Ifm-electronic JN2100 v.2.2.0 Manuel d'utilisateur télécharger pdf (Page 9)

Inclination sensor JN

7.4 Communication types of process data object (PDO)

The request for process data objects is made by sending a remote transmit

request telegram (RTR).

The different transmit PDOs (TPDOx) can be polled in all operating modes of the

inclination sensor individually and at any time and they can be combined.

7.4.1 Cyclical operating mode

The cyclical transmission of a TPDO is activated when the interval time

(e.g. OD index 1800h/05h for TPDO0) contains a value greater than 0. The

type of transmission (e.g. OD index 1800h/02h for TPDO0) has to be set to

"asynchronous – manufacturer-specific“ (value = FEh). In the "operational" state

the inclination sensor then cyclically transmits the TPDOx with the set interval

time.

7.4.2 Synchronised transmission after reception of a SYNC telegram

For the synchronised transmission CANopen provides the SYNC object at which

the TPDOs are transmitted after every "nth" reception of a SYNC telegram.

Each inclination sensor has several transmit process data objects (TPDOx). The

TPDO0 contains the current inclination values (longitudinal and lateral) as 16-bit

values.

Byte 0 Byte 1 Byte 2 Byte 3

Inclination value longitudinal

(X axis)

OD index: 6010h

Inclination value lateral

(Y axis)

OD index: 6020h

The second transmit process data object TPDO1 contains the inclination values as

32-bit values.

Byte 0 to Byte 3 Byte 4 to Byte 7

Inclination value longitudinal

(X axis)

OD index: 6110h

Inclination value lateral

Y axis)

OD index: 6120h

The third transmit process data object TPDO2 contains the inclination values

(aPeak and Veff) as 32-bit values.

Byte 0 to Byte 3 Byte 4 to Byte 7

Veff

OD index: 5C10h

aPeak

OD index: 5C11h

1 2 3 4 5 6 7 8 9 10 11 12 13 14 ... 32 33

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Ifm-electronic JN2100 v.2.2.0 Manuel d'utilisateur Page 9