SICK DL100 Pro CANopen - TPDO Behavior at Distance Value; Dynamic Mapping

Subindex Name Description
2h Manufacturer Mini‐
mum Position Value
Minimum distance value as multiple of 0.1mm, version-
dependent
3h Manufacturer Maxi‐
mum Position Value
Maximum distance value as multiple of 0.1mm, version-
dependent
For subindex 2 and subindex 3, the following min/max values apply (without taking into
account an optional, customer-specific offset):
•
DL100-21xxxxxx: –100m / +100m
•
DL100-22xxxxxx: –200m / +200m
•
DL100-23xxxxxx: –300m / +300m
Object 650Bh Serial Number
Indicates the 8-digit serial number.
10.4.5 TPDO Behavior at distance value
If there are only synchronous TPDOs, the distance value refers to the arrival time of the
SYNC object (CANopen controller time base).
If there are only asynchronous TPDOs, the distance value refers to the execution time of
Internal CANopen processing (sensor time base).
If there are synchronous and asynchronous TPDOs, the distance value refers to the
execution time of internal CANopen processing and not to the arrival time of the SYNC
object.
10.4.6 Dynamic mapping
The CiA 406 device profile (encoder profile) contains the three TPDO1...TPDO3. Of
these, only TPDO1 and TPDO2 are implemented in the device. They are located in CAN
ID range 181h-1FFh or 281h-2FFh predefined for this purpose in CiA 301 and contain
the current distance value.
TPDO Description Transmission type CAN-ID Done
TPDO1 Object 6004h Position
Value
Asynchronous 181h-1FFh Yes
TPDO2 Object 6004h Position
Value
Synchronous/Event-
driven
281h-2FFh Yes
TPDO3 Object 6008h High Preci‐
sion Position Value
Synchronous/Event-
driven
381h-3FFh No
TPDO4 Reserved – 481h-4FFh –
In addition, the device contains the manufacturer-specific TPDO5 and TPDO6. They are
deactivated by default (COB ID 0x80000000). The objects listed in table 47 can be
dynamically mapped to these TPDOs. There is no CAN ID range specified by CiA 301 for
these TPDOs. That means the assignment has to be done by the customer with the help
of a controller-specific configuration software, which correctly assigns CAN IDs.
CANOPEN INTERFACE 10
8015418/19HA/2022-12-15 | SICK O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen
83
Subject to change without notice