Siko IK360, User Manual, Page: 16 / 41

IK360 -CAN
x
Date: 23.01.2017 Page 16 of 41 Art.no. 86089 Mod. Status 10/17
Transfer
Value
(Dec)
Transmission Mode
Notes
Cyclic Acyclic
Synchr-
onous
Asynchr-
onous
RTR
Only
254 X
Send PDO on event (event-
timer is expired)
255 X
Send PDO on Event
(position value has
changed)
Inhibit Time
The "inhibit time" for PDO transmissions can be entered in this 16 bit field. If data is changed,
the PDO sender checks whether an "inhibit time" has expired since the last transmission. A new
PDO transmission can only take place, if the "inhibit time" has expired. The "inhibit time" is
useful for asynchronous transmission (transmission mode 254 and 255), to avoid overloads on
the CAN bus.
Event Timer
The "event timer" only works in asynchronous transmission mode (transmission mode 254 and
255). If the data changes before the "event timer" expires, a temporary telegram is sent. If a
value >0 is written in this 16-bit field, the transmit PDO is always sent after the "event timer"
expires. The value is written in sub index 5 of the object 1800 or 1801. The data transfer also
takes place with no change to data. The range is between 1-65536 ms.
Cyclic Timer
The cyclic timer is useful to set the position transmission to cyclic mode. The cyclic timer can be
programmed from 0 ms to 65536 ms. When enabled, the IK360 transmits the position value
contained in the PDO at constant prescribed intervals, even if there is no change in the position
value. Object 2200h is used to set the cyclic timer value.
Object 1A00h: 1st Transmit PDO Mapping parameter
This object contains the mapping parameter of the 1st transmit PDO.
Subindex * Description Data Type Default Value Access
Restore after
BootUp
0
Number of sub
indices
Unsigned 8
80° (IK360-2 axis)
360° (IK3601 axis)
ro yes
1 Mapped object Unsigned 32 6010 00 10 rw yes
2 Mapped object Unsigned 32 6020 00 10 rw yes
Object 1A01h: 2nd Transmit PDO Mapping parameter
This object contains the mapping parameter of the 2nd transmit PDO.
Subindex * Description Data Type Default Value Access
Restore after
BootUp
0
Number of sub
indices
Unsigned 8
80° (IK360-2 axis)
360° (IK360-1 axis)
ro yes
1 Mapped object Unsigned 32 6010 00 10 rw yes
2 Mapped object Unsigned 32 6020 00 10 rw Yes