MTS Sensors Temposonics E-Series User Manual

Temposonics
®
E-Series CANopen
Operation Manual
29
COB ID
Request /
Respond
DLC
Byte
Description
0 1 2 3 4 5 6 7
0x580 + Node ID Tx 8 0x80 Index Subindex
Abort code
0x06 0x09 0x00 0x11 Subindex does not exist
0x06 0x09 0x00 0x30 Value exceeded
0x06 0x02 0x00 0x00 Object does not exist in the object dictionary
0x06 0x01 0x00 0x01 Object is write only
0x06 0x01 0x00 0x02 Attempt to write a read only object
0x08 0x00 0x00 0x20 Data transport error
0x08 0x00 0x00 0x00 General error
0x08 0x00 0x00 0x22 Wrong state
0x06 0x01 0x00 0x00 Unsupported access to an object
0x06 0x07 0x00 0x01
Data type does not match
5.6.4 SDO TPDO communication parameter: Index 1800 (PDO1) to index 1803 (PDO4)
Example
COB ID
Request /
Respond
DLC
Byte
Description
0 1 2 3 4 5 6 7
Subindex 1 COB ID of the TPDO
600 +
Node ID
Rx 8 0x23 0x00 0x18 0x01
0x80 +
Node ID
0x01 0x00 0x40
Set transmission types example
(11-bit CAN-ID 1FFh, no RTR allowed, valid: yes)
580 +
Node ID
Tx 8 0x60 0x00 0x18 0x01 0x00 0x00 0x00 0x00
600 +
Node ID
Rx 8 0x40 0x00 0x18 0x01 0x00 0x00 0x00 0x00
Readout transmission types example
580 +
Node ID
Tx 8 0x43 0x00 0x18 0x01
0x80 +
Node ID
0x01 0x00 0x40
Subindex 2 transmission character
0x67F Rx 8 0x2F 0x00 0x18
0x02 0xFE 0x00 0x00 0x00
Set transmission character
“FE event-driven (manufacturer-specific)”
0x5FF Tx 8 0x60 0x00 0x18 0x02 0x00 0x00 0x00 0x00
0x67F Rx 8 0x40 0x00 0x18 0x02 0x00 0x00 0x00 0x00
Readout transmission character example “FE”
0x5FF Tx 8 0x4F 0x00 0x18 0x02 0xFE 0x00 0x00 0x00
Subindex 5 contains the event-timer (The value is defined as multiple of 1 msec. A value of “0” disables the event-timer.)
0x67F Rx 8 0x2B 0x00 0x18 0x05 0x01 0x00 0x00 0x00
Set event timer example “1 ms”
0x5FF Tx 8 0x60 0x00 0x18 0x05 0x00 0x00 0x00 0x00
0x67F Rx 8 0x40 0x00 0x18 0x05 0x00 0x00 0x00 0x00
Readout event timer example “1 ms”
0x5FF Tx 8 0x4B 0x00 0x18 0x05 0x01 0x00 0x00 0x00
Example 4: Configuration of Index 1800 (PDO1)
Table 12: SDO abort codes
5.6.3 SDO abort
If SDO download or SDO upload service fails for any reason the CANopen sensor does not respond with the corresponding SDO message, but
with a SDO abort protocol.

MTS Sensors Temposonics E-Series Specifications

General

Brand	MTS Sensors
Model	Temposonics E-Series
Category	Accessories
Language	English