Transmission Of The Measuring System Position Value - TR-Electronic CANopen+Multi-Sensor LP-46-K Benutzerhandbuch

Transmission of the measuring system position value

10 Transmission of the measuring system position value
Before the measuring system position can be transferred the measuring system has to
be started with the "Node Start" command.
Node-Start Protocol
Node Start command with the Node-ID of the measuring system (slave) starts only
this device. Node Start command with Node-ID = 0 starts all slaves connected to the
bus.
Now the position value can be transmitted in different ways:
1. Asynchronous Transmission
In the default setting the 1st transmit PDO (object 1800h) transmits the position value
of the measuring system. The cyclic time is defined by the value of the cyclic timer
(object 6200h). This transmission starts automatically after the Node Start command
and the value of the cyclic timer is > 0.
The default value of the COB-ID is 180h + Node-ID.
Object
PDO1 (tx)
In order to stop the transmission of the measuring system position temporarily, the
output can be interrupted by timer value = 0 in object 6200h.
2. Synchronous Transmission
In the default setting the 2nd or 3rd transmit PDO (object 1801h/1802h) transmits the
position value of the measuring system on request (remote / sync), non-recurrent
triggering.
- The measuring system receives a remote frame with the COB-ID
(default value 280h + Node-ID or 380h + Node-ID)
Object
PDO2 (tx)
PDO3 (tx)
- The measuring system receives a SYNC telegram with the COB-ID
(default value 080h) defined in object 1005h. All slaves with this SYNC-COB-ID
and transmission type "Synchronous" will transmit the position value.
Object
SYNC
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Page 178 of 183
COB-Identifier = 0
Byte 0
1
Function Code
0011bin
Function Code
0101bin
0111bin
Function Code
0001bin
TR - ELA - BA - DGB - 0016 - 04
Byte 1
Node-ID
COB-ID Index Communication Parameter
181h – 1FFh
COB-ID Index Communication Parameter
281h – 2FFh
381h – 3FFh
COB-ID Index Communication Parameter
80h
1800h
1801h
1802h
1005
Printed in the Federal Republic of Germany
01/20/2017