Leuze electronic OMS2/120 CAN, Technical Description, Page: 35 / 44

#Leuze electronic Transmitting of the laser position value
#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 35 of 42
6 Transmitting of the laser position value
Before the laser position can be transferred the laser has to be started with the Node
Start command.
Node Start Protocol
COB-Identifier = 0
Byte 0 Byte 1
1 Node-ID
Node Start command with the Node-ID of the laser (slave) starts only this device.
Node Start command with
Node-ID = 0 starts all slaves connected to the bus.
After the Node Start command the laser transmit the position value one time with the
COB-ID of object 1800h.
Now the laser position value can be transmitted in different ways:
Asynchronous Transmission
The 1
st
transmit PDO (object 1800h) transmit the position value of the laser. The cyclic
time is defined by the value of the cyclic timer (object 6200H). This transmission starts
automatically after the Node Start command and the value of the cyclic timer is > 0.
The default value of the COB-ID is 180h + Node-ID.
Cyclic Transmission
The 2
nd
transmit PDO (object 1802) transmit the position value of the laser on request
(remote / sync).
The laser receives a remote frame with the COB-ID (default value 280h + Node-ID)
The laser receives a sync telegram with the COB-ID (default value 080h) defined in
object 1005h. All slaves with the this SYNC-COB-ID will transmit the position value.
To stop the transmission of the laser position the laser has to be stopped with the
Node Stop command.
Node Stop Protocol
COB-Identifier = 0
Byte 0 Byte 1
2 Node-ID
Node Stop command with the Node-ID of the laser (slave) stop only this device.
Node Stop command with
Node-ID = 0 stop all slaves connected to the bus.