2 JN2100 from firmware 2.1.0 80011481/00 10/2014 261-7118 2-6-1 WBG 18F 0I20-78-2070 E-Mail info.jp@ifm.com website www.ifm.com/jp

1................................................ 4 1.1............................................... 4 2................................................ 4 2.1.................................................... 4 2.2................................................... 4 2.3................................................. 5 2.4........................................... 5 3...................................................5 4....................................................6 4.1.................................................... 6 4.2................................................. 6 5...................................................6 6..................................................... 7 6.1........................................ 7 7 CANopen....................................... 7 7.1 CANopen............................................. 7 7.2.................................................... 8 7.3 PDO.................. 8 7.3.1...................................... 8 7.3.2 SYNC.................... 9 7.4 OD................................. 10 7.4.1 CiA DS-301....................... 12 7.5 SDO................... 14 7.5.1 0x2000-0x203F........................... 14 7.5.2 0x2040-0x207F................................. 14 7.5.3 0x4000-0x403F........................... 15 7.5.4 0x4080-0x40BF.............................. 16 7.5.5 0x5C10-0x 5D30............................. 16 7.5.6 CiA DSP-410 0x6000 0x9FFF...... 16 8 2044h........................................... 16 8.1 0x2044 = 0...................................... 17 8.2 0x2044 = 1................................... 17 8.3 X 0x2044 = 2................................. 18 8.4 Y 0x2044 = 3................................. 18 8.5.................................................. 19 9......................................... 19 9.1 ID SDO index 2000h SDO index 2001h...... 19 9.2 SDO index 2043h............. 20 9.3 2046h..................................... 20 2

9.4 2042h...................................... 20 9.5 2040h......................................... 21 9.6 2041h...................................... 22 9.7 MEMS 4004h................................ 22 9.8 SDO index 4080h.......................... 22 9.9 SDO index 6010h SDO index 6020h.............. 22 10...................................................23 10.1 SDO index 2047h............................. 23 10.2 SDO index 2048h......................... 23 10.3 FIR SDO index 2049h.......................... 24 10.4 SDO index 204A h.............................. 24 11..................................... 24 11.1 OD index 1010h............................ 24 11.2 OD index 1011h.......................... 25 11.3 SDO index 207Fh...................... 25 12.............................................. 25 12.1............................................. 25 12.1.1 node guarding / life guarding........................... 25 12.1.2 Heartbeat.......................................... 26 12.2 COB IDs............................................... 26 12.3 LED CiA DR-303-3............................. 27 13....................................... 27 14 /................................................. 27 15............................................ 28 3

1 JN2100 1.1 > [ ] 2 2.1 2.2 EMC 4

2.3 ifm 2.4 3 CANopen 2 360 2 CiA DS-301 CiA DSP-410CANopen "node guarding""heartbeat" "heartbeat time" "guard time" "life time factor" CANopen PDO RTR SYNC consumer SYNCPDO EMCY producer heartbeat node guarding / life guarding 5

4 4.1 4 x M5 4.2 5 3 90 75 36 4.5 60 45 22 5.3 6

6 25 / M12 CANopen CiA DR-303-1 2 1 5 3 4 M12 CAN-In 1 2 5 4 3 1: CAN_SHLD 2: CAN_V+ DC 24 V 3: CAN_GND GND 4: CAN_H H bus 5: CAN_L L bus 1: CAN_SHLD 2: CAN_V+ DC 24 V 3: CAN_GND GND 4: CAN_H H bus 5: CAN_L L bus M12 CAN-Out 6.1 CANopen SDO 7 CANopen CiA DS-301 CANopenCiA DSP-410 OD Flash 7.1 CANopen CANopen 4TPDO RTR SYNC SDO EMCY heartbeat node guarding / life guarding 7

CiA DR-303-3LED CANopen ID OD 7.2 CANopen standard CiA DS-301 3 PDO NMT NMT bus ifmid 10 125 Kbits/s 7.3 PDO RTR PDO TPDOx 7.3.1 TPDO1 OD index 1800h/05h 0 TPDO TPDO1 OD index 1800h/02h "asynchronous manufacturer-specific = FEh ""TPDOx 8

7.3.2 SYNC TPDO SYNC"nth" CANopen SYNC TPDOx TPDO116-bit Byte 0 Byte 1 Byte 2 Byte 3 X- Y- OD index 6010h OD index 6020h TPDO232-bit Byte 0 to byte 3 Byte 4 to byte 7 X- Y- OD index 6110h OD index 6120h TPDO332-bit apeak / Veff Byte 0 to byte 3 Byte 4 to byte 7 Veff apeak OD index 5C10h OD index 5C11h SDO index 6000h CiA DSP-410 SDO index 0x6000 0x9FFF 7.5.5 16-bit0.1 0 360 35 bits 9

7.4 OD Index Subindex 1000h 0 const u32 4019Ah 410 2 1001h 0 ro u8 0 1003h 0 u32 0 1 50 ro u32 0 1005h 0 COB ID sync u32 80h 1008h 0 Const VSTR JN2100 1009h 0 Const VSTR x.y.z 100A h 0 "xyy" Const VSTR x.y.z 100C h 0 Guard time u16 0 1 ms 100D h 0 Life time factor u8 0 1010h 0 sub-index r0 u32 1 1 "save" 65766173h u32 0 1011h u32 0 sub-index r0 u32 1 1 u32 0 "load" 64616F6Ch 1014h 0 COB ID EMCY ro u32 80h + node ID 1015h 0 EMCY u16 0 100 µs 1017h 0 Heartbeat 1 ms 0 u16 0 1018h 0 sub-index ro u8 4 1 ID ro u32 0069666Dh 2 ro u32 00 3 ro u32 AA 4 ro u32 1029h 0 ro u8 1 1 u8 0 0x0 1200h SDO 0 sub-index ro u8 2 1 COB ID ro u32 600h + node ID 2 COB ID ro u32 580h + node ID 10

Index 1800h 1801h 1802h 1A00h 1A01h 1A02h Subindex PDO1 0 sub-index ro u8 5 1 COB ID ro u32 180h + node ID 2 u8 1 + 3 2TPDO u16 0 100 µm 5 1 ms 0 u16 10 PDO2 0 sub-index ro u8 5 1 COB ID ro u32 280h + node ID 2 u8 1 / 3 2TPDO u16 0 100 µs 5 u16 10 1 ms 0 PDO3 0 sub-index ro u8 5 1 COB ID ro u32 380h + node ID 2 u8 1 / 3 2TPDO u16 0 100 µs 5 u16 10 1 ms 0 PDO1 0 sub-index ro u8 2 1 ro u32 60100010h X- 2 ro u32 60200010h Y- PDO2 0 sub-index ro u8 2 1 ro u32 61100020h X- 2 ro u32 61200020h Y- PDO3 0 sub-index ro u8 2 1 Veff ro u32 5C100020h 2 apeak ro u32 5C110020h 11

1029h 0 = 1 = 2 = 3 127 = 7.4.1 CiA DS-301 OD index 1001h bit bit = 1 1 EMCY Bits 5 7 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 OD index 1003h 50 OD index 1003hOD index 1003h/00h sub-indices sub-index OD index 1003h/01h sub-index 50 OD index 1003h EMCY 12

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 object 1001h 00xxh 10xxh 31xxh 32xxh 41xxh 42xxh 80xxh 81xxh 8110h 8120h 8130h 8140h 8150h 82xxh 8210h 8220h 90xxh F0xxh CAN CAN Life guardingheartbeat bus off COB ID PDO PDO 13

7.5 SDO 7.5.1 0x2000-0x203F SDO Subindex r/w index 0x2000 0x0 u8 ID x 0x2001 0x0 u16 Kbit x 0x2002 0x0 u8 Flag = 1 7.5.2 0x2040-0x207F SDO Subindex r/w index 0x2040 0x0 u8 0: Off 1: 180 2: 0 360 0x2041 0x0 u8 Flag = 0: off Flag = 1: on 0x2042 0x0 u8 x / y /z 0: 1: 2: 0x2043 0x0 u8 FIR 0: FIR 1: FIR 10 Hz 2: FIR 5 Hz 3: FIR 1 Hz 4: FIR 0.5 Hz 0x2044 0x00 u8 0: 1: 2: 1X 3: 1Y 0x2045 0x00 u8 CAN 120 0: 1: 0x2046 0x0 u8 x /y 0: 1: 0 2. 0 0x2047 0x0 u8 0: 1: Veff V & apeak 14

SDO Subindex r/w index 0x2048 0x0 u8 Veff & apeak x -> bit 2 = 1 x -> bit 2 = 0 y -> bit 1 = 1 y -> bit 1 = 0 z -> bit 0 = 1 z -> bit 0 = 0 0x2049 0x0 u8 Veff & apeak FIR 0: FIR 1: FIR 0.1-1 Hz 2: FIR 0.1-10 Hz 3: FIR 1-10 Hz 4: FIR 2-400 Hz 5: FIR 10-400 Hz 0x204A 0x0 u8 Veff & apeak 0: 2 g 1: 4 g 2: 8 g 0x207F 0x0 u8 1: 7.5.3 0x4000-0x403F SDO Subindex r/w index 0x4004 0x0 u8 MEMS r sub-indices 0x4004 0x01 u8 Flag = 1 0x4004 0x02 u8 x bit 2 = 1 x bit 2 = 0 y bit 1 = 1 y bit 1 = 0 z bit 0 = 1 z bit 0 = 0 r 15

7.5.6 CiA DSP-410 0x6000 0x9FFF 7.5.4 0x4080-0x40BF SDO Subindex r/w index 0x4080 0x0 32 MEMS 1/10 C r 0x4081 0x0 u16 mw r 7.5.5 0x5C10-0x 5D30 SDO Subindex r/w index 0x5C10 0x0 u32 Veff 1/10 r mm/s 0x5C11 0x0 u32 apeak mg r SDO Subindex r/w index 0x6000 0x0 u16 1d = 0.001 10d = 0.01 100d = 0.1 1000d = 1.0 0x6010 0x0 16 x r 0x6020 0x0 16 y r 0x6110 0x0 32 x r 0x6120 0x0 32 y r 8 2044h xy z xx yzx 16

8.1 0x2044 = 0 2 y" " SDO index 6010h or 6110h yz [ ] 2 x" " SDO index 6020h or 6120h xz [ ] 2 8.2 0x2044 = 1 2 2 " " z[ ] " " z [ ] z -90 +90 0 360 0 17

8.3 X 0x2044 = 2 [ ]x " " [ ]y x y " " " " : -90 90 : -180 180 90 "" " " " " 8.4 Y 0x2044 = 3 28.3 " "[ ] x " " [ ]y 1 X Y 2 2 18

8.5 30y X Y 1 0 0 0 0 0 0 0 2 0-30 30 0 0-30 0-30 3 20-20 30 45 20-22 22-20 4 30 0 30 90 30 0 30 0 5 30 0 30 90 30 0 30 0 6 0 30 30 180 0 30 0 30 9 9.1 ID SDO index 2000h SDO index 2001h ID COB ID [Kbits/s]10 20 50 125 250 500 800 1000 19

9.2 SDO index 2043h digital FIR filter FIR filter step SDO index 2043h 9.3 2046h 0 " y " SDO index 2046h 1 2045h bus CANopen 120 SDO index 2045h 1 9.4 2042h 7.6 x s y s z s z b x b y b z b x b x s x b y b y b z b x b 20

xs SDO index 2042h 1 x xs xbzb y30-13.2-29.3 0 0-45.5-29.5-30 0 9.5 2040h 1802040h = 1 0 3602040h = 2 x y y X: x y Y: x y 21

9.6 2041h PID SDO index 2014h0 > > 9.7 MEMS 4004h MEMS SDO index 4004/01h 1 2 SDO index 4004/01h 0 SDO index 4004/02h 00000111: 3x y z Bit 0: / bit 1: 9.8 SDO index 4080h 200 ms SDO TPDO32-bit 2 C 9.9 SDO index 6010h SDO index 6020h SDOTPDO100-fold 16-bit 2 SDO index 6010h = -2370-2370 / 100 = -23.70 22

10 10.1 SDO index 2047h JN2100 2 SDO index 2047h = 0 SDO index 2047h = 1 2 SDO index 5C10h v effective [1/10 mm/s] SDO index 5C11hpeak [mg] 10.2 SDO index 2048h v effective = vx 2 + vy 2 + vz 2 peak = ax 2 + ay 2 + az 2 xy z SDO index 2048h3LSB 3 x : bit 2 = 1 x : bit 2 = 0 y : bit 1 = 1 y : bit 1 = 0 z : bit 0 = 1 z : bit 0 = 0 SDO index 2048h 10 SDO index 2048h 1 001 z 2 010 y 6 110 x y 7 111 x y z 23

10.3 FIR SDO index 2049h FIR SDO index 2049h FIR Veff apeak 0.1 1 Hz 70 0.1 10 Hz 70 1 10 Hz 12 2 400 Hz 9 10 400 Hz 5 10.4 SDO index 204A h 4 g g = 2 g 8 g 11 CAN COB ID ID SDO index 2000h ID ID ID ID ID COB ID 11.1 OD index 1010h ID SDO index 2000h SDO index 2001h CiA DS-301 OD index 1010h/01h "save" 65766173h 24

11.2 OD index 1011h OD index 1000h - 1FFFh "load" 64616F6Ch1011h/01h " " NMT command "" NMT command 11.3 SDO index 207Fh SDO index 2000h 5FFFh SDO index 207Fh 1 1 0 ID CiA DS-301 ID ID = 10 = 125 Kbits 12 EMCY 1OD index 1001h) OD index 1003h " " code 0h EMCY "" 12.1 CANopen heartbeat node guarding / life guarding 2 1 12.1.1 node guarding / life guarding node guarding NMT1 NMTRTR 25

2 "guard time" 100Ch 2life time 100D h multiplicator Guard timelife time life time node life time life time Node life time = guard time life time factor " " 21"0" lifeguardinf 12.1.2 Heartbeat Heartbeat RTR heartbeat "0"heartbeatOD index 1017h heartbeat HeartbeatCANopen bus load node guarding / life guardingbus load 12.2 COB IDs CAN ID SDO index 2000h COB ID node ID = 10 NMT0 h 0h SYNC 80h 80h EMCY 80h + node ID 8Ah TPDO1 180h + node ID 18Ah TPDO2 280h + node ID 28Ah TPDO3 380h + node ID 38Ah SDO 580h + node ID 58Ah client server Heartbeat 700h + node ID 70Ah 26

12.3 LED CiA DR-303-3 LEDLED CAN LED LED Off 1 " " " " "" LED On Off 1 2 On "" CAN node guarding event "bus off" 13 14 / EC www.ifm.com Data sheet search JN2100 27

15 SDO Subindex index 0x2000 0x0 u8 ID 10 0x2001 0x0 u16 125 Kbits 0x2040 0x0 u8 2: "0 360 " 0x2041 0x0 u8 1: "" 0x2042 0x0 u8 x / y /z 2: " " 0x2043 0x0 u8 FIR filter 2: "FIR 5Hz" 0x2044 0x0 u8 0: "" 0x2045 0x0 u8 CAN 120 1: "" 0x2046 0x0 u8 x /y 2: " " 0x2047 0x0 u8 0: "" 0x2048 0x0 u8 7: "x/y/z" 0x2049 0x0 u8 Veff FIR 5: "10 400 Hz" 0x204A 0x0 u8 Veff / peak 2: "8g" 0x6000 0x0 u16 100d: "0.1 " 28

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