LDU 179.1 Technical Manual rev. 1.10 - February 2019 Page 12 of 45
6.2 The PDOs
The Weight and status is sent using TPDO1. One TPDO1 is sent each time a new measurement is ready. The
high measuring rate of the LDU 179.1 will result in approx. 1200 TPDO1’s per second. If the system can’t
handle so many messages the update rate can be reduced
– see the UR command.
The TPDO2 is sent when an average measurement is ready. The TPDO2 has the same format as TPDO1.
The TPDO3 is sent when the tare changes. It has the same format as TPDO1.
The format of the TPDO1, TPDO2 and TPDO3 is:
32 bit
16 Bit
8 bits
8 Bit
Weight
Status
0
0
The first field is a single precision float value carrying weight information, gross or net value if it is a TDPO1,
average weight if it is a TPDO2 and tare value if it is a TPDO3.
Then status follows as a 16 bit field with the following values defined:
$0001 - Under range,
$0002 - Over range,
$0008 - Center zero,
$0010 - No motion,
$0020 - Tare set,
$0080
– ADC Error,
$0100 - Set-point 0 (source>limit),
$0200 - Set-point 1,
TPDO1
Weight values are available at all times
The following table shows the information of TPDO1:
32 bit 16 bit 8 bit 8 bit
Weight
Module Status 0
0
Default: Net weight.
Refresh time: Controlled by the setup of command UR.
Format: Floating point single precision (IEEE 754)
TPDO2
Average weight GA is available and refreshes when a new measurement is ready.
TPDO3
Tare weight GT is available and refreshes when a new tare value is set.
RPDO1
The following commands can be executed direct:
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
SG
SN
ST
RT
SZ
RZ
128
64
08
04
02
01
Examples:
- Setting tare: Transmit RPDO1 [08]
- Setting gross weight in TPDO1: Transmit RPDO1 [128]
