2
0
1
8
-0
9
18
Operation
4
Operation
4.1
Data Exchange in the CANopen
®
Bus
The WCS-CG310 works as a CANopen
®
slave in the "Predefined Connection Set." Five
objects are defined for the data of the WCS readers:
The data format of the objects 0x2001...0x2004 is identical. The PDO (process data object)
can be used to access the objects. The following applies:
Object 0x2000
—
Polling
In polling, a function byte is sent from the master to the WCS-CG310. The WCS-CG310 returns
16 data bytes. The 16 bytes contain the data of the four WCS readers (4 x 4 bytes). If fewer
than 4 WCS readers are configured (via rotary switch S4), the 4 data bytes for the WCS
readers that are not configured contain the value 0x00.
Meaning of F0
Function Number for WCS Reader F0=0 (Send Position Value)
Object 0x2000:
1 byte
—
function byte for addressing the WCS readers
Object 0x2001:
4 bytes of data from WCS reader address 0
Object 0x2002:
4 bytes of data from WCS reader address 1
Object 0x2003:
4 bytes of data from WCS reader address 2
Object 0x2004:
4 bytes of data from WCS reader address 3
PDO1(tx):
Objects 0x2001 and 0x2002 are sent.
PDO2(tx):
Objects 0x2003 and 0x2004 are sent.
PDO1(rx):
Object 0x2000 is received.
PD02(rx):
Not used
WCS reader
address 3
WCS reader
address 2
WCS reader
address 1
WCS reader
address 0
Bit
7
6
5
4
3
2
1
0
0
F0
0
F0
0
F0
0
F0
Table 4.1
Function byte for addressing the WCS reader(s) during polling
F0
Function number for WCS reader
0
Send position value
1
Send diagnosis result
DB
ERR OUT Description
Optical state of
WCS reader
0
0
0
Current position value binary coded in P00...P18
Good
0
0
1
WCS reader outside of the code rail, no position value
Good
P0...P18=0: WCS reader partly outside the code rail
P0=1, P2...P18=0: WCS reader completely outside of
the code rail
1
0
0
Current position value binary coded in P00...P18
Poor
1
0
1
No position value, WCS reader outside of the code rail
Poor
X
1
X
No position value, error message from WCS reader, error
number binary coded in P00...P18
-