Scanreco – Service Manual G6 Radio Remote Control System
PART 3: APPENDIX 1 – G6 CANOPEN SPECIFICATION
Glossary
Term Description
Actuator Joystick, lever, toggle switch, push button, and potentiometer
LSS Layer Setting Services
MOVE Safe standstill indication, corresponds to HW output signal with name ACT_MOVE
NMT Network Management
OD Object Dictionary
PDO Process Data Object
RPDO Received Process Data Object
SANP Safe Actuator Neutral Position – Bit wise indication if dedicated safe proportional actuator is in
neutral (0) or not (1).
SDO Service Data Object
SDP Safe Digital Position
SRDO Safety-relevant Data Object
STOP STOP signal status, corresponds to HW output signal with same name.
TPDO Transmitting Process Data Object
1. Protocol
This appendix contains a generic specification for the Scanreco G6 CANopen protocol. For the
exact mapping of each actuator in your specific product see separate technical documentation.
1.1. General Settings
Possible configuration for following baud rates:
(20k*) 50k (100k*) 125k 250k 500k (800k*) 1 000k
Default value is 250k.
* Baud rate within parenthesis to be discussed upon request.
Node ID
Default Node-ID is 1
1.2. NMT
Simple bootup is supported. In slave mode state PRE-OPERATIONAL is entered after initiali-
zation and a NMT bootup message is sent. In mini-master mode, state OPERATIONAL is entered
automatically and a NMT start message is broadcasted. The NMT state transition messages
are received at COB-ID 0. The RESET_NODE and RESET_COMM messages both reinitialize the
CANopen interface of the node.
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