3.3
Process data objects (PDOs)
The AHS/AHM36 CANopen and AHS/AHM36 CANopen Inox supports four Transmit
PDOs and one Receive PDO.
Transmit PDOs
Data are sent by the encoder to the PLC using the four Transmit PDOs.
The four Transmit PDOs are defined by the following objects:
•
The objects 1800h … 1803h contain the communication parameters.
•
The objects 1A00h … 1A03h contain the mapping of the objects.
The mapping is variable and can be modified.
Receive PDO
Data are received from the PLC by the encoder using the Receive PDO. The mapping for
this Receive PDO is fixed and cannot be modified.
3.3.1
PDO communication
In the factory the transmission type for the Transmit PDOs is set to 255 in the objects
1800h … 1803h. This corresponds to the devicespecific triggering.
NOTE
As an event timer is not configured, the Transmit PDOs are only transferred once on
changing to the Operational status!
Changing factory setting for transmission type
For the cyclic or acyclic output of the Transmit PDOs by the encoder, there are the
following options:
b
Change the event timer in the objects 1800h … 1803h
b
Configure a trigger event using the CoS event handling configuration
b
Change the transmission type in the objects 1800h … 1803h
.
Pay attention to the inhibition time
The inhibition time for the PDOs (configured in the objects 1800.3h … 1803.3h) in
principle limits the communication of a device on the CANopen bus. It always has a
higher priority than the event timer, the CoS events and the sync triggering.
If, e.g., the event timer is set to 100 ms and the inhibition time is set to 1 s, the
corresponding PDO is only sent every second.
3.3.2
PDO mapping
You will find which objects are mapped by default in the related transmit PDOs in
section
see "Parameter of the Transmit PDOs", page 52
QUICK START INSTRUCTIONS ON THE AHS/AHM36 CANOPEN AND AHS/AHM36 CANOPEN INOX
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8016869/1EF3/2021-12-08 | SICK
O P E R A T I N G I N S T R U C T I O N S | AHS/AHM36 CANopen
AHS/AHM36 CANopen Inox
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Subject to change without notice