IFM DTM434, Руководство по эксплуатации

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DTM434 DTM435
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9.1.4 Use of 32 bit data types
CANopen defines data types with a maximum size of 64 bits (8 bytes). By means of the data type, the
user data of ID tags is transmitted efficiently via the
CANopen interface. The data type is also used for
the default setting of the device and the EDS file.
However, some controllers can only process data types with a maximum width of 32 bits (4 bytes). In
order to support all types of controllers, the device offers alternative data objects whose data types are
restricted to max. 32 bits. These data objects are marked by the addition “32 bits” in these instructions.
Additionally, an EDS file is supplied for use of the data types that is read by the controller software.
By default, the device uses 64-bit data types (e.g. for the preconfigured PDOs ). The setting must be
adapted to the use of 32-bit data types. The setting can be changed via the controller software, by
reading the corresponding EDS file.
9.1.5 Communication types of the process data object (PDO)
The TPDO can be checked at any time by transmitting a remote transmission request telegram (RTR).
Otherwise the TPDOs are sent automatically as soon as their value changes (event-driven).
As an option, the CANOpen service “ SYNC ” can be used (see CiA 301, 7.2.5 Synchronization object
(SYNC)). For the synchronised transmission CANopen provides the SYNC object at which the TPDOs
are transmitted after every "nth" reception of a SYNC telegram.
A total of 64 TPDOs and 64 RPDOs is available; on delivery only the first 4 of each are active. If the
configuration of the CANopen network allows it, the remaining process data objects can also be
activated.
In the standard settings, the process data is assigned to the linear address range of the ID tag. The
TPDO1 maps e.g. the first 8 bytes of the user data memory of the ID tag.
Reading of the memory and transmission of the data via TPDO is effected automatically as soon as a
new ID tag is detected.
Writing of the data to the ID tag is effected in the same way by writing access to the respective RPDO.
Data transfer per process data object is only possible in the "Operational" operating status.
The preset TPDOs and RPDOs are allocated 64-bit data objects. For use of 32-bit controllers,
the settings of the PDOs must be adapted.
9.1.6 Object directory (OD)
CANopen communication (CiA 301)
Index Subindex Name (object) Type Access Default value PDO mapping capability Save object value
0x1000 0x00 Device type u32 ro 0x00000000 - -
0x1001 0x00 Error register u8 ro 0x00 - -
0x1003 0x01
0x02
Pre-defined error field u32 ro 0x00000000 - -
0x1005 0x00 COB -ID SYNC u32 rw 0x00000000 - yes
0x1008 0x00 Manufacturer device name vSTR ro Article no. of
the device - -
0x1009 0x00 Manufacturer hardware version vSTR ro Current hard-
ware version - -
0x100A 0x00 Manufacturer software version vSTR ro Current soft-
ware version - -