Balluff BTL5-H1 M Series, Руководство по настройке, Страница: 51 / 62

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Node configuration (cont.)
PDO mapping examples
PDO with position of 1st and 2nd magnet 1.
COB-ID Action Index Sub-
index
Data Meaning
Request 600h + node ID 2F 00 1A 00 00 XX XX XX Set number of elements to 0 (1 byte)
Response 580h + node ID 60 00 1A 00 XX XX XX XX Confirm number of elements
Request 600h + node ID 23 00 1A 01 20 01 20 60 Write 1st object = 1st position (4 bytes)
Response 580h + node ID 60 00 1A 01 XX XX XX XX Confirm 1st object
Request 600h + node ID 23 00 1A 02 20 02 20 60 Write 2nd object = 2nd position (4 bytes)
Response 580h + node ID 60 00 1A 02 XX XX XX XX Confirm 2nd object
Request 600h + node ID 2F 00 1A 00 02 XX XX XX Set number of elements to 2 (1 byte)
Response 580h + node ID 60 00 1A 00 XX XX XX XX Confirm number of elements
PDO mapping (configuration example 1) Tab. 7-5:
PDO with velocity and cam status of 1st and 2nd magnet 2.
COB-ID Action Index Sub-
index
Data Meaning
Request 600h + node ID 2F 01 1A 00 00 XX XX XX Set number of elements to 0 (1 byte)
Response 580h + node ID 60 01 1A 00 XX XX XX XX Confirm number of elements
Request 600h + node ID 23 01 1A 01 10 01 30 60 Write 1st object = 1st velocity (4 bytes)
Response 580h + node ID 60 01 1A 01 XX XX XX XX Confirm 1st object
Request 600h + node ID 23 01 1A 02 10 02 30 60 Write 2nd object = 2nd velocity (4 bytes)
Response 580h + node ID 60 01 1A 02 XX XX XX XX Confirm 2nd object
Request 600h + node ID 23 01 1A 03 08 01 00 63 Write 3rd object = 1st cam status (4 bytes)
Response 580h + node ID 60 01 1A 03 XX XX XX XX Confirm 3rd object
Request 600h + node ID 23 01 1A 04 08 02 00 63 Write 4th object = 2nd cam status (4 bytes)
Response 580h + node ID 60 01 1A 04 XX XX XX XX Confirm 4th object
Request 600h + node ID 2F 01 1A 00 04 XX XX XX Set number of elements to 4 (1 byte)
Response 580h + node ID 60 01 1A 00 XX XX XX XX Confirm number of elements
PDO mapping (configuration example 2) Tab. 7-6:
Saving the new settings
COB-ID Action Index Sub-
index
Data Meaning
Request 600h + node ID 23 10 10 01 73 61 76 65 Write 'save' (4 bytes)
Response 580h + node ID 60 10 10 01 XX XX XX XX Confirm 'save'
Saving the settings (configuration example) Tab. 7-7:
BTL5-H1...
Configuration and CAN linking - DS 406