Every device or node must be assigned a number (node ID). This number is used to
identify the node within the CANopen network. Each node ID must be unique. The
CANopen node ID must be in the range of 1 - 127, and can be preset when ordering the
encoder (using the type code). To ensure error-free operation of the network, the ID of
every node in the CAN bus must be unique.
The node ID of the device can be set using the following command sequence:
Table 21: Setting the node ID
Data source
COB-ID
Data
Destination
Controller
7e5h
04; 01; 00; 00; 00; 00; 00; 00
Sensor
Controller
7e5h
11; 7d
*
; 00; 00; 00; 00; 00; 00
Sensor
Sensor
7e4h
11; 00; 00; 00; 00; 00; 00; 00
Controller
*
Node address values can be between 1 and 127 (for example 125).
A change in node address is effective immediately.
To permanently save the node address, the following command must be sent:
Table 22: Saving the node ID
Data source
COB-ID
Data
Destination
Controller
7e5h
17
Sensor
Sensor
7e4h
17; 00; 00; 00; 00; 00; 00; 00
Controller
Setting the baud rate
The baud rate indicates the speed of operation of the device and also the entire CAN
bus. The device and entire network must be set to the same baud rate.
The maximum baud rate is limited by the cable length used for the CAN network as a
whole. The device is delivered with a preset, order-dependent baud rate. If this baud
rate needs to be changed, it can be configured via the LSS.
Table 23: Baud rate as a function of cable length
Cable length
Baud rate (kBit/s)
Table index
< 25 m
1000
00
< 50 m
800
01
< 100 m
500
02
< 250 m
250
03
< 500 m
125
04
< 1000 m
50
06
< 2500 m
20
07
< 5000 m
10
08
The baud rate can be set using the following commands:
Table 24: Setting the baud rate
Data source
COB-ID
Data
Destination
Controller
7e5h
04; 01; 00; 00; 00; 00; 00; 00
Sensor
Controller
7e5h
13; 00; 02
*
; 00; 00; 00; 00; 00
Sensor
Sensor
7e4h
13; 00; 00; 00; 00; 00; 00; 00
Controller
*
Table index
The baud rate becomes active after saving the changes, and the next time the encoder
is switched on. To save the baud rate, the following command must be sent:
COMMISSIONING
6
O P E R A T I N G I N S T R U C T I O N S | MAX
®
39
8022793/1EFT/2021-12-15
| SICK
Subject to change without notice