Siko IKM360M, User Manual

Page: 12 / 58

Communication via CAN bus (CANopen and CANopen Safety)
IKM360M
Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 12 of 58
5.2.1.2 Toggling between the NMT communication states
For toggling between the communications states, telegrams with the following structures are
used:
Change of state Transition
in
Fig. 3
COB
ID Com-
mand Node
ID
from to
PRE-OPERATIONAL /
STOPPED OPERATIONAL 1d 0h 01h x
OPERATIONAL/ PRE-
OPERATIONAL STOPPED 2d 0h 02h x
OPERATIONAL / STOPPED PRE-OPERATIONAL 3d 0h 80h x
OPERATIONAL / PRE-
OPERATIONAL / STOPPED INITIALISATION
(Reset Node) 5d 0h 81h x
OPERATIONAL / PRE-
OPERATIONAL / STOPPED INITIALISATION
(Reset Communication) 4d 0h 82h x
Table 7: Toggling between communication states
If x = 0h is transferred as Node ID, then the message is intended for all bus subscribers.
5.2.2 Boot-Up
The COB ID of the boot-up message is made up of 700h and the Node ID. The "Initialization"
NMT status is output as data content.
COB ID Byte 0
700h + Node ID 00h
Table 8: Boot-Up message
5.2.3 SYNC object
CANopen enables the simultaneous query of all inputs and the simultaneous setting of all
outputs. The synchronization message (SYNC), a CAN message with high priority serves this
purpose. The identifier of the Sync object can be set via object 1005h (see
1005h: COB ID
SYNC message ).
5.3 Process data exchange
5.3.1 Transfer of process data objects (PDO)
Process data objects (PDO) serve for fast exchange of process data. A maximum of 8 bytes of
user data can be transferred in a PDO. The IKM360R supports the Transmit PDO services TPDO1
and TPDO2 according to CiA 301 and CiA 410.