SICK DL100 User Manual

Operating instructions Distance measuring device DL100 – CANopen®
CANopen®-interface
102 © SICK AG • Subject to change without notice • 8015416/ZPN2/2017-09-08
10.10.17 Object 1800h Transmit PDO Communication Parameter 1
Communications parameters for asynchronous transfer of object 6004h,
subindex 0h (position).
Subindex Name Description
0h Number of Entries Indication of the number of subindices within object 1800h.
1h COB-ID TheCOB-IDisxedandmadeupof180h+Node-ID.
2h Transmission Type Denesthetransmissiontype.
3h Inhibit Time The“InhibitTime”denestheminimumtimethatmustpassbetweentwosub-
sequentcallsofaPDO.ThePDOmustbedeactivatedrstforan“InhibitTime”
parameter adjustment. See page 115, chapter 10.14 “Dynamic Mapping”.
4h Compatibility Entry No function.
5h Event Timer Asynchronous PDOs (Transmission Type FEh or FFh) are triggered, e.g. via the
“EventTimer”.Thissubindexdenestheperiodofthe“EventTimer”asamultiple
of milliseconds. If the value is equal to 0, the asynchronous PDO is deactivated
and no longer sent.
6h Sync Start Value Indicates the SYNC from which onwards the PDO is to be sent.
ThePDOmustbedeactivatedrstfora“SyncStartValue”parameteradjust-
ment. See page 115, chapter 10.14 “Dynamic Mapping”.
10.10.18 Object 1801h Transmit PDO Communication Parameter 2
Communications parameters for synchronous transfer of object 6004h,
subindex 0h (position)
Subindex Name Description
0h Number of Entries Indication of the number of subindices within object 1801h.
1h COB-ID TheCOB-IDisxedandmadeupof280h+Node-ID.
10.10.19 Object 1804h Transmit PDO Communication Parameter 5
CommunicationsparameterofthefreelycongurablePDOs5.
Subindex Name Description
0h Number of Entries Indication of the number of subindices within object 1804h.
1h COB-ID The following COB-IDs are not permitted:
0h: NMT
701h to 77Fh: NMT Error Control
Setting of these COB-IDs is rejected by the SDO-Aport message “6040043h
(Parameter incompatible)“.
If you want to activate the TPDO4, although mapping is deactivated (1A04:00,
Number of Entries = 0), the SDO-Abort-message “08000022h” is generated. Ac-
cordingtothespecicationCiA301(Version4.2,page36,lengthoftheprocess
data at least 1) it is not permitted for TPDOs that have no mapping entries to be
sent.
2h Transmission Type Denesthetransmissiontype.

SICK DL100 Specifications

General

Brand	SICK
Model	DL100
Category	Measuring Instruments
Language	English