LEMCOM CANopen®
– User manual
Detailed
description of CANopen objects
COVAL
– LMCOP-EN-A-1155UM0068
24/49
12
DETAILED DESCRIPTION OF CANOPEN OBJECTS
12.1
2000h – Vacuum/Blowing commands
The vacuum and blowing solenoid valves are controlled using the following SDO command:
Client (master)
server (LEMCOM)
CAN-ID
(600h+ID)
620h
Command
23h
Object L
00h
Object H
20h
Subindex
00h
Byte 0
00h
Byte 1
00h
Byte 2
00h
Byte 3
04h
Above example: Vacuum control on module present at address #2.
The 4 data bytes (Byte 0, Byte 1, Byte 2, Byte 3) are used to individually activate the vacuum and
blowing solenoid valves on the 1 to 15 module(s) of an island.
Structure of data
Note
: Bit set to 1
vacuum or blowing
active
on relevant module
Bit set to 0
vacuum or blowing
inactive
on relevant module
Byte 3: Vacuum control on modules at addresses 0 to 7 (0 = master, 1 to 7 = secondaries)
Byte 3
X
X
X
X
X
X
X
X
7
6
5
4
3
2
1
0
Byte 2: Vacuum control on modules at addresses 8 to 15 (secondary modules)
Byte 2
X
X
X
X
X
X
X
X
15
14
13
12
11
10
9
8
Byte 1: Blowing control on modules at addresses 0 to 7 (0 = master, 1 to 7 = secondaries)
Byte 1
X
X
X
X
X
X
X
X
7
6
5
4
3
2
1
0
Byte 0: Blowing control on modules at addresses 8 to 15 (secondary modules)
Byte 0
X
X
X
X
X
X
X
X
15
14
13
12
11
10
9
8
Example
Vacuum control on modules #0, #1 and #2 + blowing control on modules #3 and #4:
Byte 0
Byte 1
Byte 2
Byte 3
0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1
00h
18h
00h
07h
PDO OBJECT
The vacuum and the blowing can also be controlled using the RX PDO1 in which object
2000h is mapped.