SICK GLS100, Руководство по эксплуатации

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Step Description Direction CAN-ID Len
gth Data (hexadecimal)
3 Send “Configure bit timing” LSS command to set the
baud rate to 500 kBit. transmit 7E5h 8 13 00 02 00 00 00 00 00
0 = 1,000 kBit/s
1 = not supported
2 = 500 kBit/s
3 = 250 kBit/s
4 = 125 kBit/s
5 = not supported
6 = 50 kBit/s
7 = not supported
8 = not supported
9 = not supported
4 LSS slave confirms the new baud rate. receive 7E4h 8 13 00 00 00 00 00 00 00
5 Send “store configuration” LSS command transmit 7E5h 8 17 00 00 00 00 00 00 00
6 LSS slave confirms saving of configuration receive 7E4h 8 17 00 00 00 00 00 00 00
You can now either turn the device off and on again to activate new settings, or restart communication using the NMT
commands in steps 7 to 8 of the previous example node ID configuration.
The node ID and baud rate can also be set using the SOPAS ET configuration software. This is available for
download here:
www.sick.com/SOPAS
7.3.4 Process data objects (PDOs)
Up to four different Transmit PDOs (TPDOs) can be subscribed on the CAN interface.
The contents of the TPDOs can be freely assigned via dynamic mapping under the
0x1A00 to 0x1A03 indexes.
The communication parameters can be set under 0x1800 to 0x1803.
In the default mapping, TPDOs 1 to 3 are mapped as described under 8.1.2.
7.3.5 PDO communication
In the factory setting, the transmission type for TPDO 01, TPDO02 and TPDO03 is set
to asynchronous communication. A transmission period of 50 ms is set in the factory
for TPDO 01, TPDO02 and TPDO03, with which TPDO 01, TPDO02 and TPDO03 are
transmitted cyclically.
Changing the transmission type factory setting
The transmission type of the Transmit PDOs can be set according to CANopen standard
DS-301 in configuration registers 0x1800, 0x1801, 0x1802 of TPDOs 1 to 3.
With asynchronous transmission types 254 and 255, transmission takes place at the
internal sensor update rate, i.e. 33 ms (for Data Matrix MultiCode) or 40 ms (for QR
code). The factory configuration setting of the transmission type is 255.
7.4 First step to commissioning with Modbus RTU
The following describes the first steps for commissioning with Modbus RTU. In the
description, we refer to the "Modbus application protocol specification V1.1" Modbus
standard as well as "Modbus over serial line specification and implementation guide
V1.02" available at
www.modbus.org .
7.4.1 Setting the ID and baud rate
The following conditions must be met for communication with the Modbus master:
• A correct slave address must be set on the GLS100.
Correct is:
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 27
Subject to change without notice