SICK ATM 60-C Series - Object 1802 Hex: Transmit PDO 2, Parameter; Object 1 A00 Hex: Transmit PDO 1, Mapping

Object directory of the encoder
28 ATM60-Cxx 03/2007
9.1.1.15 Object 1802 hex: transmit PDO 2, parameter
Description
This object contains the communications parameters for the second transmit PDO.
Explanation
· Sub-index 0: number of entries
· Sub-index 1: COB-ID for transmit PDO 1
· Sub-index 2: transmission type
· Sub-index 3: inhibit time. Defines the minimum time, in 100 ms steps, which must elapse between two
PDO 2 messages.
Description of the sub-indices => see object 1800
hex
.
9.1.1.16 Object 1A00 hex: transmit PDO 1, mapping
Description
Contains the composition of the data which are transmitted via the PDO 1.
Structure of the entries of sub-index 1 to 4.
MSB LSB
Index (16 bits) Sub-index (8 bits) Object length (8 bits)
Example of an entry in the status register of the cams:
6300
hex
01
hex
08
hex
Explanation
· Sub-index 0: number of objects mapped in the PDO.
· Sub-index 1: first object mapped in the PDO.
Position value (Object 6004
hex
): 60040020
hex
· Sub-index 2: second object mapped in the PDO.
Default value => status register of the cams (Object 6300
hex
): 63000108
hex
· Sub-index 3: third object mapped in the PDO.
Default value => status register of the working range (Object 6400
hex
): 64000108
hex
· Sub-index 4: fourth object mapped in the PDO.
Default value => alarm messages (Object 6503
hex
): 65030010
hex
Sub-index 1 cannot be changed. This means that the position value is always contained in the PDO. Sub-
index 2 to 4 can be read and written via an SDO connection.
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