HBM TIM40 - Activation of PDO Output

Interface description
40 A02590_04_E00_00 HBM: public TIM40
MeaningValuesBitMeaningByte
6..7 00 = Parameter set 1
01 = Parameter set 2
10 = Parameter set 3
11 = Parameter set 4
Actual parameter
set
2 Error status 0..7 0 Reserved
RPDO1 control byte
CAN Identifier (COB ID) 512 (200h) + CAN address Data
1. data byte Control byte Control word
Byte Meaning Bit Values Meaning
1 Control byte 0 0 = no function
1 = zeroing of actual
measured value
Torque zeroing
1 0 Reserved
2 0 = Shunt off
1 = Shunt on
Activate shunt
calibration
3..5 0 Reserved
6..7 00 = Parameter set 1
01 = Parameter set 2
10 = Parameter set 3
11 = Parameter set 4
Load parameter set.
Implemented when the
value has changed
13.1.5 Activation of PDO output
The exchange of cyclic PDOs only starts once the module has been brought to
the ”Operational” state. This is done with the ”Start_Remote_Node” message.
Switch all configured PDO's to ”operational”:
CAN Identifier 0
1. data byte 1 (01hex)
2. data byte Module address (0 =, ID 110 = 6e hex)