TR-Electronic 582 Serie Gesamt-Bedienungsanleitung Seite 161

Contents
Revision index .................................................................................................................................. 109
1 General information ...................................................................................................................... 110
1.1 Applicability ........................................................................................................................... 110
1.2 References ............................................................................................................................ 111
1.3 Abbreviations and definitions ................................................................................................ 112
2 Additional safety instructions ...................................................................................................... 113
2.1 Definition of symbols and instructions .................................................................................. 113
2.2 Additional instructions for proper use ................................................................................... 113
3 Redundant double scanning unit ................................................................................................ 114
4 CANopen information ................................................................................................................... 115
4.1 CANopen – Communication profile ...................................................................................... 116
4.2 Process- and Service-Data-Objects ..................................................................................... 117
4.3 Object Dictionary .................................................................................................................. 118
4.4 CANopen default identifier .................................................................................................... 118
4.5 Transmission of SDO messages .......................................................................................... 119
4.5.1 SDO message format ........................................................................................... 119
4.5.2 Read SDO ............................................................................................................. 121
4.5.3 Write SDO ............................................................................................................. 122
4.6 Network management, NMT ................................................................................................. 123
4.6.1 Network management services ............................................................................ 124
4.6.1.1 NMT device control services ................................................................................................... 124
4.6.1.2 NMT Node / Life guarding services ......................................................................................... 125
4.7 Layer setting services (LSS) and protocols .......................................................................... 126
4.7.1 Finite state automaton, FSA ................................................................................. 127
4.7.2 Transmission of LSS services .............................................................................. 128
4.7.2.1 LSS message format ............................................................................................................... 128
4.7.3 Switch mode protocols .......................................................................................... 129
4.7.3.1 Switch state global protocol .................................................................................................... 129
4.7.3.2 Switch state selective protocol ................................................................................................ 129
4.7.4 Configuration protocols ......................................................................................... 130
4.7.4.1 Configure Node-ID protocol .................................................................................................... 130
4.7.4.2 Configure bit timing parameters protocol ................................................................................ 131
4.7.4.3 Activate bit timing parameters protocol ................................................................................... 132
4.7.4.4 Store configuration protocol .................................................................................................... 132
4.7.5 Inquire LSS address protocols .............................................................................. 133
4.7.5.1 Inquire identity Vendor-ID protocol .......................................................................................... 133
4.7.5.2 Inquire identity Product-Code protocol .................................................................................... 133
4.7.5.3 Inquire identity Revision-Number protocol .............................................................................. 134
4.7.5.4 Inquire identity Serial-Number protocol ................................................................................... 134
4.7.6 Inquire Node-ID protocol ....................................................................................... 135
4.7.7 Identification protocols .......................................................................................... 136
4.7.7.1 LSS identify remote slave protocol .......................................................................................... 136
4.7.7.2 LSS identify slave protocol ...................................................................................................... 136
4.7.7.3 LSS identify non-configured remote slave protocol ................................................................ 137
4.7.7.4 LSS identify non-configured slave protocol ............................................................................. 137
4.8 Device profile ........................................................................................................................ 138
Printed in the Federal Republic of Germany
03/06/2024 TR-ECE-BA-DGB-0165 v04
 TR-Electronic GmbH 2021, All Rights Reserved
Page 105 of 204