CAN Interface (HG 73350)
English, Revision 03, Date: 20.11.2015
22
NOTE!
Please observe that a CAN Identifier (for CANopen® the combi-
nation of a CAN Identifier and Node Identifier) always has to be
unique!
6.2
Description of the process data objects (PDOs)
6.2.1
Transmission objects
The measured data are allocated to particular places in the PDO, a dynamical map-
ping is not provided. The PDO mode can be set to cyclical, synchronous or a asyn-
chronous. In order to prevent high bus load during the non-cyclical transmission
(asynchronous mode) the inhibit time in the CAN menu can be adjusted using the se-
rial monitor (see 5.1.3 on page 16). This is important as the constant changes may
affect the BUS. A PDO can be transmitted cyclical instead. The corresponding event
time is to be chosen accordingly and the inhibit time has to be set to 0.
A TxPDO can be deactivated permanently by choosing the asynchonous mode (255)
with inhibit time = 0, event time = 0 and saving of the parameters. Additionally, it can
be deactivated/activated temporarily by setting/deleting the highest bit in the corre-
sponding PDO-COB identifier [1800,01] or [1801,1].
6.2.1.1
PDO_1
PDO_1 is sent with the identifier 0x180 + node address. It contains 5 bytes in which
the displayed status on the serial monitor as well as two distance values (left-aligned)
are contained. The order of the transmission is status, X1, X2.
The order of the bytes within a 16bit word can be altered using point
from within the
CAN menu (see 5.1.3 on page 16) or the SDO with the index 0x2002,03 (Node config).
Name
Meaning
Stopped
only network management service can be executed
Pre-Operational
full configuration possible, PDOs are not transmitted
Operational
full configuration possible, PDOs are transmitted
Table 11
CANopen® operation states
Value
Format
Value range
Annotation
Status
unsigned 8
0..0xff
status bits according to Table 13 on page 23
X1
signed 16
-32640…..+32640
-128*255 [mm]…..+128*255 [mm]
X2
signed 16
-32640…..+32640
-128*255 [mm]…..+128*255 [mm]
Table 12
CAN: displayed numbers for PDO_1
