Pepperl+Fuchs PCV F200-B16-V15 Series Manual page 25

PCV...-F200-B16-V15
Operation and communication
Shielding
Ensure continuous shielding when cabling the read head. For the suitable fieldbus cables, see
chapter 4.3.
Behavior at Startup
After switch-on, the read head in a CANopen network passes through several operating states.
1. Initialization
Startup process of the read head.
2. Pre-Operational
Read head state on completion of the startup process. The read head reports this state to
the NMT master.
3. Operational
Operative state of the read head. The NMT master sets this state via an NMT start node
telegram once it has received the Pre-Operational message from the read head.
Exchange of Process Data
Within the CANopen network, process data is exchanged via Process Data Objects (PDO).
See chapter 7.1.1. Process data objects are divided into:
Transmit PDOs (TxPDO)
Process data objects that transmit input data and diagnostic data.
Receive PDOs (RxPDO)
Process data objects that transmit output data.
The first 4 PDOs per transmit or receive data packet transmit the default CAN identifier. All
other PDOs of a data packet can be configured by the user.
Communication Types
In the CANopen network, various communication types are specified for process data objects.
The communication type of each PDO is controlled via the "Transmission Type" parameter. The
"Transmission Type" parameter is defined in subindex 2 of the communication parameter
object (from 0x14000) and is transmitted during the startup process via an SDO. See chapter
7.1.1.
The read head supports the following communication types:
"Transmission Type"
parameter
0
1
241 ... 251
252 (TxPDO only)
Transmission Description
TxPDO: Data is detected upon receipt of a SYNC
Event-controlled
(= synchronization object). Data is transmitted
Synchronous
only in the event of a change.
RxPDO: Data is sent event-controlled and adopted
in a SYNC.
Cyclic Data is adopted and transmitted cyclically at each
Synchronous nth SYNC.
n = 1 ... 240.
n can be individually assigned for each PDO to
control transmission cycles.
Reserved
Synchronous Data is detected upon receipt of a SYNC. Data is
RTR (= Remote sent via RTR only on request.
Transmission
Request)
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