Datalogic AMT58 Series, Руководство пользователя

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AMT58x-DN DeviceNET®
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6.3 I/O Messages (Msg group 1)
I/0 messages are used by Lika devices to send the position and the
velocity values. The “Message-ID” shows how the message is
transmitted.
Position:
CAN-ID 4 CAN Data bytes
10 9…6 5…0 Byte 0 Byte 1 Byte 2 Byte 3
0
Msg
ID
Sourc
e ID
2
7
…2
0
2
15
…2
8
2
23
…2
1
6
2
31
…2
24
Low … … High
Position and velocity:
CAN-ID 8 CAN Data bytes
10 9…6 5…0 Position Velocity
0
Msg
ID
Sourc
e ID
B
0
B
1
B
2
B
3
B
4
B
5
B
6
B 7
Lo … … Hi Lo … … Hi
Msg-ID:
1100
2
: Slave's I/O Multicast Poll Response Msg
1101
2
: Slave's I/O Change Of State or Cyclic Msg
1111
2
: Slave's I/O Poll Rsp/COS/Cyclic Ack Msg
Source-ID: device address.
Byte 0 … Byte 3: position value.
Available Slave transmission modes:
2 -
Polled
: Master device sends a polled request and Slave device
replies sending its position value.
If the expected packet rate of polled mode is null (see
05-Inst-09
Expected packet rate ), communication is always active and time-
out status is never triggered; otherwise if the Slave does not
receive any message from the Master within the time set in the
05-Inst-09 Expected packet rate object, then communication is
closed (time-out status).
3 -
Cyclic:
Slave sends an “I/O message” cyclically. The time
between two subsequent transmissions is set in the 05-Inst-09
Expected packet rate object of the cyclic mode (see section
“6.5.3 Class 05h: Connection Object“).
4 -
Change Of State
: Slave sends an “I/O message” every time its
status changes or at every heartbeat rate.
Slave can use one of the afore-mentioned “I/O messages”
transmission modes only if a peer-to-peer (P2P) connection is
arranged with the Master (using an “Explicit Messages Connection”,
see section “6.4..3 Explicit Messages Connection”).