CANOpen Manual

1. Introduction......................................................4
1.1 Inclinometer .....................................................4
1.2 CANopen technology .......................................4
1.3 CAN Communication Reference Model ...........6
1.4 Definitions ........................................................7
2. Installation........................................................8
2.1 Electrical Connection .......................................8
2.2 Bus Termination...............................................8
2.3 Bus address.....................................................8
2.4 Troubleshooting ...............................................9
2.4.1 Power on – Inclinometer doesn’t respond.....9
2.4.2 Malfunction of the position value during
transmission...........................................................9
2.4.3 Too much ERROR-Frames...........................9
2.4.4 Information....................................................9
3. Device Configuration.....................................10
3.1. CANopen data transmission .........................10
3.1.1 The COB-ID ................................................10
3.1.2 The Command Byte....................................11
3.1.3 The Object Directory ...................................12
3.2 Operational Status .........................................14
3.2.1 Status: Operational .....................................14
3.2.2 Status: Pre-Operational...............................14
3.2.3 Reset of the inclinometer ............................15
3.3 Transmission of the Actual Position...............15
4. Programming................................................. 15
4.1 Resolution......................................................16
4.1.1 Programming example: Resolution.............17
4.2 Operating ParameterLongitudinal ..................17
4.2.1 Programming example: Operating Parameter
Longitudinal .........................................................18
4.3 Preset Value Longitudinal ..............................19
4.3.1 Programming example: Preset value..........19
4.4 Node-Guarding ..............................................20
4.4.1 Guard-Time.................................................20
4.4.3 Lifetime-Factor............................................21
4.5 Heartbeat-Function ........................................22
4.5.1 Heartbeat-Consumer: .................................22
4.5.2 Programming example: Heartbeat-Consumer23
4.5.3 Heartbeat-Producer: ...................................23
4.5.4 Programming example:Heartbeat-Producer24
4.6 Changing the node number............................24
4.6.1 Example: Changing the node number.........25
4.7 Adjusting the baudrate ...................................26
4.7.1 Example : Adjusting the baudrate ...............27
4.8 Transmission Mode........................................27
4.8.1 Cyclic Mode.................................................27
4.8.2 Disable the cyclic mode...............................28
4.8.3 Sync Mode ..................................................28
4.8.4 Example: Number of Sync telegrams..........29
4.8.5 Polled Mode ................................................29
4.9 Memory Transfer............................................30
4.10 Restore default parameters..........................31
5. Technical Data................................................31
5.1. Electrical Data ...............................................31
5.2. Mechanical Data ...........................................32
Environmental Conditions ....................................32
5.3 Mechanical Drawings .....................................33
5.3.1 Bottom View................................................33
5.3.2 Site View .....................................................33
5.3.3 Front View...................................................34
5.3.4 Top View .....................................................34
Installation hints ...................................................35
6. Models/Ordering Description ........................35
6.1 Accessories and documentation ....................36
7 List of Tables...................................................36
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