SICK DL100 User Manual

8015416/ZPN2/2017-09-08 • © SICK AG • Subject to change without notice 115
Operating instructions Distance measuring device DL100 – CANopen®
CANopen®-interface
10.12.23 Parameterizelinearabsolutevalueencoders
The following procedure is recommended when commissioning a linear
rotary encoder:
• sfc: activate/deactivate
• md: activate/deactivate
• Sensor parameters (e.g. resolutions)
10.13 TPDO behavior at distance value
If there are only synchronous TPDOs, the distance value refers to the re-
ceipt time of the SYNC object (CANopen
®
-master time basis).
If there are only asynchronous TPDOs, the distance value refers to the ex-
ecution time of the internal CANopen
®
-processing (sensor time basis).
If there are synchronous and asynchronous TPDOs, the distance value
refers to the execution time of the internal CANopen
®
-processing and not to
the receipt time of the SYNC object.
10.14 Dynamic mapping
ThedeviceproleCiA406(encoderprole)implementedintheDL100con-
tains the free TPDOs “TPDO 3” and “TPDO4”. In this case, it is preferable to
mapthemanufacturer-specicTPDOsonthedeviceproleCiA406.
406 (Encoder) Profile
TPDO 1 TPDO 2
Manufacturer-specific
(SICK) Profile
TPDO 5 TPDO 6
TPDO 3
TPDO 4
frei
TPDO1toTPDO4areinthepre-denednumbercircle(181hto57Fh)
TPDO1andTPDO2areCiA406-specic.TPDO5andTPDO6aremanufac-
turer-specicanddeactivatedbydefault(COB-ID0x80000000).
Thepre-denedPDOrangemustbeused.AssignmenttoCAN-IDsusually
happensbyabusdesignerusingacongurationsoftwarethatassumes
correct assignment of CAN-IDs.
Thefollowingcongurationsarerecommended.

SICK DL100 Specifications

General

Brand	SICK
Model	DL100
Category	Measuring Instruments
Language	English