Baumer BA_DSRT_22DJ - Handbuch (Seite 23)

Manual_CANopen_StrainLink_EN_V3_05.doc 23/65 Baumer
22.07.11/dam Frauenfeld, Switzerland
5 CANopen protocol
5.1 General
These operating instructions reproduce the current state of the implemented functions of the modules
(described in the following chapters).
You can obtain more detailed literature from the user organization:
CAN in Automation (CiA)
Kontumazgarten 3
DE-90429 Nürnberg
[email protected]
www.can-cia.org
You do not need any aids for this CANopen strain link to change the identification and the baud rate. You
also do not need to open the sensor. The communications parameters can be defined and saved using the
software.
You can find the information on the CANopen master in the documentation for the devices you are using.
5.1.1 Boot loader
A boot loader is implemented in the sensor. Upon request, this can be used to update the firmware of the
sensor at the customer's location in the CAN network.
5.2 Network Management
After power is turned on at the CANopen strain link, the sensor responds by sending the CAN Boot-up
message. This is a message without data bytes having the COB identifier 1792
D
+ module ID (700
H
+ ID).
5.2.1 Predefined connection set
COB ID = Function code (4 bits) + module ID (7 bits)
Object COB ID (decimal) COB ID (hex)
Network Management 0 0
Sync 128 80h
Emergency 129 – 255 81h – FFh
PDO1 (tx) 385 – 511 181h – 1FFh
PDO1 (rx) 512 – 640 201h – 27Fh
PDO2 (tx) 641 – 767 281h – 2FFh
PDO3 (tx) 897 – 1023 381h – 3FFh
SDO (tx) 1409 – 1535 581h – 5FFh
SDO (rx) 1537 – 1663 601h – 67Fh
Heartbeat 1793 – 1919 701h – 77Fh