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MP60, MP60DP
CAN INTERFACE DESCRIPTION
9 CAN INTERFACE DESCRIPTION
9.1 General
The MP60 and MP60DP modules have a built-in CAN interface that can be used both to
transmit measured values and to parameterize the module. Different baud rates can be
selected up to a maximum of 1 MBaud. The interface protocol is adapted from the
CANopen Standard.
9.2 Cyclic transmission of measured values
The cyclic data is transferred as so-called "Process Data Objects" (PDOs, according to
CANopen specifications). Measured values of interest are transferred cyclically from the
measurement module under a previously defined CAN Identifier, without any further
identification. A query message is not required. A parameter setting determines how
often the PDOs are transmitted (see object dictionary). Data formats longer than one byte
are always transmitted in LSB–MSB order.
Transmit PDO
CAN identifier
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
384 (180 Hex) + module address
Data bytes 1-4
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
Measured value (LSB-MSB)
Data byte 5
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
Status (object 2010)
Receive PDO
CAN identifier
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
512 (200 Hex) + module address
Data byte 1
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
Control word (object 2630)
In addition to these predefined PDOs, further PDOs can be set up according to the
CANopen specification (CIA-DS301) by mapping. Appropriate tools are available on the
market.
The exchange of cyclic PDOs only starts once the module has been brought to the
"Operational" state. This is done with the "Start_Remote_Node" message.
CAN identifier
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
0
Data byte 1
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
1
Data byte 2
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
ÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑÑ
Module address (0 = all)
The message "Enter_Pre_Operational_State" can be used to exit the "Operational" state:
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