Monitor Mode
English, Revision 03, Date: 11.05.2017
24
3.2.2
Commands in the CANopen® Menu
The CAN menu is structured as follows:
Figure 7
Screenshot: CANopen® menu (values exemplary)
In the second line the status of the CAN bus is displayed:
Bus online
changes to
Bus offline
if e.g. the bus is unplugged or switches to the
BUSOFF
state due to the
lack of a terminator. In addition the
CAN open Node
states
stopped
,
preopera-
tional
or
operational
are shown.
In this menu the following keys have a specific function:
-
With
the listed baud rates can be chosen, the function autobaud is not imple-
mented.
-
selects the
TPDO_1
operational mode. Choosing a value between 1 and 240
the synchronous, cyclical mode or with 255 the asynchronous mode can be
picked. The following two entries are only available in the asynchronous mode:
-
is the Inhibit time of
TPDO_1
. In
TPDO_1
the system status and the cal-
culated distances will be transmitted. The inhibit time is the shortest feasi-
ble time interval between two successive transmissions.
-
is the cycle time of the
TPDO_1
transmission. If both values are 0,
TPDO_1
will not be transmitted.
-
With
the operational mode of
TPDO_2
can be chosen. Choosing a value
between 1 and 240 the synchronous, cyclical mode or with 255 the asynchronous
mode can be selected. The following 2 modes are only available in the asynchro-
nous operation mode:
-
is the Inhibit time of
TPDO_2
. In
PDO_2
the six analog antenna voltages
and the system status are transmitted. The inhibit time is the shortest feasi-
ble time interval between two successive transmissions.
