SICK TMM61 Series, Руководство по эксплуатации

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Table 10: Format of the Switch Mode Global command
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
07E5h 04h Mode 00h 00h 00h 00h 00h 00h
Byte 1 mode:
00h = Switches LSS configuration mode off
01h = Switches to LSS configuration mode
Configure Node ID
This command is used to set the node address.
Table 11: Format of the Configure Node ID command
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
07E5h 11h Node ID 00h 00h 00h 00h 00h 00h
Byte 1 node ID:
01h = node address 1
…
7Fh = node address 127
Response:
Table 12: Response to the Configure Node ID command
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
07E4h 11h Error
code Error
extend 00h 00h 00h 00h 00h
Byte 1 error code:
00h = Configuration successful
01h = Parameter invalid
FFh = Contains a specific error code
Byte 2 error extend:
The error extension is manufacturer-specific; it is always 00h in the case of the inclina‐
tion sensor.
Configure Bit Timing Parameters
This command is used to set the baud rate based on a baud rate table.
Table 13: Format of the Configure Bit Timing Parameters command
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
07E5h 13h 00h Table
index 00h 00h 00h 00h 00h
Byte 1 table index from the baud rate table:
Table 14: Baud rate table
Table index Baud rate Supported
0 1,000 kbit/s Yes
1 800 kbit/s Yes
2 500 kbit/s Yes
3 250 kbit/s Yes
4 125 kbit/s Yes
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CANOPEN INTERFACE
22 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
Subject to change without notice