Supported Canopen Functions - Pepperl+Fuchs UC L2M Series Manual

UC***-L2M series
Product Description
2.3

Supported CANopen Functions

The device has a standardized CANopen interface in accordance with the CiA301 specifica-
tion. All usable CANopen objects of the object directory OV are listed in this manual.
Additional functions (sound beam width, echo suppression, etc.) can be configured. You can
set the node ID and baud rate via LSS.
You can set the transmission speed in increments of 125 kbit/s up to 1 Mbit/s, according to CiA
102, Table 1 and CiA 301 5.4, Table 1. We support transmission speeds of 125, 250, 500, 800
and 1000 kbit/s. The maximum cable length for 1 Mbit/s must be 30 m.
Note
An EDS configuration file is available for easy integration and parameterization of the ultrasonic
sensor. You can download it from www.pepperl-fuchs.com, on the product page for the UC***-
L2M series.
Note
This device does not have an internal terminator. If required, this can be implemented
externally via a T-piece at the end of the bus (120 ohms).
Available CANopen Functions
• Process data objects (PDO) – (dynamic configuration)
• Service data object (SDO)
• Heartbeat monitoring mechanism
• Layer settings service (LSS) for setting the node ID and baud rate
• Save and recovery function (store and load parameter field)
• Error messages by emergency object (EMCY)
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•
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• Status and fault indicator (status LED according to CiA 303-3)
Vendor-specific properties and functions
• Operating hours counter
• Application-specific tag, function tag, location tag
• Synchronization function for CANopen sensors
The UC***-L2M series ultrasonic sensors support the following modes of operation:
• Cyclic operation: The distance value is sent cyclically (regularly, adjustable interval) via
the bus.
• SYNC operation: The distance value is sent after receiving a synchronization message
(SYNC). The position value is sent every n SYNCs (n = 1...240). The sensor accepts syn-
chronous modes 00-F0h and event-driven modes FEh and FFh.
12
Error register
Vendor-specific status register (manufacturer status register)
Error list (pre-defined error field)