coval LEMCOM Series - 2001 H - Part Gripped Information

LEMCOM CANopen® – User manual Detailed description of CANopen objects
COVAL – LMCOP-EN-A-1155UM0068 25/49
The reply is as follows:
Server (LEMCOM)  Client (master)
CAN-ID
(580h+ID)
5A0h
Command
60h
Object L
00h
Object H
20h
Subindex
00h
Byte 0
00h
Byte 1
00h
Byte 2
00h
Byte 3
00h
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:
Figure 9 – How the part gripped signal of a LEMCOM module works
Client (master)  server (LEMCOM)
CAN-ID
(600h+ID)
620h
Command
40h
Object L
01h
Object H
20h
Subindex
00h
Byte 0
00h
Byte 1
00h
Byte 2
00h
Byte 3
00h
The reply is as follows:
Server (LEMCOM)  Client (master)
CAN-ID
(580h+ID)
5A0h
Command
4Bh
Object L
01h
Object H
20h
Subindex
00h
Byte 0
00h
Byte 1
00h
Byte 2
00h
Byte 3
00h
The “part gripped” signal states of all the modules are indicated by Byte 1 – Byte 0:
Byte 0
Byte 1
GRIP signal state
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
Module address
7
6
5
4
3
2
1
0
15
14
13
12
11
10
9
8
GRIP signal state
GRIP = 1
GRIP = 0
Vacuum level
(%)