Siko IK360, User Manual, Page: 13 / 41

IK360 -CAN
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Date: 23.01.2017 Page 13 of 41 Art.no. 86089 Mod. Status 10/17
5.2 Active programming objects
Active CANopen objects depending on the state of IK360. The crosses in the table below
indicate, which CANopen objects are active in each state.
Initialization Pre-Operational Operational Stopped
PDO Object X
SDO Object X X
Boot-Up X X
NMT X X X
5.3 Programmable parameters
Objects are based on the CiA 301 DS and CiA 410 DS V1.2. The following table gives the list of
command identifiers sent and received by the inclinometer. These are the standard commands
used for communication and transmission between a master and slave in the CAN bus. It is
quite useful for the analysis of communication logs between the master and slave and for better
understanding of the system under observation.
Command Function Telegram Description
22h SDO Upload Request Parameter to IK360
60h SDO Upload Confirmation
Acknowledge “Parameter received”
40h SDO Download Request Parameter request
43h, 4Bh, 4Fh (*) SDO Download Reply Parameter to Master
80h Warning Reply Transmission error
Table 1: Command description
(*) The value of the command byte depends on the data length of the called parameter (see
table 2).
Command Data length Data length
43h 4 Byte Unsigned 32
4Bh 2 Byte Unsigned 16
4Fh 1 Byte Unsigned 8
Table 2: Data length of commands
The following list of objects is the most frequently used objects, while programming the IK360
inclinometer. The whole list of objects is available in appendix A.
Position Value
(Objects 6010h
and 6020h) The object 6010h and 6020h are used to get the scaled inclination
positions (integer 16 variables) of IK360-2 axis in the range of ±80° and
the object 6010h is used to get the scaled inclination position of IK360-1
axis in the range of 0
– 359.99°.
Store Parameters
(Objects 1010h,
2300h) These objects are used to store any re-configured parameters. Object
1010h just stores the parameters, whereas 2300h stores and saves the
parameters upon reset of the IK360.
Resolution per 1°
(Object 6000h)
The parameter, resolution per degree, is used to program the desired
number of angular divisions per revolution. The values 1, 10, 100 can be
programmed.