Transmit-PDO
Figure 18: Structure of the Transmit PDO
Table 32: Format of the PDO telegram
COB-ID
Data
0180h +
node ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
9.6.1
PDO mapping
The format of the PDO telegram between master and inclination sensor must be agreed
through what is known as PDO mapping. The process data can be arranged at will in
the PDO message. The address (i.e. index and subindex) and the size (number of bits)
from the entry in the object directory are entered in the mapping object for this pur‐
pose.
Example:
Object 1A00h is factory-set to contain the following objects, depending on sensor type:
6010.00h - inclination value, axial (TMS) or longitudinal (TMM)
6020.00h - inclination value, lateral (TMM only)
The content of the objects is transmitted in the Transmit PDO telegram.
Table 33: Example Transmit PDO telegram (TMS)
COB-ID
Data
0180h +
node ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Inclination value,
axial
Not used
Table 34: Example Transmit PDO telegram (TMM)
COB-ID
Data
0180h +
node ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Inclination value
longitudinal
Inclination value
lateral
Not used
The following objects can be mapped in the TPDOs:
9
CANOPEN INTERFACE
30
OPERATING INSTRUCTIONS
| TMS/TMM88, TMS/TMM61
8019054/14IT/2019-06-27
| SICK
Subject to change without notice
