HAT 1425 CANopen Safety
13
Edition: 2021-02-22
HYDAC ELECTRONIC GMBH
Part no.: 670047
E
6.2 Signal Output: CANopen Safety
Service Data Object (SDO)
Using the
SDOs,
other network nodes can read from or write to the Object
Dictionary of the angle sensor.
Process Data Object (PDO)
Via the PDOs the measured values (position values) of the angle sensor are
provided to other network nodes.
Safety-relevant Data Object (SRDO)
SRDOs
are data objects transmitting safety-relevant data. The data are transmitted
twice in two messages, the second message transmits the message invertedly. For
the IDs of both messages as well as for the way of transmission there are detailed
specifications. The data transmission must therefore be transmitted cyclically and
asynchronously.
Synchronisation Object (SYNC)
SYNC
objects are used to implement a synchronous data transmission. The angle
sensor provides the functionality of a
SYNC consumer
.
Emergency Object (EMCY)
EMCY
objects are sent when an error occurs.
EMCY
objects contain an
Emergency Error Code and the contents of an Error register.
The Object Dictionary
With CANopen, all the device's data (setting parameters and measured values) is
filed in an
Object Dictionary
under a specified
Index
. The angle sensor supports
the records of DS 301, of the encoder profile DS 406 and of the NMT and LSS
services.
NMT Services
NMT objects are used to start, stop or reset devices. CANopen differentiates
between the following functionalities:
1. NMT
Master:
controls other nodes.
2. NMT
Slave:
is controlled by a Master.
LSS Services
The LSS services and protocols (CiA DS-305) are used to inquire or to configure
different parameter settings of the Data Link Layers and the Application Layers of a
LSS slave by a LSS master as for example the setting of Baud rate and Node ID.
EDS File
The EDS file represents the electronic description of the Object Dictionary.
