coval LEMCOM Series - 2100 H - Set Threshold L1; 2101 H - Set Hysteresis H1

LEMCOM CANopen® – User manual Detailed description of CANopen objects
COVAL – LMCOP-EN-A-1155UM0068 40/49
12.23 2100h – Set threshold L1
The vacuum threshold L1 (part gripped threshold) can be set using the following SDO command:
CAN-ID
(600h+ID)
620h
Command
2Fh
Object L
00h
Object H
21h
Subindex
Module no.+1
Byte 0
00h
Byte 1
00h
Byte 2
00h
Byte 3
00h
The subindex is used to define the module to be set (from 1 to 16):
- Subindex = 0x01  set L1 on master module (address #0)
- Subindex = 0x02  set L1 on secondary module at address #1
- …
- Subindex = 0x10  set L1 on secondary module at address #15
Byte 0 is used to define the value of L1 to be written.
THRESHOLD L1
The L1 threshold value must range from 0 to 99% (00h to 63h).
Default values:
o L1 = 35% for a LEMC60X configuration
o L1 = 65% for a LEMC90X configuration
PARAMETERS L1/h1/L2/h2
For further details on how the thresholds and the hysteresis (Lx/hx) work, refer to section
“General overview of LEMCOM”.
12.24 2101h – Set hysteresis h1
The hysteresis h1 can be set using the following SDO command:
CAN-ID
(600h+ID)
620h
Command
2Fh
Object L
01h
Object H
21h
Subindex
Module no.+1
Byte 0
00h
Byte 1
00h
Byte 2
00h
Byte 3
00h
The subindex is used to define the module to be set (from 1 to 16):
- Subindex = 0x01  set h1 on master module (address #0)
- Subindex = 0x02  set h1 on secondary module at address #1
- …
- Subindex = 0x10  set h1 on secondary module at address #15
Byte 0 is used to define the value of h1 to be written.
HYSTERESIS H1
The h1 hysteresis value must range from 0 to 99% (00h to 63h).
By default, h1 = 10%.