Flintec PC6D - Manual (Page 7)

Manual PC6D CANopen Page 7
2.2 CANopen
The PC6D follows the CAN2.0B recommendation. It receives both 11-bit identifiers, and
tolerates 29-bit identifiers. It only transmits 11-bit identifiers.
The PC6D is always quiet on the CANbus until the NMT Start command is received, except
for the very first ‘node guard’ message.
When started, the TPDO1 is used to send current status information. The TPDO1 holds the
module status and either net or gross weight, depending on the SDO selection. The default is
the Net value.
The TDPO2 is used for reporting ‘on-demand’ average measurements and reporting set-point
events.
The TDPO3 is used for reporting change in the Tare value.
In case of an overrun, error or failure an EMERGENCY message is sent to the CAN controller
indicating the nature of the error or failure.
EMERGENCY messages are transmitted when the CAN controller tries to set up a module
not present, or not functioning, when a module fails to answer the normal backplane scan and
when a module comes back online.
The RPDO1 can be used to set/reset Zero and Tare, and for quick selection of the Net weight
(default) or Gross weight as the data contained in TPDO1.
The RPDO2 can be used to send software triggers to start average measurements.
RPDO3 and RPDO4 are ignored by the PC6D.
SDOs are handled according to profile and CANopen recommendation.
The NMT protocol will use the ‘node guarding’ method.
The “SDO Block Download Protocol” may be implemented later.