MAKING MODERN LIVING POSSIBLE
User Manual
PLUS+1 Compliant CLS1000
Laser Sensor Function Block
www.powersolutions.danfoss.com
User Manual
PLUS+1 Compliant CLS1000 Laser Sensor Function Block
About this Manual
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Organization and Headings
To help you quickly find information in this manual, the material is divided into sections,
topics, subtopics, and details, with descriptive headings set in bold type. Chapter or
section titles appear at the top of every page in large bold type.
In the PDF version of this document, clicking an item underlined in blue italic type jumps
you to the referenced page in the document.
Special Text Formatting
Controls and indicators are set in bold black type.
Table of Contents
A Table of Contents (TOC) appears on the next page. In the PDF version of this document,
the TOC entries are hyperlinked.
©2014 Danfoss Power Solutions (US) Company. All rights reserved.
All trademarks in this material are properties of their respective owners.
PLUS+1, GUIDE, and Sauer-Danfoss are trademarks of Danfoss Power Solutions (US) Company. The Danfoss,
PLUS+1 GUIDE, PLUS+1 Compliant, and Sauer-Danfoss logotypes are trademarks of Danfoss Power Solutions (US)
Company.
Revision History
Revision Date Comment
Rev AA January 2014 Supports Rev 1.00
User Manual
PLUS+1 Compliant CLS1000 Laser Sensor Function Block
Contents
CLS1000 Function Block .................................................................................................................................... 4
Overview ......................................................................................................................................................... 4
Inputs ............................................................................................................................................................... 4
Outputs ............................................................................................................................................................ 6
About Function Block Connections...................................................................................................... 7
Status Logic.................................................................................................................................................... 8
IEC 61508-3 Annex D Supplemental Information ........................................................................... 9
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CLS1000 Function Block
Overview
This manual documents the CLS1000 function block.
This function block controls the LED outputs of the Danfoss CLS1000 Laser Sensor and
provides position feedback data.
A CLS1000 Laser Sensor measures the linear position of a rotating laser as it strikes the
pickup elements mounted on the sensor.
Communication between the CLS1000 Laser Sensor and the CLS1000 function block is
through CAN.
See:
• About Function Block Connections on page 7
for more information about this function
block’s connections and signals.
Inputs
T
To avoid compiler errors, use only the data types specified in this table.
Function Block Inputs
Input Type Range Description
CAN —— —— Receives CAN messages from the sensor.
SA U8 0 to 31 Source address of the sensor that transmits data to this function block. This value sets the least significant
byte of the CAN ID for transmitted messages and the least significant byte of the received message filter.
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CLS1000 Function Block
Function Block Inputs
Input Type Range Description
LED Cmd S8 -128 to 127 Sets the feedback LED display pattern of the sensor.
– -4 = Laser too low – out of range
– -3 = Laser too low – large arrow
– -2 = Laser too low – medium arrow
– -1 = Laser too low – small arrow
– 0 = Laser on grade – middle bar
– 1 = Laser too high – small arrow
– 2 = Laser too high – medium arrow
– 3 = Laser too high – large arrow
– 4 = Laser too high – out of range
– 9 = Lost laser signal
– All other values = LEDs turn off
Enbl Tx BOOL —— – T—enables LED data transmission over CAN.
– F—disables LED data transmission over CAN.
LED Rate U8 0 to 4 Sets the speed for flashing the feedback LEDs on the sensor.
– 0 = No flash, LEDs continuously on.
– 1 = Slow flash, 450 ms on, 450 ms off.
– 2 = Medium flash, 350 ms on, 350 ms off.
– 3 = Fast flash, 250 ms on, 250 ms off.
– 4 = No flash, LEDs off.
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CLS1000 Function Block
Outputs
Function Block Outputs
Output Type Range Description
Status U16 —— Reports the status of the function block.
This output follows the standard bitwise scheme described in the Basic Function Block Library User's Manual
(Danfoss part 10103408).
Rx Status U8 0 to 5 Reports the status of the laser receiver.
– 0 = Laser status unknown or not yet received.
– 1 = Laser in range.
– 2 = Laser not visible since power on.
– 3 = Laser is out of range, last seen too high.
– 4 = Laser is out of range, last seen too low.
– 5 = Sensor fault
Not Avail BOOL —— – T—CAN messages from the sensor have not yet been received since power on.
– F—At least one CAN message was received from the sensor since power on.
Timeout BOOL —— – T—CAN messages from the sensor were received after power on, but have been missing for at least 1
second.
– F—CAN messages from the sensor are periodically received as expected. Also false if no message has
been received since startup.
Deviation S16 ±1250 Laser strike vertical deviation from center of sensor.
100 = 10.0 mm
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CLS1000 Function Block
About Function Block Connections
Function Block Connections
Item Description
1. Bus connection to the hardware’s CAN port.
2. The CAN Source Address (ID) of the laser sensor.
3. The LED pattern to show on the laser sensor’s display.
4. Enables transmission of the LED pattern command CAN message to the sensor.
5. The flash rate of the LED pattern on the laser sensor’s display.
6. Reports the status of the function block.
7. Reports the status of the laser sensor.
8. – T—CAN communications from the sensor have not been received since controller power on.
– F—CAN communications from the sensor have been received since controller power on.
9. – T—CAN communications from the sensor were already received, but have stopped for at least 1 second.
– F— CAN communications from the sensor have been received within the last second.
10. Reports the deviation of the laser strike from the center reference point of the sensor.
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CLS1000 Function Block
Status Logic
Status Logic
Status Hex* Binary Cause Response Correction
Invalid setup. 0x8008 1000 LED_Rate is out of the 0 to
4 range.
LED data not transmitted to
the laser sensor.
Set LED_Rate value to the allowed input
range.
*Most significant bit set to 1 identifies a standard Danfoss status or fault code.
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CLS1000 Function Block
IEC 61508-3 Annex D Supplemental Information
IEC 61508-3 Annex D Supplemental Information
Item Details
Function block name: CLS1000.
Function block version: 1.00
Function block development environment: PLUS+1 GUIDE version 6.1.6.3 and later.
Compatible hardware: Verified in the PLUS+1 GUIDE compile process.
When the PLUS+1 GUIDE compiler finds a function block that is incompatible with hardware, it
aborts the compile process and logs an error message. The error message gives the location of the
function block and states “Error 80: component not supported in hwd.”
This function block developed in compliance
with:
Danfoss Software Product Development and Launch Process (PDLP), which includes ISO 9001 and
IEC 61508-3 standards.
Competence required of function block
integrator:
The knowledge, competence, and training required to:
– Understand this manual.
– Use the PLUS+1 GUIDE program to develop a machine control application.
– Follow quality software practices to develop a machine control application.
How to contact Danfoss: PLUS+1 GUIDE Training and Support Web page
(http://www.Danfoss.com/Products/MobileElectronics/PLUS1Guide/PLUS1GuideSupport/index.htm)
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©2014 Danfoss Power Solutions (US) Company
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Danforss Power Solutions is a global manufacturer and supplier of high-quality hydraulic and
electronic components. We specialize in providing state-of-the-art technology and solutions that
excel in the harsh operating conditions of the mobile off-highway market. Building on our extensive
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already on order provided that such alterations can be made without subsequential changes being necessary in specifcations already agreed.
All trademarks in this material are property of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss Power Solutions (US) Company. All rights reserved.
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