Device Description
English, Revision 03, Date: 11.05.2017
8
2.5
CANopen® Interface
The transfer rate has to be selected by using the serial monitor (see 3 on page 23) or
the corresponding SDOs. The default baud rate is 125 kBaud.
The measured values of the system are transmitted via 2 so called TxPDOs. They can
be parametrized using the SDOs. The CAN identifier can be deduced from the node
address (1 to 127), it can be set using two Hex switches. Selecting address 0 the CAN
bus will be deactivated.
2.5.1
Description of the Process Data Objects (PDOs)
2 transmission data objects are available. The measured data are allocated to partic-
ular places in the PDO, a dynamic mapping is not envisaged. The PDO operating
mode can be set to cyclical-synchronous or to asynchronous. To avoid high bus loads
due to permanent alteration during non- cyclical transmission (asynchronous mode)
(Event_Time=0) the inhibit time in the CAN menu can be adjusted (see section 3.2.2
on page 24). A PDO can also be transmitted cyclically. The corresponding event time
has to be selected accordingly and the inhibit time has to be set to 0.
A TxPDO can be activated permanently by choosing the asynchronous mode (255)
with
Inhibit-Time
= 0,
Event_time
= 0.
Additionally it can be activated / deactivated temporarily by setting / deleting the high-
est bit in the corresponding PDO-COB- identifier [1800,01] or [1801,01].
PDO_1 is sent with the identifier 0x180 + node address. It contains 4 bytes in which
the displayed status on the serial monitor as well as three distance values are includ-
ed. The transmission sequence is XL, XM, XR, status.
Connector
Pin
Function
ST1 (plug)
A-coded
1
+UB
2
—
3
TxD
4
RxD
5
GND
ST2 (socket)
ST3 (plug)
A-coded
1
Shielding
2
+UB
3
CAN_GND / GND
4
CAN_H
5
CAN_L
Table 3
Pin allocations ST1, ST2 and ST3
5
1
2
3
4
5
2
1
4
3
5
1
2
3
4
