DTM434 DTM435
15
9 Operation
9.1 CANopen interface
The read/write head has a standardised CANopen interface according to CiA DS-301. All measured
values and parameters can be accessed via the object directory (OD). The individual configuration can
be saved in the internal permanent memory.
The device is delivered with node ID 32 and a bit rate of 125 Kbits/s.
u
Only use cables approved for CANopen.
u
Terminate the cables using terminating resistors (120 Ω).
w
The ifm cable EVC492 contains integrated terminating resistors.
9.1.1 CANopen functions
The following
•
64 transmit and receive process data objects (
1.. 64, RPDO1.. 64) in two possible operating
modes:
– individual check via remote transmission request telegram (RTR)
– event-controlled transmission
•
Error messages via emergency object (
– general error register
– manufacturer-specific status register
– error list
•
monitoring mechanism
•
Status and error indication via LED
•
In addition to the
DS-301 functionality there are more manufacturer and profile-specific
characteristics:
– setting of the
and the bit rate via object directory entry (
– configuration and reading/writing of operational data via service data objects (SDO)
•
Support of the layer settings service (
•
Support of synchronous process data transmission (
)
9.1.2 Change the Node ID and bit rate
The device supports several options how to change the
and the bit rate. The device is
delivered with the Node ID 32 and a bit rate of 125 Kbits/s.
Each Node ID must only be assigned once in the CANopen network. If a Node ID is assigned
several times, malfunction in the CANopen network will result.
Change the Node ID and bit rate in the object directory
The Node ID is entered in the object directory in the objects 0x20F0 and 0x20F1. If the two values are
identical, the setting is stored and is active after a software reset of the device. Values between 1 and
127 may be used as Node ID.
The bit rate is entered in the objects 0x20F2 and 0x20F3. If the two values are identical, the setting is
stored and is active after a software reset of the device. The following values may be used as bit rate:
