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Manual_CANopen_StrainLink_EN_V3_05.doc
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time
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Sensor
Control unit
Receive-PDO1
COB-ID = 200 + ID
Transmit – PDO3
COB-ID = 380 + ID
1
m
s
Request
Confirmation
Answer
In
te
rn
a
l
a
u
to
z
e
ro
p
h
a
s
e
8
m
s
Transmit – PDO3
COB-ID = 380 + ID
Reply
Identification
No further communication with the
sensor
Identification
6.5.2
Receive PDO 1 mapping
Object 1600h (Receive PDO Mapping Parameter)
The mapping of the Receive PDO1 can be read with the object 1600h. Receive PDO1 has a fixed mapping
and can not be modified.
Read Receive PDO 1 mapping (object 1600h):
ID
DLC
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
600h + ID
8
40h
00h
16h
01h
0
0
0
0
Response from CANopen strain link:
ID
DLC
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
580h + ID
8
43h
00h
16h
01h
20h
00h
03h
20h
Byte 4:
01h
1
st
mapped object for Receive PDO1
02h – 04h
2
nd
to 4
th
mapped object
Byte 5:
20h
20h
32 Bit data length of mapped object
Byte 6:
00h
00h
mapped sub-index 0
Byte 7 + 8:
03’20h
20’03h
mapped index
Autozero function
The object 1600h is read only.
6.5.3
Transmit PDO 1 communication
Via the object 1800h the settings are made to make it possible to work with Transmit PDOs. PDOs are
processed only in the Operational mode of the device. The PDO must be activated.
The PDO should not be requested faster than the corresponding measurement rate.
(1000 measurements / second) > 1 ms
The object has the following structure:
Index
Sub-index
Name
Length Access
0
Highest sub-index supported
1 Byte
read
1
COB-ID and activation TPDO 1
4 Byte
read / write
2
Transmission type
1 Byte
read / write
1800h
5
Event timer
2 Byte
read / write
Autozero with RPDO:
ID
DLC
200h + ID
0
Answer of strain link (command understood)
ID
DLC
Byte1
Byte2
380h + ID
2
00h
75h
2
nd
answer from strain link. (autozero
successfully finished)
ID
DLC
Byte1
Byte2
380h + ID
2
00h
66h
Case of an error, instable signal
ID
DLC
Byte1
Byte2
380h + ID
2
72h
65h