41
PME-MP70DP
A0658-7.3 en
HBM
9
CAN interface description
9.1
General
The MP70DP module has a built‐in CAN interface, which can be used both for
transmitting measured values and for module parameterization. Different baud
rates can be selected up to a maximum of 1 MBaud. The interface protocol is
adapted from the CANopen Standard.
9.2
Cyclic transmission of measured values
The cyclic data are transmitted as so‐called “Process Data Objects" (PDOs, in
accordance with CANopen definitions). Interesting measured values are
transmitted cyclically from the measurement module under a previously
defined CAN Identifier, without any further identification. A query message is
not required. A parameter setting determines how often the PDOs are
transmitted (see object dictionary). Data formats longer than one byte are
always transmitted in LSB‐MSB order.
Transmit PDO:
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
CAN identifier
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
384 (180 Hex) + module address
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
Data bytes 1...4
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
Measured value (LSB‐MSB),
integer 32
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
5th data byte
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
Status (object 2010)
Receive PDO:
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
CAN identifier
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
512 (200 Hex) + module address
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
1st data byte
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
Control word (object 2630)
As well as these pre‐defined PDOs, others can be set up in accordance with
CANopen definitions (CiA‐DS 301) via so‐called mapping. Appropriate tools
are available on the market.
The exchange of cyclic PDOs only starts once the module has been brought
to the “Operational" state. This is done with the “Start_Remote_Node"
message.
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
CAN identifier
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
0
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
1st data byte
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
1
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
2nd data byte
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
Module address (0 = all)
