migra MPB CAN
Large Format Graphics Compatible LED Display with CANopen Interface
Page 56
microSYST Systemelectronic GmbH, Am Gewerbepark 11, 92670 Windischeschenbach
+49 9681 91960-0,
+49 9681 91960-10, [email protected], www.microsyst.de
3. Connecting two serial interfaces via the CANopen bus
If CANopen communications need to be executed quasi “automatically”, the PDOs of
both interfaces must be connected to each other (PDO linking).
Example:
Interface 1:
* Node ID
= 1
* RPDO1
= 201
h
(default value = 201
h
)
* TPDO1
= 181
h
(default value = 181
h
)
Interface 2:
* Node ID
= 2
* RPDO1
= 181
h
(default value = 202
h
)
* TPDO1
= 201
h
(default value = 182
h
)
After power-up, the COB IDs of both PDOs must therefore be set by
interface 2 in this case:
*
Transmit SDO frame (COB ID = 602
h
):
22
h
00
h
14
h
01
h
81
h
01
h
00
h
00
h
*
Wait for SDO response (COB ID =
582
h
):
60
h
00
h
14
h
01
h
00
h
00
h
00
h
00
h
*
Transmit SDO frame (COB ID = 602
h
):
22
h
00
h
18
h
01
h
01
h
02
h
00
h
00
h
*
Wait for SDO response (COB ID =
582
h
):
60
h
00
h
18
h
01
h
00
h
00
h
00
h
00
h
* Initialise all nodes: transmit NMT frame (COB ID = 000
h
): 01
h
00
h
miface
CAN/RS
miface
CAN/RS
CANopen
RS 232 / 485 / 422
MIGRA
Control PCB
MIGRA
Internal
Serial
Interface