Siko AP10 User Manual

Communication via CAN bus (CANopen)
AP10 Date: 28.02.2022 Art. No. 86853 Mod. status 37/22 Page 21 of 78
RTR
Queries can be sent to TPDO1 and TDPO2 as well as RPDO1 and RPDO2 via RTR
(see chapter 5.1, Control field).
5.3.1.2 Receive-PDO (from master to AP10)
Using Receive-PDO transfer (RPDO), set points and control commands (see chapter 5.3.2) can
be transmitted from the bus master to the display.
COB-ID
Process data in binary code
Byte 0
(LSB)
Byte 1
Byte 2
Byte 3
(MSB)
Byte 4
Byte 5
Byte 6
Byte 7
RPDO1
200h + Node-ID
Target value 1
Data identifier
equal to ASCII:
Byte 4 and 5 of
set point 1
5F0Ch: Control
word (see
chapter 5.3.2)
Otherwise dummy
0x0000
RPDO2
300h + Node-ID
Target value 2
Data identifier
equal to ASCII:
Byte 4 and 5 of
set point 2
Otherwise dummy
0x0000
Table 14: RPDO message
The transfer behavior of RPDO1 is defined via objects 1400h and 1600h. RPDO2 is defined via
objects 1401h and 1601h.
A differentiation is made between Set point1 und Set point2 only in the alpha-numeric
display mode. Set point1 is displayed in the upper row and Se tpoint2 in the lower row. In the
position-dependent modes, the set point last received, if valid, is output in the 2
nd
row.
RTR
Via RTR (see chapter 5.1, Control field) at RPDO1 and RPDO2 the setpoints can be read from
the display.
5.3.2 Control word
The control word consists of 16 bits and is mapped in the object 5F0Ch: Control word. This
object is received with both Receive PDOs.
Control word
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
MSB High Byte
Low Byte LSB

Siko AP10 Specifications

General

Brand	Siko
Model	AP10
Category	Measuring Instruments
Language	English