Baumer BA_DSRT_22DJ - Handbuch (Seite 12)

Manual_CANopen_StrainLink_EN_V3_05.doc 12/65 Baumer
22.07.11/dam Frauenfeld, Switzerland
The permissible bit rates/line lengths for a CANopen network (CiA 301):
Two conditions must exist for a CANopen network to operate without errors:
•
All nodes must have the same bit rate
•
Each node ID must be unique
The system integrator is responsible for maintaining the same bit rate and the different node IDs.
Baumer sensors come as standard with 125 kBaud and ID = 1. They can be configured using the 2100H and
2101H objects or with the LSS Service (CiA 305).
4.2.3 CAN message structure
A CAN message, also known as a frame, consists of the following seven fields:
•
Start of frame
•
Message identifier
•
Control bits
•
Data (0-8 bytes)
•
CRC check bits
•
Acknowledge bit
•
End of frame
The length of the identifier differentiates the frames:
•
Standard Frame (11-bit identifier)
•
Extended Frame (29-bit identifier)
Baumer Process Instrumentation only supports Standard Frames.