Table 40: Transmit PDO - Transmission type (1800.02h/1801.02h)
Transmit PDO - Transmission type (1800.02h/1801.02h)
Transmis‐
sion type
Description
1...240
Synchronous (cyclic)
Transmission after every 1...240th receipt of the SYNC object
Only synchronized transmission with SYNC possible
253
Transmission exclusively with RTR
254
Asynchronous, manufacturer-specific
Cyclic sending and/or sending when angle changes can be activated by means of
corresponding configuration.
9.7.2
Manufacturer-specific part
Table 41: Manufacturer-specific part of the object directory
Index
Subind
ex
Parameter
Data
type
Access Default
value
Storage
2002h
0
Automatic busoff recovery
BOOL
rw
0
x
3000h Digital filter settings
0
Highest subindex supported
UNS16
ro
2
1
Filter type (0=off, 1=Butterworth,
2=critically damped)
UNS16
rw
2
x
2
Digital filter limit frequency
(100...25000/8000, in mHz)
UNS16
rw
2000
x
3001h Transmit PDO 1, send when angle changes, types TMS88/TMS61
0
Highest subindex supported
UNS16
ro
2
1
Activate/deactivate send when angle
changes (1/0)
UNS16
rw
0
x
2
Minimum change in angle for axial
axis (in °/100)
UNS16
rw
100
x
3001h Transmit PDO 1, send when angle changes, types TMM88/TMM61
0
Highest subindex supported
UNS16
ro
3
1
Activate/deactivate send when angle
changes (1/0)
UNS16
rw
0
x
2
Minimum change in angle for longitu‐
dinal (X) axis (in °/100)
UNS16
rw
100
x
3
Minimum change in angle for lateral
(Y) axis (in °/100)
UNS16
rw
100
x
3002h Sensor fusion configuration (TMS/TMM88D only)
0
Highest subindex supported
UNS8
ro
2
1
Activate/deactivate sensor fusion
(1/0)
UNS8
rw
1
x
2
Maximum interference suppression
time (in ms)
UNS16
rw
5000
x
3
Activate/deactivate dynamic gyro off‐
set correction (1/0)
UNS8
rw
1
x
4
Perform gyro offset correction.
Writing 1 performs the offset correc‐
tion and permanently saves the cal‐
culated values. The process takes
approx. 2 s.
UNS8
wo
-
9
CANOPEN INTERFACE
36
OPERATING INSTRUCTIONS
| TMS/TMM88, TMS/TMM61
8019054/14IT/2019-06-27
| SICK
Subject to change without notice
