Baumer BA_DSRT_22DJ - Handbuch (Seite 48)

Manual_CANopen_StrainLink_EN_V3_05.doc 48/65 Baumer
22.07.11/dam Frauenfeld, Switzerland
Mapping of PDO 1 via SDO command:
ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8
600h + ID 8 22h 00h 1Ah 01h 10h 01h 30h 71h
Example of PDO 1 with process value 16bit:
Byte 4:
01h 1
st
mapped object in PDO 1
02h – 04h 2
nd
to 4
th
mapped object in PDO 1 (attention: only 8Byte)
Byte 5: 10h 16 Bit data length of the mapped object (2 Byte)
Byte 6: 01h mapped sub-index 01
Byte 7 + 8: 30’71h 7130 mapped index
Response from CANopen strain link:
ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8
580h + ID 8 60h 00h 1Ah 01h 0 0 0 0
When the PDO 1 is transmitted the message has the following structure:
ID DLC Byte1 Byte2* Byte3* Byte4* Byte5* Byte6* Byte7* Byte8*
180h + ID 2 68h 10h
*Bytes will only be sent when they were mapped in index 1A00.
6.5.7 Transmit PDO 2 mapping
Object 1A01h (Transmit PDO mapping parameter):
The mapping of Transmit PDO2 is made with the object 1A01h.
This object is similar to the object 1A00h. Detailed information se the previous section in this manual.
6.5.8 Transmit PDO 3 mapping
Object 1A02h (Transmit PDO mapping parameter):
The mapping of Transmit PDO3 is made with the object 1A02h.
This object is similar to the object 1A00h. Detailed information se the previous section in this manual.
6.5.9 Sync ID
The sync generation is switched off in the sensor. PDO messages are only sent when the object 180xh sub
index 2 is switched on.
With the object 1005h the ID of the sync message can be interrogated. If a sync message with the following
ID is on the bus, the PDO can be triggered (compare PDO communication).
Read SYNC COB-ID (object 1005h):
ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8
600h + ID 8 40h 05h 10h 00h 0 0 0 0
Response from CANopen strain link:
ID DLC Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8
580h + ID 8 43h 05h 10h 00h 80h 0 0 0
The ID is defined as 80h. This ensures that the sync messages have a high priority on the CAN bus.
The object 1005h is read only and has no sub-index.