Device Description HG G-19603ZA | English, Revision 03 | Date: 31.03.2021
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Chapter 8 – CANopen® Interface
8
CANopen® Interface
The Node-ID and the transmission rate have to be configured with the service pro
-
gram as described in section 6.4.3 on page 28.
The measurements of the system are transmitted via the so-called TxPDO. The de
-
vice is configured via SDOs. The CAN identifiers are derived from the node address
(1 to 127).
8.1 Description of the Process Data Objects (PDOs)
8.1.1 Transmission Objects
The measured values are transmitted at fixed positions inside the PDOs, a dynamic
mapping is not implemented. The PDO operational mode can be set to cyclical, syn
-
chronous or asynchronous mode. In order to avoid a bus load being too high due to
constant changes during asynchronous mode with non-cyclical transmission (Event
time = 0), the so-called Inhibit time can be set in the settings menu of the service
program (see 6.4.3 on page 28). A PDO can also be transmitted cyclically, therefore
the event time has to be chosen correspondingly and 0 has to be chosen for inhibit
time.
A TPDO can be activated permanently by choosing in the synchronous mode (255)
inhibit time = 0, event_time = 0 and saving of the parameters. Additionally it can be
(de)activated temporarily by setting/deleting the highest bit in the corresponding
PDO-COB identifier, e.g. [1800,01] or [1801,01].
PDO_1 is sent with Identifier Node address. It contains 8 Bytes.
Table 14
CANopen®: Structure of the CAN transmitter box
Byte
Data
Format
1
Lowbyte OutputX
16 bit signed integer
2
Highbyte OutputX
3
Lowbyte OutputZ
16 bit signed integer
4
Highbyte OutputZ
5
System status, see Table 15 below
6
–
7
–
8
Cycle counter
Table 15
CANopen®: Structure of the system status (part 1 of 2)
Status Bit
Description
1
Track Detect
2
Track Left
3
Track Right
4
Error Clip
5
Error System
