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 10 of 58
Object Functional code Resulting COB ID Object Page
LSS (tx) - 2020d (7E4h) - 24
LSS (rx) - 2021d (7E5h) - 24
Table 6: Overview of COB identifiers
Changes to COB IDs are only possible in the PRE-OPERATIONAL NMT status. First, the COB ID
must be switched invalid via bit 31 = 1b before it can be changed and reactivated.
The COB ID of the Sync object is an exception, where bit 30 must be = 0b to enable the COB
ID to be changed. As bit 30 cannot be set to 1b in the inclinometer, the COB ID could be
changed at any time.
The node number (Node ID) (see also object 5F0Ah: Node ID and baud rate Bus CAN ) is
assigned once in every bus system with configuration of the master on IKM360R. The node
numbers range from 1 to 127. Node ID = 0 is reserved and must not be used.
The adoption of a Node ID or baud rate which was reset occurs only after re-initialization
(see chapter
5.2.1 ).
In the case of the inclinometer IKM360R, an inclinometer with node ID 1 (1h) and the
redundant inclinometer with node ID 2 (2h) are delivered ex works.
Control field:
Contains bit-by-bit information concerning the number of user data and determines whether a
data frame or RTR frame (Remote Transmission Request frame) is concerned.
Data field:
Contains up to 8 bytes of user data. The user data has a different meaning depending on the
channel selection.
CRC:
Contains bits for error detection.
ACK/EOF:
The ACK/EOF field contains telegram acknowledgment bits as well as bits for determining the
end of telegram.
For a detailed description of the telegram please refer to the applicable technical CAN
literature. For simplification, only identifier (COB ID) and data field will be dealt with in the
subsequent telegram descriptions.
5.2 Node control
5.2.1 Network management (NMT) services
The master configures, manages and monitors network nodes via the NMT service. The device
is always in one of the four communication states "INITIALIZATION", "PRE-OPERATIONAL",
"OPERATIONAL" or "STOPPED" (see
Fig. 3 ).