SICK ATM60 - Cyclical Data Traffic (Data Exchange Mode); Data Assembly A1 - Module IN_04; Data Assembly A2 - Module IO_04

System Configuration
42 ATM60 / ATM90 / KHK53
Dec 2021
8.5 Cyclical Data Traffic (Data Exchange Mode)
The data is exchanged by means of default SAP in the Profibus telegram header. The master
sends the output data to the slave and receives (if existing) the input data in return. In this
mode, the telegram header consists of 9 bytes. The amount of nett data is limited to 244 bytes
max.
The data telegram to be transmitted between master and slave, is defined in a 'DDLM_Chk_Cfg'
telegram previously initiated by the master.
WORD_1 WORD_2 ....... WORD_n
Byte_1 Byte_2 Byte_3 Byte_4 ....... ....... Byte_n-1 Byte_n
Output_Data 1 Output_Data 2 ....... Output_Data n
(*1)
Input_Data 1 Input_Data 2 ....... Input_Data n
Note the specific configuration of the output data:
(*1)
The configuration of the 'output data' is reduced, as is the data component 'Preset
value’. The content of Word_3, Word_4 remains unused, although the protocol trans-
mits the complete data set.
8.5.1 DDLM_Data_Exchange. – Data Assembly (A1). – Module IN_04
Class 1 configuration according to encoder profile: - data components { I-1 }.
WORD_1 WORD_2
Byte_1 Byte_2 Byte_3 Byte_4
Position value (I-1)
(Bit
31..24)
(Bit
23..16)
(Bit 15..8) (Bit 7..0)
Byte_1 Byte_2 Byte_3 Byte_4
8.5.2 DDLM_Data_Exchange. - Data Assembly (A2). - Modul IO_04
Class 2 configuration according to encoder profile: - data components { I-1, O-1 }.
WORD_1 WORD_2
Byte_1 Byte_2 Byte_3 Byte_4
Position value (I-1)
(Bit
31..24)
(Bit
23..16)
(Bit 15..8) (Bit 7..0)
Byte_1 Byte_2 Byte_3 Byte_4
WORD_1 WORD_2
Byte_1 Byte_2 Byte_3 Byte_4
Preset value (O-1)
(Bit
31..24)
(Bit
23..16)
(Bit 15..8) (Bit 7..0)
Byte_1 Byte_2 Byte_3 Byte_4