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Digital Pressure Sensor with CANopen
The new bit rate is valid after a reset of the device. It is highly
recommended to power off the CANopen
and change the bit rate of the master to the desired value (125
kbit/s in this example). Performing a NMT reset node command
will lead to error frames on the CANbus, because the master
still has the previous bit rate. The available bit rates are given
in Table 7.
Table 7. Available Bit Rates
Bit Rate
1000 Kbit
500 Kbit
250 Kbit
125 Kbit
100 Kbit
50 Kbit
Table 8. Activate Bit Timing
ID(hex)
DLC
Data(Hex)
67f
8
22 17 10 00 64 00 00 00
5ff
8
60 17 10 00 00 00 00 00
7ff
1
7f
000
2
80 7f
7E5
8
04 01 00 00 00 00 00 00
7E5
8
13 00 04 00 00 00 00 00
7E4
8
13 00 00 00 00 00 00 00
7E5
8
04 00 00 00 00 00 00 00
7ff
1
7f
7ff
1
7f
7E5
8
04 01 00 00 00 00 00 00
7E5
8
15 E8 03 00 00 00 00 00
7E5
8
04 00 00 00 00 00 00 00
7ff
1
7f
7ff
1
7f
slave device first
®
Table Index
0
2
3
4
5
6
Comment
Enable heartbeat message – once
every 100 millisec
Response ok
Heartbeat message every 100 millisec
Enter pre-operational state
Configuration state
Set bit rate 125 Kbit 04
Response ok
Waiting state
Heartbeat message every 100 millisec
Heartbeat message every 100 millisec
Configuration state
Configuration state
Waiting state
Heartbeat message after 2 secs
Heartbeat message every 100 millisec
, Model DPS
®
4.4 Activate Bit Timing Command
Send the activate bit timing command, as shown in Table 8,
to re-start with the selected bit rate, before storing the bit rate.
The switch delay is an Intel format unsigned integer number
that represents a time delay in mS, e.g. 3E816 = 1000 mS.
This time delay is used for two periods on the Digital Pressure
Sensor with CANopen
, Model DPS. First, the new bit timing
®
will not be applied until the delay is expired; secondly, no mes-
sages shall be sent by the Model DPS pressure sensor until the
delay has expired once more.
Start the heartbeat and let it run at 100 ms. Then, set the bit
rate. The heartbeat still runs. Then activate the bit timing and
set the activation time to 1 sec. Then after 2 sec, the heart-
beats start up again at the new bit rate.
Sensing and Productivity Solutions
50085804, Rev. B
Direction w.r.t Digital Pres-
sure Sensor with
CANopen
®
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