CAN Interface (HG 73350)
English, Revision 03, Date: 20.11.2015
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6.2.2
Receiving objects
The frequency of the wires can also be changed using a non-cyclical receiving PDO.
Additionally, the RPDO can be deactivated/activated by setting/deleting the highest
bit in the corresponding PDO-COB identifier [1400,01].
The RPDO is expected on identifier 0x200 + node address. It contains 4 bytes for the
frequencies F1 and F2 in Hz. The order of the bytes within the 16bit words can be al-
tered using the CAN menu
(see 5.1.3 on page 16) or the SDO with index 0x2003,02
(Node config).
If values are transmitted which are not situated within the value range, they will be ig-
nored. Frequency changes are carried out as soon as the time, mentioned as frequen-
cy switch in the Technical Data (chapter 9 on page 40), is reached.
6.3
Heartbeat
The device supports the heartbeat mode. If a heartbeat time > 0 is set in the CAN
menu the status of the device is sent to the identifier 0x700 + node address after the
heartbeat timer has expired.
6.4
Writing on service data objects (SDOs)
To access the object directory the service data object (SDO) is used. A SDO is trans-
mitted with an affirmation i.e. each incoming message is confirmed. The identifiers for
read and write access are:
Read access:
0x600 + Node - Address
Write access:
0x580 + Node - Address
The SDO telegrams are written according to CiA standard DS-301. The error codes
which may occur due to an erroneous communication are listed in the following table:
Value
Format
Value range
Annotation
F1
Unsigned 16
1000....28000
frequency of wire channel 1
F2
Unsigned 16
1000....28000
frequency of wire channel 2
Table 16
CAN: displayed numbers for RPDO
Device status
Code
stopped
0x04
pre-operational
0x7f
operational
0x05
Table 17
CAN: Heartbeat device statuses
