Commissioning; Commissioning Via Canopen Engineering Tool; Change Transfer Rate And Node Id - Pepperl+Fuchs IMUF99 B16 Series Manual

Inertial Measurement Unit IMUF99*B16

Commissioning

5 Commissioning
5.1

Commissioning via CANopen Engineering Tool

Note
Before commissioning the sensor on a CAN bus, check whether the communication
parameters of the sensor match your CANopen network. The factory default settings are a
transfer rate of 250 kbit/s and a node ID of 16. If the node ID is already assigned or not desired
and a different transfer rate is required, you can change these settings.
Basic commissioning steps
1.
Connect the sensor to the CAN bus and ensure a 24 V DC electric power supply.
2.
If necessary, change the communication parameters of the sensor using a suitable CANopen
Engineering Tool.
3.
For correct communication, make sure that a terminator and at least one other device are
connected to the CAN bus. A monitoring tool is also sufficient.
The green LED flashes and the sensor is in the "Pre-operational" state. The sensor sends
the heartbeat message with the CAN identifier 0x700+Node-ID (default 0x710). You can
now parameterize the sensor using service data objects (SDOs).
If communication conditions are faulty, the red LED flashes and the sensor is in the "Error-
passive" state.
Note
The following sections describe basic parameterization settings for commissioning, operation,
diagnosis, and restoring to factory settings.
5.1.1

Change Transfer Rate and Node ID

Change the transfer rate (baud rate) and the node ID using the following steps:
1.
The sensor can be found by the Manufacturer ID and product code (see object 0x1018) using a
classic LSS scan. If the sensor has node ID 255, an LSS fast scan can also be used. This is
shown by the rapid flashing of the status LED.
2.
If the sensor is found, set it in LSS configuration mode either with the "Switch state selective"
service or all devices with the "Switch state global configuration" service.
3.
Now set the required node ID and baud rate.
4.
Save the new values as persistent objects using the "Store configuration" service.
5.
Send an NMT reset command to the sensor to activate the node ID.
The baud rate will be active after a successful "Activate bit timing" LSS service.
16