SICK DL100 Pro CANopen - Configuration of Process Data Objects (Tpdos)

Dir COB-ID DLC Com‐
mand
Index
L-byte
Index
H-byte
Subin‐
dex
Byte 0
L-byte
Byte 1 Byte 2 Byte 3
H-byte
Description
D0 D1 D2 D3 D4 D5 D6 D7
CAN‐
open
Con‐
troller
07E5h 08h 13h 00h 04h 00h 00h 00h 00h 00h lss set_bitrate (in this
example 125kBd)
Note: To set the baud
rate see table 53,
page 91
Table Selection is dis‐
played in D1, Table
Index in D2. Table
Selection must always
be 0.
CAN‐
open
Device
07E4h 08h 13h 00h 00h 00h 00h 00h 00h 00h Feedback setting
baud rate=125kBd
“successful”
CAN‐
open
Con‐
troller
07E5h 08h 17h 00h 00h 00h 00h 00h 00h 00h Saves the setting.
CAN‐
open
Device
07E4h 08h 17h 00h 00h 00h 00h 00h 00h 00h Save feedback “suc‐
cessful.”
CAN‐
open
Con‐
troller
07E5h 08h 04h 00h 00h 00h 00h 00h 00h 00h lss switch_glob 0 sets
LSS network to oper‐
ating mode.
CAN‐
open
Device
– – – – – – – – – – Note: There is no feed‐
back from the CAN‐
open device.
Table 53: LSS baud rates
Baud rate [kBd] D1 Table Selection D2 Table index Supported by device
1000 0 0 X
800 0 1 X
500 0 2 X
250 0 3 X
125 0 4 X
Spare 0 5 –
50 0 6 –
20 0 7 –
10 0 8 –
10.5.3 Configuration of process data objects (TPDOs)
The device has four TPDOs. TPDO1 and TPDO2 are CiA 406-specific and are preset
and activated for asynchronous transmission (TPDO1, controlled via event timer) or
synchronous transmission of the position value (TPDO2, controlled via sync command).
TPDO5 and TPDO6 are manufacturer-specific and deactivated by default (COB ID
0x80000000). These can be used for the transmission of further process values such
as temperature or receiving level, see table 45, page 85.
Configuration of transmission of position value:
1. Select the required TPDO1 (1800h) or TPDO2 (1801h) in the configuration tool.
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
91
Subject to change without notice