DESIGNER’S HANDBOOK 4189350049C EN
Page 18 of 206
Example:
The DEIF RTC 600 CAN angle transmitter with the default NodeID=1 is used as angle transmitter for an XDi
azimuth indicator.
The azimuth angle b/-180deg. is transmitted as a signed 16 bit value located in TPDO 1, byte 0 and 1
(TPDO1 for NodeID=1 has COB-
ID: 0x180+”RTC600 NodeID”).
The selected VI-setup profile VS 01, for this azimuth indicator, is pre-set to read TPDO1 from node 1.
The relative angle value received as a figure in the range +/-32767 is predefined to be scaled to an absolute value
b/-1800, equal to 180.0 deg. This value is stored in the Object index table where the VI reads the value for
presentation on both the round azimuth indicator and in the digital readout.
Data received in a TPDO/RPDO can be either absolute data with a predefined resolution (for example 1800 @
resolution 0.1, equal to 180.0deg.) or data can be relative like in the example above.
3.3.1.1 Synchronisation of adjustments
All XDi units on the same CAN bus have access to read a given TPDO or RPDO.
In case data received in a TPDO needs a correction, for example a zero alignment, this is performed via the
installation menu in one XDi on the bus. If this adjustment must apply to all XDi units on the bus using exactly this
TPDO, simply press
“Yes” to accept synchronisation in the pop-up menu, presented when you leave the installation
menu. This will activate a broadcast of changes to relevant XDi units on the CAN bus.
Note: Synchronisation via XDi-net must be set ON in the PP (or via menu) for this to work.
3.3.1.2 Self-starting devices
If there is no CAN master in the system to start a transmitting device, then the device should be set up as a self-
starting device. Alternatively, the XDi can be set up to act as a master, in this case by sending a CAN start
command to force passive sensors to start transmitting. Normally, this function is not activated in the product
profile, but it can always be activated via the installation menu.
3.3.2
XDi-net as data input (2)
XDi-net is a predefined way of broadcasting data via CANopen, and it requires no complicated setup or specific
allocation of NodeIDs. Data is broadcasted using RPDO1 in SAM-MPOD mode (Source Address Mode
–
Multiplexed PDO). This means that data is sent directly as a defined data type into the Object index table for the
indicator to use for its presentation.
For XDi-
net to work, “XDi-net variable data ON” must be activated in the PP or manually via the installation menu.
The XDi-net broadcast format is often used to share data between XDi units, for example analogue input data from
an AX1 analogue extension module.
Independent of the default data source for a given virtual indicator, it is always possible to shift the data source to
XDi-net via the installation menu
– “Data adjust”.
The XDi-net broadcast format can also be used to distribute data from a customer CAN controller to all XDi units on
the CAN bus, without any complicated NodeID setup.
More information of the XDi-net broadcast format is found in
the “XDi
-net/CANopen
reference manual”, where
you will also find examples of transmission formats.
It is possible from the installation menu to adjust the TPDO/RPDO settings, for example
adjust the zero point, change max/min values, or change direction (CW/CCW) of the data
received from a rudder angle transmitter. It is also possible to select another TPDO or
RPDO as input.
