Gotting HG G-98830, Operating Manual

Page: 41 / 110

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
41
Interfaces – Chapter 9
9.3 CAN Bus
9.3.1 Definitions CAN and CANopen®
The CAN or CANopen® configuration is structured according to ISO 11898 or EN
50325-4. As an aid, important terms and abbreviations are explained in this chapter.
For more detailed information, you can refer to the standards.
The technical specifications of the CANopen® standard can be downloaded from
the following link after a free registration:
http://www.can-cia.org/en/standardization/technical-documents/
For devices that support CANopen®, EDS files (Electronic Data Sheet) are available
for download on the Götting KG website. The complete configuration is stored in
these files.
To access EDS files, you can use e.g. CANopen Magic from PEAK System.
http://www.canopenmagic.com
22
3964R HEX 50
16
48
16
Code in the
format tt
16
tt
16
For code „1234“
e.g. 12
16
34
16
Transmission of the most
significant bits of the tran
-
sponder code to be pro -
grammed and start of
programming
ASCII PH
transparent HEX 3D
16
50
16
48
16
03
16
ASCII = PH
– *) XOR concatenation of all bytes incl. the start character. Depending on the parameters used.
– **) No ASCII-coded values
Table 11
Definitions CAN/CANopen®
Abbreviation Name Meaning
PDO Process data objects Maximum 8 bytes process data
TPDO Transmit-PDO The process data sent by a device
RPDO Receive-PDO The process data received by a device
SDO Service data objects Used to read and write device param -
eters. No size limit.
Sync Synchronization telegram Bus-wide telegram sent by the
CANopen® master
– CAN-Identifier The address on which a PDO, SDO is
sent
– Node ID For CANopen® the address of the
device, which is added to the CAN
identifier
Table 10
List of system commands (part 4 of 4)
No. Procedure Start Command
Bytes
Parameter
Bytes
Check-
sum *) Description