SICK GLS100, Руководство по эксплуатации

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Index Subindex R/W Object name Default
value
Type PDO mapbar Description
1 R/W phi_0 0 FLOAT Offset value for code orientation
(angle). Clockwise direction of rota‐
tion = positive values.
0° (default)
2 R/W mirror x-axis 0 UINT8 Mirroring of x-axis
0: x-axis not mirrored (default)
1: x-axis mirrored
3 R/W mirror y-axis 0 UINT8 0: y-axis not mirrored (default)
1: y-axis mirrored
4 R/W swap x-y axes 0 UINT8 Swap of x-and y-axis
0: Axes not swapped (default)
1: Axes swapped
0x2021 Result data Result data analog to PDOs 1-3
1 RO Status UINT16 x "PDOs", page 34
2 RO x-position INT32 x Output unit x-position according to
scaling. Value is a multiple of 1 m/x
s
3 RO y-position INT32 x Output unit x-position according to
scaling. Value is a multiple of 1 m/x
y
4 RO z-position INT32 x Output unit x-position according to
scaling. Value is a multiple of 1 m/x
z
5 RO Angle INT16 x Code orientation. Positive values
in clockwise direction. For output
value, see scaling: Multiple of
1 / phi
s
.
6 RO Tag Id UINT32 x Numeric read value of code tag; 32-
bit unsigned.
7 RO Time offset UINT16 x Time since image was taken. Unit
0.1 ms
8 RO x-velocity INT16 x Overspeed in x-direction - according
to scaling. Value is a multiple of
1 m/v
s
9 RO y-velocity INT16 x Overspeed in y-direction - according
to scaling. Value is a multiple of
1 m/v
s
0x2022 - Code data DOMAIN 2 bytes: Number of valid data bytes
230 bytes: Code content
8.1.2 PDOs
The GLS100 has three TPDO with fixed mapping under node ID and no RPDO. In its default state (node
ID 0x0A), the index for TPDO1 is 0x018A.
The TPDO1 is structured as follows:
Table 6: PDO1
Byte 7 6 5 4 3 2 1 0
Value Y-Position X-Position
Table 7: PDO2
Byte 7 6 5 4 3 2 1 0
Value Time offset Angle Z-Position Status
8
OPERATION
34 O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK
Subject to change without notice