Web Guiding System

Interface Description

ekr 500 digital Unit Touch

CANopen User Gateway

MD.520.EN.02

Translation of the Original Manual

BST eltromat International GmbH
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D-33739 Bielefeld
Tel.: +49 (0) 5206 999 0
Fax: +49 (0) 5206 999 999
E-Mail: [email protected]
Internet: www.bst-eltromat.com

This documentation is protected by copyright. The translation as well as reproduction and distribution in any form is forbidden without the approval
of the rights holder and will be pursued under civil and criminal law. Technical modifications reserved.
 Table of contents

Table of contents
1 About This Document........................................................................................  4
1.1 What You Need to Know...............................................................................................  4
1.2 Target Group.................................................................................................................  4
1.3 Storage and Distribution ...............................................................................................  4
1.4 Meanings of the Safety Instructions and Symbols ........................................................  5
1.4.1 Safety Instructions ........................................................................................................  5
1.4.2 Symbols.........................................................................................................................  5
1.4.3 Operation Using Keys....................................................................................................  5
1.5 More Detailed Information ...........................................................................................  6

2 Functional Description ......................................................................................  7

2.1 Utilisation......................................................................................................................  7
2.2 CANopen Communication Profile .................................................................................  8
2.2.1 Fundamentals ...............................................................................................................  8
2.2.2 Object Dictionary ..........................................................................................................  9
2.3 Communication Objects..............................................................................................  10
2.3.1 Service Data Objects ...................................................................................................  11
2.3.2 Process Data Objects ..................................................................................................  13
2.4 Communication Protocol ............................................................................................  14
2.5 Baud Rate....................................................................................................................  14
2.6 CAN Bus Wiring ...........................................................................................................  14

3 Commissioning................................................................................................. 15
3.1 Safety Instructions ......................................................................................................  15
3.2 Connecting the Controller to the External CAN Bus ...................................................  16
3.3 Setting the Terminating Resistor of the Controller.....................................................  17
3.4 Configuring the CAN Bus Interface .............................................................................  18
3.4.1 Configuring the Connector Socket X101 for Networking............................................  18
3.4.2 Activating the Galvanic Separation .............................................................................  19
3.4.3 Setting the Baud Rate .................................................................................................  20
3.5 Selecting the Communication Protocol ......................................................................  21
3.6 Loading the EDS File....................................................................................................  23

4 Protocol 3100................................................................................................... 24
4.1 Process Data Objects ..................................................................................................  24
4.1.1 Object Descriptions.....................................................................................................  24
4.2 Service Data Objects ...................................................................................................  25
4.2.1 Service Data Objects Overview ...................................................................................  25
4.2.2 Object Descriptions.....................................................................................................  29
4.2.3 Examples for the Application of the Service Data Objects..........................................  63

Index................................................................................................................ 66

ekr 500 digital Unit Touch – CANopen User Gateway iii

 1 About This Document

1 About This Document

1.1 What You Need to Know

The BST eltromat ekr 500 digital Unit Touch web guiding controller
has an integrated CANopen user gateway enabling data exchange
with a customer control system.
These instructions describe the commissioning of the user gateway
and provide you with detailed specifications of the communication
protocols used. The interface description is a supplement to the
operating manual for the ekr 500 digital Unit Touch controller
(document number MD.492).

These instructions must only be used in conjunction with

the operating manual for the ekr 500 digital Unit Touch
web guiding controller. Every user must be familiar with
the operating manual for the controller and observe the
safety instructions contained therein.

The following instructions must be observed in order to avoid

hazards and incorrect operation:
■ Every user must have read these instructions in full before
working with or on the system.
■ Every user must follow the safety information in these instruc-
tions and in the operating manual for the ekr 500 digital Unit
Touch web guiding controller.

1.2 Target Group

This interface description is directed to all persons charged with
the commissioning of the integrated CANopen user gateway of
the ekr 500 digital Unit Touch web guiding controller.
The communication objects, functions and operating steps
described in this document assume the following knowledge:
■ Basic operation of the ekr 500 digital Unit Touch web guiding
controller
■ Specification of the standardized CANopen communication
protocol according to European Standard EN 50325-4.

1.3 Storage and Distribution

These instructions must be stored at the workplace in such a man-
ner that the user has access to them at all times.
These instructions and all other applicable documents are a com-
ponent of the product and must be handed over to the operating
company of the system.

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 About This Document 1

1.4 Meanings of the Safety Instructions and Symbols

1.4.1 Safety Instructions

DANGER
Danger that will lead to death or severe injuries!
► Here you can find how to avoid the danger.

WARNING
Danger that may lead to death or severe injuries!
► Here you can find how to avoid the danger.

CAUTION
Danger that may lead to medium or minor injuries!
► Here you can find how to avoid the danger.

NOTICE
Danger that may lead to damage to assets!
There is no risk of injury.
► Here you can find how to avoid the danger.

1.4.2 Symbols

Information that is essential for successful operation.

Information that makes operation easier.

Action requirements may include the following symbols:

›› Requirements that must be fulfilled for the action steps.
1. Requirement for you to take actions. And ...
2. …in the sequence specified.
► Requirement for you to take actions - without any certain
sequence.

1.4.3 Operation Using Keys

Operations using the keys are indicated by the following symbols:

► Press key ①.

► Press key ① or key ②.

► Press key ① and key ② at the same time.

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 1 About This Document

1.5 More Detailed Information

There are other documents available for this system.
Document Document number
Operating manual
MD.492
ekr 500 digital Unit Touch
Installation and commissioning manual
MD.497
ekr 500 digital Unit Touch
The latest version of these instructions can be obtained in all
available languages at:
www.bst-eltromat.com

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 Functional Description 2

2 Functional Description

2.1 Utilisation
The CANopen user gateway of the ekr 500 digital Unit Touch web
guiding controller enables the networking of the unit with a cus-
tomer control system (e.g. PLC, machine control system, etc.).
Data exchange between the controller and the customer control
system takes place via the integrated CAN bus interface of the
controller (connector socket X101).

ekr 500 digital Unit Touch

controller

S5.6 = ON

X101

CAN Bus
Data exchange
via CANopen

External control system

(e.g. PLC, machine control system)

Fig. 1: Networking via integrated CANopen user gateway

The data exchange between the controller and the

customer control system takes place exclusively via the
external CAN bus (connector socket X101). The other CAN
bus connector sockets of the controller (X100, X102,
X103) are reserved for the internal CAN bus.

The user gateway allows to parameterize and remotely control

the different web guiding functions as well as the exchange of
process data and status requests. Appropriate service data objects
(SDOs) for the parameter setting of the web guiding controller and
for status requests are enabled in the manufacturer-specific seg-
ment of the object dictionary. The high-speed exchange of process
data (e.g. current web edge position) takes place via the process
data objects (PDOs) that are preconfigured in the factory and can-
not be changed.

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 2 Functional Description

No additional devices are required for the communication between

the web guiding controller and the customer control system.
During commissioning, only the following procedures must be
carried out:
■ Configuration of the integrated CAN bus interface (connector
socket X101) of the ekr 500 digital Unit Touch web guiding
controller as external CAN bus
■ Setting of the baud rate (default setting = 500 kBit)
■ Selection of the communication protocol to be used
■ Loading of the provided EDS file into the customer control
system

2.2 CANopen Communication Profile

Communication of the ekr 500 digital Unit Touch web guiding con-
troller with the customer control system takes place via the CAN
bus based on the CANopen communication protocol that is stand-
ardized as the European Standard EN 50325-4.
This chapter describes the basic services and communication
objects of the CANopen DS 301 communication profile, which are
used by the ekr 500 digital Unit Touch web guiding controller.

The description of the CANopen communication profile

assumes that the basic functioning of the DS 301 commu-
nication profile is known and available as reference docu-
mentation.

2.2.1 Fundamentals
CANopen is an open CAN-based fieldbus standard enabling the
communication of devices of different manufacturers without any
special interface adjustments. The CANopen standard describes
the exchange of data in a CAN-based network. The DS  301 com-
munication profile defines the type of data transmission, the dis-
tribution of the identifiers existing in the CAN bus system as well
as their use for the communication services required in a fieldbus
system.

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 Functional Description 2

2.2.2 Object Dictionary

The object dictionary describes the complete functionality (para-
meters) of the CANopen device and is organized in the form of a
table. It defines all objects required for the communication
between the controller and the customer control system.
Each entry in the object dictionary represents one object. The ob-
jects are classified into groups using an index register. In doing so,
each object is assigned an unambiguous number (index and sub-
index).
In addition to the standard data types and objects of the CANopen
communication profile and the device profiles, the object diction-
ary also provides a range for manufacturer specific objects (manu-
facturer specific profile). All objects available for the parameteriz-
ation of the BST eltromat web guiding system are stored in this
part of the object dictionary.
The following table shows the structure of the CANopen object
dictionary:
Index Range Object
0000h Not used
0001h … 001Fh Static data types
0020h … 003Fh Complex data types
0040h … 005Fh Manufacturer specific data types
0060h … 0FFFh Reserved
1000h … 1FFFh Communication profile
2000h … 5FFFh Manufacturer specific profile
Parameters from standardized profiles
6000h … 9FFFh
(device profiles)
A000h … FFFFh Reserved

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 2 Functional Description

2.3 Communication Objects

The following communication objects are used for the communic-
ation of the ekr 500 digital Unit Touch web guiding controller with
the customer control system:
Communication Object Utilisation
Parameterization of the controller, status requests
SDO Service Data Object The Service Data Objects are used for the parameterization and
control of the web guiding controller and for status requests.
High-speed exchange of process data (real-time data)
PDO Process Data Object The Process Data Objects enable the exchange of real-time
process data such as the current web edge position.
SYNC Synchronization Message Synchronization of multiple CAN nodes
EMCY Emergency Message Transmission of error messages
NMT Network Management Network service
HEART-
Error Control Protocol Supervision of the communication participants by cyclic messages
BEAT
In addition, there are defined further communication objects for
special applications sent either from the controller or from the
higher-level control system.

This interface description only describes the manufacturer

specific Service Data Objects (SDOs) and Process Data
Objects (PDOs). The other standardized communication
objects used for the communication of the web guiding
controller with the customer control system are described
in the European Standard EN 50325-4.

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 Functional Description 2

2.3.1 Service Data Objects

The Service Data Objects (SDOs) enable access to the object
dictionary of the controller. Service Data Objects are used for the
parameterization of the web guiding controller and for status
requests.
The SDO access is a confirmed access method. Using this type of
access, the web guiding controller confirms each parameter
access of the customer control system.

Order from control system

Customer
control system

Confirmation from controller

Fig. 2: SDO access

An SDO access always starts from the higher-level control system

(host), which sends to the web guiding controller either a write
command in order to change a parameter of the object dictionary
or a read command in order to read out a parameter. For each
command, the host receives a response from the controller.
This answer either contains the readout value or – in the case of a
write command – serves as a confirmation.
Each message sent on the CAN bus includes a kind of address used
to define the bus participant the message is addressed to.
This number is called the identifier. The lower the value of the
identifier, the higher is the priority of the message. The identifier
consists of the base 600h and the node number of the controller.
The structure of the commands and answers depends on the data
type of the object to be read or written, because 1, 2 or 4 data
bytes have to be sent or received.

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 2 Functional Description

2.3.1.1 Structure of a Service Data Object

The structure of a Service Data Object is as follows:
Identifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
600h +
Control
node Index Sub-index Data field
byte
number
It consists of the following components:
Component Content Function
The identifier determines the intended recipient of the message
in the bus system.
600h + The node number (device address) is set using the rotary switch
Identifier node number of S1 on the processor board of the controller.
the controller The procedure is described in the installation and commissioning
manual of the ekr 500 digital Unit Touch controller (document
number MD.497).
The control byte determines whether the Service Data Object has
Byte 1 Control byte
write or read access to the entry in the object dictionary.
The index is the main entry in the object dictionary dividing the
Byte 2 … Byte 3 Index
parameters into groups.
Byte 4 Sub-index The sub-index divides the parameters within a group of parameters.
These components are used for the exchange of the actual user
Byte 5 … Byte 8 Data field
data.

2.3.1.2 Data Types Used

Data Type Data Width Sign Value Range

Unsigned8 8 Bit = 1 Byte Unsigned 0 … 255
Unsigned16 16 Bit = 2 Byte Unsigned 0 … 65535
Unsigned24 24 Bit = 3 Byte Unsigned 0 … 224
Unsigned32 32 Bit = 4 Byte Unsigned 0 … 232
Signed8 8 Bit = 1 Byte Signed -127 … +126
Signed16 16 Bit = 2 Byte Signed -32768 … 32767
Signed24 24 Bit = 3 Byte Signed -(224) … (224-1)
Signed32 32 Bit = 4 Byte Signed -(231) … (231-1)
Floating point value
Float 32 Bit Signed
with 32 Bit

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 Functional Description 2

2.3.2 Process Data Objects

The Process Data Objects (PDOs) are used to exchange process
data in real-time enabling an event-driven data transfer. In this
process, the PDO transmits one or several predefined parameters.
In contrast to the SDO, the data transmission of the PDO is not
confirmed. This means that the PDO access is an unconfirmed
access method.

Customer
(Transmit PDO) control system

Data from controller

Data from control system

(Receive PDO) Customer

control system

Fig. 3: PDO access

All recipients have to be able to process possibly arriving PDOs at

any time after the PDO has been activated. This access method
offers the advantage that the host computer does not need to poll
the parameters transmitted by a PDO leading to a considerably
reduced utilization of the CAN bus capacity.
The PDOs are preconfigured for standard applications in the factory
and cannot be changed.

2.3.2.1 PDO Mapping

For the exchange of process data, the protocol 3100 supports
three Transmit PDOs (Tx PDOs). The Process Data Objects are
preconfigured for standard applications and cannot be changed.
The preconfigured Process Data Objects are described in chapter
Process Data Objects, page 24

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 2 Functional Description

2.4 Communication Protocol

The manufacturer specific Process Data Objects (PDOs) and
Service Data Objects (SDOs) used for the data exchange between
the ekr 500 digital Unit Touch web guiding controller and the
customer control system (e.g. PLC, machine control system) are
determined in the communication protocol.
The integrated CANopen user gateway of the ekr 500 digital Unit
Touch web guiding controller currently supports the standard
protocol 3100 only. This protocol permits the communication of a
customer control system with one ekr 500 digital Unit Touch web
guiding controller.
The standard protocol 3100 is described in chaper Protocol 3100,
page 24.

This interface description only includes information about

the manufacturer specific profile (Process Data Objects
and Service Data Objects) of the object dictionary. The
standardized communication and device profiles of the
CiA DS 301 CANopen communication profile are described
in the European Standard EN 50325-4.

2.5 Baud Rate

The baud rate determines the transmission speed for the CAN bus
communication between the ekr 500 digital Unit Touch web guid-
ing controller and the customer control system. The default baud
rate setting for the controller is 500 kBit. When needed, the baud
rate can be adapted to the baud rate used by customer control
system with the DIL switches S5.7 and S5.8 on the processor
board of the web guiding controller (procedure see Setting the
Baud Rate, page 20).

2.6 CAN Bus Wiring

In accordance with ISO 11898, we recommend the use of a shiel-
ded bus cable with a characteristic impedance of 120 Ω. The cable
length for a reliable communication between the ekr 500 digital
Unit Touch controller and the customer control system reduces as
the baud rate increases.
Baud Rate DIL Switch Maximum
S5.7 S5.8 Cable Length

125 kBit ON OFF 500 m

250 kBit OFF ON 250 m
500 kBit OFF OFF 100 m
1 MBit ON ON 30 m

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 Commissioning 3

3 Commissioning

3.1 Safety Instructions

WARNING
Danger of death and material damage caused by incorrect com-
missioning!
► Have the commissioning carried out by BST eltromat service
personnel or authorized personnel only.

DANGER
Danger of death caused by the machine starting up!
Parts of your body could be crushed, cut, drawn in or hit.
► Switch off the machine completely and secure it against it being
switched back on.

DANGER
Danger of death from electric shock!
Life threatening injuries caused by incomplete switching off or
residual current.
► Electrically isolate the controller.
► Secure the power supply against being switched back on.
► Check that the unit is voltage-free.
► Earth the controller.
► Cover or fence off any adjacent parts that are still live.

► Open the controller housing only at zero potential.

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 3 Commissioning

3.2 Connecting the Controller to the External CAN Bus

Data exchange between the ekr 500 digital Unit Touch controller
and the customer control system takes place via the integrated
CAN bus interface of the controller (connector socket X101).

Fig. 4: Connector socket X101

The controller is connected to the CAN bus using a 4-pin micro-

style plug M8.

View X

Socket
(female)

View X

Plug
(male)

Fig. 5: Contact assignment in the plug connector

Contact Signal Wire Colour Comments

+24 V⎓ (galvanic separation deactivated)
1 brown Leads internally to terminal strip X9
Isolated (galvanic separation activated)
2 CAN-H white
3 CAN-GND green
4 CAN-L yellow
For activating the galvanic separation for connector socket X101
see Activating the Galvanic Separation, page 19.

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 Commissioning 3

3.3 Setting the Terminating Resistor of the Controller

If you are using the ekr 500 digital Unit Touch controller as the last
physical participant on the external CAN bus, you must switch on
the internal terminating resistor of the device.

External CAN bus

Last
CAN bus participant

CAN bus CAN bus CAN bus

participant 1 participant 2 participant 3

X101 S3 = ON

Fig. 6: Controller as the last participant on the external CAN bus

You switch on the internal terminating resistor using sliding switch

S3 on the processor board of the controller.

Fig. 7: Sliding switch S3 on the processor board

Switching on the terminating resistor

NOTICE
Damage to the components from working on live parts.
► Before opening the controller, switch off the power supply.

1. Electrically isolate the controller.

2. Open the controller’s housing cover.
3. Set sliding switch S3 to position ON.
4. Close the controller’s housing cover.
5. Switch on the power supply of the controller again.

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 3 Commissioning

3.4 Configuring the CAN Bus Interface

3.4.1 Configuring the Connector Socket X101 for Networking

The connector socket X101 must be configured as external CAN
bus for networking in order to enable data exchange via the CAN
bus interface of the ekr 500 digital Unit Touch controller. Config-
uration is made using DIL switch S5 on the processor board of the
controller.

Fig. 8: DIL switch S5 on the processor board of the controller

Procedure

NOTICE
Damage to the components from working on live parts.
► Before opening the controller, switch off the power supply.

1. Electrically isolate the controller.

2. Open the controller’s housing cover.
3. Set DIL switch S5.6 on the processor board of the controller to
position ON.
4. Close the controller’s housing cover.
5. Switch on the power supply of the controller again.

Changes to the DIL switch settings will become active

only after a restart of the controller.

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 Commissioning 3

3.4.2 Activating the Galvanic Separation

To ensure interference-free data transmission, we recommend
activating the galvanic separation (electrical isolation) for the CAN
bus. Activation is made using jumper JX1 on the processor board
of the controller.

Fig. 9: Jumper JX1 on the processor board of the controller

Jumper Function Application

JX1
Electrical isolation not active.
24 V⎓ is available at connector Factory settings
socket X101.

Electrical isolation active.

Networking with
24 V⎓ is not available at
customer CAN bus
connector socket X101.

Procedure

NOTICE
Damage to the components from working on live parts.
► Before opening the controller, switch off the power supply.

1. Electrically isolate the controller.

2. Open the controller’s housing cover.
3. Plug in the jumper JX1 as shown in the adjacent drawing.
4. Close the controller’s housing cover.
5. Switch on the power supply of the controller again.

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 3 Commissioning

3.4.3 Setting the Baud Rate

The baud rate determines the transmission speed for the CAN bus
communication between the ekr 500 digital Unit Touch web guid-
ing controller and the customer control system. The default baud
rate setting for the controller is 500 kBit. When needed, the baud
rate can be adapted to the baud rate used by customer control
system with the DIL switches S5.7 and S5.8 on the processor
board of the web guiding controller.

Fig. 10: DIL switch S5 on the processor board of the controller

Possible Baud Rates

Baud Rate DIL Switch
S5.7 S5.8
125 kBit ON OFF
250 kBit OFF ON
500 kBit OFF OFF
1 MBit ON ON

The set baud rate only applies to the connector socket

X101 of the web guiding controller. The connector sockets
X100, X102 and X103 are always operated with a baud
rate of 500 kBit.

Setting the Baud Rate

NOTICE
Damage to the components from working on live parts.
► Before opening the controller, switch off the power supply.

1. Electrically isolate the controller.

2. Open the controller’s housing cover.

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 Commissioning 3

3. Set the DIL switches S5.7 and S5.8 on the processor board of
the controller according to the desired baud rate (see table).
4. Close the controller’s housing cover.
5. Switch on the power supply of the controller again.

Changes to the DIL switch settings will become active

only after a restart of the controller.

3.5 Selecting the Communication Protocol

During commissioning of the CANopen user gateway, you have to
select the communication protocol that is to be used to exchange
data with the ekr 500 digital Unit Touch web guiding controller.
The protocol is selected at the controller using the userprotocol
xxxx parameter of the public parameter list 0.
For standard applications, we recommend the use of the protocol
3100.

Procedure
›› The controller is in the Manual operating mode.
1. Press the SETUP key.
The controller changes to setup mode.

The first page of the setup menu appears in the display.

2. Activate the System components service display by tapping the

adjoining button.

A list including all system components connected is displayed.

3. Tap the ekr500d entry in the list of the system components.

The Switch positions service display for the controller appears

in the display.

4. Press the Sensor 3 key.

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 3 Commissioning

The selection menu for the public parameter lists appears in

the display. The currently selected parameter list is displayed in
the editing field.

5. Select the parameterlist0 parameter list using the arrow buttons

on the right side of the display.

6. Press the > button.

The first parameter of the parameter list 0 appears in the dis-

play.

7. Select the userprotocol xxxx parameter using the arrow buttons.

8. Tap the editing field on the touchscreen to change the para-

meter value.
An input keypad appears in the display.

9. Enter the number of the desired protocol (3100 in the example).

10. Press the button to confirm the entry.
The input keypad is closed.
11. Press the button to save the edited parameter value.
12. The display changes back to the System components service
display.
13. Press the SETUP key.
The operation display appears.
ð The selection of the protocol is complete.

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 Commissioning 3

3.6 Loading the EDS File

During commissioning, the provided EDS file must be imported
into the corresponding configuration tool of your control system
in order to enable the customer control system to communicate
with the ekr 500 digital Unit Touch web guiding controller.
The EDS file is an Electronic Data Sheet describing all data and
functionalities of the web guiding controller that can be accessed
via the network in a standardized text format (ASCII). Besides the
objects of the object dictionary it also describes physical paramet-
ers such as the supported baud rates.
For each communication protocol an individual EDS file is available.

Example
Communication protocol: Protocol 3100
Relevant EDS file: 3100_1.eds

Protocol number Revision number

Fig. 11: EDS file name

You will find the EDS file required for using the CANopen user gate-
way on the documentation CD of the ekr 500 digital Unit Touch
web guiding controller.
The procedure for loading the EDS file depends on the customer
control system. For information about the loading process please
refer to the technical documentation of the control system manu-
facturer.

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 4 Protocol 3100

4 Protocol 3100
4.1 Process Data Objects
The Process Data Objects (PDOs) are used for the high-speed
exchange of process data.
In this chapter, you will find a description of the Process Data
Objects that are cyclically sent from the ekr 500 digital Unit Touch
web guiding controller to the customer control system.
For the exchange of process data, the protocol 3100 supports
three Transmit PDOs (Tx PDOs). The Process Data Objects are pre-
configured for standard applications in the factory and cannot be
changed.

4.1.1 Object Descriptions

4.1.1.1 TxPDO1
Transmission Type 2
Identifier 180h + controller node number (11d (Bh))

Mapping
Entry Mapping Value Designation Description
1 31a30118h - Current position edge 1
See Object 31a3h: Current Edge
2 31a30218h - Current position edge 2
Position (32 Bit), page 43.
3 31a30218h - Current position edge 3

4.1.1.2 TxPDO2
Transmission Type 2
Identifier 280h + controller node number (11d (Bh))

Mapping
Entry Mapping Value Designation Description
See Object 3103h: Controller Operating
1 31030020h Controller operating status
Status, page 35.
See Object 31a7h: Current Edge
2 31a70318h - Current position edge 3
Position (24 Bit), page 44.

4.1.1.3 TxPDO3
Transmission Type 2
Identifier 380h + controller node number (11d (Bh))

Mapping
Entry Mapping Value Designation Description
See Object 4301h: Sensor Positioner –
1 43010110h Sensor positioner operating status
Operating Status, page 52.
2 30100110h Status digital sensor 1 See Object 3010h: Digital Sensor
3 30100210h Status digital sensor 2 Status, page 30

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 Protocol 3100 4

4.2 Service Data Objects

In this chapter you will find a description of all Service Data Objects
(SDOs) used.
The manufacturer specific Service Data Objects serve for the trans-
mission of control parameters to and from the web guiding control-
ler and for the setting of operating and guiding modes. Moreover,
the Service Data Objects can be used for querying status messages
and operating states of the web guiding controller. Each Service
Data Object consists of a transmit and a receive message.

4.2.1 Service Data Objects Overview

The following table provides an overview of all Service Data
Objects used in protocol 3100. A detailed description of the
different Service Data Objects can be found in the chapter Object
Descriptions, page 29.
The abbreviations in the Access table column have the following
meanings:
ro = read-only (read-only access)
rw = read & write (read and write access)
Index Short Description Sub- Object Data Type Access
Index
Reading the error register of
1001h 00h Error register Unsigned8 ro
the controller
00h Number of sub-indexes Unsigned8 ro
Reading the current operating
3010h 01h Status digital sensor 1 Unsigned16 ro
status of a digital sensor
02h Status digital sensor 2 Unsigned16 ro
Reading error messages of the
3012h 00h Controller error bits Unsigned32 ro
controller
Setting the operating mode Operating mode and guiding
3101h 00h Unsigned16 rw
and guiding mode mode
Switching the oscillation
3102h 00h Activation of the oscillation Unsigned16 rw
function on and off
Reading the current operating
3103h 00h Controller operating status Unsigned32 ro
status of the controller
00h Number of sub-indexes Unsigned8 ro
01h Oscillation frequency Unsigned16 rw
02h Oscillation amplitude Unsigned32 rw
03h Amplitude value at the moment X Float ro

3107h Basic oscillation settings Oscillation frequency for operating

04h Unsigned16 rw
mode Center Positioning
Oscillation amplitude for operating
05h Unsigned32 rw
mode Center Positioning
06h Oscillation factor Unsigned32 rw
07h Oscillation form Unsigned8 rw

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 4 Protocol 3100

Index Short Description Sub- Object Data Type Access

Index
00h Number of sub-indexes Unsigned8 ro
Web edge guiding –
01h Signed32 rw
Setpoint edge 1
Web edge guiding –
Setpoint adjustment, 02h Signed32 rw
314ah Setpoint edge 2
relatively
Web center-line guiding –
03h Signed32 rw
Setpoint center 1&2
Line/contrast guiding –
04h Signed32 rw
Setpoint edge 3
00h Number of sub-indexes Unsigned8 ro
Web edge guiding –
01h Signed32 rw
Setpoint edge 1
Web edge guiding –
02h Signed32 rw
Setpoint edge 2
Setpoint adjustment, Web center-line guiding –
31a1h 03h Signed32 rw
absolutely Setpoint center 1&2
Line/contrast guiding –
04h Signed32 rw
Setpoint edge 3
Operating mode
05h Center positioning – Signed32 rw
Setpoint center position
00h Number of sub-indexes Unsigned8 ro
Reading the current edge 01h Position edge 1 Signed32 ro
31a3h
position (32 Bit) 02h Position edge 2 Signed32 ro
03h Position edge 3 Signed32 ro
00h Number of sub-indexes Unsigned8 ro
Reading the current edge 01h Position edge 1 Signed24 ro
31a7h
position (24 Bit) 02h Position edge 2 Signed24 ro
03h Position edge 3 Signed24 ro
Reading the sensor type used
3130h 00h Sensor source Unsigned8 ro
for guiding
00h Number of sub-indexes Unsigned8 ro
01h Current web width Signed32 ro
Basic web width measurement 02h Web width offset Signed32 ro
3150h
settings 03h Target width Signed32 rw
04h Setpoint transfer Unsigned8 rw
05h Web width validation Unsigned8 ro

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 Protocol 3100 4

Index Short Description Sub- Object Data Type Access

Index
00h Number of sub-indexes Unsigned8 ro
Controller gain
01h Float rw
web edge guiding – edge 1
Controller gain
02h Float rw
web edge guiding – edge 2
Setting the controller gain
3450h Controller gain
(Float) 03h Float rw
line/contrast guiding – edge 3
04h Servo center transducer gain Float rw
05h Reserved — —
Controller gain
06h Float rw
web center-line guiding – center 1&2
00h Number of sub-indexes Unsigned8 ro
Controller gain
01h Unsigned16 rw
web edge guiding – edge 1
Controller gain
02h Unsigned16 rw
web edge guiding – edge 2
Setting the controller gain
3460h Controller gain
(Integer*100) 03h Unsigned16 rw
line/contrast guiding – edge 3
04h Servo center transducer gain Unsigned16 rw
05h Reserved — —
Controller gain
06h Unsigned16 rw
web center-line guiding – center 1&2
Sensor positioner – 00h Number of sub-indexes Unsigned8 ro
4301 Reading the current operating Sensor positioner –
status 01h Unsigned16 ro
Operating status
Sensor positioner – 00h Number of sub-indexes Unsigned8 ro
4302 Setting the target position for Sensor positioner –
the pre-positioning 01h Signed32 rw
Pre-positioning
Sensor positioner – 00h Number of sub-indexes Unsigned8 ro
4303h Setting the positioning speed Sensor positioner –
of the sensor slides 01h Signed32 rw
Positioning speed
Sensor positioner –
Sensor positioner –
4aa0h Activating the automatic edge 00h Unsigned8 rw
Norming mode
sensor norming
Sensor positioner –
Sensor positioner –
Setting the positioning speed of
4aa1h 00h Positioning speed during sensor Unsigned32 rw
the sensor slides during auto-
norming
matic edge sensor norming

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 4 Protocol 3100

Index Short Description Sub- Object Data Type Access

Index
Sensor positioner –
Sensor positioner –
Setting the positioning speed
4aa2h 00h Positioning speed during edge Unsigned32 rw
of the sensor slides during
detection
automatic edge detection
Sensor positioner –
Sensor positioner –
Setting the positioning speed
4aa3h 00h Positioning speed during web Unsigned32 rw
of the sensor slides during
guiding
web guiding
Sensor positioner –
Setting the positioning speed Sensor positioner –
4aa4h 00h Unsigned32 rw
of the sensor slides during Positioning speed during retraction
retraction
Wide array edge sensor –
Wide array edge sensor –
4ac0h Activating the general setpoint 00h Unsigned8 rw
Setpoint transfer, generally
transfer
Wide array edge sensor –
Wide array edge sensor –
4ac1h Activating the setpoint transfer 00h Unsigned8 rw
Setpoint transfer edge 1
for web edge guiding to edge 1
Wide array edge sensor –
Wide array edge sensor –
4ac2h Activating the setpoint transfer 00h Unsigned8 rw
Setpoint transfer edge 2
for web edge guiding to edge 2
Wide array edge sensor –
Wide array edge sensor –
4ac3h Activating the setpoint transfer 00h Unsigned32 rw
Setpoint transfer center 1&2
for web center-line guiding

Sensor positioner – 00h Number of sub-indexes Unsigned8 ro

4ad1h Setting the position offsets for 01h Position offset sensor slide 1 Signed32 rw
the sensor slides 02h Position offset sensor slide 2 Signed32 rw
00h Number of sub-indexes Unsigned8 ro
01h Reserved — —
Reading the standardized Input value of the servo center
6401h values of the analogue 02h Signed16 ro
transducer (SC)
controller inputs
03h
… Reserved — —
23h

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 Protocol 3100 4

4.2.2 Object Descriptions

4.2.2.1 Object 1001h: Error Register

Index 1001h
Name Error register
Function Reading the error register of the controller
Object Code Var
Data Type Unsigned8

Value Description
Sub-Index 00h
Description Error register of the controller
Object Class Mandatory
Access Ro
PDO Mapping No
Unit —
Value Range 0, 1 (bit-oriented, see data description)

Data Description
Bit Number Meaning
0 General error
1 Motor overcurrent
2 Voltage error
3 Temperature error
4 Communication error
5 Device profile specific error
6 Reserved (always 0)
7 Manufacturer specific error

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 4 Protocol 3100

4.2.2.2 Object 3010h: Digital Sensor Status

Index 3010h
Name Digital sensor statusr
Function Reading the current operating status of a digital
sensor
Objekt Code Array
Data Type Unsigned16

Value Description
Sub-Index 00h
Description Number of sub-indexes
Object Class Mandatory
Access Ro
Value 2

Sub-Index 01h
Description Status digital sensor 1
Object Class Mandatory
Access Ro
PDO Mapping Yes
Unit —
Value Range 0, 1 (bit-oriented, see data description)

Sub-Index 02h
Description Status digital sensor 2
Object Class Mandatory
Access Ro
PDO Mapping Yes
Unit —
Value Range 0, 1 (bit-oriented, see data description

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 Protocol 3100 4

Data Description
Bit Number Description
Sensor type used
0h: Guiding with digital edge sensor
(type US 2010, IR 2011, IR 2012)
0…3 1h: Guiding with digital CCD camera
(type CCD CAM 100)
2h: Guiding with sensor positioner
(type FVG POS 100)
Blocking edge 1
4 Bit = 0: Edge 1 blocked
Bit = 1: Edge 1 not blocked
Blocking edge 2
5 Bit = 0: Edge 2 blocked
Bit = 1: Edge 2 not blocked
Validation edge 1
6 Bit = 0: Edge 1 valid
Bit = 1: Edge 1 invalid
Validation edge 2
7 Bit = 0: Edge 2 valid
Bit = 1: Edge 2 invalid
8 … 15 Reserved

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 4 Protocol 3100

4.2.2.3 Object 3012h: Controller Error Bits

Index 3012h
Name Controller error bits
Function Reading error messages of the controller
Objekt Code VAR
Data Type Unsigned32

Value Description
Sub-Index 00h
Description Controller error bits
Object Class Mandatory
Access Ro
PDO Mapping Yes
Unit —
Value Range 0, 1 (bit-oriented, see data description)

Data Description
Bit Number Description
0 Motor overcurrent (rotating direction left)
1 Motor overcurrent (rotating direction right)
2 Limit switch left side active
3 Limit switch right side active
4 Motor control timeout
5…9 Reserved
10 … 11 Internal
12 Voltage error
13 … 31 Reserved

32/67 ekr 500 digital Unit Touch – CANopen User Gateway

 Protocol 3100 4

4.2.2.4 Object 3101h: Operating Mode and Guiding Mode

Index 3101h
Name Operating mode and guiding mode
Function Setting the operating mode and guiding mode
Objekt Code Var
Data Type Unsigned16

Value Description
Sub-Index 00h
Description Word-oriented command word
Object Class Mandatory
Access Rw
PDO Mapping Possible
Unit —
Value Range 0, 1 (bit-oriented, see data description)

Data Description
Bit Number Description
Special operating mode
0…3
(do not use, always 0)
Operating mode
0h: No change
1h: Reserved
2h: Reserved
4…7
3h: - Manual mode
4h: - Automatic mode
5h: - Center Positioning
6h: Reserved
Guiding mode
0h: No change
1h: - Web edge guiding - Edge 1
2h: - Web edge guiding – Edge 2
8 … 11 3h: - Line/contrast guiding
4h: Reserved
5h: - Web center-line guiding - Center 1&2
6h: - Watchdog edge 1
7h: - Watchdog edge 2
12 … 15 Reserved (always 0)

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 4 Protocol 3100

4.2.2.5 Object 3102h: Activation of the Oscillation

Index 3102h
Name Activation of the oscillation
Function Switching the controller’s oscillation function on
and off
Objekt Code Var
Data Type Unsigned16

Value Description
Sub-Index 00h
Description Oscillation control bits
Object Class Mandatory
Access Rw
PDO Mapping Possible
Unit —
Value Range 0, 1 (bit-oriented, see data description)

Data Description
Bit Number Meaning
0 Switching the oscillation on
1 Switching the oscillation off

34/67 ekr 500 digital Unit Touch – CANopen User Gateway

 Protocol 3100 4

4.2.2.6 Object 3103h: Controller Operating Status

Index 3103h
Name Controller operating status
Function Reading the current operating status of the
controller
Object Code Var
Data Type Unsigned32

Value Description
Sub-Index 00h
Description Controller operating status
Object Class Mandatory
Access Ro
PDO Mapping Possible
Unit —
Value Range 0 … 31 (see data description)

Data Description
Bit Number Description
0 Blocking (controller interlock active)
1 - Left arrow key
2 - Right arrow key
3 Limit switch left side active
4 Limit switch right side active
5 Keyboard interlock
6 Motor control timeout
Reserved for guiding on
7
(if the motor output stage is activated)
8 Oscillation switched on
9 … 15 Reserved
3h: Material setup
16 … 19
Ah: Center position setup
3h: - Manual mode
4h: - Automatic mode
20 … 23
5h: - Center positioning
6h: External

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 4 Protocol 3100

Bit Number Description

1h: - Web edge guiding - Edge 1
2h: - Web edge guiding – Edge 2
3h: - Line/contrast guiding
24 … 27
5h: - Web center-line guiding - Center 1&2
6h: - Watchdog edge 1
7h: - Watchdog edge 2
28 Watchdog cannot be switched on
29 Reserved
30 Web position corrected
31 Reserved

36/67 ekr 500 digital Unit Touch – CANopen User Gateway

 Protocol 3100 4

4.2.2.7 Object 3107h: Basic Oscillation Settings

Index 3107h
Name Basic oscillation settings
Function Defining the basic settings for the controller’s
oscillation function
Object Code Record

Value Description
Sub-Index 00h
Description Number of sub-indexes
Object Class Mandatory
Access Ro
Value 7

Sub-Index 01h
Description Oscillation frequency
Object Class Mandatory
Access Rw
Data Type Unsigned16
PDO Mapping No
Unit 1/min
Value Range 1 … 1,000

Sub-Index 02h
Description Oscillation amplitude
Object Class Mandatory
Access Rw
Data Type Unsigned32
PDO Mapping No
Unit µm
Value Range Depending on the selected guiding mode and
the used sensor type

Sub-Index 03h
Description Amplitude value at the moment X
Object Class Mandatory
Access Ro
Data Type Float
PDO Mapping No
Unit µm
Value Range Depending on the selected guiding mode and
the used sensor type

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 4 Protocol 3100

Sub-Index 04h
Description Oscillation frequency for the Center Positioning
operating mode
Object Class Mandatory
Access Rw
Data Type Unsigned16
PDO Mapping No
Unit 1/min
Value Range 1 … 1,000

Sub-Index 05h
Description Oscillation amplitude for the Center Positioning
operating mode
Object Class Mandatory
Access Rw
Data Type Unsigned 32
PDO Mapping No
Unit µm
Value Range Depending on the selected guiding mode and
the used sensor type

Sub-Index 06h
Description Oscillation factor
Object Class Mandatory
Access Rw
Data Type Unsigned32
PDO Mapping No
Unit —
Value Range 0: Normal
1: Ten times slower

Sub-Index 07h
Description Oscillation form
Object Class Mandatory
Access Rw
Data Type Unsigned8
PDO Mapping No
Unit —
Value Range 0: Triangular curve
1: Sinus curve

38/67 ekr 500 digital Unit Touch – CANopen User Gateway

 Protocol 3100 4

4.2.2.8 Object 314ah: Setpoint Adjustment, Relatively

Index 314ah
Name Setpoint adjustment, relatively
Function Loading of the transmitted setpoint into the
setpoint register
Object Code Array
Data Type Signed32

Wertebeschreibung
Sub-Index 00h
Description Number of sub-indexes
Object Class Mandatory
Access Ro
Value 4

Sub-Index 01h
Description – Web edge guiding – Setpoint edge 1
Object Class Mandatory
Access Rw
PDO Mapping No
Unit µm
Value Range Depending on the used sensor type

Sub-Index 02h
Description – Web edge guiding – Setpoint edge 2
Object Class Mandatory
Access Rw
PDO Mapping No
Unit µm
Value Range Depending on the used sensor type

Sub-Index 03h
Description – Web center-line guiding –
Setpoint Center 1&2
Object Class Mandatory
Access Rw
PDO Mapping No
Unit µm
Value Range Depending on the used sensor type

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 4 Protocol 3100

Sub-Index 04h
Description – Line/contrast guiding – Setpoint edge 3
Object Class Mandatory
Access Rw
PDO Mapping No
Unit Pixels
Value Range Depending on the used sensor type

40/67 ekr 500 digital Unit Touch – CANopen User Gateway

 Protocol 3100 4

4.2.2.9 Object 31a1h: Setpoint Adjustment, Absolutely

Index 31a1h
Name Setpoint adjustment, absolutely
Function Loading of the transmitted setpoint into the
setpoint register
Object Code Array
Data Type Signed32

Value Description
Sub-Index 00h
Description Number of sub-indexes
Object Class Mandatory
Access Ro
Value 5

Sub-Index 01h
Description – Web edge guiding – Setpoint edge 1
Object Class Mandatory
Access Rw
PDO Mapping No
Unit µm
Value Range Depending on the used sensor type

Sub-Index 02h
Description – Web edge guiding – Setpoint edge 2
Object Class Mandatory
Access Rw
PDO Mapping No
Unit µm
Value Range Depending on the used sensor type

Sub-Index 03h
Description – Web center-line guiding –
Setpoint Center 1&2
Object Class Mandatory
Access Rw
PDO Mapping No
Unit µm
Value Range Depending on the used sensor type

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 4 Protocol 3100

Sub-Index 04h
Description – Line/contrast guiding – Setpoint edge 3
Object Class Mandatory
Access Rw
PDO Mapping No
Unit Pixels
Value Range Depending on the used sensor type

Sub-Index 05h
Description – Center Positioning operating mode –
Setpoint center position
Object Class Mandatory
Access Rw
PDO Mapping No
Unit Digits
Value Range Depending on the used servo center transducer

42/67 ekr 500 digital Unit Touch – CANopen User Gateway

 Protocol 3100 4

4.2.2.10 Object 31a3h: Current Edge Position (32 Bit)

Index 31a3h
Name Current edge position (32 Bit)
Function Reading the current sensor value
(not standardized)
Object Code Array
Data Type Signed32

Value Description
Sub-Index 00h
Description Number of sub-indexes
Object Class Mandatory
Access Ro
Value 3

Sub-Index 01h
Description – Position edge 1
Object Class Mandatory
Access Ro
PDO Mapping No
Unit µm
Value Range Depending on the used sensor type

Sub-Index 02h
Description – Position edge 2
Object Class Mandatory
Access Ro
PDO Mapping No
Unit µm
Value Range Depending on the used sensor type

Sub-Index 03h
Description – Position edge 3
Object Class Mandatory
Access Ro
PDO Mapping No
Unit Pixels
Value Range Depending on the used sensor type

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 4 Protocol 3100

4.2.2.11 Object 31a7h: Current Edge Position (24 Bit)

Index 31a7h
Name Current edge position (24 Bit)
Function Reading the current sensor value
(not standardized)
The object is used for the PDO mapping.
Object Code Array
Data Type Signed24

Value Description
Sub-Index 00h
Description Number of sub-indexes
Object Class Mandatory
Access Ro
Value 3

Sub-Index 01h
Description – Position edge 1
Object Class Mandatory
Access Ro
PDO Mapping Non
Unit µm
Value Range Depending on the used sensor type

Sub-Index 02h
Description – Position edge 2
Object Class Mandatory
Access Ro
PDO Mapping No
Unit µm
Value Range Depending on the used sensor type

Sub-Index 03h
Description – Position edge 3
Object Class Mandatory
Access Ro
PDO Mapping No
Unit Pixels
Value Range Depending on the used sensor type

44/67 ekr 500 digital Unit Touch – CANopen User Gateway

 Protocol 3100 4

4.2.2.12 Object 3130h: Sensor Source

Index 3130h
Name Sensor source
Function Reading the sensor type used for guiding.
The sensor type is detected automatically by the
controller.
Object Code Var
Data Type Unsigned8

Value Description
Sub-Index 00h
Description Sensor type used
Object Class Mandatory
Access Ro
PDO Mapping No
Unit —
Value Range 0, 1 (bit-oriented, see data description)

Data Description
Bit Number Meaning
01h: Guiding is not possible/no sensor detected
02h: Guiding with CCD camera
(type CCDPro)
03h: Guiding with digital edge sensor
(type US 2010, IR 2011, IR 2012)
04h: Guiding with analogue sensor
0…7 (type RS …)
05h: Guiding with line/contrast sensor
(type CLS Pro 600)
06h: Guiding with sensor positioner
(type FVG POS 100)
07h: Guiding with digital CCD camera
(type CCD CAM 100)

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 4 Protocol 3100

4.2.2.13 Object 3150h: Web Width Measurement

Index 3150h
Name Web width measurement
Function Reading the measured web width,
defining the basic settings for the web width
measurement
Object Code Record

Value Description
Sub-Index 00h
Description Number of sub-indexes
Object Class Mandatory
Access Ro
Value 5

Sub-Index 01h
Description Current web width
Object Class Mandatory
Access Ro
Data Type Signed32
PDO Mapping No
Unit µm
Value Range Depending on the application

Sub-Index 02h
Description Web width offset
Object Class Mandatory
Access Ro
Data Type Signed32
PDO Mapping No
Unit µm
Value Range Depending on the application

Sub-Index 03h
Description Target width
Object Class Mandatory
Access Rw
Data Type Signed32
PDO Mapping No
Unit µm
Value Range Depending on the application

46/67 ekr 500 digital Unit Touch – CANopen User Gateway

 Protocol 3100 4

Sub-Index 04h
Description Setpoint transfer
(the current web width is taken over as target
web width)
Object Class Mandatory
Access Rw
Data Type Unsigned8
PDO Mapping Non
Unit —
Value Range 0: Setpoint transfer disabled
1: Setpoint transfer enabled

Sub-Index 05h
Description Web width validation
Object Class Mandatory
Access Ro
Data Type Unsigned8
PDO Mapping No
Unit —
Value Range 0: Web width invalid
1: Web width valid

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 4 Protocol 3100

4.2.2.14 Object 3450h: Controller Gain (Float)

Index 3450h
Name Controller gain (Float)
Function Setting the controller gain for the different
guiding modes
Object Code Array
Data Type Float

Value Description
Sub-Index 00h
Description Number of sub-indexes
Object Class Mandatory
Access Ro
Value 6

Sub-Index 01h
Description – Controller gain web edge guiding – Edge 1
Object Class Mandatory
Access Rw
PDO Mapping No
Unit —
Value Range 0.5 … 200

Sub-Index 02h
Description – Controller gain web edge guiding – Edge 2
Object Class Mandatory
Access Rw
PDO Mapping No
Unit —
Value Range 0.5 … 200

Sub-Index 03h
Description – Controller gain line/contrast guiding – Edge 3
Object Class Mandatory
Access Rw
PDO Mapping No
Unit —
Value Range 0.5 … 200

48/67 ekr 500 digital Unit Touch – CANopen User Gateway

 Protocol 3100 4

Sub-Index 04h
Description – Servo center transducer gain
Object Class Mandatory
Access Rw
PDO Mapping No
Unit —
Value Range 0.5 … 200

Sub-Index 05h
Description Reserved

Sub-Index 06h
Description – Controller gain web center-line guiding –
Center 1&2
Object Class Mandatory
Access Rw
PDO Mapping No
Unit —
Value Range 0.5 … 200

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 4 Protocol 3100

4.2.2.15 Object 3460h: Controller Gain (Integer*100)

This object can be used to write a value to an integer

variable so that no Float data type has to be used. In
doing so, the integer value must be greater than 100
times the Float value in object 3450h.

Example: To set a gain value of 4.0 on the controller, a value of

4.0 * 100 = 400 must be written to the corresponding integer vari-
able.
Index 3460h
Name Controller gain (Integer*100)
Function Setting the controller gain for the different
guiding modes
Object Code Array
Data Type Unsigned16

Value Description
Sub-Index 00h
Description Number of sub-indexes
Object Class Mandatory
Access Ro
Value 6

Sub-Index 01h
Description – Controller gain web edge guiding – Edge 1
Object Class Mandatory
Access Rw
PDO Mapping No
Unit —
Value Range 50 … 20,000

Sub-Index 02h
Description – Controller gain web edge guiding – Edge 2
Object Class Mandatory
Access Rw
PDO Mapping No
Unit —
Value Range 50 … 20,000

50/67 ekr 500 digital Unit Touch – CANopen User Gateway

 Protocol 3100 4

Sub-Index 03h
Description – Controller gain line/contrast guiding – Edge 3
Object Class Mandatory
Access Rw
PDO Mapping No
Unit —
Value Range 50 … 20,000

Sub-Index 04h
Description – Servo-center transducer gain
Object Class Mandatory
Access Rw
PDO Mapping No
Unit —
Value Range 50 … 20,000

Sub-Index 05h
Description Reserved

Sub-Index 06h
Description – Controller gain web center-line guiding –
Center 1&2
Object Class Mandatory
Access Rw
PDO Mapping No
Unit —
Value Range 50 … 20,000

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 4 Protocol 3100

4.2.2.16 Object 4301h: Sensor Positioner – Operating Status

Index 4301h
Name Sensor Positioner – Operating status
Function Reading the current operating status of the
sensor positioner
Object Code Array
Data Type Unsigned16

Value Description
Sub-Index 00h
Description Number of sub-indexes
Object Class Mandatory
Access Ro
Value 1

Sub-Index 01h
Description Operating status
Object Class Mandatory
Access Ro
PDO Mapping No
Unit —
Value Range 0, 1 (bit-oriented, see data description)

Data Description
Bit Number Description
0 Ready for activation
1 Activated
2 Operation enabled
3 Error
4 Voltage enabled
5 Quick stop
6 Switch-on inhibit
7 Warning
8 Manufacturer specific
9 Remote control
10 Target position reached
11 Internal limit switch active
12 … 13 Operating mode specific
14 … 15 Manufacturer specific

52/67 ekr 500 digital Unit Touch – CANopen User Gateway

 Protocol 3100 4

4.2.2.17 Object 4302h: Sensor Positioner – Pre-Positioning

Index 4302h
Name Sensor positioner – Pre-positioning
Function Setting the target position for the pre-positioning
of the web of material.
The corresponding bit (target position reached
according to DS402) is set in the status word
(0x4301,0) as soon as the target position is
reached.
After the sensor positioner is switched on a
reference run is performed additionally.
Object Code Array
Data Type Signed32

Value Description
Sub-Index 00h
Description Number of sub-indexes
Object Class Mandatory
Access Ro
Value 1

Sub-Index 01h
Description Pre-positioning target position
Object Class Mandatory
Access Rw
PDO Mapping No
Unit µm
Value Range Depending on the application

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 4 Protocol 3100

4.2.2.18 Object 4303h: Sensor Positioner – Positioning Speed

Index 4303h
Name Sensor positioner – Positioning speed
Function Setting the positioning speed of the sensor slides.
Writing this variable the sensor slides move until
a timeout (safety, approx. 100 ms) has expired
or a zero is written. This means that a speed
value must be written repeatedly as long as the
sensor slides are to be moved.
Object Code Array
Data Type Signed32

Value Description
Sub-Index 00h
Description Number of sub-indexes
Object Class Mandatory
Access Ro
Value 1

Sub-Index 01h
Description Sensor slide positioning speed
Object Class Mandatory
Access Rw
PDO Mapping No
Unit mm/s
Value Range 1 … 120

54/67 ekr 500 digital Unit Touch – CANopen User Gateway

 Protocol 3100 4

4.2.2.19 Object 4aa0h: Sensor Positioner – Norming Mode

Index 4aa0h
Name Sensor positioner – Norming mode
Function Activating the automatic edge sensor norming
Object Code Var
Data Type Unsigned8

Value Description
Sub-Index 00h
Description Norming mode
Object Class Mandatory
Access Rw
PDO Mapping No
Unit —
Value Range 0: No norming
1: Bright/dark norming

4.2.2.20 Object 4aa1h: Sensor Positioner – Positioning Speed during Sensor Norming

Index 4aa1h
Name Sensor positioner -
Positioning speed during sensor norming
Function Setting the positioning speed of the sensor slides
during the automatic edge sensor norming
procedure
Object Code Var
Data Type Unsigned32

Value Description
Sub-Index 00h
Description Sensor slide positioning speed
Object Class Mandatory
Access Rw
PDO Mapping No
Unit mm/s
Value Range 1 … 120

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4.2.2.21 Object 4aa2h: Sensor Postioner – Positioning Speed during Edge Detection

Index 4aa2h
Name Sensor positioner –
Positioning speed during edge detection
Function Setting the positioning speed of the sensor slides
during the automatic edge detection procedure
Object Code Var
Data Type Unsigned32

Value Description
Sub-Index 00h
Description Sensor slide positioning speed
Object Class Mandatory
Access Rw
PDO Mapping No
Unit mm/s
Value Range 1 … 120

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4.2.2.22 Object 4aa3h: Sensor Positioner – Positioning Speed during Web Guiding
The value should only be changed in special cases, as
otherwise oscillations may occur in the control loop.

Index 4aa3h
Name Sensor positioner –
Positioning speed during web guiding
Function Setting the positioning speed of the sensor slides
during web guiding.
The value determines how fast the sensor slides
follow the web edge during the web guiding
process.
Object Code Var
Data Type Unsigned32

Value Description
Sub-Index 00h
Description Sensor slide positioning speed
Object Class Mandatory
Access Rw
PDO Mapping No
Unit mm/s
Value Range 1 … 120

4.2.2.23 Object 4aa4h: Sensor Positioner – Positioning Speed during Retraction

Index 4aa4h
Name Sensor positioner –
Positioning speed during retraction
Function Setting the positioning speed of the sensor slides
during the retracting process (moving to the park
position)
Object Code Var
Data Type Unsigned32

Value Description
Sub-Index 00h
Description Sensor slide positioning speed
Object Class Mandatory
Access Rw
PDO Mapping No
Unit mm/s
Value Range 1 … 120

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 4 Protocol 3100

4.2.2.24 Object 4ac0h: Wide Array Edge Sensor – Setpoint Transfer, Generally

Index 4ac1h
Name Wide array edge sensor –
Setpoint transfer, generally
Function Activating the general setpoint transfer for wide
array edge sensors
Object Code Var
Data Type Unsigned8

Value Description
Sub-Index 00h
Description Activation of the general setpoint transfer
Object Class Mandatory
Access Rw
PDO Mapping No
Unit —
Value Range 0: Setpoint transfer disabled
1: Setpoint transfer enabled

4.2.2.25 Object 4ac1h: Wide Array Edge Sensor – Setpoint Transfer Edge 1

Index 4ac1h
Name Wide array edge sensor –
Setpoint transfer edge 1
Function Activating the setpoint transfer for web edge
guiding (guiding to edge 1).
The current web edge position is taken over as
setpoint for edge 1.
Object Code Var
Data Type Unsigned8

Value Description
Sub-Index 00h
Description - Activation of the setpoint transfer for edge 1
Object Class Mandatory
Access Rw
PDO Mapping No
Unit —
Value Range 0: Setpoint transfer disabled
1: Setpoint transfer enabled

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4.2.2.26 Object 4ac2h: Wide Array Edge Sensor – Setpoint Transfer Edge 2

Index 4ac1h
Name Wide array edge sensor –
Setpoint transfer edge 2
Function Activating the setpoint transfer for web edge
guiding (guiding to edge 2).
The current web edge position is taken over as
setpoint for edge 2.
Object Code Var
Data Type Unsigned8

Value Description
Sub-Index 00h
Description - Activation of the setpoint transfer for edge 2
Object Class Mandatory
Access Rw
PDO Mapping Non
Unit —
Value Range 0: Setpoint transfer disabled
1: Setpoint transfer enabled

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4.2.2.27 Object 4ac3h: Wide Array Edge Sensor – Setpoint Transfer Center 1&2

Index 4ac3h
Name Wide array edge sensor –
Setpoint transfer Center 1&2
Function Activating the setpoint transfer for web center-
line guiding (guiding to center 1&2).
The current web edge positions are taken over
as setpoints for web center-line guiding.
Object Code Var
Data Type Unsigned32

Value Description
Sub-Index 00h
Description - Activation of the setpoint transfer
for center 1&2
Object Class Mandatory
Access Rw
PDO Mapping No
Unit —
Value Range 0: Setpoint transfer disabled
1: Setpoint transfer enabled

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4.2.2.28 Object 4ad1h: Sensor Positioner – Position Offsets

With the position offset, you can create a reference system with
an absolute reference point for the position of the sensor slides.
This reference point can be a distinctive point on the machine
(e.g. machine wall or center of the machine). As an alternative,
you can also use the park position of a sensor slide or the middle
of the sensor positioner as reference point. The set offset value
(position offset) is added to the current position of the sensor
slide in the controller and then results in the absolute distance to
the reference point selected.
The procedure for adjusting the position offsets is described in the
installation and commissioning manual of the ekr 500 digital Unit
Touch controller (document number MD.497).
Index 4ad1h
Name Sensor positioner – Position offsets
Function Setting the position offsets for the sensor slides
Object Code Array
Data Type Signed32

Value Description
Sub-Index 00h
Description Number of sub-indexes
Object Class Mandatory
Access Ro
Value 2

Sub-Index 01h
Description Position offset sensor slide 1
Object Class Mandatory
Access Rw
PDO Mapping Non
Unit µm
Value Range Depending on the application

Sub-Index 02h
Description Position offset sensor slide 2
Object Class Mandatory
Access Rw
PDO Mapping No
Unit µm
Value Range Depending on the application

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4.2.2.29 Object 6401h: Analogue Input Values

Index 6401h
Name Analogue input values
Function Reading the standardized values of the analogue
controller inputs
Object Code Array
Data Type Signed16

Value Description
Sub-Index 00h
Description Number of sub-indexes
Object Class Mandatory
Access Ro
Value 23

Sub-Index 01h
Description Reserved

Sub-Index 02h
Description Input value of the servo center transducer (SC)
Object Class Mandatory
Access Ro
PDO Mapping No
Unit Digits
Value Range ±2,047

Sub-Index 03h … 23h
Description Reserved

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4.2.3 Examples for the Application of the Service Data Objects

4.2.3.1 Example 1: Changing the Operating Mode and Guiding Mode

The controller is to be switched to operating mode Automatic ( )
and guiding mode Web Edge Guiding – Edge 1 ( ).
The operating mode and the guiding mode are set via the object
3101h (see Object 3101h: Operating Mode and Guiding Mode,
page 33).
Object Data Type Bit Number Meaning Data Description Value
0
Special Operating
… Not used (always 0) 0h
Mode
3
0h: No change
1h: Reserved
2h: Reserved
4
… Operating Mode 3h: - Manual mode 4h
7 4h: - Automatic mode
5h: - Center positioning
6h: Reserved
3101h Unsigned16 0h: No change
1h: - Guiding to edge 1
2h: - Guiding to edge 2
8 3h: - Line/contrast guiding
… Guiding Mode 1h
11 4h: Reserved
5h: - Web center-line guiding
6h: - Watchdog edge 1
7h: - Watchdog edge 2
12
… Reserved Not used (always 0) 0h
15
The value 0140h must be written to object 3101h.
The operating mode and guiding mode setting can be checked in
the status word (object 3103h, see Object 3103h: Controller
Operating Status, page 35) or directly on the controller.

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4.2.3.2 Example 2: Changing the Operating Mode

The controller is to be switched to operating mode Manual Mode
( ). The guiding mode setting is not to be changed.
The operating mode and the guiding mode are set via the object
3101h (see Object 3101h: Operating Mode and Guiding Mode,
page 33).
Object Data Type Bit Number Meaning Data Description Value
0
Special Operating
… Not used (always 0) 0h
Mode
3
0h: No change
1h: Reserved
2h: Reserved
4
… Operating Mode 3h: - Manual mode 3h
7 4h: - Automatic mode
5h: - Center positioning
6h: Reserved
3101h Unsigned16 0h: No change
1h: - Guiding to edge 1
2h: - Guiding to edge 2
8 3h: - Line/contrast guiding
… Guiding Mode 0h
11 4h: Reserved
5h: - Web center-line guiding
6h: - Watchdog edge 1
7h: - Watchdog edge 2
12
… Reserved Not used (always 0) 0h
15
The value 0030h must be written to object 3101h.
The operating mode and guiding mode setting can be checked in
the status word (object 3103h, see Object 3103h: Controller
Operating Status, page 35) or directly on the controller.

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4.2.3.3 Example 3: Setting the Controller Gain

The controller gain for the guiding mode Web Edge Guiding –
Edge 1 ( ) is to be set to the value 4.0.
The controller gain is set either via the object 3450h (Float) or via
the object object 3460h (Integer*100).

Object Data Type Meaning Sub-Index Data Description Value

00h Number of sub-indexes
Controller gain for web edge guiding –
01h 4
edge 1
Controller gain for web edge guiding –
Controller Gain 02h
3450h Float edge 2
(Float)
03h Controller gain for line/contrast guiding
04h Servo center transducer gain
05h Reserved
06h Controller gain for web center-line guiding
The value 4 must be written to object 3450h, Sub-Index 01h.

Object Data Type Meaning Sub-Index Data Description Value

00h Number of sub-indexes
4.0 x 100
Controller gain for web edge guiding – = 400
01h
edge 1
(190h)
Controller Gain Controller gain for web edge guiding –
3460h Unsigned16 02h
(Integer*100) edge 2
03h Controller gain for line/contrast guiding
04h Servo center transducer gain
05h Reserved
06h Controller gain for web center-line guiding
The value 400 (190h) must be written to object 3460h, Sub-Index
01h.

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 Index

Index

B S
Baud rate ........................................................ 14 SDO
Setting............................................................  20 Data types used .............................................  12
Structure ........................................................  12
C SDO access................................................ 11, 13
SDOs..............................................  10, 11, 13, 25
CAN bus cable Overview........................................................  25
Length ............................................................  14 Service data objects......................  10, 11, 13, 25
CAN bus interface Application examples.....................................  63
Configuring.....................................................  18 Data types used .............................................  12
CANopen Object 1001h: Error register ..........................  29
Communication profile ....................................  8 Object 3010h: Digital Sensor Status...............  30
Fundamentals ..................................................  8 Object 3012h: Controller Error Bits ...............  32
CANopen user-gateway Object 3101h: Operating Mode and Guiding
Utilisation.........................................................  8 Mode ........................................................  33
Commissioning ......................................... 18, 19 Object 3102h: Activation of the Oscillation ...  34
Communication objects.................................. 10 Object 3103h: Controller Operating Status ...  35
Object 3107: Basic Oscillation Settings ..........  37
Communication protocol................................ 14 Object 3130h: Sensor Source.........................  45
Protocol 3100.................................................  24 Object 314ah: Setpoint Adjustment, Relatively
Selecting.........................................................  21 ..................................................................  39
Connector socket X101 Object 3150h: Web Width Measurement .....  46
Contact assignment .......................................  16 Object 31a1h: Setpoint Adjustment, Absolutely
..................................................................  41
E Object 31a3h: Current Edge Position (32 Bit)   43
Object 31a7h: Current Edge Position (24 Bit)   44
EDS file Object 3450h: Controller Gain (Float)............  48
Loading...........................................................  23 Object 3460h: Controller Gain (Integer*100)   50
Object 4302h: Sensor Positioner – Pre-Position-
ing .............................................................  53
G Object 4303h: Sensor Positioner – Positioning
Galvanic separation Speed........................................................  54
Activating .......................................................  19 Object 4aa0h: Sensor Positioner – Norming
Mode ........................................................  55
Object 4aa1h: Sensor Positioner – Positioning
O Speed during Sensor Norming..................  55
Object dictionary .............................................. 9 Object 4aa2h: Sensor Positioner – Positioning
Operating manual Speed during Edge Detection ...................  56
Distribution ......................................................  4 Object 4aa3h: Sensor Positioner – Positioning
Latest version...................................................  6 Speed during Web Guiding.......................  57
Storage.............................................................  4 Object 4aa4h: Sensor Positioner – Positioning
Speed during Retraction...........................  57
Object 4ac0h: Wide Array Edge Sensor – Set-
P point Transfer, Generally..........................  58
PDO Object 4ac1h: Wide Array Edge Sensor – Set-
Mapping.........................................................  13 point Transfer Edge 1 ...............................  58
Object 4ac2h: Wide Array Edge Sensor – Set-
PDOs ......................................................... 10, 24
point Transfer Edge 2 ...............................  59
Process data objects ................................. 10, 24 Object 4ac3h: Wide Array Edge Sensor – Set-
Mapping.........................................................  13 point Transfer Center 1&2........................  60
Object descriptions ........................................  24 Object 4ad1h: Sensor Positioner – Position Off-
TxPDO1 ..........................................................  24 sets ...........................................................  61
TxPDO2 ..........................................................  24 Object 6401h: Analogue Input Values ...........  62
TxPDO3 ..........................................................  24 Objekt4301h: Sensor Positioner – Operating
Protocol 3100 ................................................. 24 Status........................................................  52

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 Index

Overview........................................................  25
Structure ........................................................  12

T
Target group ..................................................... 4
TxPDO1 ........................................................... 24
TxPDO2 ........................................................... 24
TxPDO3 ........................................................... 24

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