Type PC6D Digital Load Cell Technical Manual Document no. G142-Rev1.
Page 2 Manual PC6D CANopen
Contents Part A: CANopen .................................................................................... pages 4 - 24 Part B: Commands ................................................................................. pages 25 - 45 PART A................................................................................................................................. 5 1 2 3 4 INTRODUCTION............................................................................................................ 5 1.
PART B............................................................................................................................... 25 5 COMMANDS................................................................................................................ 25 5.1 SYSTEM DIAGNOSIS COMMANDS – ID, IV, IS .......................................................... 26 5.2 CALIBRATION COMMANDS – CE, CM, DS, DP, CZ, CG, ZT, FD, CS ...................... 27 5.3 MOTION DETECTION COMMANDS – NR, NT ...........
Part A 1 Introduction 1.1 Identification and Scope This document describes the system design for a CANopen interface of the PC6D. It describes the protocol used and the CAN open profile used to access the PC6D 1.2 Purpose The purpose of this document is to specify the functionality, and performance of the PC6D CANopen interface. 1.3 Acronyms and Definitions 1.3.1 Acronyms This section includes a list of all abbreviations and acronyms used throughout the document in alphabetical order.
2 System Detailed Design 2.1 General This software connects a physical load cell to a CANopen network. The PC6D digitizes, filters and processes the analog inputs. It transports commands, responses and results from and to the CANbus.
2.2 CANopen The PC6D follows the CAN2.0B recommendation. It receives both 11-bit identifiers, and tolerates 29-bit identifiers. It only transmits 11-bit identifiers. The PC6D is always quiet on the CANbus until the NMT Start command is received, except for the very first ‘node guard’ message. When started, the TPDO1 is used to send current status information. The TPDO1 holds the module status and either net or gross weight, depending on the SDO selection. The default is the Net value.
3 CANopen profile 3.1 The PDOs The weight and status is sent constantly to the CANbus. The TPDO1 is sent 20 times per second. The TPDO2 is sent every time the PC6D finishes a triggered measurement or a SetPoint is crossed. The TPDO3 is sent every time the Tare value is changed.
The format of the RPDO1 and RPDO2 is: 8 Bit 8 Bit LDM select Command byte Note: On PC6D the LDM selector byte is ignored.
3.3 Communication Profile The parameters which are critical for communication are determined in the communication profile. This includes the data for manufacturer's product nomenclature, for identification, or the parameters for object mapping. Abbreviations used in Tables: ro read only rw read / write wo write only (read will not be regarded as an error, but returns undefined results) UI8 Unsigned8 UI16 Unsigned16 UI32 Unsigned32 I32 REAL32 VS 3.
Communication Profile (Tables) Index Type 1000 Sub- Name index 0 Device Type UI32 Attri- Defaultbute value ro 00040191H 1001 0 Error Register UI8 ro 0 1005 0 COB-ID Sync messg. UI32 rw 80H COB-ID of the SYNC object 1006 0 UI32 rw 50000 100C 100D 100E 0 0 0 UI16 UI8 UI32 rw rw rw 0 UI32 rw 1017 0 UI16 rw 320 3 0x700 + NodeID 80H + NodeID 0 Minimum interval between TDPO1 (default 20Hz). Min=833 (1200Hz rate).
Index Sub- Name index 0 Number of elements 1 COB-ID UI8 UI32 Attribute ro ro 1402 2 0 1 Transmission type Number of elements COB-ID UI8 UI8 UI32 ro ro ro 1403 2 0 1 Transmission type Number of elements COB-ID UI8 UI8 UI32 ro ro ro 2 0 1 Transmission type Entries in Rx PDO 1 1st Object Cmd. Byte 2nd Object Cmd. Byte UI8 UI8 UI32 UI32 ro ro ro ro 1401 1600 1601 0 1 Type UI8 Entries in Rx PDO 2 UI32 1st Object LDM# 2nd Object Cmd. Byte.
Index 1800 1801 1802 1803 Sub- Name index 0 Number of elements 1 COB-ID UI8 UI32 Attribute ro rw 2 3 Transmission type Inhibit Time UI8 UI16 rw rw 0 1 Number of elements COB-ID UI8 UI32 ro rw 2 3 Transmission type Inhibit Time UI8 UI16 rw rw 0 1 Number of elements COB-ID UI8 UI32 ro rw 2 3 Transmission type Inhibit Time UI8 UI16 rw rw 0 1 Number of elements COB-ID UI8 UI32 ro ro 2 3 Transmission type Inhibit Time UI8 UI16 ro ro Manual PC6D CANopen Type Defaultvalue 3 180
Index 1A00 Sub- Name index 0 Number of mapped Entries in Tx PDO 1 1 1st Object 2nd Object 2 3rd Object 3 4th Object 4 Type Meaning UI8 Attri- Defaultbute value ro 4 UI32 UI32 UI32 UI32 ro ro ro ro 32 bit Integer (default) or float weight value. Module Status -*Module ID [0...63]. The current module scanned.
Index 2000 2001 2002 Subindex 0 1 2 3 4 5 6 Name Type Meaning UI8 REAL32 REAL32 REAL32 REAL32 REAL32 REAL32 Attri- Defaultbute value ro 6 ro ro ro ro ro ro Number of entries Gross weight Net Weight Tare Dosed weight Dosed tare Average weight 0 1 2 3 4 5 6 7 8 9 A B Number of entries Gross weight Net Weight Tare Dosed weight Dosed tare Average weight A/D sample H&B Device ID H&B FW Version Device Status ADC Reference UI8 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 ro ro ro ro ro ro ro ro ro ro r
Index 2004 2006 Sub- Name index 0 Number of entries. Save: 1 Analog output 2 Calibration 3 General set-up 4 Dosing parameters 5 Set-points 0 1 2 3 4 Number of entries LDM select [0..63] Factory Default Direct command 1 Direct command 2 Type UI8 Attri- Defaultbute value ro 5 UI8 UI8 UI8 UI8 UI8 wo wo wo wo wo UI8 UI8 UI8 UI8 UI8 ro wo wo wo wo 4 Meaning Number of parameters.
Index 2100 Subindex 0 1 2 3 4 5 6 7 8 9 A B C D E F 10 11 12 13 Name Type Number of entries.
Index 2300 Subindex 0 1 2 3 4 5 6 7 8 9 A B C D Name Type UI8 Number of entries. I32 Absolute gain I32 Absolute zero I32 Calibrate enable I32 Calibrate gain Set calibration point B I32 Set calibration point A I32 I32 Calibrate max I32 Calibrate min I32 Calibrate save I32 Calibrate zero I32 Decimal point I32 Display step size Local gravity I32 Attri- Defaultbute value 12 ro rw rw rw rw rw rw rw rw rw rw rw rw rw Meaning Number of calibration parameters.
Index Subindex 0 1 2 3 4 Name Type Number of entries. Set-point 1 Set-point 2 Set-point 3 Set-point 4 2700 0 1 2 3 4 2800 0 1 2 3 4 2600 UI8 I32 I32 I32 I32 Attri- Defaultbute value ro 4 rw rw rw rw Number of Set-point parameters. Set-point 1 value Set-point 2 value Set-point 3 value Set-point 4 value Number of entries. Set-point 1 Set-point 2 Set-point 3 Set-point 4 UI8 I32 I32 I32 I32 ro rw rw rw rw 4 Number of Set-point parameters.
Index 2900 Subindex 0 1 2 3 4 5 6 7 8 9 10 11 Name Type Number of entries Gross weight Net Weight Tare Dosed weight Dosed tare Average weight A/D sample Device ID Firmware Version Device Status ADC Reference UI8 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 I32 Manual PC6D CANopen Attri- Defaultbute value ro 11 ro ro ro ro ro ro ro ro ro ro ro Meaning Number of entries in info array.
Index 6401 6402 6403 Subindex 0 1 2 3 4 5 6 Name Type Number of entries Gross weight Net Weight Tare Dosed weight Dosed tare Average weight UI8 I16 I16 I16 I16 I16 I16 Attri- Defaultbute value ro 6 ro ro ro ro ro ro 0 1 2 3 4 5 6 7 Number of entries Gross weight Net Weight Tare Dosed weight Dosed tare Average weight A/D sample UI8 I32 I32 I32 I32 I32 I32 I32 ro ro ro ro ro ro ro ro 7 0 1 2 3 4 5 6 Number of entries Gross weight Net Weight Tare Dosed weight Dosed tare Average weight UI8 REAL3
3.5 Quick Start Guide Notes: • • The PC6D is always quiet on the CANbus until the NMT Start command is received, except for the very first ‘node guard’ message. Default setting for PC6D is CANopen address 1 @ 500 kbit/sec. 3.5.1 Process data objects TPDO1 Weight values are available at all times (see page 7 or 9) The following table shows the information of TPDO1 (8 byte, firmware 102.
TPDO3 8 byte format as TPDO1. It is sent every time the tare changes and value set is the new tare value.
4 Notes At PC6D you can download firmware updates: 4.1 • via CANopen or • via PC. Firmware Update (via CANopen) This piece of firmware resides in Flash memory block 0 and 5. Its primary function is to load new software versions to Flash blocks 1 … 4. This is used to allow firmware update through the CANbus using a special protocol. Please ask Flintec for the description. 4.2 Firmware Update (via PC) For this purpose we have a special programmer software for an easy download of the firmware.
Part B 5 COMMANDS These pages describe the ASCII commands as they must be used e.g. by the DOP software. At each command the equivalent CAN index and sub-index are given for reference. For better clarity, all commands are divided into groups as described on the following pages. PART B............................................................................................................................... 25 5 COMMANDS.................................................................................
5.1 System Diagnosis Commands – ID, IV, IS Use these commands to get type, firmware version or device status of PC6D. These commands are sent without parameters. ID Request of device identity [ 2900sub08 ] Master (PC / PLC) sends ID Devices responds D:2010 The response to this request gives the actual identity of the active device. This is particularly useful when trying to identify different device types on a bus.
5.2 Calibration Commands – CE, CM, DS, DP, CZ, CG, ZT, FD, CS Note: TAC represents Traceable Access Code (calibration counter). CE TAC counter reading [ 2300sub03 ] With this command you get the TAC counter reading or you can enable a calibration sequence. Master (PC / PLC) sends CE CE_17 Device responds E+00017 (example) OK Result Request: TAC-counter CE 17 Calibration sequence active This command must be issued PRIOR to any attempt to set the calibration parameters CZ, CG etc.
DP Set decimal point position [ 2300sub0B ] This command allows the decimal point to be positioned anywhere between leftmost and rightmost digits of the 5-digit output result. Position 0 means no decimal point. Master (PC / PLC) sends DP CE CE_17 DP_0 CZ Device responds P+00002 E+00017 (example) OK OK Set calibration zero point Result Request : position of dec.
Zero tracking will be performed only on results less than +/-0.5 d at a rate of 0.4 d/sec, where d = display step size (see DS command). The zero can only be tracked to +/- 2% of maximum (see CM command). Factory default: ZT=0 FD Factory default settings [ 2006sub02 ] This command puts the PC6D back to a known state. The data will be written to the EEPROM and the TAC will be incremented by 1.
5.3 Motion detection Commands – NR, NT The motion detection facility provides a means of disabling certain functions whenever a condition of instability, or “motion”, is detected. The “no-motion”, or “stable” condition is achieved whenever the signal is steady for the period of time set by NT, during which it cannot fluctuate by more than NR increments.The stable condition activates the relevant bit of responses to “Info Status” (IS).
5.4 Filter setting Commands – FM, FL, UR Using the commands FM and FL, a digital filter type and strength can be set which will eliminate most of the unwanted disturbances. The command UR is used for the average building. Please note that these filters are positioned immediately after the A/D Converter and therefore affect all aspects of the weighing operation.
Mode 1 Characteristic (FIR-Filter) FL 0 1 2 3 4 5 6 7 8 20 dB 40 dB Damping in Settling time 3 dB Cut-off damping at damping at the to 0.1% frequency frequency stopband (Hz) (ms) (Hz) (Hz) (dB) ** no filtering 47 93 140 187 233 280 327 373 19.7 9.8 6.5 4.9 3.9 3.2 2.8 2.5 48 24 16 12 10 8 7 6 64 32 21 16 13 11 9 8 Stopband Output rate max.
5.5 Set Zero/Tare and Reset Zero/Tare Commands – SZ, RZ, ST, RT The following commands allow you to set and reset zero and tare values. The zero set during calibration remains the ‘true zero’ but new ‘current zero’ can be set using the SZ command. If the SZ command is issued and accepted then all weight values will then be based on the new ‘current zero’. Please remember that zero value will be subject to the Zero tracking function if enabled.
ST Set Tare RPDO1 [ 00 08 ] This command will activate the net weighing function by storing the current weight value as a tare. The weight signal must be “stable” within the limits set by NR (No Motion Range) and NT (No Motion Time) commands for the “signal stable” bit to be active and set tare command to be accepted.
5.6 Output Commands – GG, GN, GT, GS The following commands “Get” the Gross, Net, Tare and ADC (Sample) values from the PC6D. Available on the CAN profile index 2000 and 2001 in floating point and integer respectively. GG Get Gross value [ 2000/2001sub01 ] Normally sent in TPDO1, if selected by index 1A00sub01. Master (PC / PLC) sends GG GN Device responds G+01.100 Get Net value Result Gros weight 1.100 d [ 2000/2001sub02 ] Normally sent in TPDO1, if selected by index 1A00sub01.
5.7 Setpoint Commands - Sn, Hn, An The PC6D has 4 setpoints where the status is dependent on the weight value. Each of them can be assigned as an independent setpoint value (Sn) with a corresponding hysteresis/switch action (Hn) and base (An – switch on the gross or the net weight). S1 Setpoint 1 [ 2600sub01 ] Request / Setting Master (PC / PLC) sends S1 S1_03000 Device responds 1+01500 OK Similarly to read or set setpoint 2, use S2 instead of S1, etc.
Request / Set Hysteresis value for setpoint 1 Master (PC / PLC) sends H1 H1_100 H1_-100 Device responds 1-00100 OK OK Result Request: neg. Hysteresis Setting: pos. Hysteresis Setting: neg. Hysteresis Setpoint range between ± 1 (minimum) and ± 199999 (maximum). Similarly to read or set the setpoint 1 hysteresis, use H2 instead of H1 etc. (2700sub02) A1 Request / Set the base for setpoint 1 [ 2800sub01 ] The A1 command defines the base on which the setpoint value acts.
5.8 Communication setup Commands – AD, BR, Terminal Resistor NOTE: These settings will only take effect after a power on reset (remember to store the settings using the WP command [2004sub03] before turning the power off.) AD Device address setup / request [ 2007sub02 ] It is possible to set the network address of the device using the AD command. (Address range between 1 and 126). Note: Setting the device address to 0 or 127 are not allowed. Address 0 is used by the Network Management Protocol (NMT).
5.9 Trigger Commands – SD, MT, GA, TE, TR, TL Note: All setups should be stored with the WP command before power off. SD Start Delay [ 2500sub0A ] Set the delay between falling/rising edge of trigger pulse and start of measurement. Permitted values are 0 … 65535 ms. Master (PC / PLC) sends SD SD_200 Device responds S+00100 OK Result Request: SD=100 ms Setting: SD=200 ms Factory default: 0 [= 0 ms] MT Measuring Time [ 2500sub09 ] Set the time over which the average value will be built.
TL Trigger Level [ 2500sub01 ] Set the trigger level for rising edge start of measurement. Permitted values are in the range 0…262143. Master (PC / PLC) sends TL TL_1000 Device responds T+99999 OK Result Request: TL=99999 Setting: TL=1000 With regard to the trigger commands SD and MT, a check weighing will automatically start when the weight overshoots by e.g. 1.000d (increments), e.g. 100,0 g.
Manual PC6D CANopen Page 41 Tare Window TW M (g) MT Measuring Time SD Start Delay TI Tare Interval Trigger point choose 1 of 3: 1. Light barrier or 2. TR command or 3. TL Trigger Level Typical Checkweigher Signal : 1 (full duplex) : 0 (max. 600 meas./s) : 65535 (off) : 65535 (off) TW TI SD MT FL : 10 d : 200 ms : 100 ms : 300 ms : 2 (8 Hz) t Typ.
5.10 Trigger Special Commands– RW, TT, TS, DT, TW, TI, HT Remark: These commands are only available in firmware 102.183.v.1.10. Note: All setups should be stored with the WP command before power off. RW Re-Trigger Window [ 2500sub03 ] Set the re-trigger window in counts (digits) without decimal point. If the weight relative to the current average value changes by more than the RW value the average cycle will be restarted using TT as measure time.
DT Delta Time [ 2500sub0B ] Set the Delta Time in milliseconds [ms]. During MT and TT timeframes "sub-averages" will be calculated by the system over the time DT. If a sub-average is outside the re-trigger window, the re-trigger function is automatic started. Permitted values are 0 …65535 ms.
5.11 Save calibration, setup & setpoint parameters Commands – CS, WP, SS The setup and calibration parameters can be divided into 3 groups: Calibration parameter: CZ, CG, DS, DP & ZT are saved by the CS command. Setup parameters (other than setpoint): FL, FM, NR, NT, BR, AD, etc. are saved by the WP command. Setpoint parameters: Sn, Hn and An are saved by the SS command.
DECLARATION OF CONFORMITY ß 0 Product: Digital load cell Manufacturers designation: PC6D Manufacturer: Flintec GmbH, Bemannsbruch 9, DE74909 Meckesheim, Germany As manufacturer of the article we herewith assures that the article meets the requirements of the European legislation covering technical instruments, the standard safety rules, other safeguard regulations as well as the generally approved rules for technical safety, environmental protection and electromagnetic compatibility.
