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10.2.3 Pin Assignment CAN
Table 4: Pin Assignment CAN
9-pin D-SUB connector
PIN-No.
Pin 6
Pin 9
Pin 2
Pin 7
Pin 3
Housing*
10.2.4 Command Descriptions
10.2.4.1 Initial Operation
After starting the CANopen device is in the Pre-operational Mode ( 10.2.6.2) and therefore doesn't send any
position data. In order to achieve this, the device needs to be set into Operational Mode ( 10.2.6.1) and if
necessary the sending cycle of the position data has to be adjusted ( 10.2.4.4).
10.2.4.2 Normal Mode
Note!
The commands which are described in section 10.2.4.2 Normal Mode are only processed
by the CANopen device in the Operational and Pre-Operational mode.
10.2.4.3 Setting the Heartbeat Cycle Duration
A CANopen device sends the heartbeat cyclically. This message communicates the current Operating Mode to
the other bus sharing units.
1. Change into the Operational or Pre-operational Mode, if necessary
2. The following illustration shows the CAN-message, which should be transmitted to the CANopen device
and the following answer.
Master
Set Heartbeat cycle time
XXX = 600h + node-ID
Example: 604h for the device node-ID 4
YY = LSB of cycle time in milliseconds
ZZ = MSB of cycle time in milliseconds
Example: for a cycle time of 500ms (1F4h) is
Acknowledgment of the CANopen device
XXX = 580h + node-ID
Example: 584h for the device node-ID 4
Figure 19: Setting the Heartbeat Cycle Duration
Function
0 V / GND
+ 24 VDC
CAN L
CAN H
CAN GND
PE
ID:
XXX
DLC:
2B
17
10
00
YY
YY = F4h and ZZ = 01h
ID:
XXX
DLC:
60
17
10
00
00
Open cable exit
Color
White
Brown
Green
Yellow
Blue
Shield*
*) please connect shield only at control unit side!
CANopen
device
8
ZZ
00
00
8
00
00
00
- 26 -
Connections and Interfaces
Function
0 V / GND
+ 24 VDC
CAN L
CAN H
CAN GND
PE
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