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SICK DL100 Pro CANopen - Page 84

SICK DL100 Pro CANopen
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CiA 406 (Encoder) Profile
TPDO 1
TPDO 2
Manufacturer-specific
(SICK) Profile
TPDO 5 TPDO 6
TPDO 3
TPDO 4
1
2
1
CiA 406 (encoder) profile
2
Manufacturer-specific (SICK) profile
The following configurations for using the manufacturer-specific TPDO5 and TPDO6 are
recommendations.
Variant 1
If only one of the two manufacturer-specific TPDO5 or TPDO6 is to be used, this must
be mapped to the CAN ID range of TPDO4 (480h + node ID) reserved by CiA 301.
If both manufacturer-specific TPDO5 and TPDO6 are to be used, the TPDOs must be
mapped as follows:
TPDO5 to the CAN ID range of TPDO3 (380h + node ID)
TPDO6 to the CAN ID range of TPDO4 (480h + node ID).
CiA406 (Encoder) Profile
TPDO 1
TPDO 2
Manufacturer-specific
(SICK) Profile
TPDO 5 TPDO 6
TPDO 4TPDO 3
1
2
1
CiA 406 (encoder) profile
2
Manufacturer-specific (SICK) profile
NOTE
The CAN ID range of TPDO3 can be used because the device does not support object
6008h (High Precision Position Value) provided by CiA 406.
TPDO4 is reserved and therefore, like TPDO3, not present in the object directory of the
device.
Variant 2
Another possibility is to map a manufacturer-specific TPDO, for example TPDO5, to the
still free CAN ID range of TPDO1 (180h + node ID).
10 CANOPEN INTERFACE
84
O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen 8015418/19HA/2022-12-15 | SICK
Subject to change without notice

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