Installation manual

TM70/3-10 & i-Kontrol Console RC System
U035.3-TM70_Console_Sys
22
13.0 CANopen Interface v2.4
13.1 Introduction
The TM70 system with CANopen interface is integrated in CANopen networks where it will work
in slave mode. It handles the state of TM70 transmitter pushbutton operations so that external
devices on the Bus can react. The TM70 system adheres to CiA DS-301 v4.0.2 specification.
The implemented profile is described in CiA DS-401 v2.1 (Input/Output standard), where
pushbutton operations are interpreted as digital inputs. The implemented characteristics are
shown in Table 7.
Table 7.Implemented CiA DS-401 v2.1 Characteristics
Item
Description
NMT Functioning
Slave
NodeID
EEPROM configurable from 1 to 127
Baud Rate
EEPROM configurable.
Supported speeds: 10, 20, 50, 100, 125, 250, 500, 800, and 1000 Kbps
Error Control
Heartbeat and Node/Life Guarding; EEPROM configurable
Number of PDOs
TPDO (maneuver state):
• Objects 1800 – 1A00
• Objects 0x1801 – 0x1A01
2 RPDO (receiver PDOs)
EEPROM Parameters
Recording
Not supported
13.2 CAN Bus Connection
CAN Bus connection is a 5-pin connector to P4 on the LR72 pcb (printed circuit board) as shown
in Figure 12. LED signaling is as recommended in CiA (CAN in Automation) document DR-303-
1.