Additional instructions Programming of D-20-9/D-21-9 Pressure transmitter with CANopen Interface D-20-9 with integrated Y-Piece D-20-9 D-21-9 with DIP-switch
D-20-9 / D-21-9 GB 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 2092169.02 GB 09/2004 WIKA Alexander Wiegand GmbH & Co. KG 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.
D-20-9 / D-21-9 GB Content 1. Process Data Object (PDO) 5 Data Types 5 Change of PDO-Mapping: PDO Transmission Types (Object 1800h, subindex 2) 2. Service Data Object (SDO) 6 6 7 Read Object Write Object Abort SDO Transfer 7 7 7 Abort Codes 3.
D-20-9 / D-21-9 GB 7122h AI Input Scaling 2 FV 6123h AI Input Scaling 2 PV 28 29 6124h AI Input Offset 6125h AI Autozero 6130h AI Input PV 29 30 30 6131h AI Physical Unit PV 6132h AI Decimal Digits 6148h AI Span Start 31 32 32 6149h AI Span End 61A0h AI Filter Type 61A1h AI Filter Constant 33 34 34 6. Calibration 35 Input Scaling Input Offset 35 37 Input Autozero 7. Filter 37 38 8. Emergency Object (EMCY) 39 9.
D-20-9 / D-21-9 GB 1. Process Data Object (PDO) ID DLC ID 4 Byte0 Byte1 Byte2 LSB Byte3 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.
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 Val
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.
D-20-9 / D-21-9 GB 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.
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 PDO Mapping Data Type Default Value ro No UNSIGNED 32 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 0 : don’t care (always 0) 1008h Manufacturer Device Name Object description Contains the manufacturer device name.
D-20-9 / D-21-9 GB 1009h Manufacturer Hardware Version Object description Contains the manufacturer hardware version description. Entry description Access PDO Mapping Data Type Default Value ro No Visible String No Data MSB z LSB y x w Byte 4-7 contain the hardware version: wx.yz 100Ah Manufacturer Software Version Object description Contains the manufacturer software version description.
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 PDO Mapping Data Type Default Value rw* No UNSIGNED 16 0 * Write access to this object is only allowed, if object 1017h producer heartbeat time is 0.
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.
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.
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).
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.
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.
D-20-9 / D-21-9 GB 1A00h Transmit PDO Mapping Parameter Object description This object contains the mapping for the PDO the device is able to transmit. The subindex 0h contains the number of valid entries within the mapping record. This number of entries is also the number of the application variables which shall be transmitted with the corresponding PDO. The subindex 1h contains the information about the mapped application variable.
D-20-9 / D-21-9 GB 4. Object Dictionary – Manufacturer Specific Area 2010h Minimum allowed Pressure Object description This object defines the minimum allowed pressure. If pressure (field value) exceeds this limit an emergency message is sent. Entry description Access PDO Mapping Data Type Default Value rw No UNSIGNED 16 0000h Changed parameters are not automatically stored, but they have to be stored via object 1010h Store Parameters.
D-20-9 / D-21-9 GB WIKA Additional Instructions Pressure Transmitter with CANopen Interface D-20-9 / D-21-9 19
D-20-9 / D-21-9 GB 2020h Min. Value Storage Object description This object stores minimum process value. The storage is volatile. Entry description Access PDO Mapping Data Type Default Value rw No float No A write access clears the actual value. 2021h Max. Value Storage Object description This object stores maximum process value. The storage is volatile. Entry description Access PDO Mapping Data Type Default Value rw No float No A write access clears the actual value.
D-20-9 / D-21-9 GB 2090h Process Value as Integer Object description This object contains the process value as integer. Entry description Access PDO Mapping Data Type Default Value ro Yes SIGNED 32 No Data MSB LSB Process Value* see also: 6132h Decimal Digits 2100h User Device Name Object description This object allows the user to program a user specific entry.
D-20-9 / D-21-9 GB 2201h Last Calibration Date Year Object description This object contains the year of the last calibration date (YY) Entry description Access PDO Mapping Data Type Default Value Data Range rw No UNSIGNED 8 No 0 ...
D-20-9 / D-21-9 GB 2207h Date of Production Year Object description This object contains the year of the production date (YY) Entry description Access PDO Mapping Data Type Default Value Data Range ro No UNSIGNED 8 No 0 ...
D-20-9 / D-21-9 GB 2320h Configure Node-ID Object description This object defines the Node-ID of the device. The user can configure the Node-ID via this object or LSS (layer setting services) Entry description Access PDO Mapping Data Type Default Value Data Range rw No UNSIGNED 8 01h 01h ... 7Fh Changed parameters are not automatically stored, but they have to be stored via object 1010h Store Parameters.
D-20-9 / D-21-9 125 kbit/s 100 kbit/s 50 kbit/s 20 kbit/s GB 4 5 6 7 WIKA Additional Instructions Pressure Transmitter with CANopen Interface D-20-9 / D-21-9 25
D-20-9 / D-21-9 GB 2330h Auto-Operational Object description Through this object the user can set the device to enter the OPERATIONAL-Mode automatically after boot up. Entry description Access PDO Mapping Data Type Default Value Data Range rw No UNSIGNED 8 00h 00h ... 01h 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.
D-20-9 / D-21-9 GB 5. Object Dictionary – Device Profile Area (according CiA DS404 V1.2) 7100h AI Input FV Object description This object represents the compensated pressure value, which is not yet scaled to the physical unit of the quantity being measured.
D-20-9 / D-21-9 GB 6121h AI Input Scaling 1 PV Object description This object defines the process value of the first calibration point for the analogue input channel. It is scaled in physical unit of process value.
D-20-9 / D-21-9 GB 6123h AI Input Scaling 2 PV Object description This object defines the process value of the second calibration point for the analogue input channel. It is scaled in physical unit of process value.
D-20-9 / D-21-9 GB 6125h AI Autozero Object description Writing a signature value of „zero“ to this object causes a modification of the AI Input Offset in such a way that the actual AI Input PV becomes zero. This cycle is performed for one time.
D-20-9 / D-21-9 GB 6131h AI Physical Unit PV Object description This object defines the physical unit of the process value.
D-20-9 / D-21-9 GB 6132h AI Decimal Digits Object description This object describes the number of decimal digits following the decimal point. Entry description Sub-Index Name Access PDO Mapping Data Type Default Value 00h number of entries ro No UNSIGNED 8 01h Sub-Index Name Access PDO Mapping Data Type Default Value Data Range 01h AI Decimal Digits 1 rw No UNSIGNED 8 00h 0-9 The settings take effect after a reset.
D-20-9 / D-21-9 GB 6149h AI Span End Object description This value specifies the upper limit where process values are expected.
D-20-9 / D-21-9 GB 61A0h AI Filter Type Object description The object defines the type of filter to be used for calculation. The implemented filter is manufacturer specific. Entry description Sub-Index Name Access PDO Mapping Data Type Default Value 00h number of entries ro No UNSIGNED 8 01h Sub-Index Name Access PDO Mapping Data Type Default Value 01h AI Filter Type ro No UNSIGNED 8 64h 61A1h AI Filter Constant Object description Defines the number of steps used for the filter calculation.
D-20-9 / D-21-9 GB 6. Calibration Input Scaling - 6121h AI Input Scaling 1 PV - 6123h AI Input Scaling 2 PV - 7120h AI Input Scaling 1 FV - 7122h AI Input Scaling 2 FV The calibration is carried out via objects 6121h and 6123h. The objects 7120h and 7122h are read only. The device is recalibrated by addressing 2 measuring points and sending the respective set value to the device. The device offsets the set value specified against the actual pressure value.
D-20-9 / D-21-9 GB Example 1: Pressure Range: -1 … 2.5 bar (=> -100,000 … 250,000 Pa output value) Calibration Point 1: Pressure applied (reference value): -0.9 bar The user writes the value that the device is supposed to indicate under the pressure currently applied to object 6121h subindex 1 (AI_Input_Scaling_1_PV), i.e.
D-20-9 / D-21-9 GB Input Offset 6124h AI_Input_Offset For manual offset correction the detected offset is sent to the device, e.g. the device (pressure range 10 bar / 1,000,000 Pa) indicates 0.01 bar / 10,000 Pa at ambient pressure. The user writes the determined offset to object 6124h subindex 1 (AI_Input_Offset_1), i.e.
D-20-9 / D-21-9 GB 7. Filter The D-2X-9’s filter function offers many possibilities to customize the device’s internal signal for the application. Example: Despite a superimposed sine (10 Hz-sine with 1 bar amplitude) the static pressure should be measured as precisely as possible. With a sample rate of 5 ms and filter value of 20, there is an averaging of the measured values of the last 100 ms. Therefore the user receives the correct static pressure of 150 bar from the D-2X-9 output signal.
D-20-9 / D-21-9 GB 8.
D-20-9 / D-21-9 GB 9. Network Management Objects Module Control Services Through Module Control Services, the NMT master controls the state of the NMT slaves. The state attribute is one of the values {STOPPED, PRE-OPERATIONAL, OPERATIONAL and INITIALISING}. The Module Control Services can be performed with a certain node or with all nodes simultaneously. The NMT master controls its own NMT state machine via local services, which are implementation dependent.
D-20-9 / D-21-9 GB Enter Pre-Operational Through this service the NMT Master sets the state of the selected NMT Slaves to "PREOPERATIONAL". This service is unconfirmed. CS = 80h Reset Node Through this service the NMT Master initiates a "RESET APPLICATION" of the selected NMT Slaves from any state. This service is unconfirmed. CS = 81h Reset Communication Through this service the parameters of the communication profile area are set to their power-on values.
D-20-9 / D-21-9 GB Error Control Services Through Error control services the NMT detects failures in a CAN-based Network. Local errors in a node lead to a change of state (PREOPERATIONAL). Error Control services are achieved principally through periodically transmitting of messages by a device. There exist two possibilities to perform Error Control. The guarding is achieved through transmitting guarding requests (Node guarding protocol) by the NMT Master.
D-20-9 / D-21-9 GB Node Guarding Protocol This protocol is used to detect remote errors in the network. Each NMT Slave uses one remote COB for the Node Guarding Protocol. This protocol implements the provider initiated Error Control services. s: the state of the NMT Slave 4: STOPPED 5: OPERATIONAL 127: PRE-OPERATIONAL t: toggle bit. The value of this bit must alternate between two consecutive responses from the NMT Slave.
D-20-9 / D-21-9 GB Bootup Service Bootup Event Through this service, the NMT slave indicates that a local state transition occurred from the state INITIALISING to the state PRE-OPERATIONAL. The protocol uses the same identifier as the error control protocols.
D-20-9 / D-21-9 GB 10. Layer Setting Services (LSS) LSS offers the possibility to change the settings of • Node-ID • Bit timing parameters of the physical layer (baud rate) of a CANopen Slave. LSS Address An LSS Slave is identified by an LSS Address. This LSS Address consists of • vendor-id, • product-code, • revision-number and • serial-number. These parameters are identical to the Identity-Object 1018h of the object dictionary.
D-20-9 / D-21-9 GB By means of the table_selector the bit timing parameter table to be used is specified. In the bit timing parameter table the bit timing parameters for different baud rates are specified. With table_selector value ´0´ the standard CiA bit timing parameter table is referenced. The table_index selects the entry (baud rate) in the selected table (value ‘0’ refers to the highest baud rate).
D-20-9 / D-21-9 GB Switch Mode Selective LSS-Master sends ID DLC Byte0 Byte1 7E5h 8 CS = 40h LSB ID DLC Byte0 Byte1 7E5h 8 CS = 41h LSB ID DLC Byte0 Byte1 7E5h 8 CS = 42h LSB ID DLC Byte0 Byte1 7E5h 8 CS = 43h LSB Byte1 Byte2 Byte3 Byte4 Byte5 MSB Byte3 Byte4 Byte5 MSB Byte3 Byte4 Byte5 MSB Byte3 Byte4 Byte7 Byte6 Byte7 reserved Revision Number Byte2 Byte6 reserved Product Code Byte2 Byte7 reserved Vendor-ID Byte2 Byte6 Byte5 MSB Byte6 Byte7
D-20-9 / D-21-9 GB CONFIGURATION PROTOCOLS Configure Node-ID Protocol LSS-Master sends ID DLC Byte0 Byte1 7E5h 8 CS = 11h Node-ID Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte6 Byte7 reserved LSS-Slave answers ID DLC Byte0 Byte1 7E4h 8 CS = 11h error code cs: LSS command specifier 11h for Configure Node-ID NID: The new Node-ID to configure Byte2 Byte3 Byte4 Byte5 reserved error_code: 0 : protocol successfully completed 1 : Node-ID out of range WIKA Additional Instructions Pre
D-20-9 / D-21-9 GB Configure Bit Timing Parameters Protocol LSS-Master sends ID DLC Byte0 Byte1 Byte2 7E5h 8 CS = 13h Table Selector Table Index Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte6 Byte7 Reserved LSS-Slave answers ID DLC Byte0 Byte1 7E4h 8 CS = 13h error code cs: Byte3 Byte4 Byte5 reserved LSS command specifier 13h for Configure Node-ID table_selector: selects which bit timing parameters table has to be used 0: standard CiA bit timing table 1..
D-20-9 / D-21-9 GB Example Configure the node-is of a slave: • Set the device to stopped mode (see 9. Network Management Objects) • Change from operation mode to configuration mode via Switch Mode Selective (see LSS Protocol Descriptions) • Setting the node ID via Configure Node-ID Protocol (see LSS Protocol Descriptions) • Change from configuration mode to operation mode via Switch mode Global (see LSS Protocol Descriptions) Configure the bit timing parameters: • Set the device to stopped mode (see 9.
D-20-9 / D-21-9 GB 11. References ISO 11898 Controller area network (CAN) CiA Draft Standard 301 Version 4.02 - CANopen Application Layer and Communication Profile CiA Draft Standard 404 Version 1.2 – CANopen Device Profile Measuring Devices and Closed-Loop Controllers CiA Draft Recommendation Proposal 303-1 Version 1.1.1 – CANopen Cabling and Connector Pin Assignment CiA Draft Standard 102 Version 2.0 - CAN Physical Layer for Industrial Applications CiA Draft Standard Proposal 305 Version 1.1.
