User's Manual

TM70Pi V3.2 (11/03) 120021.pdf. 18
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8.1 - INTRODUCTION
The TM70 system with CANopen interface is integrated in CANopen networks where it will work in slave
mode. It handles the Bus the state of the Pushbuttons of the TM70 transmitter, such that any external device
can react consequently.
The functionality of the system is according the CiA DS-301 v4.0.2. specification. The implemented profile is
described in CiA DS-401 v2.1 (Input/Output standard), where the pushbutton manoeuvres are considered as
digital inputs.
The implemented characteristics are:
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: it can work “Heartbeat” as well as “Node/life guarding”. EEPROM configurable.
Number of PDO’s: 2 TPDO (manoeuvres state).
 Objects 1800 – 1A00
 Objects 0x1801 – 0x1A01
2 RPDO (receiver PDOs)
EEPROM parameters recording: not supported.
8.2 - CAN BUS CONNECTION
In order to connect the CAN bus to the LR72 pcb, it contains a 5 poles connector (P4).