WIKA D-21-9 User Manual
Programming
of
D-20-9/D-21-9
D-20-9
D-21-9
Pressure transmitter with
CANopen Interface
Additional instructions
D-20-9
with integrated
Y-Piece
with DIP-switch
D-20-9 / D-21-9 GB
WIKA Alexander
Wiegand GmbH & Co. KG
2092169.02 GB 09/2004
This instruction only contains additional information about the programming of D-20-9/D-21-9 CANopen
pressure transmitter. For the standard information please refer to operating instructions No. 2059064.
Operating instruction (No. 2059064)
Download version Printed version
Alexander-Wiegand-Straße 30
63911 Klingenberg / Germany
Tel. (+49) 93 72/132-6108
Fax (+49) 93 72/132-706
E-Mail support-tronic@wika.de
www.wika.de
WIKA Additional Instructions Pressure Transmitter with CANopen Interface D-20-9 / D-21-9 2
D-20-9 / D-21-9 GB
Content
1. Process Data Object (PDO) 5
Data Types 5
Change of PDO-Mapping: 6
PDO Transmission Types (Object 1800h, subindex 2) 6
2. Service Data Object (SDO) 7
Read Object 7
Write Object 7
Abort SDO Transfer 7
Abort Codes 7
3. Object Dictionary – Communication Profile Area 8
1000h Device Type 8
1001h Error Register 8
1005h COB-ID SYNC message 9
1008h Manufacturer Device Name 9
1009h Manufacturer Hardware Version 10
100Ah Manufacturer Software Version 10
100Ch Guard Time 11
100Dh Life Time Factor 11
1010h Store Parameters 12
1011h Restore Default Parameters 13
1014h COB-ID Emergency Object 14
1017h Producer Heartbeat Time 14
1018h Identity Object 15
1800h Transmit PDO Communication Parameter 16
1A00h Transmit PDO Mapping Parameter 17
4. Object Dictionary – Manufacturer Specific Area 18
2010h Minimum allowed Pressure 18
2011h Maximum allowed Pressure 18
2020h Min. Value Storage 20
2021h Max. Value Storage 20
2080h Uncompensated AD-Value 20
2090h Process Value as Integer 21
2100h User Device Name 21
2201h Last Calibration Date Year 22
2202h Last Calibration Date Month 22
2203h Last Calibration Date Day 22
2207h Date of Production Year 23
2208h Date of Production Month 23
2209h Date of Production Day 23
2320h Configure Node-ID 24
2321h Configure Bit Timing 24
2330h Auto-Operational 26
5. Object Dictionary – Device Profile Area 27
7100h AI Input FV 27
7120h AI Input Scaling 1 FV 27
6121h AI Input Scaling 1 PV 28
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7122h AI Input Scaling 2 FV 28
6123h AI Input Scaling 2 PV 29
6124h AI Input Offset 29
6125h AI Autozero 30
6130h AI Input PV 30
6131h AI Physical Unit PV 31
6132h AI Decimal Digits 32
6148h AI Span Start 32
6149h AI Span End 33
61A0h AI Filter Type 34
61A1h AI Filter Constant 34
6. Calibration 35
Input Scaling 35
Input Offset 37
Input Autozero 37
7. Filter 38
8. Emergency Object (EMCY) 39
9. Network Management Objects 40
Module Control Services 40
Error Control Services 42
Bootup Service 44
10. Layer Setting Services (LSS) 45
LSS Address 45
Switch Mode Services 45
Configuration Services 45
LSS Protocol Descriptions 46
Example 50
11. References 51
12. Definitions and abbreviations 51
13. History 51
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1. Process Data Object (PDO)
ID DLC Byte0 Byte1 Byte2 Byte3
ID 4
LSB MSB
process value
The structure of the synchronous and asynchronous PDO is identical.
The identifier of the PDO can be set via object 1800h.
Factory-set: 180h + NID
Byte 0 to byte 3 contains the currently configured process value.
The default settings are configured to object 2090h subindex 0 (process value as integer).
The coding corresponds to DS301, chapter 9.1.4.5 “Signed Integer”
The user can switch the mapping to object 6130h subindex 1 (process value as float).
Then the coding corresponds to DS301, chapter 9.1.4.6 “Floating Point Numbers”
For further information about the data types see description below.
Data Types
Signed Integer
Byte0 Byte1 Byte2 Byte3
Integer32 b7..b0b15..b8b23..b16b31..b
The data is represented as bit sequence of length 32.
24
The bit sequence b = b0 .. b31 is assigned the value
INTEGER32(b) = b30*2
30
+ … + b1*21 + b0*20 if b31=0
and, performing two’s complement arithmetic,
INTEGER32(b) = - INTEGER32(^b)-1 if b31=1
Floating Point Numbers
Byte0 Byte1 Byte2 Byte3
Real32 b7..b0b15..b8b23..b16b31..b
24
The data type REAL32 is represented as bit sequence of length 32.
The encoding of values follows the IEEE 754-1985 Standard for single precision floating-point.
The bit sequence b = b0 .. b31 is assigned the value
REAL32(b ) = (-1)S * 2
E-127
* (1+F)
Here
S = b31 is the sign.
E = b30*27 + …+ b23*20; 0 < E < 255; is the un-biased exponent.
-23
F = 2
*(b22*222 + …+ b1*21 + b0*20) is the fractional part of the number.
WIKA Additional Instructions Pressure Transmitter with CANopen Interface D-20-9 / D-21-9 5
D-20-9 / D-21-9 GB
Change of PDO-Mapping:
- the device has to be in the PRE-OPERATIONAL mode
- deactivate currently mapped object by writing 0 to object 1A00h subindex 0
- mapping is deactivated, PDO does not supply any data; DLC = 0
- Write desired object to subindex 1 of object 1A00h (INTEGER32: 2090 00 20h / REAL32: 6130 01 20)
- Finally the mapping has to be reactivated by writing 1 to object 1A00h subindex 0
The physical unit of the process value can be configured via object 6131h “Physical Unit Process Value”
The decimal digits can be changed via object 6132h “AI Decimal Digits”
PDO Transmission Types (Object 1800h, subindex 2)
Synchronous Transmission:
A transmission type of n (1 … 240) means that the message is transmitted with every n-th SYNC object.
Asynchronous Transmission:
A transmission type of 254 means that the message will be send after the event timer elapses. The event
timer can be configured via object 1800h subindex 5.
WIKA Additional Instructions Pressure Transmitter with CANopen Interface D-20-9 / D-21-9 6
D-20-9 / D-21-9 GB
2. Service Data Object (SDO)
With Service Data Objects the access to entries of a device’s object dictionary is provided.
Read Object
Master sends
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
600h
+
Node-ID
Transmitter answers
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
580h
+
Node-ID
8
8
CS =
40h
CS =
42h
LSB MSB
Index
LSB MSB LSB MSB
Index
Sub-
Index
Sub-
Index
00h 00h 00h 00h
Data
Write Object
Master sends
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
600h
+
Node-ID
Transmitter answers
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
580h
+
Node-ID
8
8
CS =
22h
CS =
60h
LSB MSB LSB MSB
Index
LSB MSB
Index
Sub-
Index
Sub-
Index
Data
00h 00h 00h 00h
Abort SDO Transfer
If an error occurred while reading or writing an object, the transmitter answers:
ID DLC Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
600h
+
Node-ID
8
CS =
80h
LSB MSB LSB MSB
Index
Sub-
Index
Abort Code
Abort Codes
0504 0001h Client/server command specifier not valid or unknown
0601 0001h Attempt to read a write only object
0601 0002h Attempt to write a read only object
0602 0000h Object does not exist in the object dictionary
0606 0000h Access failed due to an hardware error
0609 0011h Sub-index does not exist
0609 0030h Value range of parameter exceeded
0800 0020h Data cannot be transferred or stored to the application
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3. Object Dictionary – Communication Profile Area
(according CiA DS301 V4.02)
1000h Device Type
Object description
This object describes the type of device and its functionality. It is composed of a 16-bit field which describes
the device profile that is used and a second 16-bit field which gives additional information about optional
functionality of the device. The additional information parameter specifies the implemented function blocks.
Entry description
Access ro
PDO Mapping No
Data Type UNSIGNED 32
Default Value 0002 0194h
Data
MSB LSB
Additional Information Device Profile Number
0002h 0194h
Device Profile 404
Analogue Input Block
1001h Error Register
Object description
This object is an error register for the device. The device maps internal errors in this byte. It is a part of an
emergency object.
Entry description
Access ro
PDO Mapping No
Data Type UNSIGNED 8
Default Value 00h
Data
MSB LSB
00h 00h 00h
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Error
Register
00h: no error
01h: generic error
not used (always 0)
D-20-9 / D-21-9 GB
1005h COB-ID SYNC message
Object description
This Index defines the COB-ID of the Synchronisation Object (SYNC).
Entry description
Access ro
PDO Mapping No
Data Type UNSIGNED 32
Default Value 00 00 00 80h
Data
MSB LSB
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0
always 0 11-bit identifier (80h)
0 : 11-bit identifier
0 : Device doesn’t generate
SYNC
1008h Manufacturer Device Name
Object description
Contains the manufacturer device name.
Entry description
Access ro
PDO Mapping No
Data Type Visible String
Default Value "D2X9"
Data
MSB LSB
39h
"9"
58h
"X"
32h
"2"
44h
"D"
0 : don’t care (always 0)
"D2X9"
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D-20-9 / D-21-9 GB
1009h Manufacturer Hardware Version
Object description
Contains the manufacturer hardware version description.
Entry description
Access ro
PDO Mapping No
Data Type Visible String
Default Value No
Data
MSB LSB
z y x w
Byte 4-7 contain the hardware version: wx.yz
100Ah Manufacturer Software Version
Object description
Contains the manufacturer software version description.
Entry description
Access ro
PDO Mapping No
Data Type Visible String
Default Value No
Data
MSB LSB
z y x w
Byte 4-7 contain the software version: wx.yz
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D-20-9 / D-21-9 GB
100Ch Guard Time
Object description
The objects at index 100Ch and 100Dh include the guard time in milliseconds and the life time factor. The life
time factor multiplied with the guard time gives the life time for the Life Guarding Protocol. It is 0 if not used.
Entry description
Access rw*
PDO Mapping No
Data Type UNSIGNED 16
Default Value 0
* Write access to this object is only allowed, if object 1017h producer heartbeat time is 0.
Changed parameters are not automatically stored, but they have to be stored via object 1010h Store
Parameters.
Furthermore the device can be reset to the factory settings via object 1011h Restore Default Parameters.
Data
MSB LSB
00h 00h Guard Time in ms
100Dh Life Time Factor
Object description
The life time factor multiplied with the guard time gives the life time for the node guarding protocol. It is 0 if not
used.
Entry description
Access rw*
PDO Mapping No
Data Type UNSIGNED 8
Default Value 0
* Write access to this object is only allowed, if object 1017h producer heartbeat time is 0.
Changed parameters are not automatically stored, but they have to be stored via object 1010h Store
Parameters.
Furthermore the device can be reset to the factory settings via object 1011h Restore Default Parameters.
Data
MSB LSB
00h 00h 00h
Life Time
Factor
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D-20-9 / D-21-9 GB
1010h Store Parameters
Object description
This object supports the saving of parameters in non volatile memory. By read access the device provides
information about its saving capabilities.
Entry description
Sub-Index 00h
Name number of entries
Access ro
PDO Mapping No
Data Type UNSIGNED 8
Default Value 01h
Sub-Index 01h
Name save all parameters
Access rw
PDO Mapping No
Data Type UNSIGNED 32
Default Value 01h
In order to avoid storage of parameters by mistake, storage is only executed when the signature "save" is
written to Subindex 1.
Data
MSB LSB
65h
"e"
76h
"v"
61h
"a"
73h
"s"
"save"
On reception of the correct signature in sub-index 1 the device stores the parameter and then confirms the
SDO transmission (initiate download response). If the storing failed, the device responds with an Abort SDO
Transfer (abort code: 0606 0000h). If a wrong signature is written, the device refuses to store and responds
with Abort SDO Transfer (abort code: 0800 002xh).
On read access to Sub-Index 1 the device provides information about its storage functionality with the
following format:
Data
MSB LSB
00h 00h 00h 01h
Device does not save parameters
autonomously
Device saves parameters on command
The Storage affects the following objects:
100Ch Guard Time 6114h AI ADC Sample Rate
100Dh Life Time Factor 6121h AI Input Scaling 1 PV
1017h Producer Heartbeat Time 6123h AI Input Scaling 2 PV
1800h Transmit PDO Communication Parameters 6124h Input Offset
1A00h Transmit PDO Mapping Parameter 6131h AI Physical Unit PV
2010h Minimum Allowed Pressure 6132h Decimal Digits
2011h Maximum Allowed Pressure 61A1h AI Filter Constant
2330h Auto-Operational
WIKA Additional Instructions Pressure Transmitter with CANopen Interface D-20-9 / D-21-9 12
D-20-9 / D-21-9 GB
1011h Restore Default Parameters
Object description
With this object the default values of parameters according to the communication and device profile are
restored. By read access the device provides information about its capabilities to restore these values.
Entry description
Sub-Index 00h
Name number of entries
Access ro
PDO Mapping No
Data Type UNSIGNED 8
Default Value 01h
Sub-Index 01h
Name restore all default parameters
Access rw
PDO Mapping No
Data Type UNSIGNED 32
Default Value 01h
In order to avoid the restoring of default parameters by mistake, restoring is only executed when the signature
"load" is written to sub-index 1.
Data
MSB LSB
64h
"d"
61h
"a"
6Fh
"o"
6Ch
"l"
"load"
On reception of the correct signature in sub-index 1 the device restores the default parameters and then
confirms the SDO transmission (initiate download response). If the restoring failed, the device responds with
an Abort SDO Transfer (abort code: 0606 0000h). If a wrong signature is written, the device refuses to restore
the defaults and responds with an Abort SDO Transfer (abort code: 0800 002xh).
The default values are set valid after the device is reset (reset node or power cycled)
On read access to sub-index 1 the device provides information about its default parameter restoring capability
with the following format:
Data
MSB LSB
00h 00h 00h 01h
Device restores parameters
The Storage affects the following objects:
100Ch Guard Time 6114h AI ADC Sample Rate
100Dh Life Time Factor 6121h AI Input Scaling 1 PV
1017h Producer Heartbeat Time 6123h AI Input Scaling 2 PV
1800h Transmit PDO Communication Parameters 6124h Input Offset
1A00h Transmit PDO Mapping Parameter 6131h AI Physical Unit PV
2010h Minimum A llowed Pressure 6132h Decimal Digits
2011h Maximum Allowed Pressure 61A1h AI Filter Constant
2330h Auto-Operational
WIKA Additional Instructions Pressure Transmitter with CANopen Interface D-20-9 / D-21-9 13
D-20-9 / D-21-9 GB
1014h COB-ID Emergency Object
Object description
This Index defines the COB-ID of the Emergency Object (EMCY).
Entry description
Access ro
PDO Mapping No
Data Type UNSIGNED 32
Default Value 80h + Node-ID
Data
MSB LSB
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0
always 0 11-bit identifier (80h)
0 : 11-bit identifier
0 : reserved (always 0)
0 : EMCY exists / is valid
1017h Producer Heartbeat Time
Object description
The producer heartbeat time defines the cycle time of the heartbeat in milliseconds. The producer heartbeat
time is 0 if it is not used.
Entry description
Access rw*
PDO Mapping No
Data Type UNSIGNED 16
Default Value 0
* Write access to this object is only allowed, if object 100Ch Guard Time and 100Dh Life Time Factor are 0.
Changed parameters are not automatically stored, but they have to be stored via object 1010h Store
Parameters.
Furthermore the device can be reset to the factory settings via object 1011h Restore Default Parameters.
Data
MSB LSB
00h 00h
Producer Heartbeat
Time in ms
WIKA Additional Instructions Pressure Transmitter with CANopen Interface D-20-9 / D-21-9 14
D-20-9 / D-21-9 GB
1018h Identity Object
Object description
This object contains general information about the device. The Vendor ID (sub-index 1h) contains a unique
value allocated to each manufacturer (WIKA: 47h). The manufacturer-specific Product code (sub-index 2h)
identifies a specific device version (Product label: P#). The manufacturer-specific Revision number (sub-index
3h) consists of a major revision number and a minor revision number. The major revision number identifies a
specific CANopen behaviour. If the CANopen functionality is expanded, the major revision has to be
incremented. The minor revision number identifies different versions with the same CANopen behaviour. The
manufacturer-specific Serial number (sub-index 4h) identifies a specific device (Product label: S#).
Entry description
Sub-Index 00h
Name number of entries
Access ro
PDO Mapping No
Data Type UNSIGNED 8
Default Value 04h
Sub-Index 01h
Name Vendor ID
Access ro
PDO Mapping No
Data Type UNSIGNED 32
Default Value 00 00 00 47h
Sub-Index 02h
Name Product Code
Access ro
PDO Mapping No
Data Type UNSIGNED 32
Default Value No
Sub-Index 03h
Name Revision Number
Access ro
PDO Mapping No
Data Type UNSIGNED 32
Default Value No
Sub-Index 04h
Name Serial Number
Access ro
PDO Mapping No
Data Type UNSIGNED 32
Default Value No
WIKA Additional Instructions Pressure Transmitter with CANopen Interface D-20-9 / D-21-9 15
D-20-9 / D-21-9 GB
1800h Transmit PDO Communication Parameter
Object description
This object contains the communication parameters for the PDO the device is able to transmit.
Entry description
Sub-Index 00h
Name number of entries
Access ro
PDO Mapping No
Data Type UNSIGNED 8
Default Value 04h
Sub-Index 01h
Name COB-ID used by PDO
Access rw
PDO Mapping No
Data Type UNSIGNED 32
Default Value 180h + Node-ID
Sub-Index 02h
Name Transmission Type
Access rw
PDO Mapping No
Data Type UNSIGNED 8
Default Value 01h
Sub-Index 05h
Name Event Timer
Access rw
PDO Mapping No
Data Type UNSIGNED 16
Default Value 0
Changed parameters are not automatically stored, but they have to be stored via object 1010h Store
Parameters.
Furthermore the device can be reset to the factory settings via object 1011h Restore Default Parameters.
(see also: 1. Process Data Object)
WIKA Additional Instructions Pressure Transmitter with CANopen Interface D-20-9 / D-21-9 16
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