corresponding address (see CANopen® Register table).

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14 LEGAL FOR TRADE OPTIONS

14.1 Principles

The legal for trade options are a set of functions and indicators that are generally used in weighing applications. They have an impact on the device behavior regarding the metrological requirements and track every configuration change that may affect the measurement determination.

14.2 Settings description

14.2.1 Legal for trade switch

This setting activates (b0 bit set to 1) or deactivates (b0 bit set to 0) criteria and parameters related to the use of eNod4 in OIML compliance. The ‘legal for trade’ option activation leads to the following changes:

• the ‘legal for trade counter’ is incremented every time a storage into EEPROM is requested if one or several

metrological settings have been modified.

• a new ‘legal for trade checksum’ value is calculated every time a storage into EEPROM is requested if one

or several metrological settings have been modified.

• taring is now impossible if gross measurement is negative.

• the measurement value variations cannot be read during the 15 seconds that follow the device reset (error

frame in Modbus RTU, value set to -1 in CANopen® and in Profibus DP) and during zero and tare acquisitions

14.2.2 Legal for trade software version

This RO value identifies the version of the part of the software that is dedicated to the metrology and the measurement exploitation.

14.2.3 Legal for trade counter

If the ‘legal for trade’ option is enabled, the legal for trade counter is incremented every time a backup into EEPROM is requested if at least one (or several) of these settings has been modified:

• legal for trade switch

• stability criterion

• decimal point position

• maximum capacity

• number of calibration segments

Name

Modbus

address

CANopen®

Index/sub-

index

Profibus cyclic

IN/OUT

Acyclic DPV1

slot/index

Type

Access

Legal for trade

version

0x0004 LSB

0x3600 / 0x02

R : 0x0210 W: 0x0211

0x01 / 0x00 Byte

Legal for trade switch

0x0004 MSB

0x3600 / 0x01

Byte

Legal for trade

counter

0x0005

0x3600 / 0x03

R : 0x0212

0x01 / 0x01 Uint

Legal for trade

checksum

0x0006

0x3600 / 0x04

R : 0x0214

Uint

Zero functions

0x0007

0x3501 / 0x01

R : 0x0216 W: 0x0217

0x01 / 0x02

Byte

Stability criterion

0x0008 LSB

0x3605 / 0x00

R : 0x0218 W: 0x0219

0x01 / 0x03 Byte

decimal point position

0x0008 MSB

0x3700 / 0x02

Byte

Weight unit

0x0009

0x3700 / 0x01

R : 0x041A W: 0x041B

0x01 / 0x04

String

Flow rate time unit

0x005A

0x3700 / 0x03

R : 0x021E W: 0x021F

0x01 / 0x06

Uint

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• calibration loads 1/2/3

• scale interval

• span adjusting coefficient

• calibration place/place of use g values

• sensitivity

• A/D conversion rate

• filtering configuration (activation option, order and cut-off frequencies)

• weight unit

• flow rate time unit

• zero functions

14.2.4 Legal for trade checksum

If the ‘legal for trade’ option is enabled, a new legal for trade checksum is calculated every time a backup into

EEPROM is requested if at least one (or several) of the settings listed above has been modified.

14.2.5 Zero functions

The zero tracking and the initial zero setting can be respectively enabled by setting b0 bit or b1 bit to 1. When activated, both options are effective on a ±10% range of the ‘maximum capacity’ (±2% if the ‘legal for trade’ option is enabled).

14.2.6 Stability criterion

The stability criterion defines the interval on which measurements are considered as stable. Motion is indicated by b4 bit of the measurement status register. A measurement is stable if X consecutive measurements following the reference measurement are included in the stability interval (see following table) else the current measurement becomes the new reference measurement. X depends on the A/D conversion rate.

Bits b2 b1 b0

Stability criterion

Note

000

no motion detection (always stable)

001

0,25d

1d = 1 scale interval

010

0,5d

011

100

When the initial zero is used, you must use a stability criterion other than 0 to be not affected by transient effects at power-up.

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A/D conversion rate (meas/s)

50-Hz rejection

60-Hz rejection

6,25

7,5

12,5

100

120

200

240

400

480

800

960

1600

1920

129

14.2.7 Decimal point position

Although eNod4 measurements are integer values it is however possible to store a ‘decimal point position’ so as to design a display related to the application. Its value represents the number of decimal digits. If the variable is set to Zero, it means that decimal point is not used. Decimal point position has a consistency and influences flow rate values. Note: the decimal point is directly integrated to SCMBus protocol frames (see § SCMBus). Admitted values: from 0 up to 7.

14.2.8 Weight unit

It is possible to store the display weight unit into the eNod4. This weight unit is a combination of 4 characters and data has no consistency. There is no automatic calculation to adjust flowrate values neither flowrate calibration values. Note: the unit is directly integrated to SCMBus protocol frames (see § SCMBus).

14.2.9 Flow rate time unit

It is possible to store the display flow rate time unit into the eNod4. Flow rate time unit is a combination of 2 characters and there is no automatic calculation to adjust flow rate value if

modified.

In loss in weight feeder mode, following values are permitted for flow rate time unit parameter:

• 0x2073 for seconds (s)

• 0x6D6E for minutes(mn)

• 0x2068 for hours (h)

In opposition to the weight unit behaviour, the flowrate unit is consistent for instant and average flowrate determination. However and when the time unit is modified, there is no automatic redetermination of calibration flowrate values.

14.2.10 Save Tare and Zero in non-volatile memory

There are two options for saving TARE or ZERO request value in non-volatile memory. These options are accessible through the “dosing cycle options” Object.

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15 LOSS IN WEIGHT FEEDER

15.1 Settings list

Name

Modbus

address

CANopen® Index/sub-

index

Profibus cyclic

IN/OUT

Acyclic DPV1

slot/index

Type

Access

Instant flow rate

0x0086

0x5005 / 0x01 (M)

R : 0x0400 + See modules list

float

Instant flow rate determination

time

0x0058

0x4700 / 0x01

R : 0x0274 W: 0x0275

0x07 / 0x00

Uint

Instant flow rate correction factor

0x002C

0x4700 / 0x02

R : 0x0476 W: 0x0477

0x07 / 0x01

Ulong

Average flow rate

0x0088

0x5005 / 0x02 (M)

R : 0x046E + See modules list

float

Nominal flow rate

0x007A

0x4706 / 0x00

R : 0x04AC W: 0x04AD

0x07 / 0x1C

float

Dosing weight deviation

0x0095

0x5007 / 0x05 (M)

R : 0x04FA + See modules list

float

Flow rate control output

0x008A

0x5005 / 0x03 (M)

R : 0x04EA + See modules list

float

Control output value

0x008C

0x5005 / 0x04 (M)

R : 0x02EC + See modules list

Uint

Refilling low level

0x0060

0x4701 / 0x05

R : 0x0482 W: 0x0483

0x07 / 0x07

Ulong

Refilling high level

0x0062

0x4701 / 0x06

R : 0x0484 W: 0x0485

0x07 / 0x08

Ulong

Refilling inflight value

0x0064

0x4701 / 0x07

R : 0x0486 W: 0x0487

0x07 / 0x09

long

Cycle and alarm options

0x005F

0x4701 / 0x04

R : 0x0280 W: 0x0281

0x07 / 0x06

Uint

Fixed flow rate during refilling

0x0066

0x4701 / 0x08

R : 0x0488 W: 0x0489

0x07 / 0x0A

float

End of refill and cycle start

stabilization time

0x005E

0x4701 / 0x03

R : 0x027E W: 0x027F

0x07 / 0x05

Uint

Weight to totalize (Great WU)

0x0075

0x4705 / 0x01

R : 0x04A6 W: 0x04A7

0x07 / 0x19

Ulong

Complementary weight to totalize

0x0077

0x4705 / 0x02

R : 0x02A8 W: 0x02A9

0x07 / 0x1A

Uint

Weight to totalize inflight value

0x0078

0x4705 / 0x03

R : 0x04AA W: 0x04AB

0x07 / 0x1B

long

Learning cycle end of refill delay

0x005C

0x4701 / 0x01

R : 0x027A W: 0x027B

0x07 / 0x03

Uint

Learning cycle flow rates reference

determination time

0x005D

0x4701 / 0x02

R : 0x027C W: 0x027D

0x07 / 0x04

Uint

Empty hopper level

0x0068

0x4702 / 0x01

R : 0x048E W: 0x048F

0x07 / 0x0D

Ulong

Full hopper level

0x0A3E

0x4702 / 0x02

R : 0x0404 W: 0x0405

0x07 / 0x0F

Ulong

Min permissible instant flow rate

0x006E

0x4704 / 0x01

R : 0x0298 W: 0x0299

0x07 / 0x12

Uint

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Name

Modbus

address

CANopen® Index/sub-

index

Profibus cyclic

IN/OUT

Acyclic DPV1

slot/index

Type

Access

Max permissible instant flow rate

0x006F

0x4704 / 0x02

R : 0x029A W: 0x029B

0x07 / 0x13

Uint

Min permissible flow rate control

output

0x0070

0x4704 / 0x03

R : 0x029C W: 0x029D

0x07 / 0x14

Uint

Max permissible flow rate control

output

0x0071

0x4704 / 0x04

R : 0x029E W: 0x029F

0x07 / 0x15

Uint

Inhibit time of flow rates alarms at

start

0x0072

0x4704 / 0x05

R : 0x02A0 W: 0x02A1

0x07 / 0x16

Uint

Inhibit time of flow rates alarms in

service

0x0073

0x4704 / 0x06

R : 0x02A2 W: 0x02A3

0x07 / 0x17

Uint

Maximum time for refilling start

0x006B

0x4703 / 0x01

R : 0x0290 W: 0x0291

0x07 / 0x0E

Uint

Time interval for weight variation

control on refilling

0x006C

0x4703 / 0x02

R : 0x0294 W: 0x0295

0x07 / 0x10

Uint

Maximum refilling time

0x006D

0x4703 / 0x03

R : 0x0296 W: 0x0297

0x07 / 0x11

Uint

Maximum batch time

0x0074

0x4704 / 0x07

R : 0x02A4 W: 0x02A5

0x07 / 0x18

Uint

Totalizer value (Great WU)

0x008D

0x5006 / 0x01 (M)

R : 0x04F0 + See modules list

Ulong

Complementary totalizer value

0x008F

0x5006 / 0x02 (M)

R : 0x02F2 + See modules list

Uint

Dosing status

0x009A

0x5007 / 0x01 (M)

R : 0x02FC + See modules list

Uint

Dosing errors report

0x009B

0x5007 / 0x02 (M)

R : 0x02FE + See modules list

Uint

Dosing errors counter

0x009C

0x5007 / 0x03 (M)

R : 0x023E + See modules list

Uint

Last dosing error

0x009D

0x5007 / 0x04 (M)

R : 0x024A + See modules list

Uint

Dosing quality factor

0x009E

0x5005 / 0x05 (M)

R : 0x04EE + See modules list

float

Totalization flow rate

0x00A0

0x5006 / 0x03 (M)

R : 0x04F8 + See modules list

float

Grand total (Great WU)

0x00A2

0x5006 / 0x04 (M)

R : 0x04F4 + See modules list

Ulong

General total (Great WU)

0x00A4

0x5006 / 0x05 (M)

R : 0x04F6 + See modules list

Ulong

Extraction time

0x00A6

0x5007 / 0x06 (M)

R : 0x0402

float

Calibration of flow rate point 1

(control output value)

0x0A00

0x470A / 0x01

R : 0x02B4 W: 0x02B5

0x07 / 0x20

Uint

Calibration of flow rate point 2

(control output value)

0x0A01

0x470A / 0x02

R : 0x02B6 W: 0x02B7

0x07 / 0x21

Uint

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Name

Modbus

address

CANopen® Index/sub-

index

Profibus cyclic

IN/OUT

Acyclic DPV1

slot/index

Type

Access

Calibration of flow rate point 3

(control output value)

0x0A02

0x470A / 0x03

R : 0x02B8 W: 0x02B9

0x07 / 0x22

Uint

Calibration of flow rate point 4

(control output value)

0x0A03

0x470A / 0x04

R : 0x02BA W: 0x02BB

0x07 / 0x23

Uint

Calibration of flow rate point 5

(control output value)

0x0A04

0x470A / 0x05

R : 0x02BC W: 0x02BD

0x07 / 0x24

Uint

Calibration of flow rate point 6

(control output value)

0x0A05

0x470A / 0x06

R : 0x02BE W: 0x02BF

0x07 / 0x25

Uint

Calibration of flow rate point 7

(control output value)

0x0A06

0x470A / 0x07

R : 0x02C0 W: 0x02C1

0x07 / 0x26

Uint

Calibration of flow rate point 8

(control output value)

0x0A07

0x470A / 0x08

R : 0x02C2 W: 0x02C3

0x07 / 0x27

Uint

Calibration of flow rate point 9

(control output value)

0x0A08

0x470A / 0x09

R : 0x02C6 W: 0x02C7

0x07 / 0x28

Uint

Calibration of flow rate point 10

(control output value)

0x0A09

0x470A / 0x0A

R : 0x02C8 W: 0x02C9

0x07 / 0x29

Uint

Calibration of flow rate point 1

(flow rate value)

0x0A0A

0x470B / 0x01

R : 0x04CA W: 0x04CB

0x07 / 0x2A

float

Calibration of flow rate point 2

(flow rate value)

0x0A0C

0x470B / 0x02

R : 0x04CC W: 0x04CD

0x07 / 0x2B

float

Calibration of flow rate point 3

(flow rate value)

0x0A0E

0x470B / 0x03

R : 0x04CE W: 0x04CF

0x07 / 0x2C

float

Calibration of flow rate point 4

(flow rate value)

0x0A10

0x470B / 0x04

R : 0x04D0 W: 0x04D1

0x07 / 0x2D

float

Calibration of flow rate point 5

(flow rate value)

0x0A12

0x470B / 0x05

R : 0x04D2 W: 0x04D3

0x07 / 0x2E

float

Calibration of flow rate point 6

(flow rate value)

0x0A14

0x470B / 0x06

R : 0x04D4 W: 0x04D5

0x07 / 0x2F

float

Calibration of flow rate point 7

(flow rate value)

0x0A16

0x470B / 0x07

R : 0x04D6 W: 0x04D7

0x07 / 0x30

float

Calibration of flow rate point 8

(flow rate value)

0x0A18

0x470B / 0x08

R : 0x04D8 W: 0x04D9

0x07 / 0x31

float

Calibration of flow rate point 9

(flow rate value)

0x0A1A

0x470B / 0x09

R : 0x04DA W: 0x04DB

0x07 / 0x32

float

Calibration of flow rate point 10

(flow rate value)

0x0A1C

0x470B / 0x0A

R : 0x04DC W: 0x04DD

0x07 / 0x33

float

Segments number for the

calibration curve of flow rate

0x0A1E

0x4709 / 0x00

R : 0x02B2 W: 0x02B3

0x07 / 0x1F

Uint

Reference flow rate control output

start refilling

0x0A31

0x4701 / 0x09

R : 0x048A W: 0x048B

0x07 / 0x0B

float

Reference flow rate control output

end refilling

0x0A33

0x4701 / 0x0A

R : 0x048C W: 0x048D

0x07 / 0x0C

float

0x0A35

0x470C / 0x01

R : 0x04DE W: 0x04DF

0x07 / 0x34

float

0x0A37

0x470C / 0x02

R : 0x04E0 W: 0x04E1

0x07 / 0x35

Ulong

0x0A39

0x470C / 0x03

R : 0x04E2 W: 0x04E3

0x07 / 0x36

Ulong

PID behaviour

0x0A3B

0x470C / 0x04

R : 0x02E4 W: 0x02E5

0x07 / 0x37

Uint

PID adjustment flow rate

0x0A3C

0x470C / 0x05

R : 0x04E6 W: 0x04E7

0x07 / 0x38

float

Number of cycles for PID adjust

0x0A50

0x470C / 0x06

0x0B / 0x01

Uint

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Name

Modbus

address

CANopen® Index/sub-

index

Profibus cyclic

IN/OUT

Acyclic DPV1

slot/index

Type

Access

Cut-off frequency of totalization

flow rate (x100)

0x0A51

0x4001/ 0x06

0x0B / 0x02

Uint

Time unit of totalization flow rate

0x0A52

0x3700/ 0x04

0x0B / 0x03

Uint

Weight unit of totalization flow

rate

0x0A53

0x3700/ 0x05

0x0B / 0x04

Ulong

Dynamic zero acquisition time

0x005B

0x4708 / 0x00

R 0x02B0 W 0x02B1

0x07 / 0x1E

Uint

15.2 Settings description

• Instant flowrate: loss in weight during a period of time expressed in weight unit per flow rate time unit.

• Instant flow rate determination time: time in seconds used for instant flow rate determination.

• Instant flow rate correction factor: correction factor coefficient expressed in 10

-6

, so 1000000 corresponds

to a correction factor coefficient of 1.00000 applied on the instant flow rate.

• Average flow rate: flow rate output of moving average filter on successive values of instant flowrate.

• Nominal flow rate: target of flow rate expressed in weight unit per flow rate time unit.

• Dosing weight deviation: weight deviation between the totalization of weight during 1 second and what

should have been totalized at nominal flowrate.

• Flow rate control output: this is the flow rate to control the extraction device, expressed in weight unit per

flow rate time unit. It can take either a fixed value of flow rate, or the output of PID controller, if enabled,

or a variable flowrate function of weight value in the hopper (or silo) during refilling phase (in smart refilling mode).

• Control output value: control value of the analog output expressed in 0.01% of maximum output current

or voltage.

• Refilling low level: gross weight level below which a refilling has to operate if the auto refilling option is

activated, cf § refilling.

• Refilling high level: gross weight level above which a refilling has to stop when there is no refilling inflight

value.

• Refilling inflight value: refilling stops when the gross weight will reach refilling high level - refilling inflight

value.

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• Cycle and alarm options: this register defines cycle and alarms functioning, cf § alarms.

See following table:

bits set to 1

Meaning

b7 … b0

Cycle options

Batch dosing

Clear totalization when starting a new batch cycle

Auto refilling

Smart refill mode

Acquisition of flow rate refill references on learning cycle

PID activation

End of batch refill suppression

Reserved (0)

b15 … b8

Alarm options

Stop dosing and refilling / suspend batch on alarm

Refilling to last value of flow rate

B10

Save Tare in non-volatile memory

B11

Save Zero in non-volatile memory

b15 … b12

Reserved (0)

• Fixed flow rate during refilling: flow rate fixed value used during refilling phase when the option smart

refill mode is deactivated, cf § refilling.

• End of refill stabilization time: delay in seconds that ensures that the instant flow rate has reached the

flow rate target before starting instant flow rate determination phase. This period should be the lowest possible to reduce this volumetric phase to a minimum, cf § refilling.

• Weight to totalize (Great WU): in batch mode, the main part of batch target value in weight unit x 1000, cf

§ totalization.

• Complementary weight to totalize: in batch mode, the complementary part of batch target value in

weight unit, cf § totalization.

• Weight to totalize inflight value: in batch mode, inflight value target in weight unit to apply to the weight

to totalize, cf § totalization.

• Learning cycle end of refill delay: delay in seconds that ensures the average flow rate to be null before

activation of the extraction device. It is better to choose a long period to be sure there is no more fall of material and also the average flow rate to be stabilized to zero before activation of the extraction device, cf § learning cycle end of refill delay.

• Learning cycle flow rates reference determination time: time in seconds during which the flow rate

referencing is carrying out, which will be used to drive the extraction during refilling when the smart refill mode option is activated, cf § learning cycle flow rates reference determination time.

• Empty hopper level: gross weight level under which the dosing stops and an empty hopper alarm occurs.

• Full hopper level: gross weight level over which the dosing stops and a full hopper alarm occurs (dosing

and refilling are stopped).

• Min permissible instant flow rate: low limit of flow rate value under which a flow rate alarm occurs, cf §

flow rate / control output alarms. Expressed in 0.1% of nominal flow rate.

• Max permissible instant flow rate: high limit of flow rate value over which a flow rate alarm occurs, cf §

flow rate / control output alarms. Expressed in 0.1% of nominal flow rate.

• Min permissible flow rate control output: low limit of flow rate control output value under which a flow

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rate control output occurs, cf § flow rate / control output alarms. Expressed in 0.1% of nominal flow rate.

• Max permissible flow rate control output: high limit of flow rate output control value over which a flow

rate control output occurs, cf § flow rate / control output alarms. Expressed in 0.1% of nominal flow rate.

• Inhibit time of flow rates alarms at start: time throughout no flow rate alarm or flowrate control output

alarm will occur when a cycle is starting to allow dosing stabilization, cf § flow rate / control output alarms. Expressed in seconds.

• Inhibit time of flow rates alarms in service: time throughout flow rate or flow rate control output values

should be kept outside the limit specified for an alarm to occur and after the Inhibit time of flow rates alarms at start, cf § flow rate / control output alarms. Expressed in seconds.

• Maximum time for refilling start: maximal delay to the gross weight to be higher than its value at refilling

start. The aim is to detect no material fall when activating the refilling whether it is a manual or automatic control (lack of material, clogging, valve or control failure), cf § refilling alarms. Expressed in seconds.

• Time interval for weight variation control on refilling: time during which a weight variation should be

positive. The aim is to detect any malfunction during the refilling phase (lack of material or clogging), cf § refilling alarms. Expressed in seconds.

• Maximum refilling time: maximal time for the refilling phase to complete, cf § refilling alarms. Expressed in

second.

• Totalizer value (Great WU)): the main totalization result in weight unit x 1000, cf § totalization.

• Complementary totalizer value: the complementary totalization result in weight unit., cf § totalization.

• Dosing status: this register describes dosing cycle phases and additional information on the feeder

functioning. See following table:

bits set to 1

Meaning

b7 … b0

Dosing steps

Stop

Refilling

Learning cycle end of refill delay

End of refilling stabilization

Flow rate determination

Dosing

Batch suspended

Hopper emptying

Reserved (0)

b15 … b9

Additional informations

Learning cycle

b10

Flow rate calibrated

b11

Volumetric dosing

b12

Extraction activated

b13

Refilling in progress

b14

Dosing cycle in progress

b15

Batch complete

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• Dosing errors report: this register describes exclusively the status of alarms that can occur, cf § alarms.

See coding definition in the table below:

b15 … b

bits set to 1

Meaning

Instant flow rate > Max permissible instant flow rate

Instant flow rate < Min permissible instant flow rate

Flow rate control output > Max permissible flow rate control output

Flow rate control output < Min permissible flow rate control output

No weight variation on refilling

Too long refilling time

Empty hopper

External totalizer output overflow

Too long dosing batch time

Full hopper

b15 … b10

Reserved (0)

• Dosing errors counter: this register counts the dosing errors that may occur during dosing cycles. This

counter can only be cleared by totalization / errors clear command, cf § alarms.

• Last dosing error: the last dosing error that occurs is stored in this register. Coding definition is equal to the

variable dosing errors report. This register can only be cleared by totalization / errors clear command, cf § functional commands.

• Dosing quality factor: every second a standard deviation of the dosing weight deviation successive values

is calculated. Lower is the value, more constant is the flow rate.

• Totalization flow rate: information of flow rate that reflects the flow rate used for totalization and can be

used for external display purpose (remote display or HMI). It has its own unity and filter.

• Grand total (Great WU): high level totalization in weight unit x 1000. This totalization can be cleared

separately by the clear grand total command. The data of this totalizer is being permanently backed up internally, cf § totalization.

• General total (Great WU): high level totalization in weight unit x 1000. This totalization can be cleared

separately by the clear general total command. The data of this totalizer is being permanently backed up internally, cf § totalization.

• Extraction time: time measurement of extraction activation, expressed in seconds. This value is cleared

each time the extraction is activated. This parameter may be used for the evaluation of the flow rate accuracy of the loss in weight feeder.

• Calibration of flow rate point n (control output value): expressed in 0.01% of maximum output current or

voltage. Up to 10 calibration points can be configured, see flow rate calibration, cf § flow rate calibration.

• Calibration of flow rate point n (flow rate value): expressed in weight unit per flow rate time unit. Up to

10 calibration points can be configured, see flow rate calibration, cf § flow rate calibration.

• Segments number for the calibration curve of flow rate: when the flow rate of an extraction device has a

nonlinear response in function of the flow rate output control, up to 9 segments can be configured, see flow rate calibration, cf § flow rate calibration.

• Reference flow rate control output start refilling: reference flow rate value corresponding to the flowrate

control output that is applied at the beginning of refilling phase in smart refill mode. In this mode, the flow rate output control value is a function of the gross weight of the hopper or silo. This parameter can be determined automatically by a learning cycle, cf § refilling.

• Reference flow rate control output end refilling: reference flow rate value corresponding to the flowrate

control output that is applied at the end of refilling phase in smart refill mode. In this mode, the flow rate output control value is a function of the gross weight of the hopper or silo. This parameter can be determined automatically by a learning cycle, cf § refilling.

• Kp : proportional coefficient of the PID controller that drives the extraction device. An increase of this

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parameter will degrade stability, reduce the rise time and increase the overshoot.

• T

: integration time constant of the PID controller that drives the extraction device, expressed in ms. An

increase of this parameter will reduce the steady state error but will degrade stability and increase time rise and overshoot.

• Td : derivate time constant of the PID controller that drives the extraction device. Adding some derivate

can improve time rise and overshoot. The great majority of extraction devices don't accept derivate correction or a very low value for the derivate term.

• PID behaviour: eNod4 is fitted with an automatic adjustment device of the PID parameters. Slow, Fast or

stable behaviour can be selected by the PID behaviour variable that takes 2, 1 or 0 values respectively.

• PID adjustment flow rate: flow rate value that will be used for the automatic adjustment of PID

parameters. In addition to the PID behaviour variable, the variable has to be defined previously to the PID parameters auto-adjustment command execution.

• Number of cycles for PID adjust: It’s the number of cycles during which PID coefficients are calculated. If

this number is large, sequence will be longer but computing accuracy will be greater. We advise to fix this number at 10.

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16 REGISTERS TABLE

Chapter

Name

Modbus

address

CANopen®

Index/sub-index

Profibus

cyclic

IN/OUT

Acyclic

DPV1

slot/index

Type

Access

Protocol

Program version

0x0000

0x100A / 0x00

R : 0x021C

0x01 / 0x05

Uint

Protocol

Address /

0x0001 0x2002 / 0x00

/ Byte

Protocol

baudrate

0x2001 / 0x00

Byte

Protocol

Serial number

(not managed)

0x0002

0x1018 / 0x04

/ / Ulong

Metrology

Legal for trade version

0x0004 LSB

0x3600 / 0x02

R : 0x0210 W: 0x0211

0x01 / 0x00

Byte

Metrology

Legal for trade switch

0x0004 MSB

0x3600 / 0x01

Byte

Metrology

Legal for trade counter

0x0005

0x3600 / 0x03

R : 0x0212

0x01 / 0x01 Uint

Metrology

Legal for trade checksum

0x0006

0x3600 / 0x04

R : 0x0214

Uint

Metrology

Zero functions

0x0007

0x3501 / 0x01

R : 0x0216 W: 0x0217

0x01 / 0x02

Uint

Metrology

Stability criterion

0x0008 LSB

0x3605 / 0x00

R : 0x0218 W: 0x0219

0x01 / 0x03

Byte

Metrology

decimal point position

0x0008 MSB

0x3700 / 0x02

Byte

Metrology

Weight unit

0x0009

0x3700 / 0x01

R : 0x041A W: 0x041B

0x01 / 0x04

String

Reserved (2 bytes)

0x000B

Calibration

Maximum capacity

0x000C

0x3002 / 0x00 (M)

R : 0x0420 W: 0x0421

0x02 / 0x00

Ulong

Calibration

Number of calibration

segments

0x000E

0x3000 / 0x00

R : 0x0222 W: 0x0223

0x02 / 0x01

Uint

Calibration

Calibration load 1

0x000F

0x3001 / 0x01 (M)

R : 0x0424 W: 0x0425

0x02 / 0x02

Ulong

Calibration

Calibration load 2

0x0011

0x3001 / 0x02

R : 0x0426 W: 0x0427

0x02 / 0x03

Ulong

Calibration

Calibration load 3

0x0013

0x3001 / 0x03

R : 0x0428 W: 0x0429

0x02 / 0x04

Ulong

Calibration

Sensor sensitivity

0x0015

0x3004 / 0x00 (M)

R : 0x042A W: 0x042B

0x02 / 0x05

Ulong

Calibration

Scale interval

0x0017

0x3003 / 0x00

R : 0x022C W: 0x022D

0x02 / 0x06

Uint

Calibration

Zero calibration

0x0018

0x3005 / 0x00

R : 0x0434 W: 0x0435

0x03 / 0x04

Long

Calibration

Span coefficient 1

0x001A

0x3006 / 0x04

R : 0x0436 W: 0x0437

0x03 / 0x05

Float

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Chapter

Name

Modbus

address

CANopen®

Index/sub-index

Profibus

cyclic

IN/OUT

Acyclic

DPV1

slot/index

Type

Access

Calibration

Span coefficient 2

0x001C

0x3006 / 0x05

R : 0x0438 W: 0x0439

0x03 / 0x06

Float

Calibration

Span coefficient 3

0x001E

0x3006 / 0x06

R : 0x043A W: 0x043B

0x03 / 0x07

Float

Calibration

Span adjusting coefficient

0x0020

0x3006 / 0x01 (M)

R : 0x042E W: 0x042F

0x03 / 0x00

Ulong

Calibration

Calibration place g value

0x0022

0x3006 / 0x02

R : 0x0430 W: 0x0431

0x03 / 0x01

Ulong

Calibration

Place of use g value

0x0024

0x3006 / 0x03

R : 0x0432 W: 0x0433

0x03 / 0x02

Ulong

Reserved (12 bytes)

0x0026

Dosing

Instant flow rate correction factor

0x002C

0x4700 / 0x02

R : 0x0476 W: 0x0477

0x07 / 0x01

Ulong

Reserved (8 bytes)

0x002D

Inputs/outputs

External value to control

analog output (IO+

version)

0x0032

0x5050 / 0x00 (M)

R : 0x023C W: 0x023D

+ See modules list

0x06 / 0x0C

Uint

Reserved (2 bytes)

0x0033

HMI

HMI name

0x0034

0x3701 / 0x00

0x0B / 0x00

String

Filtering

A/D conversion rate

0x0036

0x4000 / 0x00

R : 0x0240 W: 0x0241

0x04 / 0x00

Uint

Filtering

filters activation

0x0037 LSB

0x4001 / 0x01 (byte)

R : 0x0242 W: 0x0243

0x04 / 0x01

Byte

Filtering

Low-pass order

0x0037 MSB

0x4001 / 0x02 (byte)

Byte

Filtering

Low-pass cut-off

frequency

0x0038

0x4001 / 0x03

R : 0x0244 W: 0x0245

0x04 / 0x02

Uint

Filtering

Depth of moving average

filter on weight

0x0039

0x4001 / 0x04

R : 0x0246 W: 0x0247

0x04 / 0x03

Uint

Filtering

Tolerance of clipping filter

on instant flow rates

0x003A

0x4001 / 0x05

R : 0x0248 W: 0x0249

0x04 / 0x04

Uint

Reserved (6 bytes)

0x003B

Protocol and

functioning

mode

Functioning mode / Serial

protocol AUX/USB

0x003E

Functioning mode

0x2000/0x00

(byte)

R : 0x02E8 W: 0x02E9

0x07 / 0x39

Uint

Reserved (2 bytes)

0x003F

Inputs/outputs

Analog output functioning

(IO+ version)

0x0040

0x4509 / 0x05

R : 0x026C W: 0x026D

0x06 / 0x0B

Uint

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Chapter

Name

Modbus

address

CANopen®

Index/sub-index

Profibus

cyclic

IN/OUT

Acyclic

DPV1

slot/index

Type

Access

Inputs/outputs

Logical input 3 functioning

(IO+ version)

0x0041 LSB

0x4501 / 0x04

R : 0x026A W: 0x026B

0x05 / 0x02

byte

Inputs/outputs

Logical input 4 functioning

(IO+ version)

0x0041 MSB

0x4501 / 0x05

byte

Inputs/outputs

Logical input 1 functioning

0x0042 LSB

0x4501 / 0x02

R : 0x0250 W: 0x0251

0x05 / 0x00

byte

Inputs/outputs

Logical input 2 functioning

0x0042 MSB

0x4501 / 0x03

byte

Inputs/outputs

holding time

0x0043

0x4501 / 0x01

R : 0x0252 W: 0x0253

0x05 / 0x01

Uint

Inputs/outputs

Output 1 functioning

0x0044 LSB

0x4509 / 0x01

R : 0x0254 W: 0x0255

0x06 / 0x00

byte

Inputs/outputs

Output 2 functioning

0x0044 MSB

0x4509 / 0x02

byte

Inputs/outputs

Output 3 functioning

0x0045 LSB

0x4509 / 0x03

R : 0x0256 W: 0x0257

0x06 / 0x01

byte

Inputs/outputs

Output 4 functioning

0x0045 MSB

0x4509 / 0x04

byte

Inputs/outputs

Set point 1 high value

0x0046

0x4601 / 0x02

R : 0x025A W: 0x025B

0x06 / 0x02

Long

Inputs/outputs

Set point 1 low value

0x0048

0x4601 / 0x03

R : 0x025C W: 0x025D

0x06 / 0x03

Long

Inputs/outputs

Set point 2 high value

0x004A

0x4601 / 0x04

R : 0x025E W: 0x025F

0x06 / 0x04

Long

Inputs/outputs

Set point 2 low value

0x004C

0x4601 / 0x05

R : 0x0260 W: 0x0261

0x06 / 0x05

Long

Inputs/outputs

Set point 3 high value

0x004E

0x4609 / 0x02

R : 0x0262 W: 0x0263

0x06 / 0x06

Long

Inputs/outputs

Set point 3 low value

0x0050

0x4609 / 0x03

R : 0x0264 W: 0x0265

0x06 / 0x07

Long

Inputs/outputs

Set point 4 high value

0x0052

0x4609 / 0x04

R : 0x0266 W: 0x0267

0x06 / 0x08

Long

Inputs/outputs

Set point 4 low value

0x0054

0x4609 / 0x05

R : 0x0268 W: 0x0269

0x06 / 0x09

Long

Inputs/outputs

1&2 Set points functioning

0x0056 LSB

0x4601 / 0x01

R : 0x0258 W: 0x0259

0x06 / 0x0A

byte

Inputs/outputs

3&4 Set points functioning

0x0056 MSB

0x4609 / 0x01

byte

Inputs/outputs

Weight quantity per pulse

on logical output

0x0057

0x4707 / 0x00

R : 0x02AE W: 0x02AF

0x07 / 0x1D

Uint

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Chapter

Name

Modbus

address

CANopen®

Index/sub-index

Profibus

cyclic

IN/OUT

Acyclic

DPV1

slot/index

Type

Access

Dosing

Instant flow rate

determination time

0x0058

0x4700 / 0x01

R : 0x0274 W: 0x0275

0x07 / 0x00

Uint

Filtering

Average flow rate

determination depth

0x0059

0x4700 / 0x03

R : 0x0278 W: 0x0279

0x07 / 0x02

Uint

Metrology

Flow rate time unit

0x005A

0x3700 / 0x03

R : 0x021E W: 0x021F

0x01 / 0x06

Uint

Measures

Dynamic zero acquisition

time

0x005B

0x4708 / 0x00

R 0x02B0 W 0x02B1

0x07 / 0x1E

Uint

Dosing

Learning cycle end of refill

delay

0x005C

0x4701 / 0x01

R : 0x027A W: 0x027B

0x07 / 0x03

Uint

Dosing

Learning cycle flow rates

reference determination

time

0x005D

0x4701 / 0x02

R : 0x027C W: 0x027D

0x07 / 0x04

Uint

Dosing

End of refill and cycle start

stabilization time

0x005E

0x4701 / 0x03

R : 0x027E W: 0x027F

0x07 / 0x05

Uint

Dosing

Cycle and alarm options

0x005F

0x4701 / 0x04

R : 0x0280 W: 0x0281

0x07 / 0x06

Uint

Dosing

Refilling low level

0x0060

0x4701 / 0x05

R : 0x0482 W: 0x0483

0x07 / 0x07

Ulong

Dosing

Refilling high level

0x0062

0x4701 / 0x06

R : 0x0484 W: 0x0485

0x07 / 0x08

Ulong

Dosing

Refilling inflight value

0x0064

0x4701 / 0x07

R : 0x0486 W: 0x0487

0x07 / 0x09

long

Dosing

Fixed flow rate during

refilling

0x0066

0x4701 / 0x08

R : 0x0488 W: 0x0489

0x07 / 0x0A

float

Dosing

Empty hopper level

0x0068

0x4702 / 0x01

R : 0x048E W: 0x048F

0x07 / 0x0D

Ulong

Reserved (2 bytes)

0x006A

Dosing

Maximum time for

refilling start

0x006B

0x4703 / 0x01

R : 0x0290 W: 0x0291

0x07 / 0x0E

Uint

Dosing

Time interval for weight

variation control on

refilling

0x006C

0x4703 / 0x02

R : 0x0294 W: 0x0295

0x07 / 0x10

Uint

Dosing

Maximum refilling time

0x006D

0x4703 / 0x03

R : 0x0296 W: 0x0297

0x07 / 0x11

Uint

Dosing

Min permissible instant

flow rate

0x006E

0x4704 / 0x01

R : 0x0298 W: 0x0299

0x07 / 0x12

Uint

Dosing

Max permissible instant

flow rate

0x006F

0x4704 / 0x02

R : 0x029A W: 0x029B

0x07 / 0x13

Uint

Dosing

Min permissible flow rate

control output

0x0070

0x4704 / 0x03

R : 0x029C W: 0x029D

0x07 / 0x14

Uint

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Chapter

Name

Modbus

address

CANopen®

Index/sub-index

Profibus

cyclic

IN/OUT

Acyclic

DPV1

slot/index

Type

Access

Dosing

Max permissible flow rate

control output

0x0071

0x4704 / 0x04

R : 0x029E W: 0x029F

0x07 / 0x15

Uint

Dosing

Inhibit time of flow rates

alarms at start

0x0072

0x4704 / 0x05

R : 0x02A0 W: 0x02A1

0x07 / 0x16

Uint

Dosing

Inhibit time of flow rates

alarms in service

0x0073

0x4704 / 0x06

R : 0x02A2 W: 0x02A3

0x07 / 0x17

Uint

Dosing

Maximum batch time

0x0074

0x4704 / 0x07

R : 0x02A4 W: 0x02A5

0x07 / 0x18

Uint

Dosing

Weight to totalize (Great

WU)

0x0075

0x4705 / 0x01

R : 0x04A6 W: 0x04A7

0x07 / 0x19

Ulong

Dosing

Complementary weight to

totalize

0x0077

0x4705 / 0x02

R : 0x02A8 W: 0x02A9

0x07 / 0x1A

Uint

Dosing

Weight to totalize inflight

value

0x0078

0x4705 / 0x03

R : 0x04AA W: 0x04AB

0x07 / 0x1B

long

Dosing

Nominal flow rate

0x007A

0x4706 / 0x00

R : 0x04AC W: 0x04AD

0x07 / 0x1C

float

Reserved (2 bytes)

0x007C

Measures

Measurement status

0x007D

0x5003 / 0x00 (M)

Module 1 (2 first bytes)

Uint

Measures

Gross measurement

0x007E

0x5001 / 0x00 (M)

Module 1 (4 last bytes)

Long

Measures

Tare value

0x0080

0x5004 / 0x01 (M)

R 0x0470

Long

Measures

Net measurement

0x0082

0x5000 / 0x00 (M)

Module 2 (4 bytes from 3rd)

Long

Measures

Factory calibrated points

0x0084

0x5002 / 0x00 (M)

Module 2 (4 last bytes)

Long

Dosing

Instant flow rate

0x0086

0x5005 / 0x01 (M)

R : 0x0400

+ See modules list

float

Dosing

Average flow rate

0x0088

0x5005 / 0x02 (M)

R : 0x046E

+ See modules list

float

Dosing

Flow rate control output

0x008A

0x5005 / 0x03 (M)

R : 0x04EA

+ See modules list

float

Dosing

Control output value

0x008C

0x5005 / 0x04 (M)

R : 0x02EC

+ See modules list

Uint

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Chapter

Name

Modbus

address

CANopen®

Index/sub-index

Profibus

cyclic

IN/OUT

Acyclic

DPV1

slot/index

Type

Access

Dosing

Totalizer value (Great

WU)

0x008D

0x5006 / 0x01 (M)

R : 0x04F0

+ See modules list

Ulong

Dosing

Complementary totalizer

value

0x008F

0x5006 / 0x02 (M)

R : 0x02F2

+ See modules list

Uint

Commands

Command register

0x0090

0x2003 / 0x00 (M)

Module 6

Uint

Commands

Response register

0x0091

0x2004 / 0x00 (M)

Module 6

Uint

Calibration

Zero offset

0x0092

0x2500 / 0x00 (M)

R : 0x0472 W: 0x0473

0x03 / 0x03

Long

Inputs/outputs

Logical input level

0x0094 LSB

0x5100 / 0x00 (M)

Module 2

Byte

Inputs/outputs

Logical ouput level

0x0094 MSB

0x5200 / 0x00 (M)

Byte

Dosing

Dosing weight deviation

0x0095

0x5007 / 0x05 (M)

R : 0x04FA

+ See modules list

float

Measures

Preset Tare

0x0097

0x5004 / 0x02 (M)

R : 0x04C4 W : 0x04C5

0x03 / 0x08

Ulong

Reserved (2 bytes)

0x0099

Dosing

Dosing status

0x009A

0x5007 / 0x01 (M)

R : 0x02FC

+ See modules list

Uint

Dosing

Dosing errors report

0x009B

0x5007 / 0x02 (M)

R : 0x02FE

+ See modules list

Uint

Dosing

Dosing errors counter

0x009C

0x5007 / 0x03 (M)

R : 0x023E

+ See modules list

Uint

Dosing

Last dosing error

0x009D

0x5007 / 0x05 (M)

R : 0x024A

+ See modules list

Uint

Dosing

Dosing quality factor

0x009E

0x5005 / 0x04 (M)

R : 0x04EE

+ See modules list

float

Dosing

Totalization flow rate

0x00A0

0x5006 / 0x03 (M)

R : 0x04F8

+ See modules list

float

Dosing

Grand total (Great WU)

0x00A2

0x5006 / 0x04 (M)

R : 0x04F4

+ See modules list

Ulong

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Chapter

Name

Modbus

address

CANopen®

Index/sub-index

Profibus

cyclic

IN/OUT

Acyclic

DPV1

slot/index

Type

Access

Dosing

General total (Great WU)

0x00A4

0x5006 / 0x05 (M)

R : 0x04F6

+ See modules list

Ulong

Dosing

Extraction time

0x00A6

0x5007 / 0x06 (M)

R : 0x0402

float

Reserved (16 bytes)

0x00AE

**************************** SAUT TABLE D'ADRESSE MODBUS *************************************

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Chapter

Name

Modbus

address

CANopen®

Index/sub-index

Profibus

cyclic

IN/OUT

Acyclic

DPV1

slot/index

Type

Access

Dosing

Calibration of flow rate

point 1 (control output

value)

0x0A00

0x470A / 0x01

R : 0x02B4 W: 0x02B5

0x07 / 0x20

Uint

Dosing

Calibration of flow rate

point 2 (control output

value)

0x0A01

0x470A / 0x02

R : 0x02B6 W: 0x02B7

0x07 / 0x21

Uint

Dosing

Calibration of flow rate

point 3 (control output

value)

0x0A02

0x470A / 0x03

R : 0x02B8 W: 0x02B9

0x07 / 0x22

Uint

Dosing

Calibration of flow rate

point 4 (control output

value)

0x0A03

0x470A / 0x04

R : 0x02BA W: 0x02BB

0x07 / 0x23

Uint

Dosing

Calibration of flow rate

point 5 (control output

value)

0x0A04

0x470A / 0x05

R : 0x02BC W: 0x02BD

0x07 / 0x24

Uint

Dosing

Calibration of flow rate

point 6 (control output

value)

0x0A05

0x470A / 0x06

R : 0x02BE W: 0x02BF

0x07 / 0x25

Uint

Dosing

Calibration of flow rate

point 7 (control output

value)

0x0A06

0x470A / 0x07

R : 0x02C0 W: 0x02C1

0x07 / 0x26

Uint

Dosing

Calibration of flow rate

point 8 (control output

value)

0x0A07

0x470A / 0x08

R : 0x02C2 W: 0x02C3

0x07 / 0x27

Uint

Dosing

Calibration of flow rate

point 9 (control output

value)

0x0A08

0x470A / 0x09

R : 0x02C6 W: 0x02C7

0x07 / 0x28

Uint

Dosing

Calibration of flow rate

point 10 (control output

value)

0x0A09

0x470A / 0x0A

R : 0x02C8 W: 0x02C9

0x07 / 0x29

Uint

Dosing

Calibration of flow rate

point 1

(flow rate value)

0x0A0A

0x470B / 0x01

R : 0x04CA W: 0x04CB

0x07 / 0x2A

float

Dosing

Calibration of flow rate

point 2

(flow rate value)

0x0A0C

0x470B / 0x02

R : 0x04CC W: 0x04CD

0x07 / 0x2B

float

Dosing

Calibration of flow rate

point 3

(flow rate value)

0x0A0E

0x470B / 0x03

R : 0x04CE W: 0x04CF

0x07 / 0x2C

float

Dosing

Calibration of flow rate

point 4

(flow rate value)

0x0A10

0x470B / 0x04

R : 0x04D0 W: 0x04D1

0x07 / 0x2D

float

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Chapter

Name

Modbus

address

CANopen®

Index/sub-index

Profibus

cyclic

IN/OUT

Acyclic

DPV1

slot/index

Type

Access

Dosing

Calibration of flow rate

point 5

(flow rate value)

0x0A12

0x470B / 0x05

R : 0x04D2 W: 0x04D3

0x07 / 0x2E

float

Dosing

Calibration of flow rate

point 6

(flow rate value)

0x0A14

0x470B / 0x06

R : 0x04D4 W: 0x04D5

0x07 / 0x2F

float

Dosing

Calibration of flow rate

point 7

(flow rate value)

0x0A16

0x470B / 0x07

R : 0x04D6 W: 0x04D7

0x07 / 0x30

float

Dosing

Calibration of flow rate

point 8

(flow rate value)

0x0A18

0x470B / 0x08

R : 0x04D8 W: 0x04D9

0x07 / 0x31

float

Dosing

Calibration of flow rate

point 9

(flow rate value)

0x0A1A

0x470B / 0x09

R : 0x04DA W: 0x04DB

0x07 / 0x32

float

Dosing

Calibration of flow rate

point 10 (flow rate value)

0x0A1C

0x470B / 0x0A

R : 0x04DC W: 0x04DD

0x07 / 0x33

float

Dosing

Segments number for the

calibration curve of flow

rate

0x0A1E

0x4709 / 0x00

R : 0x02B2 W: 0x02B3

0x07 / 0x1F

Uint

Reserved (36 bytes)

0x0A1F

Dosing

Reference flow rate control output start

refilling

0x0A31

0x4701 / 0x09

R : 0x048A W: 0x048B

0x07 / 0x0B

float

Dosing

Reference flow rate

control output end

refilling

0x0A33

0x4701 / 0x0A

R : 0x048C W: 0x048D

0x07 / 0x0C

float

Dosing

0x0A35

0x470C / 0x01

R : 0x04DE W: 0x04DF

0x07 / 0x34

float

Dosing

0x0A37

0x470C / 0x02

R : 0x04E0 W: 0x04E1

0x07 / 0x35

Ulong

Dosing

0x0A39

0x470C / 0x03

R : 0x04E2 W: 0x04E3

0x07 / 0x36

Ulong

Dosing

PID behavior

0x0A3B

0x470C / 0x04

R : 0x02E4 W: 0x02E5

0x07 / 0x37

Uint

Dosing

PID adjustment flow rate

0x0A3C

0x470C / 0x05

R : 0x04E6 W: 0x04E7

0x07 / 0x38

float

Dosing

Full hopper level

0x0A3E

0x4702 / 0x02

R : 0x0404 W: 0x0405

0x07 / 0x0F

Ulong

Reserved (8 bytes)

0x0A40

Measures

Sensor input control

reference

0x0A44

0x5004 / 0x03 (M)

R : 0x044C W: 0x044D

0x0A / 0x00

long

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Chapter

Name

Modbus

address

CANopen®

Index/sub-index

Profibus

cyclic

IN/OUT

Acyclic

DPV1

slot/index

Type

Access

Measures

Sensor input control result

0x0A46

0x5004 / 0x04 (M)

R : 0x024E

0x0A / 0x01

Int

Measures

Sensor input control result

max. tolerance

0x0A47

0x5004 / 0x05

R: 0x020A W: 0x020B

0x0A / 0x02

Uint

Measures &

Inputs/

outputs

Defective measurement

debounced time

0x0A48

0x4509 / 0x06

R:0x02EC W:0x02ED

0x06 / 0x0D

Uint

Measures &

Inputs/

outputs

Defective measurement

alarm activation time

0x0A49

0x4509 / 0x07

R:0x02EE W:0x02EF

0x06 / 0x0E

Uint

Dosing

Number of cycles for

adjustment PID

0x0A50

0x470C / 0x06

0x0B / 0x01

Uint

Measures

Cut-off frequency for

totalization flow rate

(x100)

0x0A51

0x4001 / 0x06

0x0B / 0x02

Uint

Measures

Time unit for totalization

flow rate

0x0A52

0x3700 / 0x04

0x0B / 0x03

Uint

Measures

Weight unit for

totalization flow rate

0x0A53

0x3700 / 0x05

0x0B / 0x04

Ulong

Reserved (8 bytes)

0x0A4A

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17 CRC-16 CALCULATION ALGORITHM

FFFFh → CRC16

CRC16 XOR octet n → CRC16

i = 0

Décalage à gauche CRC-16

carry over ?

CRC16 XOR A001h → CRC16

oui

non

i = i + 1

i = 8 ?

non

oui

n = n + 1

Fin du

message ?

non

oui

FIN