Baumer GCA3 - PDO Service; PDO Transmission Types and COB-ID

Baumer_GCA3-5-8-12-20_CANopen_MA_EN_Rev10.docx 12/23 Baumer – Sensor Systems s.r.l.
03.12.2019 Chiari (Bs), Italy
6 PDO Service
6.1 General
The device supports TPDO1 and TPDO2. PDOs are only transmitted in NMT operational mode.
6.2 PDO transmission types
The following transmission types are supported (object 180x-2):
 Synchronous transmission (1-240)
 Asynchronous transmission (255)
 Manufacturer transmission (254)
Both PDOs support all transmission types.
Transmission type 255 and 254: The PDO is transmitted timer driven. The time interval between 2 PDOs can be
adapted in the object 180xh-5
Transmission type 1-240: The PDO is transmitted after the n-th sync frame.
Transmission type 1: The PDO is transmitted after one sync frame.
Transmission type 2: The PDO is transmitted after two sync frames.
etc.
6.3 COB-ID
The COB-ID for both PDOs is changeable (in Object 180xh-1)
The format of the TPDO is:
TPDO1
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x180 + ID
8
P0a
P1a
P2a
P3a
P0b
P1b
P2b
P3b
where P is the actual position value in 0.1mm or other scale (depending on the resolution settings) and the suffixes ’a’
and ’b
1
’ refers to channels ’a’ and ’b
1
’ respectively.
Interpretation example
Considering a resolution of 0.1mm:
P0 = 0x10, P1 = 0x27, P2 = P3 = 0
It means P = 0x00002710 (10000 decimal) = 1000mm
The channel ’b’ is represented in a similar way (but typically in a reverse order so, in the zero position, channel ’b’ is
4700mm and at FS his value is 0).
TPDO2 (Enabled in case of Inclinometer)
COB-ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
0x280 + ID
8
R0a
R1a
0
0
R0b
R1b
0
0
where R is the actual rotation value in degrees or tenths of degrees (depending on the resolution settings).
Interpretation example
Considering a resolution of 0.1°:
P0 = 0x84, P1 = 0x03
It means P = 0x00000384 (900 decimal) = 90°
The channel ’b
1
’ is represented in a similar way.