Siko IKM360R User manual

222/20
IKM360R
Redundant 2-axis inclinometer with CANopen
Safety- interface
User manual

IKM360R Date: 21.01.2021 Art. No. 90446 Mod. status 222/20 Page 2 of 63
Table of contents
1General Information .................................................................................................. 5
1.1 Documentation ........................................................................................................5
1.2 Definitions ..............................................................................................................5
2Intended use............................................................................................................. 5
2.1 Switching on the supply voltage.................................................................................6
2.2 Device identification.................................................................................................7
3LED-signal................................................................................................................. 7
4Functional description ............................................................................................... 8
4.1 Measuring range.......................................................................................................8
4.2 Calibration ..............................................................................................................8
4.3 Reset to factory settings ...........................................................................................8
5Communication via CAN bus (CANopen and CANopen Safety)........................................ 9
5.1 Telegram structure....................................................................................................9
5.2 Node control..........................................................................................................10
5.2.1 Network management (NMT) services .....................................................................10
5.2.1.1 NMT communication states ...............................................................................11
5.2.1.2 Toggling between the NMT communication states ................................................12
5.2.2 Boot-Up.............................................................................................................12
5.2.3 SYNC object........................................................................................................12
5.3 Process data exchange ............................................................................................12
5.3.1 Transfer of process data objects (PDO) ...................................................................12
5.3.1.1 Transmit-PDO (from the IKM360R to the master)..................................................13
5.4 Parameter data exchange.........................................................................................13
5.4.1 Transmission of Service Data Objects (SDO).............................................................13
5.4.1.1 Expedited Request/Response .............................................................................14
5.4.1.2 Normal Request/Response.................................................................................15
5.4.1.3 Error Response in SDO exchange ........................................................................16
5.4.1.4 SDO examples .................................................................................................16
5.5 Safety data exchange ..............................................................................................18
5.5.1 Transfer of safety-relevant data objects (SRDO) .......................................................18
5.5.2 Transmission of Service Data Objects (SDO) of the Safety Parameters..........................19
5.5.3 Procedure for initial commissioning of the SRDO message.........................................19
5.5.4 Example for calculating a checksum .......................................................................19
5.5.5 Example of change of a configuration ....................................................................20
5.6 Node monitoring ....................................................................................................21
5.6.1 Emergency service (EMCY) ....................................................................................21
5.6.2 Node Guarding....................................................................................................22
5.6.3 Heartbeat ..........................................................................................................23
5.7 Layer Setting Service (LSS) ......................................................................................24
5.7.1 State change ......................................................................................................25

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5.7.1.1 Switch states of all LSS devices (Switch state global) ...........................................25
5.7.1.2 Switch states of individual LSS devices (Switch state selective)..............................25
5.7.2 Configuration .....................................................................................................26
5.7.2.1 Setting the Node ID (Configure Node ID) ............................................................26
5.7.2.2 Configuration of the baud rate (Configure bit timing parameters)...........................27
5.7.2.3 Activate baud rate (Activate bit timing parameters) .............................................28
5.7.2.4 Store configuration..........................................................................................28
5.7.3 Requesting parameters.........................................................................................29
5.7.3.1 Request Vendor ID ...........................................................................................29
5.7.3.2 Request Product Code.......................................................................................29
5.7.3.3 Request revision number...................................................................................30
5.7.3.4 Request serial number ......................................................................................30
5.7.3.5 Request Node ID..............................................................................................30
5.8 Directory of objects ................................................................................................31
5.8.1 Overview of objects .............................................................................................31
5.8.2 Object Description...............................................................................................33
5.8.2.1 1000h: Device Type..........................................................................................33
5.8.2.2 1001h: Error Register .......................................................................................33
5.8.2.3 1002h: Manufacturer Status Register ..................................................................34
5.8.2.4 1003h: Pre-defined Error Field...........................................................................34
5.8.2.5 1005h: COB ID SYNC message ............................................................................35
5.8.2.6 1008h: Manufacturer Device Name .....................................................................35
5.8.2.7 1009h: Manufacturer Hardware Version ...............................................................36
5.8.2.8 100Ah: Manufacturer Software Version................................................................36
5.8.2.9 100Ch: Guard Time...........................................................................................36
5.8.2.10 100Dh: Life Time Factor....................................................................................37
5.8.2.11 1010h: Store Parameter....................................................................................37
5.8.2.12 1011h: Restore Parameter.................................................................................39
5.8.2.13 1014h: COB ID Emergency message ....................................................................41
5.8.2.14 1017h: Producer Heartbeat Time........................................................................42
5.8.2.15 1018h: Identity Object.....................................................................................42
5.8.2.16 1200h: Server SDO Parameter ............................................................................43
5.8.2.17 1301h: SRDO1 Communication Parameters...........................................................44
5.8.2.18 1381h: SRDO1 Mapping Parameter......................................................................46
5.8.2.19 13FEh: Safety Configuration ..............................................................................48
5.8.2.20 13FFh: Safety Configuration Signature (checksum) ...............................................48
5.8.2.21 1800h: 1st Transmit PDO Parameter.....................................................................50
5.8.2.22 1A00h: 1st Transmit PDO Mapping Parameter........................................................51
5.8.2.23 2000h: Digital filter cut-off frequency ................................................................52
5.8.2.24 5F0Ah: Node ID and baud rate Bus CAN ..............................................................52
5.8.2.25 6000h: Resolution ...........................................................................................53
5.8.2.26 6010h: Slope long16 ........................................................................................53
5.8.2.27 6011h: Slope long16 operating parameter ...........................................................54
5.8.2.28 6012h: Slope long16 Preset value (calibration value longitudinal slope)..................54

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5.8.2.29 6013h: Slope long16 Offset...............................................................................55
5.8.2.30 6014h: Differential Slope long16 Offset ..............................................................55
5.8.2.31 6020h: Slope lateral16 .....................................................................................55
5.8.2.32 6021h: Slope lateral16 operating parameter ........................................................56
5.8.2.33 6022h: lateral16 Preset value (calibration value lateral slope)................................56
5.8.2.34 6023h: Slope lateral16 Offset ............................................................................57
5.8.2.35 6024h: Differential Slope lateral16 Offset............................................................57
5.8.2.36 6200h: Safety configuration parameters..............................................................57
5.8.2.37 6210h: Safety slope long16 (Safety longitudinal slope value).................................58
5.8.2.38 6211h: Safety inverted Slope long16 (Safety inverted longitudinal slope value)........59
5.8.2.39 6220h: Safety slope lateral16 (Safety lateral slope value)......................................60
5.8.2.40 6221h: Safety inverted slope lateral16 (Safety inverted lateral slope value) .............60
5.8.2.41 63FEh: Safety application configuration..............................................................61
5.8.2.42 63FFh: Safety application configuration signature (checksum) ...............................61
5.8.2.43 6511h: Device temperature ...............................................................................62

General Information
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1General Information
1.1 Documentation
The following documents are associated with this document:
The data sheet describes the technical data, the dimensions, the pin assignment, the
accessories and the order key.
The installation instructions describe the mechanical and electrical installation with all
safety-relevant conditions and the associated technical specifications.
The User manual for sensor commissioning and integration into a fieldbus system.
EDS file (electronic data sheet); this file enables integration and configuration in a
CANopen network by means of commercial CANopen configurators.
You can also download these documents at http://www.siko-global.com/p/ikm360r.
1.2 Definitions
Decimal values are given as numbers without addition (e. g. 1234), except when indicated in
direct connection with binary or hexadecimal values. In this case, the extension "d" is used
(e. g. 1234d). Binary values are identified by adding "b" (e. g. 1011b) to the figures whereas
hexadecimal values are extended by "h" (e. g. 280h).
2Intended use
The IKM360R 2-axis is designed for redundant slope detection in two dimensions. The
inclinometer can be parameterized and read out via the CAN interface using the CANopen
protocol and CANopen Safety protocol. The sensor can be used for applications up to
Performance Level D (PLd) in the overall system. For this purpose, a higher-level, safe
evaluation device is required because the inclinometer sensor with its internal sensor
diagnosis is not able to initiate actions itself such as the initiation of a safe state. Increased
demands are placed on the electrical and mechanical connection of the inclinometer.

Intended use
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CAN Transceiver Power Supply
Encoder
CAN+ CAN- CAN-GND +UB -UB
MEMS Sensor 1
Controller /
Inclinometer 1
CAN Transceiver Power Supply
Encoder
CAN+ CAN- CAN-GND +UB -UB
MEMS Sensor 2
Controller /
Inclinometer 2
Fig. 1: Block diagram
Fig. 2: Measurement axes
2.1 Switching on the supply voltage
The inclinometer initializes after being switched on. The configuration parameters are loaded
from the nonvolatile memory into the main memory of the controller during initialization.
Each sensor will work with its default values as long as no changes have been made to it. With
parameters changed, the sensor will work with the changed data, which must be stored if they
are intended to be used after power off/on.
After completing the initialization procedure, each inclinometer sends a specific NMT
command, the boot-up message, which informs the system about their availability. The
inclinometer is now in the pre-operational mode. In this state, the sensor can be
parameterized via SDO commands in accordance with the requirements of the application. This
concerns both the configuration parameters of the sensor system and the way in which it
makes its slope values available to the system (asynchronous or synchronous data
transmission).
Inclination angle longitudinal
Lateral inclination angle

LED-signal
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2.2 Device identification
To ensure safe operation, the following parameters should be read and verified with a Safety
inclinometer before each parameterization and commissioning.
1000h: Device Type
1018h: Identity Object Sub-index 01h Vendor ID
1018h: Identity Object Sub-index 02h Product Code
1018h: Identity Object Sub-index 03h Revision number
1018h: Identity Object Sub-index 04h Serial number
3LED-signal
Each inclinometer has 2 LEDs in the colors green and red for diagnosis and status purposes.
A green LED for indicating the NMT status or the LSS configuration status (CAN Run LED).
A red LED for CAN error states or for indicating the LSS configuration status (CAN Err LED).
The LSS waiting status is not indicated via the LEDs.
CAN diagnosis:
The CiA 303 Part 3 V1.4.0 indicator specification is the basis of the CAN diagnosis.
LED status
Description
On
LED is permanently on
Off
LED is permanently off
Flickering
Both LEDs alternately with the frequency of 10 Hz (50 ms on/off)
Flashing
LED flashes at a frequency of 2.5 Hz (200 ms on/off)
Single Flash
LED is 200 ms on, 1000 ms off
Double Flash
LED is 200 ms on, 200 ms off, 200 ms on, 1000 ms off
Table 1: CAN LED statuses acc. to CiA 303
CAN Run LED:
NMT state
LED status
Pre-Operational
Flashing
Operational
On
Stopped
Single Flash
Table 2: CAN Run LED

Functional description
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CAN Err LED:
Error states
LED status
No error
Off
Warning limit reached (at least one error counter (Transmit Error Counter
CANTEC or Receive Error Counter CANREC) of the CAN controller has
reached or exceeded the warning limit (too many error frames).
Single Flash
Error control event
=> A Guard Event (if no RTR Node guard received from master within the
lifetime set).
Double Flash
Bus off
On
Table 3: CAN Err LED
CAN Run LED and CAN Err LED alternately:
LSS state
LED status
Configuration
Flickering
Table 4: LSS configuration
4Functional description
4.1 Measuring range
The inclinometer has a measuring range of ±80° (resolution 0.01°) per axis.
4.2 Calibration
Owing to the absolute system, calibration is required only once when the system is taken into
operation and can be performed at any position. This enables alignment of the inclinometer
zero point with the system's mechanical zero point. During calibration, the calibration value is
used to calculate the slope value.
4.3 Reset to factory settings
To return to the original condition of the device as delivered, there exist the following
options:
Access
Coding
Settings are restored
CANopen (see
object 1011h:
Restore Parameter)
1011h
"load"
Sub-index 1
All parameters
Sub-index 2
Only bus parameters
Sub-index 3
Only CiA 410 parameters
Sub-index 4
Only manufacturer-specific parameters
Table 5: Access to factory settings

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5Communication via CAN bus (CANopen and CANopen Safety)
The basis for the inclinometer IKM360R is the CANopen communication profile CiA 301 V4.2,
the device profile for inclinometer CiA 410 V2.0.0. The CANopen Safety protocol EN50325-5 is
additionally implemented for safety-relevant applications. Safety-relevant applications as well
as safety-non-relevant applications can be operated on a CAN bus. The IKM360R supports
device class C2. The details required for a better understanding of the operation are included
in this documentation. If more in-depth information is required, we recommend the
applicable technical literature on CAN, CANopen and CANopen Safety.
5.1 Telegram structure
The data telegram of a CAN message consists of the following fields:
SOF
Identifier (COB ID)
Control field
Data field (max. 8 Byte)
CRC
ACK / EOF
SOF:
(Start of Frame) start bit of the telegram.
Identifier (COB ID):
By means of the identifier, all bus subscribers check whether the message is relevant for
each of them.
The identifier determines the priority of the message. The lower the value of the identifier,
the higher is the priority of the message. This enables preferential transmission of
important messages via the bus.
The Identifier field contains the identifier as well as bits for the recognition of the length of
the identifiers (11 or 29 bits). The device address, channel selection as well as data direction
are determined via the identifier as well.
Thus, the 11bits identifier (COB identifier) consists of a 4bit function code and a 7bit node
number:
Bit no.
10
9
8
7
6
5
4
3
2
1
0
Type
Functional code
Node number (Node ID)
Assignment
x
x
x
x
0
0
x
x
x
x
x
The following functional codes have been defined in the "Pre-defined Connection Set" (only
the functional codes used in the present device are shown):
Object
Functional code
Resulting COB ID
Object
Page
Network management
(NMT)
0000b
0
-
10
SYNC message
0001b
128d (80h)
1005h
12
Emergency message
0001b
128d (80h) + Node ID
1014h
21
TPD01
0011b
384d (180h) + Node ID
1800h
12
SDO (tx)
1011b
1408d (580h) + Node ID
1200h
13
SDO (rx)
1100b
1536d (600h) + Node ID
1200h
13
Heartbeat message
1110b
1792d (700h) + Node ID
-
23
Node Guard message
1110b
1792d (700h) + Node ID
-
22

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Object
Functional code
Resulting COB ID
Object
Page
LSS (tx)
-
2020d (7E4h)
-
24
LSS (rx)
-
2021d (7E5h)
-
24
Table 6: Overview of COB identifiers
Changes to COB IDs are only possible in the PRE-OPERATIONAL NMT status. First, the COB ID
must be switched invalid via bit 31 = 1b before it can be changed and reactivated.
The COB ID of the Sync object is an exception, where bit 30 must be = 0b to enable the COB
ID to be changed. As bit 30 cannot be set to 1b in the inclinometer, the COB ID could be
changed at any time.
The node number (Node ID) (see also object 5F0Ah: Node ID and baud rate Bus CAN) is
assigned once in every bus system with configuration of the master on IKM360R. The node
numbers range from 1 to 127. Node ID = 0 is reserved and must not be used.
The adoption of a Node ID or baud rate which was reset occurs only after re-initialization
(see chapter 5.2.1).
In the case of the inclinometer IKM360R, an inclinometer with node ID 1 (1h) and the
redundant inclinometer with node ID 2 (2h) are delivered ex works.
Control field:
Contains bit-by-bit information concerning the number of user data and determines whether a
data frame or RTR frame (Remote Transmission Request frame) is concerned.
Data field:
Contains up to 8 bytes of user data. The user data has a different meaning depending on the
channel selection.
CRC:
Contains bits for error detection.
ACK/EOF:
The ACK/EOF field contains telegram acknowledgment bits as well as bits for determining the
end of telegram.
For a detailed description of the telegram please refer to the applicable technical CAN
literature. For simplification, only identifier (COB ID) and data field will be dealt with in the
subsequent telegram descriptions.
5.2 Node control
5.2.1 Network management (NMT) services
The master configures, manages and monitors network nodes via the NMT service. The device
is always in one of the four communication states "INITIALIZATION", "PRE-OPERATIONAL",
"OPERATIONAL" or "STOPPED" (see Fig. 3).

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Fig. 3: NMT status diagram
5.2.1.1 NMT communication states
NMT Status INITIALIZATION
The device is not involved in the bus actions in this state. All hardware and software
components are initialized. This state is attained after switching on the device or after receipt
of the command code 81h ("Reset node") of the own or global addresses. Following receipt of
the command code 82h ("Reset Communication"), the inclinometer will enter the
initialization stage as well. But only hardware and software associated with CAN
communication will be reinitialized. The device signals automatically the completion of
initialization by sending a boot-up message. As soon as the boot-up message was sent
successfully, the device will enter the "PRE-OPERATIONAL" status.
NMT Status PRE-OPERATIONAL
Parameterization data (SDO) can be exchanged in the pre-operational mode. However, no
process data (PDO's) is transferred.
NMT Status OPERATIONAL
The exchange of process data is enabled as well. However, COB ID and Transmit PDO Mapping
parameters can no longer be changed in this status.
NMT Status STOPPED
Communication is stopped except for heartbeat and node guarding Only NMT communication
is enabled.
Initialization
CAN-communication
Pre-Operational
Operational
Stopped
BootUp-Message
1
2
2
3
3
4
4
4
1
Re-initialization
CAN-card
5
5
5
Init
Power on or Software reset

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5.2.1.2 Toggling between the NMT communication states
For toggling between the communications states, telegrams with the following structures are
used:
Change of state
Transition
in Fig. 3
COB
ID
Com-
mand
Node
ID
from
to
PRE-OPERATIONAL /
STOPPED
OPERATIONAL
1d
0h
01h
x
OPERATIONAL/ PRE-
OPERATIONAL
STOPPED
2d
0h
02h
x
OPERATIONAL / STOPPED
PRE-OPERATIONAL
3d
0h
80h
x
OPERATIONAL / PRE-
OPERATIONAL / STOPPED
INITIALISATION
(Reset Node)
5d
0h
81h
x
OPERATIONAL / PRE-
OPERATIONAL / STOPPED
INITIALISATION
(Reset Communication)
4d
0h
82h
x
Table 7: Toggling between communication states
If x = 0h is transferred as Node ID, then the message is intended for all bus subscribers.
5.2.2 Boot-Up
The COB ID of the boot-up message is made up of 700h and the Node ID. The "Initialization"
NMT status is output as data content.
COB ID
Byte 0
700h + Node ID
00h
Table 8: Boot-Up message
5.2.3 SYNC object
CANopen enables the simultaneous query of all inputs and the simultaneous setting of all
outputs. The synchronization message (SYNC), a CAN message with high priority serves this
purpose. The identifier of the Sync object can be set via object 1005h (see 1005h: COB ID
SYNC message).
5.3 Process data exchange
5.3.1 Transfer of process data objects (PDO)
Process data objects (PDO) serve for fast exchange of process data. A maximum of 8 bytes of
user data can be transferred in a PDO. The IKM360R supports the Transmit PDO services TPDO1
and TPDO2 according to CiA 301 and CiA 410.

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5.3.1.1 Transmit-PDO (from the IKM360R to the master)
PDO transfer from the IKM360R to the bus master can be initiated as a result of various
events:
asynchronous, controlled by an internal device timer
synchronous as a response to a SYNC telegram
as a response to an RTR message
The TPDO1 contains the slope long16. The transfer behavior of TPDO1 is determined via the
objects 1800h and 1A00h and is assigned to asynchronous transmission. Synchronous data
transmission is set at delivery. Other TPDOs are not supported.
COB ID
Process data in binary code
Process data in binary code
Byte 0 (LSB)
Byte 1 (MSB)
Byte 2 (LSB)
Byte 3 (MSB)
TPDO1
180h + Node ID
Slope long16
Slope lateral16
Table 9: TPDO message
Asynchronous data transmission
If a TPDO1 is to be sent cyclically, 254 (FEh) or 255 (FFh) must be entered in object 1800h,
sub-index 02h. The cycle time can be entered in milliseconds in object 1800h, sub-index 05h.
The TPDO1 will not be sent if the value 0 ms is written. The function is disabled. The minimum
value to be set is 1h (= 1 ms).
Synchronous data transfer
As delivered, the device responds to every SYNC Message received with the output of the
TPDO1 message. 1h is entered for synchronous transmission in object 1800h, sub-index 02h.
If a value n is entered between 1d and 240d (= F0h), the device will respond to every nth
SYNC message.
RTR
Queries can be sent via RTR (see chapter Fehler! Verweisquelle konnte nicht gefunden
werden.) toTPDO1.
5.4 Parameter data exchange
5.4.1 Transmission of Service Data Objects (SDO)
Service data objects serve mainly device configuration via the directory of objects. SDOs in
the expedited Request/Response and in the normal Request/Response are supported.
The identifier is set to 11 bits and cannot be changed.
Two SDO services are available:
SDO (rx) (Master Slave): 600h + Node ID
SDO (tx) (Slave Master): 580h + Node ID

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Two SDO services are available!
5.4.1.1 Expedited Request/Response
Except for reading the objects 1008h: Manufacturer Device Name and 100Ah: Manufacturer
Software Version all SDOs are exchanged between two subscribers in the expedited
Request/Response method. The user data is provided already with the initialization message.
SDO messages are set up as follows:
COB ID
User data in binary code
Byte 0
read /
write
Byte 1
LSB
Byte 2
MSB
Byte 3
Byte 4
LSB
Byte 5
Byte 6
Byte 7
MSB
SDO rx/tx +
Node ID
Command
byte
Index
Sub-index
User data (parameter)
Command byte, byte 0:
The command byte determines the type of access and the number of valid data bytes. The
following command bytes are valid for the IKM360R:
Command byte
Type
Function
Write Request
23h
SDO (rx), Initiate Download
Request, expedited
Send parameter to slave
(all 4 data bytes valid)
Write Request
2Bh
SDO (rx), Initiate Download
Request, expedited
Send parameter to slave
(2Bytes of 4 data bytes valid)
Write Request
2Fh
SDO (rx), Initiate Download
Request, expedited
Send parameter to slave
(1Byte of 4 data bytes valid)
Write Request
60h
SDO (tx), Initiate Download
Response, expedited
Acknowledgment of data
acquisition to master
Read Request
40h
SDO (rx), Initiate Upload
Request
Request parameter from slave
Read Response
43h
SDO (tx), Initiate Upload
Response, expedited
Report parameter to master
(all 4 data bytes valid)
Read Response
4Bh
SDO (tx), Initiate Upload
Response, expedited
Report parameter to master
(2Bytes of 4 data bytes valid)
Read Response
4Fh
SDO (tx), Initiate Upload
Response, expedited
Report parameter to master
(1Byte of 4 data bytes valid)
Error Response
80h
SDO (tx), Abort Domain
Transfer
Slave reports error code to master
Table 10: Command coding
Index, bytes 1 and 2:
The index (object number) is entered in the user data byte 2 (low byte) and user data byte 3
(high byte) in the Intel data format. Here, the index of the object to be parameterized is
entered.
Sub-index, byte 3:

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The sub-index indicates the number of the fields for objects realized as an array.
User data (parameters), bytes 4 … 7:
In the user data, the value of the parameter is entered in left-aligned Intel notation. Byte 4 =
Low-Byte ... Byte 7 = High-Byte.
5.4.1.2 Normal Request/Response
If more than 4 bytes of service data are to be transferred, the data is exchanged between two
subscribers via the normal Request/Response. This procedure is also initiated by an
initialization message, and the actual user data will be transferred in the subsequent segment
messages.
For the IKM360R this is only the case with reading of the objects 1008h: Manufacturer Device
Name and 100Ah: Manufacturer Software Version.
The initialization message has the following structure:
COB ID
User data in binary code
Byte 0
read /
write
Byte 1
LSB
Byte 2
MSB
Byte 3
Byte 4
LSB
Byte 5
Byte 6
Byte 7
MSB
SDO rx/tx +
Node ID
Command
byte
Index
Sub-index
User data (number of user data)
The segment message has the following structure:
COB ID
User data in binary code
Byte 0
read /
write
Byte 1
LSB
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
MSB
SDO rx/tx +
Node ID
Command
byte
User data
Initialization and segment message: Command byte, byte 0:
The command byte determines the type of access and the number of valid data bytes. The
following command bytes are valid for the IKM360R:
Command byte
Type
Type
Read Request
40h
SDO (rx), Normal Initiate
Upload Request
Request parameter from slave
(number of bytes to be transferred)
Read Request
60h
SDO (rx), Normal Segment
Upload Request
Request parameter from slave (user
data)
Read Response
41h
SDO (tx), Normal Initiate
Upload Response
Report parameter to master (number
of bytes to be transferred)
Read Response
03h
SDO (tx), Normal Segment
Upload Response
Report parameter to master (user
data)
Error Response
80h
SDO (tx), Abort Domain
Transfer
Slave reports error code to master
Table 11: Command coding

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Initialization message: Index, bytes 1 and 2:
The index (object number) is entered in the user data byte 2 (low byte) and in the user data
byte 3 (high byte) in the Intel data format. Here, the index of the object to be parameterized
is entered.
Initialization message: Sub-index, byte 3:
The sub-index indicates the number of the fields for objects realized as an array.
Initialization message: User data (parameters), byte 4 … 7:
In the service data range, the value of the parameter is entered in left-aligned Intel notation.
Byte 4 = Low-Byte ... Byte 7 = High-Byte.
Segment message: User data (parameters), byte 1 … 7:
In the user data range, the value of the parameter is entered in left-aligned Intel notation.
Byte 1 = Low-Byte ... Byte 7 = High-Byte.
5.4.1.3 Error Response in SDO exchange
With invalid access, an error message (Abort) is returned to the master.
The error codes are described in the CANopen profile (CiA 301) or in the inclinometer profile
(CiA 410), respectively. The table below shows the error codes used:
Error code
Description
05030000h
Toggle bit in Normal Transfer of Request/Response unequal.
06010000h
Wrong access to an object.
06010001h
Read access to Write-Only.
06010002h
Write access to Read-Only.
06020000h
Object doesn't exist in the object directory.
06090011h
Sub-index does not exist.
06090030h
Wrong value range of selected parameter.
08000020h
Parameters cannot be transferred to application or stored.
08000022h
Parameters cannot be transferred to application or stored due to the
current device status.
08000024h
No data available
Table 12: Error codes
5.4.1.4 SDO examples
Example of reading SDO parameters with the expedited Request/Response:
The calibration value stored in object 1017h of the directory of objects is to be read from the
slave with device address 3h.
Calculation of the identifier: 600h + Node ID = 600h +1h = 601h

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Command: 40h
Index: 1017h
Sub-index: 00h
The current value is 1000d = 3E8h.
Request of master from slave with Node ID 1h:
COB ID
User data
Command
Index L
Index H
Sub-index
Data
0
Data
1
Data
2
Data
3
601h
40h
17h
10h
00h
x
x
x
x
Response to the request by the slave:
Calculation of the identifier: 580h + Node ID = 581h
COB ID
User data
Command
Index L
Index H
Sub-index
Data
0
Data
1
Data
2
Data
3
581h
4Bh
(2 bytes
valid)
17h
10h
00h
E8h
03h
00h
00h
Example of writing SDO parameters with the expedited Request/Response:
In the slave with device address 1h the cycle timer, which is stored with 2 bytes in object
1017h of the object dictionary, is to be changed.
Calculation of the identifier: 600h + Node ID = 600h + 1h = 601h
Command: 2 bytes are to be written: 2Bh
Index: 1017h
Sub-index: 00h
The new value shall be 100d = 64h.
Writing of a value from master to slave with Node ID 1h:
COB ID
User data
Command
Index L
Index H
Sub-index
Data
0
Data
1
Data
2
Data
3
601h
2Bh
(2 bytes
valid)
17h
10h
00h
64h
00h
00h
00h
Response to the command by the slave:
Calculation of the identifier: 580h + Node ID = 580h + 1h = 581h
COB ID
User data
Command
Index L
Index H
Sub-index
Data
0
Data
1
Data
2
Data
3
581h
60h
17h
10h
00h
00h
00h
00h
00h
Example of reading SDO parameters with normal Request/Response:
The manufacturer device name stored in object 1008h of the directory of objects is to be read
from the IKM360R with device address 1h.

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Calculation of the identifier: 600h + Node ID = 600h +1h = 601h
Command: 40h
Index: 1008h
Sub-index: 00h
First request (= initialization) of master from slave with Node ID 1h:
COB ID
User data
Command
Index L
Index H
Sub-index
Data
0
Data
1
Data
2
Data
3
601h
40h
08h
10h
00h
x
x
x
x
Response to the request by the slave:
Calculation of the identifier: 580h + Node ID = 581h
COB ID
User data
Command
Index L
Index H
Sub-index
Data
0
Data
1
Data
2
Data
3
581h
41h
08h
10h
00h
07h
00h
00h
00h
Number of expected user data bytes: 7
Second request of master from slave with Node ID 1h:
COB ID
User data
Command
Index L
Index H
Sub-index
Data
0
Data
1
Data
2
Data
3
601h
60h
00h
00h
00h
x
x
x
x
Response to the request by the slave:
COB ID
User data
Command
Data 0
Data 1
Data 2
Data 3
Data 4
Data 5
Data 6
581h
01h
49h
("I")
4Bh
("K")
4Dh
("M")
33h
("3")
36h
("6")
30h
("0")
52h
("R)
5.5 Safety data exchange
5.5.1 Transfer of safety-relevant data objects (SRDO)
Safety-relevant data objects (SRDO) serve the cyclic exchange of safe data in the Operational
NMT state. An SRDO consists always of 2 messages with different COB IDs and bit-by-bit
inverted data. A maximum of 8 bytes of user data can be transferred in an SRDO. The IKM360R
supports the Safety Transmit services SRDO1 for the Slope long16 (2 bytes) according to
EN50325-5 and CiA 410. The transmit behavior of SRDO is determined via the objects 1301h,
1381h and 6200h. Mapping is static and cannot be changed.

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COB ID
Data in binary code
Data in binary code
Data 0 (LSB)
Data 1 (MSB)
Data 2 (LSB)
Data 3 (MSB)
SRDO1 COB ID1
000000FFh + 2*Node ID
Safety Slope long16
Safety Slope lateral16
SRDO1 COB ID2
00000100h + 2*Node ID
Safety Bit-inverted Slope
long16
Safety Bit-inverted Slope
lateral16
Table 13: SRDO1 message
5.5.2 Transmission of Service Data Objects (SDO) of the Safety Parameters
All safety concerning service data objects for device configuration are addressed in expedited
Request/Response.
All changes to safety concerning service data objects are monitored via a checksum CRC-16-
CCITT and can only be executed in the Pre-Operational NMT state. The polynomial is g(x) =
x16+x12+x5+1.
Procedure of changing the configuration data in the objects 1301h and 6200h:
Change values.
Enter the new valid checksum (sub-index of the relevant object 13FFh or object 61FFh).
Switch the relevant configuration to valid via object 13FEh or 63FEh.
5.5.3 Procedure for initial commissioning of the SRDO message
The following steps are necessary for the exchange of Safety data via the SRDO message for
commissioning:
Device must be in NMT state "PRE-OPERATIONAL".
Configuration parameters for SRDO1 (see 1301h: SRDO1 Communication Parameters) and
Safety configuration parameters (see 6200h: Safety configuration parameters) must be
adapted.
Calculate checksums (see 13FFh: Safety Configuration Signature (checksum) and 63FFh:
Safety application configuration signature (checksum)).
Set configurations to valid (see 13FEh: Safety Configuration and 63FEh: Safety application
configuration).
Save configurations as required (see 1010h: Store Parameter).
Switch to the NMT state "OPERATIONAL" (see Network management (NMT) services).
Then the SRDO message is transmitted according to the configuration parameters.
5.5.4 Example for calculating a checksum
In the following example the checksum CRC-16-CCITT (polynomial 1021h) for SRDO1 should be
calculated. The checksum is calculated byte by byte and the low byte by the contents of the
two objects 1301h and 1381h.

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Object
Sub-index
Name
Extent
Data
1301h
SRDO1 Communication parameter
01h
Direction of information
1 byte
01h
02h
Refresh time
2 byte
0019h
03h
tx: reserved
rx: SRVT
1 byte
14h
04h
COB ID 1
4 byte
00000101h
05h
COB ID 2
4 byte
00000102h
1381h
SRDO1 Mapping parameter
00h
Highest sub-index
1 byte
08h
01h
Sub-index
1 byte
01h
01h
Safety Slope long16 1st byte
4 byte
62100108h
02h
Sub-index
1 byte
02h
02h
Inverted Safety Slope long16 1st byte
4 byte
62110108h
03h
Sub-index
1 byte
03h
03h
Safety Slope long16 2nd byte
4 byte
62100208h
04h
Sub-index
1 byte
04h
04h
Inverted Safety Slope long16 2nd byte
4 byte
62110208h
05h
Sub-index
1 byte
05h
05h
Safety Slope lateral16 1st byte
4 byte
62200108h
06h
Sub-index
1 byte
06h
06h
Inverted Safety Slope lateral16 1st byte
4 byte
62210108h
07h
Sub-index
1 byte
07h
07h
Safety Slope lateral16 2nd byte
4 byte
62200208h
08h
Sub-index
1 byte
08h
08h
Inverted Safety Slope lateral16 2nd byte
4 byte
62210208h
The following data bytes are used to calculate the checksum:
0x01 0x19 0x00 0x14 0x01 0x01 0x00 0x00 0x02 0x01 0x00 0x00 0x08 0x01 0x08 0x01 0x10
0x62 0x02 0x08 0x01 0x11 0x62 0x03 0x08 0x02 0x10 0x62 0x04 0x08 0x02 0x11 0x62 0x05
0x08 0x01 0x20 0x62 0x06 0x08 0x01 0x21 0x62 0x07 0x08 0x02 0x20 0x62 0x08 0x08 0x02
0x21 0x62
Checksum = FF71h
5.5.5 Example of change of a configuration
In the following example, the direction of information is to be changed from valid to invalid
for SRDO1.
Changing the direction of information:
COB ID
User data
Command
Index L
Index
H
Sub-index
Data 0
Data 1
Data 2
Data 3
600h +
Node ID
2Fh
01h
13h
01h
00h
00h
00h
00h