S2Tech PCS III Preliminary Manual
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S2Tech PCS III Preliminary Manual

Magnetostrictive transducer for position and level measurement
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PRELIMINARY MANUAL
Technical Description
User's Guide
Configuration and CANopen
Interface
S2Tech S.R.L.
Via Imperia 28
20142 Milano - Italy
Phone +39 028910142
Fax +39 0289124848
E-Mail: info@s2tech.it
http://www.s2tech.it
Doc. # 310715-001; specifications are subject to change without notice
M:\PCS III CANopen UK\PCS III Technical Description CANopen 1r1 UK 310715.docx
S2Tech-DigiTran
PCS III Displacement
Analog
Output
&
CANopen
Transducer

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  • Page 1 CANopen S2Tech S.R.L. Via Imperia 28 20142 Milano - Italy Phone +39 028910142 Fax +39 0289124848 E-Mail: info@s2tech.it http://www.s2tech.it Doc. # 310715-001; specifications are subject to change without notice M:\PCS III CANopen UK\PCS III Technical Description CANopen 1r1 UK 310715.docx...

  • Page 2: Table Of Contents

    PRESSURE ACTION ON THE MEASURING PROBE ........... 17 8.5. NUMBER OF CURSORS ....................17 LIN module setting ........................19 Doc. # 310715-001; specifications are subject to change without notice M:\PCS III CANopen UK\PCS III Technical Description CANopen 1r1 UK 310715.docx...
  • Page 3 Parameterization of the Measuring system with SDO Services ..Errore. Il segnalibro non è definito. 18.1. Measure Update Rate setup ........Errore. Il segnalibro non è definito. Doc. # 310715-001; specifications are subject to change without notice M:\PCS III CANopen UK\PCS III Technical Description CANopen 1r1 UK 310715.docx...
  • Page 4 Operation example ........................54 TERMS OF SALE ........................57 24.1. LIMITED WARRANTY ....................57 24.2. LIABILITY FOR DAMAGES ..................57 Doc. # 310715-001; specifications are subject to change without notice M:\PCS III CANopen UK\PCS III Technical Description CANopen 1r1 UK 310715.docx...

  • Page 5: Document History

    Other measurement functions may be available, as option, using specific firmware versions, as indicated in this document or in the latest revision available on the web site www.s2tech.it Doc. # 310715-001; specifications are subject to change without notice M:\PCS III CANopen UK\PCS III Technical Description CANopen 1r1 UK 310715.docx...

  • Page 6: Ce Declaration Of Conformity

    2015 The equipment has been tested in the typical installation configuration, as described by the instruction manual of the Product. S2Tech srl certify that the above defined equipment meets the requirements of above mentioned directives. Milan, July 16th, 2015 S2Tech srl Technical Dept.

  • Page 7: Characteristics

    (*) optional function, available on specific product version The PCS III unit is to be configured using a CANopen connection, using specific software, that is used to access the parameters (constant) that customize the way the transducer measure, or the measurements (variables, through SDO or PDO): For Communication Profile parameterization see Application and Reference part of this manual.

  • Page 8: Installation Hints

    Until the unit is fully operative, analog output is to be considered non valid and generally will assume a 0V or 0 mA state. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl...

  • Page 9: Electrical Connections

    NOTE: the transducers can be connected to other type of fieldbuses, using specific gateways that can be provided and configured by S2Tech, allowing a wider use of such products. It is also possible to use units with wireless connection, using WiFi / Bluetooth or other proprietary means of wireless transmission.

  • Page 10: Analog Outputs

    DAC, up to 1 V, so that through feedback the voltage output available by the User is compensated for the internal 22 Ohm resistor). Maximum output current is 10 mA. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl...

  • Page 11: Summary For Fast Canopen Measurement

    (about 2800 m/sec) until reaching the sensor positioned in the head inside the electronics. The cursor position is calculated by measuring the time lapse between the electrical pulse and the return mechanical pulse PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 12: Not Measuring Dead Length

    Permanent external magnetic fields generated by other magnets or residual magnetic fields, generated from the cursor coming into occasional contact or proximity of magnetisable materials (paramagnetic materials), can affect the measurement. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 13: Installation In Cylinders

    The recommended distances (= limit) are indicated in Fig. 2 (in mm). A max. = 1/8 of the diameter (outside ) of the cursor PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 14: External Installation

    Figures 3-4-5. IMPORTANT Cursors, magnets or float, not produced by S2Tech and chosen by the Customer must be sent to S2Tech, in order to be checked. S2Tech, if possible, will custom calibrate the transducer with them. Customer must tell to S2Tech the application conditions: used materials , pole position, distance between magnets and probes etc..

  • Page 15: Magnetic Cursors Supplied By S2Tech

    These distances must be constant along all the measuring stroke onto the mod. PCR transducers. Whenever the distance is bigger than 6 mm, there is not enough magnetic field magnitude to recognize the magnetic cursor position. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 16: Magnets Chosen By The User

    C end of the measurement range, while the CANopen connection will indicate the cursor lost status, if the cursor is not detected. For performance optimization, the Customer must supply S2Tech with all the installation conditions 6.4. MAGNETS CHOSEN BY THE USER It must have a high magnetic field, invariable throughout time and with a high maximum working temperature.

  • Page 17: Floats

    It is to be considered the possibility of using a magnetic cursor with a radial slotting system (Mod. ARR-2E) through which It can pass the probe anchorage. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 18: Pcp Transducer (P = Flanged Well )

    10 mm per meter will irreversibly damage the wave guide. This kind of damage can be easily found out by S2Tech and is not covered by the warranty. NOTE: during installation or removal of a transducer equipped with threaded union (PCS, PCP, PCM), use only the hexagon for clamping.
  • Page 19 Smaller distances can generate interference between magnetic fields and there is even the pos- sibility to have errors or to lose the detection of one of the cursors or detection of more cursors. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl...

  • Page 20: Lin Module Setting

    Configuration and Modbus Interface 9. LIN module setting PCS III transducer, has the possibility to apply - on the displacement measurements - a conversion into an Engineering unit (Dependent Measurement ) that is different from the one used when the transducer has been Factory calibrated (Independent Measurement).
  • Page 21 Independent measurement (X) provided to the module as input (Index 0x2108.0). Computation of the interpolation of up to 4 cursor’s position is performed using the same characterization table. This feature is available on firmware 2.1 or higher. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 22: Filter Module Setting

    (Idx 2) min (0x2101.6) 4 mA 0 mA c.DACmin ZERO measuring 0x2101.E range 65.535 Max (0x2101.7) 20 mA 20 mA 10 V c.DACMax FULL SCALE 0x2101.F measuring range PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...
  • Page 23 0x2101.E 0x2101.E 32.767 12 mA 32.767 10 mA c.DACMax c.DACMax 0x2101.F 0x2101.F E) Special output range (I.e. Idx 0x2101.D = 3) Value Current Output c.DACmin 0x2101.E 32.767 c.DACMax 0x2101.F PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 24: Diagnostic

    Note: if there is the need to shift the Zero and Full Scale position of the endpoints signals, we suggest You to use the S2Tech software utility, since it is possible to perform this customization, keeping the slope of the calibration performed by Factory.

  • Page 25: Canopen

    Used to indicate CAN references as Index and Sub index of constant or variables Or Idx.Sub that can be accessed from the CAN network. d.ParamName Variable parameters / live measurements c.ParamName Constant parameters PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...
  • Page 26 Variables and Constants (values are stored in Non Volatile Memory) can be accessed with sub indexes that may range from 0 to 255 (0 to 0xFF), making reference to the object database specific for each product. Each Slot has his own dedicated parameter database. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 27: System Module (0X10)

    INT8U c.SlotType [10] INT8U c.SlotType [11] INT8U c.SlotType [12] INT8U c.SlotType [13] INT8U c.SlotType [14] INT8U c.SlotType [15] INT8U 0x22 CANopen c.IniType INT16U RO Inifile number for configuration identification PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...
  • Page 28 Command >= 0x80 received, processing 0x90 0x80 received, waiting for Command 0x90 (sequence) 0x91 0x81 received, waiting for Command 0x91 (sequence) 0xA0 Slot STOPPED (send 0xA1 to restart Slot) PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 29: Node Identification

    – Emergency Object Emergency Objects are used to report high priority events. – Synchronization Object (SYNC) SYNC is used to establish communications synchronization on the bus. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 30: System Start

    (identifier 700H) + NodeID with the data field being 0, meaning the node is in Unknown State. After 1 s wait time, the second message is issued. Example of Power-On Message: DIGITAL TRANSDUCER with NodeId = 1A: after Power On: 71A 00 PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 31: Estimating Transmission Time

    LSB MSB LSB MSB Low Byte Middle Middle High Byte Low Byte Middle Middle High Byte Byte 1 Byte 2 Byte 1 Byte 2 Ch0 Gross Measurement Ch0 Max Peak PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 32: Error Messages

    The baud rate can be changed using the SDO service, by setting the desired value into the Baudrate parameter of the S2Tech Manufacturer’s Profile. The selection of the maximum possible baud rate is determined by the length of the entire CAN bus cable.

  • Page 33: Assigning Nodeid

    This number may be used only once in the network. The numbers from 1 to 127 are permissible. The transducer is factory set to NodeID = 26. The NodeID can be changed using the SDO service, by setting the desired value into the Address parameter of the S2Tech Manufacturer’s Profile.

  • Page 34: Setting Data Transmission/Update Rate

    Index 1010H, Subindex 1 using an additional SDO transfer and the signature 'save'. The power should be on for at least 5 s to make sure all settings are stored completely. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 35: Object Directory

    CANopen standard communication profile is fully implemented, as described in the CiA DS301 document; the transducer can be widely configured; an EDS document has to be made for each configuration. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 36: Canopen Interface Module (0X22)

    0xFFFF 1000 RPDO3 A Parameter c.RPdoParam [5] INT16U 0xFFFF 1000 RPDO3 B Parameter c.RPdoParam [6] INT16U 0xFFFF 1000 RPDO4 A Parameter c.RPdoParam [7] INT16U 0xFFFF 1000 RPDO4 B Parameter PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 37: Pdo Communication

    Middle Middle High Byte Low Byte Middle Middle High Byte Byte 1 Byte 2 Byte 1 Byte 2 Value A Value B Data are provided as data type Int.32. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 38: Communication Profile (Tables)

    Cycle time in ms, set by the NMT Master or the configuration tool. Cycle time for node monitoring 0x100D 0 Life Time Factor Wait time is set by the NMT Master or the configuration tool. Wait time if no guarding PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...
  • Page 39 Cycle Time of the Heartbeat in multiples of 1mS Time 0x1018 0 Identity Object Number of Entries Vendor ID UI32 Vendor ID Product Code UI32 Product Code Revision Number UI32 Revision Number Serial Number UI32 Serial Number PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...
  • Page 40 254d: Continuous transmission. 255d: Continuous transmission. 0x1402 0 Number of Communication parameters of 3 Receive PDO elements COB-ID UI32 400H + Determined using the CANopen minimum system ID assignment NodeID procedure. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...
  • Page 41 Mapping parameters of the 3 Receive-PDO elements object UI32 object UI32 0x1603 0 Number of Mapping parameters of the 4 Receive-PDO elements object UI32 object UI32 Note: currently RTR is unimplemented PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...
  • Page 42 Cyclic sending of PDO value (Default 10 ms) 0x1802 0 Number of Communication parameters of 3 Transmit PDO elements COB-ID UI32 380H + Determined using the CANopen minimum system ID assignment NodeID procedure. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...
  • Page 43 Number of Mapping parameters of the 2 Transmit-PDO elements object UI32 Measure object UI32 Measure 0x1A02 0 Number of Mapping parameters of the 3 Transmit-PDO elements object UI32 Measure PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 44: Application Module (0X30)

    Index of Parameter 3 c.Param [3] 65535 INT16U Index of Parameter 4 c.Param [4] 65535 INT16U Index of Parameter 5 c.Param [5] 65535 c.Param [6] INT16U 65535 Index of Parameter 6 PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...
  • Page 45 Decimal point position for Parameter 9 c.PosDp [9] 65535 INT16U Decimal point position for Parameter 10 c.PosDp [10] 65535 INT16U Decimal point position for Parameter 11 c.PosDp [11] 65535 PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 46: Newmag Module (0X33)

    Gross Max Peak d.Error INT16U RO Error Indication A/D Converter d.TimeOut INT16U RO Timeout Time d.NewData INT8U RESERVED FOR INTERNAL USE d.TimeStamp INT16U RO Timestamp Current Measure New Magneto additional variables PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...
  • Page 47 0x7FFFFFFF 0x7FFFFFFF Position in raw units fourth cursor c.FStart INT8U Start Pulse Frequency(Hz) c.WStart INT8U Start Pulse Width(us) c.WFilter INT8U Filter Width(us) c.Vmin INT32S 0x7FFFFFFF 0x7FFFFFFF Minimum in Eng Units PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...
  • Page 48 0xF000 Maximum expected raw value wave_pos INT8U 0xff Max positive change due to waves wave_neg INT8U 0xff Max negative change due to waves wave_exp INT8U 0xff Waves expiration time PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 49: Output Value Measurement Units

    Measurements can be obtained in engineering units or in internal raw data, deeding from the Index.Subindex of the variable of interest. 17.7. Saving the settings Saving of the modified settings as per the procedure described in paragraph 9.3. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 50: Appendix

    0x0600 + Node Id Node Status 0x0700 + Node Id NOTE: Node Id 0 is not allowed, valid Node Id’s are in the range from 1 to 127 (0x7F) PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 51: Accessing The Object Database Using Expedited Sdo Protocol

    Protocol consist of a Master to Slave transmission, followed by a Slave to Master response. NOTE: all SDO must be 8 bytes long, even when sending only one byte. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...
  • Page 52 In case of a write command, Byte4 to Byte7 of the CAN message contain the value to be written into the Object addressed by Index and Subindex, in little endian format, Byte4 contains LOW byte, Byte7 contains HIGH byte. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 53: Operating The Canopen Device

    CANopen DS301 specification (Node Guarding) and into the specific device User’s Manual (Emergency Message). A device can exchange Service Data (SDO) in any state, while Process Data (PDO) can be exchanged only when the network is in PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...
  • Page 54 Master SYNC message: this means that the Network Master must generate a SYNC message at a fixed frequency (e.g. 100 Hz), upon which the device will transmit its PDO. PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 55: Operation Example

    7. Each time the Network Master sends the SYNC message, the CANopen device sends PDO data messages. 20. Operation example Now, a practical example: suppose we have only ONE CANopen node on our Layer2 Network, a S2Tech DigiTran Load Cell, with the following configuration data: Node Id 26 (0x1A);...
  • Page 56 Gross Gross Gross LowByte MidByte1 MidByte2 HighByte LowByte MidByte1 MidByte2 HighByte 8. If needed, the Master can send PDO data to the Slave (PDO data depends on Device configuration) PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...
  • Page 57 9. If ever needed, a Device can be returned back in PreOperational state by means of another NMT message. Tx Dir. COB-ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 M->S PCS III Technical Description CANopen 1r1 UK 310715.docx S2Tech srl 09/02/2021...

  • Page 58: Terms Of Sale

    The Buyer shall check the delivered Product within 10 days from receipt; after this limit, the Product shall be considered accepted. S2Tech liability is limited to the above; S2Tech is not liable for any personal injuries, damages to property or damages due to stoppage of machinery or plants caused by installation and use of supplied Product (including, without any limits, any lost profits, lost savings, stoppage of activities, lost information or any other economic losses).

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