Siko MSA501, Руководство пользователя

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Communication via
CAN bus (CANopen)
MSA501
Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 11 of 51
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 - 12
SYNC message 0001b 128d (80h) 1005h 27
Emergency message 0001b 128d (80h) + Node-ID 1014h 34
TPD01 0011b 384d (180h) + Node-ID 1800h 37
TPD02 0101b 640d (280h) + Node-ID 1801h 38
SDO (tx) 1011b 1408d (580h) + Node-ID 1200h 36
SDO (rx) 1100b 1536d (600h) + Node-ID 1200h 36
Heartbeat message 1110b 1792d (700h) + Node-ID - 23
Node Guard message 1110b 1792d (700h) + Node-ID - 22
Table 9: 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 MSA501, 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 MSA501. 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: Network management (NMT) services ).
Ex works, the MSA501 is delivered with node number 1 (1h).
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 a telegram.
For a detailed description of the telegram please refer to the applicable technical CAN
literature. For simplification purposes, only identifier (COB ID) and data field will be dealt
with in the subsequent telegram descriptions.