LEMCOM CANopen® – User manual Messaging
COVAL – LMCOP-EN-A-1155UM0068 19/49
8 MESSAGING
8.1 Information available via SDO
Configuration or miscellaneous parameters are only accessible via SDO:
2001h, 2002h, 2003h, 2004h, 2010h, 2011h, 2012h, 2013h, 2014h, 2015h, 2016h, 2017h, 2018h,
2019h, 2100h, 2101h, 2102h, 2103h, 2104h, 2105h, 2106h, 2107h, 2108h, 2109h, 210Ah, 210Bh,
210Ch, 210Dh, 3000h, 3001h, 3002h, 3010h, 3011h, 3020h, 3100h, 4000h, 4001h.
8.2 Information available via SDO and PDO
Process data is available via PDO and SDO:
2000h, 2001h and 2020h.
8.3 Transfer type of TX PDOs
The transfer type of Tx PDOs is configured as “Manufacturer”.
For TX PDO 1 and TX PDO 2, it depends on the value configured in object 3100h, which is used as
a Triggering Delta (+/-) in relation to the previous vacuum value.
The TX PDO 3 is sent each time the “part gripped” signal state changes on at least one module on
the island (see object 2001h).
The 3 TX PDOs are sent once upon startup (START-NMT) and then according to the conditions
described above.
Note: LEMCOM does not support any remote transmit requests (RTR) for PDOs.
8.4 PDO mapping
Mapping of RX PDO:
1 object mapped: 2000h subindex 0 – size 32 bits. Vacuum/blowing control.
Mapping of TX PDOs 1 and 2:
8 objects mapped per PDO:
- PDO1: 2020h subindex 1 to 8
- Eight 8-bit objects containing the vacuum values of the modules at addresses #0 to #7
- PDO size: 64 bits
- PDO2: 2020h subindex 9 to 16
- Eight 8-bit objects containing the vacuum values of the modules at addresses #8 to #15
- PDO size: 64 bits
Mapping of TX PDO 3:
- PDO3: 2001h subindex 0
- One 16-bit object containing the statuses of the “part gripped” signals of all modules on the island
- PDO size: 16 bits
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