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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 9 of 58

5

Communication via CAN bus (CANopen and CANopen Safety)

The basis for the inclinometer IKM360R is the CANopen communication profile CiA 301 V4.2,
the device profile for inclinometer CiA 410 V2.0.0. The CANopen Safety protocol EN50325-5 is
additionally implemented for safety-relevant applications. Safety-relevant applications as well
as safety-non-relevant applications can be operated on a CAN bus. The IKM360R supports
device class C1. The details required for a better understanding of the operation are included
in this documentation. If more in-depth information is required, we recommend the
applicable technical literature on CAN, CANopen and CANopen Safety.

5.1

Telegram structure

The data telegram of a CAN message consists of the following fields:

SOF Identifier (COB ID) Control field Data field (max. 8 Byte)

CRC

ACK / EOF

SOF:

(Start of Frame) start bit of the telegram.

Identifier (COB ID):



By means of the identifier, all bus subscribers check whether the message is relevant for
each of them.



The identifier determines the priority of the message. The lower the value of the identifier,
the higher is the priority of the message. This enables preferential transmission of
important messages via the bus.

The Identifier field contains the identifier as well as bits for the recognition of the length of
the identifiers (11 or 29 bits). The device address, channel selection as well as data direction
are determined via the identifier as well.

Thus, the 11bits identifier (COB identifier) consists of a 4bit function code and a 7bit node
number:

Bit no.

10

9

8

7

6

5

4

3

2

1

0

Type

Functional code

Node number (Node ID)

Assignment x

x

x

x

0

0

x

x

x

x

x

The following functional codes have been defined in the "Pre-defined Connection Set" (only
the functional codes used in the present device are shown):

Object

Functional code Resulting COB ID

Object

Page

Network management
(NMT)

0000b

0

-

SYNC message

0001b

128d (80h)

1005h

Emergency message

0001b

128d (80h) + Node ID

1014h

TPD01

0011b

384d (180h) + Node ID

1800h

SDO (tx)

1011b

1408d (580h) + Node ID

1200h

SDO (rx)

1100b

1536d (600h) + Node ID

1200h

Heartbeat message

1110b

1792d (700h) + Node ID

-

Node Guard message

1110b

1792d (700h) + Node ID

-

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Содержание IKM360M

Страница 1: ...222 20 IKM360M Redundant 1 axis inclinometer with CANopen Safety interface User manual...

Страница 2: ...2 5 3 Process data exchange 12 5 3 1 Transfer of process data objects PDO 12 5 3 1 1 Transmit PDO from the IKM360R to the master 13 5 4 Parameter data exchange 13 5 4 1 Transmission of Service Data Ob...

Страница 3: ...fined Error Field 33 5 8 2 5 1005h COB ID SYNC message 34 5 8 2 6 1008h Manufacturer Device Name 35 5 8 2 7 1009h Manufacturer Hardware Version 35 5 8 2 8 100Ah Manufacturer Software Version 35 5 8 2...

Страница 4: ...2 31 6200h Safety configuration parameters 53 5 8 2 32 6210h Safety Slope long16 Safety longitudinal slope value 54 5 8 2 33 6211h Safety inverted Slope long16 Safety inverted longitudinal slope value...

Страница 5: ...com p ikm360r 1 2 Definitions Decimal values are given as numbers without addition e g 1234 except when indicated in direct connection with binary or hexadecimal values In this case the extension d i...

Страница 6: ...h sensor will work with its default values as long as no changes have been made to it With parameters changed the sensor will work with the changed data which must be stored if they are intended to be...

Страница 7: ...ED for indicating the NMT status or the LSS configuration status CAN Run LED A red LED for CAN error states or for indicating the LSS configuration status CAN Err LED The LSS waiting status is not ind...

Страница 8: ...s A measuring range of 0 360 resolution 0 1 is set by default The measuring range can be switched to 180 resolution 0 1 via object 6011h Slope long16 operating parameter 4 2 Calibration Owing to the a...

Страница 9: ...bscribers check whether the message is relevant for each of them The identifier determines the priority of the message The lower the value of the identifier the higher is the priority of the message T...

Страница 10: ...nly 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...

Страница 11: ...CAN communication will be reinitialized The device signals automatically the completion of initialization by sending a boot up message As soon as the boot up message was sent successfully the device w...

Страница 12: ...ion states If x 0h is transferred as Node ID then the message is intended for all bus subscribers 5 2 2 Boot Up The COB ID of the boot up message is made up of 700h and the Node ID The Initialization...

Страница 13: ...Fh must be entered in object 1800h sub index 02h The cycle time can be entered in milliseconds in object 1800h sub index 05h The TPDO1 will not be sent if the value 0 ms is written The function is dis...

Страница 14: ...O rx Initiate Download Request expedited Send parameter to slave 2Bytes of 4 data bytes valid Write Request 2Fh SDO rx Initiate Download Request expedited Send parameter to slave 1Byte of 4 data bytes...

Страница 15: ...yte 4 LSB Byte 5 Byte 6 Byte 7 MSB SDO rx tx Node ID Command byte Index Sub index User data number of user data The segment message has the following structure COB ID User data in binary code Byte 0 r...

Страница 16: ...xchange With invalid access an error message Abort is returned to the master The error codes are described in the CANopen profile CiA 301 or in the inclinometer profile CiA 410 respectively The table...

Страница 17: ...ddress 1h the cycle timer which is stored with 2 bytes in object 1017h of the object dictionary is to be changed Calculation of the identifier 600h Node ID 600h 1h 601h Command 2 bytes are to be writt...

Страница 18: ...e 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...

Страница 19: ...lid via object 13FEh or 63FEh 5 5 3 Procedure for initial commissioning of the SRDO message The following steps are necessary for the exchange of Safety data via the SRDO message for commissioning Dev...

Страница 20: ...04h 04h Inverted Safety Slope long16 2nd byte 4 byte 62110208h The following data bytes are used to calculate the checksum 0x01 0x19 0x00 0x14 0x01 0x01 0x00 0x00 0x02 0x01 0x00 0x00 0x04 0x01 0x08 0...

Страница 21: ...sited in the error buffer see 1003h Pre defined Error Field An emergency object is sent only once per error event Removal of the cause of the error is signaled by sending an emergency message with the...

Страница 22: ...mergency messages can be disabled by setting the COB ID Valid bit to 1 5 6 2 Node Guarding Node guarding is available for failure monitoring of the CANopen network During node guarding the master tran...

Страница 23: ...used for node monitoring Only the master can detect missing communication via the node guarding protocol as opposed to the heartbeat that can be received by all subscribers 5 6 3 Heartbeat The master...

Страница 24: ...switched to the LSS configuration state If the LSS master expects to receive an answer to its command only one LSS slave must be switched to the LSS configuration mode Two LSS services are available L...

Страница 25: ...e COB ID User data Byte 0 Command Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 7E5h 40h Vendor ID 00h 00h 00h COB ID User data Byte 0 Command Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 7E5h...

Страница 26: ...NID 00h 00h 00h 00h 00h 00h NID 01h 7Fh Node ID Slave Master COB ID User data Byte 0 Command Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 7E4h 11h Error code Spec error 00h 00h 00h 00h 00h Error...

Страница 27: ...index Table index Baud rate 0 1000 kbit s 1 800 kbit s 2 500 kbit s 3 250 kbit s 4 125 kbit s 5 reserved 6 50 kbit s 7 20 kbit s 8 not supported 9 not supported The device supports only Table selector...

Страница 28: ...he delay time d2 the LSS slave will report with the boot up via the newly set baud rate This procedure prevents the synchronous presence on the bus of devices with different baud rates The LSS slave c...

Страница 29: ...COB ID User data Byte 0 Command Byte 1 LSB Byte 2 Byte 3 Byte 4 MSB Byte 5 Byte 6 Byte 7 7E4h 5Ah Vendor ID see object 1018 1h 00h 00h 00h 5 7 3 2 Request Product Code Master Slave COB ID User data By...

Страница 30: ...e 0 Command Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 7E5h 5Dh 00h 00h 00h 00h 00h 00h 00h Slave Master COB ID User data Byte 0 Command Byte 1 LSB Byte 2 Byte 3 Byte 4 MSB Byte 5 Byte 6 Byte 7...

Страница 31: ...for Node Guarding 36 100Dh Life Time Factor Parameter for Node Guarding 36 1010h Store Parameter Object for non volatile storage of the settings 36 1011h Restore Parameter Object for restoring the fac...

Страница 32: ...longitudinal slope value Safety Slope long16 Safety longitudinal slope value 54 6211h Safety inverted Slope long16 Safety inverted longitudinal slope value Safety inverted Slope long16 Safety inverte...

Страница 33: ...Error Counter registers The contents of these registers provide information on the transmit faults present at the mounting site of the encoder Sub index 00h Description Transmit Error Counter and Rece...

Страница 34: ...0h EEPROM yes 5 8 2 5 1005h COB ID SYNC message The COB ID of the SYNC object is set via object 1005h Sub index 00h Description Defines the COB ID of the synchronization object SYNC Access rw writabl...

Страница 35: ...ufacturer Hardware Version Object 1009h indicates the hardware version Sub index 00h Description Hardware version in ASCII notation Access const PDO mapping no Data type Visible_String Default 0h EEPR...

Страница 36: ...h indicates the life time factor set in the master for node guarding see chapter 5 6 2 Value 0h means that Node Guarding is deactivated Sub index 00h Description Life Time Factor Access rw PDO mapping...

Страница 37: ...1h a 76h v 65h e Read Bit 31 2 0 reserved Bit 1 0 Device does not independently store parameters Bit 0 1 Device stores parameters after command Sub index 02h Description save only communication parame...

Страница 38: ...2 Byte 3 73h s 61h a 76h v 65h e Read Bit 31 2 0 reserved Bit 1 0 Device does not independently store parameters Bit 0 1 Device stores parameters after command Sub index 04h Description save only manu...

Страница 39: ...ported sub index Access const PDO mapping no Data type UNSIGNED 8 Default 4h EEPROM no Sub index 01h Description reset all parameters to factory settings Access rw PDO mapping no Data type UNSIGNED 32...

Страница 40: ...EEPROM no Data content Write Byte 0 Byte 1 Byte 2 Byte 3 6Ch l 6Fh o 61h a 64h d Read Bit 31 1 0 reserved Bit 0 1 Device permits loading of default parameters Sub index 04h Description set only manuf...

Страница 41: ...fier CAN 2 0B Bit 28 11 0 if bit 29 0b X Bits 28 11 of the EMCY COB ID if Bit 29 1b Bit 10 0 X Bits 10 0 of the EMCY COB ID 5 8 2 14 1017h Producer Heartbeat Time The cycle time Heartbeat Time for the...

Страница 42: ...Data type UNSIGNED 32 Default 00000195h EEPROM no Sub index 02h Description Product Code Access ro PDO mapping no Data type UNSIGNED 32 Default 02020003h EEPROM no Sub index 03h Description Revision...

Страница 43: ...ype UNSIGNED 8 Default 2h EEPROM no Sub index 01h Description COB ID Client Server rx Access ro PDO mapping no Data type UNSIGNED 32 Default 00000600h Node ID EEPROM no Sub index 02h Description COB I...

Страница 44: ...valid Sub index 02h Description refresh time Access ro if NMT state is operational rw if NMT state is pre operational PDO mapping no Data type UNSIGNED 16 Default 25d 0019h EEPROM yes Data content 10...

Страница 45: ...f NMT state is pre operational PDO mapping no Data type UNSIGNED 32 Default 00000100h 2 Node ID EEPROM yes Data content 258d 102h 384d 180h even numerical values only 5 8 2 18 1381h SRDO1 Mapping Para...

Страница 46: ...o Sub index 04h Description 2nd object of the SRDO1 message with the COB ID2 data byte 1 Access ro PDO mapping no Data type UNSIGNED 32 Default 62110208h inverted Safety Slope long16 object 6211h sub...

Страница 47: ...h Description SRDO1 signature checksum Access rw PDO mapping no Data type UNSIGNED 16 Default 0000h EEPROM yes Data content The checksum CRC 16 CCITT is calculated via the content of the two objects 1...

Страница 48: ...ption COB ID of PDO1 Access rw writable in the Pre Operational state only see chapter 5 2 1 PDO mapping no Data type UNSIGNED 32 Default 180h Node ID EEPROM yes Sub index 02h Description Transmission...

Страница 49: ...running the change will be applied only with the next timer operation 5 8 2 22 1A00h 1st Transmit PDO Mapping Parameter Object 1A00h determines the objects that are mapped on the first Transmit PDO TP...

Страница 50: ...1d 0 1 Hz Default value 20 Hz Possible values 1d 20d 1d 14h in steps of one 0 1 1 0 Hz in 0 1 Hz steps 10d 200d 14h C8h in steps of ten 1 0 20 0 Hz in 1 Hz steps 5 8 2 24 5F0Ah Node ID and baud rate B...

Страница 51: ...long16 value can be set in object 6000h Sub index 00h Description Resolution Access rw PDO mapping no Data type UNSIGNED 16 Default 64h EEPROM yes Data content 1d 1h Resolution 0 001 10d Ah Resolution...

Страница 52: ...measuring range is changed the new resolution is set provided that the default value was not changed beforehand Bit 2 4 not used Bit 1 0 Scaling of object 6010h inactive 1 Scaling of object 6010h acti...

Страница 53: ...Object 6014h indicates the offset of the slope long16 value object 6010h as a function of the slope long16 preset value object 6012h and the slope long16 offset object 6013h The value must be specifie...

Страница 54: ...ata content 0h FFFFh 5 8 2 32 6210h Safety Slope long16 Safety longitudinal slope value The Safety Slope long16 Safety longitudinal slope value can be read byte by byte via object 6210h Sub index 00h...

Страница 55: ...itudinal slope value can be read byte by byte via object 6211h Sub index 00h Description indicates the largest supported sub index Access const PDO mapping no Data type UNSIGNED 8 Default 2h EEPROM no...

Страница 56: ...PDO mapping no Data type UNSIGNED 8 Default 0h EEPROM yes Data content A5h Configuration for Safety Slope long16 valid 00h A4h and A6h FFh Configuration for Safety Slope long16 not valid 5 8 2 35 63F...

Страница 57: ...RC 16 CCITT is calculated via the content of object 6200h Object Sub index Highest sub index Extent Value 6200h 00h Sub index 1 byte 01h 01h Safety Slope long16 Preset value Safety calibration value 1...

Страница 58: ...21 Art No 90444 Mod status 222 20 Page 58 of 58 SIKO GmbH Weihermattenweg 2 79256 Buchenbach Phone 49 7661 394 0 Fax 49 7661 394 388 E Mail info siko global com Internet www siko global com Service su...

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