5 pdo communication objects – Baumer BA_DSRT_22DJ Benutzerhandbuch
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Manual_CANopen_StrainLink_EN_V3_05.doc
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Baumer
22.07.11/dam
Frauenfeld, Switzerland
6.5 PDO communication objects
Via communication using PDO (Process Data Objects), it is possible to interrogate specified values of the
CANopen strain link simply and quickly. With the same communication profile a autozero of the strain link
can be obeyed.
A variable PDO mapping is implemented in the strain link. The send parameters and the conditions for the
PDO sending can be defined by the user. The PDO can be activated by a sync message, after expiration of
an event time or by overwriting of a interrupt delta input value.
Communication via PDO is only possible in the operational mode of the sensor.
6.5.1
Receive PDO 1 communication (autozero)
With object 1400h, the settings are made to work with Receive PDO.
Structure of object 1400h (receive PDO communication parameter):
Index
Sub-index
Name
Length
Access
0
Highest sub-index supported
1 Byte
read
1
COB-ID and activation of RPDO1
4 Byte
read / write
1400h
2
Transmission type
1 Byte
read / write
Change of receive PDO from enable to disable (sub-index 1):
ID
DLC
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
600h + ID
8
22h
00h
14h
01h
01h
02h
0
40h
Byte 5 + 6:
01’02h
02’01h (LSB first)
200h + ID 1 (COB-ID)
Byte 8:
40h
RPDO enable and RTR not supported
C0h
RPDO disable and RTR not supported
Read transmission type (sub-index 2):
ID
DLC
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
600h + ID
8
40h
00h
14h
02h
00h
0
0
0
Response from CANopen strain link:
ID
DLC
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
580h + ID
8
4F
00h
14h
02h
FEh
0h
0h
0h
Byte 5:
FEh
254d
transmit PDO after value change
Function description: Autozero with Receive PDO1
Autozero can be activated over receiving PDO1.
Notice the following information:
•
Sensor is in „Operational Mode“
•
Receive PDO 1 is enabled and transmission type of RPDO is FEh
•
Transmit PDO 3 is enabled and transmission type of TPDO3 is FEh
•
Transmit PDO3 is mapped to object 2004, sub-index 0