Leuze electronic OMS2/120 CAN, Technical Description, Page: 23 / 44

#Leuze electronic Commissioning / Installation
#Leuze electronic GmbH + Co KG, Postfach 11 11, D-73277 Owen/Teck, In der Braike1, D-73277 Owen/Teck, Tel. ++49 (0)7021/5730, Fax ++49 (0)7021/573199
Date: 01.07.2003 LZ - ELE - BA - GB - 0009 - 00 Page 23 of 42
3.2.4.5 Object 1004h: Number of PDOs supported
This object contains information about the maximum number of PDOs supported by
the laser.
Index Sub-Index Comment Type
1004h 0 number of PDOs supported Unsigned32
1 number of synchronous PDOs Unsigned32
2 number of asynchronous PDOs Unsigned32
Sub-index 0 describes the overall number of PDOs supported (synchronous / asynchronous).
Sub-index 1 describes the number of synchronous PDOs supported by the laser.
Sub-index 2 describes the number of asynchronous PDOs supported by the laser.
Unsigned32, Read
Number of PDOs
Byte 0 Byte 1 Byte 2 Byte 3
Transmitted PDOs Received PDOs
Sub-index 0: Transmitted PDOs = 2, Received PDOs = 0
Sub-index 1: Transmitted PDOs = 1, Received PDOs = 0
Sub-index 2: Transmitted PDOs = 1, Received PDOs = 0
3.2.4.6 Object 1005h: COB-ID SYNC message
This object defines the COB-ID of the synchronisation object ( SYNC). Further, it
defines whether the device processes the SYNC or whether the device generates the
SYNC.
Unsigned32, Read/Write
MSB LSB
31 30 29 28-11 10-0
1 0 0 0 00 1000 0000
Bit 31 = 1 , Device processes SYNC message
Bit 31 = 0 , Device does not generate SYNC message
Bit 30 = 0
Bit 29 = 0 , 11 bit ID (CAN 2.0A)
Bit 28 -11 = 0
Bit 10 - 0 = 11 bit SYNC-COB-IDENTIFIER, default value = 080h
If a SYNC-telegram with the identifier, defined in this object ( 080H ), and data length
= 0 has been received by the device, the position value of the laser is transmitted by
the 2
nd
Transmit PDO (object 1802).
The default value 80 H in byte 0 (bit 0 -7) can be overwritten by another value (
≠
0).
The new adjusted value is stored permanently about "Object 1010h: Store
Parameters".