Data Interface CANopen®
English, Revision 06, Date: 12.07.2011
49
0x0008
INVTRACK_1
Evaluation dark track on light ground (Parameter set 1)
0x0010
HOLD_ANA_OUT
See menu (O)utput-Input settings in section 4.4 on page 26
—> (H)old analogue value
0x0020
PARALLEL_IN
Activation of the parallel inputs
0x0040
TURN_RIGHT **)
0x0080
TURN_LEFT **)
0x0100
SER_CAN
Serial/CAN activation. Can only be changed in the monitor.
0x0200
HILO
Byte sequence for 16 bit variable in TxPDO_1: „High Byte first“
0x0400
EDGE
A track will also be evaluated, if it touches picture edges on the
left or right, as long as the covariance maximum does not fall
below the threshold value. The bits TURN_RIGHT and
TURN_LEFT have to be the same.
0x0800
CODE_OUT
-
if set: code output on OUT_1...OUT_4
-
if deleted: distance threshold output on OUT_1..OUT_4
0x1000
PARASET
Selection of the parameter set for every camera
see Table 4 on page 18
0x2000
INVTRACK_2
From parameter set no. 2:
Evaluation dark track on light ground
0x4000
INVTRACK_3
From parameter set no. 3:
Evaluation dark track on light ground
0x8000
INVTRACK_4
From parameter set no. 4:
Evaluation dark track on light ground
*) Once any of these parameters have been changed, they have to be saved via the function <save all>
and afterwards a Node Reset has to be carried out. In this case camera selection and turning informa-
tion are also permanently saved. However, these values can also be dynamically altered.
**) influences the system only if parallel inputs are disabled
Bit Values
Name
Description (if set)
Table 31
CANopen® Directory: Codes for System Configuration (delivered in
PDO_1) (part 2 of 2)
Turn
left
Turn
right
Value in con-
fig. word
Description
0
0
0x..0.
No release of the analog output
0
1
0x..4.
Turn right
1
0
0x..8.
Turn left
1
1
0x..C.
Straight on
Table 30
Coding of the turning orders