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Manual_CANopen_StrainLink_EN_V3_05.doc
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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.