Data direction Type Data packet (hexadecimal) Remarks
State Modify
Send NMT 000 | 02 | 01 01 Change status to "In operation"
Receive Heartbeat 701 | 01 | 05 device in operation
TX-PDO Remote Request
Send RTR 181 | 00 | RTR TXPDO0 Remote Request
Receive PDO 181 | 08 | C8 00 | 06 00 | B6 01 | 53 01 Read out registers i14, i15, i20, i21
Send RTR 281 | 00 | RTR TXPDO1 Remote Request
Receive PDO 281 | 08 | 01 01 | 04 01 | FD 00 | FF 00 Read out registers I22-I25 e.g.
"0x00FF" means temperature = 25.5 °C
TX-PDO Timer-Settings
TX-PDO timer settings (not possible in conjunction with the "ECblue Watchdog function")
(If the “ECblue Watchdog function” is used, the TX-PDO timer for the CANopen module must be set to 0)
Send SDO 601 | 08 | 2B 00 18 05 | E8 03 00 00 Set timer to TXPDO0 for 1,000ms
(0x03E8)
Receive SDO 581 | 08 | 60 00 18 05 | E8 03 00 00
Send SDO 601 | 08 | 2B 01 18 05 | E8 03 00 01 Set timer to TXPDO0 for 1,000ms
(0x03E8)
Receive SDO 581 | 08 | 60 01 18 05 | E8 03 00 01
TX-PDO Receive
Receive PDO 181 | 08 | C8 00 | 06 00 | B6 01 | 53 01 Read out registers i14, i15, i20, i21
Receive PDO 281 | 08 | 01 01 | 04 01 | FD 00 | FF 00 Read out registers I22-I25, "0x00FF"
means temperature = 25.5 °C
Save configuration
Send SDO 601 | 08 | 23 10 10 01 | 73 61 76 65 Save configuration in Flash memory
Receive SDO 581 | 08 | 60 10 10 01 | 73 61 76 65 The CANOpen standard fingerprint is
0x65766173
After subsequent reset
Send NMT 000 | 02 | 81 01 Reset device
Receive Emergency 081 | 08 | 00 00 00 00 00 00 00 00 no errors existent
Receive Heartbeat 701 | 01 | 7F device ready for operation
Send NMT 000 | 02 | 01 01 Change status to "In operation"
Receive Heartbeat 701 | 01 | 05 device in operation
Receive PDO 181 | 08 | C8 00 | 06 00 | B6 01 | 53 01 Read out registers I14, I15, I20, I21
Receive PDO 281 | 08 | 01 01 | 04 01 | FD 00 | FF 00 Read out registers I22-I25
Control speed, by RX-PDO
Send PDO 201 | 08 | 00 00 00 00 00 00 C8 00 Speed to 200 rpm
Value 0x00C8
Send PDO 201 | 08 | 00 00 00 00 00 00 20 03 Speed to 800 rpm
Value 0x0320
Send PDO 201 | 08 | 00 00 00 00 00 00 00 00 Speed to 0 rpm
Value 0x0000
Several TX-PDO settings
Send SDO 601 | 08 | 23 00 18 01 | 81 01 00 80 Deactivate COBID for TXPDO0
Receive SDO 601 | 08 | 60 00 18 01 | 81 01 00 80
Send SDO 601 | 08 | 2F 00 1A 00 | 00 00 00 00 Deactivate mapping
Receive SDO 601 | 08 | 60 00 1A 00 | 00 00 00 00
Operating Instructions AM-CAN-OPEN – model series Communication
L-BAL-E199-GB 1846 Index 005 Part.-No. 00163405-GB
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