Components and Operation
English, Revision 09, Date: 13.12.2016
26
The programming is started by sending 0008
16
in the command bytes of CAN Mes-
sage Object 4. The code to be programmed has to be sent in the 4 parameter bytes.
All those bytes should be reset after 8 to 100 ms.
The one-time programming process takes 100 to max. 200 ms. Afterwards the new
code can be read immediately via the corresponding Message Object.
If the programming process fails it is to be repeated. A new programming is only trig-
gered whenever the command byte is switched from 0000
16
to 0008
16
.
4.2.3.4
Data Interface CANopen
®
The node ID and the transmission rate have to be selected either according to the
above described serial monitor or the corresponding SDOs. The measured values of
the system are transmitted via so-called TxPDOs. SDOs are used for parameter set-
ting. The CAN identifiers are derived from the node address (1..127).
4.2.3.4.1
Description of the Process Data Objects (PDO)
Fixed places are allocated within the PDO for the measured values. Dynamical map-
ping is not possible. It is possible to operate the PDO mode either cyclic, synchronous
or asynchronous. In order to avoid excessive bus usage due to frequent changes
during asynchronous non-cyclic transmission (Event-Time = 0), it is possible to set the
so-called
Inhibit time
within the CAN menu of the serial monitor. It is, however,
possible to transmit a PDO cyclically. In this case, it is necessary to select the Event
Time accordingly and also set the Inhibit Time = 0.
It is possible to permanently deactivate a TxPDO by selecting the asynchronous mode
(255) with Inhibt Time = 0, Event time = 0 and storing the parameters. In addition, it is
possible to temporarily deactivate/activate the TxPDO by setting/deleting the highest
ranking bit within the corresponding PDO COB Identifier.
PDO_1 is transmitted with identifier 0x180 + node address. It contains 8 bytes, which
include, amongst others, the status indicated in serial monitor. The transmission se-
quence is status, transponder code and deviation of the transponder position.
Value
Variable
Value range
Comment
Status
unsigned 16
0..0xffff
Status bits according to Table 5 on page 19
Code
unsigned 32
0...ffff.ffff
20 bit transponder code (R/W Transponder)
Deviation
signed 16
0xff83...0x007d
Y-deviation, ±125 mm
In case of an invalid value (e.g. no transponder
detected) = 32767
Table 12
Variables of PDO_1
