SICK DL100 Pro CANopen - NMT Network Management; PDO and SDO

Identifier 11-bit
(binary)
Identifier (decimal) Identifier (hexadeci‐
mal)
Function
11111100100 2020 7E4h LSS (Tx)
11111100101 2021 7E5h LSS (Rx)
2022 – 2047 7E6h – 7FFh Not implemented
xxxxx = Node ID
001-127
yyyyy = Node ID
001-032
zzzzz = Node ID
033-064
10.3.11 NMT network management
NMT services are used to initialize, start, monitor, reset or stop CANopen devices.
According to specification CiA 301, the following network management commands
(NMT) are defined:
Table 34: Network management commands
Dir COB-ID DLC Command Node ID Description
D0 D1
CANopen Controller 000h 02h 01h Node ID Enter Operational
CANopen Controller 000h 02h 02h Node ID Enter Stop
CANopen Controller 000h 02h 80h Node ID Enter Pre-Operational
CANopen Controller 000h 02h 81h Node ID Reset Node
CANopen Controller 000h 02h 82h Node ID Reset Communication
Table 35: Example NMT command: Set Node 6 to Operational Mode
Dir COB-ID DLC Command Node ID Description
D0 D1
CANopen Controller 000h 02h 01h 06h Set node ID 6 to Opera‐
tional Mode
CANopen Device – – – – No reply
10.3.12 PDO and SDO
PDO
With CANopen, the process data is divided into segments of maximum 8bytes. These
segments are called process data objects (PDOs) and are used to transport real-time
data. The PDOs each correspond to a CAN telegram and are assigned via its specific
CAN identifier and determined in their priority. A distinction is made between RPDOs
(Receive PDOs) and TPDOs (Transmit PDOs). The designation is made from the device's
point of view. The DL100 Pro does not include RPDOs.
SDO
A server SDO object provides a service for parameterizing object directory entries.
Every CANopen device needs at least one server SDO object that receives and sends
requests. The service data objects are addressed via index and subindex. Data can be
requested from the CANopen controller or written to the object. The function is defined
by the “Function code” of the CAN ID:
•
580h + node ID: CANopen Device → CANopen Controller (transmit SDO)
•
600h + node ID: CANopen Controller → CANopen Device (receive SDO)
CANOPEN INTERFACE 10
8015418/19HA/2022-12-15 | SICK O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen
59
Subject to change without notice