West-control-solutions KS 800 CANopen Interface Manual User Manual

KS 800 CAN-Interface3.1 Information Record (send PDO from KS800):The structure of the Information Record is:Index Subindex Field Data Type42 0 number

KS 800 CAN-Interface3.2 Control Record (KS800 receive PDO):The structure of the Control Record is:Index Subindex Field Data Type43 0 number of support

KS 800 CAN-Interface3.3 PDO transfer behaviour3.3.1 Asynchronous send PDOWhen a PDO is configured as an asynchronous PDO, a PDO is sent with status-in

KS 800 CAN-Interface3.3.2 Synchronous send PDOThe master sends SYNC pulses for actual process value refreshment. The number of Sync mes-sages after wh

KS 800 CAN-Interface3.3.4 Synchronous receive PDOWhen receiving a synchronous PDO, the data remain in the Rx buffer at first (CAN-controller)without b

KS 800 CAN-Interface4 OP mode / pre-OP modeAfter starting the CAN network, controller KS800 is in the pre-OP mode. I.e. it can be addressedonly via SD

KS 800 CAN-Interface5 SYNCAs described above, synchronous PDO data must be read from or written to KS 800 by meansof SYNC pulses. The relevant KS800 c

KS 800 CAN-Interface6 Nodeguarding / Lifeguarding"Nodeguarding" can be used by a master for testing cyclically, if the relevant slave (KS800

KS 800 CAN-Interface7 LMT services (CMS standard and extensions)The LMT services according to CiA/DS205 version 1.1 are available. Restrictions, or sp

KS 800 CAN-Interface7.2 Configuration ServicesConfigure NMT Address comprises services Configure Module ID and Configure Module Name.Service Configure

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KS 800 CAN-InterfaceService Activate Bit Timing is not supported (unconfirmed service !), activation is via a reset (seeaddress/BR-switch for the 3 re

KS 800 CAN-Interface7.3.3 Inquire Serial NumberM ⇒ S0 1 2 3 4 5 6 7cs=38 r r r r r r rS ⇒ M0 1 2 3 4 5 6 7cs=38 s1 s2 s3 s4 s5 s6 s7cs LMT command spe

KS 800 CAN-Interface7.4.2 LMT Identify SlaveS ⇒ M0 1 2 3 4 5 6 7cs=09 r r r r r r rcs LMT command specifierr reservedNotes: With several instruments c

KS 800 CAN-Interface7.6.1 Configure Module-IDM ⇒ S0 1 2 3 4 5 6 7cs = 129 MId CAN r r r r rS ⇒ M0 1 2 3 4 5 6 7cs = 129 errorcodespecerrorr r r r rcs

KS 800 CAN-Interface7.6.3 Inquire Bit TimingM ⇒ S0 1 2 3 4 5 6 7cs = 132 r r r r r r rS ⇒ M0 1 2 3 4 5 6 7cs = 132 errorcodespecerrortableselectortabl

KS 800 CAN-Interface8 Object directoryThe manufacturer-specific, list-oriented entries in the object directory are explained below.8.1 Survey of objec

KS 800 CAN-InterfaceColumn "as from firmware": C = This datum exists already from operating version 1, however, it wassubject to change (ext

KS 800 CAN-Interface2027 VAR Forced dig. output OUT1...OUT8 Unsigned8 rw*2.12028 VAR Forced dig. output OUT9...OUT16 Unsigned8 rw*2.12029 VAR Forced d

KS 800 CAN-Interface2206 ARRAY Controller self-tuning start OStart Unsigned8 rw 1.02207 ARRAY Switch-over Wext/Wint We/i Unsigned8 rw 1.02208 ARRAY Sw

KS 800 CAN-InterfaceProcess data fct. no. 42240 ARRAY Difference correcting variable dYman FixedPoint1 rw 1.02241 ARRAY Absolute correcting variable Y

KS 800 CAN-InterfaceContents1 Introduction ... 52 Service data objects ...

KS 800 CAN-Interface2263 ARRAY Min. cycle time 1 T1_1 FixedPoint1 rw 1.02264 ARRAY Proportional band 2 Xp2_1 FixedPoint1 rw 1.02265 ARRAY Integral tim

KS 800 CAN-InterfaceColumn "as from firmware": C = This datum exists already from operating version 1, however, it wassubject to change (ext

KS 800 CAN-Interface3028 VAR Forced dig. output OUT9...OUT16 Unsigned8 rw*2.13029 VAR Forced dig. output OUT17...OUT19 Unsigned8 rw*seenameFB inputPro

KS 800 CAN-Interface3207 ARRAY Switch-over Wext/Wint We/i Unsigned8 rw 1.03208 ARRAY Switch-over W/W2 w/W2 Unsigned8 rw 1.03209 ARRAY Controller on/of

KS 800 CAN-InterfaceProcess data fct. no. 43240 ARRAY Difference correcting variable dYman FixedPoint1 rw 1.03241 ARRAY Absolute correcting variable Y

KS 800 CAN-Interface3263 ARRAY Min. cycle time 1 T1_1 FixedPoint1 rw 1.03264 ARRAY Proportional band 2 Xp2_1 FixedPoint1 rw 1.03265 ARRAY Integral tim

KS 800 CAN-Interface9 Configuration and parameter setting via the CAN busThe following versions are of importance only in case of KS 800 configuration

KS 800 CAN-Interface9.2 Data plausibility check during transmissionCaution!The configuration data are not checked by the instrument. (This check is do

KS 800 CAN-Interface9.4 Order of data for configuration and parameter settingColumn "Function" gives the configuration data the significatio

KS 800 CAN-InterfaceInstrument parameters2010 par_wk_enable ab BV ≥ 2Channel parameters2214 par_w0 BV 12215 par_w100 BV 12216 par_w2 BV 12217 par_grwp

KS 800 CAN-Interface10 Application example ... 4010.1 KS800 standard settings ...

KS 800 CAN-Interface10 Application example10.1 KS800 standard settingsKS800 is factory-set to the default parameters given in the controller descripti

KS 800 CAN-Interface10.3 Adjusting a H/C controller and activating the self-tuningAdjusting a standard controller (H) as a H/C controller via SDOs, st

KS 800 CAN-Interfaceelse{ /* possible error message: no set-point reserve → increase Weff */- read error message heating→ Index 0x3256 (MSG1)Reference

KS 800 CAN-Interface11 CAN Physical LayerRelated to the CAN Physical Layer, there are a number of standards. The most important stan-dard for general

KS 800 CAN-Interface11.2 Bit rates and bus lengths:The maximum useful bus length in a CAN network is determined by a variety of physical effects,in pa

KS 800 CAN-Interface11.4 Cable parametersISO 11898-2 defines some DC or AC parameters for the cables which can be used in CAN busnetworks (typically,

Subject to alteration without notice.Printed in Germany 9499 040 49511 (10/2004)© PMA Prozeß- und Maschinen-Automation GmbHP.O.B. 31 02 29, D - 34058

KS 800 CAN-Interface1 IntroductionController KS800 is provided with a CAN interface, via which all data (parameter and configu-ration data) required f

KS 800 CAN-InterfaceNetwork management:For communication monitoring, KS800 offers the possibility of "nodeguarding", which enables themaster

KS 800 CAN-Interface2 Service data objectsAn SDO is logically determined to exactly two partners - 1 master and 1 slave. Simultaneousaccess to the KS8

KS 800 CAN-InterfaceExample 2. A master reads a process value from a KS800 with node address 2:The message structure is as follows:⇒ COB_ID = SDO at n

KS 800 CAN-Interface3 Process data objectsMax. 4 bytes of usable data can be transmitted between two partners by means of SDOs. Theremaining 4 bytes a