The H&B CanOpen profile



The CanOpen profile is the same for all H&B products offering CAN interface. This is to maintain compability between existing and future products.
When the NMT Start command has been issued the Gateway starts transmitting weight information using the TPDO[1].
For The System80 the gateway transmit the weight data for each LDM88 in turn as the scan of the backplane progresses.
For the WCN122 the master WCN sends the Weight data as it is received via the internal NIP between the WCN nodes.


TPDO: Process Data Objects sent to the PLC.

The TPDO[1] Contains the scanned weight data.
The TPDO[2] Contains the Average or Fill result data when is becomes available.
The TPDO[3] Contains the Tare weight when the Tare changes.

All three TPDO have the same format:
32 bit16 bit8 bit8 bit
WeightQualifierModule numberUnused, zero

Factory default is:
 Weight is a 32 bit single float NET, Tare, Average, or Fill weight, but the type can be altered by user.
 Qualifier is a 16 bit Status word, see below.
 Module number is an 8 bit Source Address from where the Weight and Qualifier was obtained (channel number).

The Qualifier is 16 bit as individual flags.
The values are:
Hex Value.Indication
0001Under range.
0002Over range.
0004Not within Zero range.
0008Exactly zero.
0010No motion, still stand, steady state.
0020Tare set.
0040Preset tare (0=tare is measured, 1=tare is set by user).
0080Invalid weighing (wire-break, A/D ref. out of range).
0100Set-point 0 (source>limit).
0200Set-point 1.
0400Set-point 2.
0800Set-point 3.
1000Filling in progress.
2000Filling has completed.
4000Average ready.
8000Cold start.


RPDO: Process Data Objects received from the PLC.

RPDO text


H&B Valid SDO list.

100000Device Typero
100100Error Registerro
100200Status Registerro_LE_LastError
100500Sync COB-IDro
100600Communication cycle periodrw_UR_UpdateRateCAN
100C00Guard Timerw
100D00Life Time Factorrw
100E00Node guarding identifierro
101000Number of Entriesro
101001Save allwo
101002Save communication parameterswo
101400Emergency Object identifierro
101700Producer heartbeat timerw
101800Number of Entriesro
101801Vendor IDro
101802Product_Codero
101803Revision_Numberro
101804Serial_Numberrw
140000Number of Entriesro
140001COB-ID of PDOro
140002Transmission Typero
140003Inhibit timerw
140004CMS priority groupro
140100Number of Entriesro
140101COB-ID of PDOrw
140102Transmission Typerw
140103Inhibit timerw
140104CMS priority groupro
140200Number of Entriesro
140201COB-ID of PDOro
140202Transmission Typerw
140203Inhibit timerw
140204CMS priority groupro
140300Number of Entriesro
140301COB-ID of PDOrw
140302Transmission Typerw
140303Inhibit timerw
140304CMS priority groupro
160000Number of mapped Entries in Rx PDO 1ro
1600011. mapped Object (LDM #)ro
1600022. mapped Object (Cmd. Byte)ro
160100Number of mapped Entries in Rx PDO 2ro
1601011. mapped Object (LDM #)ro
1601022. mapped Object (cmd. byte)ro
160200Number of mapped Entries in Rx PDO 3ro
1602011. mapped Object (control bytes)ro
160300Number of mapped Entries in Rx PDO 4ro
1603011. mapped Object (control bytes)ro
180000Number of Entriesro
180001COB-ID of PDOro
180002Transmission Typero
180003Inhibit timerw
180004CMS priority groupro
180100Number of Entriesro
180101COB-ID of PDOrw
180102Transmission Typerw
180103Inhibit timerw
180104CMS priority groupro
180200Number of Entriesro
180201COB-ID of PDOrw
180202Transmission Typerw
180203Inhibit timerw
180204CMS priority groupro
180300Number of Entriesro
180301COB-ID of PDOro
180302Transmission Typero
180303Inhibit timero
180304CMS priority groupro
1A0000Number of mapped Objects in Tx PDO1ro
1A00011. mapped Object (Weight)ro
1A00022. mapped Object (module status)ro
1A00033. mapped Object (module number)ro
1A00044. mapped Object (gateway status)ro
1A0100Number of mapped Objects in Tx PDO2ro
1A01011. mapped Object (Dosed Weight)ro
1A01022. mapped Object (module status)ro
1A01033. mapped Object (module number)ro
1A01044. mapped Object (gateway status)ro
1A0200Number of mapped Objects in Tx PDO3ro
1A02011. mapped Object (Tare Weight)ro
1A02022. mapped Object (module status)ro
1A02033. mapped Object (module number)ro
1A02044. mapped Object (gateway status)ro
1A0300Number of mapped Objects in Tx PDO4ro
200000Number of Objects in command bufferro
200001Gross Weightro
200002Net weightro
200003Tarero
200004Dosed weightro
200005Dosed tarero
200006Average weightro
200100Number of variablesro
200101Gross weightro
200102Net Weightro
200103Tarero
200104Dosed weightro
200105Dosed tarero
200106Average weightro
200107ADC Samplero
200108H&B Device IDro
200109H&B Firmware versionro
20010ADevice Statusro
20010BADC referencero
200200Number of variables from SPSro
200201Module Statusro
200202Module Nr. (source nr.)ro
200203Gateway Statusro
200400Number of Objects in response bufferro
200401Save Analog output parameters commandwo_AS_AnalogSave
200402Save calibration settings commandwo_CS_SaveCalibration
200403Save general set-up parameters commandwo_WP_WriteParameters
200404Save dosing setup parameters commandwo_SD_SaveDosed
200405save set-point parameters commandwo_SS_SaveSetpoint
200406save flow parameters commandwo_SL_SaveFlow
200500Number of commandsro
200501Start commandwo_SC_StartCycle
200502Stop commandwo_AC_AbortCycle
200503Trigger commandwo
200600Number of entriesro
200601LDM Selectionwo
200602Set factory defaultwo_FD_FactoryDefault
200603Set Cmd 1wo
200604Set Cmd 2wo
200700Number of commandsro
200701CAN speedrw
200702CAN addressro
200703LDM Scan endrw
200704Soft Resetwo_SR_SoftwareReset
210000Number of Objects in this modulero
210001Analog Sourcerw_AA_AnalogAction
210002Analog Highrw_AH_AnalogHigh
210003Analog lowrw_AL_AnalogLow
210004Filter settingrw_FL_FilterValue
210005Filter factorrw_FF_DispFilterFactor
210006Output statusrw_IO_Output
210007Input maskrw_IN_ReadInput
210008Measuring timerw_MT_MeasureTime
210009Filter moderw_FM_FilterMode
21000ANo motion rangerw_NR_NomotionRange
21000BNo motion timerw_NT_NomotionTime
21000COutput maskrw_IM_Inputmask
21000DTarerw
21000EStart delayrw_SD_StartDelay
21000FTrigger egderw
210010Trigger levelrw
210011Update raterw_UR_UpdateRate
210012Zero trackingrw
210013dTimerw
210014Zero Nonvolatilerw_ZN_ZeroNonvolatile
210015Analog Moderw_AM_AnalogMode
210016Pre Filterrw_PF_PreFilter
210017Preset Tarerw_SP_SetPresetTare
210018web Server Enablerw_SE_ServerEnable
210019Analog Reference Registerrw_AR_AnalogReference
220000Number of Objects in this modulero
220001Pre fill moderw_PD1_PreFillMode
220002In-flight correction factorrw_PD2_InflightCorrection
220003Zero check timerw_PD3_ZeroCheckTime
220004Tare delayrw_PD4_TareDelay
220005Tare average timerw_PD5_TareAverageTime
220006Delay after prefillrw_PD6_DelayAfterPrefill
220007Blanking timerw_PD7_BlankingTime
220008In-flight delay timerw_PD8_InFlightDelayTime
220009Dosed weight average timerw_PD9_FillWeightAverageTime
22000AZero tolerancerw_PD10_ZeroTolerance
22000BTare referencerw_PD11_TareReference
22000CTare tolerancerw_PD12_TareTolerance
22000DPre-fill levelrw_PD13_PreFillLevel
22000EFine fill weightrw_PD14_FineFillWeight
22000FFilling weightrw_PD15_FillingWeight
220010In-flight valuerw_PD16_InFlightValue
220011Pre fill level for 2. prefilrw_PD17_PreFil2lLevel
220012Timeout value for filling cyclerw_PD18_FillTimeoutValue
220013Underweight post fill timerw_PD19_UnderweightPostFillTime
220014Tare intervalrw_PD20_TareInterval
220015Bag Rupture Blankingrw_PD21_BagRuptureBlanking
220016Medium Fill Weightrw_PD22_MediumFillWeight
220017Production Counterrw_PD23_ProductionCounter
230000Number of Objects in this modulero
230001Absolute gain calibrate (32 bit float)rw_AG_AbsoluteGain
230002Absolute zero calibrate (TAC protected)rw_AZ_AbsoluteZero
230003Calibrate enablerw_CE_CalibrateEnable
230004Calibrate gain (TAC protected)rw_CG_CalibrateGain
230005Set calibration point Brw
230006Set calibration point Arw
230007Calibrate max 1 (TAC protected)rw_CM_Maximum
230008Calibrate min (TAC protected)rw_CI_Minimum
230009Calibrate save (TAC protected)rw
23000ACalibrate zero (TAC protected)rw_CZ_CalibrateZero
23000BDecimal point (TAC protected)rw_DP_DecimalPoint
23000CDisplay step size (TAC protect)rw_DS_DisplayStep
23000DMulti rangerw_MR_MRange
23000ECalibrate max 2 (TAC protected)rw_CM2_Maximum2
23000FCalibrate max 2 (TAC protected)rw_CM3_Maximum3
230010Init Zero Range (TAC protected)rw_ZI_InitZero
230011Set the zero range (TAC protected)rw_ZR_ZeroRange
230012Tare Mode (TAC protected)rw_TM_TareMode
230013Tare Non-volatile (TAC protected)rw_TN_TareNonvolatile
230014Zero Non-volatile (TAC protected)rw_ZN_ZeroNonvolatile
230015Firmware Typerw_FT_Firmwaretype
230016LoadCells Attachedrw_LA_LoadCellsAttached
230017Corner Calculationwo_CC_CornerCalculation
230018Calibrate Valuerw_CV_CalibrateValue
230019Zero Moderw_ZM_ZeroMode
23001AFactoryValueCmdro_FV_FactoryCalValue
23001BDecimalPointro_FE_DecimalPoint
23001CCalibration Moderw_IC_Calibrationmode
23001DMaxCalValuerw_FA_MaxCalValue
23001EMSrw_MS_MultiScale
240000Number of Objects in this modulero
240001Get Dose Inforo_DI_DosedInfo
250000Number of Objects in this modulero
250001Trigger LevelRW_TL_TriggerLevel
250002Trigger EgdeRW_TE_TriggerEdge
250003ReTrigWindowRW_RW_ReTrigWindow
250004ReTrigTimeRW_TT_ReTriggerTime
250005HoldTimeRW_HT_HoldTime
250006TareWindowRW_TW_TareWindow
250007TareTimeRW_TI_TareTime
250008ReTrigStopRW_TS_ReTrigStop
250009Measuring TimeRW
25000AStart DelayRW
25000BdTimeRW_DT_DeltaTime
25000CInput Hold timeRW_BH_InputBounceHold
25000DInput Setup timeRW_BS_InputBounceSetup
260000Number of Objects in this modulero
260001Setpoint 1 limitrw_S0_Setpoint0
260002Setpoint 2 limitrw_S1_Setpoint1
260003Setpoint 3 limitrw_S2_Setpoint2
260004Setpoint 4 limitrw_S3_Setpoint3
268000Number of Objects in this modulero
268001Setpoint 1 Polarityrw_P1_Polarity1
268002Setpoint 2 Polarityrw_P2_Polarity2
268003Setpoint 3 Polarityrw_P3_Polarity3
268004Setpoint 4 Polarityrw_P4_Polarity4
270000Number of Objects in this modulero
270001Setpoint 1 hysteresisrw_H0_HysteresisSetpoint0
270002Setpoint 2 hysteresisrw_H1_HysteresisSetpoint1
270003Setpoint 3 hysteresisrw_H2_HysteresisSetpoint2
270004Setpoint 4 hysteresisrw_H3_HysteresisSetpoint3
280000Number of Objects in this modulero
280001Setpoint 1 sourcerw_A0_Action0
280002Setpoint 2 sourcerw_A1_Action1
280003Setpoint 3 sourcerw_A2_Action2
280004Setpoint 4 sourcerw_A3_Action3
290000Number of Objects in this modulero
290001Gross weightro_GG_Grossvalue
290002Net weightro_GN_Nettovalue
290003Tarero_GT_Tarevalue
290004Dosed weightro_GD_Dosedvalue
290005Dosed tarero_DT_DosedTare
290006Average weightro_GA_Averagevalue
290007ADC Samplero_GS_Sample
290008H&B Device IDro_ID_DeviceIdentification
290009H&B FW Versionro_IV_FirmwareVersion
29000ADevice Statusro_IS_DeviceStatus
29000BADC Referencero_RR_ReadRef
29000CRead Serialro_RS_ReadSerial
29000DGet Qualifierro_GQ_GetQualifier
29000EGet Maxro_GM_GetMax
29000FGet Holdro_GH_GetHold
290010Get Valleyro_GV_GetValley
290011Get Peak to Peakro_GO_GetPtP
290012Get Internal AG Valuero_AV_AbsCalValue
2A0000Number of Objects in this modulero
2A0001Mass Flow Valuero_GF_Flow
2A0002Mass Flow Trendro_GR_Trend
2A0003Total Massro_GM_Massvalue
2A0004Actual Mass Flowro_GD_FlowRate
2B0000Number of Objects in this modulero
2B0001Decimal Pointrw_PL1_FlowDecimalPoint
2B0002Scalerw_PL2_FlowScale
2B0003dTimerw_PL3_Flow_dTime
2B0004dWeightrw_PL4_Flow_dWeight
2B0005Delay after refillrw_PL5_RefillDelay
2B0006Kprw_PL6_Kp
2B0007Kirw_PL7_Ki
2B0008Kdrw_PL8_Kd
2B0009Feed Setpointrw_PL9_FeedSetpoint
2B000ASetpoint Tolerancerw_PL10_SetpointTolerance
2B000BSetpoint NMR Flowrw_PL11_NMR_Flow
2B000CSetpoint NMT Flowrw_PL12_NMT_Flow
2B000DVolumetric Startrw_PL13_Volumetric_Start
2B000ERefill Timeoutrw_PL14_Refill_Timeout
2B000FVolumetric Freeze Timeoutrw_PL15_Volumetric_Freeze_Timeout
2B0010Mode Of Operationrw_PL16_Mode_Operation
2B0011Alarm_Eventsrw_PL17_Alarm_Events
2B0012Fault_Statusrw_PL18_Fault_Status
2B0013Refill Start Levelrw_PL19_Refill_Start_Level
2B0014Refill Stop Levelrw_PL20_Refill_Stop_Level
2B0015Hopper Overload Levelrw_PL21_Hopper_Ovl_Level
2B0016Flow_Average_Calculationrw_PL22_Flow_Average_Calculation
2C0000Number of Objects in this modulero
2C0001Mass Flow Controlrw_LS_LossControl
2C0002Mass Flow Statusro_LI_LossInfo
2C0003Volumetric Freezerw_VF_VolumetricFreeze
2D0000Number of Objects in this moduleR
2D0001Assignment input 0RW_AI00_AssignInput0
2D0002Assignment input 1RW_AI01_AssignInput1
2D0003Assignment input 2RW_AI02_AssignInput2
2D0004Assignment input 3RW_AI03_AssignInput3
2D0005Assignment input 4RW_AI04_AssignInput4
2D0006Assignment input 5RW_AI05_AssignInput5
2D0007Assignment input 6RW_AI06_AssignInput6
2D0008Assignment input 7RW_AI07_AssignInput7
2D0009Assignment input 8RW_AI08_AssignInput8
2D000AAssignment input 9RW_AI09_AssignInput9
2D000BAssignment input 10RW_AI10_AssignInput10
2D000CAssignment input 11RW_AI11_AssignInput11
2D000DAssignment input 12RW_AI12_AssignInput12
2D000EAssignment input 13RW_AI13_AssignInput13
2D000FAssignment input 14RW_AI14_AssignInput14
2D0010Assignment input 15RW_AI15_AssignInput15
2D0011Assignment input 16RW_AI16_AssignInput16
2D0012Assignment input 17RW_AI17_AssignInput17
2D0013Assignment input 18RW_AI18_AssignInput18
2D0014Assignment input 19RW_AI19_AssignInput19
2D0015Assignment input 20RW_AI20_AssignInput20
2D0016Assignment input 21RW_AI21_AssignInput21
2D0017Assignment input 22RW_AI22_AssignInput22
2D0018Assignment input 23RW_AI23_AssignInput23
2D0019Assignment input 24RW_AI24_AssignInput24
2D001AAssignment input 25RW_AI25_AssignInput25
2D001BAssignment input 26RW_AI26_AssignInput26
2D001CAssignment input 27RW_AI27_AssignInput27
2D001DAssignment input 28RW_AI28_AssignInput28
2D001EAssignment input 29RW_AI29_AssignInput29
2D001FAssignment input 30RW_AI30_AssignInput30
2D0020Assignment input 31RW_AI31_AssignInput31
2E0000Number of Objects in this moduleR
2E0001Assignment output 00RW_AO00_AssignOutput0
2E0002Assignment output 01RW_AO01_AssignOutput1
2E0003Assignment output 02RW_AO02_AssignOutput2
2E0004Assignment output 03RW_AO03_AssignOutput3
2E0005Assignment output 04RW_AO04_AssignOutput4
2E0006Assignment output 05RW_AO05_AssignOutput5
2E0007Assignment output 06RW_AO06_AssignOutput6
2E0008Assignment output 07RW_AO07_AssignOutput7
2E0009Assignment output 08RW_AO08_AssignOutput8
2E000AAssignment output 09RW_AO09_AssignOutput9
2E000BAssignment output 10RW_AO10_AssignOutput10
2E000CAssignment output 11RW_AO11_AssignOutput11
2E000DAssignment output 12RW_AO12_AssignOutput12
2E000EAssignment output 13RW_AO13_AssignOutput13
2E000FAssignment output 14RW_AO14_AssignOutput14
2E0010Assignment output 15RW_AO15_AssignOutput15
2E0011Assignment output 16RW_AO16_AssignOutput16
2E0012Assignment output 17RW_AO17_AssignOutput17
2E0013Assignment output 18RW_AO18_AssignOutput18
2E0014Assignment output 19RW_AO19_AssignOutput29
2E0015Assignment output 20RW_AO20_AssignOutput20
2E0016Assignment output 21RW_AO21_AssignOutput21
2E0017Assignment output 22RW_AO22_AssignOutput22
2E0018Assignment output 23RW_AO23_AssignOutput23
2E0019Assignment output 24RW_AO24_AssignOutput24
2E001AAssignment output 25RW_AO25_AssignOutput25
2E001BAssignment output 26RW_AO26_AssignOutput26
2E001CAssignment output 27RW_AO27_AssignOutput27
2E001DAssignment output 28RW_AO28_AssignOutput28
2E001EAssignment output 29RW_AO29_AssignOutput29
2E001FAssignment output 30RW_AO30_AssignOutput30
2E0020Assignment output 31RW_AO31_AssignOutput31
600000Number of Elementsro
600001digital Inputsro
600002Filling statero
620000Number of Elementsro
620001digital Outputs 1-4rw
620002digital Outputs mask 1-4rw
640100Number of Elementsro
64010116-Bit analog Input (M)ro
640300Number of Elementsro
640301Float analog Inputro