SICK Flexi Classic User Manual

Chapter 5 Operating Instructions
Flexi Classic Gateways
40 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011834/YT28/2016-03-15
Subject to change without notice
CANopen Gateway
5.2.17 Emergency
A CANopen slave with the address N sends an Emergency message to inform the other
devices about an error state.
CAN-ID DLC DATA
80h + N 8 ErrL ErrL Err-Reg
8111h =
CAN-Controller overrun (only if internal
64-byte hardware fifo overflows)
ErrL, ErrH Emergency error code,
16 bit low byte/high
byte
1001h =
Generic error, if an error has occurred
on the Flexi Classic. In this case the
error list in object 1003h should be
checked.
Err-Reg Error register,
CANopen object 1001h
5.2.18 SDO communication
SDOs are Service Data Objects. They contain a wide variety of data. These include, among
other items, data on the planning or input and output data. Unlike the PDO communication,
each reception of an SDO is answered at protocol level.
In this CANopen-PCS implementation the following protocols are supported:
 SDO Download expedited (writing an SDO)
 SDO Upload expedited (reading an SDO)
 Upload SDO Segment Protocol (segmented reading of an SDO)
5.2.19 SDO Download expedited (Write SDO)
The client sends Request message to server N. The index and the sub-index for the SDO to
be written are coded in this message. In addition, the request also contains 4 data bytes.
Write:
CAN-ID DLC DATA
600h + N 8 23h SDO_L SDO_H SUB B1 B2 B3 B4
Confirmation:
CAN-ID DLC DATA
580h + N
8
60h SDO_L SDO_H SUB BYTE 1 BYTE 2 BYTE 3 BYTE 4
Tab. 51: Emergency
messages
Tab.
52
:
Write SDO
Tab.
53
:
Confirmation SDO

SICK Flexi Classic Specifications

General

Brand	SICK
Model	Flexi Classic
Category	Controller
Language	English