turck DW108 Service manual

CANopen Draw Wire
DW108/DW124
Your Global Automation Partner

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Table of Contents
1 General Information 4
1.1 Symbols used / Warnings and Safety instructions 4
1.2 Transport / Storage 4
2 Product Description 5
2.1 Technical Data DW108 5
2.2 Technical Data DW124 6
2.3 Interface Description CANopen 7
3 Installation 8
3.1 Electrical Installation 8
3.1.1 General Information for the Connection 8
3.1.2 Terminal Assignment 8
3.2 Mechanical Installation 8
3.2.1 Sensor Orientation 9
4 Commissioning and Operation 10
4.1 Quick Start Guide 10
4.1.1 Default Settings 10
4.1.2 Network Management Services 10
4.1.3 Setting the Baud Rate 11
4.1.4 Setting the Node Address 11
4.2 Protocol Features 11
4.2.1 CANopen Communication Profile DS 301 V4.02 11
4.2.2 LSS services DS 305 V2.0 12
4.2.3 Data Transmission 12
4.2.4 Network Management 15
4.3 CANopen Object Dictionary 16
4.3.1 Structure of the object dictionary 17
4.3.2 Communication Objects 18
4.3.3 Manufacturer-Specific Objects 18
4.3.4 Device-Specific Objects 19
4.4 Description of the Objects 19
4.4.1 Object 1010h - Save Parameters 19
4.4.2 Object 1011h - Load factory settings 19
4.4.3 Object 1017h - Producer Heartbeat Time 19
4.4.4 Object 1018h - Identity object 19
4.4.5 Object 3000h - Baud Rate 20
4.4.6 Object 3001h - Node Address 20
4.4.7 Object 3003h - Inclinometer Direction Change 21
4.4.8 Object 3004h - Angle Measurement Range 21
4.4.9 Object 3005h - Behavior of the redundant angle signals 21
4.4.10 Object 3010h - Setting / resetting the 0° point 21
4.4.11 Objects not mentioned 22
4.5 PDO Mapping 22
4.5.1 Mapping Parameters - TPDO1-2 22
4.5.2 PDO Mapping Position 23

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4.5.3 PDO Mapping Angle 23
4.6 Examples 24
4.6.1 Example: basic parameterizing 24
5 General CANopen Error Codes 26
6 Annex 27
6.1 Decimal / Hexadecimal conversion table 27
Glossary 29

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1 General Information
Please read this document carefully before working with the product, mounting it or starting it up.
1.1 Symbols used / Warnings and Safety instructions
DANGER Classification:
This symbol, together with the signal word DANGER, warns against immediately imminent threat to life
and health of persons.
The non-compliance with this safety instruction will lead to death or severe adverse health effects.
WARNING Classification:
This symbol, together with the signal word WARNING, warns against a potential danger to life and
health of persons.
The non-compliance with this safety instruction may lead to death or severe adverse health effects.
CAUTION Classification:
This symbol, together with the signal word CAUTION, warns against a potential danger for the health of
persons.
The non-compliance with this safety instruction may lead to slight or minor adverse health effects.
ATTENTION Classification:
The non-compliance with the ATTENTION note may lead to material damage.
NOTICE Classification:
Additional information relating to the operation of the product, and hints and recommendations for effi-
cient and trouble-free operation.
1.2 Transport / Storage
Inspect the delivery immediately upon receipt for possible damages due to the transport. If you do not mount the device immediately, store it
preferably in its transport package.
The encoder must be stored at a dry and dust-free location and in compliance with the technical data, see chapter Technical Data.

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2 Product Description
2.1 Technical Data DW108
Measuring range 1 - 5 m
Measuring wire material
Diameter
Nylon-coated AISI304 steel wire
ø 0.9 mm
Wire fastening Eyelet
Inside diameter ø 8 mm
Outside diameter Height ø 15 mm
Height 2 mm
Max. wire pull-out speed max. 1 m/s
Acceleration max. 10 m/s2
Pull-in force typ. 2 N
Pull-out force typ. 8 N
Drum circumference 245 mm
Type of connection M12 connector, 5-pin
Cable, 2 m
Housing Glass fiber reinforced polycarbonate
Protection level IP67
Temperature range -40°C to +85°C
Supply voltage 9 - 30 V DC, 5 V DC ±10 %
Electromagnetic compatibility acc. to EN 61326-1, EN 61326-3-1

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2.2 Technical Data DW124
Measuring range 6.0 - 10.0 m
Measuring wire material
Diameter
Nylon-coated AISI304 steel wire
ø 0.9 mm
Wire fastening Eyelet
Inside diameter ø 8 mm
Outside diameter Height ø 15 mm
Height 2 mm
Max. wire pull-out speed max. 1 m/s
Acceleration max. 10 m/s2
Pull-in force typ. 4.5 N
Pull-out force typ. 9 N
Type of connection M12 connector, 5-pin
Housing Glass fiber reinforced polycarbonate
Protection level IP67
Temperature range -40°C to +85°C
Weight approx. 0.97 kg
Shock resistance according to EN 60068-2-27 300 m/s2, 11 ms
Vibration resistance according to EN 60068-2-6 100 m/s2, 10 - 500 Hz
Supply voltage 9 - 30 V DC, 5 V DC ±10 %
Electromagnetic compatibility acc. to EN 61326-1, EN 61326-3-1

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2.3 Interface Description CANopen
The CANopen protocol is a standardized layer 7 protocol for the CAN bus. The CANopen protocol defines on the one hand the "How" of the
communication, that is to say with which telegrams (i.e. identifiers) the devices can be addressed. CANopen implements as well mecha-
nisms for the exchange of process data in real-time as the transmission of large data volumes or the sending of alarm telegrams. On the
other hand, CANopen defines the "What" of the communication, that is to say a parameter for setting a device is addressed via a defined in-
terface (profile).
These so-called CANopen profiles are organized in the form of a table (object directory). The so-called "communication profile", which al-
lows querying or setting basic device data, is common to all device profiles. This data includes for example the device designation, the hard-
ware and software version, the error status, the used CAN identifiers and many other parameters. The device profiles describe the specific
abilities or parameters of a "class" of devices. So far, device profiles have been defined for digital or analog EIA devices, drives, operating
devices, sensors and controllers, programmable controls, encoders, medical technology, local public transport, batteries and extrusion sys-
tems. Many other profiles are in preparation.
Source: MicroControl Systemhaus für Automatisierung 2003, Uwe Koppe

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3 Installation
3.1 Electrical Installation
3.1.1 General Information for the Connection
ATTENTION Destruction of the device
Before connecting or disconnecting the signal cable, always disconnect the power supply and secure it
against switching on again.
NOTICE General safety instructions
Make sure that the whole plant remains switched off during the electrical installation.
• Make sure that the operating voltage is switched on or off simultaneously for the device and the
downstream device.
• Use a PELV supply voltage source according to EN 60204-1 with the proper operating voltage and
the maximum permissible output current.
3.1.2 Terminal Assignment
Pin Description Pin arrangement, M12 connector
1 CAN-GND
2 +V
3 GND (0V)
4 CAN_H
5 CAN_L
3.2 Mechanical Installation
ATTENTION Encoder damages due to transport or storage
Device failure, malfunction, device lifetime reduction.
• Check the packaging and the encoder for possible damages.
• In the event of visible damages, do not use the encoder and do not put it into operation.
• Do not install the encoder after falling or being dropped.

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3.2.1 Sensor Orientation
During mechanical installation, take care to the orientation and to the angle range of the sensor.

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4 Commissioning and Operation
4.1 Quick Start Guide
4.1.1 Default Settings
All parameters are created as objects in CANopen.
The original standard values (default values at the delivery) can be loaded again with Object 1011h (parameters restoration) and with the
command load (0x6C6F6164).
To save modified parameters in a voltage failure-safe manner, they must be transferred in the EEPROM with Object 1010h (save parame-
ters).
All data previously saved in the EEPROM is overwritten.
NOTICE Termination
The device has no termination. If necessary, termination must be added separately. Termination is rec-
ommended even for short lines with low bit rates. Reflections may occur without termination. Ideally, the
bus is terminated at both ends (and only there) with 120 ohms.
4.1.1.1 Manufacturer-Specific Objects
Objects - DS406
Index Name Access Type Standard value Meaning
0x3000 Baud rate RW unsigned8 0x3 250 kbit/s
0x3001 Node address RW unsigned8 0x04
0x3003 Angle direction RW 0x01 Clockwise (cw)
0x3004 Angle measuring range RW 0x00 360°
0x3005 Behavior of the redundant
angle signals
RW 0x01 Opposite direction
0x3010 Angle zero position RW 0x00 0
0x5000 Angle RO - Current sensor
angle
4.1.2 Network Management Services
The following NMT services are available to the user for parameterizing and commissioning:
Service COB-ID DLC D0 D1
Start remote node 0x000 2 0x01 ID
Stop remote node 0x000 2 0x02 ID
Enter Pre-operational mode 0x000 2 0x80 ID
Reset node 0x000 2 0x81 ID
Reset communication 0x000 2 0x82 ID
For a precise definition of the commands NMT Commands [}15].
NOTICE Broadcast
If a NMT service is to address all nodes, it is also possible to send 0x00 for D1.

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4.1.3 Setting the Baud Rate
The baud rate can be adapted with Object 3000h:
COB-ID DLC D0 D1 D2 D3 D4 D5 D6 D7
Request 0x600 + ID 8 0x2F 0x00 0x30 0x00 BR 0x00 0x00 0x00
Response 0x580 + ID 8 0x60 0x00 0x30 0x00 0x00 0x00 0x00 0x00
The following baud rates are available to the user:
BR Baud rate
0 1 Mbit/s
2 500 kbit/s
3 250 kbit/s
4 125 kbit/s
5 100 kbit/s
6 50 kbit/s
7 20 kbit/s
8 10 kbit/s
4.1.4 Setting the Node Address
The node number can be adapted with Object 3001h:
COB-ID DLC D0 D1 D2 D3 D4 D5 D6 D7
Request 0x600 + ID 8 0x2F 0x01 0x30 0x00 Node ID 0x00 0x00 0x00
Response 0x580 + ID 8 0x60 0x01 0x30 0x00 0x00 0x00 0x00 0x00
NOTICE Valid node IDs
Node ID‘s in the range 1 … 127 are allowed.
4.2 Protocol Features
4.2.1 CANopen Communication Profile DS 301 V4.02
CANopen uses four communication objects (COB) with various features
1. Process Data Objects (PDO) for real-time data
2. Service Data Objects (SDO) for parameters and program transmission
3. Network Management (NMT, Life-Guarding, Heartbeat)
4. Predefined objects (for synchronization, timestamp, emergency)
All device parameters are saved in an object dictionary. This object dictionary contains the description, data type and structure of the param-
eters, as well as the address (index).
The directory is divided into the following sections:
• Communication profile
• Device profile
• Manufacturer profile

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4.2.2 LSS services DS 305 V2.0
CiA DSP 305 CANopen Layer Setting Service and Protocol (LSS) were created to read and modify the following parameters via the net-
work:
1. Node address
2. Baud rate
3. LSS address
These abilities increase the "plug-and-play" compatibility of the device and the configuration possibilities have been considerably simplified.
The LSS master is responsible for the configuration of these parameters for one or several slaves in the network.
LSS hardware requirements (LSS address)
All LSS slaves must have a valid object entry in the objects dictionary for the Identity object [1018h] in order to be able to carry out a selec-
tive configuration of the node. This object consists of the following sub-indices:
• Manufacturer ID
• Product code
• Revision number
• Serial number
• LSS master CAN-ID 2021
• LSS slave CAN-ID 2020
A product code, a revision number and a serial number are set by the manufacturer. The LSS address must be unequivocal in the network.
LSS operative restrictions
In order to ensure trouble-free LSS functionality, all devices in the network must support the LSS services. Furthermore, the following ap-
plies:
• There can be only one LSS master.
• All nodes must start with the same baud rate.
• LSS communication can only take place in Stopped mode or in Pre-operational mode.
4.2.3 Data Transmission
With CANopen, data is transferred using two different communication types (COB=Communication Object) with different characteristics:
• Process Data Objects (PDO - real-time capable)
• Service Data Objects (SDO)
The Process Data Objects (PDO) are used for highly-dynamic exchange of real-time data with a maximum length of 8 bytes (e.g. encoder
position, speed, status of the compared positions) . This data is transferred with high priority (low COB identifier). PDOs are broadcast mes-
sages and make their real-time data available simultaneously to all desired recipients. PDOs can be mapped. 4 position bytes and 2 speed
bytes can be combined in one 8-byte data word.
The Service Data Objects (SDO) are the communication channel for the transmission of device parameters (e.g. programming of the encod-
er resolution). As these parameters are transmitted acyclically (e.g. only once when starting the network up), the SDO objects have a low
priority (high COB identifier).
4.2.3.1 Process Data Transmission - PDO
Up to three PDO services, PDO1 (tx), PDO2 (tx) and PDO3 (tx) are available for CANopen devices. A PDO transfer can be triggered by var-
ious events (see object dictionary Index 1800h):
1. Synchronous pulse, triggered by an internal cyclic device timer (event timer) or by a process value change of the sensor data.
2. Synchronous pulse as an answer to a SYNC telegram.
A SYNC command prompts all CANopen nodes to save synchronously their values, and to send them subsequently one after the other
on the bus according to the set priority)
3. Pulse as a response to an RTR telegram.
Exactly the message with the transmitted identifier is queried per remote frame (recessive RTR bit).
NOTICE PDO combinations
Any other PDO combination with other objects is also possible, provided the maximum data length of 8
bits is not exceeded.

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4.2.3.2 Service Data Transmission - SDO
DO-COB-ID
The following identifiers are available as a standard for the SDO services:
• SDO(tx)(slave→master):580h(1408)+nodenumber
• SDO(rx)(master→slave):600h(1536)+nodenumber
The SDO identifiers cannot be modified.
The command byte describes the type of the SDO message:
Command Type Function
0x23 SDO (rx), Initiate Download Request Send parameters to the device
(max. 4 bytes)
0x27 SDO (rx), Initiate Download Request Send parameters to the device
(max. 3 bytes)
0x2B SDO (rx), Initiate Download Request Send parameters to the device
(max. 2 bytes)
0x2F SDO (rx), Initiate Download Request Send parameters to the device
(max. 1 byte)
0x60 SDO (rx), Initiate Download Request Confirmation of the acceptance to the master
0x40 SDO (rx), Initiate Download Request Request parameters from the device
0x43 SDO (rx), Initiate Download Request Parameters to master with data length
= 4 bytes (unsigned 32)
0x4B SDO (rx), Initiate Download Request Parameters to master with data length
= 2 bytes (unsigned 16)
0x4F SDO (rx), Initiate Download Request Parameters to master with data length
= 1 byte (unsigned 8)
0x80 SDO (rx), Initiate Download Request Device sends error code to master
NOTICE Error messages
In case of an error, an error message (command 80h) replaces the normal confirmation (response). The
error message includes errors in the communication protocol (e. g. wrong command byte) as well as ac-
cess errors to the objects dictionary (e. g. wrong index, attempt to write a read-only object, wrong data
length).
The error codes are described in the CANopen profile (DS 301) or in the device profile (DSP 406).
See General CANopen Error Codes [}26].

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4.2.3.3 PDO Transmission Types
The PDOs can be transmitted in various ways:
Code (dec.) Transmission type
cyclic acyclic synchronous asynchronous RTR only
0 X X
1 … 240 X X
241 … 251 reserved
252 X X
253 X X
254 X
255 X
Transmission type definition:
0: After SYNC, but only in the event of a value change since the last SYNC.
1 ... 240: Send value according to 1. ... 240. SYNC. The number of the transmission type
indicates the number of SYNC pulses required to send the PDOs.
252: SYNC leads to internal saving of the value, but the value must be collected per
RTR.
253: The value is updated and sent upon RTR.
254: The event is triggered depending on the application, while number 255 is de-
pending on the device. In addition, a time-controlled event timer can be used for
number 245/255. The value range for the timer ranges from 1 ms ... 65535 ms.
Acyclic synchronous
PDOs of transmission type 0 operate synchronously, but not cyclically. A device whose TxPDO is configured for transmission type 0 deter-
mines its input data when receiving the SYNC (synchronous process image). It then sends the data, if it corresponds to an event such as for
example the change of an input. Transmission type 0 combines the reason for triggering the transmission in an "event-driven" way with the
sending or processing moment SYNC reception.
Cyclic synchronous
With transmission type 1 … 240, the PDO is sent cyclically after every n-th SYNC (n=1...240). Since the transmission type can be combined
not only in the network, but also in a device, it is possible for example to define a fast cycle for positions (n=1), while for example the tem-
perature data is transmitted in a slower cycle (e.g. n=10). The cycle time (SYNC rate) can be monitored (Object 0x1006). In the event of a
SYNC failure, the device reacts according to the definition of the device profile and for example switches its outputs in the fault state.
RTR only
Transmission types 252 and 253 apply to process data objects, which are transmitted exclusively upon request by a remote frame. 253 is
asynchronous. Data is determined here continuously and sent upon request. This transmission type is not recommended, as some CAN
controllers only support partially input data collection. Since some of the CAN controllers answer remote frames automatically (without re-
questing previously up-to-date input data), the up-to-dateness of the polled data may possibly be doubtful.
Asynchronous
Transmission types 254 and 255 are asynchronous, or also event-driven. For transmission type 254 the event is defined manufacturer-spe-
cifically and in the device profile for transmission type 255. In the simplest case, the event is the change of an input value. Therefore every
value change is transmitted. The asynchronous transmission type can be coupled with the event timer and thus supplies input data also if no
event occurred currently. It must be noted for TT 255 that inhibit time > 100 must be set. Otherwise a CAN overrun error may occur, since
the position of the last digit is constantly changing.

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4.2.4 Network Management
The following status diagram according to DS 301 shows the various node statuses and the corresponding network commands (controlled
by the network master via NMT services):
Initialization
Pre-operational
Operational
Stopped
Automatic switch
to
Pre-operational
Switch to
Operational
Switch to
Pre-operational
Reset
node
Reset
communication
Switch to Pre-operational
Switch to Stopped
Switch to Stopped
Switch to Operational
Initialization
After power supply is applied or after a reset, the device is in the original status Initialization. After performing the reset/initialization routines,
the node switches automatically to the Pre-operational status. The LEDs display the momentary status.
Pre-operational
The CAN node can now be addressed by SDO messages or NMT commands under the standard identifier. Then follows the programming
of the encoder or communication parameters.
Operational
The node is active. Process values are supplied via the PDOs. All NMT commands can be evaluated.
Prepared or Stopped
In this status, the node is no longer active, i.e. neither SDO nor PDO communication is possible. The node can be set to Operational or
Pre-operational status by means of NMT commands.
4.2.4.1 NMT Commands
All NMT commands are transferred as an unconfirmed NMT Object. Because of the broadcast (network-wide) communication model, the
NMT commands are recognized by each participant.
An NMT Object is structured as follows:
Byte 0 Byte 1
27… 20215… 28
COB-ID = 0
Byte 0 = Command byte
Byte 1 = Node number (e.g. 3F or 00 for all participants)
The COB ID of the NMT object is always 0
The node is addressed via the node numbers. With node number 0 all nodes are addressed.
Command byte Description
01hStart_Remote_Node: Switch to Operational
02hStop_Remote_Node: Switch to Prepared
80hEnter_Pre-Operational_State: Switch to Pre-operational
81hReset_Node: Reset the node
82hReset_Communication: Reset the communication
All parameters of the whole object dictionary are set to power-on values.
Only the parameters in section Communication profile of the object dictionary are set to power-on values.

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4.3 CANopen Object Dictionary
The object dictionary describes the whole range of functions (parameters) of a CANopen device and is organized in the form of a table. The
object dictionary not only contains the standardized data types and objects of the CANopen communication profile and the device profiles,
but also, if applicable, manufacturer-specific objects and data types.
The description of the object directory entries is structured as follows:
Index (hex) Sub index (hex) Object Name Type Attr. M/O
Index
16-bit address of the entry
Sub index
8-bit pointer to a subentry
• Is only used with complex data structures (e. g. record, array).
• If there is no subentry: Sub index=0.
Object
• NULL entry without data
• DOMAIN larger variable volume of data, e. g. program code
• DEFTYPE data types definition, e. g. boolean, float, unsigned16
• DEFSTRUCT definition of a record entry, e. g. PDO mapping structure
• VAR single data value, e. g. boolean, float, unsigned16, string
• ARRAY field with similar data, e. g. unsigned16 data
• RECORD field with arbitrarily mixed data types
Name
Short description of the function
Type
Data type, e. g. boolean, float, unsigned16, integer
Attribute
Specifies the access rights for the object:
• rw read and write access
• ro only read access
• const only read access, value = constant
M/O
• M Mandatory: The object must be implemented in the device.
• O Optional: The object must not be implemented in the device.

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4.3.1 Structure of the object dictionary
The whole object dictionary is subdivided into several areas:
Index range Use
0000hUnused
0001-009FhData types (special case)
00A0-0FFFhReserved
1000-1FFFhCommunication profile
2000-5FFFhManufacturer-specific area
6000-9FFFhUp to 8 standardized device profiles
A000-AFFFhProcess images of IEC61131 devices
B000-BFFFhProcess images of CANopen gateways according to CiA 302-7
C000-FFFFhReserved
VAR Variable
ARRAY Array of variables
RW Read/Write
RO Read only
Const Constant
Name Object name
M/O Mandatory or optional

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4.3.2 Communication Objects
Objects - Communication profile
Index Name Access Type Standard value Meaning
0x1000 Device type CONST Unsigned32 406: Encoders Sensor Type
0x1001 Error register RO Unsigned8 0 Error designation
0x1008 Manufacturer
device name
CONST visible string Turck Sensor name
0x1009 Manufacturer
hardware version
CONST visible string 1.0 Sensor HW version
0x100A Manufacturer
software version
CONST visible string 5.x Sensor SW version
0x1010 Store parameters
(device profile)
RW Unsigned32 - Store all
parameters
0x1011 Restore
parameters
(device profile)
RW Unsigned32 Restore default parameters
0x1017 Producer
heartbeat time
RW Unsigned16
0x1018 Identity Object RO PDOComPar Object 1018h - Identity
object [}19]
Manufacturer
identification
Product code
Revision No.
Serial No.
0x1800 1st transmit PDO
comm. par.
RW PDOComPar
0x1801 2nd transmit PDO
comm. par.
RW PDOComPar
0x1A00 1st transmit PDO
mapping par.
RW PDOMapping
0x1A01 2nd transmit PDO
mapping par.
RW PDOMapping
4.3.3 Manufacturer-Specific Objects
Objects - DS406
Index Name Access Type Standard value Meaning
0x3000 Baud rate RW unsigned8 0x3 250 kbit/s
0x3001 Node address RW unsigned8 0x04
0x3003 Angle direction RW 0x01 Clockwise (cw)
0x3004 Angle measuring range RW 0x00 360°
0x3005 Behavior of the redundant
angle signals
RW 0x01 Opposite direction
0x3010 Angle zero position RW 0x00 0
0x5000 Angle RO - Current sensor
angle

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4.3.4 Device-Specific Objects
Objects - Device parameters DS406
Index Name Access Type Standard value Meaning
6020h Position RO unsigned32 - Current sensor position
4.4 Description of the Objects
4.4.1 Object 1010h Save Parameters
Parameter 1010h saves the desired bus parameters permanently in the flash memory. This object serves as an additional protection against
accidental changes of the baud rate and node address.
Only targeted saving with parameter "save“ will save permanently the bus parameters baud rate, node address and termination.
COB-ID DLC D0 D1 D2 D3 D4 D5 D6 D7
0x600 + ID 8 0x23 0x10 0x10 0x01 0x73 0x61 0x76 0x65
Value range: "save" in hexadecimal 0x65766173
Command bytes: 23 10 10 01 73 61 76 65
Response: 60 10 10 01 00 00 00 00 for successful saving
4.4.2 Object 1011h - Load factory settings
The default values can be restored with a specific command. In order to prevent accidental loading of the standard values, the command is
only carried out when the code word string LOAD is entered in this subindex.
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Request 23 11 10 01 6C 6F 61 64
Response 60 11 10 01 00 00 00 00
Byte 4: 0x6C (ASCII code for L)
Byte 5: 0x6F (ASCII code for O)
Byte 6: 0x61 (ASCII code for A)
Byte 7: 0x64 (ASCII code for D)
4.4.3 Object 1017h Producer Heartbeat Time
This object defines the heartbeat cycle of the CAN device. If this function is not required, time must be set to 0. This function is activated
with a time as from 1 ms (max. 65535 ms).
The originator of the request (heartbeat producer) transmits the message cyclically with the set time. The content of the data byte corre-
sponds to the status of the CAN node (Pre-op, Operational, Stopped).
4.4.4 Object 1018h - Identity object
The identity object contains information about the manufacturer and the device:
Sub Index Designation Contents
0h Supported Subindices 4
1h Vendor ID Vendor-ID (000000009ch) Turck
2h Product Code z. B. 0x58682001 CANopen Sensor
3h Revision Number Software revision number (e. g. 102)
Subindex 4h: "read" only
4h Serial Number 8-digit serial number of the device

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4.4.5 Object 3000h - Baud Rate
This object allows modifying the baud rate by software. As standard, the value is set to FFh, that is to say that the setting shows for LSS a
reconfigured node. If the value is set between 0...8 and the parameter is saved using object 1010h, the device will boot with the modified
baud rate at the following powering or Reset Node. The currently set baud rate is displayed.
COB-ID DLC D0 D1 D2 D3 D4 D5 D6 D7
Setting 0x600 + ID 8 0x2B 0x00 0x30 0x00 0x03 0x00 0x00 0x00
Data content:
Byte 0
27…20
Value Baud rate in kbit/s
0 1000
2 500
3 250
4 125
5 100
6 50
7 20
8 10
A new node number is only taken over at the following booting (reset/power-on) of the device or via a NMT Reset Node command.
All other settings in the objects table remain retained.
4.4.6 Object 3001h - Node Address
This object allows modifying the node address by software. As standard, the value is set to 0xFFh, that is to say that the setting shows for
LSS a reconfigured node. If the value is set between 1...127 and the parameter is saved using object 1010h, the device will boot with the
modified node address at the following powering or Reset Node. The currently set address is displayed.
COB-ID DLC D0 D1 D2 D3 D4 D5 D6 D7
Setting 0x600 + ID 8 0x2B 0x01 0x30 0x00 0x29 0x00 0x00 0x00
Data content:
Byte 0
27…20
Values range 1 ...127 or 1..7Fh
NOTICE Node address 0
Node address 0 is reserved and shall not be used by any node. The resulting node numbers are in the
range 1...7Fh hexadecimal or 1...127. A new node number is only taken over at the following booting
(reset/power-on) of the encoder or via a NMT Reset Node command.
All other settings in the objects table remain retained.