Table 16: Command table
CMD
Parameter
Subindex of object 1018h
5Eh
Node ID
5Dh
Serial Number
.4
5Ch
Revision Number
.3
5Bh
Product Code
.2
5Ah
Vendor ID
.1
Response:
Table 17: Response to the Inquire LSS address service command
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
07E4h
CMD
Data-X
{LsB}
Data-X
Data-X
Data-X
{MsB}
00h
00h
00h
NOTE
The data are 4 bytes long, in the byte order “Little Endian”. If the data read are shorter
than 4 bytes, the remaining bytes are filled with 0.
Identify Non-Configured Slave Device
Devices that have not been configured can be identified by with the aid of this com‐
mand.
Table 18: Format of the Identify Non Configured Slave Device command
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
07E5h
4Ch
00h
00h
00h
00h
00h
00h
00h
Response:
Table 19: Response to the Identify NonConfigured Slave Device command
COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
07E4h
50h
00h
00h
00h
00h
00h
00h
00h
5.5
Network management (NMT)
The Network Management (NMT) has the task of initializing users on a CANopen
network, adding the users to the network, stopping and monitoring them.
In a CANopen network there is always only one NMT master (Network Management
Master), all other devices, that is also the AHS/AHM36 CANopen and AHS/AHM36
CANopen Inox, are NMT slaves. The NMT master has control of all devices and can
change their status.
Typically an NMT master is realized by a PLC or a PC.
5.5.1
CANopen state machine
As in every CANopen slave, a socalled CANopen state machine is implemented in
the AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox. A differentiation is made
between the following statuses:
Table 20: Status of the CANopen state machine
Status
Description
Initializing
The initialization starts. The device application and the device communi‐
cation are initialized. Then the node switches automatically to the Pre‐
operational status.
INTEGRATION IN CANOPEN
5
8016869/1EF3/2021-12-08 | SICK
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
25
Subject to change without notice