UK
Inclination sensor JN
7
7 CANopen interface
The inclination sensors have a standardised CANopen interface to CiA DS-301
and a device profile to CiA DSP-410. All measured values and parameters can be
accessed via the object directory (OD). The individual configuration can be saved
in the internal permanent memory (flash).
7.1 CANopen functions
The following CANopen functions are available:
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Several transmit data objects (TPDO) in four possible operating modes:
– individual check via a remote transmit-request telegram (RTR)
– cyclical transmission per interval time
– synchronised transmission after reception of a SYNC telegram
– a service data object (default SDO)
●
Error messages per emergency object (EMCY) with support of the:
– general error register
– manufacturer-specific register
– error list (pre-defined error field)
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Monitoring mechanisms heartbeat and node guarding/life guarding
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Status and error indication via LED
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In addition to the basic CANopen functions there are other manufacturer and
profile-specific features:
– setting of the node ID and the baud rate via OD
– configurable limit frequency (digital filter)
7.2 Set-up
The CANopen standard CiA DS-301 defines three possible states for sensor
nodes.
Pre-operational
The pre-operational state is used to set the sensor parameters or as standby
mode. In the pre-operational state no process data (PDO messages) can be
transmitted.
Operational
The operational state is used to exchange the process data while in operation. In
the operational state all communication services are carried out.
Stopped
The stopped state is used for network management; only NMT messages are
possible.