Infranor XtrapulsGem User Manual

27
X
trapulsPac - User Guide
Chapter 3 – Reference
Dataflow An element of an object is qualified as dataflow (signal) if it is a variable (i.e. mappable).
These variables can be of 8 bit, 16 bit or 32 bit.
Depending on the using context, a dataflow must be of 16 bit or 32 bit or any size.
The dataflow can be issued from:
- An external source:
Examples
: Encoder position 0x3129-0
Analog Input 0x31F1-1 (16 bit)
Analog Input 0x31F1-2 (32 bit)
- The CAN bus:
Example
: Interpolated data 0x30C1-0 (32 bit)
- An internal signal:
Examples
: Profile Speed Function Block output 0x3526-0 (32-bit)
User variable : 0x3710-3 (32-bit)
3.1 - CANOPEN COMMUNICATION
3.1.1 - COMMUNICATION OBJECTS
3.1.1.1 - CAN Telegram
CAN TELEGRAM
SOM COB-ID RTR CTRL Data segment CRC ACK EOM
SOM Start Of Message
COB-ID COB-Identifier of 11 bits
RTR Remote Transmission Request
CTRL Control field
Data up to 8 bytes
CRC Cyclic Redundancy Check
ACK Acknowledge
EOM End Of Message

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English