Device Description HG G-71912-A | English, Revision 03 | Date: 28.03.2018
21
Components and Operation – Chapter 5
5.3.2.1.3 System Monitor
In monitor mode the system is configurable via a menu. Please refer to chapter 6.2 „System
5.3.2.2 Positioning Pulse (all Variants)
The digital positioning output indicates the crossing of the center line of the antenna in di-
rection of travel (X direction). Its duration is adjustable within a millisecond pattern. In addi-
tion it can be limited to one pulse per crossing.
5.3.2.3 CANopen® (Version HG G-71912ZA/XA)
The interpreter HG 71912-A has a CAN interface with CANopen
®
protocol (DS 401).
The measured values of the system (transponder code and status) are transmitted via a so-
called TPDO. The parametrization of all relevant parameters (including Node ID and CAN
transmission rate) is realized over the SDO or the serial monitor. The CAN identifiers derive
from the node address (1..127).
Description Of The Process Data Object (PDO)
Fix places are allocated in the PDO, a dynamic mapping is not designated.
The TPDO with the identifier 0x180 + node address is sent.
The PDO operational mode can be set to cyclical, synchronous or asynchronous mode. In
order to avoid a bus load being too high due to constant changes during asynchronous
mode with non-cyclical transmission (Event time = 0), the so-called Inhibit time can be set
in the CAN menu of the serial monitor. A PDO can also be transmitted cyclically, therefor the
event time has to be chosen correspondingly and 0 has to be chosen for inhibit time.
A TPDO can be activated permanently by choosing in the synchronous mode (255) inhibit
time = 0, event_time = 0 and saving of the parameters.
Additionally the it can be (de)activated temporary by setting/deleting the highest bit in the
corresponding PDO-COB identifier [1800,01].
The TPDO contains 6 bytes consisting of a 32 bit transponder code and a 16 bit status,
which corresponds to the status shown on the serial monitor. The meaning of the data bits
is shown in the following table:
The meaning of the status bits is explained in Tabelle 7, “Possible system notes / error mes-
sages,” auf Seite 19. The following bit is new:
The synchronous identifier is 0x80. It can be read under index [1005,00], but it cannot be
changed.
Channel
Number
representation
Value range (Hex)
Meaning
Code
Unsigned 32
00000000..0xffffffff
Code bits 0..31
Status
Unsigned 16
0000..0xffff
Status bits 0..15
Table 9
Table of number representation
Values
Name
Meaning
0x0080
TOGGELBIT
Toggles after each TPDO output
Table 10
Additional bit "Error messages"
