2001H - "Part Gripped" Information - coval LEMCOM Series User Manual

LEMCOM CANopen® – User manual
The reply is as follows:
Server (LEMCOM)  Client (master)
CAN-ID
Command
(580h+ID)
60h
5A0h
12.2 2001h – "Part gripped" information
Object 2001h is used to return the state of the "part gripped" signal for each module on the island.
For any given module, this GRIP signal is equal to 1 when the vacuum level exceeds threshold L1
according to the following principle:
GRIP = 0
Client (master)  server (LEMCOM)
CAN-ID
Command
(600h+ID)
40h
620h
The reply is as follows:
Server (LEMCOM)  Client (master)
CAN-ID
Command
(580h+ID)
4Bh
5A0h
The "part gripped" signal states of all the modules are indicated by Byte 1 – Byte 0:
GRIP signal state
Module address
COVAL – LMCOP-EN-A-1155UM0068
Object L Object H
00h 20h
GRIP signal state
Figure 9 – How the part gripped signal of a LEMCOM module works
Object L Object H
01h 20h
Object L Object H
01h 20h
Byte 0
x x x x x x x x
7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8
Detailed description of CANopen objects
Subindex Byte 0
00h 00h
GRIP = 1
Vacuum level
Subindex Byte 0
00h 00h
Subindex Byte 0
00h 00h
Byte 1
x x x x
Byte 1 Byte 2 Byte 3
00h 00h
(%)
Byte 1 Byte 2 Byte 3
00h 00h
Byte 1 Byte 2 Byte 3
00h 00h
x x x x
00h
00h
00h
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