SICK DL100

8015416/ZPN2/2017-09-08 • © SICK AG • Subject to change without notice 81
Operating instructions Distance measuring device DL100 – CANopen®
CANopen®-interface
10.5.8 Identierpriority
The lower the COB-ID, the higher the priority of the message. The following
guresshowthestructureandpriorityoftheCANidentiers.
PDO
SDO
Guarding
Emergency
LSS
TimeStamp
Sync
NMT
000h
280h
180h
100h
200h
380h
300h
080h
400h
480h
500h
580h
600h
680h
700h
780h
7FFh
Fig. 31: COB-ID and priority
10.5.9 CANopen
®
services and CAN-IDs
The following table shows a detailed overview of the present services and
theassociatedCAN-IDaccordingtospecicationCiA301.Theillustrationof
the transfer direction (Rx/Tx) is always from the slave’s view.
Identier11-bit(binary) Identier(decimal) Identier(hexadecimal) Function
00000000000 0 0h NMT
00000000001 1 1h Global fail safe command
2 – 112 2h – 70h Not assigned
00001110001 113 71h NMTmasternode–ID[Net-
workredundancy](Tx)/Active
NMT
Master detection and NMT
yingmasternegotiation(Rx)
00001110010 114 72h NMTyingmasternegotia-
tion (Tx)
00001110011 115 73h Active NMT master detection
(Tx)