SICK DL100 - Page 117

8015416/ZPN2/2017-09-08 • © SICK AG • Subject to change without notice 117
Operating instructions Distance measuring device DL100 – CANopen®
CANopen®-interface
Version 4 Ifthepre-denedareacannotbeused,useCAN-IDsinstead.OnlyCAN-IDs
with“None“or“Reserved”mustbeusedforfreelycongurablePDOs.
TPDO5 and TPDO6 are deactivated by default COB-ID = 80000000h.
Note: The DL100 always uses a only 11-bit CAN-ID.
The following table must be used for the selection of the CAN-ID:
11-bit CAN-ID Used by COB
0 (000h) NMT
1 (001h) – 127 (07Fh) Reserved
128 (080h) SYNC
129 (081h) – 255 (0FFh) EMCY
256 (100h) TIME
257 (101h) – 384 (180h) Reserved
180h+Node-ID
385(180h+1h)-511(180h+7Fh)
TxPDO1
200h+Node-ID… RxPDO1
280h+Node-ID… TxPDO2
300h+Node-ID… RxPDO2
380h+Node-ID… TxPDO3
400h+Node-ID… RxPDO3
480h+Node-ID… TxPDO4
500h+Node-ID
1281(500h+1h)–1407(500h+7Fh)
RxPDO4
1408 None
1409 (581h) – 1535 (5FFh) Default SDO (TX)
1536 (600h) None
1537 (601h) – 1663 (67Fh) Default SDO (RX)
1664 (680h)- 1759 (6DFh) None
1760 (6E0h) – 1791 (6FFh) Reserved
1792 (700h) None
1793 (701h) – 1919 (77Fh) NMT Error-Control, Guarding, Heartbeat
1920 (780h) – 2019 (7E3h) Reserved
2020 (7E4h) RxLSS
2021 (7E5h) TxLSS
2022 (7E6h) – 2047 (7FFh) Reserved
Table 69: Version 4 for conguration DL100
Example ItshouldbeconguredinTPDOwiththefollowingproperties
• TPDO should be active
• TPDO should support RTR
• TPDO uses 11-bit CAN-ID.