System Description Of The Bmd Canopen; Operating Parameters - Balluff BMD 1E NH5-Serie Konfigurationsanleitung

BMD 1E _ _ - _ _ _ _ / _ _ _ -NH5...
Microwave Positioning Sensor
2
System description of the BMD CANopen (continued)
2.3

Operating parameters

The operating parameters of the BMD CANopen
microwave positioning sensor can be changed using SDO
access.
Setting using SDO access:
– CANopen Communication Profile CiA DS 301 V4.2.0
– Mapping and transmission or turning off the PDO
– Setting the heartbeat
– CANopen Encoder Profile CiA DS 406 V3.2.0
– Position zero point
– BMD CANopen Balluff Profile
– Bus termination
– Freely available memory locations (2 strings and 3
single bytes)
The CANopen communication module integrated into the
sensor converts the measurement data detected by the
sensor into CANopen messages and sends them into the
CANopen network. The following communication objects
are used in the CANopen network for sending data:
– Process data objects (PDOs)
The sensor provides a PDO for sending cyclical data.
Up to 8 bytes can be mapped in this PDO with the
available objects. Section Process data objects on
page 8 lists the available objects. There are various
ways to send the PDO:
– Asynchronous (continuous):
The event timer determines the time intervals
between the PDOs
– Synchronous based on a SYNC object (query-
oriented):
The number of needed SYNCs for sending a PDO
can be determined.
The function of an inhibit time or event-triggered PDO
is not supported.
– Service data object (SDO)
The SDO access is used to send the parameters for
configuring the sensor. SDO access allows additional
information from the object directory to be read and
written (e.g. error messages from the error register).
The entire object directory is described in section 55
– Emergency object (EMCY)
Emergency messages are used to send notification
when an error occurs. A detailed description of errors
and warning messages can be found in section Error
and warning messages on page 9.
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– Synchronization object (SYNC)
SYNC messages are used to ensure synchronous
communication on the bus. The SYNC message is
sent at regular intervals into the network by the
controller. The sensor detects and counts these
messages.
– Bus parameter settings via LSS
– Transfer rate
– Node number (node ID)