CiA Draft Standard 404
Device Profile Measuring Devices and Closed-
Loop Controllers
Version 1.2
Date: 15. May 2002
© CAN in Automation (CiA)
CONTENTS Measurement Devices and Closed Loop Controllers CiA DS 404 V1.2
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CONTENTS Measurement Devices and Closed Loop Controllers CiA DS 404 V1.2
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CONTENTS
1 SCOPE .................................................................................................................................... 9
2 REFERENCES...................................................................................................................... 10
3 DEFINITIONS AND ABBREVIATIONS .............................................................................. 11
4 OPERATING PRINCIPLE .................................................................................................... 12
4.1 Introduction ................................................................................................................... 12
4.2 General object dictionary layout .................................................................................. 13
4.2.1 Digital input function block................................................................................... 15
4.2.2 Analogue input function block ............................................................................. 15
4.2.3 Digital output function block ................................................................................ 16
4.2.4 Analogue output function block........................................................................... 17
4.2.5 Controller function block...................................................................................... 18
4.2.6 Alarm function block ............................................................................................ 19
4.2.7 Device function block........................................................................................... 19
5 ERROR HANDLING............................................................................................................. 20
5.1 Principle......................................................................................................................... 20
5.2 Error behaviour ............................................................................................................. 20
5.3 Error code meanings .................................................................................................... 20
5.4 Additional error codes .................................................................................................. 21
6 PRE-DEFINITIONS............................................................................................................... 22
6.1 Principle......................................................................................................................... 22
6.2 Naming conventions..................................................................................................... 22
6.3 PDO Mapping ............................................................................................................... 22
6.3.1 Object 1000h: Device type .................................................................................. 22
6.3.2 Object 1001h: Error Register .............................................................................. 22
6.3.3 Object 1029h: Error Behaviour ........................................................................... 23
6.3.4 1st receive PDO parameters (Received Process Values) ................................ 24
6.3.5 1st transmit PDO parameters (Analogue Input) ................................................ 25
6.3.6 2nd receive PDO parameters (Command Values for Controller) ..................... 25
CONTENTS Measurement Devices and Closed Loop Controllers CiA DS 404 V1.2
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6.3.7 2nd transmit PDO parameters (Effective Controller Output) ............................ 26
6.3.8 3rd receive PDO parameters (alternate received process value) ................... 26
6.3.9 3rd transmit PDO parameters (alarm) ................................................................ 27
6.3.10 4th receive PDO parameters (Digital Output) .................................................. 27
6.3.11 4th transmit PDO parameters (Digital Input).................................................... 28
6.3.12 5th receive PDO parameters (Control Bytes) .................................................. 28
6.3.13 6th receive PDO parameters (Multiplexor PDO) ............................................. 29
7 OBJECT DICTIONARY........................................................................................................ 30
7.1 Survey object dictionary............................................................................................... 31
7.1.1 Digital input function block................................................................................... 31
7.1.2 Analogue input function block ............................................................................. 31
7.1.3 Digital output function block ................................................................................ 33
7.1.4 Analogue output function block........................................................................... 33
7.1.5 Controller function block...................................................................................... 34
7.1.6 Alarm function block ............................................................................................ 36
7.1.7 Device function block........................................................................................... 37
7.2 Detailed object specification ........................................................................................ 38
7.2.1 Object 6000h: DI Read state 8 Input Lines ........................................................ 38
7.2.2 Object 6002h: DI Polarity 8 Input Lines.............................................................. 38
7.2.3 Object 6020h: DI Read state 1 Input Lines ........................................................ 40
7.2.4 Object 6030h: DI Polarity 1 Input Lines.............................................................. 41
7.2.5 Object x100h: AI Input FV ................................................................................... 42
7.2.6 Object x103h: AI Interrupt delta input FV ........................................................... 43
7.2.7 Object 6110h: AI Sensor type ............................................................................. 43
7.2.8 Object 6111h: AI Autocalibration ........................................................................ 45
7.2.9 Object 6112h: AI Operating mode ...................................................................... 46
7.2.10 Object 6114h: Al ADC sample rate................................................................... 47
7.2.11 Object x120h: AI Input scaling 1 FV ................................................................. 48
7.2.12 Object x121h: AI Input scaling 1 PV................................................................. 49
7.2.13 Object x122h: AI Input scaling 2 FV ................................................................. 50
7.2.14 Object x123h: AI Input scaling 2 PV................................................................. 51
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7.2.15 Object x124h: AI Input offset............................................................................. 52
7.2.16 Object 6125h: AI Autozero ................................................................................ 53
7.2.17 Object x126h: AI Scaling Factor ....................................................................... 54
7.2.18 Object 6127h: AI Scaling Offset........................................................................ 55
7.2.19 Object x130h: AI Input PV ................................................................................. 56
7.2.20 Object 6131h: AI Physical unit PV.................................................................... 57
7.2.21 Object 6132h: AI Decimal digits PV.................................................................. 59
7.2.22 Object x133h: AI Interrupt delta input PV......................................................... 59
7.2.23 Object x134h: AI Interrupt lower limit input PV................................................ 60
7.2.24 Object x135h: AI Interrupt upper limit input PV ............................................... 61
7.2.25 Object x138h: AI Tare zero ............................................................................... 62
7.2.26 Object 6139h: AI Autotare ................................................................................. 63
7.2.27 Object x140h: AI Net PV ................................................................................... 64
7.2.28 Object x143h: AI Interrupt delta net PV............................................................ 65
7.2.29 Object x144h: AI Interrupt lower limit net PV ................................................... 66
7.2.30 Object x145h: AI Interrupt upper limit net PV .................................................. 67
7.2.31 Object x148h: AI Span start .............................................................................. 68
7.2.32 Object x149h: AI Span end ............................................................................... 69
7.2.33 Object 6150h: AI Status .................................................................................... 70
7.2.34 Object 6160h: AI Control byte........................................................................... 72
7.2.35 Object 6161h: AI Control byte enable .............................................................. 73
7.2.36 Object 61A0h: Al Filter type .............................................................................. 74
7.2.37 Object 61A1h: Al Filter constant ....................................................................... 75
7.2.38 Object 6200h: DO Write state 8 output lines ................................................... 76
7.2.39 Object 6202h: DO Polarity 8 output lines......................................................... 77
7.2.40 Object 6206h: DO Fault mode 8 output lines................................................... 78
7.2.41 Object 6207h: DO Fault state 8 output lines.................................................... 79
7.2.42 Object 6210h: DO Link object 8 output lines ................................................... 80
7.2.43 Object 6220h: DO Write state 1 output lines ................................................... 81
7.2.44 Object 6240h: DO Polarity 1 output lines......................................................... 82
7.2.45 Object 6250h: DO Fault mode 1 output lines................................................... 83
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