eNod3-D

Digital dosing controller

CANopen®
communication protocol

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Document revisions

version date description

A 10/08 - creation
B 07/09 - addition of OIML R76 settings description

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1 INSTALLATION .................................................................................................. 5
1.1 Switching to CANopen communication protocol........................................... 5
1.2 Bus length and bit rate ................................................................................. 5
1.3 Line terminations .......................................................................................... 6
2 CANOPEN PROTOCOL DESCRIPTION............................................................ 7
2.1 CAN 2.0A frame format ................................................................................ 7
2.2 General informations .................................................................................... 7
2.3 eNod3-D state management ........................................................................ 8
2.3.1 NMT state commands ........................................................................... 9
2.3.2 Synchronization messages ................................................................. 10
2.3.3 Emergency messages......................................................................... 10
2.4 Error control services ..................................................................................11
2.4.1 Heartbeat and Boot-up........................................................................ 11
2.4.2 Node guarding..................................................................................... 11
2.5 Access to the object dictionary ....................................................................12
2.5.1 SDO communications ......................................................................... 13
2.5.2 PDO communications ......................................................................... 14
3 CANOPEN OBJECTS DICTIONARY : COMMUNICATION OBJECTS ............16
3.1 Device identification ....................................................................................16
3.1.1 0x1000 : Device profile........................................................................ 16
3.1.2 0x1008 : Device name ........................................................................ 17
3.1.3 0x1009 : Hardware version ................................................................. 17
3.1.4 0x100A : Software version .................................................................. 17
3.1.5 0x1018 : Product identifier .................................................................. 17
3.2 CANopen settings .......................................................................................17
3.2.1 0x1001 : Error register ........................................................................ 17
3.2.2 0x1003 : Pre-defined error field........................................................... 18
3.2.3 0x1005 : Synchronization messages COB-ID ..................................... 18
3.2.4 0x100C : Life guard............................................................................. 18
3.2.5 0x100D : Life time factor ..................................................................... 18
3.2.6 0x1010 : Store parameters.................................................................. 19
3.2.7 0x1014 : Emergency COB-ID.............................................................. 19
3.2.8 0x1017 : Producer heartbeat time ....................................................... 19
3.2.9 0x1400 : RPDO1 communication parameters ..................................... 19
3.2.10 RPDO1 mapping parameters .............................................................. 20
3.2.11 0x1800 : TPDO1 communication parameters ..................................... 21
3.2.12 0x1A00 : TPDO1 mapping parameters ............................................... 21
3.2.13 0x1801/0x1802 : TPDO2/TPDO3 communication parameters............ 21
3.2.14 0x1A01 : TPDO2 mapping .................................................................. 22
3.2.15 0x1A02 : TPDO3 mapping .................................................................. 22
4 ENOD3-D SPECIFIC OBJECTS........................................................................23
4.1 Communication parameters ........................................................................24
4.1.1 0x2000 : Functioning mode ................................................................. 24
4.1.2 0x2001 : CAN bus baud rate ............................................................... 24
4.1.3 0x2002 : d’eNod3-D identifier (ID)....................................................... 25
4.1.4 0x2003/0x2004 : Command/state register .......................................... 25
4.2 Calibration settings......................................................................................25
4.2.1 0x3000 : Number of calibration segments........................................... 25

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4.2.2 0x3001 : Calibration loads................................................................... 25
4.2.3 0x3002 : Maximum capacity................................................................ 25
4.2.4 0x3003 : Scale interval........................................................................ 26
4.2.5 0x3004 : Sensor capacity.................................................................... 26
4.2.6 0x3005 : Global span adjusting coefficient .......................................... 26
4.2.7 0x3006 : Input signal range ................................................................. 26
4.2.8 0x3007 : Polynomial correction ........................................................... 27
4.2.9 0x3200 : Sensor sensitivy ................................................................... 27
4.3 Legal for trade settings................................................................................27
4.3.1 0x3500 : Motion................................................................................... 27
4.3.2 0x3501 : Zero mode ............................................................................ 28
4.3.3 0x3600 : Legal for trade (R76) switch ................................................. 29
4.3.4 0x3601 : Legal for trade indicators ...................................................... 29
4.4 Filtering parameters ....................................................................................29
4.4.1 0x4000 : A/D conversion rate .............................................................. 29
4.4.2 0x4001 : Self-adaptive filter................................................................. 30
4.4.3 0x4002 : Digital filters settings............................................................. 30
4.5 Logical inputs/outputs configuration ............................................................31
4.5.1 0x4501 : Logical inputs configuration .................................................. 31
4.5.2 0x4509 : Logical outputs configuration................................................ 32
4.5.3 0x4601/0x4609 : Set points configuration ........................................... 33
4.6 Dosing settings............................................................................................34
4.6.1 0x4700 : Target weight........................................................................ 34
4.6.2 0x4701 : Cycle timings ........................................................................ 34
4.6.3 0x4702 : Tolerances............................................................................ 35
4.6.4 0x4703 : Reloading variables (dosing by unloading)........................... 36
4.6.5 0x4704 : Dosing levels ........................................................................ 36
4.6.6 0x4705 : Cycle management options .................................................. 37
4.6.7 0x4706 : Flow rate control ................................................................... 38
4.7 Other settings ..............................................................................................39
4.7.1 0x4800 : Safety mode ......................................................................... 39
4.7.2 0x4900 : Delta min TPDO2 ................................................................. 39
4.7.3 0x4901 : Delta min TPDO3 ................................................................. 40
4.8 Measures ....................................................................................................40
4.8.1 0x5000/0x5001/0x5002 : Current measurement ................................. 40
4.8.2 0x5003 : Current measurement status ................................................ 40
4.8.3 0x5004 : Résults ................................................................................. 42
4.8.4 0x5100 : Logical inputs state............................................................... 42
4.8.5 0x5200 : Logical outputs state............................................................. 42

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1 INSTALLATION

1.1 Switching to CANopen® communication protocol

eNod3-D is equiped with a CAN 2.0A and CAN 2.0B compatible interface supporting CANopen®
communication protocol. eNod3-D can be connected to the CAN bus using the CANH and CANL
connections on the 9-pin connector (terminals 1 and 2 ; see diagram below).
By default, eNod3-D is set to operate in ModBus-RTU protocol (RS232 or RS485 communication) at a
baud rate of 9600.
To switch from RS485/232 to CAN communication it is necessary to remove the appropriate jumper.
WARNING : the communication protocol used by eNod3-D is selected at every power-up of the
device.

By default, the baud rate for CAN communication is 125 kbauds. It can be modified during eNod3-D
setting up phase with eNodView software.
OFF: CANopen
ON : RS485/422

CAN bus interface

1.2 Bus length and bit rate

The bit rate on the CAN bus for data transfer depends on the bus length. The following table shows
the bit rates supported by eNod3-D and the corresponding maximum bus length :

Bit rate Bus max length Nominal bit time

1 Mbit/s 25 m 1 µs
800 kbit/s 50 m 1.25 µs
500 kbit/s 100 m 2 µs
250 kbit/s 250 m 4 µs
125 kbit/s 500 m 8 µs
50 kbit/s 1000 m 20 µs
20 kbit/s 2500 m 50 µs

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‰ Notes :
Ö for bus whose length is greater than 200 m, using optocouplers is recommended
Ö for bus whose length is greater than 1000 m, using repeaters may be necessary to ensure the
quality of transmissions.

The baud rate used by eNod3-D can be selected and modified either by writting a specific code in the
appropriate entry of the object dictionary (see § 3.2.2), either by modifying the appropriate reigster in
ModBus-RTU or SCMBus protocols (using eNodView makes this operation easy)

A « bit Timing » adapted to each baud rate is also specifed by CANopen® specification. A bit is
composed of time quantas and is characterized by the Sample point, which corresponds to the
moment at which the bit state is taken into account.
Thus, the data transfers have to respect the following values, according to CANopen® specification :

Bit rate Length of time quantum tQ Location of sample point

1 Mbit/s 125 ns 6 tQ
800 kbit/s 125 ns 8 tQ
500 kbit/s 125 ns 14 tQ
250 kbit/s 250 ns 14 tQ
125 kbit/s 500 ns 14 tQ
50 kbit/s 1.25 µs 14 tQ
20 kbit/s 3.125 µs 14 tQ

1.3 Line terminations

So as to avoid signal reflection phenomena that may lead to communication errors, the CAN bus must
be closed through termination resistors. 120-ohm resistors should be placed at each bus extremity.

node 1 node n

CAN H

120 Ω 120 Ω

CAN L

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2 CANopen® PROTOCOL DESCRIPTION

2.1 CAN 2.0A frame format

Every data frame sent on the CAN bus has the following structure :

SOF COB-ID RTR reserved DLC DATA CRC ACK EOF

1 bit 1 bit 2 bits 2 bits 7 bits
11 bits 4 bits 0 ⇒ 64 bits 16 bits

arbitration field control field

- Start of frame (SOF) : 1 bit

The beginning of a request or a data frame is indicated by the transmission of one
dominant bit.

- Arbitration field : 12 bits

This field contains the message COB-ID on 11 bits and the RTR bit, dominant for data
frames and recessive for remote frames.

- Control field : 6 bits

The first two bits are reserved and must be transmitted as dominant. The four remaining
bits encode the size of the transmitted data in bytes. This is called «Data length code»
(DLC) with 0 ≤ DLC ≤ 8.

- Data : from 8 to 64 bits

For each byte, the most significant bit (MSB) is transmitted first.

- Cyclic Redundancy Check (CRC) : 16 bits

The result of the CRC calculation is made up of 15 bits that guarantee the integrity of the
transmitted message. The last bit is used to delimit the field and always is transmitted as
dominant.

- Acknowledgement (ACK) : 2 bits

During two bus clock periods, the bus is available for acknowledgement of the message.
All the nodes that received the message without error generate a dominant bit. Else, an
error frame is generated. The second bit is always recessive.

- End of frame (EOF) : 7 bits

The end of the frame is represented by a sequence of 7 consecutive recessive bits.

The CANopen® layer defines particularly the content of the arbitration and the control fields and the
data field structure.

2.2 General informations

CANopen® is a communication protocol especially dedicated to industrial applications. It allows to
connect up to 127 different devices on a same bus giving them the possibility to access the bus at
any time. Simultaneous emissions are managed by an arbitration system that uses priority levels. This
control hierarchy of data transfers guarantees that there is no frame collision on the bus while
ensuring a high level of reliability in communications. The low priority messages are canceled and
reissued after a delay.
The protocol defines serveral message types characterized by their COB-ID (Communication Object
Identifier) that determines the message priority level. The COB-ID is composed of a function code
and the node identifier (between 1 and 127).

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The node identifier is the device’s address on the network. The function code specifies the priority and
the purpose of the message. Assignement of a particular identifier to each device connected to
the bus is mandatory.

There are 6 different message types :

Ö read/write requests : SDO (Service Data Object)
Ö real time transfers : PDO (Process Data Object)
Ö nodes state management : NMT (Network Management)
Ö warnings : EMCY (Emergency)
Ö synchronization events : SYNC (Synchronization)
Ö node state indications : Boot-up/Heartbeat and Node guarding

CANopen® messages COB-ID (hex)

NMT 0
SYNC 80
EMCY 81-FF
TPDO1 181 – 1FF
RPDO1 201 – 280
TPDO2 281 – 2FF
TPDO3 381 – 3FF
SDO (Tx) 581 – 3FF
SDO (Rx) 601 – 67F
Heartbeat/Boot-up/Node guarding 701 – 77F

2.3 eNod3-D state management

For the CANopen® network, eNod3-D is considered as a NMT slave. It means that its state can be
modified by a NMT master present on the bus.

eNod3-D can be put into one of the four existing states, allowing or forbidding the reception/emission
of CAN messages.
These four states constitute the follwoing NMT state machine:

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1

Initialisation

2 6

Pre-operational Stopped

3 5
3 4

operational

Ö 1 : eNod3-D device power-up

Ö 2 : automatic transition after the end of initialisation
Ö 3 : reception of a ‘Start Node’ indication
Ö 4 : reception of a ‘Stop Node’ indication
Ö 5 : reception of an ‘Enter pre-operational mode’ indication
Ö 6 : reception of a ‘Reset node’ or a ‘Reset communications’ indication

eNod-D communication capacities for each state are given in the following table :

Initialisation Pre-operational Operational Stopped

SDO X X
PDO X
SYNC X X
Emergency X X
NMT X X X
Boot-up X
Heartbeat X X X

2.3.1 NMT state commands

Except during the initalisation phase, eNod3-D is able to handle any NMT master’s requests for
changing its current state. All these network management messages are constituted the same way : a
two-byte data frame with a COB-ID equal to zero :

COB-ID DLC byte 1 byte 2

0 2 NMT code node identifier

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nd
The 2 byte of the data field contains the node identifier of the device concerned by the request. Its
value must be between 0H and 7FH. The 0H value means that the NMT command concern all the
nodes of the network.
The 1st byte codes the command sent to the node. There are five existing commands supported by
eNod3-D :
Ö ‘Start node’ : 01H. eNod3-D is set into operational state
Ö ‘Stop node’ : 02H. eNod3-D is set into stopped state
Ö ‘Reset node’ : 81H. resets eNod3-D (with the same effects as a power-up),
eNod3-D is set back into initialisation state
Ö ‘Reset communication’ : 82H. eNod3-D is set back into initialisation state
Ö ‘Enter pre-operational mode’ : 80H. eNod3-D is set into pre-operational state

‰ Note : The stopped state can be configured (cf §4.7.1) so as to set eNod3-D into a safety
mode in case of a device failure.
2.3.2 Synchronization messages
SYNC messages are emitted on the bus by a producer node. This service is unconfirmed so the
consumer nodes do not have to respond to SYNC messages. A SYNC message does not carry any
data (DLC = 0). eNod3-D is only seen as a SYNC messages consumer whose COB-ID is equal to 80H
as it is indicated at index 1005H, sub-index 00H of the object dictionary.
2.3.3 Emergency messages
eNod3-D internal errors are reported via emergency frames. Three types of errors can trigger the
transmission of an emergency message :
Ö communication errors
Ö A/D converter input signal range exceeded
Ö dosing cycle failure

Every emergency frame is built as follows :

COB-ID DLC byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
80H emergency error register
8 additional informations
+ ID eNod3-D code content

Emergency messages is an unconfirmed service. A frame is emitted when a new error occurs and
when it is acknowledged. The table below describes the emergency stantdard codes supported by
eNod3-D and the translation of the additional informations bytes (in ASCII) :

Emergency codes (hex.) Meaning

0 error acknowledged
3200 voltage error
8120 CAN bus communication error
8130 life guard error
FF01 dosing cycle failure

Additional informations (hex.)

4B4F no error
474C life time has elapsed
564F sensor signal outside of the input signal range
5054 CAN transmitter in error passive state
5052 CAN receiver in error passive state
4546 flow rate failure / cycle starting error

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The error register value is also part of the emergency frame (see § 3.1.2) so as to indicate if other
internal errors have been detected.
The number of reported errors is given by an error counter in the pre-defined error field located at
index 1003H, sub-index 00h and the last reported error can be read from the same entry at sub-index
01H.

2.4 Error control services

CANopen® uses smart mechanisms to control permanently the nodes state on the bus. eNod3-D
supports Boot-up and Heartbeat messages and Node guarding protcol. Using both services is not
allowed. If both are configured so as to be functional, only the Heartbeat is used.

2.4.1 Heartbeat and Boot-up

eNod3-D state control can be done through the use of Heartbeat and boot-up mechanisms :

Ö Boot-up : This message sent by eNod3-D means that initialisation phase is

complete and that the node has entered into pre-operational state. It consists in
the following frame :

COB-ID DLC byte 1

700H + ID eNod3-D 1 0

Ö Heartbeat : if a Heartbeat period (in ms) different from 0 is set in the entry
«Producer heartbeat time» of the object dictionary, eNod3-D generates at his
period a frame containing its state coded on one byte. The corresponding frame is
similar to the Boot-up mechanism frame :
Ö
COB-ID DLC byte 1
700H + ID eNod3-D 1 eNod3-D NMT state

The eNod3-D NMT state byte can take the different following values :

• 04H : the node is in the «stopped» state

• 05H : the node is in the «operational» state
• 7FH : the node is in the «pre-operational» state

Using Heartbeat protocol allows a NMT master to check that all nodes connected to the bus are
working.

2.4.2 Node guarding

Node guarding protocol is anoher way to check the nodes state. But unlike Heartbeat protocol, it
needs requests from a NMT master. In this case, the NMT master sends periodically a remote transmit
request (remote frame) to the node with COB-ID 700H + ID eNod3-D. eNod3-D has to respond by
sending a single-byte data frame with its coded state (see §2.4.1).

This frame is similar to Heartbeat frame but there is an important difference. Most significant bit of the
state byte is a toogle-bit. The value of this bit must alternate between two consecutive responses from
the NMT slave. The value of the toggle-bit of the first response after the Guarding Protocol becomes
active, is 0. It is only resetted to 0 when a ‘reset communications’ or a ‘reset node’ command is
received.
If two consecutive responses have the same value of the toggle-bit, then the new response should be
handled as if it was not received by the NMT master.

Two parameters of the object dictionary are necessary to set and define node guarding protocol :
the ‘guard time’ and the ‘life time factor’ :

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Ö guard time : this parameter expressed in milliseconds indicates the period with
which the node is being polled by the NMT master. This value can be different
from one node to anoter.
Ö life time factor : when node guarding protocol is active, node life time is given by
multiplication of the guard time and the life time factor.

Node guarding activation is effective when guard time has been set (and if Heartbeat protocol is not
used) and after reception of the first remote transmit request. If life time factor is also configured and if
no remote transmit request is handled within the node life time, eNod3-D sends an emergency
telegram then switches to stopped state. The life guarding error is acknowledged when the state is
changed by a NMT command and after reception of a new remote transmit request.

NMT master eNod3-D/slave NMT

remote transmit request

request indication
COB-ID = 700H + eNod3-D ID

Node guard
time b7 b6 ......... b0
confirm response
eNod3-D
toggle-bit
state

remote transmit request

request COB-ID = 700H + eNod3-D ID indication

confirm b7 b6 ......... b0 response

eNod3-D
toggle-bit
state

Switching to the stopped NMT state because of a node guarding error may cause eNod3-D to be set
into a configurable safety mode where parts of its functioning are inhibited (cf. §4.6.8).

2.5 Access to the object dictionary

The most important element of a CANopen® compatible device is its object dictionary (OD). Each
node object that can be accessed via the bus is part of a table called object dictionary. The dictionary
entries can be adressed by a couple of an index (2 bytes) and a sub-index (1 byte) with the following
organization :

Index (hex.) Object type

0000 reserved
0001 ⇒ 001F static data types
0020 ⇒ 003F complex data types
0040 ⇒ 005F manufacturer specific complex data bytes
0060 ⇒ 007F device profile specific static data types
0080 ⇒ 009F device profile specific complex data types
00A0 ⇒ 0FFF reserved
1000 ⇒ 1FFF communication profile area

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2000 ⇒ 5FFF manufacturer specific profile area
5FFF ⇒ 9FFF standardised device profile area
A000 ⇒ FFFF reserved

Only the grayed elements of the table are accessible through eNod3-D OD.
The whole object dictionary is accessible and can be configured from usual CANopen® configuration
tools. This can be done using eNod3-D available EDS file (eNod3D_EDS_165768.eds).

2.5.1 SDO communications

The model for SDO communication is a client/server model as described below :

request indication
data frame 1
8 bytes

Client Server

confirmation response
data frame 2
8 bytes

The node that sends the request is the client application whereas eNod3-D only behaves as the
server application.There are two types of requests, write and read requests. Both have the same
architecture :

COB-ID DLC byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
1 Command
11 bits Index sub-index Data
byte byte
580H or 600H
8 see table LSB MSB / LSB - - MSB
+ eNod3-D ID

The client request uses the SDO(Rx) COB-ID (600H + ID eNod3-D) and the server uses the SDO(Tx)
COB-ID (580H + ID eNod3-D).
The command byte depends on the requested data length :

Consumer request Server response

read data ⇒ 40H 43H ⇒ 4-bytes data

4BH ⇒ 2-bytes data
4FH ⇒ 1-byte data
write 4-bytes data ⇒ 23H 60H
write 2-bytes data ⇒ 2BH 60H
write 1-byte data ⇒ 2FH 60H

For a read request, the value of the four last bytes of the frame (data) does not matter.
If an error occurs during a SDO communication, eNod3-D responds with the command byte 80h and
the four data bytes contain one of the following SDO abort codes. The data transfer is aborted.

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Error code (hex.) Description

6010001 unsupported access to an object

6010002 attempt to write a read-only object
6020000 the object does not exist in the object dictionary
the number and length of the objects to be mapped would exceed
6040042
PDO length
impossible opearation (for example reading a net/gross value
6040047
during a tare or a zero)
6070012 data type does not match, length of service parameter too high
6070013 data type does not match, length of service parameter too low
6070030 value range of parameter exceeded
6070031 value of parameter written too high
6070032 value of parameter written too low
8000020 data can not be stored to the application
data can not be transferred or store to the application beacuase of
8000022
the present device state

2.5.2 PDO communications

SDO protocol is not the only way to access the object dictionary. PDO allow to transfert datas without
including their index and sub-index in the frame. Both are stored in an OD specific field called PDO
mapping.
The model used for PDO transmissions is also different. It is a Producer/Consumer model in which
datas are sent by a producer node (TPDO) to a consumer node (RPDO) without any confirmation.
Each PDO is described by a combination of two parameters of the OD : the PDO communication
parameters and the PDO mapping. The PDO communication parameters describe the functioning of
the PDO and the PDO mapping describes its content.
eNod3-D uses 3 TPDO (2 are programmable) and 1 RPDO.

The PDO transmission mode can be set in the corresponding object with the following attributes :

Ö Synchronous : PDO transmission is triggered by the reception of one ore more

SYNC messages. Several options are available :

- cyclic : PDO is sent after reception of n (1 ≤ n ≤ 240) SYNC messages.

- acyclic : PDO is sent at reception of the first SYNC message following a

specific device event (activation of a logical input assigned to ‘send
TPDO’ or data variation superior to +/- delta)

- on remote transmit request : PDO is sent after the first SYNC message
following a remote transmit request frame with the PDO COB-ID.

Ö Asynchronous : PDO transmisson does not depend on the SYNC messages on

the CANbus. Several options are available :

- on remote transmit request : PDO is sent at reception of a remote transmit

request frame with the PDO COB-ID.

- activation of a logical input assigned to ‘send TPDO’ or data variation

superior to +/- delta)

- on a timer event : PDO is sent periodically (with an adjustable period).

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The following table recaps the trigger modes that can be choosen by entering the hexadecimal code in
the PDO communication parameter.

remote
Code acyclic
cyclic synchronous asynchronous transmit Effect
(hex) (event)
request
PDO transmission after a SYNC
message following one of these
events :
00 X X - activation of a logical input
assigned to « send TPDO »
- mapped object variation superior
to +/- delta

01 – F0 PDO transmission after n SYNC

( = n)
X X messages

F1 - FB reserved

data update at reception of a

remote transmit request and PDO
FC X X transmission after reception of a
SYNC message

data update and PDO transmission

FD X X at reception of a remote transmit
request

PDO transmission is triggered by

one of these events :
- activation of a logical input
FE X assigned to « send TPDO »
- mapped object variation superior
to +/- delta

Periodic PDO emission. Period can

FF X be configured (min = 1 ms).

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3 CANopen® OBJECTS DICTIONARY: COMMUNICATION OBJECTS

largest mappable
Index Description Access Type
sub-index (PDO) ?
0x1000 0 device profile RO N unsigned32
0x1001 0 error register RO N unsigned8
0x1003 1 pre-defined error field variable N /
0x1005 0 SYNC messages COB-ID RO N unsigned32
0x1008 0 device name CO N visible string
0x1009 0 hardware version CO N visible string
0x100A 0 software version CO N visible string
0x100C 0 guard time R/W N unsigned16
0x100D 0 life time factor R/W N unsigned8
0x1010 1 store parameters variable N /
0x1017 0 producer heartbeat time R/W N unsigned16
0x1018 1 device identity RO N /
0x1400 2 RPDO1 communication parameter RO N /
0x1600 1 RPDO1 mapping parameter RO N /
0x1800 2 TPDO1 communication parameter RO N /
0x1801 5 TPDO2 communication parameter variable N /
0x1802 5 TPDO3 communication parameter variable N /
0x1A00 1 TPDO1 mapping parameter RO N /
0x1A01 3 TPDO2 mapping parameter R/W N /
0x1A02 3 TPDO3 mapping parameter R/W N /

Ö R/W : read/write
Ö RO : read only
Ö CO : constant value
Ö Y : yes
Ö N : No
Ö / : the sub-index of the entry have different sizes

3.1 Device identification

3.1.1 0x1000 : Device profile
This entry describes the device and its functionalities.
Access : Read only
Default value : 3420000H
The 16 less significant bits contain the standardised device profile, the 16 most significant bits contain
additional informations on the product.

MSB LSB
0x0342 0x0000

- 0x0000 ⇒ does not follow a CIA standardised profile

- 0x0342 ⇒ 3 functioning modes, 2 logical inputs and 4 logical outpu

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3.1.2 0x1008 : Device name
The device name is coded as a 4-bytes string (ASCII).
Access : Read only
Default value : 646F4E65H

MSB LSB
0x646F 0x4E65

- 0x64 ⇒ d
- 0x6F ⇒ o
- 0x4E ⇒ N
- 0x65 ⇒ e

3.1.3 0x1009 : Hardware version

The device hardware version is coded as a 4-bytes string (ASCII).
Access : Read only
Default value : 31302E32H
- 0x31 ⇒ 1
- 0x30 ⇒ 0
- 0x2E ⇒ .
- 0x32 ⇒ 2

3.1.4 0x100A : Software version

The device software current version is coded as a 4-bytes string (ASCII).
Access : Read only
Default value : 36302E31H

MSB LSB
0x3531 0x2E31

- 0x33 ⇒ 5
- 0x30 ⇒ 1
- 0x2E ⇒ .
- 0x31 ⇒ 1

3.1.5 0x1018 : Product identifier

This index includes SCAIME « vendor ID » supplied by CAN in Automation (CiA).

mappable
Sub-index Description Access Default value Type
(PDO) ?
largest sub-
0x00 RO 0x01 N unsigned8
index

0x01 Vendor-ID RO 0x00000142 N unsigned32

3.2 CANopen® settings

3.2.1 0x1001 : Error register
The device internal errors are indicated by flag bits of this byte.
Access : Read only
Default value : /

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bit set to 1 Meaning

0 generic error detected

1 reserved (0)
2 A/D converter input voltage error
3 reserved (0)
4 CAN bus communication error
5 dosing error
6 reserved (0)
7 EEPROM error

Bit 0 (generic error) is set to 1 if at least one error is detected.

3.2.2 0x1003 : Pre-defined error field

This entry of the OD stores the errors that have been reported by emergnecy telegrams

Mappable
Sub-index Description Access Default value Type
(PDO) ?
reported errors
0x00 R/W 0 N unsigned8
counter

0x01 last reported error RO 0 N unsigned32

The reported errors counter (sub-index 00H) is accessible through write or read request but 0 is the
only allowed value for writting transactions. By writting a zero to this sub-index, the error counter is
resetted and the last reported error (sub-index 01H) is erased.
Attempts to write any other value is aborted with the 0x06090030 SDO abort code.

3.2.3 0x1005 : Synchronization messages COB-ID

The COB-ID of SYNC messages supported by eNod3-D is stored at this index.
Access : Read only
Default value : 80H

3.2.4 0x100C : Life guard

This setting is one of the elements used by node guarding protocol. When Heartbeat is inactive and
Life guard is different from 0, eNod3-D responds to NMT master periodic (period equal to life guard)
remote transmit requests.
Access : Read/write
Default value : 0H

3.2.5 0x100D : Life time factor

By multiplying the life guard by the life time factor the node life time (cf. §2.4.2) can be determined.
When node guarding is active, if the node has not been polled within this duration (in ms), eNod3-D
state is set to stopped. eNod3-D beahviour while stopped can be configured via the object at index
0x4800.
Access : Read/write
Default value: 0H

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3.2.6 0x1010 : Store parameters
This entry can be used to store in non-volatile memory (EEPROM) eNod3-D current settings. It allows
to keep them despite a power failure and some of them only apply after a storage in EEPROM
followed by a reset (hardware or software) procedure. The entry has two sub-index.

Mappable
Sub-index Description Access Default value Type
(PDO) ?
largest sub-
0x00 RO 0x01 N unsigned8
index
save all
0x01 R/W 0x01 N unsigned32
parameters

Storing all settings in EEPROM requires writting the ASCII string « save » (65766173H) to sub-index
01H.
- 0x65 ⇒ e
- 0x76 ⇒ v
- 0x61 ⇒ a
- 0x73 ⇒ s

When accessing to sub-index 1 with a read request, eNod3-D responds wirh value of 1 that means
that parameters are stored in non-volatile memory only on request.

3.2.7 0x1014 : Emergency COB-ID

The COB-ID of emergency messages transmitted by eNod3-D is stored at this index.
Its value is automatically updated if the node identifier is modified.
Access : read only
Default value : 81H

3.2.8 0x1017 : Producer heartbeat time

If a period different from 0 is written to this index, eNod3-D periodically generates a Heartbeat frame
(see §2.4.1). It is expressed in ms and must be comprised between 1 and 65535.
Access : Read/write
Default value : 0H

3.2.9 0x1400 : RPDO1 communication parameters

Mappable
Sub-index Description Access Default value Type
(PDO) ?
largest sub-
0x00 RO 0x02 N unsigned8
index
COB-ID 0x00000200+
0x01 RO N unsigned32
RPDO1 ID eNod3-D
transmission
0x02 RO 0xFF N unsigned8
type

Ö The RPDO1 messages COB-ID is automatically updated when eNod3-D identifier

is modified.
Ö The transmission type for RPDO1 messages can not be overwritten. A value of
FFH means that the RPDO are taken into account by eNod3-D upon reception.

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3.2.10 RPDO1 mapping parameters
The RPDO1 mapping parameter contains the index (byte 3, byte 2), the sub-index (byte 1) and the
size of the mapped object (byte 0) where received datas are automatically transferred.
This entry has two sub-index :

Mappable
Sub-index Description Access Default value Size
(PDO) ?
number of
0x00 mapped RO 0x01 N unsigned8
objects
1st object
0x01 RO 0x20030008 N unsigned32
mapping

The data stored in sub-index 01H can be read as :

- 0x2003 ⇒ OD entry index
- 0x00 ⇒ OD entry sub-index
- 0x08 ⇒ 8-bits size
This RPDO is especially dedicated to accept functional commands coded on one byte such as ‘Tare’
or ‘Zero’. The possible commands are listed below :

Code (hex.) Effect Note

00 set command register to IDLE state no command to execute

limited to a ±10% range of the maximum

D3 zero acquisition
capacity
D4 tare request
allows to leave the calibration procedure
D6 abort calibration
before its end
calibration using the sensor sensitivity and
D7 sensitivity adjustment the sensor capacity ; must be followed by
the save calibration command (00DEH)
calibration zero acquisition ; must be
D8 zero adjustment followed by the save calibration command
(00DEH)
D9 put in physical calibration 1st step of the physical calibration

DA zero calibration acquisition 2nd step of the physical calibration

DB calibration with load 1 3rd step of the physical calibration

DC calibration with load 2 (optional) 4th step of the physical calibration
DD calibration with load 3 (optional) 5th step of the physical calibration
DE save calibration stores the calibration into EEPROM
stops current cycle and resets all the
DF clear
calculated variables
in dosing functioning modes, starts a new
E4 start / restart dosing cycle cycle or restarts a previously suspended
cycle
in dosing mode (by filling or by unloading),
E5 stop cycle stops current cycle, inhibiting the different
outputs involved
E6 cancel tare erases last tare value

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3.2.11 0x1800 : TPDO1 communication parameters
The informations concerning the datas sent by eNod3-D via PDO communication are stored in this
entry of the OD. This entry has three sub-index :

Mappable
Sub-index Description Access Default value Type
(PDO) ?
largest sub-
0x00 RO 0x02 N unsigned8
index
COB-ID 0x00000180+
0x01 RO N unsigned32
TPDO1 eNod3-D ID
transmission
0x02 RO 0xFE N unsigned8
type

Ö The TPDO1 messages COB-ID is automatically updated when eNod3-D identifier

is modified.
Ö The transmission type for TPDO1 messages can not be overwritten. A value of
FEH means that the TPDO are sent upon a variation of the mapped value.

This transmit PDO is sent by eNod3-D to indicate the current state of the last functional command
received (in progress, complete or error)

3.2.12 0x1A00 : TPDO1 mapping parameters

The TPDO1 mapping parameter contains the index (byte 3, byte 2), the sub-index (byte 1) and the
size of the mapped object (byte 0) that is sent. The corresponding entry manages the current state of
the last functional command :

Ö 0x01 ⇒ command in progress

Ö 0x02 ⇒ command complete
Ö 0x03 ⇒ error during command application

This entry has two sub-index :

Mappable
Sub-index Description Access Default value Type
(PDO) ?
number of
0x00 mapped RO 0x01 N unsigned8
objects
1st object
0x01 RO 0x20040008 N unsigned32
mapping

3.2.13 0x1801/0x1802 : TPDO2/TPDO3 communication parameters

Both objects are similar and aim at describing transmit PDO they are assigned to. Each object is
constituted by 4 sub-index :

Ö TPDO2 and TPDO3 COB-ID are automatically updated when eNod3-D identifier
is modified.
Ö Both TPDO can be activated by settitng to 0 bit 31 of their COB-ID (sub-index
01H).

The transmission type and the timer event duration can be choosen according to the table in §2.5.2.

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Mappable
Sub-index Description Access Default value Type
(PDO) ?
largest sub-
0x00 RO 0x05 N unsigned8
index
TPDO2 0x80000280
or or
0x01 R/W N unsigned32
TPDO3 0x80000380
COB-ID + eNod-3D ID
transmission
0x02 R/W 0x01 N unsigned8
type

0x05 timer event R/W 0 N unsigned16

3.2.14 0x1A01 : TPDO2 mapping

The TPDO2 mapping parameter contains the index (byte 3, byte 2), the sub-index (byte 1) and the
size(s) of the mapped object(s) (byte 0) included in TPDO2 frames. Up to 3 objects can be mapped
in the same PDO but the total data length can not exceed 8 bytes.
This entry has four sub-index :
Mappable
Sub-index Description Access Default value Type
(PDO) ?
number of
0x00 mapped R/W 0x01 N unsigned8
objects
1st object
0x01 R/W 0x50010020 N unsigned32
mapping
2nd object
0x02 R/W 0 N unsigned32
mapping
3rd object
0x03 R/W 0 N unsigned32
mapping

‰ Note : TPDO2 mapping can only be modified in pre-operational state. First, it is necessary to
switch to 1 bit b31 of its COB-ID (cf. 3.2.13) and to force sub-index 0 to 0.

3.2.15 0x1A02 : TPDO3 mapping

The TPDO3 mapping parameter contains the index (byte 3, byte 2), the sub-index (byte 1) and the
size(s) of the mapped object(s) (byte 0) included in TPDO3 frames. Up to 3 objects can be mapped
in the same PDO but the total data length can not exceed 8 bytes.
This entry has four sub-index :
Mappable
Sub-index Description Access Default value Type
(PDO) ?
number of
0x00 mapped R/W 0x01 N unsigned8
objects
1st object
0x01 R/W 0x50040220 N unsigned32
mapping
2nd object
0x02 R/W 0 N unsigned32
mapping
3rd object
0x03 R/W 0 N unsigned32
mapping

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‰ Note : TPDO3 mapping can only be modified in pre-operational state. First, it is necessary to
switch to 1 bit b31 of its COB-ID (cf. 3.2.13) and to force sub-index 0 to 0.

4 eNod3-D SPECIFIC OBJECTS

Max sub- Mappable

Index Description Access Type
index (PDO) ?
Communication parameters
0x2000 0 functioning mode R/W N unsigned8
0x2001 0 CAN bus baud rate R/W N unsigned8
0x2002 0 eNod3-D identifier (ID) R/W N unsigned8
0x2003 0 functional command register R/W Y (RPDO1) unsigned8
0x2004 0 command state register RO Y (TPDO1) unsigned8
Calibration settings
0x3000 0 number of calibrations segments R/W N unsigned16
0x3001 3 calibration loads variable N
0x3002 0 maximum capacity R/W N unsigned32
0x3003 0 scale interval R/W N unsigned16
0x3004 0 sensor capacity R/W N unsigned32
0x3005 0 global span adjusting coefficient R/W N unsigned32
0x3006 0 input signal range R/W N unsigned8
0x3007 3 polynomial correction variable N
0x3200 0 sensor sensitivity R/W N integer32
Legal for trade settings
0x3500 0 motion R/W N unsigned8
0x3501 0 zero mode R/W N unsigned16
0x3600 0 legal for trade switch R/W N unsigned8
0x3601 3 legal for trade indicators RO N
Filtering parameters
0x4000 0 A/D conversion frequency R/W N unsigned16
0x4001 0 self-adaptive filter R/W N unsigned8
0x4002 9 digital filter settings variable N
Logical Inputs/Outputs
0x4501 3 logical inputs configuration variable N
0x4509 4 logical outputs configuration variable N
0x4601 5 set points 1 & 2 configuration variable N
0x4609 5 set points 3 & 4 configuration variable N
Dosing settings
0x4700 0 target weight R/W N unsigned32
0x4701 6 cycle timings variable N

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0x4702 2 tolerances variable N
0x4703 2 reloading variables variable N
0x4704 5 dosing levels variable N
0x4705 4 cycle management options variable N
0x4706 2 flow rate control variale N
Other objects
0x4800 0 safety mode R/W N unsigned8
0x4900 0 delta min TPDO2 R/W N unsigned32
0x4901 0 delta min TPDO3 RO N unsigned32
Measures
0x5000 0 net measurement RO O integer32
0x5001 0 gross measurement RO O integer32
0x5002 0 A/D converter points RO O integer32
0x5003 0 measurement status RO O unsigned16
0x5004 6 results RO O
0x5100 0 logical inputs level RO O unsigned8
0x5200 0 logical outputs level RO O unsigned8

‰ Note : All the bits that are not mentioned in the description of the settings below are reserved
(= 0).

4.1 Communication parameters

4.1.1 0x2000 : Functioning mode
This entry allows to select one of eNod3-D functioning modes. A modification of this setting is only
taken into account after an EEPROM storage and a reset (hardware or software) procedure. Bit b3
can be used so as to shunt digital filters and non-linearity correction
Access : Read/write
Default value : 01H

bits b1, b0 Functioning mode Notes

00 transmitter
validation after an EEPROM
01 dosing by filling
storage followed by a reset
10 dosing by unloading

bit b3 Signal processing

0 treatment enabled digital filters, set point

management and non-linearity
1 treatment disabled correction activation

4.1.2 0x2001 : CAN bus baud rate

The bit rate of the CAN bus can be selected within this object according to §1.2 limitations. A
modification of this setting is only taken into account after an EEPROM storage and a reset (hardware
or software) procedure.
Access : Read/write
Default value : 03H
The codes corresponding to the different possible bit rates are given below :

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- 0x01 ⇒ 20 kbit/s
- 0x02 ⇒ 50 kbit/s
- 0x03 ⇒ 125 kbit/s
- 0x04 ⇒ 250 kbit/s
- 0x05 ⇒ 500 kbit/s
- 0x06 ⇒ 800 kbit/s
- 0x07 ⇒ 1 Mbit/s

4.1.3 0x2002 : d’eNod3-D identifier (ID)

On a CANopen® network, each COB is uniquely identified by one COB-ID which depends on the node
identifier. This setting is stored at this index of the OD and can be assigned a value between 1 and
127 (01H and 7FH). A modification of this setting is only taken into account after an EEPROM storage
and a reset (hardware or software) procedure.
eNod3-D CAN identifier is equal to the address used for RS232/485 communication.
Access : Read/write
Default value : 01H

4.1.4 0x2003/0x2004 : Command/state register

For a complete description of this entry, please refer to §3.2.9 and §3.2.10
Access : Read/write (0x2003) and Read only (0x2004)
Default value : 00H

4.2 Calibration settings

4.2.1 0x3000 : Number of calibration segments
Defines the number (from 1 to 3) of calibration segments used for the physical calibration procedure.
Usually for linear installations, 1 segment is sufficient.
Access : Read/write
Default value : 1H

4.2.2 0x3001 : Calibration loads

Before launching a physical calibration procedure, each calibration segment must be given a
corresponding user value (for example, 1000 points for a 1kg load). Admitted values are between 0 et
1000000d.

Mappable
Sub-index Description Access Default value Type
(PDO) ?

0x00 largest sub-index RO 3 N unsigned8

0x01 calibration load 1 R/W 0x00002710 N unsigned32

0x02 calibration load 2 R/W 0x00004E20 N unsigned32

0x03 calibration load 3 R/W 0x00007530 N unsigned32

4.2.3 0x3002 : Maximum capacity

When the absolute value of gross measurement plus 9 divisions exceeds the maximum capacity, bits
b3 (positive overloading) or b2 (negative overloading) of status bytes are set to 1. Moreover, power-up
zero and zero requests are only handled if measurement is included within a ±10% range of the
specified capacity. Admitted values are between 0 et 1000000d.
Access : Read/write
Default value : 186A0H

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4.2.4 0x3003 : Scale interval
The scale interval is the minimal difference between two consecutive indicated values (gross/net).
Access : Read/write
Default value : 01H
Admitted values are listed below :
- 1d ⇒ 0x0001
- 2d ⇒ 0x0002
- 5d ⇒ 0x0005
- 10d ⇒ 0x000A
- 20d ⇒ 0x0014
- 50d ⇒ 0x0032
- 100d ⇒ 0x0064

4.2.5 0x3004 : Sensor capacity

Sensor capacity is used in association with sensor sensitivity (index 3200H, sub-index 00H) so as to
make a theoretical calibration. Admitted values are between 0 et 1000000d.
Access : Read/write
Default value : 186A0H

4.2.6 0x3005 : Global span adjusting coefficient

Initial calibration can be adjusted thanks to the global scale adjusting coefficient. Adjustment applies
on the whole curve. The unity for this coefficient is 1E-6 that means 1000000d = 1. Admitted values
are between 900000d and 1100000d.
A modification of this setting is only taken into account after an EEPROM storage and a reset
(hardware or software) procedure.
Access : Read/write
Default value : F4240H

4.2.7 0x3006 : Input signal range

The admitted voltage range on the analog input is defined by this parameter. A modification of this
setting is only taken into account after an EEPROM storage and a reset (hardware or software).
Access : Read/write
Default value : 0EH
Supported codes are listed below :

bits b2 b1 b0 Input signal range (mV/V) Notes

000 500

001 250

010 124

011 62

100 31

101 15
default value. recommended recommended
110 7.8
for straing gauges load cells
bit b3 Analog signal type

0 unipolar by default

1 bipolar

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4.2.8 0x3007 : Polynomial correction
Non-linearity problems might be corrected using the 2nd order polynomial correction. The adjusted
measurement is thus expressed by the following adjusting formula :

Adjusted measurement = Meas – A*(Meas)² - B*(Meas) – C

where Meas = actual measurement

The coefficients have specific values. Each of them is expressed with its own unit :
Ö the unit for coefficient A is 1E-12 ; that means 1 000 000 000 000d = 1.
Ö the unit for coefficient B is 1E-9 ; that means 100 000 0000d = 1.
Ö coefficient C is directly expressed as A/D converter points.

The coefficients are easily calculated using eNodView software calculation tool.

Mappable
Sub-index Description Access Default value Type
(PDO) ?
largest sub-
0x00 RO 0x03 N unsigned8
index

0x01 coeff. A R/W 0 N integer32

0x02 coeff. B R/W 0 N integer32

0x03 coeff. C R/W 0 N integer32

4.2.9 0x3200 : Sensor sensitivy

Sensor sensitivity is used for theoretical calibration. This procedure also requires the knowledge of the
corresponding capacity. The unit for this setting is 1E-5 mV/V ; that means 100000d = 1.
Access : Read/write
Default value : 30D40H

4.3 Legal for trade settings

4.3.1 0x3500 : Motion
Measurement is stable if X consecutive measurements following the reference measurement are
included in the stability interval (see following table) else the current measurement becomes the
reference measurement. X depends on the Analog to Digital (A/D) conversion rate.
A modification of this setting is only taken into account after an EEPROM storage and a reset
(hardware or software) procedure.
Access : Read/write
Default value : 1H

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bits b2 b1 b0 Stability interval Notes

000 no motion detection

001 0.25d

010 0.5d
1d = 1 division
011 1d

100 2d

A/D conversion rate (meas/s)

X
50 Hz rejection 60 Hz rejection

6,.25 7.5 1

12.5 15 2

25 30 3

50 60 5

100 120 9

200 240 17

400 480 33

800 960 65

1600 1920 129

4.3.2 0x3501 : Zero mode

Zero tracking and/or initial zerosetting can be activated by setting bits b1/b0.
Access : Read/write
Default value : 0H

bit b0 Zero tracking Notes

zero tracking is active in the range of ± 10%

1 zero tracking active
of the maximum capacity
0 without zero tracking

bit b1 Initial zerosetting

initial zero setting is limited to a ±10% range

1 initial zerosetting enabled
of the maximum capacity
0 initial zerosetting disabled

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4.3.3 0x3600 : Legal for trade (R76) switch
The activation of the settings related to the use of eNod3-D in compliance with OIML R76
recommandation is done by setting to 1 b0 bit of this entry (see §4 in documentation ref. 165752) .
The activation of this switch has the following effects on the behaviour of the device :
Ö the legal for trade counter is incremented every time a storage in EEPROM is
requested if a metological setting has been modified (cf. § 4.3.4).
Ö a new legal for trade CRC-16 value is calculated every time a storage in EEPROM
is requested if a metrological setting has been modified (cf. § 4.3.4).
Ö taring is now impossible if gross measurement is negative
Ö zero acquisition range is reduced from 10% of the capacity to 2%.
Ö the weight value is set to –1 during the 15 seconds that follow a device reset
Ö the motion criterion (cf. § 4.3.1). is forced to 0.25d and can not be modified
anymore. An attempt to change its value is refused by a SDO error frame.
Ö The A/D converter is set into unipolar mode (cf. § 4.2.7). and can not be modified
anymore. An attempt to change its value is refused by a SDO error frame.
Access : Read/write
Default value : 0H

4.3.4 0x3601 : Legal for trade indicators

If the legal for trade option is switched ON, the legal for trade counter and the legal for trade CRC-16
are incremented every time a storage in EEPROM is requested if one (or several) of these settings
has been modified :
- A/D converter configuration
- scale coefficients
- global span adjusting coefficients
- non-linearity polynomial correction coefficients
- scale interval
- sensor capacity
- maximum capacity
- zero calibration value in A/D converter points
- legal for trade switch
- initial zerosetting and zero tracking
- functioning mode
- motion criterion

Mappable
Sub-index Description Access Default value Type
(PDO) ?

0x00 largest sub-index RO 0x02 N unsigned8

legal for trade

0x01 RO 0 N unsigned16
counter
legal for trade
0x02 RO 0 N unsigned16
CRC-16
metrological
0x03 RO 3 N unsigned16
program version

4.4 Filtering parameters

4.4.1 0x4000 : A/D conversion rate
A modification of this setting is only taken into account after an EEPROM storage and a reset
(hardware or software)
Access : Read/write
Default value : 1h

The different admitted frequencies and their corresponding binary codes are listed in the follwing table.

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bit b0 Rejection

1 50 Hz rejection
0 60 Hz rejection
A/D conversion rate (meas/s)
bits b4 b3 b2 b1
50 Hz rejection 60Hz rejection

0000 100 120

0001 50 60

010 25 30

0011 12.5 15

0100 6.25 7.5

1001 1600 1920

1010 800 960

1011 400 480

1100 200 240

4.4.2 0x4001 : Self-adaptive filter

This type of filter can be set in cascade after the previous filters. It is particularly useful for static
measurements, avoid using it in dynamic or dosing process. The aim of this filter is to eliminate erratic
measurements and to average consistent measurements. It can be enabled by setting b0 bit to 1.

b0 Note

0 self-adaptive filter disabled

1 self-adaptive filter enabled

Access : Read/write
Default value : 0H

4.4.3 0x4002 : Digital filters settings

This entry gives an access to the configuration of the low-pass and band-stop digital filters that can be
used by eNod-3D.
The low-pass filter order is configurable, possible orders are 0 (filter disabled), 2, 3 or 4. It is coded
on the b2, b1 and b0 bits. The band-stop filter activation can be done by setting b8 bit to 1 of the
same sub-index.
The filter recurrence relation of these filters are as follows :
- digital low-pass filter :

2nd order : sn = 1/A(en + 2en-1 + en-2 – Bsn-1 – Csn-2)

3rd order : sn = 1/A(en + 3en-1 + 3en-2 + en-3 – Bsn-1 – Csn-2 – Dsn-3)
4th order : sn = 1/A(en + 4en-1 + 6en-2 + 4en-3 + en-4 – Bsn-1 – Csn-2 – Dsn-3 – Esn-4)

- digital band-stop filter :

2nd order : sn = X(en + en-2) + Y(en-1 – sn-1) – Zsn-2

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Digital dosing controller
By default , the low-pass filter is enabled and set for a 100 Hz sampling frequency and a 10 Hz cut-off
frequency. It is a 3rd order filter.

This entry of the OD is constituted by 10 sub-index :

Mappable
Sub-index Description Access Default value Type
(PDO) ?
largest sub-
0x00 RO 0x09 N unsigned8
index

0x01 filter order R/W 0x03 N unsigned16

0x3C88CD6D
0x02 1/A coefficient R/W N real32
( = 0.0166995171)
0xC2D74E27
0x03 B coefficient R/W N real32
(= -107.652641)
0x42923F93
0x04 C coefficient R/W N real32
(= 73.1241684)
0xC18AD3F5
0x05 D coefficient R/W N real32
(= -17.3534946)

0x06 E coefficient R/W 0 N real32

0x3F6DCC83
0x07 X coefficient R/W N real32
(= 0,92890471)
0xBEDBB2BD
0x08 Y coefficient R/W N real 32
(= -1,7163921)
0x3F5B995F
0x09 Z coefficient R/W N real 32
(= 0,857809)

4.5 Logical inputs/outputs configuration

4.5.1 0x4501 : Logical inputs configuration
eNod3-D is equiped with two logical inputs that can be configured in different ways described below :

bits b2 b1 b0 Input assignement Notes

000 none input is ignored

001 tare
limited to a ±10% range of the
010 zero
maximum capacity
in tranmistter functioning mode, triggers
send TPDO2 (IN 1)
011 the emission of a TPDO if it is event-
send TPDO3 (IN 2)
triggered
- in transmitter functioning mode,
erases last tare value
- in dosing mode (by filling or by
101 cancel tare / suspend cyle
unloading), suspends temporarily or
stops current dosing cycle (depending
on the cycle recovery option)
in dosing mode (by filling or by
110 start / restart dosing cycle unloading), starts a new cycle or
restarts a previously suspended cycle
in dosing mode (by filling or by
111 stop current cycle unloading), stops current cycle,
inhibiting the different outputs involved

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bit b3 Logic

0 negative

1 positive
Minimal holding time concerns both logical inputs and is expressed in milliseconds. It corresponds to
the minimal stabilization time of the inputs.

Mappable
Sub-index Description Access Default value Type
(PDO) ?

0x00 largest sub-index RO 0x03 N unsigned8

minimal holding
0x01 R/W 0x50 N unsigned16
time (ms)

0x02 input 1 assignement R/W 0 N unsigned8

0x03 input 2 assignement R/W 0 N unsigned8

4.5.2 0x4509 : Logical outputs configuration

eNod3-D is equiped with four logical outputs that can be configured in different ways described
below :
bits b3, b2, b1 et b0 Output assignement Notes

set point 1 ⇒ output 1

set point 2 ⇒ output 2
0000 set point
set point 3 ⇒ output 3
set point 4 ⇒ output 4
0001 motion
0010 dosing result available
0011 cycle in progress indicates that a dosing cycle is in progress
0100 defective measurement cf. status register
0101 input (1 or 2) image regardless of the functioning mode
0110 fine feed in dosing by filling or by unloading functioning
0111 coarse feed modes
- in dosing by filling mode, activated during the
emptying phase that follows the control of
tolerances
1000 emptying / reloading
- in dosing by unloading mode, activated
during the reloading phase that occurs at the
end or at the start of the cycle
dosing result out of in dosing functioning modes, indicates that the
1001
tolerances result is out of the fixed tolerances
in dosing functioning modes, indicates that a
1010 flow rate failure
flow rate defect has occured
in dosing functioning modes, indicates that a
flow rate defect has occured, or that the result
1011 dosing failure
is out of the fixed tolerances or that an error
has occured at the start of the cycle

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bit b4 Logic
0 negative
1 positive

Mappable
Sub-index Description Access Default value Type
(PDO) ?

0x00 largest sub-index RO 0x4 N unsigned8

output 1
0x01 R/W 0x16 N unsigned8
assignement
output 2
0x02 R/W 0x17 N unsigned8
assignement
output 3
0x03 R/W 0x18 N unsigned8
assignement
output 4
0x04 R/W 0x19 N unsigned8
assignement

4.5.3 0x4601/0x4609 : Set points configuration

Set point 1 is assigned to output 1, set point 2 to output 2, set point 3 to output 3 and set point 4 to
output 4. Each set point is defined by a functioning defined at sub-index 1 and by high and low
limit values (sub-index 2 to 5) :

bit b0 Set point 1 (or 3) commutation mode

1 hysteresis
0 window
bit b1 Comparison measurement
1 net
0 gross
bit b4 Set point 2 (or 4) commutation mode
1 hysteresis
0 window
bit b5 Comparison measurement
1 net
0 gross

Ö 0x4601 set points 1 & 2 configuration :

Mappable
Sub-index Description Access Default value Type
(PDO) ?

0x00 largest sub-index RO 0x05 N unsigned8

set points 1 & 2

0x01 R/W 0x33 N unsigned8
functioning

0x02 set point 1 low value R/W 0x00011170 N integer32

0x03 set point 1 high value R/W 0x00013880 N integer32

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0x04 set point 2 low value R/W 0x0000C350 N integer32

0x05 set point 2 high value R/W 0x0000EA60 N integer32

Ö 0x4609 : set points 3 & 4 configuration :

Mppable
Sub-index Description Access Default value Type
(PDO) ?

0x00 largest sub-index RO 0x05 N unsigned8

set points 3 & 4

0x01 R/W 0 N unsigned8
functioning

0x02 set point 3 low value R/W 0x00007530 N integer32

0x03 set point 3 high value R/W 0x00009C40 N integer32

0x04 set point 4 low value R/W 0x00002710 N integer32

0x05 set point 4 high value R/W 0x00004E20 N integer32

4.6 Dosing settings

4.6.1 0x4700 : Target weight
In dosing by filling or by unloading functioning modes, the target weight represents the net (dosing by
filling) or the gross measurement (dosing by unloading) to reach at the end of the dosing process (see
description of dosing cycles in user’s instructions documentation ref. 165752). Admitted values are
comprised between 1 and 1000000d,
Access : Read/write
Default value : 2710H

4.6.2 0x4701 : Cycle timings

In dosing (by filling or by unloading) functioning modes, a cycle is divided into several phases that are
delimited by levels and timings. This entry contains all the timers involved in dosing cycles :
Mappable
Sub-index Description Access Default value Type
(PDO) ?

0x00 largest sub-index RO 0x07 N unsigned8

0x01 start delay R/W 0x00C8 N unsigned16

0x02 final stabilization time R/W 0x01F4 N unsigned16

coarse feed effect

0x03 R/W 0x0032 N unsigned16
neutralizationt time
fine feed effect
0x04 R/W 0x0032 N unsigned16
neutralization time
emptying / reloading
0x05 R/W 0x0064 N unsigned16
holding time

0x06 motion time out R/W 0x0064 N unsigned16

0x07 end of cycle waiting time R/W 0x0064 N unsigned16

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Ö 0x01 : start delay :
- dosing by filling : if the ‘automatic taring at start’ option is enabled, this timer stands for the
stabilization time that precedes the tare execution.
- dosing by unloading : this timer stands for the tank level stabilization time that precedes
the reference weight acquisition.

Ö 0x02 : Final stabilization time :

In dosing functioning modes (by filling or by unloading), the final stabilization time defines the
duration that follows the fine feed stop and precedes the result determination.

Ö 0x03 : coarse feed effect neutralization time :

During this delay, the flow rate control and the level monitoring are disabled so as to limt the
impact of dynamic effects on the signal caused by the coarse feed activation.

Ö 0x04 : fine feed effect neutralization time :

During this delay, the flow rate control and the level monitoring are disabled so as to limt the
impact of dynamic effects on the signal caused by the flow rate change.

Ö 0x05 : emptying / reloading holding time :

- dosing by filling : the emptying holding time defines how long the ‘emptying’ output remains
active after that the gross value has become inferior to the ‘emptying end level’ (cf. §4.6.5).
- dosing by unloading : the reloading holding time defines how long the ‘reloading’ output
remains active after that the gross value has become superior to the ‘reloading max level’ (cf.
§4.6.4).

Ö 0x06 : motion time out :

- dosing by filling : if the ‘automatic taring at start’ option is enabled, this time defines the
interval during which stability is monitored for the tare acquistion. If the stability can not be
found before this time out ends, the tare value is set to the current net measurement.
- dosing by unloading : this time defines the interval during which stability is monitored for
the reference weight acquisition. If the stability can not be found before this time out ends, the
reference weight value is set to the current gross measurement.
- in both functioning modes : the motion time out is also used when the final stabilization
time ends. The dosing result is acquired as soon as no motion is detected. If the stability can
not be found before this time out ends, the dosing result is set to the current net (dosing by
filling) or gross (dosing by unloading) measurement.

Ö 0x07 : end of cycle waiting time :

This delay occurs either :
- after the control of tolerances
- at the end of the reloading phase in dosing by unloading functioning
mode if the reloading mode is set to ‘at the end of the cycle’
- at the end of the emptying phase (if used) in dosing by filling functioning
mode
A dosing cycle is finished as soon as this delay ends. The statistic variables (number of
cycles, running total, average value and standard deviation) are then updaetd. If an output is
assigned to the ‘cycle in progress’ function it is also disabled.

4.6.3 0x4702 : Tolerances

The tolerance settings define the acceptable range for dosing results. An output assigned to the ‘out of
tolerances’ function or ‘dosing failure’ is set active if the dosing result is not within the range

[target weight – (tolerance -) ; target weight + (tolérance +)]

If the result is inferior to the default limit and if the ‘restart fine feed’ (cf. §4.6.6 ) option is enabled, then
the fine feed output is restarted.

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Mappable
Sub-index Description Access Default value Type
(PDO) ?
0x00 largest sub-index RO 0x02 N unsigned8

0x01 high tolerance R/W 0x000A N unsigned16

0x02 low tolerance RW 0x000A N unigned16

4.6.4 0x4703 : Reloading variables (dosing by unloading)

eNod3-D provides two mechanisms (optional) for reloading management.They allow eNod3-D to
enter into a reloading phase in case of a lack of product in the tank.

- reloading at the end of the cycle : an output assigned to the ‘reloading’ function is automatically
set if after the result determination the gross measurement is inferior to the ‘reloading min level’. The
output remains active until the end of the ‘reloading holding time’ that begins immediately after that the
‘reloading max level’ has been exceeded.
- realoading at the start of the cycle : at every cycle start, eNod3-D checks that there is enough
product to reach the dosing target weight. Else if the reloading mode is set to ‘at the start of the cycle’,
an output assigned to the ‘reloading’ function is automatically set active until the gross measurement
gets superior to the ‘reloading max level’. It remains then active during the ‘reloading holding time’.
After the reloading phase end, the dosing cycle begins normally.

Mappable
Sub-index Description Access Default value Type
(PDO) ?

0x00 largest sub-index RO 0x02 N unsigned8

reloading max
0x01 R/W 0x00004E20 N unsigned32
level
reloading min
0x02 R/W 0x000003E8 N unsigned32
level
4.6.5 0x4704 : Dosing levels
This object contains all the levels that are monitored during a dosing cycle.

Mappable
Sub-index Description Access Default value Type
(PDO) ?

0x00 largest sub-index RO 0x05 N unsigned8

0x01 fine feed level R/W 0x00001388 N unsigned32

end of emptying
0x02 R/W 0x000000C8 N unsigned32
level

0x03 inflight weight value R/W 0x000000FA N integer32

0x04 max empty weight R/W 0x000001F4 N unsigned32

min empty weight /

0x05 R/W 0x00000064 N unsigned32
residual weight

Ö 0x01 : fine feed level :

The fine feed level expressed as a subtraction of the target weight gives the level (net for filling
and gross for dosing by unloading) that causes the coarse feed to be disabled and the fine
feed to go on.

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Ö 0x02 : emptying end level (dosing by filling only) :

During the emptying phase, the ‘emptying’ output is disabled if the gross value becomes
inferior to this level and if the ‘emptying holding time’ has elapsed (cf. §4.6.2).

Ö 0x03 : Inflight weight value :

The inflight value corresponds to the weight of product that carries on falling after the ‘fine
feed’ output disabling.
Its value can be automatically corrected thanks to the inflight correction mechanism (cf. §4.6.6
and user’instructions documentation ref. 165752)

Ö 0x04 / 0x05 : Max/min empty weight (dosing by filling only) :

The min and max empty weight are involved only in dosing by filling functioning mode. Both
settings define the cycle starting conditions :
• min empty weight < gross measurement < max empty weight
ƒ empty packing presence verification
• min empty weight = max empty weight = 0 regardless of the gross value
ƒ no verification
If none of these conditions is respected, an error is reported and the cycle can not start.

Ö 0x05 : Residual weight (dosing by reloading mode only) :

The ‘residual weight’ is used when eNod3-D checks if the available quantity of product is
sufficient to handle a complete dosing cycle. If Gross measurement < (target weight + residual
weight) the cyle is cancelled and an error is reported.

4.6.6 0x4705 : Cycle management options

This object contains all the cycle management options that can be used during dosing cycles. It is
divided into 6 sub-index :

Mappable
Sub-index Description Access Default value Type
(PDO) ?
0x00 largest sub-index RO 0x05 N unsigned8
automatic taring at
0x01 R/W 0x01 N unsigned8
start / cycle recovery
reloading mode /
0x02 R/W 0x01 N unsiged8
emptying phase
inflight weight
0x03 automatic correction / R/W 0x02 N unsigned8
fine feed restarting

0x04 correction coefficient R/W 0x64 N unsigned8

0x05 flow rates sequency R/W 0x01 N unsigned16

Ö 0x01 : automatic taring at start / cycle reovery :

See dosing cycles description in user’s instructions document ref. 165752 for informations
about these options.
• automatic taring at start (dosing by filling) : this option can be enabled by
setting b0 bit to 1 in sub-index 01H.
• cycle recovery : this option can be enabled by setting b0 bit to 1 in sub-index
01H.

Ö 0x02 : reloading mode /emptying activation:

- dosing by filling : by setting b0 bit to 1, the emptying phase after the control of tolerances
is enabled.
- dosing by unloading : this object allows to define the reloading mode

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- not used ⇒ 0x00
- at the end of the cycle ⇒ 0x01
- at the start of the cycle ⇒ 0x02

Ö 0x03 : Inflight automatic correction and fine feed restart :

b0 Effect Notes
weighted by te correction
coefficient at sub-index 04H
1 automatic correction enabled see dosing cycle descriptions in
user’s instructions document ref.
165752
0 automatic correction disabled

b1
fine feed is restarted if the see dosing cycle descriptions in
1 dosing result is inferior to the low user’s instructions document ref.
tolerance 165752
fine feed is not restarted if the
0
result is out of tolerances

b2

correction coefficient x3 if out of if the automatic correction is

1
tolerances enabled
correction coefficient not
0
modified

Ö 0x04 : Inflight weight value correction coefficient :

This coefficient is used when the ‘inflight automatic correction’ option is enabled. It is used so
as to weight the amplitude of the correction. Admitted values are comprised between 10 and
100%.

Ö 0x05 : Flow rates sequency :

In the filling and dosing by unloading functioning modes, it is possible to select the activation
order of the feed outputs :
∗ coarse feed then fine feed after coarse feed stop
∗ coarse feed + fine feed at the beginning of the cycle
∗ coarse feed only, in this case an output must be assigned to the ‘coarse feed’ function

b1, b0 Function Description

00 CF then FF
see dosing cycle descriptions in
01 CF + FF user’s instructions document ref.
165752
10 CF only

4.6.7 0x4706 : Flow rate control

eNod3-D includes a flow rate control system. It makes possible to check that the flow rate during
the cycle is sufficient. The device controls that te flow rate remains equal or superior to a minimal
value. If it is not the case, an output assigned to ‘dosing failure’ or ‘flow rate failure’ is set and the
cycle is suspended if the cycle recovery option is active else it is stopped.
The flow rate control is defined by two parameters :

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Ö 0x01 : time interval (if = 0, the flow rate control is not used)

Ö 0x02 : minimal weight variation : value comprised between 1d and 65535d.

Mappable
Sub-index Description Access Default value Type
(PDO) ?
0x00 largest sub-index RO 0x02 N unsigned8
minimal weight
0x01 R/W 0x03E8 N unsigned16
variation
0x02 time interval R/W 0x0000 N unsigned16

4.7 Other settings

4.7.1 0x4800 : Safety mode
This entry defines eNod3-D functioning when in stopped NMT state. Safety mode is used if bit 0 is
set to 1. The functioning modes (dosing or transmitter) are then inhibited and outputs logical states
are given by bits b1 (output 1 level) and b2 (output 2 level), b3 (output 3 level) and b4 (output 4 level)
eNod3-D leaves the safety mode upon reception of a NMT command.
Access : read/write
Default value : 0h

b0 Effect Notes
0 safety mode disabled
only valid in stopped state
1 safety mode enabled
b1
0 output 1 inhibited depending on the choosen logic
1 output 1 set active (cf. §4.5.2)

b2
0 output 2 inhibited depending on the choosen logic
1 output 2 set active (cf. §4.5.2)

b3
0 output 3 inhibited depending on the choosen logic
1 output 3 set active (cf. §4.5.2)

b4
0 output 4 inhibited depending on the choosen logic
1 output 4 set active (cf. §4.5.2)

4.7.2 0x4900 : Delta min TPDO2

In transmitter functioning mode, if TPDO2 transmission type is « event-triggered » and if input 1 is not
assigned to « send TPDO2 » function, then TPDO2 is sent when the value of the first mapped
object varies from ± delta.
Access : Read/write
Default value : 64h

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4.7.3 0x4901 : Delta min TPDO3
In transmitter functioning mode, if TPDO3 transmission type is « event-triggered » and if input 2 is not
assigned to « send TPDO3 » function, then TPDO3 is sent when the value of the first mapped
object varies from ± delta.
Access : Read/write
Default value : 64h

4.8 Measures
4.8.1 0x5000/0x5001/0x5002 : Current measurement
These three entries contain the current measurement value (net, gross and A/D converter points). All
these variables can be mapped into a PDO.
Access : Read only
Default value : /
Ö 0x5000 : Net measurement :
Mappable
Sub-index Description Access Default value Type
(PDO) ?

0x00 net measurement RO / Y integer32

Ö 0x5001 : Gross measurement :

Mappable
Sub-index Description Access Default value Type
(PDO) ?
gross
0x00 RO / Y integer32
measurement

Ö 0x5003 : A/D converter points :

Mappable
Sub-index Description Access Default value Type
(PDO) ?
A/D converter
0x00 RO / Y integer32
points

4.8.2 0x5003 : Current measurement status

Internal errors and other informations are coded on two bytes that can be mapped into a PDO.
Access : Read only
Default value : /

Mappable
Sub-index Description Access Default value Type
(PDO) ?
current
0x00 measurement RO / Y unsigned16
status

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bits b15,...b0 Function Notes

b1, b0
XX non-significant
b3,b2
00 measurement within the admissible range
01 negative overloading causes an output assigned to
the ‘defective measurement’
10 positive overloading function to be set active
11 analog signal out of range
bit b4
0 motion causes an output assigned to
the ‘motion’ function to be set
1 no motion active
bit b5
0 measurement out of the ¼ of division
1 zero in the ¼ of division
bit b6
0 EEPROM OK
1 EEPROM failure
bit b7
1 reserved
bit b8
0
input 1 logical state
1
bit b9
0
input 2 logical state
1
bit b10
0
output 1 logical state
1
bit b11
0
output 2 logical state
1
bit b12
0
output 3 logical state
1
bit b13
0
output 4 logical state
1
bit b14
0 no tare the tare can be cancelled by
1 at least a tare has been processed an input or by a command

bit b15
1 reserved

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4.8.3 0x5004 : Results
This entry divided into 7 sub-index contains the different measurement results calculated by eNod3-D.

Mappable
Sub-index Description Access Default value Type
(PDO) ?

0x00 largest sub-index RO 0x06 N unsigned8

0x01 tare value RO 0 Y integer32

0x02 dosing result RO 0xFFFFFFFF Y integer32

number of
0x03 RO 0 Y integer32
processed cycles
0x04 average value RO 0 Y integer32

0x05 running total RO 0 Y integer32

0x06 standard deviation RO 0 Y real32

4.8.4 0x5100 : Logical inputs state

This entry contains the current logical inputs level.
Access : Read only
Default value : /

bit b0 input 1 level

0
1
bit b1 input 2 level
0
1

Mappable
Sub-index Description Access Default value Type
(PDO) ?
logical inputs
0x00 RO / Y unsigned8
state

4.8.5 0x5200 : Logical outputs state

This entry contains the current logical outputs level.
Access : Read only
Default value : /

bit b0 output 1 level

bit b1 output 2 level

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bit b2 output 3 level
0
1
bit b3 output 4 level
0
1

Mappable
Sub-index Description Access Default value Type
(PDO) ?
logical outputs
0x00 RO / Y unsigned8
state

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