Siko MSA501, User Manual, Page: 2 / 51

MSA501
Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 2 of 51
Table of contents
1 General Information .................................................................................................. 4
1.1 Documentation ........................................................................................................4
1.2 Definitions ..............................................................................................................4
2 Intended use ............................................................................................................. 4
2.1 Switching on the supply voltage .................................................................................4
3 Operating elements ................................................................................................... 5
3.1 General Information ..................................................................................................5
3.2 LEDs .......................................................................................................................5
3.3 DIP switch (applies only to SP01 + SP03) .....................................................................7
4 Functional description ............................................................................................... 8
4.1 Measuring range .......................................................................................................8
4.2 Calibration ..............................................................................................................9
4.3 Reset to factory settings ......................................................................................... 10
5 Communication via CAN bus (CANopen) .................................................................... 10
5.1 Telegram structure .................................................................................................. 10
5.2 Node control .......................................................................................................... 12
5.2.1 Network management (NMT) services ..................................................................... 12
5.2.1.1 NMT communication states ............................................................................... 12
5.2.1.2 Toggling between the NMT communication states ................................................ 13
5.2.2 Boot-Up............................................................................................................. 13
5.2.3 SYNC object ........................................................................................................ 13
5.3 Process data exchange ............................................................................................ 14
5.3.1 Transfer of process data objects (PDO) ................................................................... 14
5.3.1.1 Transmit PDO (from the MSA501 to the master) ................................................... 14
5.3.1.2 Variable TPDO mapping ..................................................................................... 15
5.4 Parameter data exchange ......................................................................................... 16
5.4.1 Transmission of Service Data Objects (SDO) ............................................................. 16
5.4.1.1 Expedited Request/Response ............................................................................. 16
5.4.1.2 Normal Request/Response ................................................................................. 18
5.4.1.3 Error Response in SDO exchange ........................................................................ 19
5.4.1.4 SDO examples ................................................................................................. 20
5.5 Node monitoring .................................................................................................... 21
5.5.1 Emergency Service (EMCY) .................................................................................... 21
5.5.2 Node Guarding .................................................................................................... 22
5.5.3 Heartbeat .......................................................................................................... 23
5.6 Directory of objects ................................................................................................ 24
5.6.1 Overview of objects ............................................................................................. 24
5.6.2 Object description ............................................................................................... 25
5.6.2.1 1000h: Device Type .......................................................................................... 25
5.6.2.2 1001h: Error Register ....................................................................................... 26