SICK DL100 Pro CANopen - Commissioning in the Canopen Network; Address Assignment (Node ID)

If a new warning or a new error occurs before switching to the trouble-free state, the
device sends an EMCY message with the associated error code. Only when all warnings
or errors are rectified does the device send an EMCY message with emergency error
code 0 (reset error/no error) and the error register is reset to 0.
Properties of EMCY messages
A communication error (CAN overflow EEC 0x8110, CAN error passive mode EEC
0x8120) remains in the error register (object 1001h) (bit 0 and bit 4 set) until the
“Communication Reset” or “Application Reset” command has been executed.
10.5 Commissioning in the CANopen network
Commissioning of the device is based on the procedure described below.
1. Install the EDS file in the device library of the controller-specific configuration tool
see "EDS file", page 55.
2. Configure a unique system-specific node ID with the configuration tool see
"Address assignment (node ID)", page 88.
3. If necessary, change the node ID set at the factory for the device.
4. Set all CANopen devices to a uniform baud rate specified in the configuration of
the controller see "Baud rate setting", page 89.
5. Configure process data objects (TPDOs) see "Configuration of process data objects
(TPDOs)", page 91.
10.5.1 Address assignment (node ID)
Each CANopen device requires a unique system-specific node ID in the configuration of
the controller. This must match the node ID stored in the device.
1. Configure a unique system-specific node ID with the configuration tool.
2. If necessary, change the node ID set at the factory for the device.
You can set the node ID of the device via the display, SOPAS ET or via CANopen LSS
(Layer Setting Service). The default value for the node ID is 6.
NOTE
After changing the node ID, a restart is necessary. This is done either by a power cycle,
by selecting the corresponding button in SOPAS ET or with the “Reset communication or
“Reset node” NMT command
Setting node ID via display
1. Press the SET pushbutton until Menu appears in the display.
2. Press the SET pushbutton three times.
✓
The display shows NodeID.
3.
If necessary, use the or pushbutton to change the node ID.
4. Press the SET pushbutton until NodeID is displayed again.
5. Exit the menu by pressing the ESC pushbutton three times.
For the overall menu structure, see "Menu structure", page 105.
Setting node ID via SOPAS ET
1. Select the parameter page in the menu tree.
✓
A dialog window opens in the main window.
2. Enter the node ID under the CANopen configuration grouping.
10 CANOPEN INTERFACE
88
O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen 8015418/19HA/2022-12-15 | SICK
Subject to change without notice