Connections and Interfaces
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10.2.3
Pin Assignment CAN
Table 4: Pin Assignment CAN
9-pin D-SUB connector
Open cable exit
PIN-No.
Function
Color
Function
Pin 6
0 V / GND
White
0 V / GND
Pin 9
+ 24 VDC
Brown
+ 24 VDC
Pin 2
CAN L
Green
CAN L
Pin 7
CAN H
Yellow
CAN H
Pin 3
CAN GND
Blue
CAN GND
Housing*
PE
Shield*
PE
*) please connect shield only at control unit side!
10.2.4
Command Descriptions
10.2.4.1
Initial Operation
After starting the CANopen device is in the Pre-operational Mode (
10.2.6.2) and therefore doesn’t send any
position data. In order to achieve this, the device needs to be set into Operational Mode (
10.2.6.1) and if
necessary the sending cycle of the position data has to be adjusted (
10.2.4.2
Normal Mode
Note!
The commands which are described in section 10.2.4.2 Normal Mode are only processed
by the CANopen device in the Operational and Pre-Operational mode.
10.2.4.3
Setting the Heartbeat Cycle Duration
A CANopen device sends the heartbeat cyclically. This message communicates the current Operating Mode to
the other bus sharing units.
1.
Change into the Operational or Pre-operational Mode, if necessary
2.
The following illustration shows the CAN-message, which should be transmitted to the CANopen device
and the following answer.
2B 17 10 00 YY ZZ 00 00
DLC:
ID:
XXX
8
Set Heartbeat cycle time
Master
CANopen
device
XXX = 600h + node-ID
Example: 604h for the device node-ID 4
YY = LSB of cycle time in milliseconds
ZZ = MSB of cycle time in milliseconds
Example: for a cycle time of 500ms (1F4h) is
YY = F4h and ZZ = 01h
ID:
DLC:
XXX
8
60 17 10 00 00 00 00 00
XXX = 580h + node-ID
Example: 584h for the device node-ID 4
Acknowledgment of the CANopen device
Figure 19: Setting the Heartbeat Cycle Duration
