To Next Page

To Previous Page

Temposonics

E-Series CANopen

Operation Manual

5.7 Process data

Transmission the data

The transmission type object (index 1800 ff subindex 2) enables to switch between the different transmission modes synchronous and

asynchronous mode.

5.7.1 Synchronous mode

When the CANopen sensor is in NMT operational state and the transmission type (Index 1800 ff subindex 2) is between n = 0…240 the

synchronous mode is enabled.

The PDO is transmitted by the CANopen sensor after receiving every nth sync object.

The sync object has the following format:

COB ID Rx/Tx DLC

DATA

D0 D1 D2 D3 D4 D5 D6 D7

0x080 Rx 0 – – – – – – –

Table 20: Sync object

Table 21: Default PDO format

NOTICE

The COB ID of the sync object message can be programmed individually with index 1005.

So the COB ID of the sync message may be different, depending on the conﬁguration of the sensor.

NOTICE

For the PDO message the measuring steps for the position (Pos) and velocity values can be read with object linear encoder

measuring step settings (Index 6005).

5.7.2 Asynchronous mode

When the CANopen sensor is in NMT operational state and the transmission type (Index 1800 ff subindex 2) is 254 or 255 the asynchronous

mode is enabled. The PDO is transmitted by the CANopen sensor after the event timer (Index 1800 ff subindex 5) is expired. The value of the

timer is given in ms.

5.7.3 PDO message format

This is the format of the CAN sensor default PDO message. The current PDO mapping can be seen at Index 1A00 ff.

COB ID Rx/Tx DLC

DATA

D0 D1 D2 D3 D4 D5 D6 D7

0x180 + Node-ID Tx 6 Pos LSB Pos Pos Pos MSB Velocity LSB Velocity MSB Status –

MTS Sensors Temposonics E-Series User Manual

Other manuals for MTS Sensors Temposonics E-Series