NU eNod3C CAN E 1109 - 165717 E
NU eNod3C CAN E 1109 - 165717 E
NU eNod3C CAN E 1109 - 165717 E
Digital transmitter
CANopen®
communication protocol
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eNod3-C
Digital transmitter
Document revisions
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eNod3-C
Digital transmitter
1 INSTALLATION .................................................................................................. 5
1.1 Switching to CANopen® protocol ................................................................. 5
1.2 Bus length and bit rate ................................................................................. 5
1.3 Line terminations .......................................................................................... 6
2 CANOPEN® PROTOCOL DESCRIPTION ......................................................... 7
2.1 CAN 2.0A frame format ............................................................................... 7
2.2 General informations .................................................................................... 7
2.3 eNod3-C state managemement ................................................................... 8
2.3.1 NMT state commands ........................................................................... 9
2.3.2 Synchronization messages ................................................................. 10
2.3.3 Emergency messages......................................................................... 10
2.4 Error control services ..................................................................................11
2.4.1 Heartbeat and Boot-up........................................................................ 11
2.4.2 Node guarding protocol....................................................................... 11
2.5 Access to the object dictionary ....................................................................12
2.5.1 SDO communications ......................................................................... 13
2.5.2 PDO communications ......................................................................... 14
3 CANOPEN® OBJECT DICTIONARY ................................................................16
3.1 Communication objects ...............................................................................16
3.1.1 0x1000: Device profile......................................................................... 16
3.1.2 0x1001: Error register ......................................................................... 17
3.1.3 0x1003: Pre-defined error field............................................................ 17
3.1.4 0x1005: Synchronization messages COB-ID ...................................... 17
3.1.5 0x1008: Device name ......................................................................... 17
3.1.6 0x1009: Hardware version .................................................................. 18
3.1.7 0x100A: Software version ................................................................... 18
3.1.8 0x100C: Life guard.............................................................................. 18
3.1.9 0x100D: Life time factor ...................................................................... 18
3.1.10 0x1010: Store parameters................................................................... 18
3.1.11 0x1017: Producer Heartbeat time ....................................................... 19
3.1.12 0x1018: Device identity ....................................................................... 19
3.1.13 0x1400: RPDO1 communication parameter........................................ 19
3.1.14 0x1600: RPDO1 mapping parameter .................................................. 19
3.1.15 0x1800: TPDO1 communication parameter ........................................ 20
3.1.16 0x1A00: TPDO1 mapping parameter .................................................. 21
3.1.17 0x1801/0x1802: TPDO2/TPDO3 communication parameter .............. 21
3.1.18 0x1A01: TPDO2 mapping parameter .................................................. 22
3.1.19 0x1A02: TPDO3 mapping parameter .................................................. 22
3.2 eNod3-C specific objects.............................................................................23
3.2.1 0x2000: Functioning mode .................................................................. 24
3.2.2 0x2001: CAN bit rate........................................................................... 24
3.2.3 0x2002: eNod3-C identifier ................................................................. 24
3.2.4 0x2003/0x2004: Functional command and command state registers . 25
3.2.5 0x3000: Number of calibration segments............................................ 25
3.2.6 0x3001: Calibration loads.................................................................... 25
3.2.7 0x3002: Maximum capacity................................................................. 25
3.2.8 0x3003 Scale interval.......................................................................... 25
3.2.9 0x3004: Sensor capacity..................................................................... 25
3.2.10 0x3005: Global scale adjusting coefficient .......................................... 26
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3.2.11 0x3006: Input signal range .................................................................. 26
3.2.12 0x3007: Polynomial correction ............................................................ 26
3.2.13 0x3200: Sensor sensitvity ................................................................... 27
3.2.14 0x3500: Motion.................................................................................... 27
3.2.15 0x3501: Zero modes *......................................................................... 27
3.2.16 0x3600 : legal for trade (R76) activation ............................................. 28
3.2.17 0x3601 : legal for trade indicators ....................................................... 29
3.2.18 0x4000: A/D conversion frequency ..................................................... 29
3.2.19 0x4002: Digital filter settings * ............................................................. 30
3.2.20 0x4001: Self-adaptive filter.................................................................. 30
3.2.21 0x4501: Logical inputs configuration ................................................... 31
3.2.22 0x4509: Logical outputs configuration................................................. 31
3.2.23 0x4601/0x4609: Set point1/2 configuration ......................................... 32
3.2.24 0x4700: Trigger level........................................................................... 33
3.2.25 0x4701: Measuring time Tm (checkweigher & peak control)............... 33
3.2.26 0x4702: Dynamic zero time (checkweigher) ....................................... 33
3.2.27 0x470A: Stabilization time Ts (checkweigher)..................................... 33
3.2.28 0x470B: Checkweigher coefficient ...................................................... 33
3.2.29 0x4800: Safety mode .......................................................................... 34
3.2.30 0x4900: Delta min TPDO2 .................................................................. 34
3.2.31 0x4901: Delta min TPDO3 .................................................................. 34
3.2.32 0x5000/0x5001/0x5002: Current measurement .................................. 34
3.2.33 0x5003 : Measurement status ............................................................. 34
3.2.34 0x5004 : Results ................................................................................. 36
3.2.35 0x5100 : Logical inputs level ............................................................... 36
3.2.36 0x5200 : Logical outputs level ............................................................. 37
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Digital transmitter
1 INSTALLATION
WARNING: the communication protocol used by eNod3-C is selected on every power-up of the
device. By default, the baud rate for CAN communication is 125 kbauds. It can be modified during
eNod3-C setting up phase
OFF: CANopen
ON : RS485/422
.
1 Mbit/s 25 m 1 µs
800 kbit/s 50 m 1,25 µs
500 kbit/s 100 m 2 µs
250 kbit/s 250 m 4 µs
125 kbit/s 500 m 8 µs
50 kbit/s 1000 m 20 µs
20 kbit/s 2500 m 50 µs
Notes:
¾ For bus whose length is greater than 200 m, using optocouplers is recommended.
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Digital transmitter
¾ For bus whose length is greater than 1000 m, using repeaters may be necessary to
ensure the quality of transmissions.
The baud rate used by eNod3-C can be selected and modified by writting a specific code in the
appropriate entry of the object dictionary (see § 3.2.2).
A « bit Timing » adapted to each baud rate is also specifed by CANopen® specification. A bit is
composed of time quantas and is characterized by the Sample point, which corresponds to the
moment at which the bit state is taken into account.
Thus, the data transfers have to respect the following values, according to CANopen® specification:
1 Mbit/s 125 ns 6 tQ
800 kbit/s 125 ns 8 tQ
500 kbit/s 125 ns 14 tQ
250 kbit/s 250 ns 14 tQ
125 kbit/s 500 ns 14 tQ
50 kbit/s 1,25 µs 14 tQ
20 kbit/s 3,125 µs 14 tQ
node 1 node n
CAN H
120 Ω 120 Ω
CAN L
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2 CANOPEN® PROTOCOL DESCRIPTION
The CANopen® layer defines particularly the content of the arbitration and the control fields and the
data field structure.
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Digital transmitter
The node identifier is the device’s address on the network. The function code specifies the priority and
the purpose of the message. Assignement of a particular identifier to each device connected to
the bus is mandatory.
NMT 0
SYNC 80
EMCY 81-FF
TPDO1 181 – 1FF
RPDO1 201 – 280
TPDO2 281 – 2FF
TPDO3 381 – 3FF
SDO (Tx) 581 – 3FF
SDO (Rx) 601 – 67F
Heartbeat/Boot-up/Node guarding 701 – 77F
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1
Initialisation
2 6
Pre-operational Stopped
3 5
3 4
operational
eNod3-C communication capacities for each state are given in the following table:
SDO X X
PDO X
SYNC X X
Emergency X X
NMT X X X
Boot-up X
Heartbeat X X X
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The 2nd byte of the data field contains the node identifier of the device concerned by the request. Its
value must be between 0h and 7Fh. The 0h value means that the NMT command concern all the
nodes of the network.
The 1st byte codes the command sent to the node. There are five existing commands supported by
eNod3-C:
Ö « Start node » : 01h. eNod3-C is set into operational state
Ö « Stop node » : 02h. eNod3-C is set into stopped state
Ö « Reset node » : 81h. resets eNod3-C (with the same effects as a power-up),
eNod3-C is set back into initialisation state
Ö « Reset communication » : 82h. eNod3-C is set back into initialisation state
Ö « Enter pre-operational mode » : 80h. eNod3-C is set into pre-operational state
Note : The stopped state can be configured (cf §3.2.27) so as to set eNod3-C into a safety mode.
2.3.2 Synchronization messages
SYNC messages are emitted on the bus by a producer node. This service is unconfirmed so the
consumer nodes do not have to respond to SYNC messages. A SYNC message does not carry any
data (DLC = 0). eNod3-C is only seen as a consumer of SYNC messages whose COB-ID is equal to
80h as it is indicated at index 1005h, sub-index 00h of the object dictionary.
¾ Communication errors
¾ A/D converter (input voltage)
COB-ID DLC byte 0 byte 1 bytet 2 byte 3 byte 4 byte 5 byte 6 byte 7
80h emergency error register
8 additional informations
+ ID eNod3-C code content
Emergency messages is an unconfirmed service. A frame is emitted when a new error occurs and
when it is acknowledged. The table below describes the emergency stantdard codes supported by
eNod3-C and the translation of the additional informations bytes (in ASCII):
0 error acknowledged
3200 voltage error
8120 CAN bus communication error
8130 life guard error
4B4F no error
474C life time has elapsed
564F sensor signal outside of the input signal range
5054 CAN transmitter in error passive state
5052 CAN receiver in error passive state
The error register value is also part of the emergency frame (see § 3.1.2) so as to indicate if other
internal errors have been detected.
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The number of reported errors is given by an error counter in the pre-defined error field located at
index 1003h, sub-index 00h and the last reported error can be read from the same entry at sub-index
01h.
2.4 Error control services
CANopen® uses smart mechanisms to control permanently the nodes state on the bus. eNod3-C
supports Boot-up and Heartbeat messages and Node guarding protcol. Using both services is not
allowed. If both are configured so as to be functional, only the Heartbeat is used.
¾ Heartbeat: if a Heartbeat period (in ms) different of 0 is set in the entry «Producer
heartbeat time» of the object dictionary, eNod3-C generates at his perioda frame
containing its state coded on one byte. The corresponding frame is similar to the Boot-up
mechanism frame :
The eNod3-C state byte can take the different following values:
Ö 04h : the node is in the «stopped» state
Ö 05h : the node is in the «operational» state
Ö 7Fh : the node is in the «pre-operational» state
Using Heartbeat protocol allows a NMT master to check that all eNod3-C on the bus are operational.
Two parameters of the object dictionary are necessary to set and define node guarding protocol :
« guard time » and « life time factor »:
¾ guard time: this parameter expressed in milliseconds indicates the period with which the
node is being polled by the NMT master. This value can be different from one node to
anoter.
¾ life time factor: when node guarding protocol is active, node life time is given by
multiplication of the guard time and the life time factor.
Node guarding activation is effective when guard time has been set (and if Heartbeat protocol is not
used) and after reception of the first remote transmit request. If life time factor is also configured and if
no remote transmit request is handled within the node life time, eNod3-C sends an emergency
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telegram then switches to stopped state. The life guarding error is acknowledged when the state is
changed by a NMT command and after reception of a new remote transmit request.
Node guard
time
Only the grayed elements of the table are accessible through eNod3-C OD.
The whole object dictionary is accessible and can be configured from usual CANopen® configuration
tools. This can be done using eNod3-C available EDS file.
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2.5.1 SDO communications
The model for SDO communication is a client/server model as described below:
request indication
data frame 1
8 bytes
Client Server
confirmation response
data frame 2
8 bytes
The node that sends the request is the client application whereas eNod3-C only behaves as the
server application. There are two types of requests, write and read requests. Both have the same
architecture:
COB-ID DLC byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
1 Command
11 bits Index sub-index Data
byte byte
580h or 600h
8 see table LSB MSB / LSB - - MSB
+ eNod3-C ID
The client request uses the SDO(Rx) COB-ID (600h + ID eNod3-C) and the server uses the SDO(Tx)
COB-ID (580 + ID eNod3-C).
The command byte depends on the requested data length:
Command byte for request (client) Command byte for response (server)
For a read request, the value of the four last bytes of the frame (data) does not matter.
If an error occurs during a SDO communication, eNod3-C responds with the command byte 80h and
the four data bytes contain one of the following SDO abort codes. The data transfer is aborted.
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The PDO transmission mode can be set in the corresponding object with the following attributes :
- on remote transmit request: PDO is sent after the first SYNC message
following a remote transmit request frame with the PDO COB-ID.
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The following table recaps the trigger modes that can be choosen by entering the hexadecimal code in
the PDO communication parameter.
remote
Code acyclic
cyclic synchronous asynchronous transmit Effect
(hex) (event)
request
PDO transmission after a SYNC
message following one of these
events:
00 X X - activation of a logical input
assigned to « send TPDO »
- mapped object variation superior
to +/- delta
F1 - FB reserved
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3 CANOPEN® OBJECT DICTIONARY
3.1 Communication objects
largest mappable
index description access type
sub-index (PDO) ?
0x1000 0 device profile RO N unsigned32
0x1001 0 error register RO N unsigned8
0x1003 1 pre-defined error field variable N /
0x1005 0 SYNC messages COB-ID RO N unsigned32
0x1008 0 device name CO N visible string
0x1009 0 hardware version CO N visible string
0x100A 0 software version CO N visible string
0x100C 0 guard time R/W N unsigned16
0x100D 0 life time factor R/W N unsigned8
0x1010 1 store parameters variable N /
0x1017 0 producer heartbeat time R/W N unsigned16
0x1018 1 device identity RO N /
0x1400 2 RPDO1 communication parameter RO N /
0x1600 1 RPDO1 mapping parameter RO N /
0x1800 2 TPDO1 communication parameter RO N /
0x1801 5 TPDO2 communication parameter variable N /
0x1802 5 TPDO3 communication parameter variable N /
0x1A00 1 TPDO1 mapping parameter RO N /
0x1A01 3 TPDO2 mapping parameter R/W N /
0x1A02 3 TPDO3 mapping parameter R/W N /
¾ R/W: read/write
¾ RO: read only
¾ CO: constant value
¾ Y: yes
¾ N: No
¾ / : the sub-indexes of the entry have different sizes
MSB LSB
0x0322 0x0000
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3.1.2 0x1001: Error register
The device internal errors are indicated by flag bits of this byte.
Access: Read only
Default value: /
mappable
sub-index description access default value type
(PDO) ?
reported errors
0x00 R/W 0 N unsigned8
counter
0x01 last reported error RO 0 N unsigned32
The reported errors counter (sub-index 00h) is accessible through write or read request but 0 is the
only allowed value for writting transactions. By writting a zero to this sub-index, the error counter is
resetted and the last reported error (sub-index 01h) is erased.
Attempts to write any other value is aborted with the 0x06090030 SDO abort code.
MSB LSB
0x646F 0x4E65
- 0x64 ⇒ d
- 0x6F ⇒ o
- 0x4E ⇒ N
- 0x65 ⇒ e
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3.1.6 0x1009: Hardware version
The device hardware version is coded as a 4-bytes string (ASCII).
Access: Read only
Default value: 30302E31h
- 0x30 ⇒ 0
- 0x2E ⇒ .
- 0x31 ⇒ 1
MSB LSB
0x3735 0x2E32
- 0x37 ⇒ 7
- 0x35 ⇒ 5
- 0x2E ⇒ .
- 0x32 ⇒ 2
mappable
sub-index description access default value type
(PDO) ?
largest sub-
0x00 RO 0x01 N unsigned8
index
save all
0x01 R/W 0x01 N unsigned32
parameters
Storing all settings in EEPROM requires writting the ASCII string « save » (65766173h) to sub-index
01h.
- 0x65 ⇒ e
- 0x76 ⇒ v
- 0x61 ⇒ a
- 0x73 ⇒ s
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When accessing to sub-index 1 with a read request, eNod3-C responds wirh value of 1 that means
that parameteres are stored in non-volatile memory only on request.
mappable
sub-index description access default value type
(PDO) ?
largest sub-
0x00 RO 0x01 N unsigned8
index
0x01 Vendor-ID RO 0x00000142 N unsigned32
mappable
sub-index description access default value type
(PDO) ?
largest sub-
0x00 RO 0x02 N unsigned8
index
COB-ID 0x00000200+
0x01 RO N unsigned32
RPDO1 ID eNod
transmission
0x02 RO 0xFF N unsigned8
type
mappable
sub-index description access default value type
(PDO) ?
number of
0x00 mapped RO 0x01 N unsigned8
objects
1st object
0x01 RO 0x20030008 N unsigned32
mapping
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Digital transmitter
This RPDO is especially dedicated to accept functional commands coded on one byte such as
« Tare » or « Zero ». The possible commands are listed below:
single-byte
effect note
code (hex)
00 set command register to IDLE state
35 cancel current tare
checkweigher functioning mode only limited
36 dynamic zero acquisition
to ± 10% of the maximum capacity
37 output 1 activation if output 1 is assigned to « level on request »
if noutput 2 is assigned to « level on
38 output 2 activation
requestd »
39 output 1 desactivation f output 1 is assigned to « level on request »
if noutput 2 is assigned to « level on
3A output 2 desactivation
requestd »
necessary to launch a physical
C8 calibration request
calibration procedure
must be preceded by the calibration request
C9 zero calibration acquisition
command (C8)
must be preceded by the two last commands
CA calibration with load 1
(C8, C9)
must be preceded by the three last
CB calibration with load 2 (if required)
commands (C8, C9, CA)
must be preceded by the four last
CC calibration with load 3 (if required)
commands (C8, C9, CA, CB)
save calibration (end of a physical or
CD EEPROM storage of calibration datas
a theoretical calibration)
limited to ±10 % of the capacity, volatile zero
CF zero acquisition
value not stored in EEPROM
D0 tare request
new calibration zero must be saved in
D1 zero adjustment
EEPROM
D3 abort calibration leaves current calibration before it ends
adjustment with sensor’s sensitivity and
D4 sensitivity adjustment load cell capacity, must be followed by
the « save calibration » (CD) command
in checkweigher and in peak control
EA clear result functioning modes, processed values
initialization
launches a checkweigher or a peak control
F1 start cycle measurement cycle (depending on the
choosen functioning mode)
in checkweigher functioning mode, end of
F2 end of cycle
the cycle, a new result is calculated
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mappable
sub-index description access default value type
(PDO) ?
largest sub-
0x00 RO 0x02 N unsigned8
index
COB-ID 0x00000180+
0x01 RO N unsigned32
TPDO1 eNod3-C ID
transmission
0x02 RO 0xFE N unsigned8
type
mappble
sub-index description acces default value type
(PDO) ?
number of
0x00 mapped RO 0x01 N unsigned8
objects
1st object
0x01 RO 0x20040008 N unsigned32
mapping
mappable
sub-index description access default value type
(PDO) ?
largest sub-
0x00 RO 0x05 N unsigned8
index
TPDO2 0x80000280
or or
0x01 R/W N unsigned32
TPDO3 0x80000380
COB-ID + eNod3-C ID
transmission
0x02 R/W 0x01 N unsigned8
type
0x05 timer event R/W 0 N unsigned16
¾ TPDO2 and TPDO3 COB-ID are automatically updated when eNod3-C identifier is
modified.
¾ Both TPDO can be activated by settitng to 0 bit 31 of their COB-ID (sub-index 01h).
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¾ The transmission type and the timer event duration can be choosen according to the table
in §2.5.2.
mappable
sub-index description access default value type
(PDO) ?
number of
0x00 mapped R/W 0x02 N unsigned8
objects
1st object
0x01 R/W 0x50040220 N unsigned32
mapping
2nd object
0x02 R/W 0x50010020 N unsigned32
mapping
3rd object
0x03 R/W 0 N unsigned32
mapping
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3.2 eNod3-C specific objects
Note: some of the functionalities of the object dictionary with a * are only accessible with
eNod3-C whose firmware version ≥ 2.60.
laregst mappable
index description access type
sub-index (PDO) ?
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laregst mappable
index description access type
sub-index (PDO) ?
Note : All the bits that are not mentioned in the description of the settings below are reserved
(= 0).
3.2.1 0x2000: Functioning mode
This entry allows to select one of eNod3-C functioning modes. A modification of this setting is only
taken into account after an EEPROM storage and a reset (hardware or software) procedure.
Access: Read/write
Default value: 0h
000 Transmitter
010 Checkweigher Valid after an EEPROM storage and
011 Triggered peak control a reset procedure
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127 (01h and 7Fh). A modification of this setting is only taken into account after an EEPROM storage
and a reset (hardware or software) procedure. eNod3-C CAN identifier is equal to the address used
for RS232/485 communication.
Access: Read/write
Default value: 01h
3.2.4 0x2003/0x2004: Functional command and command state registers
For a complete description of this entry, please refer to §3.1.16 and §3.1.17.
Access: Read/write and Read only
Default value: 00h
mappable
sub-index description access default value type
(PDO) ?
0x00 largest sub-index RO 3 N unsigned8
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Access: Read/write
Default value: 186A0h
3.2.10 0x3005: Global scale adjusting coefficient
Initial calibration can be adjusted thanks to the global scale adjusting coefficient. Adjustment applies
on the whole curve. The unity for this coefficient is 1E-6 that means 1000000d = 1. Admitted values
are between 900000d and 1100000d.
A modification of this setting is only taken into account after an EEPROM storage and a reset
(hardware or software) procedure.
Access: Read/write
Default value: F4240h
000 500
001 250
010 124
011 62
100 31
101 15
The coefficients have specific values. Each of them is expressed with its own unit :
¾ The unit for coefficient A is 1E-12 ; that means 100 000 000 000d = 1.
¾ The unit for coefficient B is 1E-9 ; that means 100 000 0000d = 1.
¾ Coefficient C is directly expressed as A/D converter points.
The coefficients are easily calculated using eNodView software calculation tool.
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mappable
sub-index description access default value type
(PDO) ?
largest sub-
0x00 RO 0x03 N unsigned8
index
0x01 coeff. A R/W 0 N integer32
0x02 coeff. B R/W 0 N integer32
0x03 coeff. C R/W 0 N integer32
001 0,25d
010 0,5d
1d = 1 division
011 1d
100 2d
6,25 7,5 1
12,5 15 2
25 30 3
50 60 5
100 120 9
200 240 17
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mappable
sub-index description access default value type
(PDO) ?
0x00 largest sub-index RO 0x02 N unsigned8
0x01 zero mode R/W 0x04 N unsigned8
zero checkweigher
0x02 R/W 0x05 N unsigned8
correction range
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Digital transmitter
3.2.17 0x3601 : legal for trade indicators
If the legal for trade option is switched ON, the legal for trade counter and the legal for trade CRC-16
are incremented every time a storage in EEPROM is requested if one (or several) of these settings
has been modified :
- A/D converter configuration
- scale coefficients
- global span adjusting coefficients
- non-linearity polynomial correction coefficients
- scale interval
- sensor capacity
- maximum capacity
- zero calibration value in A/D converter points
- legal for trade switch
- initial zerosetting and zero tracking
- functioning mode
- motion criterion
Mappable
Sub-index Description Access Default value Type
(PDO) ?
bit b0 rejection
1 50 Hz rejection
0 60 Hz rejection
A/D conversion rate (meas/s)
bits b4 b3 b2 b1
50 Hz 60Hz
0000 100 120
0001 50 60
0010 25 30
0011 12,5 15
0100 6,25 7,5
1001 1600 1920
1010 800 960
1011 400 480
1100 200 240
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3.2.19 0x4002: Digital filter settings *
Note: the band-stop filter is only available with firmware versions ≥ 2.60.
A digital low-pass filter whose order is selectable might be included in the measuring process.
Possible orders are 0 (digital filter inactive), 2, 3 or 4.
¾ The recurrence relations then applies:
mappable
sub-index description access default value type
(PDO) ?
0x00 largest sub-index RO 0x06 N unsigned8
0x01 filter order R/W 0x03 N unsigned8
0x3C88CD6D
0x02 1/A coefficient R/W N real32
( = 0.0166995171)
0xC2D74E27
0x03 B coefficient R/W N real32
(= -107.652641)
0x42923F93
0x04 C coefficient R/W N real32
(= 73.1241684)
0xC18AD3F5
0x05 D coefficient R/W N real32
(= -17.3534946)
0x06 E coefficient R/W 0 N real32
0x07 band-stop activation * R/W 0 N unsigned8
0xBFFD29AA
0x08 coefficient X * R/W N real32
(= - 1,97783399)
0x3FFB309B
0x09 coefficient Y * R/W N real32
(= 1.962420864)
0x0A coefficient Z * R/W 0xBF7C0290 N real32
Coefficients depend on A/D conversion rate and desired cut-off frequency. The coefficients are
defined using eNodView software. By default, eNod uses a third order filter with a 10-Hz cut-off
frquency designed for a 100 Hz sampling rate.
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3.2.21 0x4501: Logical inputs configuration
eNod3-C is equiped with two logical inputs. They can be configured in many ways described below :
0 negative logic
1 positive logic
mappable
sub-index description access default value type
(PDO) ?
0x00 largest sub-index RO 0x03 N unsigned8
minimal holding
0x01 R/W 0x50 N unsigned16
time (ms)
0x02 input 1 assignment R/W 0 N unsigned8
0x03 input 2 assignment R/W 0 N unsigned8
Minimal holding time concerns both logical inputs and is expressed in milliseconds. It corresponds to
the minimal stabilization time of the inputs.
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bits b2 b1 b0 ouput assignment notes
set point 1 assigned to output 1
000 set point
set point 2 assigned to output 2
001 motion
010 checkweigher result available
only in checwkeigher or triggered
011 cycle in progress
peak control modes
100 defective measurement see measurement status
output 1 corresponds to input 1
101 input image
output 2 corresponds to input 2
output level is driven by the
110 level on request appropriate commands
see § 3.1.16
bit b3 logic mode
0 negative
1 positive
mappable
sub-index description access default value type
(PDO) ?
0x00 largest sub-index RO 0x04 N unsigned8
output 1
0x01 R/W 0x08 N unsigned8
assignment
output 2
0x02 R/W 0x08 N unsigned8
assignment
output 1 activation
0x03 R/W 0x00 N unsigned16
duration
output 2 activation
0x04 R/W 0x00 N unsigned16
duration
¾ The activation duration of outputs assigned to the « level on request » fucntion can be
configured through sub-index 0x03 and 0x04.
¾ If these values are set to 0, outputs remain active until the reception of the specific
desactivation command.
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Digital transmitter
3.2.29 0x4800: Safety mode
This entry defines eNod3-C functioning when in stopped NMT state. Safety mode is used if bit 0 is
set to 1. The functioning modes (checkweigher, transmitter and peak control) are then inhibited and
outputs logical states are given by bits b1 (output 1 level) and b2 (output 2 level) eNod3-C leaves the
safety mode upon reception of a NMT command.
Access: read/write
Default value: 0h
mappble
sub-index description acess default value type
(PDO) ?
A/D converter
0x00 RO / Y integer32
points value
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Digital transmitter
mappable
sub-index description access default value type
(PDO) ?
current
0x00 RO / Y unsigned16
measurement status
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3.2.34 0x5004 : Results
This entry divided into 6 sub-indexes contains the different measurement results calculated and
determined by eNod3-C.
mappable ?
sub-index description access default value type
(PDO)
0x00 largest sub-index RO 0x09 N unsigned8
mappable
sub-index description access default value type
(PDO) ?
logical inputs
0x00 RO / Y unsigned8
state
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Digital transmitter
3.2.36 0x5200 : Logical outputs level
This entry contains the current logical outputs level.
Access: Read only
Default value: /
0 low level
1 high level
0 low level
1 high level
mappable
sub-index description access default value type
(PDO) ?
logical outputs
0x00 RO / Y unsigned8
state
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