logo资料库

CiA 410 DS V1.2 CANopen profile for inclinometer(IGCO_410_v01020001)(英文原版协议).pdf

发布时间：2022-04-11 发布人：admin 分类：互联网 资料大小：0.31M 资料格式：pdf 举报 版权申诉
第1页 / 共27页
第2页 / 共27页
第3页 / 共27页
第4页 / 共27页
第5页 / 共27页
第6页 / 共27页
第7页 / 共27页
第8页 / 共27页
资料共27页，剩余部分请下载后查看
    CiA Draft Standard 410 CANopen Device profile for inclinometer Version: 1.2 2 August 2006  CAN in Automation (CiA) e. V.
    HISTORY Date 01.09.2000 01.01.2005 24.05.2005 Device profile for inclinometer – Changes Released as Version 1.0 as draft standard proposal Publication as Version 1.1 as Draft Standard Minor editorial changes Detailed description of PDO parameters Corrigendum 1 attached to the Version 1.1 General information on licensing and patents CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA specification may be subject of patent rights. CiA shall not be responsible for identifying any or all such patent rights. Because this specification is licensed free of charge, there is no warranty for this specification, to the extent permitted by applicable law. Except when otherwise stated in writing the copyright holder and/or other parties provide this specification “as is” without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the correctness and completeness of the specification is with you. Should this specification prove failures, you assume the cost of all necessary servicing, repair or correction. © CiA 2008 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from CiA at the address below. CAN in Automation e. V. Kontumazgarten 3 DE - 90429 Nuremberg, Germany Tel.: +49-911-928819-0 Fax: +49-911-928819-79 Url: www.can-cia.org Email: headquarters@can-cia.org 2  CiA 2008 – All rights reserved
    Device profile for inclinometer – CONTENTS 1 Scope ............................................................................................................................... 5 2 Normative references........................................................................................................ 5 3 Abbreviations and definitions ............................................................................................ 5 3.1 Abbreviations........................................................................................................... 5 3.2 Definitions ............................................................................................................... 5 4 Operating principle............................................................................................................ 5 4.1 Introduction ............................................................................................................. 5 4.2 Offset and differential offset..................................................................................... 5 5 Error handling ................................................................................................................... 5 5.1 Principle .................................................................................................................. 5 5.2 Error behavior.......................................................................................................... 5 5.3 Additional error code meanings ............................................................................... 6 6 Predefinitions.................................................................................................................... 7 6.1 Introduction ............................................................................................................. 7 6.2 Pre-defined communication objects ......................................................................... 7 6.2.1 Object 1000h: Device type ........................................................................... 7 6.2.2 Object 1001h: Error register ......................................................................... 7 6.2.3 Object 1029h: Error behavior........................................................................ 7 6.2.4 PDO definition ............................................................................................. 8 7 Object dictionary ............................................................................................................. 13 7.1 Introduction ........................................................................................................... 13 7.2 Application objects ................................................................................................ 13 7.2.1 Object 6000h: Resolution ........................................................................... 13 7.2.2 Object 6010h: Slope long16 ....................................................................... 14 7.2.3 Object 6011h: Slope long16 operating parameter ....................................... 14 7.2.4 Object 6012h: Slope long16 preset value ................................................... 15 7.2.5 Object 6013h: Slope long16 offset.............................................................. 15 7.2.6 Object 6014h: Differential slope long16 offset ............................................ 16 7.2.7 Object 6020h: Slope lateral16 .................................................................... 16 7.2.8 Object 6021h: Slope lateral16 operating parameter .................................... 17 7.2.9 Object 6022h: Slope lateral16 preset value ................................................ 18 7.2.10 Object 6023h: Slope lateral16 offset........................................................... 18 7.2.11 Object 6024h: Differential slope lateral16 offset ......................................... 19 7.2.12 Object 6110h: Slope long32 ....................................................................... 19 7.2.13 Object 6111h: Slope long32 operating parameter ....................................... 20 7.2.14 Object 6112h: Slope long32 preset value ................................................... 21 7.2.15 Object 6113h: Slope long32 offset.............................................................. 21 7.2.16 Object 6114h: Differential slope long32 offset ............................................ 22 7.2.17 Object 6120h: Slope lateral32 .................................................................... 22 7.2.18 Object 6121h: Slope lateral32 operating parameter.................................... 23 7.2.19 Object 6122h: Slope lateral32 preset value ................................................ 24 7.2.20 Object 6123h: Slope lateral32 offset........................................................... 24 7.2.21 Object 6124h: Differential slope lateral32 offset ......................................... 25 7.3 General device profile objects................................................................................ 26 7.3.1 Object 67FFh: Device type ......................................................................... 26 Annex A (informative) ........................................................................................................... 26  CiA 2008 – All rights reserved 3
    Device profile for inclinometer – Corrigendum 1...................................................................................................................... 27 4  CiA 2008 – All rights reserved
    1 Scope Device profile for inclinometer – This document represents the CANopen device profile for one- and two-axis inclinometers. The used communication techniques conform to those described in the CANopen application layer and communication profile. 2 Normative references /CiA301/ CiA 301, CANopen application layer and communication profile 3 Abbreviations and definitions 3.1 Abbreviations CAN CAN-ID COB PDO SDO TPDO Controller area network CAN identifier Communication object Process data object Service data object Transmit PDO 3.2 Definitions The definitions given in /CiA301/ apply to this specification, too. 4 Operating principle 4.1 Introduction One-axis inclinometers provide only longitudinal slope axis value. Two-axis inclinometers provide additionally lateral slope axis value. These values are mapped into PDOs by default, which are transmitted synchronously. The inclinometer device may support optionally sync producer, time-stamp producer/consumer, emergency producer/consumer functionality, and additional PDOs. For new designs, to support heartbeat functionality. is highly recommended it 4.2 Offset and differential offset The slope value (displayed value) is the sum of the physical measurement (true value), differential offset and offset. 5 Error handling 5.1 Principle Emergency messages are triggered by internal errors in the device and they are assigned the highest possible priority to ensure that they get access to the bus without latency. By default, the emergency messages shall contain the error field with pre-defined error numbers and additional information. 5.2 Error behavior If a serious device failure is detected the module shall enter by default autonomously the pre- operational state. If object 1029h is implemented, the device can be configured to enter  CiA 2008 – All rights reserved 5
    alternatively the stopped state or remain in the current state in case of device failure. Device failures shall include the following communication errors: Device profile for inclinometer – • Bus-off conditions of the CAN interface • Life guarding event with the state ‘occurred’ • Heartbeat event with state ‘occurred’ • Sync error event Serious device errors are caused by device internal failures, too. 5.3 Additional error code meanings Table 1 specifies the additional error code meanings. Table 1 – Additional error code meanings Error code Meaning 5010h 5020h FF00h FF02h Longitudinal value out of range Lateral value out of range Longitudinal sensor Lateral sensor 6  CiA 2008 – All rights reserved
    Device profile for inclinometer – 6 Predefinitions 6.1 Introduction The inclinometer shall support the default TPDO. However, the module may support additional manufacturer-specific PDOs. Additional TPDOs with type 255 shall be transmitted when entering the operational state. transmission 6.2 Pre-defined communication objects Modules compliant with this device profile shall come with default values for some communication objects (1000h to 1FFFh), which are not specified in all details in /CiA301/. 6.2.1 Object 1000h: Device type The object at index 1000h shall provide the type of device and its functionality. For multiple device modules the additional information field shall contain FFFFh. In this case, the object 67FFh shall be implemented. Figure 1 specifies the object structure and Table 2 specifies the value definition. 31 MSB Additional information General information 16 15 Figure 1 – Object structure Table 2 – Value definition 0 LSB Field Value Definition General Information Additional information 410d 0000h 0001h 0002h 0003h 0004h 0005h to 0FFF h 1000h 000 FFFEh Device profile number Reserved One axis with resolution max. 16-bit Two axis with resolution max. 16-bit One axis with resolution max. 32-bit Two axis with resolution max. 32-bit Reserved Manufacturer-specific For the object and entry description see /CiA301/. 6.2.2 Object 1001h: Error register The device specific bit in the error register shall indicate the occurrence of out-of-range errors for slope values or of defect sensors. 6.2.3 Object 1029h: Error behavior This object specifies to which state the gateway device shall be set, when a communication error or an in-vehicle network error is detected. Besides the specification given in /CiA301/ the following sub-indexes may be implemented optionally. If the object is not implemented the device shall behave as the default values define. For the value definition and object description see /CiA301/. Table 3 specifies the entry description.  CiA 2008 – All rights reserved 7
    Device profile for inclinometer – Table 3 – Entry description Value 02h Sync error Optional rw No 00h to 02h 00h 03h Internal device error Optional rw No 00h to 02h 00h Attribute Sub-index Description Entry category Access PDO mapping Value range Default value Sub-index Description Entry category Access PDO mapping Value range Default value 6.2.4 PDO definition 6.2.4.1 TPDO 1 The TPDO 1 is defined by the following parameter sets. Table 4 specifies the object description of the PDO communication parameter and Table 5 specifies the associated entry description. The values are defined in /CiA301/. The sub-index 04h is reserved for compatibility reasons and shall not be implemented. Table 4 — Object description Attribute Index Name Object code Data type Category Value 1800h TPDO 1 communication parameter Record PDO communication parameter record Mandatory Table 5 — Entry description Attribute Sub-index Description Entry category Access PDO mapping Value range Default value Value 00h Highest sub-index supported Mandatory ro No 02h to 05h No 8  CiA 2008 – All rights reserved
    分享到：
    赞 收藏

    相关推荐

    最新资料