Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
45
Interfaces – Chapter 9
9.5.1 Description of the Process Data Objects (PDO)
The measured values are assigned to fixed positions in the PDO, dynamic mapping
is not supported. You can set the PDO operating mode to cyclic, synchronous or
asynchronous. To avoid a too high bus load by constant changes in the asynchro
-
nous operation mode with non-cyclic transmission (Event-Time = 0), you can set the
so-called Inhibit Time in the CAN menu of the monitor program. The PDO can also
be transmitted cyclically. For this you must select the Event-Time accordingly and
enter 0 for the Inhibit Time.
You can permanently deactivate a TxPDO by selecting the asynchronous operating
mode (255) with Inhibit-Time = 0, Event_time = 0 and saving the parameters. In ad
-
dition, you can temporarily de-/activate a TxPDO by setting or deleting the most sig
-
nificant bit in the associated PDO COB identifier.
PDO_1 is transmitted with identifier 0x180 + node address. It contains 8 bytes,
which include the status from the monitor program. The transmission order is status,
transponder code and deviation in Y-direction.
.
PDO_2 is transmitted with identifier 0x280 + node address. It contains 8 bytes,
which include the status from the serial monitor. The transmission order is status,
transponder code and deviation in X-direction.
Table 21
Variables in PDO_1
Value
Variable
Value range
Comment
Status
unsigned 16 0 … 0xffff
Status bits according to Table 9 on
page 37
Code
unsigned 32 0 … ffff.ffff
20 Bit transponder-Code
(R/W Transponder)
Devia
-
tion
signed 16
0xff83 … 0x007d Y-deviation, ±125 mm
In case of invalid values
(e.g. no transponder found) = 32767
Table 22
Variables in PDO_2
Value
Variable
Value range
Comment
Status
unsigned 16
0 … 0xffff
Status bits according to Table 9 on
page 37
Code
unsigned 32
0 … ffff.ffff
20 Bit transponder-Code (R/W Tran
-
sponder)
Devia
-
tion
signed 16
0xff83 … 0x007d X-deviations, ±125
In case of invalid values
(z. B. no transponder found) = 32767
