ifm electronic JN2100 v.2.2.0 - Manual (Page 9)

UK
Inclination sensor JN
9
7.4 Communication types of process data object (PDO)
The request for process data objects is made by sending a remote transmit
request telegram (RTR).
The different transmit PDOs (TPDOx) can be polled in all operating modes of the
inclination sensor individually and at any time and they can be combined.
7.4.1 Cyclical operating mode
The cyclical transmission of a TPDO is activated when the interval time
(e.g. OD index 1800h/05h for TPDO0) contains a value greater than 0. The
type of transmission (e.g. OD index 1800h/02h for TPDO0) has to be set to
"asynchronous – manufacturer-specific“ (value = FEh). In the "operational" state
the inclination sensor then cyclically transmits the TPDOx with the set interval
time.
7.4.2 Synchronised transmission after reception of a SYNC telegram
For the synchronised transmission CANopen provides the SYNC object at which
the TPDOs are transmitted after every "nth" reception of a SYNC telegram.
Each inclination sensor has several transmit process data objects (TPDOx). The
TPDO0 contains the current inclination values (longitudinal and lateral) as 16-bit
values.
Byte 0 Byte 1 Byte 2 Byte 3
Inclination value longitudinal
(X axis)
OD index: 6010h
Inclination value lateral
(Y axis)
OD index: 6020h
The second transmit process data object TPDO1 contains the inclination values as
32-bit values.
Byte 0 to Byte 3 Byte 4 to Byte 7
Inclination value longitudinal
(X axis)
OD index: 6110h
Inclination value lateral
Y axis)
OD index: 6120h
The third transmit process data object TPDO2 contains the inclination values
(aPeak and Veff) as 32-bit values.
Byte 0 to Byte 3 Byte 4 to Byte 7
Veff
OD index: 5C10h aPeak
OD index: 5C11h