SICK S100 Standard User Manual

Operating instructions Chapter 4
S100
8012238/YY30/2015-02-20 © SICK AG • Subject to change without notice 23
Product description
4.5.11 CANopen
The S100 supports CANopen as per the CiA standards DS301 and DS401. The S100
represents a so-called SDO server, is a SYNC consumer, an NMT slave and supports a PDO
with a CAN message with 8 bytes of useful data in each transmission direction. The S100
supports the following operating modes:
 Service Data Object (SDO)
 Process Data Object (PDO)
 Network Manangement Objects (NMO)
 Heartbeat
 Life/node guarding
 Special Function Object (SFO)
– Synchronisation (SYNC)
– Emergency Messages (EMCY)
Use the Electronic Data Sheet for the S100 to configure the master. The functionality and
properties of the S100 are described in this data sheet in a standardised manner in ASCII
format. The electronic data sheet for the S100 is on the CD-ROM for the CDS-S100
(Configuration & Diagnostic Software — S100).
Settings for CANopen
To use the CANopen interface, this interface must be activated and configured in the CDS-
S100.
To be able to operate the S100 as a CANopen user, its address (node ID) and the baud
rate for the network must be set. The baud rate must match the related setting in the
network.
S100 communication over CANopen (sensor-side)
Cyclic data can be exchanged over CANopen.
The S100 outputs the following data:
 status of the switching outputs Q1, 1, Q2, 2 as well as error/contamination (see
Tab. 10 on page 39)
 status of the inputs A, B, C, D (S100 Professional only) as well as of the Stand-by input
(see Tab. 11 on page 40)
 active switching fields for Q1 and Q2 (see Tab. 12 on page 40)
 actual device status (see Tab. 13 on page 40)
The S100 can react to the following data:
 input values on the inputs A, B, C, D (only S100 Professional) as well as the Stand-by
input (see Tab. 14 on page 41)
The input data are only evaluated by the S100 if this action has been activated using the
CDS-S100.
Error information over CANopen
As a CANopen slave, the S100 provides an emergency message. The CANopen error code
1000h (generic error) is used for the messages. Device-specific error codes are entered in
the manufacturer-specific area available. You will find the error information in Tab. 21 on
page 48.
Recommendation
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Note

SICK S100 Standard Specifications

General

Brand	SICK
Model	S100 Standard
Category	Measuring Instruments
Language	English