HBM MP60 - CAN interface description (MP60 only); General; Cyclical data transmission

47PME-MP60/MP07
A0616-13.4 en HBM
7 CAN interface description (MP60 only)
7.1 General
The MP60 module has a built-in CAN interface, via which both measured
values (data) can be transferred and parameters can be assigned to the
module. You are free to select the baud rate, but the maximum is 1 MBaud.
The protocol of the interface is orientated towards CANopen Standard.
7.2 Cyclical data transmission
Cyclical data is transferred in the form of ”Process Data Objects” (PDOs,
according to CANopen specifications). Data which is of interest is sent
cyclically from the measurement module without further labelling under a CAN
identifier specified previously. A prompt message is not needed. How often
PDOs are sent is set up as a parameter (see object directory). Data formats
with a length of more than one byte are always sent in the sequence
LSB-MSB.
Send PDO:
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
CAN identifier
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
384 (180 Hex) + module address
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
1st - 4th data byte
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
Measured value (LSB-MSB)
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
5th data byte
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ
Status (object 2010)
Receive PDO:
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
CAN identifier
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
512 (200 Hex) + module address
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
1st data byte
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
Control word (object 2630)
Apart from these predefined PDOs, others can be set up according to
CANopen specifications (CIA-DS301) using mapping. Appropriate tools for
this are commercially available.
The exchange of cyclical PDOs is only started after the module has been put
into ”Operational” status. This takes place using the message
”Start_Remote_Node”.
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
CAN identifier
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
0
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
1st data byte
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
1
ÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁ
2nd data byte
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
ÁÁÁÁÁÁÁÁÁÁÁÁÁ
Module address (0 = all)