A TEMPOSONICS R

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1 m Sensor Techlogie TEMPOSONICS R 9 A R Series CANopen DS6 V. Operating Manual Configuration and CAN-Bus Coupling

2 TEMPOSONICS R-Serie CANopen DS6 Index CAN Bus Interface System description Configuration of Node Configuration of Pcess Emergency-Object 6 Pcess-Data-Object 7 Object dictionary 8 Communication Pfile Area 6 9 Device Pfile Area DS6 8 Getting started Connection diagram Diagse Leds CAN Bus Interface The CAN-Bus (Contller Area Network) has big advantages against conventional connection systems with I/O-Ports. The I/O- Ports are changed against a busmodule. This reduces installationand maintenance costs. The data excange is more efficient and more flexible. CAN is a seriel bus system (international standardized: ISO 898) for networking smart sensors, actuators and subsystems. All sensors and actuators are connected to the contler with only one bus cable. Once developed to reduce the complex loop of cables, he w overcomes the limits of the conventional connection of sensors to the contler. In the automation industrie there are more and more bus-systems used for the data transmission between different measurement and contl circuits. SOF Arbitration Contl Data Field CRC ACK EOF Interframe Space 6..8 Bytes 7 CAN Bus data ptocol page

3 TEMPOSONICS R-Serie CANopen DS6 System description The magnetostrictive transducer TEMPOSONICS R-Series can be connected to a CAN bus and acts as a de in this bus system. The sensor can be connected to CAN networks with CANopen ptocol (according to CiA standard ). The in the transducer integrated evaluation electnic converts the position data fm the sensor element to CAN messages and transmits them on the CAN bus. These messages will be received and handled by the contler. The sensor has an own LMT/LSS address which guarantees an unique identification inside the CAN network. These address consists of: LMT Address: Manufacturer: MTSGmbH Pduct: T_C Serial Number.: 98 LSS Address: Vendor-ID: Pduct Code: x x (C) Revision Number: x Serial Number: The following communication objects are used for data transmission on the CAN bus: SDO (Service Data Object) The SDO messages are used for read and write access to all entries of the object dictionary. The main usage of this facility is device configuration. PDO (Pcess Data Object) The real-time data transfer of position, velocity and limit switch states is performed by PDO messages. Which kind of data are transmitted in the maximum 8 byte wide data blocks can be configured over SDO messages. SYNC-Object The SYNC object is badcasted periodically by the synchnisation device to all application devices. Synchus PDOs will be transmitted to the contller after receiving the SYNC message. Emergency-Object Emergency messages are triggered by the occurence of a device internal fatal err situation and are transmitted fm the concerned application device to the other devices with highest priority. This makes them suitable for interrupt type err alerts. Nodeguard-Object The Nodeguard object is used to monitor the whole network state. The Nodeguard object is sent cyclic to detect the sensor that the contler works well. On a missing Nodeguard object (i. e. contller stopped) the sensor automaticly can stop PDO data transmission to reduce the busload. Configuration of Node Each sensor (de) is defined in the CAN network unique by the LMT/LSS address. The LMT address consists of manufacturer name, pduct name and serial number. The LSS address consists of Vendor-ID, Pduct code, Revision Number and Serial Number. The CAN bus specific like baud rate and de address (NodeID) can be configured and stored by the LMT/LSS service utines. Configure Baudrate The maximum possible baudrate depends on the cable length of the whole CAN network. The sensor is shipped with a baud rate defined in the order by the customer. These baudrate is printed on the transducer label. If necessary the baud rate can be changed by using the LMT/LSS services. Please use the table given in DS of the LMT ptocol. Cable length baudrate [kbit/s] < m. < m 8 < m < m < m < m < m Baudrate according to cable length (CiA DS ) Configure Node ID Each de must get its own de identifier (NodeID). It is for the identification of the des in a CANopen network. Each NodeId can assigned only once in a CAN network. The NodeID can be in an area between 7. The default NodeId is set on 7 when shipping the sensor. Hint: The pgramming of the baudrates is according to the LMT ptocol. page

4 TEMPOSONICS R-Serie CANopen DS6 Configuration of Pcess During the boot up phase (powen, reset) the sensor overtakes the pcess stored in the EEPROM. These are on the first power up the default or later the changed and stored data. The different identifier will be generated automatically if the NodeId will be changed. They can be changed later by using SDO services. The encoder communication pfile (Device Pfile for Encoder DS6 Vers..) is implemented in these sensors. The advantage of this pfile is, that different devices fm different manufacturers can be connected together or changed against other devices with this pfile, because all devices with the same communication pfile have nearly the same. How to pgram which kind of operating is described in the following object dictionary. PDO-transmission type The default value for the PDO transmission type is asynchus. This means that the sensor transmits its pcess data cyclic with a pgrammed cycle time. It is possible to set the PDO transmission type synchus after receiving a SYNC message. Event Timer/Cyclic timer The cycle time defines the the transmission period for all asynchus PDOs. A cyclic transmission of the position value is set, when the cyclic timer is pgrammed >. Values between and 6 ms can be selected. Changes in Object 6 have only effects on PDO (see DS6 V.) PDO Object-Mapping The default values for the PDO mapping objects are set that PDO to PDO transmits the position, the velocity and the limit switch status of magnet to magnet. It is possible to change these mapping. The maximum data length for each PDO is 8 byte. Work area limits It is possible to pgram the transducer with a work area. If one or both of the magnets will leave these work area it is indicated by the sensor with an extra message. This prevents that magnet can leave the work area without detection. Definition of limits It is possible to pgram the low limits and the polarity of CAMs. Therefore a fast comparison between set point and actual value is realized. Err messages The sensor itself transmits automatically emergency objects, if an err occured. These errs can be sensor specific or communication specific. Emergency-Object After starting the system (powen, reset) the sensor transmits an emergency object without any data (power-on message) to indicate the contler that he is present in the network. Later the transmission of emergency objects is triggered by a changement of the internal err status register (also if an occured err is removed). An emergencyobjekt consists of 8 data byte and is build like shown. Byte... 7 contens Err code Err register Manufacturer specific Contents of an emergency-object The following err messages can be set in the emergency object of TEMPOSONICS R-Series sensors: Err code Meaning No err Device Hardware (i.e. magnet) 8 Communications err Main voltage err 8 Life guard err 6 Data set err 8 Node in CAN passive mode page

5 TEMPOSONICS R-Serie CANopen DS6 Pcess-Data-Object (PDO) The Temposonics R-Series transducer pvides four pzessdata-objects (PDOs). These PDOs can contain position data, velocity data or limit switch status data. The configuration of each PDO can be done by the user himself. By using the SDO services it is possible to give each PDO ist own mapping. Data formats The resolution of the position data is according to the value in the ordering guide. According to the resolution of the position data is the resolution of the velocity. The pgramed values can be read at index 6 of the object dictionary. The position data output is a bit integer value; the volocity data output is a 6 bit integer value. The limit switch status is a 8 bit value within bit.. corresponds to the limit switch... Byte 6 7 PDO Position Velocity Limit status free Magnet Magnet Magnet PDO Position Velocity Limit status free Magnet Magnet Magnet PDO Position Velocity Limit status free Magnet Magnet Magnet PDO Position Velocity Limit status free Magnet Magnet Magnet Default PDO mapping Object dictionary The following object dictionary of the TEMPOSONIC R-Series transducer is devided into two parts. These parts are: Communication Pfile and Device Pfile. The Communication Pfile describes all necessary for the communication like setting identifier or configuration of PDOs etc. The Device Pfile describes all necessary for the operation of the sensor like resolution of position data, resolution of velocity data or cycle time etc. page

6 TEMPOSONICS R-Serie CANopen DS6 Communication Pfile Area Index Sub- Name Typ Attribute Default Comment index value device type x96 xa Device Pfile 6 multi-sensor encoder interface err register x: No err x: Communication err x: Main voltage err x8: transducer err x8: transducer- and main voltage err x: Communication- and main voltage err x9: Communication- and transducer err x9: Comm.-, transducer- and main voltage err number of PDOs supported number of PDOs supported number of synchus PDOs number of asynchus PDOs COB-ID 8h COB-ID SYNC-message SYNC-message 8 manufacturer Visible const C devive name device name String 9 manufacturer Visible const. hardware version release hardware version String A manufacturer Visible const. software version release software version String B 7 can be changed via LMT or LSS ptocol (maximum 7) C guard time Unsigned6 guard time in ms multiplied by the life time factor D life time factor gives the life time for the Node Guarding Ptocol E COB-ID guarding ptocol F number of SDOs supported store s restore default s 7h+ de guarding identifier (should t be changed) number of SDOs supported COB-ID Emergency 8h+ 8 Identity Object x x xxxx xxxx 8 st Server SDO st transmit PDO Unsigned6 6h+ 8h+ 8h+ writing the signature save will store all s into EEPROM (7, 6, 76, 6) writing the signature load will load all s with default values (6C, 6F, 6, 6) COB-ID emergency message number of Entries Vendor-ID Pduct Code (ASCII C) Revision number Serial number COB-ID Client -> Server (rx) COB-ID Server -> Client (tx) COB-ID used by PDO transmission type of PDO : transmission on SYNC message : transmission runs asynchus event timer page 6

7 TEMPOSONICS R-Serie CANopen DS6 Communication Pfile Area Index Subindex A A A A Name Typ Attribute nd transmit PDO rd transmit PDO th transmit PDO st transmit PDO mapping nd transmit PDO mapping rd transmit PDO mapping th transmit PDO mapping Unsigned6 Unsigned6 Unsigned6 Default value 8h+ 8h+ 8h Comment COB-ID used by PDO transmission type of PDO : transmission on SYNC message : transmission runs asynchus event timer COB-ID used by PDO transmission type of PDO : transmission on SYNC message : transmission runs asynchus event timer COB-ID used by PDO transmission type of PDO : transmission on SYNC message : transmission runs asynchus event timer st mapping nd mapping rd mapping th mapping st mapping nd mapping rd mapping th mapping st mapping nd mapping rd mapping th mapping st mapping nd mapping rd mapping th mapping Access attributes: = read only = read/write page 7

8 TEMPOSONICS R-Serie CANopen DS6 Device Pfile Area DS6 Index Sub- Name Typ Attribute Default Comment index value 6 operating Unsigned6 h operating s 6 Total measuring xxxx Total measuring range in measuring units range 6 linear encoder measuring step settings number of objects position measuring step in.µm speep measuring step in. mm/s 6 6 * * * * * preset value position value preset value channel preset value channel preset value channel preset value channel position value channel position value channel position value channel position value channel 6 * * * * * speed value Integer6 Integer6 Integer6 Integer6 speed value channel speed value channel speed value channel speed value channel 6 cyclic timer Unsigned6 cyclic timer value in ms if value > 6 * * * * * CAM state register CAM enable register CAM polarity register CAM low limit CAM low limit CAM low limit CAM low limit CAM state channel CAM state channel CAM state channel CAM state channel CAM enable channel CAM enable channel CAM enable channel CAM enable channel CAM polarity channel CAM polarity channel CAM polarity channel CAM polarity channel CAM low limit channel CAM low limit channel CAM low limit channel CAM low limit channel CAM low limit channel CAM low limit channel CAM low limit channel CAM low limit channel CAM low limit channel CAM low limit channel CAM low limit channel CAM low limit channel CAM low limit channel CAM low limit channel CAM low limit channel CAM low limit channel page 8

9 TEMPOSONICS R-Serie CANopen DS6 Device Pfile Area DS6 Index Subindex 6 * * * * * 6 6 Name Typ Attribute area state register work area low limit work area high limit Default value min min min min max max max max Comment work area state channel work area state channel work area state channel work area state channel work area low limit channel work area low limit channel work area low limit channel work area low limit channel work area high limit channel work area high limit channel work area high limit channel work area high limit channel * - index can be set into PDO mapping Index Sub- Name Typ Attribute Default Comment index value 6 operating status Unsigned6 operating status 6 measuring step xxxx position measuring step in.µm 6 alarms Unsigned6 alarms for emergency message 6 supported alarms Unsigned6 supported alarms bit : position err 6 warnings Unsigned6 warnings 66 supported warnings Unsigned6 CPU watchdog status 67 pfile and software version.. device pfile version manufacturer specific version 6A module identification min max number of entries manufacturer offset value manufacturer minimum position value manufacturer maximum position value 6B serial number xxxx serial number of device 6C Offset value for multi Sensor device number of availlable channels offset value channel offset value channel offset value channel offset value channel Access attributes: = read only = read/write page 9

10 TEMPOSONICS R-Serie CANopen DS6 Getting started After power on or reset all hardware components of the TEMPOSONICS R-Series transducer are initialized. Therefore the transducer is at a defined output state. After that the sensor reads all sensor- and communication specific fm the EEPROM and overtakes these to configure its objects. If the initialization is finished the sensor automatically switches into the preoperational state. At this state it is possible to configure over the Service Data Objects. The SDO-identifier will be set automatically by using the NodeId according the CANopen specification.. Therefore the communication via SDOs is a peerto-peer-connection. The identifier for the other objects are set also automatically according the CANopen standard. A changement of these is possible in a CANopen network by using a DBT-Master. Changed can be stored in an EEPROM and are loaded automatically after the next power on or reset. The sensor can be switched fm the pre_operational state into the operational state by using the Start_Remote_Node service. In the operational state the sensor can transmit pcess data (via PDOs). The transmission of PDOs can be done in two different modes. It is possible that the sensor transmits ist data cyclic or the transmission is started by receiving a SYNCmessage. Connection diagram Transducer with D6 or D6 Connector - CAN_L (dominant low) - CAN_H (dominant high) - +V DC 6 - V housing - drain 6 Transducer with cable output Pxx Blank - drain Bwn - +V DC White - V Pink - CAN_H (dominant high) Gray - CAN_L (dominant low) Diagse Leds LED definitions: Green Red Indication Off Off No supply voltage present Off On Transducer start-up failure On Off Normal transducer operation, (acceptable supply voltage is present, position magnet within active stke range, pblems detected On On Position magnet is t detected or missing Flashing Flashing Supply voltage is nearly beyond the acceptable limits. If voltage is low the transducer is still operating, but the supply voltage should be corrected to assure continued operation. If the voltage is high the transducer is still operating, but the transducers over-voltage ptection may engage, powering off the transducer temporaily. The over-voltage should be corrected to assure continued operation and avoid possible permanent damage. page

11 TEMPOSONICS R-Serie CANopen DS6 Comments m MTS Sensor Techlogie GmbH & Co. KG Auf dem Schüffel 9 D-8 Lüdenscheid Germany Tel. / 9 87 Fax. / info@mtssensor.de MTS Systems Corporation Sensors Division Sheldon Drive Cary, N.C. 7 USA Tel Fax info@mtssensors.com MTS Sensors Techlogy Corp. Ushikubo Bldg. 77 Aihara-cho Machida-shi, Tokyo 9- Japan Tel. +8 () Fax. +8 () 77 MTS / PL page