SICK ATM 60-C Series User Manual

Object directory of the encoder
ATM60-Cxx 03/2007 27
COB-ID for transmit PDO
Bit number Value Meaning
31
(MSB)
0
1
PDO enabled
PDO disabled
30 0 RTR permitted
29 0 11-bit ID (CAN 2.0A)
28-11 0 reserved for 29-bit identifier
10-0 X bits 10..0 of the COB-ID
Transmission type
Transmission type PDO transmission
cyclic acyclic synchronous asynchronous only RTR
0 X X
1-240 X X
241-251 Reserved
252 X
253 X X
254 X
255 X
0 PDO is transmitted after a SYNC telegram if the position value has changed since the last
transmitted PDO.
1-240 PDO is transmitted after 1..240 received SYNC telegrams.
252 As a result of a SYNC telegram, the content of the PDO is saved internally. However, the
PDO is transmitted only upon a request from an RTR telegram.
253 The content of the PDO is updated and transmitted after an RTR telegram.
254 The content of the PDO is transmitted either under timer control (Object 6200
hex
<>0) or after
a position change (Object 6200
hex
= 0).
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