SICK MAX Series

6.9.3 System startup for CANopen
After configuring the node parameters, the device can be integrated into the network.
When switched on or reset, the encoder performs a hardware initialization to bring all
components into a defined initial state. Next the device- and communication-specific
parameters are loaded from an EEPROM and the configuration adopted.
Once the initialization has been completed, the device reports its node ID and pre-opera‐
tional mode to the network master by means of a boot-up message. While in this mode,
the device can be configured via service data objects (SDOs).
The SDO identifiers are generated automatically based on the node ID. The communi‐
cation via SDOs to configure the device takes the form of a peer-to-peer connection
between the network master and the device. The identifiers for the other objects are
also allocated according to the CANopen standard. They can, however, be changed at
any time in the CANopen network via a DBT master. If necessary, the changed parame‐
ters can be saved in the EEPROM and loaded automatically the next time the device is
switched on and configured.
Once the configuration process is finished, the encoder is switched from pre-operational
to operational mode using a Start_Remote_Node command. While in this mode, user
data can be transmitted (via PDOs). The transmission of the PDOs can occur in one of
two ways:
Either the encoder sends its data cyclically, or data transmission is triggered by the
receipt of a SYNC object.
To initiate the sending of position messages by the encoder, it is necessary to first send
a node start message:
Table 28: Node start message
Data source COB-ID Data Destination
Controller 0x000 01; 00
*
; 00; 00; 00; 00; 00; 00 Sensor
*
00: Starts all CAN nodes
To stop the sending of position data, it is necessary to send a pre-operational message:
Table 29: Pre-operational message
Data source COB-ID Data Destination
Controller 0x000 80; 00
*
; 00; 00; 00; 00; 00; 00 Sensor
*
00: Sets all nodes to pre-operational mode
6.9.4 System startup for SAE J1939
After the device is connected to the network and switched on, it attempts to register
itself with the network master using a source address. This address claiming is per‐
formed automatically by the network. After assignment of a unique network address,
the device starts sending position data and is also ready to receive configuration data.
6.9.5 Setting CANopen operating parameters
At system startup (power on, reset), the device loads the operating parameters stored
in the EEPROM. These are either the factor-set values, or previously changed and saved
values.
Changes are made, for example, via SDOs while in pre-operational mode. The identifiers
are automatically set to suitable default values and saved when programming the node
ID. They can subsequently be changed.
6 COMMISSIONING
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O P E R A T I N G I N S T R U C T I O N S | MAX 8022793/ZXZ4/2018-07-24 | SICK
Subject to change without notice