Figure 8: Communication channels
•
To set the encoder’s node ID, socalled Layer Setting Services (LSS) are used
•
Then communication with the encoder via the Network Management Services
(NMT) is possible
see "Network management (NMT)", page 25
and its CANopen
state machine can be switched to the required status (Preoperational, Operational
or Stopped) by the master.
•
In the Preoperational status, Service Data Objects (SDO) can be used for commu-
nication and configuration
see "Service Data Objects (SDO)", page 29
. In the
Operational status, Process Data Objects (PDO) and Emergency Messages (EMGY)
can also be used for communication
see "Process Data Objects (PDO)", page 30
5.1.3
Topology
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox is integrated in the CAN‐
open trunk using Tconnectors (the Tconnectors are available as accessories). The trunk
must be terminated at the end using a 120Ohm terminator. In this way reflections are
prevented. This action is not necessary on the stubs to the encoders.
Figure 9: AHx36 in the CANopen topologie
shows the maximum length of the stubs for different baud
rates.
5.2
Node IDs and COB-IDs
The encoder’s node ID can be configured with the aid of the following methods:
5
INTEGRATION IN CANOPEN
20
O P E R A T I N G I N S T R U C T I O N S | AHS/AHM36 CANopen
AHS/AHM36 CANopen Inox
8016869/1EF3/2021-12-08 | SICK
Subject to change without notice