MSA SUPREMATouch - Page 171

SUPREMATouch
170
Installation
MSA
US
As to b):
Fig. 108 Baudrate at the Satellite Rack
As to (c) and (d):
The CAN identifier for the CAN Bridge filter function must be calculated, see the following section.
After calculation, the results must be transformed to hexadecimal numbers.
Calculation formula for the CAN Identifiers:
Fig. 109 Calculation of the Node ID
Measuring points Distance in m Bit rate setting in kB/s Bridge
Command
1 - 64 0 - 800 50 B1:9
65 - 128 0 - 400 125 B1:6
129 - 256 0 - 200 250 B1:4
COBID
(Module)
= COBID + NID NID = (16 * BGTID + SLNR)
NID = Node ID
BGTID = Rack number (-1)
SLNR = Slot number
COBID = CAN ID assignment (fig. 56)
COBID
(Module)
= CAN Identifier for COBID of the Module
NODE ID (NID) Slot No. (SLNR) Module
16 * Rack ID + 1 MCP A
16 * Rack ID + 2 MCP B
16 * Rack ID + 4 MDA A, ...
16 * Rack ID + 5 MDA B, ...
16 * Rack ID + 6 ... 15 MGO, MGI, MAO, ...
16 * Rack ID + 16 MDO
Message
COB-ID (Module)
(dec)
COB-ID (module)
(hex)
Purpose
COD-ID (hex)
Range
NMT-Start/Stop 0 0 Start and Stop of
nodes
0
SYNC 128 80 Synchronisation 80
EMERGENCY 128+NID 80+NID Failure message
(128+Node-ID)
81-FF
TIME STAMP 256 100 Time Stamp 100
PDO1(rx) 384+NID 100+NID Digital Input
(256+Node-ID)
181-1FF
PDO1(tx) 512+NID 200+NID Digital Output
(512+Node-ID)
201-27F