Operating Instructions
Chapter
9
DME4000
8014584/ZN33/2017-07
© SICK AG • Germany • Subject to change without notice
127
Appendix
9.8.2
Measuring value output
The measuring value can be transmitted with two TPDOs (Transmit Process Data Objects).
TPDO 1:
Transmission Mode/Type: “Asynchronous/timer triggered”
The TPDO-Parameter “COB-ID“ has the value 0x280 + Node-ID
The event timer is preset with 20 ms.
TPDO 2:
Transmission Mode/Type: “Synchronous/cyclic”
The TPDO-Parameter “COB-ID” has the value 0x180 + Node-ID
The TPDO-Parameter “Transmission type” is preset to “1”, this means the measuring value will be
transmitted after each SYNC from the NMT-Master.
Both TPDOs are carrying the same 5 Bytes data. In the Bytes 0 to 3 the measurement value is transmit-
ted, in byte 4 the diagnostic data:
Byte
Description
0
Position Value (low Byte)
1
Position Value
2
Position Value
3
Position Value (high Byte)
4
Not used
Laser on: 1
Laser off: 0
Warning: 1
No warning: 0
Alarm: 1
No Alarm: 0
7, 6, 5, 4, 3
2
1
0
After start up the DME is in CANopen condition “PRE-OPERATIONAL”. In this condition measurements,
parameters and diagnostic information can be transmitted over SDO-service. The TPDOs for measure-
ments are started with changing into condition “OPERATIONAL”. This will be executed with service NMT
“start remote service”, which must be sent from NMT-Master. Refer to CIA-301.
Index values for measurement and diagnostic byte over SDO:
Index (Hex)
0x2000
Measurement value
0x2001
Diagnostic data
9.8.3
Configuration
The configuration and start up of the DME4000 as CANopen-Slave will be executed over the SDO-
service of CANopen. Refer to CIA-301. The device specific information is defined in the EDS file.
9.8.4
Parameter
Following parameters can be defined with the SDO service (SDO = Service Data Object):
Index (Hex)
Chapter with further information
0x2100
Offset
3.2
0x2101
Resolution
3.2
0x2102
Plausibility
3.2
0x2103
Preset
9.1
0x2104
Sleep Mode (Laser off)
9.4
