Send Pdo (Tpdo1); Is60, 1-Dimensional - Data Portion Of Can Telegram Of The Tpdo1; Is60, 2-Dimensional - Data Portion Of Can Telegram Of The Tpdo1; Pdo Communication Types - Kübler IS60 Handbuch

6.2 Send PDO (TPDO1)

Each inclinometer has exactly one Send Process Data Object (TPDO). It contains the current inclina-
tion values (longitudinal and lateral), as well as the internal device temperature.
PDO mapping of measurement values is fixed as displayed in Table 1.
6.2.1 IS60, 1-dimensional – Data portion of CAN telegram of the TPDO1
Byte 0 Byte 1
Inclination value longitu- Internal
dinal (X-axis)
OR: 6010 h
6.2.2 IS60, 2-dimensional – Data portion of CAN telegram of the TPDO1
Byte 0 Byte 1
Inclination value longitu- Inclination value
dinal (X-axis)
OR: 6010 h

6.3 PDO communication types

5.3.1 Individual request per Remote Transmit Request telegram (RTR)

A request can be sent to TPDO1 anytime by sending a Remote Transmit Request telegram. This is
possible in all operating modes of the inclinometer.

6.3.2 Cyclic operating mode

Cyclic sending of TPDO1 is activated if the entry 1800h/05h (interval time in milliseconds) contains a
value greater than 0. For this purpose the entry 1800h/02h (transmission type) must contain the
value 254 (asynchronous, manufacturer specific). In the "Operational" mode, the inclinometer cycli-
cally sends the TPDO1 with the set cycle duration time.

6.3.3 Event-driven Send when the angle has changed

The bus load caused by PDOs can be decreased by only sending the TPDO1 when the angle has
changed accordingly. This function can be configured under the index 3001h in the manufacturer
specific portion of the object register. For this purpose the entry 1800h/02h (transmission type) must
contain the value 254 (asynchronous, manufacturer specific).

6.3.4 Synchronized Send after receipt of a SYNC telegram

For the synchronized transmission, the SYNC object is made available by CANopen; here, the
TPDO1 is sent after each "nth" receipt of a SYNC telegram. For this purpose the entry 1800h/02h
(transmission type) must contain the value n = 1...240.

6.3.5 Object register

The object register of the inclinometers is divided into three parts (communication parameters, manu-
facturer specific portion, profile specific portion). The existing parameters can be read and written via
the Standard SDO and index/subindex. Parameter changes become immediately valid with the
exception of the Node ID (2000h) and the Baud rate (2001h).
The following paragraphs provide a description of all parameters in the object register of an incli-
nometer including index, subindex, data type, access rights and standard value (manufacturer default
setting). The column Store identifies whether a parameter can be stored in the internal, non-volatile
memory buffer (write "save" signature in OR index 1010h/01h).
9
Byte 2 Byte 3
Not used
temperature
OR: 5000 h
Byte 2 Byte 3
lateral (Y-axis)
OR: 6020 h
Byte 4 Byte 5
Byte 4 Byte 5
Internal Not used
temperature
OR: 5000 h
Byte 6 Byte 7
Byte 6 Byte 7