DIS Sensors QG65D, User Manual

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Page 24 of 50
User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3
CAN objects CAN-ID
NMT 000
h
SYNC 080
h
Emergency 080
h
+ Node ID
TPDO1 180
h
+ Node ID
TPDO2 280
h
+ Node ID
SDO tx (server -> client) 580
h
+ Node ID
SDO rx (client -> server) 600
h
+ Node ID
Heartbeat 700
h
+ Node ID
Table 13 – Predefined CAN-ID of common objects.
7.3. PDO (Reading sensor output)
The Process Data Object (PDO) is used to process real time data. The measured values such as inclination,
temperature, etc. are sent with TPDOs. PDOs are transmitted in the NMT operational state only and may be
transmitted when a mapped process data item changes.
A DIS device supports 2 TPDOs. In factory default mode, TPDO1 sends the sensor output, TPDO2 is disabled. The
communication parameters of TPDOs can be configured with
object 1800
h
and 1801
h
. The data transmitted with
TPDOs can be configured with TPDO mapping parameters object 1A00
h
and 1A01
h
.
7.4. SDO (configuring Object Dictionary)
The Service Data Object (SDO) is used to set and request values from the object dictionary. There are three types of
SDO services used to transmit data. In this context, the device is considered as a server (owner of the object
dictionary) and communication is viewed from the server.
SDO Services Description SDO Request
(600
h
+ Node ID)
SDO Response
(580
h
+ Node ID)
SDO upload Read from device
Server -> Client 40
h
= Expedited Read 43
h
= Read reply 4 bytes
47
h
= Read reply 4 bytes
4B
h
= Read reply 4 bytes
4F
h
= Read reply 4 bytes
SDO download Write to device
Client -> Server 23
h
= Expedited Write, 4 Bytes
27
h
= Expedited Write, 3 Bytes
2B
h
= Expedited Write, 2 Bytes
2F
h
= Expedited Write, 1 Byte
60
h
= Write Reply
SDO abort transfer Indicates error 80
h
= Error/Abort code
Table 14 - Expedited SDO transfer command specifier
Common SDOs to configure sensors and SDO abort codes can be found in the knowledge base .