Documentation canopen_pyrometer

Description

Hardware Configuration

Line 0

• Communication Segment
• Manufacturer specific Segment
• Device Profile Segment

Table of Objects - Line 0

• 1000 - Device Type
• 1001 - Error Register
• 1008 - Manufacturer Device Name
• 1009 - Manufacturer Hardware Version
• 100A - Manufacturer Software Version
• 1010 - Store Parameter Field
• 1011 - Restore Default Parameters
• 1017 - Producer Heartbeat Time
• 1018 - Identity Object
• 1200 - Server SDO Parameter 1
• 1801 - Transmit PDO Communication Parameter 2
• 1A01 - Transmit PDO Mapping Parameter 2
• 2201 - Node ID
• 2202 - Bit Rate
• 2204 - Daisy Chain Output
• 2205 - Daisy Chain Input
• 2208 - MLSS Module Type
• 2209 - MLSS Module Revision
• 2210 - Hardware Version
• 2211 - Hardware Variant
• 2213 - External Power Supply
• 2214 - Internal Voltage 5V
• 2215 - Internal Voltage 3.3V
• 2216 - Internal Voltage 1.8V
• 2217 - Internal EEPROM State
• 2300 - Testmode
• 2400 - EEProm Raw Access
• 2401 - Manufacturer Password
• 2800 - Pyrometer - Sensor Data
• 2801 - Pyrometer - Internal Settings
• 2802 - Pyrometer - Internal Slave Address
• 2803 - Pyrometer - Command
• 2804 - Pyrometer - Error Code
• 2805 - Pyrometer - Command Protection
• 2806 - Pyrometer - Averager Filter Length
• 2807 - Pyrometer - Software Version
• 3000 - Total Operation Time
• 6401 - Read Analog Input 16bit
• 6402 - Read Analog Input 32bit
• 6421 - Analog Input Interrupt Trigger Selection
• 6423 - Global Analog Interrupt Enable
• 6424 - Analog Input Interrupt Upper Limit
• 6425 - Analog Input Interrupt Lower Limit
• 6426 - Analog Input Interrupt Delta
• 6427 - Analog Input Interrupt Negative Delta
• 6428 - Analog Input Interrupt Positive Delta
• 6430 - Analog Input SI Unit
• 6431 - Analog Input Offset Integer
• 6432 - Analog Input Scaling Integer

Communication Segment

The device type specifies the kind of device.
The lower 16 bit contain the device profile number
and the upper 16 bit an additional information.

The error register is a field of 8 bits, each for a certain error type.
If an error occurs the bit has to be set.
 
Bit Meaning
0  generic error
1  current
2  voltage
3  temperature
4  communication error (overrun, error state)
5  device profile specific
6  reserved
7  manufacturer specific

Contains the device name.

Contains the device hardware version.

Contains the device software version.

This entry supports saving of parameters in non volatile memory.
With a read access the device provides information about
its saving capabilities. Several parameter groups are distinguished.

Sub index 1      : all parameters
Sub index 2      : communication parameters
Sub index 3      : application parameters
Sub index 4 - 127: manufacturer defined parameters

For saving the signature "save" (0x65766173) must be written.
The CANopen library contains an extensions for clear ("kill").

This entry supports restoring of default para- meters.
With a read access the device provides information about
its capabilities to restore these values.
Several parameter groups are distinguished.

Sub index 1      : all parameters
Sub index 2      : communication parameters
Sub index 3      : application parameters
Sub index 4 - 127: manufacturer defined parameters

For restoring the signature "load" (0x64616f6c) must be written.

The producer heartbeat time defines the cycle 
    time of the heartbeat. If the time is 0 it is not used.
    The time has to be a multiple of 1 msec

This object contains general information about the
device.
Sub-Index 1 contains a unique value allocated each manufacturer.
Sub-Index 2 identifies the manufacturer specific product code (device version).
Sub-Index 3 contains the revision number.
Bit 31-16 is the major revision number and Bit 15-0 the minor revision number.
Sub-Index 4 identifies a manufacturer specific serial number.

The object contains the parameters for the SDOs for which
the device is the server.

It contains the communication parameters of the current PDO
the device is able to transmit.
Sub-index 0 contains the number of PDO-parameters implemented.
Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled.
The transmission mode is defined by sub-index 2.
An inhibit time can be defined on sub-index 3 in 100 us.
At the 5th sub-index can be defined a event time for asynchron pdos.

Contains the mapping for the PDOs the device is able to transmit.
The type of the PDO mapping parameter is at index 21h.
The subindex 0h contains the number of valid entires within the mapping record.
This number of entries is also the number of the application variables
which shall be transmitted with the corresponding PDO.
The subindicex from 1h to number of entries contain the information
about the mapped application variables.
These entries describe the PDO contents by their index, subindex and length.
Allthree values are hexa-decimal coded.
The length entry contains the length of the object in bits (1..40h).
This parameter can be used to verify the overall mapping length. It is mandatory.

Manufacturer Segment

MLSS managed object. 
This Object contains the NodeID of the Devcie. It becomes valid after a Node Reset.

This Object contains the CAN Bitrate of the Devcie. It becomes valid after a Node Reset.

MLSS managed object. 
Diagnose Object (Daisy Chain for CANA).

MLSS managed object. 
Diagnose Object (Daisy Chain for CANA).

Object required for MLSS

Object required for MLSS

Diagnose Object

Diagnose Object

Diagnose Object

Diagnose Object

Diagnose Object

Diagnose Object

Diagnose Object

Diagnose Object

Direct Access to EEPROM (Password protected)

Subindex 01: EEPROM Data
Subindex 02: EEPROM Address (16bit Resolution)
Subindex 03: OD Index
Subindex 04: OD Subindex
Subindex 05: OD Data Offset

Password Protection for EEPROM Raw Access.

Subindex 02: Password Status
  0: Password Protection active
  1: Password Protection inactive

Pyrometer Sensor Data

Subindex 01: Ambiernt Temperature
Subindex 02: Thermopile 1 Temperature
Subindex 03: Thermopile 2 Temperature
Subindex 04: Filtered Ambient Temperature
Subindex 05: Filtered Thermopile 1 Temperature
Subindex 06: Filtered Thermopile 2 Temperature
  Temperature in [cK]
  Range of Operation: 0x4F5A .. 0xFFFF
      0x4F5A => 20314 cK (-70.01 'C)
      0xFFFE => 65534 cK (+382.19 'C)

Subindex 07: Raw Ambient Temperature Data
Subindex 08: Raw Thermopile 1 Temperature Data
Subindex 09: Raw Thermopile 2 Temperature Data

In Case of an Error, the Error Reason will be published in Objects 0x2804.02
and 0x2804.03.

Pyrometer Internal Settings

Subindex 01: Max Object Temperature 
  Only valid for PWM Mode.
  Do not Change this Setting.

Subindex 02: Min Object Temperature
  Only valid for PWM Mode.
  Do not Change this Setting.

Subindex 03: PWM Control Register
  Do not Change this Setting.

Subindex 04: Ambient Temperature Range
  Only valid for PWM Mode.
  Do not Change this Setting.

Subindex 05: Emissivity
  Range: 0x199A .. 0xFFFF
  Emissivity = VALUE / 0xFFFF
  0x199A => 0.1
  0xFFFF => 1.0

Subindex 06: Config Register1
  Do not Change this Setting.

Subindex 07: ID Number 1
Subindex 08: ID Number 2
Subindex 09: ID Number 3
Subindex 10: ID Number 4
  The ID-Number of the Sensor

Pyrometer Internal Slave Address

Internal Slave Address:
  Range: 0x5A .. 0x63
  Default: 0x5A

Pyrometer Commands

Read Object to execute Command. The Pyrometer Protection (Object
0x2805) however has to be unlocked before these Commands may be
executed.

Readback Values:
  0x0001 - OK
  0xFFFF - ERROR

In Case of an Error, the Error Reason will be published in Object 0x2804.04 (Pyrometer - Command Error Code).

Pyrometer Error Codes

Subindex:
 01: Initialising Error Code
       Reports State after Initialisation
 02: Current Sensor Data Error Code
       Indicates whether an Error occured currently. 
       In Case of an Error, it will also be published in Subindex 03.
 03: Previous Sensor Data Error Code
       Reports if an Error occured previously.
       The previous Error will always be reflected in this Object, also if
       currently no Error exists.
 04: Command Error Code
       Shows more detailed Information if a Command returned an Error.

Readback Values:
 0x00 - Unknown
           Object hasn't been initialised
 0x01 - OK
 0x10 - General Error
            An Error occured (not specified)
 0x11 - Device not found
            An Init Error Code, if no Device was found on I2C Bus
 0x12 - Communication Error
            A Communication Error occured
            Possible Reasons:
              - Invalid Memory Address
              - Invalid Slave Address
              - Wrong Slave Address
              - CRC Failure
              - Error on I2C Bus
 0x13 - Corrupt Sensor Data
            The Sensor Data Error Flag is set, thus the Data is invalid
 0x14 - Read-Write Data Corruption
            Testbench Error Code
 0x15 - Invalid Init Defaults
            This Error Code is generated, when the Command "Restore Init
            Configuration" is called and the Init Data isn't valid
 0x16 - Invalid Temperature Type
            This Sensor Data Error Code signals an internal Error
 0x17 - Password not set
            This Command Error Code is generated, when an IR Sensor
            Command is being executed, while the Password protection hasn't
            been unlocked

Pyrometer Command Protection

The Purpose of this Protection is to ensure that no Pyrometer Command
is being executed unintentionally.

Subindex 01: Protection Challenge/Entry
  Read: Protection Challenge (Uint16)
  Write: Protection Entry = Protection Challenge << 16

Subindex 02: Protection Status
  Read:
    TRUE = Protection INACTIVE
    FALSE = Protection ACTIVE

The Pyrometer Protection will always be deactivated by writing 0x00000000.


Example to unlock the Command Protection:

Read Protection Challenge: 0x0000ABCD
Write Protection Entry: 0xABCD0000

Pyrometer Averager Filter Length

This Object determines the Averager Filter Length of the filtered Temperature
Values (Objects 0x2800.01, 0x2800.02, 0x2800.03).

Pyrometer Software Version

Subindex:
 01: Major Version
 02: Subversion
 03: Build

The overall Operation Time in [s].

Device Profile Segment

Reads analog value, value always left adjusted.

Reads analog value, value always left adjusted.

Determines which events cause an interrupt for a specific analog channel.
Bits set in the list below refer to ways in which interrupts may be triggered.

Bit #    Interrupt trigger
------------------------------------------------------------------------------
0         upper limit exceeded
1         input below lower limit
2         input changed by more than delta
3         input reduced by more than negative delta
4         input increased by more than positive delta

Globally enable/disable analogue input interrupts.
By default, no analogue input activates an interrupt.

When enabled, interrupt triggered when analogue input rises above this value.

When enabled, interrupt triggered when analogue input falls below this value.

When enabled, interrupt triggers when analogue input changes 
by more than this value from previous reading (rising or falling).
Read period is 1s. A read by means of SDO resets the delta to 0.

When enabled, interrupt triggers when analogue input changes 
by more than this value from previous reading (only falling).
Read period is 1s. A read by means of SDO resets the delta to 0.

When enabled, interrupt triggers when analogue input changes
by more than this value from previous reading (only rising).
Read period is 1s. A read by means of SDO resets the delta to 0.

analog input in SI unit

offset for input data in Integer format

scaling factor for input data in Integer format