Baumer GIM500R Podręcznik - Strona 10

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Process data communication

3.3.4

Process data objects are used for real time data exchange for process data, for example inclination or

operating status. PDOs can be transmitted synchronously or cyclically (asynchronously).

Synchronous

In order to transmit the process data synchronously, a value between 1 and F0h (=240) must be written into

the object 1800h Subindex 2. If the value is 3, the PDO is transmitted on every third sync telegram (if the

value 1 is entered, transmission takes place on every sync telegram). The counter for the number of PDOs

to be transmitted is reset in the event of a position change or NMT reset, i.e. unless it is changed, the

position is transmitted five times. If the position changes, it is transmitted a further five times.

In synchronous operation, the PDO is requested by the master via the Sync telegram.

Byte 0

Byte 1

COB ID = 80

Cyclical (asynchronous)

If you wish the PDOs to be transmitted cyclically, the value FEh must be written into the object 1800h /

1801h Subindex 2. In addition, the cycle time in milliseconds must be entered in the same object subindex 5.

The entered time is rounded off to 1 ms. If the value is stored for 0 ms, the PDOs are not transmitted. The

function is switched off.

Overview

In the following table, the different transmission modes for PDOs are summarized:

1800h

Sub2

Sub5

FEh/FFh

3ms

Cyclical transmission every 3 ms

FEh/FFh

0ms

Transmit PDO switched off

xxx

Transmit with every third sync telegram

Object 1A00h subindex 0-3 defines the PDO - mapping. The format is shown in the following table:

DLC

181h

Baumer_GIM500R_CANopen_MA_EN.docx

03.19

Summarized description

Byte 1+2

Byte 3+4

6511h

6010h

(Temperature)

(horizontal /

long Value / X)

10/29

Byte 5+6

6020h

(vertical /

lateral Value / Y)