14
8.4 Active Programming Objects
Active CANopen objects depending on the status of the unit� "Yes" in the table
indicates which CANopen objects are active in the corresponding modes�
Initialisation
Pre-operational
Operational
Stopped
PDO Object
yes
SDO Object
yes
yes
Boot-up
yes
yes
NMT
yes
yes
yes
8.5 Programmable parameters
Objects are based on the CiA-DS410 CANopen profile for inclination sensors
(www�can-cia�org)� The following table gives a list of the command identifiers sent
and received by the inclination sensor�
They are the standard commands for communication and transmission between
a master and slave in a CAN bus� They can be used to analyse communication
protocols between the master and the slave�
8.6 Command description
Command
Function
Message
Meaning
22h
Domain download
Request
Parameter to inclination
sensor
60h
Domain download
Confirmation
Parameter received
40h
Domain upload
Query
Parameter query
43h, 4Bh, 4Fh 1)
Domain upload
Response
Parameter to master
80h
Warning
Response
Transmission error
1) The value of the command byte depends on the data length of the called parameter�
8.7 Data length of commands
Command
Data length
Data length
43h
4 byte
Unsigned 32
4Bh
2 byte
Unsigned 16
4Fh
1 byte
Unsigned 8
Содержание JD
Страница 1: ...Device manual Inclination sensor JD with CANopen interface 80279676 00 12 2020 UK...
Страница 43: ...UK 43...