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CANOPEN - DESCRIPTION
The protocol supports the CiA DS301 “communication profile area”.
Network Management (NMT) manages Pre-Operational, Operational, Stopped, Reset and Reset Com-
munication states with its protocols.
The Heartbeat protocol is supported, setted by default at 1 second, and can be switched off by pro-
gramming at 0 the intervention time. (Index = 1017h).
The Emergency Message Management intervenes when the following events occur or cease:
• Fault Sensor (code = 5030h according to CiA DS404) when the load cell signal is not detected
due to failure or incorrect connection or failure of the hardware of the instrument.
• Sensor Calibration (code = 6310h based on CiA DS404), when no weight calibration was per-
formed.
• Input Overload (code = F001h according to CiA DS404), when the load cell signal is out of the
instrument reading range.
Two transmission PDO’s are handled with the following transmission types:
• Synchronous acyclic (00h): The data is transmitted in response to the SYNC signal only if the data
has been updated with respect to the previous transmission.
• Synchronous cyclic (01h): The data is transmitted in response to the SYNC signal even though it
has not been updated yet.
• Asynchronous (FFh): This is the default operation that involves the transmission of the PDO to a
predetermined frequency programmable in communication parameters (default = 0, transmission
disabled).
The PDO1 is mapped to transmit the following values (updated at 125 Hz frequency):
• Gross weight (Index = 2001h), formatted as 32-bit Signed.
• Net weight (Index = 2002h), formatted as 32-bit Signed.
The PDO2 is mapped to transmit the following values (updated at 125 Hz frequency):
• Peak (index = 2003h), formatted as 32-bit Signed.
• Status Register (index = 2000h), formatted as 16-bit Signed.
• Digital input (index = 2004h), formatted as 8-bit Unsigned.
• Output (index = 2005h), formatted as 8-bit Unsigned.
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