Type PC6D Digital Load Cell

Technical Manual

Document no. G142-Rev1.6-GB

Flintec GmbH
Bemannsbruch 9
74909 Meckesheim
GERMANY
Page 2 Manual PC6D CANopen
Contents
Part A: CANopen .................................................................................... pages 4 - 24

Part B: Commands ................................................................................. pages 25 - 45

PART A................................................................................................................................. 5
1 INTRODUCTION............................................................................................................ 5
1.1 IDENTIFICATION AND SCOPE ..................................................................................... 5
1.2 PURPOSE ................................................................................................................. 5
1.3 ACRONYMS AND DEFINITIONS ................................................................................... 5
1.3.1 Acronyms........................................................................................................ 5
2 SYSTEM DETAILED DESIGN..................................................................................... 6
2.1 GENERAL ................................................................................................................. 6
2.2 CANOPEN ................................................................................................................ 7
3 CANOPEN PROFILE................................................................................................... 8
3.1 THE PDOS ............................................................................................................... 8
3.2 NETWORK MANAGEMENT .......................................................................................... 9
3.3 COMMUNICATION PROFILE ...................................................................................... 10
3.4 OBJECT DIRECTORY ............................................................................................... 10
3.5 QUICK START GUIDE .............................................................................................. 22
3.5.1 Process data objects .................................................................................... 22
3.5.2 Service data objects ..................................................................................... 23
4 NOTES ........................................................................................................................ 24
4.1 FIRMWARE UPDATE (VIA CANOPEN) ....................................................................... 24
4.2 FIRMWARE UPDATE (VIA PC) .................................................................................. 24

Manual PC6D CANopen Page 3

PART B............................................................................................................................... 25
5 COMMANDS................................................................................................................ 25
5.1 SYSTEM DIAGNOSIS COMMANDS – ID, IV, IS .......................................................... 26
5.2 CALIBRATION COMMANDS – CE, CM, DS, DP, CZ, CG, ZT, FD, CS ...................... 27
5.3 MOTION DETECTION COMMANDS – NR, NT ............................................................. 30
5.4 FILTER SETTING COMMANDS – FM, FL, UR ............................................................ 31
5.5 SET ZERO/TARE AND RESET ZERO/TARE COMMANDS – SZ, RZ, ST, RT................. 33
5.6 OUTPUT COMMANDS – GG, GN, GT, GS ............................................................... 35
5.7 SETPOINT COMMANDS - SN, HN, AN ....................................................................... 36
5.8 COMMUNICATION SETUP COMMANDS – AD, BR, TERMINAL RESISTOR ..................... 38
5.9 TRIGGER COMMANDS – SD, MT, GA, TE, TR, TL .................................................. 39
5.10 TRIGGER SPECIAL COMMANDS– RW, TT, TS, DT, TW, TI, HT ............................... 42
5.11 SAVE CALIBRATION, SETUP & SETPOINT PARAMETERS COMMANDS – CS, WP, SS ... 45

Page 4 Manual PC6D CANopen

Part A

1 Introduction

1.1 Identification and Scope

This document describes the system design for a CANopen interface of the PC6D. It
describes the protocol used and the CAN open profile used to access the PC6D

1.2 Purpose

The purpose of this document is to specify the functionality, and performance of the PC6D
CANopen interface.

1.3 Acronyms and Definitions

1.3.1 Acronyms

This section includes a list of all abbreviations and acronyms used throughout the document
in alphabetical order.

CAN Controller Area Network

CANopen A higher layer protocol using the CAN.
Function A software entity that encapsulates some computations and can be used
without worrying about its implementation
NMT Network Management Protocol
PDO Process Data Object
Process A software entity that executes a computational entity, including modules
and functions.
RPDO Receive PDO
SDO Service Data Object
TPDO Transmit PDO

Manual PC6D CANopen Page 5

2 System Detailed Design

2.1 General

This software connects a physical load cell to a CANopen network. The PC6D digitizes, filters
and processes the analog inputs. It transports commands, responses and results from and to
the CANbus.

CANopen
Network
Load Cell Sensor
&
Power

Microcomputer Analog Amplifiers

& &
CAN interface A/D converter

Figure 1- The PC6D Load-Cell

Page 6 Manual PC6D CANopen

2.2 CANopen

The PC6D follows the CAN2.0B recommendation. It receives both 11-bit identifiers, and
tolerates 29-bit identifiers. It only transmits 11-bit identifiers.

The PC6D is always quiet on the CANbus until the NMT Start command is received, except
for the very first ‘node guard’ message.

When started, the TPDO1 is used to send current status information. The TPDO1 holds the
module status and either net or gross weight, depending on the SDO selection. The default is
the Net value.

The TDPO2 is used for reporting ‘on-demand’ average measurements and reporting set-point
events.

The TDPO3 is used for reporting change in the Tare value.

In case of an overrun, error or failure an EMERGENCY message is sent to the CAN controller
indicating the nature of the error or failure.

EMERGENCY messages are transmitted when the CAN controller tries to set up a module
not present, or not functioning, when a module fails to answer the normal backplane scan and
when a module comes back online.

The RPDO1 can be used to set/reset Zero and Tare, and for quick selection of the Net weight
(default) or Gross weight as the data contained in TPDO1.

The RPDO2 can be used to send software triggers to start average measurements.

RPDO3 and RPDO4 are ignored by the PC6D.

SDOs are handled according to profile and CANopen recommendation.

The NMT protocol will use the ‘node guarding’ method.

The “SDO Block Download Protocol” may be implemented later.

Manual PC6D CANopen Page 7

3 CANopen profile

3.1 The PDOs

The weight and status is sent constantly to the CANbus. The TPDO1 is sent 20 times per
second. The TPDO2 is sent every time the PC6D finishes a triggered measurement or a Set-
Point is crossed. The TPDO3 is sent every time the Tare value is changed.

The format of the TPDO1, TPDO2 and TPDO3 is:

32 bit 16 Bit 8 bits 8 Bit
Weight Module Status Source Unused, zero

The first field is carrying weight information Gross or Net value if it is a TDPO1, Average
or Set-Point weight if it is a TPDO2.
Tare value if TPDO3.

Then module state follows as a 16 bit field width the following values:
$0001 - Under range
$0002 - Over range
$0004 - Not within Zero range (not yet implemented, zero)
$0008 - Exactly zero
$0010 - No motion, still stand, steady state
$0020 - Tare set
$0040 - Preset tare (0=tare is measured, 1=tare is set by user)
$0080 - Invalid weighing (wire-break, A/D ref. out of range)
$0100 - Set-point 1 (source>limit)
$0200 - Set-point 2
$0400 - Set-point 3
$0800 - Set-point 4
$1000 - Unused, zero
$2000 - Unused, zero
$4000 - Unused, zero
$8000 - Cold start

Source is zero in TPDO1 and TPDO3, and has the following meaning in TPDO2:
0 – (zero) Average result
1 – Setpoint 1 crossed
2 – Setpoint 2 crossed
3 – Setpoint 3 crossed
4 – Setpoint 4 crossed

Page 8 Manual PC6D CANopen

The format of the RPDO1 and RPDO2 is:
8 Bit 8 Bit
LDM select Command byte

Note: On PC6D the LDM selector byte is ignored.

The command byte of RPDO1 is used as follows:

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Cmd: SnG SnN RZ SZ RT ST

Where
- SnG means select Gross Weight
- SnN means select Net Weight
- ST means Set Tare
- RT means Reset (Clear) Tare
- SZ means Set Zero
- RZ means Reset (Clear) Zero

The command byte of RPDO2 is used as follows:

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Cmd: TR TS

Where
- TR is a software trigger that starts an average measurement.
- TS Trigger Stop; stop triggered measurement(s).

3.2 Network management

The PC6D implements the Network Management protocol with the node guarding protocol.

The PC6D also implements an address setup feature. The network controller may change a
PC6D node address using COB-ID = 0.
The frame must be sent while the PC6D is in its PRE-OPERATIONAL state and it must have
the following contents:
8 bits 8 Bit 48 bit (12 BCD digits)
Hex: 55 New CAN-ID BCD coded serial number

The serial number must be BCD coded and right-justified with as many leading zeros as
needed to make 12 BCD digits.

All PC6D on the CANbus will receive the message, but only the PC6D with the serial number
given will react to, and echo the frame with 55h changed to AAh. The PC6D will save the new
setting immediately and then restart itself.

Manual PC6D CANopen Page 9

3.3 Communication Profile

The parameters which are critical for communication are determined in the communication
profile.

This includes the data for manufacturer's product nomenclature, for identification, or the
parameters for object mapping.

Abbreviations used in Tables:

ro read only

rw read / write
write only
wo
(read will not be regarded as an error, but returns undefined results)
UI8 Unsigned8

UI16 Unsigned16

UI32 Unsigned32

I32 Signed32

REAL32 32 bit IEEE754 floating point

VS Visible String

3.4 Object Directory

The object directory of the CANbus communication module is described below:

Page 10 Manual PC6D CANopen

Communication Profile (Tables)
Index Sub- Name Type Attri- Default- Meaning
index bute value
1000 0 Device Type UI32 ro 00040191H Device Type
<TBD>
1001 0 Error Register UI8 ro 0 0: No error
Bit 0: General error in Gateway Module
Bit 4: Error in CAN communication module
Bit 7: Manufacturer-specific error

1005 0 COB-ID Sync messg. UI32 rw 80H COB-ID of the SYNC object

1006 0 Communication cycle UI32 rw 50000 Minimum interval between TDPO1 (default 20Hz).
Period Min=833 (1200Hz rate).
100C 0 Guard Time UI16 rw 320 Cycle time in ms, set by the NMT Master or the configuration tool.
100D 0 Life Time Factor UI8 rw 3 Wait time is set by the NMT Master or the configuration tool.
100E 0 Node guarding UI32 rw 0x700 + Node guarding identifier
identifier NodeID
1014 0 COB-ID Emergency UI32 rw 80H + COB-ID of the Emergency Object
Message NodeID
1017 0 Heartbeat Time UI16 rw 0 Producer Heartbeat time. If index 1017h is nonzero Heartbeat is
used, else Node-guard protocol is used.
1018 0 Identity Object UI8 ro 4 Number of entries
1 Vendor ID UI32 ro Vendor ID
2 Product Code UI32 ro Product Code
3 Revision Number UI32 ro Revision Number
4 Serial Number UI32 ro Serial Number
1400 0 Number of elements UI8 ro 2 Communication parameters of 1st Receive PDO
1 COB-ID UI32 ro 80000200H Determined using the CANopen minimum system ID assignment
+ NodeID procedure.
2 Transmission type UI8 ro FFH Asynchronous communication.
1401 0 Number of elements UI8 ro 2 Communication parameters of 2nd Receive PDO
1 COB-ID UI32 ro 80000300H Determined using the CANopen minimum system ID assignment
+ NodeID procedure.
2 Transmission type UI8 ro FFH Asynchronous communication.

Manual PC6D CANopen Page 11

Index Sub- Name Type Attri- Default- Meaning
index bute value
1401 0 Number of elements UI8 ro 2 Communication parameters of 2nd Receive PDO
1 COB-ID UI32 ro 80000300H Determined using the CANopen minimum system ID assignment
+ NodeID procedure.
2 Transmission type UI8 ro FFH Asynchronous communication.
1402 0 Number of elements UI8 ro 2 Communication parameters of 3rd Receive PDO
1 COB-ID UI32 ro 400H + Determined using the CANopen minimum system ID assignment
NodeID procedure.
2 Transmission type UI8 ro FFH Asynchronous communication.
1403 0 Number of elements UI8 ro 2 Communication parameters of 4th Receive PDO
1 COB-ID UI32 ro 80000500H Determined using the CANopen minimum system ID assignment
+ NodeID procedure.
2 Transmission type UI8 ro FFH Asynchronous communication.
1600 0 Entries in Rx PDO 1 UI8 ro 1 Mapping parameters of the 1st Receive-PDO
1 1st Object Cmd. Byte UI32 ro 20060108 1st Object is ignored by the PC6D.
2nd Object Cmd. Byte UI32 ro 20060308 2nd Object is a bitwise command:
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Cmd: SnG SnN RZ SZ RT ST

1601 0 Entries in Rx PDO 2 UI8 ro 1 Mapping parameters of the 2nd Receive-PDO

1 1st Object LDM# UI32 ro 20060108 1st Object is ignored by the PC6D.
2nd Object Cmd. Byte. UI32 ro 20060408 2nd Object is a bitwise command:
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Cmd: TR TS

1602 0 Number of mapped UI8 ro 0 Mapping parameters of the 3rd Receive- PDO (disabled)
Entries in Rx PDO 3

1603 0 Number of mapped UI8 ro 0 Mapping parameters of the 4th Receive-PDO (disabled)
Entries in Rx PDO 4

Manual PC6D CANopen Page 12

Index Sub- Name Type Attri- Default- Meaning
index bute value
1800 0 Number of elements UI8 ro 3 Communication parameters of 1st Transmit PDO
1 COB-ID UI32 rw 180H + Determined using the CANopen minimum system ID assignment
NodeID procedure.
2 Transmission type UI8 rw FFH Asynchronous communication.
3 Inhibit Time UI16 rw 10 Transmit inhibit time of PDO in 100 μs steps. A repeated
transmission of the PDO is prevented within the defined interval of
the inhibit time.
Cyclic sending of PDO value (default 20 times / sec.)

1801 0 Number of elements UI8 ro 3 Communication parameters of 2nd Transmit PDO

1 COB-ID UI32 rw 280H + Determined using the CANopen minimum system ID assignment
NodeID procedure.
2 Transmission type UI8 rw FFH Asynchronous communication.
3 Inhibit Time UI16 rw 10 Transmit inhibit time of PDO in 100 μs steps. A repeated
transmission of the PDO is prevented within the defined interval of
the inhibit time.
Event based sending of PDO value (when a dosed value is present)

1802 0 Number of elements UI8 ro 3 Communication parameters of 3rd Transmit PDO

1 COB-ID UI32 rw 380H + Determined using the CANopen minimum system ID assignment
NodeID procedure.
2 Transmission type UI8 rw FFH Asynchronous communication.
3 Inhibit Time UI16 rw 10 Transmit inhibit time of PDO in 100 μs steps. A repeated
transmission of the PDO is prevented within the defined interval of
the inhibit time.
Event based sending of PDO value (when Rx PDO 3 has been
processed by the system)
1803 0 Number of elements UI8 ro 3 Communication parameters of 4th Transmit PDO
1 COB-ID UI32 ro 80000480H Determined using the CANopen minimum system ID assignment
+ NodeID procedure.
2 Transmission type UI8 ro FFH Asynchronous communication.
3 Inhibit Time UI16 ro 10 Transmit inhibit time of PDO in 100 μs steps.
(not used, will not be transmitted)

Manual PC6D CANopen Page 13

Index Sub- Name Type Attri- Default- Meaning
index bute value
1A00 0 Number of mapped UI8 ro 4 Mapping parameters of the 1st Transmit-PDO
Entries in Tx PDO 1
1 1st Object UI32 ro 20010220H 32 bit Integer (default) or float weight value.
2 2nd Object UI32 ro 20020110H Module Status
3 3rd Object UI32 ro 20020208H -*Module ID [0...63]. The current module scanned.
4 4th Object UI32 ro 20020308H -*Gateway Status
-*these fields reads 0 (zero) on PC6D

1A01 0 Number of mapped UI8 ro 4 Mapping parameters of the 2nd Transmit-PDO

Entries in Tx PDO 2
1 1st Object UI32 ro 20010420H 32 bit Integer (default) or float weight value.
2 2nd Object UI32 ro 20020110H Module Status
3 3rd Object UI32 ro 20020208H Data source (0=average,1..4 = set-points).
4 4th Object UI32 ro 20020308H -*Gateway Status
-*this field reads 0 (zero) on PC6D

1A02 0 Number of mapped UI8 ro 2 Mapping parameters of the 3rd Transmit- PDO
Entries in Tx PDO 3
1st Object UI32 ro 20010320H 32 bit Integer (default) or float tare value.
2nd Object UI32 ro 20020110H Module Status

1A03 0 Number of mapped UI8 ro 0 Mapping parameters of the 4th Transmit-PDO (disabled)
Entries in Tx PDO 4

Manual PC6D CANopen Page 14

Index Sub- Name Type Attri- Default- Meaning
index bute value
2000 0 Number of entries UI8 ro 6 Number of entries in command input array.
1 Gross weight REAL32 ro Weight values as 32 bit IEEE754 floating point.
2 Net Weight REAL32 ro
3 Tare REAL32 ro
4 Dosed weight REAL32 ro Dosed values always read 0 (zero) on PC6D
5 Dosed tare REAL32 ro
6 Average weight REAL32 ro

2001 0 Number of entries UI8 ro 11 Number of entries in info array.

1 Gross weight I32 ro Weight and info values as 32 bit signed integer
2 Net Weight I32 ro
3 Tare I32 ro
4 Dosed weight I32 ro Dosed values always read 0 (zero) on PC6D
5 Dosed tare I32 ro
6 Average weight I32 ro
7 A/D sample I32 ro
8 H&B Device ID I32 ro
9 H&B FW Version I32 ro
A Device Status I32 ro
B ADC Reference I32 ro

2002 0 Number of entries UI8 ro 4 Number of objects in the dosed result.

1 1st Object UI16 ro Module Status
2 2nd Object UI8 ro Data source (0=average,1..4=setpoints).
3 3rd Object UI8 ro -*Gateway Status
-*this field reads 0 (zero) on PC6D

2003 0 Number of entries UI8 ro 16 Number of bytes in hardware identification array.

1..16 Hardware ID bytes UI8 ro

Manual PC6D CANopen Page 15

Index Sub- Name Type Attri- Default- Meaning
index bute value
2004 0 Number of entries. UI8 ro 5 Number of parameters.
Save: Save settings;
1 Analog output UI8 wo save analog output parameters (not PC6D),
2 Calibration UI8 wo save calibration settings,
3 General set-up UI8 wo save general set-up parameters,
4 Dosing parameters UI8 wo save dosing setup parameters (not PC6D),
5 Set-points UI8 wo save set-point parameters.

2006 0 Number of entries UI8 ro 4 Index 2006 is only for mapping reference (do not access).
1 LDM select [0..63] UI8 wo
2 Factory Default UI8 wo Restores the factory defaults, if the TAC is enabled.
3 Direct command 1 UI8 wo Direct bitwise command byte 1 to LDM
4 Direct command 2 UI8 wo Direct bitwise command byte 2 to LDM

Commands bits are:

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Byte1 SnG SnN ST RT SZ RZ
Byte2 TR TS

Sng,SnN: select Gross or Net in PDO1(tx),

ST,RT: Set/Reset Tare,
SZ,RZ: Set/Reset Zero,
TR: Software trigger,
TS: Trigger Stop.

2007 0 Number of entries UI8 ro 2 Number of parameters

1 PC6D Bps UI8 rw 2 Bits/second: 1=1Mbit, 2=500Kb, 3=250Kb, 4=125Kb, 5=50Kb.
2 PC6D Address UI8 rw 1 CANopen network address 1 … 126.
3 PC6D Bus Config UI8 rw 1 CANopen configuration: 1=Terminal Resistor ON, 0=Term.Res. OFF
These values are saved to EEPROM when a write occurs to index
2004sub3 (General setup), and takes effect after next power-on.

Manual PC6D CANopen Page 16

Index Sub- Name Type Attri- Default- Meaning
index bute value
2100 0 Number of entries. UI8 ro 19 Number of parameters.
1 1st Parameter I32 rw -*Analog source
2 2nd Parameter I32 rw -*Analog high
3 3rd Parameter I32 rw -*Analog low
4 4th Parameter I32 rw Filter setting
5 5th Parameter I32 rw -*Filter Factor
6 6th Parameter I32 rw -*Digital Outputs
7 7th Parameter I32 rw -*Digital Inputs
8 8th Parameter I32 rw Measuring Time
9 9th Parameter I32 rw Filter mode
A 10th Parameter I32 rw No-motion range
B 11th Parameter I32 rw No-motion time
C 12th Parameter I32 rw -*Digital outputs mask
D 13th Parameter I32 rw Tare
E 14th Parameter I32 rw Start Delay
F 15th Parameter I32 rw Trigger Edge
10 16th Parameter I32 rw Trigger Level
11 17th Parameter I32 rw Update rate
12 18th Parameter I32 rw Zero track (TAC protected)
13 19th Parameter I32 rw Δ Time

-*not implemented on PC6D

Manual PC6D CANopen Page 17

Index Sub- Name Type Attri- Default- Meaning
index bute value
2300 0 Number of entries. UI8 ro 12 Number of calibration parameters.
1 Absolute gain I32 rw -*Absolute gain calibrate (TAC protected)
2 Absolute zero I32 rw -*Absolute zero calibrate (TAC protected)
3 Calibrate enable I32 rw Calibrate enable (enables TAC when the TAC is written)
4 Calibrate gain I32 rw Calibrate gain (TAC protected)
5 Set calibration point B I32 rw -*Set calibration point B
6 Set calibration point A I32 rw -*Set calibration point A
7 Calibrate max I32 rw Calibrate max (TAC protected)
8 Calibrate min I32 rw Calibrate min (TAC protected)
9 Calibrate save I32 rw Calibrate save (TAC protected)
A Calibrate zero I32 rw Calibrate zero (TAC protected)
B Decimal point I32 rw Decimal point (TAC protected)
C Display step size I32 rw -*Display step size (TAC protect)
D Local gravity I32 rw Adjust calibration of zero and gain according to new entered gravity
vs. gravity of factory calibration. Remark: Proceeding factory default
(2006 sub 2) changes local gravity back to factory calibration.

-*not implemented on PC6D

2500 0 Number of entries. UI8 ro 8 Number of Check-Weigher parameters
1 Trigger Level I32 rw Trigger Level
2 Trigger Egde I32 rw Trigger Egde
3 ReTrigWindow I32 rw ReTrigWindow
4 ReTrigTime I32 rw ReTrigTime
5 HoldTime I32 rw HoldTime
6 TareWindow I32 rw TareWindow
7 TareTime I32 rw TareTime
8 ReTrigStop I32 rw ReTrigStop

Manual PC6D CANopen Page 18

Index Sub- Name Type Attri- Default- Meaning
index bute value
2600 0 Number of entries. UI8 ro 4 Number of Set-point parameters.
1 Set-point 1 I32 rw Set-point 1 value
2 Set-point 2 I32 rw Set-point 2 value
3 Set-point 3 I32 rw Set-point 3 value
4 Set-point 4 I32 rw Set-point 4 value

2700 0 Number of entries. UI8 ro 4 Number of Set-point parameters.

1 Set-point 1 I32 rw Set-point 1 hysteresis
2 Set-point 2 I32 rw Set-point 2 hysteresis
3 Set-point 3 I32 rw Set-point 3 hysteresis
4 Set-point 4 I32 rw Set-point 4 hysteresis

2800 0 Number of entries. UI8 ro 4 Number of Set-point parameters.

1 Set-point 1 UI8 rw Set-point 1 source
2 Set-point 2 UI8 rw Set-point 2 source
3 Set-point 3 UI8 rw Set-point 3 source
4 Set-point 4 UI8 rw Set-point 4 source

Manual PC6D CANopen Page 19

Index Sub- Name Type Attri- Default- Meaning
index bute value
2900 0 Number of entries UI8 ro 11 Number of entries in info array.
1 Gross weight I32 ro Weight and info values as 32 bit signed integer
2 Net Weight I32 ro
3 Tare I32 ro
4 Dosed weight I32 ro
5 Dosed tare I32 ro
6 Average weight I32 ro
7 A/D sample I32 ro
8 Device ID I32 ro
9 Firmware Version I32 ro
10 Device Status I32 ro
11 ADC Reference I32 ro

Manual PC6D CANopen Page 20

Index Sub- Name Type Attri- Default- Meaning
index bute value
6401 0 Number of entries UI8 ro 6 Number of entries in the 16 bit analog input module
1 Gross weight I16 ro These entries are mandatory according to DS401. They are the same
2 Net Weight I16 ro as for index 6402, but shifted 8 bits to the right (value/256).
3 Tare I16 ro
4 Dosed weight I16 ro Dosed values always read 0 (zero) on PC6D
5 Dosed tare I16 ro
6 Average weight I16 ro

6402 0 Number of entries UI8 ro 7 Number of entries in the 32 bit analog input module
1 Gross weight I32 ro These values are the internal long integer representation of the
2 Net Weight I32 ro weight (the integer values are multiplied by 10^dp [2300sub0B]).
3 Tare I32 ro Index 6402 is a sub-set of index 2001.
4 Dosed weight I32 ro
5 Dosed tare I32 ro Dosed values always read 0 (zero) on PC6D
6 Average weight I32 ro
7 A/D sample I32 ro

6403 0 Number of entries UI8 ro 6 Number of entries in the float analog input module
1 Gross weight REAL32 ro These values are the floating-point representation of the weight as
2 Net Weight REAL32 ro they are transmitted in the PDO1(tx).
3 Tare REAL32 ro Index 6403 is a replica of index 2000.
4 Dosed weight REAL32 ro
5 Dosed tare REAL32 ro Dosed values always read 0 (zero) on PC6D
6 Average weight REAL32 ro

Manual PC6D CANopen Page 21

3.5 Quick Start Guide
Notes:

• The PC6D is always quiet on the CANbus until the NMT Start command is received,
except for the very first ‘node guard’ message.
• Default setting for PC6D is CANopen address 1 @ 500 kbit/sec.

3.5.1 Process data objects

TPDO1

Weight values are available at all times (see page 7 or 9)

The following table shows the information of TPDO1 (8 byte, firmware 102.183):
32 bit 16 Bit 8 Bit 8 Bit
Weight Module Status Module number Gateway State
Remark: special firmware (version 102.186) supporting 6 byte available on request
Weight Module Status 0 0

Default : net weight.

Refresh time: every 50 ms per channel, see note below.

Format: Floating point single precision (IEEE 754)

Note:
A timer is controlled by index 1006 which is a silence time after transmission of a TPDO1 in
which no further TPDO1 messages is sent regardless of the output rate from the ADC and
filter system. This timer only applies to TPDO1.
This means that the default filter setting FL=3, type IIR, UR=0 produces 1200 samples. But
the default value 50000 µs in index 1006 means that only every 60th sample is actually
transmitted, the 59 others are blocked by this timer.
On the other hand if you use a FIR filter with FL=8 you will only get a maximum of 150
measurements per second even if you try to set the index 1006 to 100 µs (10kHz). UR will
have the usual effect.

TPDO2

8 byte format as TPDO1, except the “Module Number” contains a code:

0 => Average weight (is available and refreshes when a new value is ready)
1=> Setpoint 1 crossed
2=> Setpoint 2 crossed
3=> Setpoint 3 crossed
4=> Setpoint 4 crossed

Page 22 Manual PC6D CANopen

TPDO3

8 byte format as TPDO1. It is sent every time the tare changes and value set is the new tare
value.
32 bit 16 Bit 8 Bit 8 Bit
Weight Module Status 0 0

RPDO1

The following commands can be executed direct (see Index 1600):
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Cmd: SG SN ST RT SZ RZ
128 64 08 04 02 01
Examples:
- Setting tare for channel 2: transmit RPDO1 [01 08]
- Setting gross weight in TPDO1 for channel 1: transmit RPDO1 [00 128]

RPDO2

The following commands can be executed direct (see Index 1601):
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Cmd: TR TS
128 01

Example:
- Setting trigger start for channel 5: transmit RPDO1 [04 128]

3.5.2 Service data objects

SDO’s

Are only available on request

See tables 3.3 Object Directory

Can be used for complete setup of the System MCS-64 via CANbus master, e.g.:
- Filter setting channel 1: Index 2100, Subindex 4
- Filter Mode setting channel 3: Index 2102, Subindex 9

Can be used to get information regarding all the commands available, e.g.:
- Net weight channel 1: Index 2900, Subindex 2
- AD sample channel 3: Index 2902, Subindex 7

Note: Index 2000 and 2001 refer to the CANbus standards (document DS 301, which is
available on request). Using Index 2000 and 2001 you will only get the weight information (no
channel info). Using Index 2900 – 293F you get the weight and channel information.

Manual PC6D CANopen Page 23

4 Notes

At PC6D you can download firmware updates:

• via CANopen or
• via PC.

4.1 Firmware Update (via CANopen)

This piece of firmware resides in Flash memory block 0 and 5. Its primary function is
to load new software versions to Flash blocks 1 … 4.

This is used to allow firmware update through the CANbus using a special protocol.
Please ask Flintec for the description.

4.2 Firmware Update (via PC)

For this purpose we have a special programmer software for an easy download of the
firmware. Additional you need a converter “RS232/CANbus” or “USB/CANbus”. We
recommend the a converter “USB/CANbus”.

For CANbus communication via PC (Win2000/XP) with USB-port you can use:

PCAN-USB-Adapter

Supplier: PEAK-System Technik GmbH, D-64293 Darmstadt

article no. IPEH-002021

www.peak-system.com / [email protected]

Page 24 Manual PC6D CANopen

Part B

5 COMMANDS
These pages describe the ASCII commands as they must be used e.g. by the DOP software.
At each command the equivalent CAN index and sub-index are given for reference.

For better clarity, all commands are divided into groups as described on the following pages.

PART B............................................................................................................................... 25
5 COMMANDS................................................................................................................ 25
5.1 SYSTEM DIAGNOSIS COMMANDS – ID, IV, IS .......................................................... 26
5.2 CALIBRATION COMMANDS – CE, CM, DS, DP, CZ, CG, ZT, FD, CS ...................... 27
5.3 MOTION DETECTION COMMANDS – NR, NT ............................................................. 30
5.4 FILTER SETTING COMMANDS – FM, FL, UR ............................................................ 31
5.5 SET ZERO/TARE AND RESET ZERO/TARE COMMANDS – SZ, RZ, ST, RT................. 33
5.6 OUTPUT COMMANDS – GG, GN, GT, GS ............................................................... 35
5.7 SETPOINT COMMANDS - SN, HN, AN ....................................................................... 36
5.8 COMMUNICATION SETUP COMMANDS – AD, BR, TERMINAL RESISTOR ..................... 38
5.9 TRIGGER COMMANDS – SD, MT, GA, TE, TR, TL .................................................. 39
5.10 TRIGGER SPECIAL COMMANDS– RW, TT, TS, DT, TW, TI, HT ............................... 42
5.11 SAVE CALIBRATION, SETUP & SETPOINT PARAMETERS COMMANDS – CS, WP, SS ... 45

Manual PC6D CANopen Page 25

5.1 System Diagnosis Commands – ID, IV, IS

Use these commands to get type, firmware version or device status of PC6D. These
commands are sent without parameters.

ID Request of device identity [ 2900sub08 ]

Master (PC / PLC) sends Devices responds

ID D:2010

The response to this request gives the actual identity of the active device. This is particularly
useful when trying to identify different device types on a bus.
IV Request of firmware version [ 2900sub09 ]
Master (PC / PLC) sends Device responds
IV V:0100

The response to this request gives the firmware version of the active device.

IS Request device status [ 2900sub0A ]

Master (PC / PLC) sends Device responds

IS S:067000 (example)

The response to this request comprises of two 3-digit decimal values, which can be
decoded according to the table below:

Leftmost 3-digit value: Rightmost 3-digit value:

1 Signal stable 1 (not used)
2 Zero action performed 2 (not used)
4 Tare active 4 (not used)
8 (not used) 4 (not used)
16 Setpoint 0 active 4 (not used)
32 Setpoint 1 active 4 (not used)
64 Setpoint 2 active 4 (not used)
128 Setpoint 3 active 4 (not used)

The example decodes the result S:067000 as follows:

Signal stable (no-motion) 1

Zero action 2
Output 2 active 64 (only as software value)

Total 67

Note: the bits that are not used are set to zero.

Page 26 Manual PC6D CANopen

5.2 Calibration Commands – CE, CM, DS, DP, CZ, CG, ZT, FD, CS
Note: TAC represents Traceable Access Code (calibration counter).
CE TAC counter reading [ 2300sub03 ]

With this command you get the TAC counter reading or you can enable a calibration
sequence.

Master (PC / PLC) sends Device responds Result

CE E+00017 (example) Request: TAC-counter CE 17
CE_17 OK Calibration sequence active

This command must be issued PRIOR to any attempt to set the calibration parameters
CZ, CG etc. In legal for trade applications the TAC counter can be used to check if critical
parameters have been changed without re-verification. After each calibration the TAC
counter increases by 1.

CM Set maximum output value [ 2300sub07 ]

This command is used for setup the maximum output value. Permitted values are
between 1…200000.

Master (PC / PLC) sends Device responds Result

CM M+30000 Request : CM = 30000
CE E+00017 (example) Request: TAC-counter CE 17
CE_17 OK Calibration sequence active
CM_50000 OK Setting: CM = 50000
This value will determine the point at which the output will change to “oooooo”, signifying
over-range.
Note: The range, in which a scale can be set to zero (SZ) or automatic zero tracking (ZT) is
active, is +/- 2% of CM value.
Factory default: CM = 99999.

DS Display step size [ 2300sub0C ]

This command allows the output to step up or down by a unit other than 1. Permitted
values are 1, 2, 5, 10, 20, 50, 100 and 200.

Master (PC / PLC) sends Device responds Result

DS S+00002 Request : display step size 2
CE E+00017 (example) Request: TAC-counter CE 17
CE_17 OK Calibration sequence active
DS_50 OK Setting: DS = 50

Manual PC6D CANopen Page 27

DP Set decimal point position [ 2300sub0B ]

This command allows the decimal point to be positioned anywhere between leftmost and
rightmost digits of the 5-digit output result. Position 0 means no decimal point.

Master (PC / PLC) sends Device responds Result

DP P+00002 Request : position of dec. point
CE E+00017 (example) Request: TAC-counter CE 17
CE_17 OK Calibration sequence active
DP_0 OK Setting: no decimal point

CZ Set calibration zero point [ 2300sub0A ]

This is the reference point for all weight calculations, and is subject to TAC control.

Master (PC / PLC) sends Device responds Result

CE E+00017 (example) Request: TAC-counter CE 17
CE_17 OK Calibration sequence active
CZ OK Zero point set
Factory default: approx. 0 mV/V input signal

CG Set calibration gain (span) value [ 2300sub04 ]

This is the reference point for calibration under load, and is subject to TAC control.
Permitted values are 1…250000.

Master (PC / PLC) sends Device responds Result

CG G+20000 Request : span 20000d
CE E+00017 (example) Request: TAC-counter CE 17
CE_17 OK Calibration sequence active
CG_50000 OK Setting: span 50000d

For calibration an input signal near the display maximum (CM) will give the best system
performance. The minimum calibration load of at least 20% is recommended.
Factory correct calibration default: 200000 d = 2.000 mV/V input signal = 20 kg

ZT Zero tracking [ 2100sub12 ]

This command enables or disables the zero tracking. Parameter = 0 disables the zero
tracking and parameter = 1 enables the zero tracking. Issuing the command without any
parameter returns the current ZT value.

Master (PC / PLC) sends Device responds Result

ZT Z:001 Request : ZT status (ON)
CE E+00017 (example) Request: TAC-counter CE 17
CE_17 OK Calibration sequence active
ZT_0 OK Setting: ZT = OFF

Page 28 Manual PC6D CANopen

Zero tracking will be performed only on results less than +/-0.5 d at a rate of 0.4 d/sec, where
d = display step size (see DS command). The zero can only be tracked to +/- 2% of maximum
(see CM command).
Factory default: ZT=0

FD Factory default settings [ 2006sub02 ]

This command puts the PC6D back to a known state. The data will be written to the
EEPROM and the TAC will be incremented by 1.

Note: All calibration and setup information will be lost by issuing this command!
Only the factory temperature correction table and serial number are preserved.

Master (PC / PLC) sends Device responds Result

CE E+00017 (example) Request: TAC-counter CE 17
CE_17 OK Calibration sequence active
FD OK Factory default setting

CS Save the calibration values [ 2004sub02 ]

This command results in the calibration values being saved to EEPROM, and causes the
TAC to be incremented by 1.

Master (PC / PLC) sends Device responds Result

CE E+00017 (example) Request: TAC-counter CE 17
CE_17 OK Calibration sequence active
CS OK Calibration values saved

The CS command saves all of the calibration group values, as set by CZ, CG, CM, DS, DP
and ZT. The command returns ERR and has no updating action unless it is preceded by the
CE_XXXXX.

Manual PC6D CANopen Page 29

5.3 Motion detection Commands – NR, NT

The motion detection facility provides a means of disabling certain functions whenever a
condition of instability, or “motion”, is detected. The “no-motion”, or “stable” condition is
achieved whenever the signal is steady for the period of time set by NT, during which it
cannot fluctuate by more than NR increments.The stable condition activates the relevant bit
of responses to “Info Status” (IS).

The following functions are disabled if motion is detected: “Calibrate Zero” (CZ) “Calibrate
Gain” (CG) “Set Zero” (SZ) and “Set Tare” (ST).

NR No Motion range [ 2100sub0A ]

This is the range within which the weighing signal is allowed to fluctuate and still be
considered as “stable”. Permitted values are between 0 and 65535.

Master (PC / PLC) sends Device responds Result

NR R+00010 Request: NR = 10 d
NR_2 OK Setting: NR = 2
WP OK Setting saved

NR = 2 i.e. fluctuations within a maximum of ± 2 d, in the period NT, will be considered

“stable”.

Factory default: NR = 1.

NT Stabilisation time for in motion band [ 2100sub0B ]

This sets the time (in milliseconds) over which the weight signal is checked to see if it is
“stable” or has “no-motion“. The weight signal has to vary by less than NR divisions over the
time period NT to be considered ‘stable’.
Permitted range 0-65535 milliseconds.

Master (PC / PLC) sends Device responds Result

NT T+01000 Request: NT = 1000 ms
NT_500 OK Setting: NT = 500 ms
WP OK Setting saved

If the value of NT =500 milliseconds, the output must not fluctuate more than NR
increments within 500 milliseconds in order to be considered “stable”.

Factory default: NT = 1000 [=1000 ms].

Page 30 Manual PC6D CANopen

5.4 Filter setting Commands – FM, FL, UR
Using the commands FM and FL, a digital filter type and strength can be set which will
eliminate most of the unwanted disturbances. The command UR is used for the average
building. Please note that these filters are positioned immediately after the A/D Converter and
therefore affect all aspects of the weighing operation.
[Please read the note TPDO1 regarding index 1006 on page 22]

FM Filter Mode FIR / IIR [ 2100sub09 ]

Choose filter mode, permitted values are “0” for IIR and “1” for FIR.

Master (PC / PLC) sends Device responds Result

FM M+00001 Request: FM = 1 (FIR)
FM_0 OK Setting: FM = 0 (IIR)
WP OK Setting saved

The digital IIR filter works as a low-pass filter of 2nd order with Gaussian characteristic,
damping is 40 dB/decade; see table mode 0.
The digital FIR filter works as a low-pass filter with quick response; damping see table
mode 1.
Factory default: 0

FL Setup filters [ 2100sub04 ]

Command for setup cut off frequency, permitted values are 0 … 8.

Master (PC / PLC) sends Device responds Result

FL F+00003 Request: FL = 3
FL_1 OK Setting: FL = 1
WP OK Setting saved

Filter values can be chosen between 0 and 8, see table below.

FL= 0 means no filter in mode 0 or 1 (command FM).
Factory default: 3

Mode 0 Characteristic (IIR-Filter)

FL Settling time to 0.1% 3dB Cut-off frequency Damping @300Hz Output-rate*

(ms) (Hz) (dB) (samples/s)
0 no filtering ** 1200
1 55 18 57 1200
2 122 8 78 1200
3 242 4 96 1200
4 322 3 104 1200
5 482 2 114 1200
6 963 1 132 1200
7 1923 0.5 149 1200
8 3847 0.25 164 1200

* Output-rate = 1200/2UR samples/s ** Antialiasing filter 17 Hz @ 60 dB/dec

Manual PC6D CANopen Page 31

Mode 1 Characteristic (FIR-Filter)

FL Settling time 3 dB Cut-off 20 dB 40 dB Damping in Stopband Output rate

to 0.1% damping at damping at the max.
frequency frequency stopband
(ms) (Hz) (Hz) (Hz) (dB) (Hz) (samples/s)
0 no filtering ** 1200
1 47 19.7 48 64 >90 >80 1200
2 93 9.8 24 32 >90 >40 600
3 140 6.5 16 21 >90 >26 400
4 187 4.9 12 16 >90 >20 300
5 233 3.9 10 13 >90 >16 240
6 280 3.2 8 11 >90 >13 200
7 327 2.8 7 9 >90 >11 172
8 373 2.5 6 8 >90 >10 150

* * Antialiasing filter 17 Hz @ 60 dB/decade

Attention: In mode 1 the output rate is dependant on the selected filter level (FL) and will be
automatically adjusted by the PC6D.

UR Set the update rate (average building) [ 2100sub11 ]

This command will define over how many measurements, from the preceeding IIR or FIR
filter, an average will be calculated. The average will be calculated over 2UR samples.
Permitted values 0...7 (see table below).

UR 0 1 2 3 4 5 6 7
No. of samples 1 2 4 8 16 32 64 128

Check / adjustment update rate:

Master (PC / PLC) sends Device responds Result

UR U+0001 Request: average over 2 samples
UR_4 OK Setting: average over 16 samples

Factory default: 0 [no average, = 1200 samples/s]

Remark to Mode 1
Dependency Output Rate - averaging UR - Filter FL

UR Output Rate samples/s

FL0 FL1 FL2 FL3 FL4 FL5 FL6 FL7 FL8
19.7 Hz 9.8 Hz 6.5 Hz 4.9 Hz 3.9 Hz 3.2 Hz 2.8 Hz 2.5 Hz
0 1200 1200 600 400 300 240 200 172 150
1 600 600 300 200 150 120 100 85.7 75
2 300 300 150 100 75 60 50 43 37.5
3 150 150 75 50 37.5 30 25 21.4 18.7
4 75 75 37.5 25 18.7 15 12.5 10.7 9.4
5 37.5 37.5 18.7 12.5 9.4 7.5 6.26 5.36 4.68
6 18.7 18.7 9.4 6.26 4.68 3.76 3.12 2.68 2.34
7 9.4 9.4 4.68 3.12 2.34 1.88 1.56 1.34 1.18

Page 32 Manual PC6D CANopen

5.5 Set Zero/Tare and Reset Zero/Tare Commands – SZ, RZ, ST, RT
The following commands allow you to set and reset zero and tare values. The zero set during
calibration remains the ‘true zero’ but new ‘current zero’ can be set using the SZ command. If
the SZ command is issued and accepted then all weight values will then be based on the new
‘current zero’. Please remember that zero value will be subject to the Zero tracking function if
enabled.
If the weight signal is not stable (as defined by the No motion range NR and the No
motion time NT) then both the set zero SZ and set tare ST commands will be disabled.
Also the Set Zero SZ command is not allowed if the new zero value required and the
‘calibration zero’ differ by more than 2 % of the CM value (maximum allowable value).

SZ Set Zero RPDO1 [ 00 02 ]

This command sets a new “current zero” which is then the basis of all weight values until
further updated by the zero tracking function, another SZ command or the “reset zero”
command RZ. The SZ command will fail (LDU responds with ERR) if the new “current zero” is
more than 2% (of the CM value) higher or lower than the “true zero” set during calibration.
The SZ command will also fail if the weight signal is not stable as defined by the No motion
range (NR) and the No motion time (NT). If the weight signal is “stable”, the response to the
IS command (Device Status) will show the “signal stable” bit active and the SZ command will
be accepted (OK). If the “signal stable” bit is not active, the SZ command will be rejected and
the LDU will respond with ERR (error).

Master (PC / PLC) sends Device responds Result

SZ OK Set Zero performed

The SZ command is issued without any parameters and will return either the OK or ERR
response. If the SZ command is accepted the PC6D responds with OK and the “zero action
performed” bit of the device status (IS) response will be active.
Is the command acknowledged by the PC6D with OK, the status bit for Zero (request IS) is
set to 1. A renewed SZ command or the reset zero command [ RZ ] changes the current zero
point. The command is not implemented, if the current measured value is more than ±2% of
the maximum display value [ CM ] of calibrated zero point [ CZ ].
PC6D response is ERR (error).

RZ Reset Zero Point RPDO1 [ 00 01 ]

This command cancels the SZ command and the zero reading reverts to that set by the CZ
command during calibration.

Master (PC / PLC) sends Device responds Result

RZ OK Zero point CZ active again

The PC6D responds to the RZ command with either OK or ERR. If OK is returned then the
“zero action performed” bit in the Device Status (IS) response will be set to “0”.

Manual PC6D CANopen Page 33

ST Set Tare RPDO1 [ 00 08 ]

This command will activate the net weighing function by storing the current weight value as a
tare.

The weight signal must be “stable” within the limits set by NR (No Motion Range) and NT (No
Motion Time) commands for the “signal stable” bit to be active and set tare command to be
accepted.

Master (PC / PLC) sends Device responds Result

ST OK Tare performed

If the weight signal is “stable”, the response to the IS command (Device Status) will show the
“signal stable” bit active and the ST command will be accepted (OK). If the “signal stable” bit
is not active, the ST command will be rejected and the LDU will respond with ERR (error).

RT Reset Tare RPDO1 [ 00 04 ]

The weighing signal returns to gross mode.

Master (PC / PLC) sends Device responds Result

RT OK Tare deactivated

The PC6D responds to the RT command with either OK or ERR. If OK is returned then the
“tare active” bit in the Device Status (IS) response will be set to “0”.

Page 34 Manual PC6D CANopen

5.6 Output Commands – GG, GN, GT, GS

The following commands “Get” the Gross, Net, Tare and ADC (Sample) values from the
PC6D. Available on the CAN profile index 2000 and 2001 in floating point and integer
respectively.

GG Get Gross value [ 2000/2001sub01 ]

Normally sent in TPDO1, if selected by index 1A00sub01.

Master (PC / PLC) sends Device responds Result

GG G+01.100 Gros weight 1.100 d

GN Get Net value [ 2000/2001sub02 ]

Normally sent in TPDO1, if selected by index 1A00sub01.

Master (PC / PLC) sends Device responds Result

GN G+01.000 Net weight 1.000 d

GT Get Tare value [ 2000/2001sub03 ]

Master (PC / PLC) sends Device responds Result

GT T+00.100 Tare weight 100 d

GS Get ADC Sample value [ 2900sub07 ]

This command gets the actual Analogue to Digital Converter (ADC) value. This can be useful
during development or when calibrating to see how much of the ADC range is being used.

Master (PC / PLC) sends Device responds Result

GS S+125785 AD-value = 125.785 d

For service applications, it is helpful to note the GS values for the “no-load” or “zero” output
and when the “calibration load” is applied.

Manual PC6D CANopen Page 35

5.7 Setpoint Commands - Sn, Hn, An

The PC6D has 4 setpoints where the status is dependent on the weight value. Each of them
can be assigned as an independent setpoint value (Sn) with a corresponding
hysteresis/switch action (Hn) and base (An – switch on the gross or the net weight).

S1 Setpoint 1 [ 2600sub01 ]

Request / Setting

Master (PC / PLC) sends Device responds Result

S1 1+01500 Setpoint S1 = 1500 d
S1_03000 OK Setting: Setpoint S1 = 3000 d

Similarly to read or set setpoint 2, use S2 instead of S1, etc. (2600sub02)

H1 Hysteresis setpoint 1 [ 2700sub01 ]

Using the H1 command, the hysteresis on the setpoint value is set by the numeric value and
the polarity of this numeric value defines whether the setpoint switches on or off when the
setpoint value is reached.

Example

Setpoint Hysteresis Load OFF ON

S1 = 20.00 kg H1 = -1.00 kg increasing ≥ 21.01 kg 0 ... 21.00 kg
S1 = 20.00 kg H1 = -1.00 kg decreasing ≥ 20.00 kg 19.99 ... 0 kg
S1 = 20.00 kg H1 = 1.00 kg increasing 0... 19.99 kg ≥ 20.00 kg
S1 = 20.00 kg H1 = 1.00 kg decreasing 19.00. ..0 kg ≥ 19.01 kg

Example of negative hysteresis of 1.00 kg (H1 = -100) on a setpoint (S1) of 20.00 kg

(lines 1 & 2 of table above):

When the weight is increasing between 0 kg and 21.00 kg the setpoint is “ON”. Once the
weight increases above 21.00 kg then the logic output is “OFF”. The setpoint will come “ON”
again when the weight value drops below 20.00 kg.

Example of positive hysteresis of 100 kg (H1 = +1.00) on a setpoint of 20.00 kg

(lines 3 & 4 of table above):

When the weight is increasing between 0 kg and 19.99 kg the setpoint is “OFF”. Once the
weight increases above 19.99 kg then the setpoint is “ON”. The setpoint will switch “OFF”
again when the weight value drops below 19.00 kg.

Page 36 Manual PC6D CANopen

Request / Set Hysteresis value for setpoint 1

Master (PC / PLC) sends Device responds Result

H1 1-00100 Request: neg. Hysteresis
H1_100 OK Setting: pos. Hysteresis
H1_-100 OK Setting: neg. Hysteresis

Setpoint range between ± 1 (minimum) and ± 199999 (maximum).

Similarly to read or set the setpoint 1 hysteresis, use H2 instead of H1 etc. (2700sub02)

A1 Request / Set the base for setpoint 1 [ 2800sub01 ]

The A1 command defines the base on which the setpoint value acts. If A1 is set to “0”
then setpoint 1 acts on the unfiltered gross weight. If A1 is set to “1” then setpoint 1 acts on
the unfiltered net weight.

A1 = 0 Not filtered gross weight

A1 = 1 Not filtered net weight

Request / Set base for setpoint 1

Master (PC / PLC) sends Device responds Result

A1 1+00000 Allocation gros weight
A1_1 OK Allocation net weight

Similarly to read or set the setpoint 1 base, use A2 instead of A1 etc. (2800sub02)

The PC6D transmits one TPDO2 every time a setpoint changes state. The weight sent in the
TPDO2 is the weight that caused the TPDO2 to be transmitted, Net or Gross as selected for
the actual setpoint. The TPDO2 also holds the Weighing status flags and the setpoint
Number.
If two (or more) setpoint have exactly the same settings the setpoint with the higher number
will be “hidden”.

NOTE: All changes to the setpoint settings have to be stored in EEPROM using the SS
command. See section 5.10.

Manual PC6D CANopen Page 37

5.8 Communication setup Commands – AD, BR, Terminal Resistor

NOTE: These settings will only take effect after a power on reset (remember to store the
settings using the WP command [2004sub03] before turning the power off.)

AD Device address setup / request [ 2007sub02 ]

It is possible to set the network address of the device using the AD command. (Address
range between 1 and 126).

Note: Setting the device address to 0 or 127 are not allowed. Address 0 is used by the
Network Management Protocol (NMT).

Request

Master (PC / PLC) sends Device responds Result

AD A:001 Request: Address 1
AD_49 OK Setting: Address 49

Factory default: Address 1

BR Request / Setup CAN Speed [ 2007sub01 ]

With this command the following bits/second rates can be setup:

- 1 = Mbit
- 2 = 500 kbit/s
- 3 = 250 kbit/s
- 4 = 125 kbit/s
- 5 = 50 kbit/s

Master (PC / PLC) sends Device responds Result

BR B:001 Request: CAN speed 1 Mbit /s
BR_2 OK Setting: CAN speed 500 kbit/s

Factory default: 500 kbit/s.

Terminal Resistor ON / OFF [ 2007sub03 ]

A build in terminal resisitor is switchable via CANopen

- 1 = ON
- 0 = OFF

Factory default: ON.

Page 38 Manual PC6D CANopen

5.9 Trigger Commands – SD, MT, GA, TE, TR, TL
Note: All setups should be stored with the WP command before power off.
SD Start Delay [ 2500sub0A ]

Set the delay between falling/rising edge of trigger pulse and start of measurement.
Permitted values are 0 … 65535 ms.

Master (PC / PLC) sends Device responds Result

SD S+00100 Request: SD=100 ms
SD_200 OK Setting: SD=200 ms

Factory default: 0 [= 0 ms]

MT Measuring Time [ 2500sub09 ]

Set the time over which the average value will be built.
Permitted values are 0 …65535 ms.

Master (PC / PLC) sends Device responds Result

MT M+00100 Request: MT=100 ms
MT_500 OK Setting: MT=500 ms

Note: MT = 0 means disabled trigger and average function.

Factory default: 0

GA Get Average [ 2900sub06 ]

Issuing the GA command the PC6D returns the latest average weight value by using the MT
setup. On PC6D it is not necessary to ask for this. The average result is sent in a TPDO2
when ready, or re-triggered.

Master (PC / PLC) sends Device responds Result

GA A+01.100 Answer: GA=1.100 g

Note: During the time between the trigger condition being accepted and the average
value being updated, the GA command will return the value 99999 when it has been
triggered or 88888 when it has been retriggered or 99996 when the system tried to
change Tare or Zero before end of measurement.

[ Remark: When started this function, the latest average weight is availabe in TPDO2. ]

Manual PC6D CANopen Page 39

TL Trigger Level [ 2500sub01 ]

Set the trigger level for rising edge start of measurement. Permitted values are in the
range 0…262143.

Master (PC / PLC) sends Device responds Result

TL T+99999 Request: TL=99999
TL_1000 OK Setting: TL=1000

With regard to the trigger commands SD and MT, a check weighing will automatically start
when the weight overshoots by e.g. 1.000d (increments), e.g. 100,0 g.

Factory default: 199999

TE Trigger Edge [ 2500sub02 ]

Issuing the TE command selects rising or falling edge trigger. Parameter = 0 select falling
edge and parameter = 1 select rising edge.

Master (PC / PLC) sends Device responds Result

TE E:001 Request: TE=1
TE_0 OK Setting: TE=0

Factory default: 0 [falling edge]

Note: This command cannot be used together with the TL command.

TR Trigger RPDO2 [ 00 80 ]

[This command will start the measuring cycle in the same way as the hardware trigger
input.]

Master (PC / PLC) sends Device responds Result

TR OK Trigger started

Note: This function can be used as a soft trigger in a check weigher application (firmware
102.183).

[ Special returned values are:

- 99999 = trigged measurement in progress
- 88888 = Re-Trigger in progress
- 99996 = Tried to change Tare or Zero before end of measurement ]
[ The Trigger function can also be stopped by sending 01 instead of 80 with RPDO2 [00 01]. ]

Factory default: 199999

Page 40 Manual PC6D CANopen

 Typical Checkweigher Signal
M
(g)

Manual PC6D CANopen

Basic settings

DX : 1 (full duplex)
UR : 0 (max. 600 meas./s)
TL : 65535 (off)
RT : 65535 (off)

Trigger point Typ. Checkweigher settings

choose 1 of 3:
1. Light barrier or TW : 10 d
2. TR command or TI : 200 ms
3. TL Trigger Level SD : 100 ms
MT : 300 ms
FL : 2 (8 Hz)

TW t
Tare
Window

TI SD MT
Tare Interval Start Delay Measuring Time

Page 41
5.10 Trigger Special Commands– RW, TT, TS, DT, TW, TI, HT
Remark: These commands are only available in firmware 102.183.v.1.10.

Note: All setups should be stored with the WP command before power off.

RW Re-Trigger Window [ 2500sub03 ]

Set the re-trigger window in counts (digits) without decimal point. If the weight relative to the
current average value changes by more than the RW value the average cycle will be
restarted using TT as measure time.To automatically issue the re-trigger command, the time
period over which an increase of weight average is measured has to be defined by using the
command DT. Permitted values are 0 …65535 counts.

Master (PC / PLC) sends Device responds Result

RW R+65535 Request: RW=65535
RW_500 OK Setting: RW=500d

Factory default: 65535

TT Re-Trigger Time [2500sub04 ]

Set the re-trigger time in milliseconds [ms]. Re-trigger time is the average time used by the re-
trigger function. If set to zero the re-trigger function is disabled.
Permitted values are 0 …65535 ms.

Master (PC / PLC) sends Device responds Result

TT T+65535 Request: TT=65535
TT_300 OK Setting: TT=300ms

Factory default: 65535

TS Re-Trigger Stop [ 2500sub08 ]

Set the re-trigger stop in counts (digits) without decimal point. In case of a (TS) decrease in
weight relative to the current average value the re-trigger function is stopped.
Permitted values are 0 …65535 counts.

Master (PC / PLC) sends Device responds Result

TS T+00000 Request: TS=00000
TS_480 OK Setting: TT=480d

Factory default: 00000

[ The Re-Trigger function can also be stopped by sending 01 instead of 80 with

RPDO2 [00 01]. ]

Page 42 Manual PC6D CANopen

DT Delta Time [ 2500sub0B ]
Set the Delta Time in milliseconds [ms]. During MT and TT timeframes "sub-averages" will be
calculated by the system over the time DT. If a sub-average is outside the re-trigger window,
the re-trigger function is automatic started. Permitted values are 0 …65535 ms.

Master (PC / PLC) sends Device responds Result

DT T+00000 Request: DT=00000
DT_50 OK Setting: TT=50ms

Factory default: 00000

TW Tare Window [ 2500sub06 ]

Set the Tare Window in in counts (digits) without decimal point. Tare window (TW) allows an
automatic Tare update. If TW = 0 this function is not active. If TW = 100, this means a new
tare value will be taken when the net average weight of an empty scale is within 100 counts
or division of zero. The new average tare value is calculated over the average tare time
defined by TI. If the tare average is outside tare window, the tare will not be updated.
Permitted values are 0 …65535 counts.

Master (PC / PLC) sends Device responds Result

TW T+00000 Request: TW=00000
TW_100 OK Setting: TW=100d

Factory default: 00000

TI Tare Time [ 2500sub07 ]

Set the Tare Time in milliseconds [ms]. During the Tare Time a “tare-average” will be
calculated by the system. Permitted values are 0 …65535 ms.

Master (PC / PLC) sends Device responds Result

TI T+00000 Request: TI=00000
TI_200 OK Setting: TI=200ms

Factory default: 00000

HT Hold Time [ 2500sub05 ]

Set the Hold Time in milliseconds [ms]. During the Hold Time the weight value must be over
setpoint that a digital output can be switched. This means that a short signal peak will not
lead to the switching of a digital output. Permitted values are 0 …65535 ms.

Master (PC / PLC) sends Device responds Result

HT T+00000 Request: HT=00000
HT_200 OK Setting: HT=200ms

Factory default: 00000

Manual PC6D CANopen Page 43

5.11 Save calibration, setup & setpoint parameters Commands – CS, WP, SS

The setup and calibration parameters can be divided into 3 groups:

Calibration parameter: CZ, CG, DS, DP & ZT are saved by the CS command.

Setup parameters (other than setpoint): FL, FM, NR, NT, BR, AD, etc. are saved by the
WP command.

Setpoint parameters: Sn, Hn and An are saved by the SS command.

CS Save the calibration parameters [ 2004sub02 ]

Note: Calibration parameters can only be saved if the TAC code is known and precedes the
CS command. See the CE and CS commands on page 27 / 29.

Both the setup parameters and the setpoint parameters are stored in EEPROM using the WP
and SS commands respectively.

WP Save the setup parameters [ 2004sub03 ]

With this command the settings of the “Filter” (FL, FM) , the “No-Motion” (NR, NT) and the
communication (AD, BR) will be saved in the EEPROM.

Master (PC / PLC) sends Device responds Result

WP OK Parameter saved
WP ERR Error

SS Save the “setpoint” set-up parameters [ 2004sub05 ]

With this command the settings of the setpoints (Sn), the “setpoint hysteresis” (Hn) and the
“setpoint action” (An) will be saved in the EEPROM.

Master (PC / PLC) sends Device responds Result

SS OK Parameter saved
SS ERR Error

Manual PC6D CANopen Page 45

 DECLARATION OF CONFORMITY
ß

0
Product: Digital load cell

Manufacturers designation: PC6D

Manufacturer: Flintec GmbH, Bemannsbruch 9, DE74909 Meckesheim,

Germany

As manufacturer of the article we herewith assures that the article meets the requirements of
the European legislation covering technical instruments, the standard safety rules, other
safeguard regulations as well as the generally approved rules for technical safety,
environmental protection and electromagnetic compatibility. It is further assured that the
articles are in accordance with the supporting documents as supplied by the manufacturer.

To ensure this the necessary monitoring measures during production have been met.

We, the manufacturer, are under obligation to produce to relevant parties upon request
written supporting evidence or by other means i.e. factory visits, spot checks etc. that the
production requirements have been met.

Electronic articles have been manufactured and tested according to the following regulations:

Safety regulations: CENELEC EN 60742

Electromagnetic Compatibility: EN 55011 and EN 61000.
and further requirements as listed in the order specifications as agreed upon.

Meckesheim, April 20, 2007

Signature:

i.V. Gisbert Greulich

Being the responsible person employed and appointed by Flintec GmbH