Device Description HG G-7335xZA | English, Revision 05 | Date: 19.02.2020
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Chapter 8 – CAN Interface (HG G-73350)
8
CAN Interface (HG G-73350)
The node ID and the transfer rate have to be selected by using the serial monitor (de
-
scribed in section 7.2 on page 20) or the corresponding SDOs.
The measured values of the system are transmitted via two so called TxPDOs. They
can be parametrized using the SDOs. Additionally the frequencies of the two wires
can be altered using a non-cyclical RPDO. The CAN identifier can be deduced ny the
node address (1 to 127).
8.1 Definition of the Terms CAN and CANopen®
The CAN / CANopen® configuration is implemented according to ISO 11898 resp.
EN 50325-4. As an assistance some of the terms and abbreviations are explained in
this section. For more specific information please refer to the corresponding norms
or open the website
http://www.can-cia.org/en/standardization/technical-documents/
where – after a free registration – you can download the technical specifications of
the CANopen® standard. For devices that support CANopen® Götting offers EDS
files (Electronic Data Sheet) for download from its website (see appendix 12.3 on
page 52). In those files the complete CAN configuration is defined. In order to use
those files to e.g. configure CAN workflows with several devices a software like e.g.
CANopen® Magic by PEAK System has to be used:
Please observe that not each device supports all operation modes. Devices by Göt
-
ting usually support the modes 1 to 240 and 255.
Table 9
Parameters PDO operation mode
Value
cyclic acyclic synchronous asynchronous on request only (RTR)
0
x
x
1-240
x
x
241-251 reserved
252
x
x
253
x
x
254
x
255
x
Table 10
PDO operation modes (part 1 of 2)
Operation Mode
Explanation
Cyclic
every n‘th Sync telegram data is transmitted
Acyclic
transmits if an event has occurred since the last Sync tele
-
gram
Synchronous
data is transmitted after a Sync telegram is received
