Siko IKM360M, Руководство пользователя

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Communication via CAN bus (CANopen and CANopen Safety)
IKM360M
Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 18 of 58
Calculation of the identifier: 600h + Node ID = 600h +1h = 601h
Command: 40h
Index: 1008h
Sub-index: 00h
First request (= initialization) of master from slave with Node ID 1h:
COB ID User data
Command Index L Index H Sub-index Data
0 Data
1 Data
2 Data
3
601h 40h 08h 10h 00h x x x x
Response to the request by the slave:
Calculation of the identifier: 580h + Node ID = 581h
COB ID User data
Command Index L Index H Sub-index Data
0 Data
1 Data
2 Data
3
581h 41h 08h 10h 00h 07h 00h 00h 00h
Number of expected user data bytes: 7
Second request of master from slave with Node ID 1h:
COB ID User data
Command Index L Index H Sub-index Data
0 Data
1 Data
2 Data
3
601h 60h 00h 00h 00h x x x x
Response to the request by the slave:
COB ID User data
Command Data 0 Data 1 Data 2 Data 3 Data 4 Data 5 Data 6
581h 01h 49h
("I") 4Bh
("K") 4Dh
("M") 33h
("3") 36h
("6") 30h
("0") 52h
("R)
5.5 Safety data exchange
5.5.1 Transfer of safety-relevant data objects (SRDO)
Safety-relevant data objects (SRDO) serve the cyclic exchange of safe data in the Operational
NMT state. An SRDO consists always of 2 messages with different COB IDs and bit-by-bit
inverted data. A maximum of 8 bytes of user data can be transferred in an SRDO. The IKM360R
supports the Safety Transmit services SRDO1 for the Slope long16 (2 bytes) according to
EN50325-5 and CiA 410. The transmit behavior of SRDO is determined via the objects 1301h,
1381h and 6200h. Mapping is static and cannot be changed.