SICK GLS100, Operating Instructions Manual

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Table 8: PDO3
Byte 7 6 5 4 3 2 1 0
Value Y-Velocity X-Velocity Tag-Id
Table 9: Status bits
Status Bit 15 14 - 4 3 2 1 0
Value Device sta‐
tus:
0 = ok
1 = ERROR Reserved x/y-velocity
valid
1 - Velocity
is valid
0 - Invalid
(not com‐
putable) Tag Id rec‐
ognized
1 = Valid
0 = Invalid
(unknown
format) Code read
1 = Suc‐
cess
0 = Error Code
detected
1 = Suc‐
cess
0 = Error
NOTE
Parameter changes to the PDO mapping objects are only made in Pre-operational status.
1 First, set bit 31 to 1 in corresponding object 180xh in subindex 01h.
2 Set subindex 00h to 0 in object 1A0xh.
3 Configure the objects to be mapped in subindexes 01h to n of object 1A0xh.
4 Set subindex 00h of object 1A0xh to the number of mapped objects.
5 Then set bit 31 back to 0 in corresponding object 180xh in subindex 01h.
8.1.3 Transmission types
The transmission type of the respective TPDO can be set in index 0x1800 to 0x1803.
This index comprises the following subindexes:
Table 10: Subindexes
Subin‐
dex Name Permissible
values Description
1 COB-ID - The COB ID is automatically adjusted to the
note ID and should not be amended by the
user.
2 Transmission type 0 - 255 The transmission type is set here.
3 Inhibition Time 0 - 65,535 The inhibition time (send delay time) specifies
in ms the minimum waiting time between the
sending of two identical Transmit PDOs. It
always has higher priority than the event timer,
the CoS events and triggering with SYNC mes‐
sages.
If, for example, the event timer is set to
100 ms and the inhibition time to 1 s, the
respective PDO is only sent every second.
4 Compatibility entry - Not used
5 Event timer 0 ... 65,535 The event timer sets the time between two
transmissions from the TPDO in [ms]. The
value 0 results in data being sent at the inter‐
nal sensor update rate (33 ms for Data Matrix
MultiCode, 40 ms for QR Code). The recom‐
mended minimum value is 50 ms.
NOTE
Some bus module manufacturers do not support use of inhibition time. We recommend
using synchronous communication if you want to control the bus load.
OPERATION
8
8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 35
Subject to change without notice