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HYDAC ELECTRONIC HLT 1100-R2 CAN Manual

Linear position transmitter
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Protocol
Description
(Software HLT1k-3_V03)
(Translation of original instructions)
Linear
Position Transmitter
HLT 1100-R2 CAN
CANopen Safety
Modification: 000

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Summary of Contents for HYDAC ELECTRONIC HLT 1100-R2 CAN

  • Page 1 Linear Position Transmitter HLT 1100-R2 CAN CANopen Safety Modification: 000 Protocol Description (Software HLT1k-3_V03) (Translation of original instructions)

  • Page 2: Table Of Contents

    10.1.8 Index 100Ah: Manufacturer software version (const) .......... 18  10.1.9 Index 1010h: Store parameters ................18  10.1.10  Index 1011h: Restore default parameters ............ 19  10.1.11  Index 1014h: COB-ID emergency message (read write) ......19  Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...
  • Page 3 11.5.1 Inquire Identity Vendor ID protocol ..............34  11.5.2 Inquire Identity Product Code Protocol ..............34  11.5.3 Inquire Identity Revision-Number protocol ............35  11.5.4 Inquire Identity Serial Number protocol ............... 35  11.5.5 Inquire Node ID protocol ..................36  Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...
  • Page 4 12.2  S etting the Node ID and Baud rate by means of LSS services ........38  12.2.1 Configuration of the Node ID, sequence ............. 38  12.2.2 Configuration of the Baud rate, sequence ............39  13  Start-up ........................40  13.1  C AN interface ......................40  13.2  E DS file ........................40  Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...
  • Page 5 Modifications to technical specifications, illustrations and dimensions are therefore possible. Should you find any errors whilst using this manual, or have any suggestions for improvements, please contact: HYDAC ELECTRONIC GMBH Technische Dokumentation Hauptstrasse 27 66128 Saarbruecken...

  • Page 6: Introduction

    Before commissioning of the product, please read the related operating instructions as well as the associated protocol description. Ensure that the unit described, hereinafter referred to as measuring system, is suitable for your application. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 7: Scope Of Applications

    If we negligently breach any material contractual obligation, our liability shall be limited to foreseeable damage. Claims due to the product liability shall remain unaffected. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 8: Symbols

     Transmission of the actual position and/or speed value as a PDO or SRDO the following events:  in relation to received SYNC objects (PDO only) Synchronously  Asynchronous after expiry of a defined cycle time Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 9: Transmission Speed

    The set Node ID is stored in a non-volatile memory and can be adjusted via the CAN bus (see Object Dictionary Index ) or LSSFehler! Verweisquelle konnte nicht 2001h gefunden werden.. When supplied the address 1 is set. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 10: Transmission Services

    Abort SDO Transfer identification and a corresponding Abort Code (see [1]). The particular of the corresponds to the defined in COB-ID Pre-defined Connection Set the DS301 nd cannot be altered. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 11: Process Data Object (Pdo)

    CAN identifier used. The SYNC ID used is stored in the Object Dictionary. The HLT CANopen Safety provides the functionality of a SYNC Consumer. If the SRDO Transmission Type is set appropriately, a SRDO is sent on receipt of a SYNC. The Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 12: Safety-Relevant Data Object (Srdo)

    The plausibility test is carried out when writing the value A5h to Configuration Valid. The writing is successful only if the test has been successfully completed. The plausibility test is done for all the SRDOs activated (Information Direction unequal with 0). Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 13: Emergency Object (Emcy)

    The HLT CANopen Safety can operate as a . The ID of the Heartbeat Producer Heartbeat 700h + . The time has been pre-set to 0 (not active) and can be modified (see Node-ID Object Dictionary, Index 1017h). Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 14: Network Management Services (Nmt)

    After initialisation, an NMT device will send a object. Boot Up Principally, this is nothing other than a Heartbeat object with the status 0. In the HLT CANopen Safety this function is implemented. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 15: Data Flow In The Hlt Canopen (Safety)

    Read-only, and always delivers the same value. 2. read only Read-only, however, the value can be changed during operation. 3. write only The entry is write-only. 4. read write The entry can be read and written. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 16: Structure Of The Device-Specific Part According To Ds406

    Bit 0 Generic error Bit 1-3 reserved Bit 4 Communications error Bit 5-6 reserved Bit 7 Manufacturer-specific As soon as a communication error or manufacturer-specific error has occurred, the generic error is set. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 17: Index 1002H: Manufacturer Status Register (Read Only)

    This message should be assigned a high priority, in order to keep the latency caused by other messages low. Standard settings: 80h (128d) Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 18: Index 1008H: Manufacturer Device Name (Const)

    3: Save application paramters (read write) (Index from 6000h to 9FFFh) 4: Save LSS parameters (read write) (Index from 2000h to 20FFh) Subindex 4 is Manufacturer-specific, which means it is not described in the Standard [1]. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 19: Index 1011H: Restore Default Parameters

    Activate/deactivate heartbeat "Producing" The device is able to send heartbeat messages on a cyclic basis; see chapter Heartbeat . No heartbeat messages will be sent >0 Time interval in [ms] for cyclic heartbeat messages Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 20: Index 1018H: Identity Object (Record)

    It depends Sub indices used: 0: Highest Sub-Index Supported (const) 1: VendorID (read only) Unique manufacturer code (DAh for HYDAC ELECTRONIC GmbH) 2: ProductCode (read only) Hydac Electronic product code (e.g.: 929265) 3: Revision number (read only) Revision number of the device.

  • Page 21: Index 1381H: Srdo Mapping Parameter 1

    Otherwise, the value is set to 0. 10.1.18 Index 13FFh: Safety configuration checksum Contains the checksums of the SRDO configurations. Sub indices used: 0: Highest sub-index supported (read only) 1: SRDO1 signature (read write) Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 22: Index 1800H: Tpdo Communication Parameter 1

    This range defines which actual signal parameter objects will be transmitted within one of the available TPDOs. It describes the structure for the definition of the signal parameter objects transmitted via this PDO. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 23: Index 1F80H: Nmt Startup (Read Write)

    10.2.3 Index 6005h: Linear encoder measuring step settings (read only) This entry contains the increment of the measured values of position [4]). Sub indices used: 0: Highest sub-index supported (const) 1: Position step setting (read only) Increment of the position value. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 24: Index 6200H: Cyclic Timer (Read Write)

    The device does not support any warnings, the value is always 0. 10.2.10 Index 6506h: Supported warnings (const) Supported warnings [4]. The device does not support any warnings, the value is always 0. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 25: Index 6507H: Profile And Software Version (Const)

    The entry corresponds with the entry of the index 1018.04h (device identification, serial number [4]). 10.3 Manufacturer Specific Entries Manufacturer-specific objects are usually device-specific as well. In this chapter the objects are described, which are normally always supported by the devices. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 26: Index 2001H: Node-Id

    This entry contains the checksum of the current device software. 10.3.4 Index 4004h: Inverted position value (read only) This entry contains the inverted position value. The entry can be mapped in SRDOs. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 27: Further Indeces Within The Range Of 2000H To 5Fffh (Reserved)

    ● Activate Baud rate  Store configured parameters ● Store configured parameters  Inquiry services Inquire LSS address ● Inquire LSS address  Inquire Node ID ● Inquire Node ID  Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 28: Finite State Automaton, Fsa

    (1) LSS waiting: Support for all services as indicated below (2) LSS configuration: Support for all services as indicated below (3) Final: Pseudo-State, shows the deactivation of the FSAs Figure 1: LSS Modes Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...
  • Page 29 Once the LSS FSA further state transitions of the NMT FSA on NMT PRE into OPERATIONAL STOPPED and vice versa, this will not lead to re-entry into the LSS FSA. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 30: Transmission Of Lss Services

    LSS device. By means of the LSS master only this LSS device in the network can be switched to Configuration Mode, whose LSS address attributes correspond with the LSS address. Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 31: Configuration Protocols

    Node ID the Store configuration protocol must be transmitted to the LSS device. To activate the new Node ID the NMT service Reset Communication (82h) must be addressed. LSS-Master --> LSS-device COB ID Node ID Reserved by CiA 7E5h 1…127 and 255 Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 32: Configure Bit Timing Parameters Protocol

    0: Standard CiA Baud rate table Table Index 0: 1 Mbit/s 1: 800 kbit/s 2: 500 kbit/s 3: 250 kbit/s 4: 125 kbit/s 5: reserved! 6: 50 kbit/s 7: 20 kbit/s 8: 10 kbit/s Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 33: Activate Bit Timing Parameters Protocol

    By means of the LSS master the configured parameters of a single LSS device in the network can be stored into the non-volatile memory. Only one LSS device may be switched to Configuration Mode for this purpose. LSS-Master --> LSS-device COB ID Reserved by CiA 7E5h Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 34: Inquire Lss Address Protocols

    LSS master the manufacturer's product name of a single LSS device in the network can be read out. Only one LSS device may be switched to Configuration Mode for this purpose. LSS-Master --> LSS-device COB ID Reserved by CiA 7E5h Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 35: Inquire Identity Revision-Number Protocol

    LSS device may be switched to Configuration Mode for this purpose. LSS-Master --> LSS-device COB ID Reserved by CiA 7E5h LSS-device --> LSS-Master COB ID (= Index 1018h:04) Reserved by CiA Serial Number 7E5h Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 36: Inquire Node Id Protocol

    Serial No. - area, respond by the LSS identify device protocol. LSS-Master --> LSS-device COB ID Vendor ID Reserved by CiA 7E5h COB ID Product-Code Reserved by CiA 7E5h COB ID Revision-Number-Low Reserved by CiA 7E5h Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 37: Lss Identify Device Protocol

    (Node ID = FFh) in the network are identified. The related LSS devices respond by the LSS identify non-configured remote device protocol. LSS-Device --> LSS-Master COB ID Reserved by CiA 7E4h Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 38: Lss Identify Non-Configured Device Protocol

    12.2 Setting the Node ID and Baud rate by means of LSS services 12.2.1 Configuration of the Node ID, sequence Assumption:  LSS address unknown  only one LSS device should be in the network  the Node ID 12 dec. shall be set Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 39: Configuration Of The Baud Rate, Sequence

    --> wait for feedback and check successful execution, --> Error Code = 0 (see 11.4.2). Carry out command Specifier 21 Activate bit timing  parameters protocol in order to activate the new Baud rate. (see 11.4.3). Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...

  • Page 40: 13  Start-Up

    The EDS file matching the device can be identified by the device name and by the device related major revision number in its file name. The file including the its CANopen Safety interface description can be found and downloaded from our homepage. http://www.hydac.com/uk-en/products/sensors/show/Material/index.html Version 2021-05-12 HYDAC ELECTRONIC GMBH Part No. 670064...
  • Page 41 PB HLT 1100 CANopen Safety HYDAC ELECTRONIC GMBH Hauptstr. 27 D-66128 Saarbruecken Germany Web: www.hydac.com E-mail: electronic@hydac.com Phone: +49 (0)6897 509-01 Fax: +49 (0) 6897 / 509-1726 HYDAC Service For enquiries about repairs or alterations, please contact HYDAC Service. HYDAC SERVICE GMBH Hauptstr.

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