Balluff BTL5-H1 M Series, Руководство по настройке, Страница: 40 / 62

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0... ...7 8... ...15 16... ...23 24... ...31 32... ...39 40... ...47 48... ...55
MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB MSB LSB
Low byte Middle byte 1 Middle byte 2 High byte Low byte High byte High byte
Position 1 Velocity 1 Cam status
Typical structure of the PDO1 for a BTL5-H11 Tab. 4-1:
Transmitting data in the PDO
4
16 PDOs with 8 bytes each are available for sending data.
Position, velocity and cam status data are entered by the
user by means of mapping (see Chapter 7.9) into the
8 bytes of the PDO and then sent via the bus.
Data format for position and velocity 4.1
Current transducer data is provided as data type Int.32
(position) and Int.16 (velocity). Coding is acc. to
ICC 754-1985 and can therefore be directly processed by
most compilers and processors without additional
conversions.
Cam status in the PDO 4.2
The status byte is structured as follows:
Bit no. Contents
7 MSB -
6 -
5 -
4 -
3 Cam 4
2 Cam 3
1 Cam 2
0 LSB Cam 1
Structure of the cam status byte Tab. 4-2:
The polarity of the switching point and hysteresis are set
using the SDO service (see Chapter 7.7).
Bits 0 to 3 contain the current switching state of the
respective cam. Depending on the configuration, the active
state of the cam is indicated by a 0 or a 1 (see Fig. 4-1):
0 = Low state
1 = High state
Hysteresis is always added to the current switching point
in the direction of travel (see Fig. 4-2). If no hysteresis is
desired, this value is set to zero.
When data processing starts (first detection of cam status),
the cam for positions between 'lower switching point' and
'upper switching point + hysteresis' is switched to active,
and for positions outside this value range the cam is
switched to inactive. See also Fig. 4-1 and 4-2.
Any change in the cam (active/inactive) leads to a change
to the cam status in the emergency object (see also
Chapter 5).
Lower switching
point
Lower switching
point
Lower switching
point
Lower switching
point
Upper switching
point
Position
Position
Position
Position
Cam active
Cam active
Cam active
Cam active
Cam inactive
Cam inactive
Cam inactive
Cam inactive
Upper switching
point
Upper switching point
out of working range
Upper switching point
out of working range
Fig. 4-1: Possible switching states of cams and switching points
Active range
Hysteresis Hysteresis
Fig. 4-2: Switching point hysteresis
Data format for analog inputs 4.3
Only for BTL5-H1A/.../Z_-...:
The data format for the analog inputs is Integer 16.
BTL5-H1...
Configuration and CAN linking - DS 406