IFM DTC600 Operating Instructions Manual
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IFM DTC600 Operating Instructions Manual

Canopenrf-identification system interface
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Operating instructions
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CANopen interface
RF-identification system
DTC600
Read/write head

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  • Page 1 Operating instructions CANopen interface RF-identification system DTC600 Read/write head...

  • Page 2: Table Of Contents

    Contents 1 Preliminary note....................4 Symbols used ..................4 Warnings used..................4 Legal and copyright information............... 4 2 Safety instructions ..................4 3 Intended use ....................6 4 Items supplied....................6 5 Function ......................6 ID tags ..................... 6 CANopen technology................6 Device overview..................
  • Page 3 9.1.6 Object directory (OD) ................ 19 9.1.7 Error messages................. 33 9.1.8 Monitoring activity via Heartbeat............36 9.1.9 Change objects ................. 37 9.1.10 Process data objects................. 37 9.1.11 Device status ..................39 9.1.12 Deactivate antenna ................42 9.1.13 Select the ID tag type................ 43 9.1.14 Read information of an ID tag............

  • Page 4: Preliminary Note

    Warning of damage to property 1.3 Legal and copyright information © All rights reserved by ifm electronic gmbh. No part of these instructions may be reproduced and used without the consent of ifm electronic gmbh. All product names, pictures, companies or other brands used on our pages are the property of the respective rights owners.
  • Page 5 – The system architect undertakes to perform a risk assessment and to create documentation in accordance with legal and normative requirements to be provided to the operator and user of the system. This documentation must contain all necessary information and safety instructions for the operator, the user and, if applicable, for any service personnel authorised by the architect of the system.

  • Page 6: Intended Use

    The data is made available as process data via the CAN-bus interface. 4 Items supplied • Read/write head The device is supplied without installation and connection accessories. Available accessories: www.ifm.com. The optimum function is not ensured when using components from other manufacturers. 5 Function 5.1 ID tags ID tags are passively operated without a battery.

  • Page 7: Device Overview

    CAN Application Layer, DS 201 …207 profile DS305 CiA CAN-based communication profile DS 301 CiA CAN specification version 2.0 A Robert Bosch GmbH 5.3 Device overview DTC600 Article number: DTC600 Function: Read/write head Type designation: DTCHF HLRWCOUS03 Type: Rectangular 6 Installation 6.1 Notes on the unit installation...

  • Page 8: Mechanical Design

    Avoid interference with data communication: u Do not operate any devices in the vicinity that use the same frequency band. w Such devices are for example frequency converters and switched-mode power supplies. If there are other devices in the same frequency band in the vicinity: u The mounting distances between the devices should be as large as possible.

  • Page 9: Installation With Angle Bracket E80335

    6.4.1 Installation with angle bracket E80335 6.4.2 Installation with mounting device E80336 The mounting device is used to mount the unit on a clamp. Compatible clamps: • E21110 with a rod diameter of 12 mm • E20795 with a rod diameter of 14 mm •...

  • Page 10: Installation With Fixing Bars E80337

    6.4.3 Installation with fixing bars E80337 6.5 Mounting distances Operating mode Distance side (A) Distance front (B) For reading and writing ≥ 1200 mm ≥ 900 mm...

  • Page 11: Positioning Of The Id Tags

    6.6 Positioning of the ID tags Fig. 1: Position the ID tag u Align the ID tag on the antenna central axis. w The distance “D” is indicated in the data sheet. ID tags are also detected on the back of the device. To avoid this: u Use the RSSI filter.
  • Page 12 4: CAN high 5: CAN low The CAN bus connection is almost trouble-free if the following points are considered: u Use cables approved for CAN bus. u Terminate the cables with 120 Ω terminating resistors. Information on available sockets see: www.ifm.com.

  • Page 13: Operating And Display Elements

    8 Operating and display elements ① ② Fig. 2: Operating and display elements 1 LEDs 2 Sensing face Power LED ID tag LEDs (4 CAN status CAN status State (green) x yellow) LED (green) LED (red) Ready for oper- ation without ID Ready for oper- up to 4 LEDs on - ation with ID...
  • Page 14 Power LED ID tag LEDs (4 CAN status CAN status State (green) x yellow) LED (green) LED (red) ID tag not suc- up to 4 LEDs cessfully read/ are flashing 5 x written rapidly HF field not ac- flashes (1 Hz) tive CAN status pre- operational...

  • Page 15: Operation

    The device is delivered with node ID 32 and a bit rate of 125 Kbits/s. u Only use cables approved for CANopen. u Terminate the cables using terminating resistors (120 Ω). w The ifm cable EVC492 contains integrated terminating resistors. 9.1.1 CANopen functions The following...

  • Page 16: Change The Node Id And Bit Rate

    9.1.2 Change the Node ID and bit rate The device supports several options how to change the Node ID and the bit rate. The device is delivered with the Node ID 32 and a bit rate of 125 Kbits/s. Each Node ID must only be assigned once in the CANopen network. If a Node ID is assigned several times, malfunction in the CANopen network will result.

  • Page 17: Set-Up

    Change the Node ID and bit rate via LSS Using the layer setting service (LSS) an LSS master can change the Node ID and bit rate of the device (LSS slave) via the CAN bus. The LSS master sets all LSS slaves to a configuration mode.

  • Page 18: Use Of 32 Bit Data Types

    The master or network manager can request the sensor via NMT messages to change the state accordingly. 9.1.4 Use of 32 bit data types CANopen defines data types with a maximum size of 64 bits (8 bytes). By means of the data type, the user data of ID tags is transmitted efficiently via the CANopen interface.

  • Page 19: Object Directory (Od)

    Writing of the data to the ID tag is effected in the same way by writing access to the respective RPDO. Data transfer per process data object is only possible in the "Operational" operating status. The preset TPDOs and RPDOs are allocated 64-bit data objects. For use of 32-bit controllers, the settings of the PDOs must be adapted.
  • Page 20 0x1011 0x01 Load default commu- u32 rw 0x00000 nication parameters 0x1014 0x00 COB-ID EMCY u32 rw Node ID + 0x80 (COB-ID emergency message) 0x1015 0x00 Inhibit time EMCY u16 rw 0x0000 (Inhibit time between EMCY messages) 0x1017 0x00 Producer Heartbeat u16 rw 0x0000 time...
  • Page 21 0x1200 0x02 COB ID client to serv- u32 ro Node ID + 0x580 0x1400 0x01 RPDO parameter: u32 rw Link COB ID 0x143F 0x02 RPDO parameter: 0xFF Transmission type 0x1600 0x01- RPDO mapping u32 rw Link 0x08 0x163F 0x1800 0x01 TPDO parameter: u32 rw...
  • Page 22 0x20F1 0x00 Node ID Auto- Setting B save (Node ID for CAN- open commu- nication) 0x20F2 0x00 Bit rate Auto- setting A save (CAN bus bit rate) 0x20F3 0x00 Bit rate Auto- setting B save (CAN bus bit rate) Status and control of the reader 0x2150 0x00 Device...
  • Page 23 0x2160 0x01- Defini- Link tion ID 0xFE tag type (name of support- ed ID tags) 0x2161 0x00 Selects ID tag type (val- ue se- lects ID tag type defined 0x2160) 0x2162 0x00 RSSI ID tag information 0x2180 0x00 Current 0x00000 UID (UID 0000000 of the ID...
  • Page 24 0x2181 0x00 Current 0x00 DSFID (DSFID of the ID tag in the reading range, mappa- ble) 0x2182 0x01 ID tag in- 0x00000 forma- 0000000 tion: UID 0000 0x02 ID tag in- 0x00 forma- tion: DS- 0x03 ID tag in- 0x00 forma- tion: AFI 0x04...
  • Page 25 0x2182 0x06 Tag in- 0x00 forma- tion: ID tag type (detect- ed ID tag type, de- fined in 0x2160) 0x2190 0x00 Current 0x00000 UID up- 0000000 per 4 0000 bytes (32 bit) (UID of the ID tag, in reading range, mappa- ble) 0x2191...
  • Page 26 Read mappable data 0x2200 0x01-0x4 Read Link start ad- dress in the user memory (start of the ad- dress range on the ID tag to be read) 0x2201 0x01-0x4 Read Link length (length of the memory range on the ID tag to be read;...
  • Page 27 0x220B 0x01-0x4 ID tag data (32 bit) (4 bytes of ID tag data, up- dated when new ID tag en- ters the reading range) Read data range 0x2280 0x00 Read 0x0000 start of address (start of the ad- dress range on the ID tag to be read)
  • Page 28 0x2281 0x00 Read 0x0000 length (length of the memory range on the ID tag to be read) 0x2282 0x00 ID tag data (re- quested data from the ID tag as config- ured in objects 0x2280 0x2281)
  • Page 29 Write mappable data 0x2300 0x01-0x4 Write Link start ad- dress (start of the ad- dress range on the ID tag to be written) 0x2301 0x01-0x4 Write Link length (length of the memory range on the ID tag to be written; max.
  • Page 30 0x230A 0x01-0x4 ID tag data (8 bytes of ID tag data) 0x230B 0x01-0x4 ID tag data (32 bit) (4 bytes of ID tag data) 0x231E 0x00 Write 0x00000 trigger (32 bits) 0000000 upper PDOs 0x231F 0x00 Write 0x00000 trigger (32 bits) 0000000 lower PDOs...
  • Page 31 Write data range 0x2380 0x00 Write 0x0000 start ad- dress (start of the ad- dress range on the ID tag to be written) 0x2381 0x00 Write 0x0000 length (length of the memory range on the ID tag to be written) 0x2382 0x00 ID tag...
  • Page 32 Lock data range 0x2480 0x00 Lock 0x0000 start ad- dress (start of the ad- dress range on the ID tag to be locked. Must corre- spond to the ID tag rang- 0x2481 0x00 Lock 0x0000 length (length of the memory range on the ID tag to be...

  • Page 33: Error Messages

    0x2481 0x00 Lock trig- bool ger (trig- ger for locking data on the ID tag as config- ured in objects 0x2480 0x2481) UID filter 0x4603 0x00 UID filter 0x00 depth 0x4605 0x00 zero ID 0x02 filter depth 9.1.7 Error messages The device supports a number of error messages that are sent in the event of a communication, hardware or RFID error.
  • Page 34 The COB ID of the emergency messages is preset to 0x80 + Node Error register Manufacturer Manufacturer Error message Description (0x1001) error code error name 0x8210 0x11 Protocol: PDO not processed due to length error. 0x8130 0x01 Monitoring: Node guarding or Heartbeat er- 0x8100 0x11...
  • Page 35 Error register Manufacturer Manufacturer Error message Description (0x1001) error code error name 0xFF01 0x81 0x01 TX: ISO_COM- ID tag did not MAND_ER- answer. Possi- ROR_NO_RE- bly the ID tag is SPONSE no longer in the field. 0xFF01 0x81 0x02 TX: ISO_COM- Error while MAND_ER- sending the an-...

  • Page 36: Monitoring Activity Via Heartbeat

    Error register Manufacturer Manufacturer Error message Description (0x1001) error code error name 0xFF02 0x81 0x11 ISO_TAG_ER- The specified ROR_BLOCK_ section has al- ready been READY_BLOC locked and can- not be locked again. 0xFF02 0x81 0x12 ISO_TAG_ER- The specified ROR_BLOCK_ section has al- NOT_UPDATE- ready been ABLE...

  • Page 37: Change Objects

    The Heartbeat function is activated by entering a value greater than "0" into the Heartbeat interval time object (OD index 0x1017). The value indicates the time between two Heartbeat signals in milliseconds. The Heartbeat function is deactivated with the value "0". 9.1.9 Change objects Changes of the objects...
  • Page 38 Node ID 0x2150 0x00 0x20 Device status 0x0180 Node ID + 0x220A 0x01 0x40 0x000000 0x08 0x0280 Node ID + 0x220A 0x02 0x40 0x000000 0x08 0x0380 Node ID + 0x220A 0x03 0x40 0x000000 0x08 0x0480 0 (deacti- 0x220A 0x04 0x40 0x000000 0x08 vated)

  • Page 39: Device Status

    Node ID + 0x230A 0x02 0x40 0x000000 0x08 0x0400 Node ID + 0x230A 0x03 0x40 0x000000 0x08 0x0500 0 (deacti- 0x230A 0x04 0x40 0x000000 0x08 vated) 0 (deacti- 0x230A 0x3F 0x04 0x000001 0x08 vated) The preset TPDOs RPDOs are allocated 64-bit data objects. For use of 32-bit controllers, the settings of the TPDOs and RPDOs must be adapted.
  • Page 40 Status read_err Default value Status buf_ovfl fr_err busy present ant Default value Status Value Description EMCY message Power enabled (al- ways 1) Antenna deactivated Antenna activated present No ID tag present ID tag present busy Idle Read or write ac- cess active fr_err Front end OK...
  • Page 41 Status Value Description EMCY message tag_err Error message from ID tag for last opera- tion Read error codes (updated after each read access of the ID tag) 0x00 ISO_COMMAND_ER- No error, command suc- ROR_NO_ERROR cessfully executed. 0x01 SO_COMMAND_ER- ID tag did not answer, may- ROR_NO_RESPONSE be ID tag is no longer in the field.

  • Page 42: Deactivate Antenna

    ID tag error codes (updated after read or write access of the ID tag) 0x02 ISO_TAG_ERROR_COM- The command is not detect- MAND_SYNTAX ed. Number of sections is too high. Example: Format error. 0x03 ISO_TAG_ERROR_OP- The indicated options are TION_NOT_ SUPPORTED not supported.

  • Page 43: Select The Id Tag Type

    9.1.13 Select the ID tag type The device is compatible with several ID tag types. Depending on the size of the user data memory and manufacturer, the ID tags differ in the access to data. Therefore, the device must know which type of ID tag is used in the system. In object 0x2161, the ID tag type used in the RFID system can be selected.

  • Page 44: Read Information Of An Id Tag

    9.1.14 Read information of an ID tag The information of an ID tag can be read via the objects 0x2180 to 0x2182. To do so, the ID tag has to be within the detection range of the device. The objects 0x2180 and 0x2182 are only valid as long as the ID tag is detected. If there is no ID tag within the range, the values of the objects are reset to 0.
  • Page 45 The following values have proven their worth in practice: u "0" to "5" for dynamic applications (rapidly passing ID tags) u ">5” for static applications ID tag ● ● ● ● ● ● ● ● ● ● in the field ID tag ●...
  • Page 46 ID tag ● ● tected UID filter depth: 5, zero ID filter depth: 5 ID tag ● ● ● ● ● ● ● tected ID tag ● ● ● ● ● ● ● ● ● ● ● ● ● tected Object UID filter depth The "UID filter depth"...

  • Page 47: Data Transfer With An Id Tag

    9.2 Data transfer with an ID tag 9.2.1 Read UID of the ID tag The UID (Unique Identification Number) of the ID tag is available in object 0x2180 as soon as an ID tag is within the reading range of the device. If no ID tag is available, the value 0x0000000000000000 is entered.

  • Page 48: Example 1

    9.2.2.1 Example 1 The data range 0x10 to 0x18 (8 bytes) is to be transferred with the 2nd TPDO. Node ID + 0x220A 0x01 0x40 0x0280 Object directory Index Sub-index Name (object) Value 0x2200 0x01 Read start of the ad- 0x10 dress (start of the address range on the ID tag to be...

  • Page 49: Write Data To The Id Tag Via Pdo Transfer

    Index Sub-index Name (object) Value 0x2201 0x05 Read length (length 0x04 of the memory range on the ID tag to be read; max. 8 bytes) 9.2.3 Write data to the ID tag via PDO transfer To write data to an ID tag via PDO transfer an RPDO must be assigned to the object 0x230A with a sub-index in the range from 0x01 to 0x40.

  • Page 50: Example 1

    Trigger Description Trigger for ID tag data 4 (0x230A/0x4) Trigger for ID tag data 3 (0x230A/0x3) Trigger for ID tag data 2 (0x230A/0x2) Trigger for ID tag data 1 (0x230A/0x1) The writing process is always made with the bit change of the respective bit (0->1 or 1->0).

  • Page 51: Example 2

    Object directory Index Sub-index Name (object) Value 0x2300 0x01 Read start of the ad- 0x10 dress (start of the address range on the ID tag to be read) 0x2301 0x01 Read length (length 0x08 of the memory range on the ID tag to be read;...

  • Page 52: Error Handling For Pdo Transfer

    Object directory Index Sub-index Name (object) Value 0x2300 0x05 Read start of the ad- 0x44 dress (start of the address range on the ID tag to be read) 0x2301 0x05 Read length (length 0x04 of the memory range on the ID tag to be read;...

  • Page 53: Example

    9.2.5.1 Example The data range 0x50 to 0x70 is to be read from the ID tag. Object directory Index Sub-index Name (object) Value 0x2280 0x00 Read start of the ad- 0x50 dress (start of the address range on the ID tag to be read) 0x2281 0x00...

  • Page 54: Lock Data Range On The Id Tag Via Sdo Transfer

    Object directory Index Sub-index Name (object) Value 0x2380 0x00 Write start of the ad- 0x34 dress (start of the address range on the ID tag to be writ- ten) 0x2381 0x00 Write length (length 0x03 of the memory range on the ID tag to be written) 0x2382 0x00...

  • Page 55: Error Codes During Sdo Transfer

    Object directory Index Subindex Name (object) Value 0x2480 0x00 Lock start of the ad- 0x04 dress (start of the address range on the ID tag to be locked) 0x2481 0x00 Write length (length 0x08 of the memory range on the ID tag to be locked) 0x2482 0x00...
  • Page 56 SDO error code Description Possible cause 0x06010002 Attempt to write a read only object. 0x06020000 Object does not exist in the object dictionary. 0x06040041 Object cannot be mapped to the PDO. 0x06040042 The number and length of the objects to be mapped would exceed PDO length.

  • Page 57: Eds File

    Node ID and bit rate. CANopen configuration tools are available for the configuration of the CANopen network and the devices. The EDS files are available on ifm’s website: www.ifm.com Contents of the EDS file: • Communication functions and objects (to CANopen profile DS-301)

  • Page 58: Maintenance, Repair And Disposal

    10 Maintenance, repair and disposal The unit is maintenance-free. u Contact ifm in case of malfunction. u Do not open the housing as the unit does not contain any components which can be maintained by the user. The unit must only be repaired by the manufacturer.

  • Page 59: Glossary

    Glossary ATQA EMCY The ATQA (Answer To The emergency object contains reQuestA) is used to identify an alarm message with which the ID tag type. the device signals an error. Heartbeat Controller Area Network, bus Configurable cyclic monitoring system for use in mobile among network participants.
  • Page 60 PDO mapping Procedure to set basic device Describes the application data settings transferred with a PDO. RPDO Network management Process data object received from the device. Node ID RSSI Unambiguous number of a participant in the CANopen The Received Signal Strength network.
  • Page 61 TPDO Process data object sent by the device.

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