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MVINC-CO-X-M-x-x

User Manual

Author: JKA
File: MVINC-CO-X_user_manual_2_04
SW: 2.17
Version:2.04
Modified: 11.12.2006 16:16

MVINC-CO-X-M user manual

User Manual

Version 2.04

Table of Contents
1.VERSION HISTORY...........................................................................................................................4
2.GENERAL.............................................................................................................................................5
2.1ABBREVIATIONS AND TERMS...................................................................................................................6
3.SUMMARY OF TECHNICAL SPECIFICATIONS........................................................................ 7
4.ORDER CODES................................................................................................................................... 9
4.1FOR INCLINOMETER MODULES............................................................................................................... 9
4.2FOR ACCESSORIES................................................................................................................................ 9
5.INTEGRATING THE DEVICE INTO THE APPLICATION...................................................... 11
5.1MEASURING AXIS AND ZERO ANGLE LEVELS............................................................................................ 11
5.2DIMENSIONS OF THE MVINC MODULE ............................................................................................... 15
5.3CONNECTORS..................................................................................................................................... 15
5.3.1Spring load PCB connector ................................................................................................. 16
5.3.2Housing connectors............................................................................................................... 16
5.3.2.1MIL4................................................................................................................................................16
5.3.2.2MIL6................................................................................................................................................17

5.4CAN BUS CABLING............................................................................................................................ 17


5.5ACCESSORIES..................................................................................................................................... 18
5.5.1Assembly sets......................................................................................................................... 18
5.5.2Mating Connectors.................................................................................................................19
5.5.3Termination stubs...................................................................................................................20
5.5.4Cables.................................................................................................................................... 20
6.SOFTWARE UPDATES.................................................................................................................... 21
6.1PROGRAMMING CABLE......................................................................................................................... 21
6.2INSTRUCTIONS TO HANDLE SOFTWARE UPGRADES ..................................................................................22
6.2.1General.................................................................................................................................. 22
6.2.2Update Procedure..................................................................................................................22
7.PROFILE AND MANUFACTURER SPECIFIC FEATURES .................................................... 24
7.1INCLINOMETER RELATED

FUNCTIONS AND CONFIGURATIONS.......................................................................26

7.1.1General.................................................................................................................................. 26
7.1.2Angle resolution..................................................................................................................... 26
7.1.3Angle inverse and offset configurations.................................................................................27
7.1.4Procedure to configure resolution, inversion and offset....................................................... 30
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7.1.5Internal timing ...................................................................................................................... 31


7.1.6Angular rate and acceleration outputs ................................................................................. 31
7.2COMMUNICATION CONFIGURATIONS .......................................................................................................32
7.2.1Device type (0x1000)............................................................................................................. 32
7.2.2Device identity (0x1018)........................................................................................................ 32
7.2.3Emergency messages............................................................................................................. 33
7.2.4CAN bus baudrate..................................................................................................................33
7.2.5Node ID.................................................................................................................................33
7.2.6PDO configurations............................................................................................................... 34
7.2.7The boot up print....................................................................................................................37
7.2.8The RS232 prints...................................................................................................................38
7.2.9The RS232 command set ...................................................................................................... 40
8.CANOPEN MANUAL AND SUPPORTED DS301 SPECIFIC OBJECTS .................................43
8.1HOW TO READ A CAN MESSAGE SEEN WITH A SIMPLE CAN TOOL............................................................43
8.2OBJECT DICTIONARY (OD).................................................................................................................. 43
8.3NETWORK MANAGEMENT (NMT).........................................................................................................43
8.4PROCESS DATA OBJECT (PDO).............................................................................................................44
8.4.1PDO COB ID......................................................................................................................... 45
8.4.2Disabling And Enabling a PDO............................................................................................ 46
8.4.3PDO transmissions................................................................................................................ 47
8.4.4PDO mappings.......................................................................................................................48
8.5SERVICE DATA OBJECT (SDO)............................................................................................................. 49
8.6SAVING THE OBJECT DICTIONARY PARAMETERS........................................................................................ 50
8.7RESTORING THE DEFAULT VALUES TO THE OBJECT DICTIONARY...................................................................51
8.8SPECIAL FUNCTIONS AND OBJECTS......................................................................................................... 51
8.8.1Boot-up message.................................................................................................................... 52
8.8.2Synchronization object (Sync)................................................................................................52
8.8.3Error Control ( Heartbeat Features).....................................................................................53
8.9LAYER SETTING SERVICE LSS.............................................................................................................. 54
8.9.1Protocol for setting the baudrate...........................................................................................54
8.9.2Protocol for setting the node ID............................................................................................ 55
9.OBJECT DICTIONARY................................................................................................................... 56

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1.

User Manual

Version 2.04

VERSION HISTORY

Versio
n

Date

Initials

Description

2.03

Nov.13th 2006

JKA

-PDO default values corrected to the PDO configurations chapter


-Version history chapter added
-Some layout corrections
-Module dimension drawing added
-Measuring axis drawings for units having MIL connectors added

2.04

Dec.11th 2006

JKA

-Filter delay spesified more preciously


-dimension and measuring axis drawings added

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2.

User Manual

Version 2.04

GENERAL
MVINC inclinometer module measures the angles of slope, elevation or inclination of an
item with respect to gravity. Measured values are provided both via CANopen and RS232
interface. The CANopen interface fullfills the CIA's communication profile DS301 and the
inclinometer profile DS410.
Depending on the module it has 1 or two measuring axis. Nominal measuring range is
0...180 degrees for MVINC-CO-1-180 (single axis) and MVINC-CO-2-180 (dual axis)
model. MVINC-CO-1-360 is capable to measure angles from 0 ...360 degrees.
Sensor elements are MEMS based which guaranties fast response time and good tolerance
against interference caused for instance by motor vibrations. Module provides also
sophisticated digital filtering which stabilizes the signal noise level below +-0.02 degrees.
The MVINC-CO-1-360 model provides additional protection against interference caused by
rotational accelerations. More information about this can be found in Integrating the device
into the application chapter.
In addition of angle data the MVINC
provides also rate and acceleration data
per each measuring axis.
MVINC modules are temperature
compensated which means that the full
accuracy of +-0.2 degrees is available
over whole temperature range.
Module is availeable with different
connector options such as 4 and 6 pin
MIL conenctors and PG outlets.

Drawing 1: MVINC-CO-x-x-PG11-2

Axiomatic Technologies provides vast variety of accessories to ease the intergration task:
Assembly sets, CAN bus termination stubs, mating connectors and cable sets are available.
More information can be found from accesories chapter.
Product highlights:

Several versions:

MVINC-CO-1-180 : single axis with meassuring range of 0...180 degrees

MVINC-CO-1-360 : single axis with meassuring range of 0...360 degrees

MVINC-CO-2-180 : dula axis with meassuring ranges of 0...180 degrees / per


axis
Operation voltage 9...35V
Fullfils CAN open DS301 ver 4.2 communication specification and inclinometer
profile 1.1
IP65 protection class
Accuracy +-0.2 degrees over whole temperature and accurate measuring range.

Applications:

Boom angle measurements (in excavators, lifts etc)

Levelling applications

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2.1

User Manual

Version 2.04

Abbreviations and terms


Abbrevation

description

CAN

Lower layer CAN protocol for upper layer CAN protocols like CAN OPEN,
J1939 and device net-

CANopen

Upper layer protocol for CAN networks

CIA

CAN in Automation, CAN open standardization organization


(www.canorg.net)

CAN ID

ID of the CAN message seen on the bus. Consists of 11 or 29 bits. Part of the
COB ID which can be found in object dictionary

COB ID

Consists of CAN ID and some control and informative bits. Found in object
dictionary

Object

Variable in obejct dictionary

Object Dictionary

Consists of objects, Accessable from CAN bus with SDO writ and read
operations

OD

Object dictionary

DS410 ver 1.1

The CAN open device profile for inclinometers. Version 1.1 is published 1.st
of January 2005

DS301 ver 4.1

The general communication profile for CAN open devices. This version is
published 21.st February 2006

MVINC-CO-1-180-x-x-x

Type of the inclinometer, single axis with accurate measuring range of +- 85


degrees, connectors and potting not defined

MVINC-CO-1-360-x-x-x

Type of the inclinometer, single axis with accurate measuring range of 360
degrees ,connectors and potting not defined

MVINC-CO-2-180-x-x-x

Type of the inclinometer, dual axis with accurate measuring range of +- 85


degrees for both axis,connectors and potting not defined

PCB

Printed circuit board

Accurate measuring range

In MVINC-CO-1-180 and MVINC-CO-2-180 modules the accurate measuring


range isn't equal to the full measuring range. Accurate range starts from +5 and
ends to + 175 degrees.

Table 1: Abbreviations and terms

Font
italic
Bold and italic

Meaning
internal inks, names of the tables and drawing

Names of the objects

Table 2: fonts and their meanings

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SUMMARY OF TECHNICAL SPECIFICATIONS


All specifications typical at nominal input voltage (24 V) and 25 C unless otherwise
specified.
Operating voltage
(power supply
requirement)
Reverse polarity
protection
Current consumption

9 to 35 VDC

RS232
CAN

Baudrates up to 115200 kbits/sec, RS232 level


Philips TJA1050 Transceiver
Baudrates 50kB to 1MB

Measuring range

MVINC-CO-x-180 : 180 degrees, accurate range 5... 175 degrees.


MVINC-CO-x-360 : 360 degrees, accurate range 0...360 degrees

Accuracy
(over whole
temperature range)

MVINC-CO-x-180 :
In accurate range : +-0,2
otherwise : +-0.7 degrees
MVINC-CO-x-360 :
tilt between -30 ... +30 degrees : +-0,3 over whole measuring range
tilt between -60 ... -30 or +30 ... +60 : +-0,4 degrees
tilt between -85 ... -60 or +60 ... +85 : +-0.6 degrees
MVINC-CO-1-360: less than +-30 degrees to maintain the best accurary
between -60 ... -30 or +30 ... +60 : +-0.4 degrees
between -85 ... -60 or +60 ... +85 : +-0.6 degrees
absolute maximum allowed tilt angle is +-85 degrees
MVINC-CO-1-180: less than +-70 degrees to maintain the best accurary
between -70 ... -80 or +70 ... +80 : +-0.4 degrees
absolute maximum tilt is +-85 degrees
0.1 as default. SW adjustable between 0.01 and 1 degrees
70 250ms, depending on the module type and ave filter configuration
70ms (MVINC-2-X-CO or MVINC-1-360 with zero AVE)

Maximum tilt angle


(tilted perpendicural
to the measuring axis

Resolution
Delay

Provided
70mA with 24volts

Table 3: Electrical Specifications

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Operating conditions
Declaration of
conformity (CE)
Communications
LED indicators
Electrical connections
EMC compatibility

User Manual

Version 2.04

-40 to +85C (-40 to 185F)


Yes
CAN bus: CANopen
RS232
Inside the module: green power led and red/green status led.
4 and 6 pin military, PG outlets or customer spesific,
Fulfills the requirements of the heavy industrial environment.
Emissions:
EN61000-6-4:2001
Immunity:
EN61000-6-2:1999

Protection class
Vibration
Weight

IP65
Vibration compliance is suitable for mobile equipment and industrial applications.
Fully potted (MIL connector variants)
Half potted (PG outlet and MIL connector variants)

Packaging and
dimensions

Aluminium housing.
75 x 79 x 58 mm (W x L x H), mounting brackets and connectors excluded

Table 4: General specifications


Specifications are subject to update without notice.

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4.

User Manual

Version 2.04

ORDER CODES

4.1

For Inclinometer Modules

MVINC -

CO

180

MIL4

Can protocol

Amount of
measuring
axis

Measuring range per


axis

Conector type

Amount of
connectors

CO =
CANopen

1 = single

180 = nominal
range +-90 degrees
per axis, accurate
range +-88

MIL4 = 4 pin
military C5015

1 = one

2 = dual

360 = 360 degrees

MIL6= 6 -pin
military KPSE

2 = two

PG11 = PG11
outlet

Table 5: MIVINC order codes

4.2

For Accessories
C1

MIL4

D1

B1

90

250

B2

D2

C2

Connector type

Connector
dust cap

Cable boot
angle

Cable lenght in
centimeters

Cable boot
angle

Connector
dust cap

Connect
or type

MIL4 : 4 pin
military C5015

D:
dust cap
provided

90 : 90 degrees

0...20000

See B1
options

See D1
options

See C1
options

MIL6 : 6 -pin
military KPSE

0 : without
cap

0 : 0 degrees

Dust cap
selected

90 degrees
boot

2.50 meters

No boot

No cap

Free
end

0 = free end
MIL 4 connector
selected

Table 6: Order codes for cable sets

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Order Code

User Manual

Part description

Version 2.04

Supplied
quantity

AS-1

Assembly set #1

AS-2

Assembly set #2

WP

welding plate

MP-HW

Mounting plate with high sides walls

MP-LW

Mounting plate with low sides walls

CT-270

Cable tie 4*270mm

M8-ND

M8 nordlock

M8-NUT

M8 Nut

M8-25-HEX-SOCKET

M8 * 25mm Hexagon Socket Screw

MIL4-F-W

Wire connector MIL4 female , 4 pins

MIL6-F-W

Wire connector MIL6 female, 6 pins

BOOT-90

Cable boot 90 degrees angle

BOOT-0

Cable boot straight

RS232-D9F-Free

RS232 programming cable. Cable length


is 1 meter.

CAN-T_STUB-MIL4-F

120 ohm CAN termination stub in MIL4


female connector

CAN-T_STUB-MIL6-F

120 ohm CAN termination stub in MIL6


female connector

CAN-TR-120-7W

120 ohm 7 Watts termination resistor

Table 7: Order codes for accessories excluding cable sets

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5.
5.1

User Manual

Version 2.04

INTEGRATING THE DEVICE INTO THE APPLICATION


Measuring axis and zero angle levels
The drawings below describe the zero levels as well as measuring axis and the positive
direction of measuring axis for all the inclinometer types. Offset and inversion functions are
not used.
Long corresponds to the longitudal axis (object 0x6010)
Lat corresponds to the latitudal axis (object 0x6020)
The MVINC-CO-1-360-x-x module is intended to be mounted on side so that the cover
points to the side.

Illustration 1: MVINC-CO-1-360-PG-x module mounted on its side

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Illustration 2: MVINC-CO-1-360-MIL4-1

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MVINC-CO-2-180-x-x module should be installed so that the cover points upwards.

Illustration 3: MVINC-CO-2-180-PG11-x mounted on bottom

Illustration 4: MVINC-CO-2-180-MIL4-1 measuring axis

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The MVINC-CO-1-180-x-x module should be mounted on its side or so that the cover
points upwards.

Illustration 5: MVINC-CO-1-180-PG11-X module mounted on side

Illustration 6: MVINC-CO-1-180-PG11-X module mounted on its bottom

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User Manual

Version 2.04

Dimensions of the MVINC Module

Illustration 7: Dimensions and mounting holes of MVINC housing

5.3

Connectors
The MVINC module can be connected to CAN bus with MIL connectors or spring loaded
connector terminals depending on the selected connector type (MIL-4, MIL-6 or PG). All
connector types allow connecting the device to the bus as a chained node or with a drop
line.
In addition of CAN bus connection module provides also RS232 interface as data output.
RS232 connection is also used for software upgrades. RS232 signals are normally available
in spring load connector block, though in case of MIL6 connector they are also available in
housing connector.
Connector pinouts are described in the following sub chapters. The following signal types
are used:

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Abbrev.

User Manual

Version 2.04

Meaning

PWR

Power supply signal

GND

Ground level signal

CAN

CAN bus signal (ISO 11898)

RS232

RS-232 signals

Table 8: Signal Types

5.3.1

Spring load PCB connector

The PCB connector consists of ZFKKDS-5.08 spring load terminal blocks and which are
manufactured by Phonix Contacts.
Maximum allowed wire size is 1.5mm2 (AWG 16)
Pin

Signal

Type

Function

CAN sh

CAN

CAN shield

V supply

PWR

Power supply

GND

GND

Power supply ground

CAN hi

CAN

CAN bus hi signal

CAN lo

CAN

CAN bus lo signal

Table 9: Connector J1 signals


Power supply voltage range is 9...35 V.
CAN bus signals withstand short circuits to 40V and GND.

5.3.2

Housing connectors

There are two standard options for housing connector: MIL4 and MIL6. Others are
available on request. Both of twose connector types are designed to be used in harsh
environment and they are IP67 rated. Axiomatic Technologies has used them several years
succesfully in various mobile and military applications.

5.3.2.1

MIL4

ITT Cannon CA3102E14S-14S-2P-F80 , 4 pins, male, IP67


Mating connector is TT Cannon CA3106E14S-14S-2P-F80-DN , 4 pins, female, IP67, cable
clamp provided.

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Pin

User Manual

Signal

Type

Version 2.04

Function

V supply

PWR

Power supply

GND

GND

Power supply ground

CAN hi

CAN

CAN bus hi signal

CAN lo

CAN

CAN bus lo signal

Table 10: MIL4 Connector pinnout


Power supply voltage range is 9...35 V.
CAN bus signals withstand short circuits to 40V and GND.

5.3.2.2

MIL6

ITT Cannon KPSE02E10-6P


Mating connector ITT Cannon KPSE6E10-6SDN or KPSE6E10-6SDZ
Pin

Signal

Type

Function

V supply

PWR

Power supply

GND

GND

Power supply ground , used also as


RS232 GND

CAN hi

CAN

CAN bus hi signal

CAN lo

CAN

CAN bus lo signal

RS232_TX

RS232

RS232 transmit

RS232_TX

RS232

RS232 transmit

Table 11: MIL6 connector pinnout

5.4

CAN bus cabling


The bus should be routed continuously from one module to another. Though drop lines with
specified length are allowed. Maximum lenghts are specified in table below. A 120 ohms
terminating resistor must be attached to both ends of the bus. It is recommended to use at
least 7W resistors to ensure that they withstands short circuits to power supply lines.

Baudrate

Max total
bus length

Max stub length

Max accumulated
stub length

1 Mbit/s

25m

1,5m

7,5m

800 kbit/s

50m

2,5m

12,5m

500 kbit/s

100m

5,5m

27,5m

250 kbit/s

250m

11m

55m

125 kbit/s

500m

22m

110m

50 kbit/s

1000m

55m

275m

Table 12: Baudrates, bus and stub lengths

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The grounds of all modules must be toed together using low impedance cabling. It is
recommended to use a system ground point to which all ground lines are connected.
Common ground wires for devices consuming lot of current should also be avoided.
Otherwise potential differences may become too big.

5.5

Accessories
5.5.1

Assembly sets

There are 2 different assembly sets available. The main difference between them is the
shape of the mounting plate. Mounting plate provided in set #1 provides more protection
against mechanical impacts. All parts of the assembly sets are also available separately.
Order code
Reference in
Part name
Provided
Drawing
Quantity In
Drawing #

Set #1

Set #2

WP

Welding plate

MP-HW

Mounting plate with high sides walls

MP-LW

Mounting plate with low sides walls

CT-270

Cable Tie 4*270mm

M8-ND

M8 nordlock

M8-NUT

M8 Nut

M8-25-HEX-SOCKET

M8 * 25mm Hexagon Socket Screw

Table 13: Assembly set part lists

Illustration 8: MVINC with M4 connector(s) and


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Illustration 9: MVINC-CO-1-360-MIL4-2 with assembly set 2

5.5.2
Order
Code

Mating Connectors

The following mating connector are available:


Description
Part #

Order Codes for Mating


Dust cap

Cable Boot

MIL4-F-W

4 pin female, AWG max

CA3106E14S-14S-2P-F80-DN

DC-MIL4-F

BOOT-0, BOOT-90

MIL6-F-W

6 pin female, AWG max

KPSE6E10-6SDN

DC-MIL6-F

BOOT-0, BOOT-90

Table 14: Mating connectors, dust caps and cable boots


Mating connectors are supplied with the crimps.
Crimping should be accomplished with particular crimping tool.
Order code for the crimping tool is
Boots

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90 degrees angle :

Manufacturer Raychem, part #222K132-25/225-0, order code BOOT-90

Straight:

Manufacturer Raychem, part # 202K132-25/225-0, order code BOOT-0

Dust caps

5.5.3

Termination stubs

TBD

5.5.4

Cables

Axiomatic Technologies is also able to provide custom cable sets which fit to the MVINC
housing connectors.
Feature

Description

Cable type
Wire count

4 or 6

Temperature
range

-40...125 degrees of celsius

Oil resistant

Yes

Minimum
bend radius

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6.

User Manual

Version 2.04

SOFTWARE UPDATES
Module contains a serial interface for software downloads. The interface utilises RS232
protocol.

Serial port (COM1)


Power supply 12 / 24V

PC

MVINC
J4

J1, J2, X1
or X2

Illustration 10: Setup for software updates

6.1

Programming cable
Particular programming cable is not required. Connecting RS signals (RX, TX , GND) to
the computer's RS232 port is all what is needed. Programming cables are available from
Axiomatic Technologies Oy with order code RS232-D9M-Free
D9 Female

MVINC: connector, pin

Signal

R1, 3

GND

R2, 5

txd

R1, 5

rxd

Table 15: Programming cable pin outs

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6.2

User Manual

Version 2.04

Instructions to Handle Software Upgrades


6.2.1

General

Usually the best way to handle sw upgrades is to send module to Axiomatic Technologies.
However it's possible in some cases that customer handles the update by himself. Contact
Axiomatic Technologies for new SW versions.
Note that sw upgrade results often restoring the settings to factory default values! Factory
calibration data won't normally get lost but other setting are restored!

6.2.2

Update Procedure

Software can be upgraded via RS232 interface.


What is needed :
1. PC with terminal software, for example the HyperTeminal, or the preferred one,
Teraterm
2. Programming cable. See instructions on chapter 6.1.1
.
The HyperTerminal software is found normally in the Windows Start menu ->
Programs -> Accessories -> Communications -> HyperTerminal.
The initial settings in HyperTerminal are done using the following steps:
1. Start HyperTerminal. New connection window opens, where you can type a name for
the connection. Type here MVINC sw download and press Ok.
2. Connect window opens. Select from the drop-down box at the bottom of the window
(Connect using) the serial port you have available on your PC, for example Direct to
COM1.
3. Serial port settings window opens. Enter the following values:
Bits per second:
115200
Data bits:
8
Parity:
None
Stop bits:
1
Flow control: XON/XOFF
4. Now the actual terminal window opens. Press the 'd' button down and power up the
MVINC module. The terminal window should show text Send S file. If you don't see
anything, check the connection of the serial cable, and that the COM port you have
selected is really available on your PC, and try again.
5. Now you can download new software by clicking File -> Send file. File browsing
window pops up. Select correct elf.S -file and click OK. You may also just drag and
drop the file into terminal window.
6. Reboot the module after succesfull download.
7. The bootup print should state that the SW version has changed and settings are restored
to factory defaults
sr-ldr 1.3-5mv
PORInitializing timer...done.
Initializing adc...done.
Initializing ext eeprom...done.
Init I/O...
Reading parameters...
MAGIC: 81680100 SW: 215
285 bytes in EEPROM, reading checksum
Checksum ok, loading parameters from EEPROM
Loading parameters...done.
msCAN: Node ID = 127
msCAN: Baudrate = 125 kbit/s
msCAN: Creating rx-buffer...
msCAN: Creating tx-buffer....

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msCAN: Adding id 7E5 to receive list


Initializing PDO 0, type 2...
Alloc.mem. @0x05D0, size 22 bytes
COB 00004000
-> ID: 1FF, type 254
-> Mapped objs: 4
map obj:1A00 sub:0-> Mapping index 6010, sub 00, size 10
map obj:1A00 sub:1-> Mapping index 2000, sub 00, size 08
map obj:1A00 sub:2-> Mapping index 2000, sub 00, size 08
map obj:1A00 sub:3-> Mapping index 2001, sub 00, size 10
Initializing PDO 1, type 2...
Alloc.mem. @0x05E8, size 22 bytes
COB 0000C000
-> ID: 2FF, type 254
-> Mapped objs: 2
map obj:1A01 sub:0-> Mapping index 5515, sub 00, size 20
map obj:1A01 sub:1-> Mapping index 5516, sub 00, size 20
msCAN: Adding id 67F to receive list
msCAN: Adding id 77F to receive list
msCAN: Adding id 080 to receive list
msCAN: Adding id 000 to receive list
msCAN: Setting 2nd ID filter...done
Sync to CAN...OK
Axiomatic MVINC-CO-1-360 V2.15,RT_t_calib
Released 9.Aug.2006 16:00
SN:0
of:17108 se:13753 tar:-90.0 st:2000 min
0.4422149 ->RAW:3354
of:17108 se:13753 tar:-80.0 st:2800 min
0.0061035 ->RAW:3565
of:17108 se:13753 tar:-60.0 st:4000 min
0.0036621 ->RAW:5198
of:17108 se:13753 tar:-30.0 st:8000 min
0.0009155 ->RAW:10231
of:17108 se:13753 tar:30.0 st:22000 min
0.0009155 ->RAW:23984
of:17108 se:13753 tar:60.0 st:27000 min
0.0036621 ->RAW:29018
of:17108 se:13753 tar:80.0 st:28000 min
0.0061035 ->RAW:30651
of:17108 se:13753 tar:90.0 st:32000 min
0.4422149 ->RAW:30862
of:17108 se:13753 tar:-90.0 st:2000 min
0.4422149 ->RAW:3354
of:17108 se:13753 tar:-80.0 st:2800 min
0.0061035 ->RAW:3565
of:17108 se:13753 tar:-60.0 st:4000 min
0.0036621 ->RAW:5198
of:17108 se:13753 tar:-30.0 st:8000 min
0.0009155 ->RAW:10231
of:17108 se:13753 tar:30.0 st:22000 min
0.0009155 ->RAW:23984
of:17108 se:13753 tar:60.0 st:27000 min
0.0036621 ->RAW:29018
of:17108 se:13753 tar:80.0 st:28000 min
0.0061035 ->RAW:30651
of:17108 se:13753 tar:90.0 st:32000 min
0.4422149 ->RAW:30862
FIR_ORDER:141
ave:delay:50ms
1.0000 (0.00) 1.0002 (0.01) 1.0000 (0.02) 1.0000 (0.03) 1.0000 (0.04) 0.0000 (0.05) 0.9999 (0.06) 0.9999 (0.07)
0.9999 (0.08) 0.9998 (0.09) 0.9998 (0.10)
0.9998 (0.1) 0.9993 (0.2) 0.9985 (0.3) 0.9974 (0.4) 0.9959 (0.5) 0.9941 (0.6) 0.9920 (0.7) 0.9896 (0.8) 0.9868
(0.9) 0.9838 (1.0)
-0.1 (1) -0.5 (2) -1.3 (3) -2.4 (4) -3.8 (5) -5.9 (6) -8.6 (7) -12.5 (8) -19.1 (9) -100.0 (10)
-15.9 (17) -19.3 (27) -21.1 (37) -21.8 (47)
MAIN_LOOP

8. Give #SSt! and #CSa! commands to save the restored settings to nonvolatile memory
9. Reboot the application and reconfigure the module!

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7.

User Manual

Version 2.04

PROFILE AND MANUFACTURER SPECIFIC FEATURES


This chapter describes the device profile and manufacturer specific features of the MVINC
inclinometer modules. DS301 specific objects and features are described mainly in CAN
open chapter.
MVINC-CO-a-m (a= number of measuring axis, m = measuring range per each axis)
modules implements the CIA's device profile for single and dual axis inclinometers
(DS410). Modules support all mandatory and some optional objects that the profile
specifies.
Module provides almost all DS410 specific features also through RS232 interface,
including angle values, preset and offset functions, inversion etc.
M: mandatory, C : conditional (ie. required if something else is supported), O : optional

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MVINC-CO-X-M user manual


Index
(Hex)

Name

User Manual
size

Type

Provided
only in
co-1360

1000

co_device_ type

U32

ro

1018

co_identity

2000

co_temperature

record
I8

ro

ro

2002

co_ave_size

U16

5001

co_manuf_1

5002

Version 2.04
Notes

Available in
RS232

co-2180
-

in boot up print
Temperature inside the module
in degrees Celsius

#STt!

rw

Size of additional ave filter

I16

ro

Manufacturer use only

co_print_cmd

U32

rw

Commads RS232 debug print


on and off

#P! ,#STf, STt!

5005

co_manuf_2

I16

rw

Manuf. use only

5009

co_manuf_3

array

ro

Manuf. use only

5010

co_manuf_4

I16

ro

Manuf. use only

5011

co_manuf_5

I16

ro

Manuf. use only

5012

co_manuf_6

array

ro

Manuf. use only

5013

co_manuf_7

array

ro

Manuf. use only

5015

co_manuf_8

array

ro

Manuf. use only

5019

co_manuf_9

array

ro

Manuf. use only

5020

co_manuf_10

I16

ro

Manuf. use only

5021

co_manuf_11

I16

ro

Manuf. use only

5022

co_manuf_12

array

ro

Manuf. use only

5023

co_manuf_13

array

ro

Manuf. use only

5025

co_manuf_14

array

ro

Manuf. use only

5515

co_slope_ long_rate

I32

ro

5516

co_slope_ long_acceleration

I32

ro

5525

co_slope_ lat_rate

I32

ro

5526

co_slope_ lat_acceleration

I32

ro

6000

co_resolution

U16

rw

#SERvvvv!

6010

co_slope_ long16

I16

ro

#STt!

6011

co_slope_
long16_oper_param

U8

rw

6012

co_slope_ long16_preset_val

I16

rw

#SEPxvvvvv!

6013

co_slope_ long16_offset

I16

rw

#SZ!

6014

co_slope_ long16_diff_offset

I16

rw

#SEDOxvvvv!

6020

co_slope_ lat16

I16

ro

6021

co_slope_ lat16_oper_param

U8

rw

6022

co_slope_ lat16_preset_val

I16

rw

#SEPyvvvvv!

6023

co_slope_ lat16_offset

I16

rw

#SZ!

6024

co_slope_ lat16_diff_offset

I16

rw

#SEDOyvvvv!

#STt!
#STt!
*

x
*

#STt!
x

#STt!

#SEIxt!, #SEIxf!
#SESxt!, #SESxf!

#STt!

Copyright Axiomatic Technologies Oy

#STt!
#SEIyt!, #SEIyt!
#SESyt!, #SESyf!

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Table 16: Supported objects defined in the encoder profile DS406

7.1

Inclinometer related functions and configurations


7.1.1

General

Sensor provides inclination angle, rate and acceleration rata of each of its measuring axis.
User is able to configure angle resolution, inversion and offsets. Reolution is allways
common for both axis (in case of MVINC-CO-2-x) but other parameters are set individually
for each axis.
Illustration Illustration 11: angle , rate and acceleration calculations describes how sensor
output variables are calculated.

Illustration 11: angle , rate and acceleration calculations


All parameters and sensor output variables are described in their own sub chapter.
The last sub chapter [Procedure to configure resolution, inversion and offset] describes the
correct procedure to configure module's inclinometer related parameters.

7.1.2

Angle resolution

Output angle resolution is configurable with object co_resolution (0x6000). Acceptable


values are 10, 100 and 1000 and the default value is 100. Note that 0,01 degrees is not
accepted in case of MVINC-CO-1-360 module. Resolution can be set also from RS232 with
#SERvvvv! command where vvvv corresponds the same resolution set values that are user
with co_resolution object.

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MVINC-CO-X-M user manual

Value of
co_resolution object

User Manual

Version 2.04

Resulting
resolution
(degrees)

Notes

1000

100

0.1

50

NON STANDARD VALUE!! Acts as scaling.


Example real angle 12.24 -> on bus : 245

10

0.01

Not possible with MVINC-CO-1-360

0.001

Not supported

Table 17: relationship between value in resolution object and actual resolution

co_resolution

Value range of the co_slope_long or co_slope_lat

1000

-90 ... 90 , 0 ...359

100

-900 ... 900 , 0...3599

10

-9000 ... 9000 , 0...35999

Table 18: Relationship between co_resolution and sensor output


Note that the resolution does't change the unit of acceleration or rate output!

7.1.3

Angle inverse and offset configurations

Angle output can be inversed and offset can be added through the object dictionary. In
addition same functionality is available through RS232 interface. Corresponding RS232
commands can be found in chapter
Inversion can be activated from co_slope_long16_oper_param
lat16_oper_param objects by setting the bit 0 as 1.

and

co_slope_

Angle output is calculated according to the following equation in case or longitudal angle or
single axis 360 degrees sensor:
co_slope_long16 = INVERSE_IF_NEEDED( measured_long16 ) + co_slope_long16_offset +
co_slope_long16_diff_offset

User is able to adjust both co_slope_long16_offset and co_slope_long16_diff_offset


variables.
co_slope_long16_offset is intended to be set through preset_value object (co_slope_
long16_preset_val ). User should write the actual angle that he wants the output to be at the
moment to the preset_value object. Module calculates the needed offset and writes it to the
co_slope_long16_offset. Offset can be zeroed by writing 0 to the offset object
co_slope_long16_offset.
Preset method suits well to mounting offset calibration, which means that user sets zero
level after mounting the module to the application. The actual offset is not needed to be
known; for instance in case of an excavator it's enough to drive boom to level and write
then 0 to the preset_val object to get the zero level set.
Equation along which
co_slope_lat16_offset :

Copyright Axiomatic Technologies Oy

module

calculates

the

co_slope_long16_offset

and

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Version 2.04

co_slope_long16_offset = co_slope_long16_preset_val INVERSE_IF_NEEDED( measured_long16 ) - co_slope_long16_diff_offset

User is also able to set the offset with the diff_offset objects (co_slope_long16_diff_offset
and co_slope_lat16_diff_offset). Module uses both offsets in paraller in output angle
calculation as stated in equation given above.
Note that the offset values have to be defined after configurateing the resolution and
reconfigured after changing resolution. Example: Initial resolution is 100 (0.1 degrees) and
value in co_slope_lat16_offset is 123 (12,3 degrees). Resolution is then changed to 10
(0.01 degrees) without reseting the offset value. Effective offset is now 1.23 degrees!
Offset objects are ignored unless the scaling is enabled in co_slope_long16_oper_param
and co_slope_ lat16_oper_param objects. Feature is active if bit 1 (second lowest bit) is
set as 1.
The value range of the co_slope_long16_preset_val, co_slope_lat16_preset_var,
co_slope_long16_diff_offset and co_slope_lat16_diff_offset objects is
(measuring_range_low_end) ... ( measuring_range_high_end)
for MVINC-CO-x-180 and
(-1 *measuring_range_high_end) ... ( measuring_range_high_end)
in case of MVINC-CO-x-360 module the value range is then
-3599 ... 3599 ( 359,9) with resolution of 0.1 degrees
and for MVINC-CO-x-180 with resolution of 0.01 degrees
-9000.... 9000 (-90,00 ... 90,00 )

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True physical
angle

User Manual

Value of
co_diff_offset
or co_offset

Version 2.04

Value of
co_slope_long16
MCINVCO-x-180

Notes

MCINVCO-x-360

400 (40.0)

201 (20.1)

601 (60.1)

601 (60.1)

400 (40.0)

-2002 (-200.2)

Unacceptable
offset value

1998(199.8)

400 (40.0)

901 (90.1)

1301 (130.1)

1301(130.1)

1000 (100.0)

3599 (359.9)

True angle
out of range

999 (99.9)

1000 (100.0)

4000 (400.0)

True angle
out of range

Unacceptabl
e offset
value

-622 (-62.2)

700 (70.0)

78 (7.8)

True angle
out of range

2212 (221.2)

1800 (180.0)

True angle
out of range

412 (41.2)

2212 (221.2)

-1800 (-180.0)

True angle
out of range

412 (41.2)

2212 (221.2)

2800 (280.0)

True angle
out of range

1412 (141.2)

2212 (221.2)

-2800 (-280.0)

True angle
out of range

3012 (301.2)

Used to shift the measuring range of MVINC


180 from +-90 to 0..180
Note that the good accuracy range is now
between 2...178 degrees. And sensor is most
accurate when the output is close to 90 degrees

Table 19: Examples of offsets and resulting output angles

True physical
angle
400 (40.0)

Value of
co_slope_long16 while inverse bit is on
MCINV-CO-x-180

MCINV-CO-x-360

-400 (-40.0)

3200 (320.0)

-405 (-40.5)

-405 (40.5)

True angle out of range

3014 (301.4)

True angle out of range

586 (58.6)

-1111 (-111.1)

True angle out of range

248.9 (248.9)

Table 20: Examples on how the inversion bit affects to the output angle

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MVINC-CO-X-M user manual

index Type

Acc.

User Manual

Name

Version 2.04

notes

0x6000

UNSIGNED16

rw

co_resolution

0x6010

INTEGER16

ro

co_slope_ long16

Longitudal angle

0x6011

UNSIGNED8

rw

co_slope_ long16_oper_param

Bit 0 controls inversion


Bit 1 controls offset features

0x6012

INTEGER16

rw

co_slope_ long16_preset_val

Sets output angle to this value

0x6013

INTEGER16

rw

co_slope_ long16_offset

Offset that corresponds to given preset angle

0x6014

INTEGER16

rw

co_slope_ long16_diff_offset

Indipendent offset

0x6020

INTEGER16

ro

co_slope_ lat16

0x6021

UNSIGNED8

rw

co_slope_ lat16_oper_param

0x6022

INTEGER16

rw

co_slope_ lat16_preset_val

0x6023

INTEGER16

rw

co_slope_ lat16_offset

0x6024

INTEGER16

rw

co_slope_ lat16_diff_offset

Following are used only in dual MVINC-CO-2-X


Latitude angle

Table 21: Objects related to the angle inversion and offset configuration

7.1.4

Procedure to configure resolution, inversion and offset

The following order must be obeyed:


1.

To avoid false angle, rate and acceleration values command the module to the preoperational state by sending a NMT command (instructions available in network
management chapter)

2.

Configure the resolution (if non default value is used) with the co_resolution
( 0x6000) object.

3.

Set inverse mode if needed by setting bit 0 of co_operating_params ( 0x6011 and


0x6021) object as 1

4.

Set the offset by co_preset_value and /or co_diff_offset objects


1. Allow scaling by setting co_operating_params ( 0x6011 and 0x6021) bit 1 as
logic 1.
2. Set current angle as something else with co_preset_value object if needed.
3. Use co_diff_offset object to add known offset.

5.

Test that the settings are OK.

6.

Save setting to the nonvolatile memory by sending save all objects command to
the module. See instructions from chapter Saving the object dictionary
parameters.

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User Manual

Version 2.04

Illustration 12: Configuration procedure

NOTES:
If an upper level parameter is changed all lower level parameters have to be reconfigured
aswell! This means that offsets have to be reconfigured if resolution is changed.
Particular save command is needed to store setting to nonvolatile memory
(co_store_params object or #CSa! RS232 command, more information in CANopen
chapter).

7.1.5

Internal timing

Module calculates new angle, rate and acceleration values every 10th millisecond. 10 ms is
also minimum PDO send interval.

7.1.6

Angular rate and acceleration outputs

Device provides also angular rate (speed) and acceleration information. The angular rate is
available in co_slope_ long_rate and co_slope_ lat_rate objects. Acceleration values can be
found in co_slope_ long_acceleration and co_slope_ long_acceleration objects. All of
them can also be found from RS232 normal data print.

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MVINC-CO-X-M user manual

index

User Manual

type

access

Version 2.04

variable

description

0x5515

INTEGER32

ro

co_slope_ long_rate

Longitudal angular speed

0x5516

INTEGER32

ro

co_slope_ long_acceleration

Longitudal angular acceleration

0x5525

INTEGER32

ro

co_slope_ lat_rate

Latitudal angular speed

0x5526

INTEGER32

ro

co_slope_ lat_acceleration

Latitudal angular acceleration

Table 22: rate and acceleration related objects


Rate is always given as degrees per second. Thee lowest numbers form the decimal part.
1234567 corresponds then 1234.567 degrees/ second. Value of the resolution object
(co_resolution) doesn't affect to the resolution of rate or acceleration objects.
Acceleration is given as degrees/ sec2. Value contains also decimal part which is formed by
three lowest numbers. 2345 corresponds then 2,345 degrees.
To use the rate and acceleration values in real time user should activate the second PDO and
in case of MVINC-CO-2-x also the third PDO. PDO chapter describes how this can be
done.

7.2

Communication configurations
7.2.1

Device type (0x1000)

The device type object (0x1000) identifies the type of the product. Data in the lower 4 bytes
0x019A ( 410 as decimal number) tells that the module fulfills the CIA inclinometer profile
DS410. Data in the four upper bytes tells the amount of measuring axis and measuring
ranges.
index
0x1000

sub
1

type
U32

Acc.
RO

variable
co_device_type

values

notes

0x1801019A

MVINC-CO-1-180

0x3601019A

MVINC-CO-1-360

0x1802019A

MVINC-CO-2-180

Table 23: The device type object

7.2.2

Device identity (0x1018)

Device identity object identifies the module vendor, vendors product code and product
revision number. Modules unic serial number is also provided in sub 4. It can also be read
from the RS232 boot up print.

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MVINC-CO-X-M user manual

index
0x1018

sub

User Manual

type

Acc.

variable
co_identity

values

Version 2.04

notes

U32

RO

U32

RO

0x55

Vendor ID (0x55 = Axiomatic


Technologies Oy)

U32

RO

0x2000

Product code
0x2000: MCINC-CO-1-180
0x2005: MCINC-CO-1-360
0x2010: MCINC-CO-2-180

U32

RO

Revision number
Bits 0-15

Application sw ver.
number

Bits 16-31

CAN behaviour ver


number

Example: 0x01020211 == CAN 1.02 ,


Application 2.17
4

U32

RO

Serial number. 0 if not set

Table 24: The device identity object

7.2.3

Emergency messages

MVINC doesn't support emergency (EMCY) messages.

7.2.4

CAN bus baudrate

Every device connected to the CAN bus has to use same baudrate. Baudrate can be changed
with the LSS protocol ( a CAN open sub protocol) or trough RS232 interface with a #SBvv!
command. The LSS protocol is described in details in CANopen manual chapter.
The serial protocol command is #SBvv! where xx is serial command index. Supported
baudrate values and correlated indexes for LSS and serial commands are listed in table
below. Baudrate of an unconfigurated device is 125 kbit/s.
baubrate

LSS index

Serial command index

Supported

1 Mbit/s

0x00

1000

800 kbit/s

0x01

800

500 kbit/s

0x02

500

250 kbit/s

0x03

250

125 kbit/s

0x04

125

50 kbit/s

0x06

50

Table 25: Supported command indexes for baudrate setup

7.2.5

Node ID

Each module connected to the same CAN bus must have an unique node ID. System
integrator may change device's node ID through CAN interface with the LSS protocol, or
through RS232 with #SNvvv! command.
Range for node IDs is 1 to 127. Usually 127 states that the node is unconfigurated.

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Version 2.04

CANopen manual chapter provides more information about the LSS protocol. The RS232
command for adjusting the node ID is #SNvvv! where vvv is the node ID as a decimal
number.
Note that the node ID changed via object dictionary won't be used until the communication
parameters are saved and module is reseted! This should be done immediately after
configuring the node ID.
Note that the PDO CAN IDs should be checked after changing the node ID with LSS
protocol. PDO CAN ids are set to the default values if RS232 #SNvvv! command is used.
System configurator should take account that Node IDs defines PDOs' priorities in case that
the default IDs are used. This means that the smaller node ID the higher priority its
messages have.

7.2.6

PDO configurations

MVINC has up to three transmit PDOs (process data object) which deliver the measurement
data from the inclinometer module to other modules connected to the CAN bus. Dual axis
sensor (MVINC-CO-2-X) provides 3 usable PDOs while other modules provide 2 usable
PDOs.
The PDO subchapter in CANopen manual chapter provides more information about the
PDOs and how they can be configured. However PDO's default settings' are described in
tables below. Default transmission types for all PDOs are asynchronous.
Note that each module type (MVINC-CO-1-180, MVINC-CO-2-180 and MVINC-CO-1360 ) has slightly different communication and mapping parameters!
index
0x1800

sub type
0

Acc.
RO

variable
co_tpdo_comm_par[0]

Def. values

notes

U32

RW

0x4000180 +
node id

PDO's CAN id is 180 + node id,


No RTR.,11 bits IDs,
PDO enabled

U8

RW

0xFE

Transmission type: Event driven,


message will be sent when the event
timer triggers

U16

RW

Inhibit time, not supported

U8

RW

Reserved

U16

RW

Event timer: 0 -> PDO is not send in


case of 0xFE transmission type.

Table 26: TPDO1's communication parameters

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MVINC-CO-X-M user manual

index
0x1A00

sub

type

User Manual

Acc.
RW

variable
co_map_comm_par[0]

Version 2.04

Def.values

notes

Number of mapped objects.


Can be edited to leave
unnecessary data out.

U32

RW

0x60100010

Mapped object: 0x6010, subindex


0, 16 bits. (long angle)

U32

RW

0x20000008

Mapped object: 0x2000, subindex


0, 8 bits. (temperature)

U32

RW

0x20010010

Mapped object: 0x2001, subindex


0, 16 bits. (aux input)

Table 27: MVINC-CO-1-180 TPDO1 mapping parameters

index
0x1A00

sub

type

Acc.
RW

variable
co_map_comm_par[0]

Def. values

notes

Number of mapped objects

U32

RW

0x60100010

Mapped object: 0x6010, subindex


0, 16 bits. (long angle)

U32

RW

0x20000008

Mapped object: 0x2000, subindex


0, 8 bits. (temperature)

U32

RW

0x20010010

Mapped object: 0x2001, subindex


0, 16 bits. (aux input)

U32

RW

0x20000008

Mapped object: 0x2000, subindex


0, 8 bits. (temperature)

Table 28:MVINC-CO-1-360 TPDO1 mapping parameters

index
0x1A00

sub

type

Acc.
RW

variable
co_map_comm_par[0]

Def.values

notes

Number of mapped objects

U32

RW

0x60100010

Mapped object: 0x6010,


subindex 0, 16 bits. (long angle)

U32

RW

0x60200010

Mapped object: 0x6020,


subindex 0, 16 bits. (lat angle)

U32

RW

0x20000008

Mapped object: 0x2000,


subindex 0, 8 bits. (temperature)

U32

RW

0x20010010

Mapped object: 0x2001,


subindex 0, 16 bits. (aux input)

Table 29: MVINC-CO-2-180 TPDO1 mapping parameters

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MVINC-CO-X-M user manual

index
0x1801

sub

type

User Manual

Acc.
RO

variable
co_tpdo_comm_par[1]

Version 2.04

Def. values

notes

U32

RW

0xC000280 +
node id

PDO's CAN id is 280 + node id


No RTR, PDO disabled

U8

RW

0xFE

Transmission type: Event driven,


message will be sent when the event
timer triggers

U16

RW

Inhibit time, not supported

U8

RW

Reserved

U16

RW

Event timer: 0 -> PDO is not send in


case of 0xFE transmission type.

Table 30: TPDO2's communication parameters


index
0x1A01

sub

type

Acc.
RW

variable

Def.values

co_map_comm_par[1]

notes

Number of mapped objects

U32

RW

0x55150020

Mapped object: 0x5515 subindex


0, 32 bits. (long rate)

U32

RW

0x55160020

Mapped object: 0x5516 subindex


0, 32 bits. (long acceleration)

Table 31: TPDO2 mapping parameters for all types


The third PDO is usable only with dual axis module (MVINC-CO-2-X). Single axis module
with 180 degrees measuring range (MVINC-CO-1-180) doesn't have it at all and in
MVINC-CO-1-360 it's a dummy PDO which can't be used.
index
0x1802

sub

type

access
RO

variable
co_tpdo_comm_par[2]

Def. values

notes

U32

RW

0xC000380 +
node id

PDO's CAN id is 380 + node id


No RTR, PDO disabled

U8

RW

0xFE

Transmission type: Event driven,


message will be sent when the
event timer triggers

U16

RW

Inhibit time, not supported

U8

RW

Reserved

U16

RW

Event timer: 0 -> PDO is not send


in case of 0xFE transmission type.

Table 32: MVINC-CO-2-180 TPDO3 communication parameters

index
0x1A02

sub

type

Acc.
RW

variable
co_map_comm_par[2]

Def. values

notes

Number of mapped objects

U32

RW

0x55250020

Mapped object: 0x5525 subindex


0, 32 bits. (lat rate)

U32

RW

0x55260020

Mapped object: 0x5526 subindex


0, 32 bits. (lat acceleration)

Table 33: TPDO3 mapping parameters for MVINC-CO-2-180

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MVINC-CO-X-M user manual

index
0x1802

sub

type

User Manual

Acc.
RO

variable
co_tpdo_comm_par[2]

Version 2.04

Def.values

notes

U32

RO

0xC000380 +
node id

PDO's CAN id is 380 + node id


No RTR, PDO disabled

U8

RO

0xFE

Transmission type: Event driven,


message will be sent when the event
timer triggers

U16

RO

Inhibit time, not supported

U8

RO

Reserved

U16

RO

Event timer: 0 -> PDO is not send in


case of 0xFE transmission type.

Table 34: MVINC-CO-1-360 TPDO3 communication parameters

index
0x1A02

sub

type

Acc
RO

variable

Def. values

co_map_comm_par[2]

notes

Number of mapped objects

U32

RO

0x55250020

Mapped object: 0x5525 subindex


0, 32 bits. (lat rate)

U32

RO

0x55260020

Mapped object: 0x5526 subindex


0, 32 bits. (lat acceleration)

Table 35: TPDO3 mapping parameters for MVINC-CO-1-360

7.2.7

The boot up print.

The following print comes through RS232 port when module is powered. The last line is
printed after module has been commanded to the operational state.
sr-ldr 1.3-5mv
PORInitializing timer...done.
Initializing adc...done.
Initializing ext eeprom...done.
Init I/O...
Reading parameters...
MAGIC: 81680100 SW: 215
285 bytes in EEPROM, reading checksum
Checksum ok, loading parameters from EEPROM
Loading parameters...done.
msCAN: Node ID = 127
msCAN: Baudrate = 125 kbit/s
msCAN: Creating rx-buffer...
msCAN: Creating tx-buffer....
msCAN: Adding id 7E5 to receive list
Initializing PDO 0, type 2...
Alloc.mem. @0x05D0, size 22 bytes
COB 00004000
-> ID: 1FF, type 254
-> Mapped objs: 4
map obj:1A00 sub:0-> Mapping index 6010, sub 00, size 10
map obj:1A00 sub:1-> Mapping index 2000, sub 00, size 08
map obj:1A00 sub:2-> Mapping index 2000, sub 00, size 08
map obj:1A00 sub:3-> Mapping index 2001, sub 00, size 10
Initializing PDO 1, type 2...
Alloc.mem. @0x05E8, size 22 bytes
COB 0000C000
-> ID: 2FF, type 254
-> Mapped objs: 2
map obj:1A01 sub:0-> Mapping index 5515, sub 00, size 20
Copyright Axiomatic Technologies Oy

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map obj:1A01 sub:1-> Mapping index 5516, sub 00, size 20


msCAN: Adding id 67F to receive list
msCAN: Adding id 77F to receive list
msCAN: Adding id 080 to receive list
msCAN: Adding id 000 to receive list
msCAN: Setting 2nd ID filter...done
Sync to CAN...OK
Axiomatic MVINC-CO-1-360 V2.15,RT_t_calib
Released 9.Aug.2006 16:00
SN:0
of:17108 se:13753 tar:-90.0 st:2000 min
0.4422149 ->RAW:3354
of:17108 se:13753 tar:-80.0 st:2800 min
0.0061035 ->RAW:3565
of:17108 se:13753 tar:-60.0 st:4000 min
0.0036621 ->RAW:5198
of:17108 se:13753 tar:-30.0 st:8000 min
0.0009155 ->RAW:10231
of:17108 se:13753 tar:30.0 st:22000 min
0.0009155 ->RAW:23984
of:17108 se:13753 tar:60.0 st:27000 min
0.0036621 ->RAW:29018
of:17108 se:13753 tar:80.0 st:28000 min
0.0061035 ->RAW:30651
of:17108 se:13753 tar:90.0 st:32000 min
0.4422149 ->RAW:30862
of:17108 se:13753 tar:-90.0 st:2000 min
0.4422149 ->RAW:3354
of:17108 se:13753 tar:-80.0 st:2800 min
0.0061035 ->RAW:3565
of:17108 se:13753 tar:-60.0 st:4000 min
0.0036621 ->RAW:5198
of:17108 se:13753 tar:-30.0 st:8000 min
0.0009155 ->RAW:10231
of:17108 se:13753 tar:30.0 st:22000 min
0.0009155 ->RAW:23984
of:17108 se:13753 tar:60.0 st:27000 min
0.0036621 ->RAW:29018
of:17108 se:13753 tar:80.0 st:28000 min
0.0061035 ->RAW:30651
of:17108 se:13753 tar:90.0 st:32000 min
0.4422149 ->RAW:30862
FIR_ORDER:141
ave:delay:50ms
1.0000 (0.00) 1.0002 (0.01) 1.0000 (0.02) 1.0000 (0.03) 1.0000 (0.04) 0.0000 (0.05) 0.9999 (0.06) 0.9999 (0.07)
0.9999 (0.08) 0.9998 (0.09) 0.9998 (0.10)
0.9998 (0.1) 0.9993 (0.2) 0.9985 (0.3) 0.9974 (0.4) 0.9959 (0.5) 0.9941 (0.6) 0.9920 (0.7) 0.9896 (0.8) 0.9868
(0.9) 0.9838 (1.0)
-0.1 (1) -0.5 (2) -1.3 (3) -2.4 (4) -3.8 (5) -5.9 (6) -8.6 (7) -12.5 (8) -19.1 (9) -100.0 (10)
-15.9 (17) -19.3 (27) -21.1 (37) -21.8 (47)
MAIN_LOOP
CO: OPERATIONAL

7.2.8

The RS232 prints

The measurement data can be achieved through the RS232 interface in addition of the CAN
interface. Printing can be controlled both with object table and RS232 commands. From
Rs232 #P! command inits the debug print and #STt! normal data print. #STf! ends the
normal data print. Interval of the data print can be adjusted with #STivvvvv! command
where the send interval (vvvvv) is given as milliseconds.
Object co_print_cmd (0x5002) controls the printing from CAN bus. Writing 0x1234vvvv
to that object inits the debug print and 0xvvvv5678 inits the normal data print. vvvv tagged
numbers are ignored. All other values stops printing. Using 0x0000 is recommended
though.
RS232 Baudrate can also be adjusted with #STbvvvv! command where vvvv is the
suggested baudrate.
Note that setting won't be stored to nonvolatile memory unless save command is given
(#CSa! from RS232 or correct SDO write to the 0x1010 sub 1 from CAN). Some
parameters requires #SSt! command to get stored. See table Table 37: RS232 commands
which controls RS232 printing for further information.
index
0x5002

sub
0

type
U8

access
RW

variable
co_print_cmd

values

notes
Controls serial printing
0xYYYY5678 -> debug printing is on
0x1234YYYY -> normal data printing
is on

Table 36: Object dictionary variable related to RS232 printing

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MVINC-CO-X-M user manual

Command

Value
range

User Manual

Default
value

Available
via CAN

Description

#P!

#STx!

f ,t

#STixxx!

10, 20 ...
100000

200

No

Sets the print interval for


normal printing

#STbxx!

19200
38400
57600
115200

115200

No

#CDx!

f ,t

#SSt!

Version 2.04

Notes

Saving to
nonvolatile
memory

Restore
command

co_print_cmd

Turns the debug prints on

#CSa! ,CAN

#CRa! ,CAN

co_print_cmd

Turns the normal printing


on and off

#CSa! ,CAN

#CRa! ,CAN

#SSt!

#SRt!

Sets the baudrate for


RS232 interface

#SSt!

#SRt!

No

turns the CAN info


prints the on and off

#SSt!

#SRt!

No

Saves print interval and


baud rate to nonvolatile
memory

Multiplies of
10 ms
10 ==10ms,
100==100ms

Table 37: RS232 commands which controls RS232 printing

A print example while normal print mode is chosen. Current resolution is 0.1 degrees
long:

264 (22814) rate:

0.0 acc:

0.00, lat: -148 (13322) rate:

-0.5 acc:

-0.55, temp: 35

long:

264 (22814) rate:

0.0 acc:

0.00, lat: -148 (13323) rate:

0.0 acc:

-0.55, temp: 35

long:

264 (22814) rate:

0.0 acc:

0.00, lat: -148 (13324) rate:

0.0 acc:

0.00, temp: 35

long:

264 (22814) rate:

0.0 acc:

0.00, lat: -148 (13323) rate:

0.0 acc:

0.00, temp: 35

long:

264 (22812) rate:

-0.5 acc:

-0.55, lat: -148 (13323) rate:

0.0 acc:

0.00, temp: 35

long:

264 (22811) rate:

0.0 acc:

0.00, lat: -148 (13321) rate:

0.0 acc:

0.00, temp: 35

long:

264 (22812) rate:

0.0 acc:

0.00, lat: -148 (13322) rate:

0.0 acc:

0.00, temp: 35

long:

264 (22812) rate:

0.0 acc:

0.00, lat: -148 (13323) rate:

0.0 acc:

0.00, temp: 35

Debug print:
long(X): O:16810 S:13502 ang:
15346.2 rate:

long(X): O:16810 S:13502 ang:


15346.7 rate:

-6.07

0.0 accl: 0.00lat(Y): O:16773 S:13488 ang:

-6.07

7.5% t: 35.0 co 35

0.02

16817.0 rate:

0.0 accl: 0.00lat(Y): O:16773 S:13488 ang:

-6.07

7.7% t: 35.0 co 35

0.02

16817.6 rate:

0.0 accl: 0.00lat(Y): O:16773 S:13488 ang:

-6.07

0.02

7.6% t: 35.0 co 35
16818.6 rate:

0.0 accl: 0.00 -irq:

Copyright Axiomatic Technologies Oy

0.0 accl: 0.00lat(Y): O:16773 S:13488 ang:

7.6% t: 35.0 co 35

16816.9 rate:

0.0 accl: 0.00 -irq:

long(X): O:16810 S:13502 ang:


15347.2 rate:

0.02

0.0 accl: 0.00 -irq:

long(X): O:16810 S:13502 ang:


15346.6 rate:

16816.5 rate:

0.0 accl: 0.00 -irq:

long(X): O:16810 S:13502 ang:


15346.5 rate:

0.02

0.0 accl: ss0.00 -irq:

0.0 accl: 0.00lat(Y): O:16773 S:13488 ang:

-6.07

7.6% t: 35.0 co 35

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MVINC-CO-X-M user manual

7.2.9

User Manual

Version 2.04

The RS232 command set

Module supports quite many RS232 commands providing then almost same functionality
for both RS232 and CANopen. All value arguments (vvv ) are given as INTEGER16
without any leading zeroes.

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Command

Value
range

User Manual

Def.
value

Available
trough CAN
interface

Description

Version 2.04

notes

Saving to
nonvolatile
memory, A ->
automatically

#SNvvv!

1-127

127

LSS protocol

Sets the node ID.

New node ID will be effective after


module is reseted. Sets the PDO
CAN ids as default

#SBvvv!

125, 250,
800, 500,
1000

125

Through the LSS


protocol

Sets the baudrate.

Will be effective after next reset.

#P!

off

co_print_cmd

Toggles the debug


prints on and off

#CSa! , CAN

#STv!

f ,t

co_print_cmd

Turns the normal data


prints on and off

#CSa! , CAN

#STivvv!

10, 20 ...
100000

200

No

Sets the print interval


for normal printing

#STbvvv!

19200
38400
57600
115200

115200

No

Sets the baudrate for


RS232 interface

#SSt!

#CDv!

f ,t

Turns the CAN


information prints on
and off

#SSt!

#CRa!

co_restore_params
sub 1

Restores object table to Protected objects (P) are not


factory defaults.
restored. No calibration data is lost.

#CSa!

co_store_params sub
1

Stores all object table


objects to nonvolatile
memory.

#SRt!

Restores the RS232


baudrate and normal
print intervals to
factory defaults.

#SSt!

#RO!

Multiplies of 10 milliseconds
10 ==10ms, 100 == 100ms

Doesn't save the setting


automatically to the nonvolatile
memory.

#SSt!

#SSt!

Stores the print settings


described above to
nonvolatile memory

Prints the object table

#SERvvv!

10,100,
1000

100

co_resolution

To set the resolution

#CSa! , CAN

#SEIav!

v : f, t
a: x, y

co_slope_
long16_oper_param
co_slope_
lat16_oper_param

Controls the inversion


bit of given axis

#CSa! , CAN

#SESav!

v : f, t
a: x, y

co_slope_
long16_oper_param
co_slope_
lat16_oper_param

Controls the scaling bit


of given axis
(argument a)

#CSa! , CAN

#SEPavv!

v:
measuring_r
ange
a: x, y

co_slope_
long16_preset_val
co_slope_
lat16_preset_val

Preset angle function


for given axis

#CSa! , CAN

#SZ!

co_slope_
long16_preset_val
co_slope_

Preset angle function


for all axis with preset
angle of 0 degrees.

#CSa! , CAN

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MVINC-CO-X-M user manual

Command

Value
range

Def.
value

User Manual

Available
trough CAN
interface

Description

lat16_preset_val
co_slope_
long16_oper_param
co_slope_
lat16_oper_param

Enables also scaling


from operating params

Version 2.04

notes

Saving to
nonvolatile
memory, A ->
automatically

#SECOa!

a: x, y

co_slope_
long16_offset
co_slope_
lat16_offset

Clears the offset of


given axis

#CSa! , CAN

#SEDOavvv!

v:
measuring_r
ange
a: x, y

co_slope_
long6_diff_offset
co_slope_
lat16_diff_offset

Differential slope
function.

#CSa! , CAN

Table 38: Supported RS232 commands

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8.

User Manual

Version 2.04

CANOPEN MANUAL AND SUPPORTED DS301 SPECIFIC OBJECTS


CANopen is a CAN-based higher layer protocol. It was developed as a standardized
embedded network with highly flexible configuration capabilities. CANopem was targeted
for motion-oriented machine control networks, such as handling systems. By now it is used
in many various fields such as excavators mining equipment and military vehicles.
Standardized profiles developed by CiA members simplify system designer's integration
task. CANopen is flexible and open enough to allow both manufacturer specific
functionality and the generic functionality described in the device profiles to be integrated
in very same device.
CANopen provides standardized communication objects for real-time data transfers
(Process Data Objects, PDO), configuration data (Service Data Objects, SDO), and special
functions (Time Stamp, Sync message, and Emergency message) as well as network
management data (Boot-up message, NMT message, and Error Control).

8.1

How to read a CAN message seen with a simple CAN tool


The message below is a SDO read message seen with a simple CAN tool. Message is
addressed to module which node ID is 0x0A (10d). The type of CAN messages is little
endian (INTEL type).

CAN ID

Length

60A

40

00

18

01

00

00

00

00

Table 39: An example of CAN message seen with a simple CAN tool
Data corresponds to the following in human readable format:
00 00 00 00 18 01 00 40

8.2

Object dictionary (OD)


The object dictionary provides access to the application program of the device in terms of
application data as well as in terms of configuration parameters. OD is an indexed table
where an index may contain also subindexes. OD is divided in the following segments:

8.3

0x1000 0x1FFF
0x2000 0x5FFF
0x6000 0x9FFF
0xA000 0xBFFF
0xC000 0xFFFF

Communication object area


Manufacturer specific area
Device profile specific area
Interface profile specific area
Reserved

Network management (NMT)


A NMT message is mapped to a single CAN frame with the data length of 2 bytes. Its
identifier (CAN ID) is always 0. The first byte contains the command specifier (recipient go
to this state) and the second contains the Node ID of the device that should perform the
command. If Node ID is 0 all nodes have to perform the command. The following states
(commands) are specified:

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Initialization
Pre-Operational
Operational
Stopped

After power-on, each CANopen device is first in the state Initialization and automatically
transits then to the state Pre-operational. In Pre-operational state module may transmit and
receive SDOs. Nodes, that the NMT master has set into the state Operational, are also
allowed to transmit and receive PDOs. In the state Stopped no communication is allowed
excluding the NMT messages.
The Initialization state is divided into three sub-states in order to enable a complete or
partial reset of a node. In the sub-state Reset the parameters of the manufacturer-specific
profile, standardized device profile and application area are set to their power-on values. In
the sub-state Reset Communication the parameters of the communication profile area are set
to their power-on values. The third sub-state is initializing, which a node enters
automatically after power-on. Power-on values are the last stored parameters read from
nonvolatile memory.
The command specifiers (recipient go to this state) of NMT messages are:
1
2
128 (0x80)
129 (0x81)
130 (0x82)

Start (go to operational)


Stop
Enter pre-operational
Reset node
Reset communication

CAN ID

lenght

D0

D1

0x000

0x01

0x0A

D2

D3

D4

D5

D6

D7

Table 40: NMT message that commands node 10 (0x0A) into the operational state

8.4

Process data object (PDO)


Process Data Objects (PDOs) carry application data from one node to one or more nodes.
Each PDO message may contain up to 8 bytes of the data. Each PDO has a unique identifier
(CAN ID ).
PDO transmissions are not confirmed which means that the receiver will not send any kind
of PDO received message after receiving a PDO.
There are two types of PDOs. Module provides process data to other CAN modules by
sending transmit PDOs (TPDO). Receive PDOs (RPDOs) define the messages which
carries process data to the module from other modules connected to the CAN bus. Only one
module can send a PDO with certain CAN ID but may modules can receive the very same
PDO.
Devices supporting TPDOs are called PDO producers and devices which are able to receive
PDOs are called PDO consumers. The very same module may provide both those functions.
PDO communication parameters describe the communication capabilities of the PDO. PDO
mapping parameters define the contents of the PDO. The indexes of the corresponding OD
entries of the PDO communication and mapping parameters are computed according to the
following formulas:

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RPDO communication parameter index = 1400h + RPDO-number -1


TPDO communication parameter index = 1800h + TPDO-number -1
RPDO mapping parameter index = 1600h + RPDO-number -1
TPDO mapping parameter index = 1A00h + TPDO-number -1

Every PDO has to have a pair of communication and mapping parameters.


Index

Sub

Value

Parameter

Notes

0x1800

Number of parameters

For the first transmit PDO

0x1800

0x4000018A

COB ID

PDO's is CAN ID is 0x18A. PDO is enabled.


RTR not supported

0x1800

254

Transmission type

Manufacturer specific event driven . If


enabled it will be transmitted with interval
stated in sub index 5 (event timer)

0x1800

Inhibit time

Not supported always 0

0x1800

reserved

0x1800

50

Event timer

PDO is transmitted every 50 ms

Table 41: An example of communication parameters of the first transmit PDO

8.4.1

PDO COB ID

The COB ID of PDO describes part of the functionality that the PDO provides and it
defines PDO's CAN ID. In addition PDO can be disabled and enabled through it.
While defining the PDO identifier user should consider the importance of the data that PDO
should transfer. Important messages should have high priority to guarantee short response
time. Priority is defined by PDO's CAN ID. The smaller ID the higher priority message has.
Module Node ID defines the PDO priority in case that default PDO CAN IDs are used. The
smaller Node ID the smaller CAN IDs and the higher priorities module's PDO and other
messages have.
MVINC module allows editing the PDO's COB Id.
Bit

31

30

29

28

11

10

Field name

Valid bit

RTR

frame

Upper 18 bits of 29
bit CAN ID

11 bit CAN ID

Value range

0/1

Always 1

Always 0

0x0 0000

0x000 ... 0x7ff

Description

Set 0 to enable the


PDO and 1 to disable
it

RTR not
supported

29 bits
IDs not
supported

29 bits IDs not


supported

To enable the automatic CAN ID calculation


for this PDO set the CAN ID data as 0 or to
match to the current default ID of this PDO
( default id + node id, for instance 0x180 +
node id)

Field
Implemented
in MVINC

YES. But doesn't act


as a protect bit! So
PDO parameters can
be edited without
disabling PDO first!

YES

YES

NO

YES

Table 42: The structure of PDO's COB ID and one possible value set
MVINC module supports automatic CAN ID calculation, which means that the software
updates PDO's CAN ID automatically if module's NODE ID is changed and module is
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rebooted. This feature is on as default for every PDO after restoring communication
parameters. You may check the status of this feature by comparing PDO's CAN ID found in
the OD to PDO's default CAN ID. If they match the default calculation is on. The default
CAN IDs can be calculated according to the following table.
PDO

Index of the
Communication
object
1st transmit PDO

TPDO _0
TPDO _1

Default CAN
ID

0x1800

0x180 + node ID

nd

0x1801

0x280 + node ID

rd

2 transmit PDO

Notes

TPDO _2

3 transmit PDO

0x1802

0x380 + node ID

Supported only in MVINC-CO-2-X

TPDO _3

4th transmit PDO

0x1803

0x480 + node ID

Not supported in MVINC

st

RPDO _0

1 receive PDO

0x1400

0x200 + node ID

Not supported in MVINC

RPDO _1

2nd receive PDO

0x1401

0x300 + node ID

Not supported in MVINC

rd

0x1402

0x400 + node ID

Not supported in MVINC

th

0x1403

0x500 + node ID

Not supported in MVINC

RPDO _2

3 receive PDO

RPDO _3

4 receive PDO

Table 43: The relationship between the default PDO CAN ID and module node ID

8.4.2

Disabling And Enabling a PDO

Transmission (receive or transmit) of an individual PDO is enabled by clearing PDO's valid


bit. The valid bit is part of PDO's COB ID which is located for the first transmit PDO
(TPDO_1) in sub 1 of index 0x1800. A procedure to disable and enable the TPDO_1 is
described below.
1) Read PDO's current COB ID with the SDO read command. If you are using a
simple command line CAN tool send the following message (Assumes that the
node ID of the device to be configured is 0x0A) :
CAN ID

Length

60A

40

00

18

01

00

00

00

00

Module's respond in case that the request was legal:


CAN ID Length
0
1
2
3
4
58A

43

00

18

01

8A

01

00

C0

Bytes 4 - 7 are the actual data of the object 1800 sub 0. In the reply above the COB ID
received from the module is 0xC000018A.
2) If you want to enable the PDO use logic AND to clear the valid bit:
new_COB_ID = current_COB_ID & ~PDO_VALID_BIT
where ~ stands for a logical inversion operand and PDO_VALID_BIT is defined
as 0x80000000.
To disable the PDO the logic OR function has to be used to set the VALID bit:
new_COB_ID = current_COB_ID | PDO_VALID_BIT.
In this case we want to enable the PDO so we end up to the following numerical
values:
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new_COB_ID = 0xC000018A & ~PDO_VALID_BIT


= 0xC000018A & 0x7FFFFFFF = 0x4000 018A
3) Send data to the module
CAN ID

Length

60A

01

8A

01

00

40

Module's respond if write succeeded:


CAN ID Length
0
1
2

01

00

00

00

00

60

00

2
18

58A

23

00

18

4) If the change is supposed to last longer than until next reset, the store
communication parameters command has to have be send to the module. This is
done by writing save signature to the sub index 1 of the co_store object ( index
0x1010)
CAN ID Length 0
1
2
3
4
5
6
7
60A

23

10

10

Module's respond if write succeeded:


CAN ID Length 0
1
2
58A

60

10

10

01

3
01

73

4
00

61

5
00

76

6
00

65

7
00

If module is now reseted the changes should still be valid.


The easiest way to configure modules by hand is to buy a CAN open tool which provides a
straight access to the objects in the object dictionary. Contact Axiomatic Technologies to get
more information.

8.4.3

PDO transmissions

PDO transmissions may be driven by an internal event, by an internal timer, by remote


requests or by receiving Sync messages. The transmission type is defined in PDO's
communication parameter table. The transmission type variable of the TPDO_1 is located in
index 0x1800 sub index 2.

Event- or timer-driven: An event (specified in the device profile) triggers message


transmission. An elapsed timer may also trigger the transmission. Note that the
transmission interval can be configured only as multiplies of module's internal
CAN timer which is 10 ms in MVINC modules.

Remotely requested: Another device may initiate the transmission of an


asynchronous PDO by sending a remote transmission request. Results to high bus
load. Not supported in Axiomatic modules.

Synchronous transmission: In order to initiate simultaneous sampling of input


values of all nodes, a periodically transmitted Sync message is required.
Synchronous transmission of PDOs takes place in cyclic and acyclic transmission
mode. Cyclic transmission means that the node waits for the Sync message, after
which it sends its measured values. The PDO transmission type number (1 to 240)
indicates the Sync rate to which module synchronizes itself. Acyclically
transmitted synchronous PDOs are triggered by a defined application-specific

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event. The node transmits its values with the next Sync message but will not
transmit again until another application-specific event has occurred.
Value

Description

0x00

notes

synchronous

...
0xF0

synchronous

0xF1

Reserved

....
0xFB

Reserved

0xFC

RTR - synchronous

NOT SUPPORTED

0xFD

RTR event driven

NOT SUPPORTED

0xFE

Manufacturer specific Event


driven

0xFF

Device profile Event driven

NOT SUPPORTED

Table 44: PDO transmission types (value can be found in PDO's communication parameter
table sub index 2)

8.4.4

PDO mappings

The PDO mapping parameters define which objects are transmitted within a PDO. They
describe also the sequence and lengths of the mapped application objects. A device that
supports variable mapping of PDOs must allow remapping during the pre-operational state.
If dynamic mapping during operational state is supported, the SDO Client (the configurator)
is responsible for the data consistency. MVINC allows remapping during the operational
state though it's not recommended to do so. New mapping won't be effective until module is
rebooted. Size of mapped object must be multiply of one byte (8 bits).
It's not possible to map more objects to the PDO than the dafault value of sub 0 of mapping
paremeter states. MVINC doesn't check the leagality of the mapping parameters so that
remains solely on user responsibility!
Procedure to change the communication parameters or/ and mapping parameters of the first
transmit PDO (TPDO_1):
1) Disable the PDO by setting the valid bit as 1 (index 0x1800 sub index 1). Detailed
instructions are provided in chapter Disabling and enabling a PDO.
2) In case you want just to change the amount of mapped objects you can update the
amount by writing new amount to the sub 0.
3) Edit the mapping
4) Set the amount of mapped objects to correct value
5) Enable the PDO by setting the valid bit as 0.
6) Store settings by writing SAVE signature to the sub 1 of co_store_params object.
7) Reboot the module.
8) Command module to the operational state and check that PDO's contents are
correct.
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Index

Sub

User Manual

Value

Mapped
index[sub]

Version 2.04

Number of
mapped
bits

Notes

0x1A00

Number of mapped objects

0x1A00

0x60100010

0x6010[0]

0x10 = 16

0x1A00

0x60200010

0x6030[1]

0x10 = 16

0x1A00

0x20000080

0x2000[0]

0x08 = 8

Not mapped because the sub 0


defines that only first two are
mapped

0x1A00

0x20010010

0x2001[0]

0x10 = 16

Not mapped because the sub 0


defines that only first two are
mapped

Table 45: An example of PDO mapping parameters


Example of a PDO. The first transmit PDO message from node 10 could look like this if
four bytes of data have been mapped.
CAN ID

length

D0

D1

D2

D3

0x01

0x23

0x45

0x67

0x18A

D4

D5

D6

D7

Table 46: An example of PDO message

8.5

Service data object (SDO)


A Service Data Object (SDO) reads object contents or writes to objects of the Object
Dictionary. The SDO transport protocol allows transmitting objects of any size. However
usually while accessing standard object only four bytes are transferred at maximum.
Below is an example where client reads data from server's object 0x1800 sub index 1.
CAN
ID
0x609

0x600 +
receiver's
node ID

length

D0

D1

D2

D3

0x40

0x00

0x18

0x01

Command
specifier. (CCS)

Lower
Index
byte

Higher
Index
byte

Sub
index

D4

D5

D6

D7

Data
byte 0

Data
byte 1

Data
byte 2

Data
byte 3

Reading object
which size is 1,
2 or 4 bytes

Table 47: An example of a SDO read message send from master (client)

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CAN
ID

length

0x589

0x580 +
sender's
node ID

User Manual

D0

D1

Version 2.04

D2

D3

D4

D5

D6

D7

0x43

0x00

0x18

0x01

0x89

0x01

0x00

0x40

Command
specifier. (SCS)

Lower
Index
byte

Higher
Index
byte

Sub
index

Data
byte 0

Data
byte 1

Data
byte 2

Data
byte 3

Returning data o
which size is 4
bytes

Table 48: An example of server's (usually slave) response to client's (usually master) SDO
read message
As the following table describes a data request message (SDO read) doesn't contain any
information on the size of the requested data. Module's response (here's the data) contains
information about the size of data.
Data size
(bytes)

Client's command specifier (CCS)


( Usually master) when it sends SDO
read command (==Give data of this
sub index of this object )

Server's command spesifier


( SCS) ( usually slave ) when it
returns the data

0x40

0x4F

0x40

0x4B

0x40

0x43

Table 49: Important command specifiers of SDO reads for both client and server
As the following table describes save this data to object request (SDO write) contains
information about the size of the data. Module's response doesn't contain such information.
Data size (bytes)

CCS in write command ( ==


write this data to this sub
index of this object)

SCS in response in case of


success

0x2F

0x60

0x2B

0x60

0x23

0x60

Not defined

0x22

0x60

Table 50: Important command specifiers for SDO writes

8.6

Saving the object dictionary parameters


Parameters in the object dictionary can be saved by a simple SDO write to the
co_store_params (0x1010) object. Due to the save command parameters are stored to the
nonvolatile memory, so recent values won't be lost in case of power off.
In MVINC module user is able to save all parameters at once by writing evas signature
(0x65766173) to the sub 1 of co_store_params object. The #CSa! RS232 command has
same effect.

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Index
0x1010

Sub

Type

User Manual

Acc.

Variable
co_store_params

Version 2.04

Values

Description

Notes

U32

RO

U32

RW

0x1
0x65766173

Store all
parameters

On command

U32

RW

Store
communication
parameters

NOT
SUPPORTED

U32

RW

Store application
specific
parameters

NOT
SUPPORTED

U32

RW

Store
manufacturer
specific
parameters

NOT
SUPPORTED

Table 51: Store parameters object in the object dictionary

8.7

Restoring the default values to the object dictionary


The default values can be restored to the object dictionary a simple SDO write to the
co_restore_params (0x1011) object. After the restore command parameters are restored to
the default values but they are not saved to the nonvolatile memory! This means that the
configurator has to execute the store parameters command to save the restored values to the
nonvolatile memory.
User is able to restore all parameters at the same time by writing daol signature
(0x64616F6C) to the sub 1 of co_restore_params object. The #CRa! RS232 has same
effect.

Index
0x1011

Sub

Type

Acc.

Variable
co_restore_params

Values

Description

Notes

U32

RO

U32

RW

0x1
0x64616F6C

Restore all
parameters

U32

RO

Restore
communication
parameters

NOT
SUPPORTED

U32

RO

Restore
application
specific
parameters

NOT
SUPPORTED

U32

RO

Restore
manufacturer
specific
parameters

NOT
SUPPORTED

Table 52: Restore parameters object (0x1011)

8.8

Special functions and objects


CANopen also defines four specific protocols for synchronization, emergency indication,
time-stamp transmission and device boot-up indication.

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8.8.1

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Boot-up message

A CANopen device sends a boot-up message during initialization when its state reaches
pre-operational. Boot-up message is similar to the heartbeat message by having CAN ID
0x700 + node-id but its data is always 0x00. The communication profile (CiA DS301)
defines the startup behavior.
In some systems the boot-up message might be sent to empty bus. Because there is no
other module accepting this message, the module keeps resending the message until it goes
to the bus-off condition. Therefore sending a boot-up message is configurable through
Object dictionary. Bit 0 of unsigned 8 bit variable at 0x5000 in the object dictionary
controls whether the boot-up message is sent or not.
Bit 0 = 0: boot-up message is disabled
Bit 0 = 1: boot-up message is enabled

index
0x5000

sub
0

type
U8

Acc.
RW

variable

values

co_CANopen_options

0,1

notes
Bit 0 enables boot-up
message if set as 1

Table 53: Object dictionary variables related to boot-up message send configuration

8.8.2

Synchronization object (Sync)

The sync object 0x1005 defines whether the module supports broadcasting a sync message
(sync producer) and the CAN ID of the sync message to be sent or received.
The Sync Object is broadcasted periodically by the Sync Producer. It's possible that there is
some jitter in transmission time due to that there are some other objects with higher prior
identifiers. MVINC module doesn't provide sync producer functionality.
31

30

29

28

11

10

Module
broadcasts sync
message bit

frame

0x0 0000

CAN ID of the sync message to be


broadcasted or received

Always 0

Always 0

29 bit CAN ID (not supported in this module)

Bit is
irrelevant

module doesn't
support this
feature

29 bits Ids not


supported

Default value is 0x80,

Can't be edited

Can't be edited

Noneditable

Table 54: The structure of the COB ID of the sync

CAN ID
0x80

length

D0

D1

D2

D3

D4

D5

D6

D7

Table 55: sync message on CAN bus if the sync generation multiplier is 0
Length of sync object is 0 or 1. Lenght is 1 if the sync producer utilises multiplied the sync
producing interval.
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CAN ID

User Manual

length

0x80

D0

D1

D2

Version 2.04

D3

D4

D5

D6

D7

0x20

Table 56: sync message on CAN bus if the sync generation multiplier is 32 (0x20)

8.8.3

Error Control ( Heartbeat Features)

The Heartbeat protocol provides an error control method by both monitoring states of one
or more nodes (heart beat consumer feature) and by signaling Node's own state (heart beat
producer feature). A heartbeat error occurs if the heartbeat consumer doesn't receive a new
heartbeat message in given maximum interval or the state of the heartbeat producer node
isn't operational. In this case heartbeat consumer module switches its state to defined error
state. For MVINC module this error state is pre-operational state. No PDOs are going the
be transmitted and module's outputs (in case it have any) are driven to safe state.
A heartbeat message is a periodic message from one node to one or more nodes. Heartbeat
message contains one byte of data and message's CAN ID is 0x700 + sender's node ID.
CAN ID

length

D0

0x707

0x05

D1

D2

D3

D4

D5

D6

D7

Table 57: An example of heart beat message coming from node 7. Module is in operational
state

State

Description

0xFF

Bus off

0x7F

Pre -operational

0x05

Operational

0x04

Stopped

0x00

Boot up

Notes
Can't really be seen on bus

Only one message is send

Table 58: Module's state given in heart beat message


To configure module as a heartbeat consumer producer's node ID and maximum heartbeat
interval time have be written to the co_consumer_heartbeat_time[1] object (0x1016
subindex 1 in the object dictionary). The type object is a 32 bit unsigned.

Bits 0-15: Heartbeat maximum interval time in milliseconds (unsigned 16 bits)


Bits 16-23: Node ID to be listened (unsigned 8 bits)
Bits 24-31: Reserved

To configure the MVINC as a heartbeat producer a non zero heartbeat producing time has
to be written to the co_producer_heartbeat_time (0x1017 in the object dictionary). The
type of the object is 16 bit unsigned.

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index

sub

type

User Manual

Acc.

Version 2.04

variable

notes

0x1016

U32

RW

co_consumer_heartbeat_time[1]

Heartbeat inhibit time and node ID to


be listened

0x1017

U16

RW

co_producer_heartbeat_time

Heartbeat producing interval

Table 59: Object dictionary variables related to error control


Besides the heartbeat protocol there is an old and out-dated error control service, which is
called Node and Life Guarding protocol. It is not recommend for implementation so it's not
supported in Axiomatic CAN open modules.

8.9

Layer setting service LSS


8.9.1

Protocol for setting the baudrate

Send the following message to the module to put it to the LSS configuring state
CAN ID
length
D0
D1
D2
D3
D4
D5
D6
D7
0x7E5

0x04

0x01

Set new baudrate with the following message. D2 contains the index of new baudrate.
New baudrate is now 250 kbit/s
CAN-id
length
D0
D1
D2
D3
D4
D5
D6
D7
0x7E5

0x13

0x00

Index

Baudrate

0x00

1 Mbps

0x01

800 kbps

0x02

500 kbps

0x03

250 kbps

0x04

125 kbps

0x06

50 kbps

0x07

20 kbps

0x08

10 kbps

0x03

Table 60: Baudrates and their LSS indexes


Modules response in case of success:
CAN ID length
D0
D1
D2
0x7E4

0x13

0x00

D3

D4

D5

D6

D7

0x00

Set the delay time until the baudrate is changed. Delay is given in milliseconds. D1 is the
lsb and D2 is the msb of the delay time. 0x1388 corresponds to 5000 ms. Same delay is
spend until the new baudrate is activated.

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CAN ID

length

0x7E5

User Manual

D0

D1

D2

0x15

0x10

0x27

D3

Version 2.04

D4

D5

Exit from the configurating mode with the following command


CAN ID
length
D0
D1
D2
D3
D4
D5
0x7E5

8.9.2

0x04

D6

D6

D7

D7

0x01

Protocol for setting the node ID

Send the following message to the module to put it to the LSS configuring state:
CAN ID
length
D0
D1
D2
D3
D4
D5
D6
D7
0x7E5

0x04

0x01

Set the new node ID. D1 contains this new node ID.
CAN ID
length
D0
D1
D2
D3
D4
0x7E5

0x11

D5

D6

D7

0x0A

Module's respponse in case of success. Any other response indicates a failure.


CAN ID
length
D0
D1
D2
D3
D4
D5
D6
D7
0x7E4

0x11

Save configuration :
CAN ID length
D0

0x00

0x00

D1

D2

D4

D5

D6

D7

Module's response. Anything else indicates a failure.


CAN ID length
D0
D1
D2
D3
D4

D5

D6

D7

Exit from the configuration state with the followinf command.


CAN ID length
D0
D1
D2
D3
D4
D5

D6

D7

0x7E5

0x7E4

0x7E5

D3

0x17

0x17

0x04

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0x00

0x00

0x00

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9.

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Version 2.04

OBJECT DICTIONARY

VAR = variable, ARRAY = array of variables, RECORD = data structure


I16 = 16 bit signed variable, U8 = 8 bit unsigned, U16 = 16 bit unsigned, U32 = 32 bit unsigned
RO = read only, RW = read write, ROP = protected read only (value won't be loaded from flash during restore), RWP = protected read write
pdo = PDO mapping, y = yes, n = no
M = mandatory, O = optional, C = conditional, m = mandatory in array, o = optional in array
Profile value = default value / value range defined by CANopen communication and device profiles, Default value = Value stored in static memory, Value range = Acceptable value
range on device (if limited).
Index
hex

sub

Obj.
type

name

1000

var

co_device_type

1001

var

1005
1010

1011

type bytes

Acc.

M/O pdo

profile value

RO

co_error_register

U8

RO

var

co_cob_id_sync

U32

RO

0x00000080

0x00000080

Module supports synchronous TPDOs and waits for sync message with CAN
ID 0x80. Module doesn't create a sync message.

array

co_store_params

U32

RO

O/m

1-127

Store parameters in non volatile memory by writing save -signature


(0x65766173) in specified subindex. You may use any CANopen object
dictionary toolkit or generate SDO message.
SDO: 600 + node-ID 2f 10 10 subindex 73 61 76 65 (all in hexadecimals).

U32

RW

All parameters, excluding calibration parameters.

U32

RO

Communication parameters, 0x1000 0x1FFF. Not supported

U32

RO

Device profile specific parameters, 0x6000 - 0x9FFF, excluding calibration


parameters. Not supported

U32

RO

Manufacturer specific parameters, 0x2000 - 0x5FFF, excluding calibration


parameters.Not supported

U32

RO

O/m

array

co_restore_params

Copyright Axiomatic Technologies Oy

notes

0x1801019A
0x3601019A
0x1802019A

value range

U32

0xXXX1019A
0xXXX2019A
0xXXX1019A

Default
value

1-127

0x1801019A -> MVINC-CO-1-180


0x3601019A -> MVINC-CO-1-360
0x1802019A -> MVINC-CO-2-180
Bit 0: Generic error, Bit 87 manufacturer specific error. NOT really USED

Restore parameters from non volatile memory by writing load -signature


(0x64616F6C) in specified subindex. You may use any CANopen object
dictionary toolkit or generate SDO message.

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Index
hex

sub

Obj.
type

name

User Manual

type bytes

Acc.

M/O pdo

profile value

Default
value

Version 2.04

value range

notes
SDO: 600 + node-ID 2f 11 10 subindex 6C 6F 61 64 (all in hexadecimals).

1016

U32

RW

All parameters, excluding calibration parameters.

U32

RO

Communication parameters, 0x1000 0x1FFF. Not supported

U32

RO

Device profile specific parameters, 0x6000 - 0x9FFF, excluding calibration


parameters. Not supported

U32

RO

Manufacturer specific parameters, 0x2000 - 0x5FFF, excluding calibration


parameters.Not supported

U32

RO

O/m

1-127

U32

RW

Bits 0-15
Heartbeat time (ms), value range 0-10000
Bits 16-23
Node-id to be listened, value range 0...127
Heartbeat producing interval (ms)

array

co_consumer_heartbeat_time

1017
1018

1800

1-127

Maximum amount of heart beat producer nodes to be monitored. Module is


able to monitor one node..

var

co_producer_heartbeat_time

U16

RW

C/M

record

co_identity

U32

RO

M/m

1-4

Object which identifies the device

U32

RO

0x00000055

0x55

Vendor ID (0x55 = Axiomatic Technologies Oy)

U32

RO

0x2000

0x2000

0x2000 -> MCINC-CO-1-180


0x2005 -> MCINC-CO-1-360
0x2010 -> MCINC-CO-2-180

U32

RO

0x01020210

0x01020211

Revision number
Bits 0-15
Application sw version : 2.17
Bits 16-31
CAn behavior version number 1.02

U32

RO

RO

C/m

2-5

RW

0x180 + nodeID

0x4000 0000

record

co_tpdo_comm_par[0]

U32

Serial number. 0 if note set.


5

Communication parameters for the first transmit PDO


PDO COB ID. If CAN ID is zero or matches to current default CAN ID,
default CAN ID calculation for this PDO is on.
Bits 0 10

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Index
hex

1801

sub

Obj.
type

name

type bytes

Acc.

M/O pdo

profile value

Default
value

Version 2.04

value range

0x01 ... 0xF0


0xFE

notes
Bits 11 28

Extension for 29 bit CAN ID, always 0

Bit 29

Only 11-bit Ids supported -> always 0,

Bit 30

RTR messages not supported

Bit 31

Valid bit, 1 -> pdo disabled, 0 -> pdo enabled

U8

RW

0xFF

0xFE

U16

RW

Inhibit time.
The minimum interval for PDO transmission. Multiply of 100 microseconds.
Not supported

Transmission type.
0: Acyclic, synchronous
1 240 (0x1- 0xF0): Cyclic, synchronous
252: Synchronous, RTR only. Not supported
253: Asynchronous, RTR only. Not supported
254: Asynchronous
255: Asynchronous. Not supported
Synchronous transmission means that the transmission is related to SYNC
object. PDO will be transmitted after SYNC receiving the SYNC message.
Asynchronous transmission means that the transmission in non related to SYNC
object. Transmission type zero means that message will be transmitted
synchronous but not periodically. Transmission type 1 240 in cyclic
transmission indicates how many SYNC messages is needed trig PDO to
transmitted. 254 means that asynchronous transmission is manufacturer specific
and 255 means that the transmission is device profile specific.

U8

RW

Reserved

U16

RW

50

Event timer.
0: Not used
In asynchronous transmission mode event timer defines transmission interval.
The value is a multiply of one millisecond.

RO

C/m

2-5

Communication parameters for second transmit PDO

record

co_tpdo_comm_par[1]

1802

User Manual

U32

RW

0x280 + nodeID

0xC000 0000

See notes on 0x1801[1]

U8

RW

0xFE

0xFE

See notes on 0x1801[2]

U16

RW

See notes on 0x1801[3]

U8

RW

See notes on 0x1801[4]

U16

RW

50

See notes on 0x1801[5]

RO

C/m

2-5

Useable only in MVINC -CO-2 -x

record

co_tpdo_comm_par[1]

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Index
hex

sub

Obj.
type

name

User Manual

type bytes

Acc.

M/O pdo

profile value

Default
value

Version 2.04

value range

notes
Communication parameters for second transmit PDO

1A00

U32

RW

0x380 + nodeID

0xC000 0000

See notes on 0x1801[1]

U8

RW

0xFE

0xFE

See notes on 0x1801[2]

U16

RW

See notes on 0x1801[3]

U8

RW

See notes on 0x1801[4]

U16

RW

50

See notes on 0x1801[5]

U8

RW

U32

RW

record

co_tpdo_map_par[0]

3
0x60100010

0-3

0x60100010

Number of mapped objects in first transmission PDO for MVINC-CO-1-180


Mapped object
Bits 0-7

Size of the mapped object

Bits 8-15

Subindex of the mapped object

Bits 16-31

Index of the mapped object

Supported object sizes to be mapped:


0x20: 32 bit
0x10: 16 bit
0x08: 8 bit

1A00

U32

RW

0x20000008

See notes on 0x1A00[1]

U32

RW

0x20010010

See notes on 0x1A00[1]

U8

RW

U32

RW

record

co_tpdo_map_par[0]

4
0x60100010

0x60100010

0-4

Number of mapped objects in first transmission PDO for MVINC-CO-1-360


Mapped object
Bits 0-7

Size of the mapped object

Bits 8-15

Subindex of the mapped object

Bits 16-31

Index of the mapped object

Supported object sizes to map:


0x20: 32 bit
0x10: 16 bit
0x08: 8 bit
2

U32

RW

0x20000008

See notes on 0x1A00[1]

U32

RW

0x20010010

See notes on 0x1A00[1]

Copyright Axiomatic Technologies Oy

59/63

MVINC-CO-X-M user manual

Index
hex

sub

Obj.
type

name

4
1A00

record

co_tpdo_map_par[0]

User Manual

type bytes

Acc.

M/O pdo

U32

RW

U8

RW

U32

RW

profile value

Default
value

Version 2.04

value range

0x20000008
4
0x60100010

notes
See notes on 0x1A00[1], for compatibility reasons.

0-4

0x60100010

Number of mapped objects in first transmission PDO for MVINC-CO-2-180


Mapped object
Bits 0-7

Size of the mapped object

Bits 8-15

Subindex of the mapped object

Bits 16-31

Index of the mapped object

Supported object sizes to be mapped:


0x20: 32 bit
0x10: 16 bit
0x08: 8 bit

1A01

1A02

1A02

2000

U32

RW

U32

RW

U32

RW

U8

RW

U32

U32

record

See notes on 0x1A00[1]

0x20000008

See notes on 0x1A00[1]

0x20010010

See notes on 0x1A00[1]

RW

0x55150020

See notes on 0x1A00[1]

RW

0x55160020

See notes on 0x1A00[1]

0-2

U8

RW

RW

0x55250020

See notes on 0x1A00[1]

U32

RW

0x55260020

See notes on 0x1A00[1]

U8

RW

U32

RW

0x55150020

See notes on 0x1A00[1]

U32

RW

0x55160020

See notes on 0x1A00[1]

I8

RO

Module's internal temperature as degrees of celsius. Resolution 1 degree:

var

co_tpdo_map_par[1]

co_temperature

Copyright Axiomatic Technologies Oy

0-2

Number of mapped objects in second transmission PDO, for all models

U32

record

co_tpdo_map_par[1]

0x60200010

record

co_tpdo_map_par[1]

0x60200010

0-2

Number of mapped objects in 3nd transmission PDO in MVINC-CO-2

Number of mapped objects in 3nd transmission PDO in MVINC-CO-1-360.


Dummy PDO.

60/63

MVINC-CO-X-M user manual

Index
hex

sub

Obj.
type

name

User Manual

type bytes

Acc.

M/O pdo

profile value

Default
value

Version 2.04

value range

notes
0xF8 -> -7 degrees

2001

var

co_aux_input

U16

RO

2002

var

co_ave_size

U16

RW

10

2-20

5000

var

co_config_word

U16

RW

0
1

5001

var

co_manuf_1

I16

RO

5002

var

co_print_cmd

U32

RW

5005

var

co_manuf_2

I16

RW

For manufacturer use only

5009

array

co_manuf_3

I16

2*2

RO

For manufacturer use only

5010

var

co_manuf_4

I16

RO

For manufacturer use only

5011

var

co_manuf_5

I16

RO

For manufacturer use only

5012

array

co_manuf_6

I16

17*2

RO

For manufacturer use only

5013

array

co_manuf_7

I16

17*2

RO

For manufacturer use only

5015

array

co_manuf_8

I16

8*2

RO

For manufacturer use only

5019

array

co_manuf_9

I16

2*2

RO

For manufacturer use only, Not provided in MVINC-CO-1-180

5020

var

co_manuf_10

I16

RO

For manufacturer use only , Not provided in MVINC-CO-1-180

5021

var

co_manuf_11

I16

RO

For manufacturer use only , Not provided in MVINC-CO-1-180

5022

array

co_manuf_12

I16

17*2

RO

For manufacturer use only , Not provided in MVINC-CO-1-180

5023

array

co_manuf_13

I16

17*2

RO

For manufacturer use only , Not provided in MVINC-CO-1-180

5025

array

co_manuf_14

I16

8*2

RO

For manufacturer use only , Not provided in MVINC-CO-1-180

5515

var

co_slope_ long_rate

I32

RO

Copyright Axiomatic Technologies Oy

Value of auxialiry input on the board


Lenght of the Addiotional AVE filter
Bit 0: 1 => Boot-up message enabled.
Bits 1 15: reserved.
For manufacturer use only

This object controls serial printing.


0xvvvv5678 -> debug printing is on
0x1234vvvv -> normal data printing is on

Longitudal speed, unit degrees/ second. allways 3 decimals : 1234,567 degrees/

61/63

MVINC-CO-X-M user manual

Index
hex

sub

Obj.
type

name

User Manual

type bytes

Acc.

M/O pdo

profile value

Default
value

Version 2.04

value range

notes
second.

RO

Longitudal acceleration, unit degrees/ second2. allways 3 decimals : 1234,567


degrees/ second2

I32

RO

Latitudal speed, unit degrees/ second.


Not provided in MVINC-CO-1-180
Not useable in MVINC-CO-1-360
allways 3 decimals : 1234.,567 degrees/ second2.

co_slope_ lat_acceleration

I32

RO

Latitudal acceleration, unit degrees/ second2.


Not provided in MVINC-CO-1-180
Not useable in MVINC-CO-1-360
allways 3 decimals : 1234,567 degrees/ second2

var

co_resolution

U16

RW

6010

var

co_slope_ long16

I16

RO

6011

var

co_slope_ long16_oper_param

U8

RW

5516

var

co_slope_ long_acceleration

5525

var

co_slope_ lat_rate

5526

var

6000

I32

10

100

10
100
1000

Resolution of the output angle and offsets


NOTE that 10 is not allowed with MVINC-CO-360
10 -> 0.01 degrees
100 -> 0.1 degrees
1000 -> 1 degrees

Depends on
sensor type,
resolution
and offset

Longitudal angle output


Value ranges while resolution is 100, no offset
MVINC-CO-1-180 : -900 ... 900
MVINC-CO-1-360 : 0...3599
MVINC-CO-2-180 :-900 ... 900

Configurates longitudal axis


Bit 0

Inversion control: 0 = no inversion , 1 = inversion on

Bit 1

Output scaling (offsests enbaled), 0 = disabled, 1 = enabled

Bits 2 -7

Reserved for manufacturer specific use

6012

var

co_slope_ long16_preset_val

I16

RW

For offset manipulation

6013

var

co_slope_ long16_offset

I16

RW

Current offset resulting from usage of preset_val object

6014

var

co_slope_ long16_diff_offset

I16

RW

Offset value for output angle manipulation

6020

var

co_slope_ lat16

I16

RO

Copyright Axiomatic Technologies Oy

Depends on
sensor type,

Latitudal angle output


Value ranges while resolution is 100, no offset

62/63

MVINC-CO-X-M user manual

Index
hex

sub

Obj.
type

name

User Manual

type bytes

Acc.

M/O pdo

profile value

Default
value

Version 2.04

value range
resolution
and offset

6021

var

co_slope_ lat16_oper_param

U8

RW

notes
MVINC-CO-1-180 : -900 ... 900
MVINC-CO-1-360 : 0...3599
MVINC-CO-2-180 :-900 ... 900
Configurates latitudal axis
Bit 0

6022

var

co_slope_ lat16_preset_val

I16

Bit 1

Output scaling (offsests enbaled), 0 = disabled, 1 = enabled

Bits 2-7

Reserved for manufacturer specific use

RW

For offset manipulation

Current offset resulting from usage of preset_val object

Offset value for output angle manipulation

6023

var

co_slope_ lat16_offset

I16

RW

6024

var

co_slope_ lat16_diff_offset

I16

RW

Copyright Axiomatic Technologies Oy

Inversion control: 0 = no inversion , 1 = inversion on

63/63