Communication channels and status
CANopen features various communication channels (SDO, PDO, Emergency Messages).
These channels are formed with the help of the communication object identifier (COB
ID). The COB IDs are based on the node IDs of the individual devices on the CANopen
bus. The GLS100 has node ID 10 by in the factory setting. It can be addressed via the
network management services (NMT) and its CANopen state machine can be switched
to the necessary status (Pre-Operational, Operational, or Stopped) by the master.
Network management
Network management (NMT) initializes the nodes in a CANopen network. It also adds
the nodes to the network, and stops and monitors them. The following statuses can be
identified:
Table 5: Status of the CANopen state machine
Status
Description
Initializing
Initialization commences. Both the device application and device commu‐
nication are initialized. After this, the node automatically switches to Pre-
Operational status.
Pre-Operational
The GLS100 is ready for parameterization; acyclic communication can take
place via SDO. However, the GLS100 is not yet able to commence PDO
communication and is not sending out any emergency messages.
Operational
In this state, the GLS100 is fully ready for operation and can transmit
messages autonomously (PDOs, emergency messages).
Stopped
In this state, the GLS100 is not actively communicating (although communi‐
cation is still being actively monitored via node guarding).
The GLS100 automatically enters the operational state at startup in the factory setting.
7.3.2
Note ID and baud rate
There can be a maximum of 128 devices on a CANopen network: One master and
up to 127 slaves. Every device has a unique node ID (node address). The COB IDs
(communication object identifiers) of the communication channels are derived from
this ID.
The following conditions must be met for communication with the CAN master:
•
A correct node ID must be set on the GLS100.
Correct is:
°
A node ID which is free in the CANopen network
°
A node ID which the master expects
•
The same baud rate must be set in the GLS100 as in the master.
The following parameters are factory set on the GLS100:
•
Node ID: 10
•
Baud rate: 125 kbit/s
The following communication parameters can be allocated to the GLS100:
•
Node ID: 1 to 127 (0 is generally assigned to the master)
•
Baud rate: 10 kbit/s, 20 kbit/s, 50 kbit/s, 125 kbit/s, 250 kbit/s, 500 kbit/s,
1,000 kbit/s
7.3.3
General information about CAN communication
Layer setting services (LSS) are supported in order to set the node ID and the baud rate
of the GLS100.
The LSS slave is accessed via its LSS address (identity object), which is stored in object
1018h.
COMMISSIONING
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8026282/2021-05-26 | SICK
O P E R A T I N G I N S T R U C T I O N S | GLS100
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Subject to change without notice
