Siko AG06 - Overview of Canopen Identifiers; Setting the CAN Baud Rate

Communication via CAN bus
AG06 Date: 07.02.2018 Art. No. 85674 Mod. status 055/18 Page 59 of 114
Identifier
Message
Meaning
0x505
0x0F 0x00 0xF8 0xFF 0xFF 0xFF
RPDO4: Start of velocity mode with the
target speed of -8 rev/min (negative sense
of rotation)
-
-
wait until target speed has been reached
0x205
0x0F 0x01
RPDO1: Stop drive movement
0x205
0x07 0x01
RPDO1: Disable Operation command
0x205
0x06 0x01
RPDO1: Shutdown command
0x205
0x00 0x01
RPDO1: Disable Voltage command
0x000
0x80 0x05
NMT: Enter PRE-OPERATIONAL
Table 37: Example of Profile Velocity Mode
9.10 Overview of CANopen identifiers
The following table offers an overview of the identifiers used in the actuator:
Default identifier
(hexadecimal)
Default identifier
(decimal)
Description
Own setting
0
0
Network management (NMT)
80
128
SYNC – Message
80 + Node-ID
128 + Node-ID
Emergency Message
180 + Node-ID
384 + Node-ID
TPDO1
200 +Node-ID
512 + Node-ID
RPDO1
380 + Node-ID
896 + Node-ID
TPDO3
400 + Node-ID
1024 + Node-ID
RPDO3
480 + Node-ID
1152 + Node-ID
TPDO4
500 + Node-ID
1280 + Node-ID
RPDO4
580 + Node-ID
1408 + Node-ID
SDO (tx)
600 + Node-ID
1536 + Node-ID
SDO (rx)
700 + Node-ID
1792 + Node-ID
Heartbeat Message
700 + Node-ID
1792 + Node-ID
Node-Guard Message
Table 38: Overview of identifiers
9.11 Setting the CAN baud rate
The CAN baud rate is entered via Object 2100
h
(CAN baud rate).
The baud rate is factory-set to 500 kbit/s.