Inclination sensor JN
8
The master or network manager can request the sensor via NMT messages to
change the state accordingly. This allows almost complete separation of redundant
or faulty sensors from the bus.
7.3 NMT start-up (OD index 1F80h)
The sensor has a selectable start performance. The following three options can be
selected under the index 1F80h:
7.3.1 Slave Only (default) (OD index 1F80h = 0)
The sensor starts in the pre-operational state (0x00h).
7.3.2 NMT start command (OD index 1F80h = 2)
This command is used for CAN bus networks without NMT master. If the sub-
index 0x02h is selected, the sensor starts after a new start as NMT master in the
operational state and sets the other network participants from the pre-operational
into the operational state.
7.3.3 Autostart (OD index 1F80h = 8)
If the value 0x08h of this index is written, the sensor automatically boots in the
operational state when rebooted.
7.4 Communication types of process data object (PDO)
The request for process data objects is made by sending a remote transmit
request telegram (RTR).
The different transmit PDOs (TPDOx) can be polled in all operating modes of the
inclination sensor individually and at any time.
7.4.1 Cyclical operating mode
The cyclical transmission of a TPDO is activated when the interval time (e.g.
OD index 1800h/05h for TPDO0) contains a value greater than 0. The type of
transmission (e.g. OV index 1800h/02h for TPDO0) has to be set to "asynchronous
– manufacturer-specific“ (value = FEh). In the "operational" state the inclination
sensor then cyclically transmits the TPDO0 with the set interval time.
7.4.2 Synchronised transmission after reception of a SYNC telegram
For the synchronised transmission CANopen provides the SYNC object at which
the TPDOs are transmitted after every "nth" reception of a SYNC telegram.
Each inclination sensor has several transmit process data objects (TPDO0). The
TPDO1 contains the current inclination values (longitudinal and lateral) as 16-bit
values.
Byte 0
Byte 1
Byte 2
Byte 3