Baumer GXP5W Руководство - Страница 9
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Example SDOs
Request for a value from the Master by the Slave
A frequent request is for the position.
COB-ID
DLC Command
600h+Node-ID
8
Response of the Slave to the request for a value
The position is 4 bytes long, and the exact values are specified under Object 6383h Subindex 1.
COB-ID
DLC Command
580h+Node-ID
8
Writing of a value from the Master to the Slave
A position can be set with Preset.
COB-ID
DLC Command
600h+Node-ID
8
Response of the Slave to the writing of a value
COB-ID
DLC Command
580h+Node-ID
8
3.4.4. Process data communication
Process data objects are used for real-time data exchange for process data, e.g. the position or the operating
status. PDOs can be transmitted synchronously or cyclically (asynchronously). The encoder supports PDO1
.. This supplies the current encoder position and its speed, and is defined in Objects 1906h and 1B06hh.
Synchronous
To transmit the process data synchronously, a value between 1 and F0h (=240) must be entered in the object
1906h Subindex 2. If the value is now 3, the PDO is transmitted to every third Sync telegram (with a value of
1 it is transmitted to every Sync telegram) until 0 is entered in the object 2800h 0. If, for example, a 5 is
entered there, the PDO is still written to every third Sync telegram, however a total of only 5 times. In
accordance with this, the 15th Sync telegram is followed by the last PDO. The counter for the number of
PDOs to be transmitted is reset via a position change or the NMT reset. This means the position is
transmitted 5 times unless it changes. If the position changes, it is transmitted again 5 times.
In the synchronous mode, the PDOs are requested by the Master via the Sync telegram:
Byte 0
Byte 1
COB-ID = 80
0
Cyclical (asynchronous)
If the PDOs are to be transmitted cyclically, the value FFh must be written to Object 1906h 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 1ms. If the value 0 ms is saved, the PDOs are not transmitted and the function is deactivated.
Another option is provided by Object 2800h. If the value is 0, the cyclical transmission runs as described
above. If the value is 1, it is cyclically checked whether a change has been made in the value. If not, no
transmission takes place. If the value is 4, the PDO is transmitted 4 times per cycle if a change exists.
Manual_GXP5_417_Lift_EN.doc
04.05.11
Object 6383h Subindex 1
Object L
40h
83h
Object L
43h
83h
Object 6382h
Object L
22h
82h
Object L
60h
82h
Object H
Subinde
Data 0
x
63h
01
x
Object H
Subinde
Data 0
x
63h
01
a
Object H
Subinde
Data 0
x
63h
01
a
Object H
Subinde
Data 0
x
63h
01
0
9/41
Data
Data
Data
1
2
3
x
x
x
Data
Data
Data
1
2
3
b
c
d
Data
Data
Data
1
2
3
b
c
d
Data
Data
Data
1
2
3
0
0
0
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany