SICK ATM 60-C Series User Manual

Communications model
ATM60-Cxx 03/2007 9
The following objects in the object directory can be transmitted in a PDO, defined via the PDO mapping:
· Object 6004
hex
; position value
· Object 6300
hex
: status register of the CAMs
· Object 6400
hex
; status register of the working range
· Object 6503
hex
; alarms
· Object 6505
hex
; warnings
· Object 2004
hex
; speed
· Object 2005
hex
; acceleration
5.2 Service data objects (SDOs)
The use is predominantly the device configuration via configuration tools. Access to the object directory of the
encoder can be made via an SDO connection. All the device parameters of the encoder are stored in this
object directory at defined addresses (index and sub-index) and can be read and written via SDOs.
The ATM60-Cxx has one SDO channel, comprising:
· A transmission SDO (tx) for messages from the encoder to the master.
· A receiving SDO (rx) for messages from the master to the encoder.
Construction of an SDO message:
SDO-ID Command Index Sub-index 4-byte data
11 bit Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Command Function Telegram type Meaning
22 hex
SDO, Initiate Download
Request
Request Parameters to encoder
60 hex
SDO, Initiate Download
Response
Confirmation Parameters accepted
40 hex
SDO, Initiate Upload
Request
Request Request parameters
from encoder
43 hex
SDO, Initiate Upload
Response
Reply Transmit parameters to
master (4 bytes)
In work
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SICK ATM 60-C Series Specifications

General

Brand	SICK
Model	ATM 60-C Series
Category	Media Converter
Language	English