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.

H&B TPDO description
H&B RPDO description
H&B valid SDO list

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 bit	16 bit	8 bit	8 bit
Weight	Qualifier	Module number	Unused, 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
0001	Under range.
0002	Over range.
0004	Not within Zero range.
0008	Exactly zero.
0010	No motion, still stand, steady state.
0020	Tare set.
0040	Preset tare (0=tare is measured, 1=tare is set by user).
0080	Invalid weighing (wire-break, A/D ref. out of range).
0100	Set-point 0 (source>limit).
0200	Set-point 1.
0400	Set-point 2.
0800	Set-point 3.
1000	Filling in progress.
2000	Filling has completed.
4000	Average ready.
8000	Cold start.

RPDO: Process Data Objects received from the PLC.

RPDO text

H&B Valid SDO list.

1000	00	Device Type	ro
1001	00	Error Register	ro
1002	00	Status Register	ro	_LE_LastError
1005	00	Sync COB-ID	ro
1006	00	Communication cycle period	rw	_UR_UpdateRateCAN
100C	00	Guard Time	rw
100D	00	Life Time Factor	rw
100E	00	Node guarding identifier	ro
1010	00	Number of Entries	ro
1010	01	Save all	wo
1010	02	Save communication parameters	wo
1014	00	Emergency Object identifier	ro
1017	00	Producer heartbeat time	rw
1018	00	Number of Entries	ro
1018	01	Vendor ID	ro
1018	02	Product_Code	ro
1018	03	Revision_Number	ro
1018	04	Serial_Number	rw
1400	00	Number of Entries	ro
1400	01	COB-ID of PDO	ro
1400	02	Transmission Type	ro
1400	03	Inhibit time	rw
1400	04	CMS priority group	ro
1401	00	Number of Entries	ro
1401	01	COB-ID of PDO	rw
1401	02	Transmission Type	rw
1401	03	Inhibit time	rw
1401	04	CMS priority group	ro
1402	00	Number of Entries	ro
1402	01	COB-ID of PDO	ro
1402	02	Transmission Type	rw
1402	03	Inhibit time	rw
1402	04	CMS priority group	ro
1403	00	Number of Entries	ro
1403	01	COB-ID of PDO	rw
1403	02	Transmission Type	rw
1403	03	Inhibit time	rw
1403	04	CMS priority group	ro
1600	00	Number of mapped Entries in Rx PDO 1	ro
1600	01	1. mapped Object (LDM #)	ro
1600	02	2. mapped Object (Cmd. Byte)	ro
1601	00	Number of mapped Entries in Rx PDO 2	ro
1601	01	1. mapped Object (LDM #)	ro
1601	02	2. mapped Object (cmd. byte)	ro
1602	00	Number of mapped Entries in Rx PDO 3	ro
1602	01	1. mapped Object (control bytes)	ro
1603	00	Number of mapped Entries in Rx PDO 4	ro
1603	01	1. mapped Object (control bytes)	ro
1800	00	Number of Entries	ro
1800	01	COB-ID of PDO	ro
1800	02	Transmission Type	ro
1800	03	Inhibit time	rw
1800	04	CMS priority group	ro
1801	00	Number of Entries	ro
1801	01	COB-ID of PDO	rw
1801	02	Transmission Type	rw
1801	03	Inhibit time	rw
1801	04	CMS priority group	ro
1802	00	Number of Entries	ro
1802	01	COB-ID of PDO	rw
1802	02	Transmission Type	rw
1802	03	Inhibit time	rw
1802	04	CMS priority group	ro
1803	00	Number of Entries	ro
1803	01	COB-ID of PDO	ro
1803	02	Transmission Type	ro
1803	03	Inhibit time	ro
1803	04	CMS priority group	ro
1A00	00	Number of mapped Objects in Tx PDO1	ro
1A00	01	1. mapped Object (Weight)	ro
1A00	02	2. mapped Object (module status)	ro
1A00	03	3. mapped Object (module number)	ro
1A00	04	4. mapped Object (gateway status)	ro
1A01	00	Number of mapped Objects in Tx PDO2	ro
1A01	01	1. mapped Object (Dosed Weight)	ro
1A01	02	2. mapped Object (module status)	ro
1A01	03	3. mapped Object (module number)	ro
1A01	04	4. mapped Object (gateway status)	ro
1A02	00	Number of mapped Objects in Tx PDO3	ro
1A02	01	1. mapped Object (Tare Weight)	ro
1A02	02	2. mapped Object (module status)	ro
1A02	03	3. mapped Object (module number)	ro
1A02	04	4. mapped Object (gateway status)	ro
1A03	00	Number of mapped Objects in Tx PDO4	ro
2000	00	Number of Objects in command buffer	ro
2000	01	Gross Weight	ro
2000	02	Net weight	ro
2000	03	Tare	ro
2000	04	Dosed weight	ro
2000	05	Dosed tare	ro
2000	06	Average weight	ro
2001	00	Number of variables	ro
2001	01	Gross weight	ro
2001	02	Net Weight	ro
2001	03	Tare	ro
2001	04	Dosed weight	ro
2001	05	Dosed tare	ro
2001	06	Average weight	ro
2001	07	ADC Sample	ro
2001	08	H&B Device ID	ro
2001	09	H&B Firmware version	ro
2001	0A	Device Status	ro
2001	0B	ADC reference	ro
2002	00	Number of variables from SPS	ro
2002	01	Module Status	ro
2002	02	Module Nr. (source nr.)	ro
2002	03	Gateway Status	ro
2004	00	Number of Objects in response buffer	ro
2004	01	Save Analog output parameters command	wo	_AS_AnalogSave
2004	02	Save calibration settings command	wo	_CS_SaveCalibration
2004	03	Save general set-up parameters command	wo	_WP_WriteParameters
2004	04	Save dosing setup parameters command	wo	_SD_SaveDosed
2004	05	save set-point parameters command	wo	_SS_SaveSetpoint
2004	06	save flow parameters command	wo	_SL_SaveFlow
2005	00	Number of commands	ro
2005	01	Start command	wo	_SC_StartCycle
2005	02	Stop command	wo	_AC_AbortCycle
2005	03	Trigger command	wo
2006	00	Number of entries	ro
2006	01	LDM Selection	wo
2006	02	Set factory default	wo	_FD_FactoryDefault
2006	03	Set Cmd 1	wo
2006	04	Set Cmd 2	wo
2007	00	Number of commands	ro
2007	01	CAN speed	rw
2007	02	CAN address	ro
2007	03	LDM Scan end	rw
2007	04	Soft Reset	wo	_SR_SoftwareReset
2100	00	Number of Objects in this module	ro
2100	01	Analog Source	rw	_AA_AnalogAction
2100	02	Analog High	rw	_AH_AnalogHigh
2100	03	Analog low	rw	_AL_AnalogLow
2100	04	Filter setting	rw	_FL_FilterValue
2100	05	Filter factor	rw	_FF_DispFilterFactor
2100	06	Output status	rw	_IO_Output
2100	07	Input mask	rw	_IN_ReadInput
2100	08	Measuring time	rw	_MT_MeasureTime
2100	09	Filter mode	rw	_FM_FilterMode
2100	0A	No motion range	rw	_NR_NomotionRange
2100	0B	No motion time	rw	_NT_NomotionTime
2100	0C	Output mask	rw	_IM_Inputmask
2100	0D	Tare	rw
2100	0E	Start delay	rw	_SD_StartDelay
2100	0F	Trigger egde	rw
2100	10	Trigger level	rw
2100	11	Update rate	rw	_UR_UpdateRate
2100	12	Zero tracking	rw
2100	13	dTime	rw
2100	14	Zero Nonvolatile	rw	_ZN_ZeroNonvolatile
2100	15	Analog Mode	rw	_AM_AnalogMode
2100	16	Pre Filter	rw	_PF_PreFilter
2100	17	Preset Tare	rw	_SP_SetPresetTare
2100	18	web Server Enable	rw	_SE_ServerEnable
2100	19	Analog Reference Register	rw	_AR_AnalogReference
2200	00	Number of Objects in this module	ro
2200	01	Pre fill mode	rw	_PD1_PreFillMode
2200	02	In-flight correction factor	rw	_PD2_InflightCorrection
2200	03	Zero check time	rw	_PD3_ZeroCheckTime
2200	04	Tare delay	rw	_PD4_TareDelay
2200	05	Tare average time	rw	_PD5_TareAverageTime
2200	06	Delay after prefill	rw	_PD6_DelayAfterPrefill
2200	07	Blanking time	rw	_PD7_BlankingTime
2200	08	In-flight delay time	rw	_PD8_InFlightDelayTime
2200	09	Dosed weight average time	rw	_PD9_FillWeightAverageTime
2200	0A	Zero tolerance	rw	_PD10_ZeroTolerance
2200	0B	Tare reference	rw	_PD11_TareReference
2200	0C	Tare tolerance	rw	_PD12_TareTolerance
2200	0D	Pre-fill level	rw	_PD13_PreFillLevel
2200	0E	Fine fill weight	rw	_PD14_FineFillWeight
2200	0F	Filling weight	rw	_PD15_FillingWeight
2200	10	In-flight value	rw	_PD16_InFlightValue
2200	11	Pre fill level for 2. prefil	rw	_PD17_PreFil2lLevel
2200	12	Timeout value for filling cycle	rw	_PD18_FillTimeoutValue
2200	13	Underweight post fill time	rw	_PD19_UnderweightPostFillTime
2200	14	Tare interval	rw	_PD20_TareInterval
2200	15	Bag Rupture Blanking	rw	_PD21_BagRuptureBlanking
2200	16	Medium Fill Weight	rw	_PD22_MediumFillWeight
2200	17	Production Counter	rw	_PD23_ProductionCounter
2300	00	Number of Objects in this module	ro
2300	01	Absolute gain calibrate (32 bit float)	rw	_AG_AbsoluteGain
2300	02	Absolute zero calibrate (TAC protected)	rw	_AZ_AbsoluteZero
2300	03	Calibrate enable	rw	_CE_CalibrateEnable
2300	04	Calibrate gain (TAC protected)	rw	_CG_CalibrateGain
2300	05	Set calibration point B	rw
2300	06	Set calibration point A	rw
2300	07	Calibrate max 1 (TAC protected)	rw	_CM_Maximum
2300	08	Calibrate min (TAC protected)	rw	_CI_Minimum
2300	09	Calibrate save (TAC protected)	rw
2300	0A	Calibrate zero (TAC protected)	rw	_CZ_CalibrateZero
2300	0B	Decimal point (TAC protected)	rw	_DP_DecimalPoint
2300	0C	Display step size (TAC protect)	rw	_DS_DisplayStep
2300	0D	Multi range	rw	_MR_MRange
2300	0E	Calibrate max 2 (TAC protected)	rw	_CM2_Maximum2
2300	0F	Calibrate max 2 (TAC protected)	rw	_CM3_Maximum3
2300	10	Init Zero Range (TAC protected)	rw	_ZI_InitZero
2300	11	Set the zero range (TAC protected)	rw	_ZR_ZeroRange
2300	12	Tare Mode (TAC protected)	rw	_TM_TareMode
2300	13	Tare Non-volatile (TAC protected)	rw	_TN_TareNonvolatile
2300	14	Zero Non-volatile (TAC protected)	rw	_ZN_ZeroNonvolatile
2300	15	Firmware Type	rw	_FT_Firmwaretype
2300	16	LoadCells Attached	rw	_LA_LoadCellsAttached
2300	17	Corner Calculation	wo	_CC_CornerCalculation
2300	18	Calibrate Value	rw	_CV_CalibrateValue
2300	19	Zero Mode	rw	_ZM_ZeroMode
2300	1A	FactoryValueCmd	ro	_FV_FactoryCalValue
2300	1B	DecimalPoint	ro	_FE_DecimalPoint
2300	1C	Calibration Mode	rw	_IC_Calibrationmode
2300	1D	MaxCalValue	rw	_FA_MaxCalValue
2300	1E	MS	rw	_MS_MultiScale
2400	00	Number of Objects in this module	ro
2400	01	Get Dose Info	ro	_DI_DosedInfo
2500	00	Number of Objects in this module	ro
2500	01	Trigger Level	RW	_TL_TriggerLevel
2500	02	Trigger Egde	RW	_TE_TriggerEdge
2500	03	ReTrigWindow	RW	_RW_ReTrigWindow
2500	04	ReTrigTime	RW	_TT_ReTriggerTime
2500	05	HoldTime	RW	_HT_HoldTime
2500	06	TareWindow	RW	_TW_TareWindow
2500	07	TareTime	RW	_TI_TareTime
2500	08	ReTrigStop	RW	_TS_ReTrigStop
2500	09	Measuring Time	RW
2500	0A	Start Delay	RW
2500	0B	dTime	RW	_DT_DeltaTime
2500	0C	Input Hold time	RW	_BH_InputBounceHold
2500	0D	Input Setup time	RW	_BS_InputBounceSetup
2600	00	Number of Objects in this module	ro
2600	01	Setpoint 1 limit	rw	_S0_Setpoint0
2600	02	Setpoint 2 limit	rw	_S1_Setpoint1
2600	03	Setpoint 3 limit	rw	_S2_Setpoint2
2600	04	Setpoint 4 limit	rw	_S3_Setpoint3
2680	00	Number of Objects in this module	ro
2680	01	Setpoint 1 Polarity	rw	_P1_Polarity1
2680	02	Setpoint 2 Polarity	rw	_P2_Polarity2
2680	03	Setpoint 3 Polarity	rw	_P3_Polarity3
2680	04	Setpoint 4 Polarity	rw	_P4_Polarity4
2700	00	Number of Objects in this module	ro
2700	01	Setpoint 1 hysteresis	rw	_H0_HysteresisSetpoint0
2700	02	Setpoint 2 hysteresis	rw	_H1_HysteresisSetpoint1
2700	03	Setpoint 3 hysteresis	rw	_H2_HysteresisSetpoint2
2700	04	Setpoint 4 hysteresis	rw	_H3_HysteresisSetpoint3
2800	00	Number of Objects in this module	ro
2800	01	Setpoint 1 source	rw	_A0_Action0
2800	02	Setpoint 2 source	rw	_A1_Action1
2800	03	Setpoint 3 source	rw	_A2_Action2
2800	04	Setpoint 4 source	rw	_A3_Action3
2900	00	Number of Objects in this module	ro
2900	01	Gross weight	ro	_GG_Grossvalue
2900	02	Net weight	ro	_GN_Nettovalue
2900	03	Tare	ro	_GT_Tarevalue
2900	04	Dosed weight	ro	_GD_Dosedvalue
2900	05	Dosed tare	ro	_DT_DosedTare
2900	06	Average weight	ro	_GA_Averagevalue
2900	07	ADC Sample	ro	_GS_Sample
2900	08	H&B Device ID	ro	_ID_DeviceIdentification
2900	09	H&B FW Version	ro	_IV_FirmwareVersion
2900	0A	Device Status	ro	_IS_DeviceStatus
2900	0B	ADC Reference	ro	_RR_ReadRef
2900	0C	Read Serial	ro	_RS_ReadSerial
2900	0D	Get Qualifier	ro	_GQ_GetQualifier
2900	0E	Get Max	ro	_GM_GetMax
2900	0F	Get Hold	ro	_GH_GetHold
2900	10	Get Valley	ro	_GV_GetValley
2900	11	Get Peak to Peak	ro	_GO_GetPtP
2900	12	Get Internal AG Value	ro	_AV_AbsCalValue
2A00	00	Number of Objects in this module	ro
2A00	01	Mass Flow Value	ro	_GF_Flow
2A00	02	Mass Flow Trend	ro	_GR_Trend
2A00	03	Total Mass	ro	_GM_Massvalue
2A00	04	Actual Mass Flow	ro	_GD_FlowRate
2B00	00	Number of Objects in this module	ro
2B00	01	Decimal Point	rw	_PL1_FlowDecimalPoint
2B00	02	Scale	rw	_PL2_FlowScale
2B00	03	dTime	rw	_PL3_Flow_dTime
2B00	04	dWeight	rw	_PL4_Flow_dWeight
2B00	05	Delay after refill	rw	_PL5_RefillDelay
2B00	06	Kp	rw	_PL6_Kp
2B00	07	Ki	rw	_PL7_Ki
2B00	08	Kd	rw	_PL8_Kd
2B00	09	Feed Setpoint	rw	_PL9_FeedSetpoint
2B00	0A	Setpoint Tolerance	rw	_PL10_SetpointTolerance
2B00	0B	Setpoint NMR Flow	rw	_PL11_NMR_Flow
2B00	0C	Setpoint NMT Flow	rw	_PL12_NMT_Flow
2B00	0D	Volumetric Start	rw	_PL13_Volumetric_Start
2B00	0E	Refill Timeout	rw	_PL14_Refill_Timeout
2B00	0F	Volumetric Freeze Timeout	rw	_PL15_Volumetric_Freeze_Timeout
2B00	10	Mode Of Operation	rw	_PL16_Mode_Operation
2B00	11	Alarm_Events	rw	_PL17_Alarm_Events
2B00	12	Fault_Status	rw	_PL18_Fault_Status
2B00	13	Refill Start Level	rw	_PL19_Refill_Start_Level
2B00	14	Refill Stop Level	rw	_PL20_Refill_Stop_Level
2B00	15	Hopper Overload Level	rw	_PL21_Hopper_Ovl_Level
2B00	16	Flow_Average_Calculation	rw	_PL22_Flow_Average_Calculation
2C00	00	Number of Objects in this module	ro
2C00	01	Mass Flow Control	rw	_LS_LossControl
2C00	02	Mass Flow Status	ro	_LI_LossInfo
2C00	03	Volumetric Freeze	rw	_VF_VolumetricFreeze
2D00	00	Number of Objects in this module	R
2D00	01	Assignment input 0	RW	_AI00_AssignInput0
2D00	02	Assignment input 1	RW	_AI01_AssignInput1
2D00	03	Assignment input 2	RW	_AI02_AssignInput2
2D00	04	Assignment input 3	RW	_AI03_AssignInput3
2D00	05	Assignment input 4	RW	_AI04_AssignInput4
2D00	06	Assignment input 5	RW	_AI05_AssignInput5
2D00	07	Assignment input 6	RW	_AI06_AssignInput6
2D00	08	Assignment input 7	RW	_AI07_AssignInput7
2D00	09	Assignment input 8	RW	_AI08_AssignInput8
2D00	0A	Assignment input 9	RW	_AI09_AssignInput9
2D00	0B	Assignment input 10	RW	_AI10_AssignInput10
2D00	0C	Assignment input 11	RW	_AI11_AssignInput11
2D00	0D	Assignment input 12	RW	_AI12_AssignInput12
2D00	0E	Assignment input 13	RW	_AI13_AssignInput13
2D00	0F	Assignment input 14	RW	_AI14_AssignInput14
2D00	10	Assignment input 15	RW	_AI15_AssignInput15
2D00	11	Assignment input 16	RW	_AI16_AssignInput16
2D00	12	Assignment input 17	RW	_AI17_AssignInput17
2D00	13	Assignment input 18	RW	_AI18_AssignInput18
2D00	14	Assignment input 19	RW	_AI19_AssignInput19
2D00	15	Assignment input 20	RW	_AI20_AssignInput20
2D00	16	Assignment input 21	RW	_AI21_AssignInput21
2D00	17	Assignment input 22	RW	_AI22_AssignInput22
2D00	18	Assignment input 23	RW	_AI23_AssignInput23
2D00	19	Assignment input 24	RW	_AI24_AssignInput24
2D00	1A	Assignment input 25	RW	_AI25_AssignInput25
2D00	1B	Assignment input 26	RW	_AI26_AssignInput26
2D00	1C	Assignment input 27	RW	_AI27_AssignInput27
2D00	1D	Assignment input 28	RW	_AI28_AssignInput28
2D00	1E	Assignment input 29	RW	_AI29_AssignInput29
2D00	1F	Assignment input 30	RW	_AI30_AssignInput30
2D00	20	Assignment input 31	RW	_AI31_AssignInput31
2E00	00	Number of Objects in this module	R
2E00	01	Assignment output 00	RW	_AO00_AssignOutput0
2E00	02	Assignment output 01	RW	_AO01_AssignOutput1
2E00	03	Assignment output 02	RW	_AO02_AssignOutput2
2E00	04	Assignment output 03	RW	_AO03_AssignOutput3
2E00	05	Assignment output 04	RW	_AO04_AssignOutput4
2E00	06	Assignment output 05	RW	_AO05_AssignOutput5
2E00	07	Assignment output 06	RW	_AO06_AssignOutput6
2E00	08	Assignment output 07	RW	_AO07_AssignOutput7
2E00	09	Assignment output 08	RW	_AO08_AssignOutput8
2E00	0A	Assignment output 09	RW	_AO09_AssignOutput9
2E00	0B	Assignment output 10	RW	_AO10_AssignOutput10
2E00	0C	Assignment output 11	RW	_AO11_AssignOutput11
2E00	0D	Assignment output 12	RW	_AO12_AssignOutput12
2E00	0E	Assignment output 13	RW	_AO13_AssignOutput13
2E00	0F	Assignment output 14	RW	_AO14_AssignOutput14
2E00	10	Assignment output 15	RW	_AO15_AssignOutput15
2E00	11	Assignment output 16	RW	_AO16_AssignOutput16
2E00	12	Assignment output 17	RW	_AO17_AssignOutput17
2E00	13	Assignment output 18	RW	_AO18_AssignOutput18
2E00	14	Assignment output 19	RW	_AO19_AssignOutput29
2E00	15	Assignment output 20	RW	_AO20_AssignOutput20
2E00	16	Assignment output 21	RW	_AO21_AssignOutput21
2E00	17	Assignment output 22	RW	_AO22_AssignOutput22
2E00	18	Assignment output 23	RW	_AO23_AssignOutput23
2E00	19	Assignment output 24	RW	_AO24_AssignOutput24
2E00	1A	Assignment output 25	RW	_AO25_AssignOutput25
2E00	1B	Assignment output 26	RW	_AO26_AssignOutput26
2E00	1C	Assignment output 27	RW	_AO27_AssignOutput27
2E00	1D	Assignment output 28	RW	_AO28_AssignOutput28
2E00	1E	Assignment output 29	RW	_AO29_AssignOutput29
2E00	1F	Assignment output 30	RW	_AO30_AssignOutput30
2E00	20	Assignment output 31	RW	_AO31_AssignOutput31
6000	00	Number of Elements	ro
6000	01	digital Inputs	ro
6000	02	Filling state	ro
6200	00	Number of Elements	ro
6200	01	digital Outputs 1-4	rw
6200	02	digital Outputs mask 1-4	rw
6401	00	Number of Elements	ro
6401	01	16-Bit analog Input (M)	ro
6403	00	Number of Elements	ro
6403	01	Float analog Input	ro