VIPA System 300V - Page 82

Chapter 4 CANopen Manual VIPA System 300V
4-10 HB130E - IM - Rev. 08/26
The CAN messages with digital input data are represented as follows:
Identifier 0x180+Node address + up to 8Byte user data
Identifier 11Bit DI 0 8Bit DI 1 8Bit DI 2 8Bit ... DI 7 8Bit
The CAN messages with digital output data are represented as follows:
Identifier 0x200+Node address + up to 8Byte user data
Identifier 11Bit DO 0 8Bit DO 1 8Bit DO 3 8Bit ... DO 7 Bit
The CAN messages with analog input data are represented as follows::
Identifier 0x280+Node address + up to 4Words user data
Identifier 11Bit AI 0 1Word AI 1 1Word AI 2 1Word AI 3 1Word
The CAN messages with analog output data are represented as follows:
Identifier 0x300+Node address + up to 4Words user data
Identifier 11Bit AI 0 1Word AI 1 1Word AI 2 1Word AI 3 1Word
For the System 300V works per default in event-controlled mode (no cyclic
DataExchange), a node failure is not always immediately detected.
Remedy is the control of the nodes per cyclic state request (Node
Guarding).
You request cyclically a state telegram via Remote-Transmit-Request
(RTR): the telegram only consists of a 11Bit identifier:
Identifier 0x700+Node address
Identifier 11Bit
The System 300V node answers with a telegram that contains one state
byte:
Identifier 0x700+Node address + State byte
Identifier 11Bit Status 8Bit
Bit 0 ... 6: Node state
0x7F: Pre-Operational
0x05: Operational
0x04: Stopped res. Prepared
Bit 7: Toggle-Bit, toggles after every send
To enable the bus coupler to recognize a network master failure (watchdog
function), you still have to set the Guard-Time (Object 0x100C) and the
Life-Time-Factor (Object 0x100D) to values≠0.
(reaction time at failure: Guard-Time x Life Time Factor).
Digital in-/outputs
Analog in-/outputs
Node Guarding