Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021
46
Chapter 9 – Interfaces
PDO_3 is transmitted with identifier 0x380 + node address. It consists of the follow
-
ing 8 bytes.
The synchronous identifier is 0x80. You can read this parameter under index
[1005,00], but you cannot change it.
9.5.2 Heartbeat
The device supports the heartbeat mode. If you set a heartbeat time > 0 in the CAN
menu, the device state is sent under the identifier 0x700 + node address with each
expiration of the heartbeat timer. The guard time is then set to 0.
9.5.3 Node-Guarding
If a heartbeat time equal to 0 is entered, the device responds to a remote transmis
-
sion request of the identifier (0x700 + node address) with the device status (see Ta
ble 24) where the most significant bit changes. The device does not monitor the reg
-
ular input of RTR frames.
9.5.4 Description of Service Data-Objects (SDOs)
The service data object is used for accesses to the object directory. An SDO is trans
-
mitted acknowledged, i.e. each receipt of a message is acknowledged. The identifi
-
ers for read and write access are:
Table 23
Variablen in PDO_3
Value
Variable
Value range
Comment
Sum Voltage unsigned 16 0 … 1023
Voltage of reference coil
Dif Voltage
signed 16
0 … ±1023
Voltage of the positioning coil
Codes read
unsigned 8
0 … 255
Number of code readings
Voltage
unsigned 8
0 … 255
The voltage applied to the antenna
Operating voltage [100 mV].
Current
unsigned 8
0 … 255
Antenna current consumption
[10 mA]
Temperature signed 8
-23 … 61
Temperature measured in the
antenna [
o
C]
Table 24
Codes of the Heartbeat mode
Device status
Code
stopped
0x04
preoperational
0x7f
operational
0x05
Table 25
Identifier for read and write access
Access mode
Identifier
Read access
0x600 + Node-Address
Write access
0x580 + Node-Address
