Inclination sensor JN
8
● Status and error indication via LED to CiA DR-303-3
● In addition to the basic CANopen functions there are other manufacturer and
profile-specific features:
– Setting of the node ID and the baud rate via OD
– Freely configurable limit frequency (digital filter)
7.2 Set-up
The CANopen standard CiA DS-301 defines three possible states for sensor
nodes.
Pre-operational
The pre-operational state is used to set the sensor parameters or as standby
mode. In the pre-operational state no process data (PDO messages) can be
transmitted.
Operational
The operational state is used to exchange the process data while in operation. In
the operational state all communication services are carried out.
Stopped
The stopped state is used for network management; only NMT messages are
possible.
The master or network manager can request the sensor via NMT messages to
change the state accordingly. This allows almost complete separation of redundant
or faulty sensors from the bus.
The inclination sensor from ifm is delivered with the node ID 10 and a baud rate of 125 Kbits/s.
7.3 Communication types of process data object (PDO)
The request for process data objects is made by sending a remote transmit
request telegram (RTR).
The different transmit PDOs (TPDOx) can be polled in all operating modes of the
inclination sensor individually and at any time.
7.3.1 Cyclical operating mode
The cyclical transmission of a TPDO is activated when the interval time
(e.g. OD index 1800h/05h for TPDO1) contains a value greater than 0. The
type of transmission (e.g. OD index 1800h/02h for TPDO1) has to be set to
"asynchronous – manufacturer-specific“ (value = FEh). In the "operational" state
the inclination sensor then cyclically transmits the TPDOx with the set interval
time.
