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Configure PDOs
The PDOs can be configured according to the following table:
1906h
Sub2
Sub5
FFh
3ms
FFh
5ms
FFh
0ms
FFh
0ms
3
xxx
3
xxx
Specify Heartbeat Time
To monitor the communication capability, the time of the heartbeat must be defined in Object 1017h
"Producer Heartbeat Time". As soon as the value has been confirmed, the service begins to transmit. For
example, the encoder is to send a heartbeat every 100 ms (100 = 64h):
COB-ID
DLC Command
600h+Node-ID
8
Confirmation:
COB-ID
DLC Command
580h+Node-ID
8
COB-ID
Data/ Remote Byte 0
701h
d
The Heartbeat messages consist of the COB-ID and a byte. The NMT state is transmitted in this byte.
0:
BootUp event
4:
Stopped
5:
Operational
127:
Pre-Operational
This means the encoder is in the Pre-Operational mode (7Fh = 127).
Manual_GXP5_417_Lift_EN.doc
04.05.11
2800h
0
Cyclical transmission every 3 ms
2
PDO is sent double every 5 ms if a change exists.
0
Send PDO deactivated
2
Send PDO deactivated
0
Send during every third Sync telegram
2Bh
Every third Sync telegram, but total of only 43 times (=2Bh).
Object L
2Bh
17h
Object L
60h
17h
7Fh
Brief Description
Object H
Subinde
x
10h
0h
Object H
Subinde
x
10h
0h
39/41
Data
Data 1
0
64h
0h
Data
Data 1
0
0
0
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
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