Device Description
English, Revision 03, Date: 11.05.2017
9
The meaning of the status bits is specified as follows:
PDO_2 is sent with identifier 0x280 + node address. It contains exactly seven 8 bit val-
ues in the order SL, DL, SM, DM, SR, DR, status.
2.5.2
Synchronous Identifier
The synchronous identifier to be received is 0x80. It can be read from index [1005,00].
2.5.3
Heartbeat
The device supports the heartbeat mode. If a heartbeat time > 0 is set in the CAN
menu the device status is sent to the identifier 0x700 + node address after the heart-
beat timer expires.
Value
Type
Value range
Function
XL
signed 8
-128 ... +127
Lateral deviation left system [mm]
XM
signed 8
-128 ... +127
Lateral deviation center system [mm]
XR
signed 8
-128 ... +127
Lateral deviation right system [mm]
Status
unsigned 8
0 ... 0xff
Detect signals and error message (s. Table 5
below)
Table 4
CAN: Numerical representation for PDO_1
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Error
System 1
Left
System 1
Right
System 2
Left
System 2
Right
System 3
Left
System 3
Right
Table 5
CAN: Meaning of the status bits
Value
Type
Value range
Function
SL
unsigned 8
0 ... 255
Sum left system
DL
signed 8
-128 ... +127
Difference left system
SM
unsigned 8
0 ... 255
Sum center system
DM
signed 8
-128 ... +127
Difference center system
SR
unsigned 8
0 ... 255
Sum right system
DR
signed 8
-128 ... +127
Difference right system
Status
unsigned 8
0 ... 0xff
Detect signals and error
message
Table 6
CAN: Numerical representation for PDO_2
