Baumer GIM700DR Podręcznik - Strona 9

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SDO examples
Request of the resolution value by the Consumer from the Producer
A frequent request will be a request for the resolution.  Object 6000h
COB-ID
DLC
600h+Node-ID
8
Response by the Producer to the request for a value
The resolution is 2 bytes long, the precise values can be found under object 6000h.
COB-ID
DLC
580h+Node-ID
8
Writing of a value by the Consumer into the Producer
Inclination setting can be performed with preset for longitudinal slope.  Object 6012h
COB-ID
DLC
600h+Node-ID
8
Producer's response to the writing of a value
COB-ID
DLC
580h+Node-ID
8

Process data communication

3.3.4
Process data objects are used for real time data exchange for process data, for example inclination or oper-
ating status. PDOs can be transmitted synchronously or cyclically (asynchronously).
Synchronous communication
In order to transmit the process data synchronously, a value between 1 and F0h (=240) must be written into
the object 180xh sub-index 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).
In synchronous operation, the PDO is requested by the Consumer via the Sync telegram.
Identifier
Byte 1
COB-ID = 80h
0
Baumer_GIM700DR_CANopen_EN_V1.00_MNL.docx
27.04.21
: Write access to read only
: Object is not supported
: Sub-index is not supported
: Value outside the limit
: Value too great
: General error
: Incorrect save signature
: Data cannot be stored
Command
Object LSB Object MSB
40h
00h
Command
Object LSB Object MSB
4Bh
00h
Command
Object LSB Object MSB
2Bh
12h
Command
Object LSB Object MSB Sub-index
60h
12h
Sub-index Data 0
60h
0
Sub-index
60h
0
Sub-index
60h
0
60h
0
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Data 1
Data 2
x
x
x
Data 0
Data 1
Data 2
a
b
c
Data 0
Data 1
Data 2
a
b
c
Data 0
Data 1
Data 2
0
0
0
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Data 3
x
Data 3
d
Data 3
d
Data 3
0