Jetter AG
Programming | 7
JXM-HMI User Manual
15 / 22
7.4.3 TXPDO1
TXPDO1 is sent each time the encoder values change, but not more than once
per 100 ms. Encoder values are values of a free-running counter. With a positive
overflow the value changes to 0x0, with a negative overflow to 0xffff. Dynamiza-
tion can take place in the controller.
Byte 0/1
Byte 2/3
Byte 4/5
Byte 6
Uint16_t
Encoder 1 value
Uint16_t
Encoder 2 value
Uint16_t
Encoder 3 value
Encoder return:
Bit 0 = Encoder 1
Bit 1 = Encoder 2
Bit 2 = Encoder 3
Tab. 14:
TXPDO1
7.4.4 RXPDO1
Telegrams sent to the JXM-HMI in OPERATIONAL mode:
Description
Byte 0
Byte 1
Byte 2
Byte 3/4 Byte 5
Byte 6/7
Key illumination/
LED control
(cyclic transmis-
sion)
1
Key illumi-
nation
0 … 100
%
Tab. 15:
RXPDO1
7.4.5 SDO communication
According to CANopen
®
the following indices can be queried:
Index
Subindex Description
Typ
e
Dir
Default value
0x1000 0
Device type
U32 R
0x1001 0
Error register:
Bit 0: Generic error
Bit 3: Temperature
Bit 4: Communication error
U32 R
0x1008 0
Device Name
STR R
0x1009 0
Hardware revision of device STR R
0x100A 0
Software version of device
STR R
0x1018 0
Number of supported en-
tries
U8
R
1
Distributor ID
U32 R
0x000000B3
(Jetter's distributor
ID)
2
Product code
U32 R
3
Revision number
U32 R
4
Serial number
U32 R
Tab. 16:
SDO communication
