Baumer BA_DSRT_22DJ - Handbuch (Seite 46)

Manual_CANopen_StrainLink_EN_V3_05.doc 46/65 Baumer
22.07.11/dam Frauenfeld, Switzerland
Change of transmit PDO from enable to disable (sub-index 1):
ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8
600h + ID 8 22h 00h 18h 01h 81h 01h 0 40h
Byte 5 + 6:
81’01h 01’81h (LSB first) 180h + ID 1 (COB-ID)
Byte 8: 40h PDO enabled and RTR not supported
C0h PDO disabled and RTR not supported
Response from CANopen strain link:
ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8
580h + ID 8 60h 00h 18h 01h 0 0 0 0
Change of transmission type (sub-index 2):
ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8
600h + ID 8 22h 00h 18h 02h FFh 0 0 0
Byte5
01h – F0h transmit after n
th
Sync (1 – 240)
FEh transmit when interrupt delta input
(interrupt delta input value is set with object 7133h)
FFh transmit when event timer
(Event timer is set with sub-index 05h)
Response from CANopen strain link:
ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8
580h + ID 8 60h 00h 18h 02h 0 0 0 0
The event timer defines in which cycle the PDO will be transmitted.
The value range is fixed between 0…2
16
– 1 = 65535 (ms).
Change of event timer (sub-index 5):
ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8
600h + ID 8 22h 00h 18h 05h E8h 03h 0 0
Byte 5 + 6:
E8’03h 03’E8h (LSB first) Event timer 1000 ms (Default value)
Response from CANopen strain link:
ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8
580h + ID 8 60h 00h 18h 05h 0 0 0 0
Too small values make no sense, because they overload the bus and the measured values may still not be
updated (see start of this section).
The PDO parameters are not stored automatically, must be done with object 1010h.