Bus Termination Resistance; Canopen Interface; Review Of Functions - Kübler IS60 Handbuch

Pin
1
2
3
4
5

5.2 Bus termination resistance

The inclinometers are not equipped with an internal termination resistance.
If needed, it is to be realized externally with the help of a T piece at the end of the bus(120 ò).

6. CANopen interface

6.1 Review of functions

The inclinometers are equipped with a standardized CANopen interface per CiA DS-301 and a
device profile per CiA DSP-410. All measurement values and parameters are accessible via the
object register (OR). The individual configuration can be stored in the internal, non-volatile memory
buffer (EEPROM).
The following CANopen functions are available:
One Send Data object (TPDO1) with four possible operating modes:
– individual request per Remote Transmit Request telegram (RTR)
– cyclic Send per interval time
– event-driven Send when angle has changed
– synchronized Send after receipt of SYNC telegram
One Service Data object (Standard SDO)
Error messages per emergency object (EMCY) with the help of:
– the general error register
– the manufacturer specific status register (Manufacturer Status)
– the error list (Predefined Error Field)
monitoring mechanism Heartbeat, as well as Nodeguarding/ Lifeguarding
storage and reload function of all parameters (Store and Load Parameter Field)
status and error display per two-color LED (per CiA DR-303-3)
Next to the CiA DS-301 functionality, additional manufacturer or rather profile specific characteristics
exist:
setting of Node ID, as well as Baud rate per OR
freely configurable limit frequency (digital filter)
configuration of minimal change of angle for TPDO1 send event
optional monitoring of internal device temperature
direction switch of inclinometers
Signal
CAN_SHLD
CAN_V+
CAN_GND
CAN_H
CAN_L
Assignment
Shield
Supply voltage
(+24 VDC)
0 V
CAN_H-bus line
CAN_L-bus line
8