SICK ATM 60-C Series User Manual

Initialization and system boot-up
ATM60-Cxx 03/2007 17
7.2 Boot-up
The boot-up message signals the transition of an NMT slave from the “initializing” state to the “pre-
operational” state. The boot-up message uses the COB-ID of the NMT error control object.
Master Slave
Instruction
¬
COB-ID Status = 0
¬
Request
Status = 0 signals that this is a boot-up message.
7.3 Identifier allocation
The identifier allocation is required in each ATM60-Cxx for:
· SDOs
· PDOs
· Synchronization object
· Emergency object
· Network management object.
For simple management of the identifiers, CANopen uses the “predefined connection set”. Here, the COB
identifiers are allocated in accordance with the node ID (module ID) and the function code.
7.3.1 Predefined Connection Set
The 11-bit identifier is composed here of a 4-bit function code and 7-bit node ID (module ID).
Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Function code Node ID (module ID)
Identifier allocation is static and depends on the node ID (module ID). This permits rapid configuration of
simple networks.
The node ID in the ATM60-Cxx can be set via a six-pole DIP switch. This means that, for the ATM
60-Cxx, a node ID in the range from 1 to 63 can be set via the DIP switches. Bit 6 of the node
ID is therefore always 0.
Identifier allocation for broadcast objects:
In work
In Arbeit

SICK ATM 60-C Series Specifications

General

Brand	SICK
Model	ATM 60-C Series
Category	Media Converter
Language	English