Sensor Technologie A TEMPOSONICS. R Series CANbasic C207. Operating Manual. Configuration and CAN-Bus Coupling. page PL.

Transcription

1 Sensor Technologie TEMPOSONICS R A R Series 2004 CANbasic C207 Operating Manual Configuration and CAN-Bus Coupling page 1

2 Operating anual for CANbasic C207 Connecting diagra: RP-x-xxxxM-D6x-1-C207 RH-x-xxxxM-D6x-1-C207 RP-x-xxxxM-Pxx-1-C207 RH-x-xxxxM-Pxx-1-C207 Release: 09/04 1 gray - CAN_L (doinant low) 2 pink - CAN_H (doinant high) 5 brown - +24V DC 6 white - 0V List of Coands, Data Length Codes and Data forats Paraeter Function COB-Id DLC Coand/Data Broadcastessage Node Start Broadc. Id. 2 2 Broadcastessage Node Stop Broadc. Id. 2 2 Nodeidentifier request 2021 (7E5) 5 progra 2021 (7E5) 6 Positionidentifier request 2026 (7EA) 2 progra 2026 (7EA) 4 Statusidentifier request 2026 (7EA) 2 progra 2026 (7EA) 4 Nuber of agnets request 2026 (7EA) 2 progra 2026 (7EA) 3 Broadcastidentifier request 2026 (7EA) 2 progra 2026 (7EA) 4 Operational ode request 2026 (7EA) 2 and protocol progra 2026 (7EA) 3 Sapling period request 2026 (7EA) 2 progra PROM 2026 (7EA) 3 progra RAM 2026 (7EA) 3 01, 00 (for all nodes) 01, NId (only for one node) 02, 00 (for all nodes) 02, NId (only for one node) 01, SS, SS, SS, SS 02, SS, SS, SS, SS, NId NId, 01 NId, 02, XX, XX NId, 03 NId, 04, XX, XX NId, 05 NId, 06, XX NId, 0C NId, 0D, XX, XX NId, 07 NId, 08, XX NId, 09 NId, 0A, XX Nid, 0B, XX SS, SS, SS, SS - Serial Nuber; NId - Nodeidentifier; XX Userdata (in hex) page 2

3 Operating anual for CANbasic C207 Paraeter Function COB-Id DLC Coand/Data Stroke length request 2026(7EA) 2 NId, 20 Resolution request 2026(7EA) 2 NId, 22 SS, SS, SS, SS - Serial Nuber; NId - Nodeidentifier; XX Userdata (in hex) Explanation of Prograing During the installation or the prograing of new data the transducer works as a CAN-slave. After each prograing instruction the transducer answers with a recognition string so that the PLC can verify if the transducer gets the right inforation. During the noral operating the paraeter needn't to be prograed after the power up, because the paraeter are stored in an EEPROM. Nodeidentifier The nodeidentifier is used for the fast and easy response of the CAN clients. Each CAN client gets his own nodeidentifier. This identifier is prograed during installation by using the serial nuber of the transducer (printed on transducer label). The serial nuber ust be send in the following way: serial nuber on transducer label: i.e. FNr.: serial nuber for counication protocol: Requesting the nodeidentifier LMT Master ; SS; SS; SS; SS LMT Slave LMT Slave ; SS; SS; SS; SS; NId LMT Master Prograing the nodeidentifier LMT Master ; SS; SS; SS; SS; NId LMT Slave LMT Slave ; SS; SS; SS; SS; NId LMT Master page 3

4 Operating anual for CANbasic C207 Positionidentifier The positionidentifier is the identifier with which the transducer sends the position data on the CAN bus. In CAN-Slave ode the position data ust be read by using a reote frae on the positionidentifier. In CAN-Master ode the position data will be send autoatically on the bus. The positionidentifier deterines the priority of the essage. A essage with a low identifier has higher priority than a essage with a high identifier. Requesting the positionidentifier LMT Master 2026 NId; 01 LMT Slave LMT Slave 2025 NId; 01; xx; xx LMT Master Prograing the positionidentifier LMT Master 2026 NId; 02; xx; xx LMT Slave LMT Slave 2025 NId; 02; xx; xx LMT Master Statusidentifier The statusidentifier is the identifier with which the transducer sends the status inforation, as for exaple transducer fault or wrong nuber of agnets. In CAN-Slave ode the status inforation ust be read by using a reote frae on the status identifier. In CAN-Master ode the status inforation will be send autoatically when a status change is detected. The statusidentifier deterines the priority of the essage. A essage with a low identifier has higher priority than a essage with a high identifier. Requesting the statusidentifier LMT Master 2026 NId; 03 LMT Slave LMT Slave 2025 NId; 03; xx; xx LMT Master Prograing the statusidentifier LMT Master 2026 NId; 04; xx; xx LMT Slave LMT Slave 2025 NId; 04; xx; xx LMT Master page 4

5 Operating anual for CANbasic C207 Nuber of agnets It is possible to progra the nuber of agnets which should be on the transducer. If the nuber of prograed agnets is not equal to the real nuber of agnets on the transducer, two bits in the status essage will show this. As ore agnets are be prograed, as ore essage blocks will be send. Requesting the nuber of agnets LMT Master 2026 NId; 05 LMT Slave LMT Slave 2025 NId; 05; xx LMT Master Prograing the nuber of agnets LMT Master 2026 NId; 06; xx LMT Slave LMT Slave 2025 NId; 06; xx LMT Master Broadcastidentifier The broadcastidentifier is used to send Node Start, Node Stop and Node Reset essages to the transducer. Norally the broadcastidentifier is the identifier 000 (based on Can Application Layer CAL), but soeties it is necessary that the broadcastidentifier is another than the CAL based. Requesting the broadcastidentifier LMT Master 2026 NId; 0C LMT Slave LMT Slave 2026 NId; 0C; xx; xx LMT Master Prograing the broadcastidentifier LMT Master 2026 NId; 0D; xx; xx LMT Slave LMT Slave 2026 NId; 0D; xx; xx LMT Master page 5

6 Operating anual for CANbasic C207 Operational ode and protocol CAN-Master ode: The transducer sends, depending on the sapling period, autoatically after easureent the position data on the bus. (B3 = 0 easureent free running) CAN-Slave ode: The transducer does the easureent and waits for a reote frae on the positionidentifier to send the position data. (B3 = 0 easureent free running) Extra Status essage: It can be selected if the transducer sends a status inforation with a separate identifier or not. The status essage is an one byte essage described at Status inforation. In CAN-Master ode the status essage is directly send when a change of the status is detected. This inforation would be send independent fro the saple period of the transducer. In CAN-Slave the transducer waits for a reote fae on the statusidentifier to send the status inforation Protocol forat: In Protocol forat M the position data is in Motorola forat In Protocol forat I the position data is in Intel forat Synchron ode: If Synchron ode is selected the easureent can be started with Node Start the transducer receives. After the easureent is finished the transducer sends the position data on the bus and is ready to receive the next Node Start. To use the Synchron ode also CAN-Master ust be selected. The axiu tie between to Node Start essages is 5s. The iniu tie is the cycle tie. page 6

7 Operating anual for CANbasic C207 Operational ode and protocol D7 D6 D5 D4 D3 D2 D1 D B3 F 0 B1 B0 B0: 0 = with extra Status essage 1 = without extra Status essage B1: 0 = CAN - Master 1 = CAN - Slave F: 0 = Protocol forat M 1 = Protocol forat I B3: 0 = easureent free running 1 = easureent synchronous to Node Start Requesting the op-ode LMT Master 2026 NId; 07 LMT Slave LMT Slave 2025 NId; 07; xx LMT Master Prograing the op-ode LMT Master 2026 NId; 08; xx LMT Slave LMT Slave 2025 NId; 08; xx LMT Master page 7

8 Operating anual for CANbasic C207 Sapling Period Over the sapling period a selection could be ade in which tie periods the transducer sends its position data. The sapling ust be a value between 1 and 255 (0x01-0xFF). The value 0 is not allowed. The tie period t send could be calculated with the saple s and the cycle tie of the transducer as follows: transducer length: transducer length: transducer length: transducer length: t send = s * 0.5 s t send = s * 1.0 s t send = s * 2.0 s t send = s * 4.0 s The sapling period can be prograed in the peranent eory (EEPROM) or only in the RAM. Norally there is one sapling period prograed to the EEPROM and during production the sapling period is only changed in the RAM. After power up the transducer the sapling period stored in the EEPROM is autoatically written in the RAM. Requesting the sapling rate LMT Master 2026 NId; 09 LMT Slave LMT Slave 2025 NId; 09; xx LMT Master Prograing the sapling rate to EEPROM LMT Master 2026 NId; 0A; xx LMT Slave LMT Slave 2025 NId; 0A; xx LMT Master Prograing the sapling rate to the RAM LMT Master 2026 NId; 0B; xx LMT Slave LMT Slave 2025 NId; 0B; xx LMT Master page 8

9 Operating anual for CANbasic C207 Stroke length The stroke length gives inforation about the usable easuring range of the transducer in []. Requesting the stroke length LMT Master 2026 NId; 20 LMT Slave LMT Slave 2026 NId ; 20; xx; xx LMT Master Resolution The resolution of the transducer is given in [µ]. Requesting the resolution LMT Master 2026 NId; 22 LMT Slave LMT Slave 2026 NId; 22; xx; xx LMT Master page 9

10 Operating anual for CANbasic C207 Node Start / Node Stop Protocol The 'Node Start' essage is used to switch the transducer active; the 'Node Stop' essage will switch the transducer passive. Therefore the nodeidentifier of the transducer is need. Also with the 'Node Start / Node Stop' essages all transducers could be switched active / passive at the sae tie. Therefore the nodeidentifier 00 is necessary. Exaple of Node Start LMT Master Broadc.Id. 01; 00 (for all) LMT Slave LMT Master Broadc.Id. 01; NId (for one) LMT Slave Exaple of Node Stop LMT Master Broadc.Id. 02; 00 (for all) LMT Slave LMT Master Broadc.Id. 02; NId (for one) LMT Slave Status inforation In CAN-Slave ode the status inforation ust be polled fro the PLC by using a Reote frae on the statusidentifier. In CAN-Master ode the status essage is directly send when a change of the status is detected. This inforation would be send independent fro the saple period of the transducer. The status inforation looks like follows: B7 B6 B5 B4 B3 B2 B1 B0 x x M+ M- x x SE SW SW: Status Transducer 0 = transducer ok 1 = transducer fault SE: Status EEPROM 0 = checksu ok 1 = checksu fault M+ und M-: Nuber of agnets 0 = Nuber of agnets on the transducer ok 1 = less agnets than prograed 2 = ore agnets than prograed page 10

11 Operating anual for CANbasic C207 Position essage forat The position inforation are send as a essage block, with x different blocks. The nuber of essage blocks results fro the prograed nuber of agnets. The blocks will be send as: Block 1 of x, block 2 of x,..., block x of x Function Direction COB DLC Data Position agnet Tr->PLC PosId 8 01,0F,M1,M1,M1,M2,M2,M2 Position agnet Tr->PLC PosId 8 02,0F,agnet 3, agnet 4 Position agnet Tr->PLC PosId 8 03,0F,agnet 5, agnet 6 Position agnet Tr->PLC PosId 8 04,0F,agnet 7, agnet 8 : Position agnet Tr->PLC PosId 8 0F,0F,agnet 29, agnet 30 Depending on the selected protocol forat, at the paraeter operational ode and protocol, the Position data of one agnet is as follows. Protocol forat M Highbyte Med. byte Position Position Lowbyte Position Protocol forat I Lowbyte Med. byte Position Position Highbyte Position page 11

12 Operating anual for CANbasic C207 LED definitions: Green Red Indication Off Off No supply voltage present Off On Transducer start-up failure On Off Noral transducer operation, (acceptable supply voltage is present, position agnet within active stroke range, no probles detected On On Position agnet is not detected or issing Flashing Flashing Supply voltage is nearly beyond the acceptable liits. 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 protection ay engage, powering off the transducer teporarily. The over-voltage should be corrected to assure continued operation and avoid possible peranent daage. Default values: for Standard CAN transducers with C207 Protocol : - Nodeidentifier 0x00 - Positionsidentifier 0x Broadcastidentifier 0x Statusidentifier 0x Operational Mode 0x02 - Sapling Period 0x01 - Nuber of agnets 0x01 page 12