DTM434 DTM435
33
Index
Sub-index
Name (object)
Value
0x2301
0x05
Read length (length of the
memory range on the ID tag
to be read; max. 8 bytes)
0x04
0x2302
0x05
Auto-write
0x01
Transfer data via RPDO:
PDO Transmission
PDO
Data
To the device
RPDO 6
0x12340000
The data is written to the ID tag when it has reached the detection range.
64-bit data (8 bytes) / 32-bit data (4 bytes) always have to be sent to an RPDO. For smaller
data lengths than 64 bits / 32 bits, the remaining bits are ignored.
9.2.4 Error handling for PDO transfer
If a read or write access to an ID tag is not possible, the device creates an emergency message on
the CAN bus.
The error code can be read from the error register (OV index 0x1001, sub-index 0x00) and the
predefined error field (OV index 0x1003, sub-index 0x01-0x02).
9.2.5 Read data from the ID tag via SDO transfer
To read data from an ID tag via SDO transfer it is necessary to define the data address and length on
the ID tag. The address must be indicated in object 0x2280 and the data length in object 0x2281.
Then read access can be started from the ID tag via a data transfer to object 0x2282.
9.2.5.1 Example
The data range 0x50 to 0x70 is to be read from the ID tag.
Object directory
Index
Sub-index
Name (object)
Value
0x2280
0x00
Read start of the address
(start of the address range on
the ID tag to be read)
0x50
0x2281
0x00
Read length (length of the
memory range on the ID tag
to be read; max. 8 bytes)
0x20
Transfer is started via reading the object 0x2282, sub-index 0x00.
The data is transferred in one piece as domain data type. Up to a data length of 4 bytes transfer
is effected as expedited transfer; longer data lengths as segmented transfer.
The recipient must be prepared for temporary storage and processing of the data.
9.2.6 Write data to the ID tag via SDO transfer
To write data to an ID tag via SDO transfer it is necessary to define the data address and length on
the ID tag.
The address must be indicated in object 0x2380 and the data length in object 0x2381. Then the write
access to the ID tag can be started via a data transfer to object 0x2382.
