SICK DL100 User Manual

Operating instructions Distance measuring device DL100 – CANopen®
CANopen®-interface
84 © SICK AG • Subject to change without notice • 8015416/ZPN2/2017-09-08
The following command bytes specify whether data are read or set and how
many data bytes it is about.
Command byte Command description Data length Comment
22h Download Response Max. 4 Byte Send parameter to slave
23h Download Response 4 Byte –
2Bh Download Response 2 Byte –
2Fh Download Response 1 Byte –
60h Download Response – Conrmationoftransfertomaster
40h Upload Response – Request parameter from slave
42h Upload Response Max. 4 Byte Parameter to master with max. 4 byte
43h Upload Response 4 Byte –
4Bh Upload Response 2 Byte –
4Fh Upload Response 1 Byte –
80h Abort Message – Slave reports error code to master
Table 56: Command bytes
Dir COB-ID DLC Com-
mand
Index
L-byte
Index
H-byte
Sub-
index
Byte 0
L-byte
Byte 1 Byte 2 Byte 3
H-byte
Description
D0 D1 D2 D3 D4 D5 D6 D7
Master 0000h 02h 01h 06h – – – – – – Node-ID 6 in Opera-
tional Mode
Slave – – – – – – – – – No response
Master 0606h 08h 40h 00h 10h 00h 00h 00h 00h 00h Read from Node-ID 6
Index 1000h, Subin-
dex 00h (Device Type
Slave 0586h 08h 43h 00h 10h 00h 96h 01h 08h 00h Response of Node-ID
6: 80196h
Master 0600h 08h 40h 04h 60h 00h 00h 00h 00h 00h Request position value
Slave 0580h 08h 43h 04h 60h 00h DCh 05h 00h 00h Answer position value
1500 mm (at resolu-
tion 1 mm)
Table 57: Example SDO access: Reading of object 1000, subindex 00h
NOTE!
The hexadecimal display of the index and data D0 to D3
will take place in reverse order within the respective byte.
example: Index 6004h is illustrated as 04h | 60h.

SICK DL100 Specifications

General

Brand	SICK
Model	DL100
Category	Measuring Instruments
Language	English