SICK PGT-12-Pro User Manual

7 CANopen functions
The points listed here will help you to get started with CANopen programming with the
PGT-12-Pro. You will find a detailed description of the individual objects and procedures
in the operating instructions for the corresponding encoders and inclination sensors.
7.1 Setting the baud rate (device scan)
If the PGT-12-Pro is started with a CANopen device connected, it can perform a device
scan.
The PGT-12-Pro can either be set to the frequently used baud rate (if this is known and
has been configured on the device) or an automatic search can be performed.
•
Connect a device of the type to be programmed to the PGT-12-Pro (see “Connect‐
ing to the device”).
•
Confirm the cable dialog box.
•
Wait for the PGT-12-Pro to detect the device (message: Device found!).
•
The current baud rate and the node ID of the device are displayed.
•
To reduce the duration of the device scan, the baud rate for the subsequent scan
operations can be set in the Setup menu under Choose Baud Rate for Device
Scan.
NOTE
This dialog box is only available for CANopen devices. The device baud rate can be
changed in the menu under Set Baud Rate.
7.2 Configuring the Transmit PDO transmission mode
Depending on the connected CANopen device, up to four TPDOs can be configured. The
transmission mode for the TPDOs is configured in the menu under Configure Transmit
PDO.
Transmission mode (1800.2h – 1803.2h) AHS/AHM TMS TMM
Asynchronous when switching on (0) x - -
Synchronous and cyclic (1–240) x x x
Asynchronous send in response to RTR request
(252)
x - -
Synchronous send in response to RTR request
(253)
x - -
Send in response to RTR request (253) - x x
Application-specific (254) x x x
Device-specific (255) x - -
•
Connect a device of the type to be programmed to the PGT-12-Pro.
•
Use the Set Transmit PDO Transmission Type function to specify the transmission
mode.
•
Select the event timer or CoS event handling (see “Specifying CoS event han‐
dling”) for the Application-specific or Device-specific transmission mode.
The Transmit PDO transmission type is now configured.
The only difference between application-specific and device-specific triggering is that
with device-specific triggering, the PDOs are transferred once on changeover to Opera‐
tional status.
OPERATING INSTRUCTIONS
32
O P E R A T I N G I N S T R U C T I O N S | PGT-12-Pro 8019724/1EJJ/2022-01-05 | SICK
Subject to change without notice

SICK PGT-12-Pro Specifications

General

Brand	SICK
Model	PGT-12-Pro
Category	Media Converter
Language	English