Table 35: Mappable objects
Index
Subindex
Size
Description
Format
0x3100
1
16
Euler angle: pitch
signed, 0.01°/bit
0x3100
2
16
Euler angle: roll
signed, 0.01°/bit
0x3101
1
16
Quaternion: w
signed, 1/30000 / bit
0x3101
2
16
Quaternion: x
signed, 1/30000 / bit
0x3101
3
16
Quaternion: y
signed, 1/30000 / bit
0x3101
4
16
Quaternion: z
signed, 1/30000 / bit
0x3102
1
16
Acceleration, x-axis
signed, 1/4096g / bit
0x3102
2
16
Acceleration, y-axis
signed, 1/4096g / bit
0x3102
3
16
Acceleration, z-axis
signed, 1/4096g / bit
0x3103
1
16
Yaw rate, x-axis
signed, 7/800°/s /
bit
0x3103
2
16
Yaw rate, y-axis
signed, 7/800°/s /
bit
0x3103
3
16
Yaw rate, z-axis
signed, 7/800°/s /
bit
0x6010
0
16
Slope long16
signed, 0.01°/bit
0x6020
0
16
Slope lateral16
signed, 0.01°/bit
0x6511
0
8
Temperature
signed, 1K/bit
9.6.2
PDO data transmission
The PDOs can be transmitted cyclically or acyclically. This is determined by the Transmit
PDO and the transmission type defined in its subindex 02.
Synchronized data transmission
In synchronized data transmission, the process data is transmitted with the SYNC mes‐
sages. The cycle is formed from a multiple of the SYNC messages. The factor can be
between 1 and 240.
Cyclic data transmission
In cyclic data transmission, the inclination sensor sends the PDO at defined intervals.
The associated period duration is configured in object 1800.05h.
Acyclic data transmission
For acyclic data transmission, the inclination sensor is triggered by one of the following
criteria:
•
Application-specific / device-specific triggering
The sending of the PDO is triggered by an event. This event is defined in object
3001h (TPDO 1 only).
•
On request (RTR telegram)
In this case, another bus node (usually the master) requests the process data.
NOTE
For the inclination sensor to output the PDO cyclically or acyclically, the transmission
type must be changed in the Transmit PDO in object 1800.02h (
Transmission type (1800h/1801h)", page 35
).
CANOPEN INTERFACE
9
OPERATING INSTRUCTIONS
| TMS/TMM88, TMS/TMM61
31
8019054/14IT/2019-06-27
| SICK
Subject to change without notice
