Siko IKM360M, User Manual

Page: 2 / 58

IKM360M
Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 2 of 58
Table of contents
1 General Information .................................................................................................. 5
1.1 Documentation ........................................................................................................5
1.2 Definitions ..............................................................................................................5
2 Intended use ............................................................................................................. 5
2.1 Switching on the supply voltage .................................................................................6
2.2 Device identification .................................................................................................7
3 LED-signal ................................................................................................................. 7
4 Functional description ............................................................................................... 8
4.1 Measuring range .......................................................................................................8
4.2 Calibration ..............................................................................................................8
4.3 Reset to factory settings ...........................................................................................8
5 Communication via CAN bus (CANopen and CANopen Safety) ........................................ 9
5.1 Telegram structure ....................................................................................................9
5.2 Node control .......................................................................................................... 10
5.2.1 Network management (NMT) services ..................................................................... 10
5.2.1.1 NMT communication states ............................................................................... 11
5.2.1.2 Toggling between the NMT communication states ................................................ 12
5.2.2 Boot-Up............................................................................................................. 12
5.2.3 SYNC object ........................................................................................................ 12
5.3 Process data exchange ............................................................................................ 12
5.3.1 Transfer of process data objects (PDO) ................................................................... 12
5.3.1.1 Transmit-PDO (from the IKM360R to the master) .................................................. 13
5.4 Parameter data exchange ......................................................................................... 13
5.4.1 Transmission of Service Data Objects (SDO) ............................................................. 13
5.4.1.1 Expedited Request/Response ............................................................................. 14
5.4.1.2 Normal Request/Response ................................................................................. 15
5.4.1.3 Error Response in SDO exchange ........................................................................ 16
5.4.1.4 SDO examples ................................................................................................. 16
5.5 Safety data exchange .............................................................................................. 18
5.5.1 Transfer of safety-relevant data objects (SRDO) ....................................................... 18
5.5.2 Transmission of Service Data Objects (SDO) of the Safety Parameters .......................... 19
5.5.3 Procedure for initial commissioning of the SRDO message ......................................... 19
5.5.4 Example for calculating a checksum ....................................................................... 19
5.5.5 Example of change of a configuration .................................................................... 20
5.6 Node monitoring .................................................................................................... 21
5.6.1 Emergency service (EMCY) .................................................................................... 21
5.6.2 Node Guarding .................................................................................................... 22
5.6.3 Heartbeat .......................................................................................................... 23
5.7 Layer Setting Service (LSS) ...................................................................................... 24
5.7.1 State change ...................................................................................................... 24