SICK OLS10, Operating Instructions Manual

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8.3.2 PDOs
The OLS10 has two TPDOs (TPDO01 and TPDO02) with fixed mapping and no RPDO.
TPDO1 can be accessed under the index node ID, TPDO02 under 0x280 +
node ID. In its default state (node ID 0x0A), the index for TPDO1 is 0x018A.
The TPDO1 is structured as follows:
Table 11: CANopen PDO01
Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8
TPDO1 LSB
LCP1 MSB
LCP1 LSB
LCP2 MSB
LCP2 LSB
LCP3 MSB
LCP3 Status Bar code
Table 12: Byte 7 status
Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7
Status #LCP bit
0 #LCP bit
1 #LCP bit
2 x Device
status x Code
flipped Code
valid
Table 13: TPDO2
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
TPDO2 LSB
Width
line 1 MSP
Width
line 1 LSB
Width
line 2 MSP
Width
line 2 LSB
Width
line 3 MSP
Width
line 3 x x
#LCP UINT3 The numbers are assigned the following meanings:
0 => No track found
2 => One track found
3 => Two tracks found: Diverter on minus side (fac‐
tory setting)
6 => Two tracks found: Diverter on plus side (fac‐
tory setting)
7 => Three tracks found
Device status Bool 0 => Sensor ok
1 => Sensor not OK, see 0x2018
Code flipped Bool 0 => Code was read from the minus to the plus side
of the sensor
1 => Code was read from the plus to the minus side
of the sensor
Code valid Bool 0 => No code read
1 => Valid code has been read
Table 14: Byte 8 bar code
Bit 0-7
Bar code Code 0 ... 255
8.3.3 Transmission types
The transmission type of the respective TPDO can be set in index 0x1800 or 0x1801.
This index comprises the following subindexes:
Table 15: Subindexes
Subind
ex 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 0xFE, 0xFF The transmission type is set here. The MLS
only supports event-driven transmission.
8
OPERATION
30 O P E R A T I N G I N S T R U C T I O N S | OLS10 8022017.10HG/2018-07-18 | SICK
Subject to change without notice