Datalogic AMT58 Series Manual page 368

AMT58x-DN DeviceNET®
6.3 I/O Messages (Msg group 1)
I/0 messages are used by Lika devices to send the position and the
velocity values. The "Message-ID" shows how the message is
transmitted.
Position:
CAN-ID
10 9...6 5...0
Msg Sourc
0
ID e ID
Position and velocity:
CAN-ID
10 9...6 5...0
Msg Sourc
0
ID e ID
Msg-ID:
1100 : Slave's I/O Multicast Poll Response Msg
2
1101 : Slave's I/O Change Of State or Cyclic Msg
2
1111 : Slave's I/O Poll Rsp/COS/Cyclic Ack Msg
2
Source-ID: device address.
Byte 0 ... Byte 3: position value.
Available Slave transmission modes:
2 - Polled: Master device sends a polled request and Slave device
replies sending its position value.
If the expected packet rate of polled mode is null (see
Expected packet
out status is never triggered; otherwise if the Slave does not
receive any message from the Master within the time set in the
05-Inst-09 Expected packet rate
closed (time-out status).
3 - Cyclic: Slave sends an "I/O message" cyclically. The time
between two subsequent transmissions is set in the
Expected packet rate
"6.5.3 Class 05h: Connection Object").
4 - Change Of State: Slave sends an "I/O message" every time its
status changes or at every heartbeat rate.
Slave can use one of the afore-mentioned "I/O messages"
transmission modes only if a peer-to-peer (P2P) connection is
arranged with the Master (using an "Explicit Messages Connection",
see section "6.4..3 Explicit Messages Connection").
28
4 CAN Data bytes
Byte 0 Byte 1 Byte 2
23
2
7 0 15 8
2 ...2 2 ...2
Low ...
8 CAN Data bytes
Position
B B B B B
0 1 2 3 4
Lo ... ... Hi Lo ... ...
rate), communication is always active and time-
object, then communication is
object of the cyclic mode (see section
Byte 3
1
...2
31 24
2 ...2
6
... High
Velocity
B B
B 7
5 6
Hi
05-Inst-09
05-Inst-09