West Control Solutions KS 800 CANopen Interface Manual - Manual (Page 16)

KS 800 CAN-Interface
5 SYNC
As described above, synchronous PDO data must be read from or written to KS 800 by means
of SYNC pulses. The relevant KS800 controllers must be in OP mode and the SYNC-PDOs must
be enabled via SDO. For this, object "0x1800" must be set to value "0x280+nodes".
A SYNC message is a "broadcast" (message to all units in the network) which is activated by the
master as follows:
0 data bytes
COB-ID LEN
0x80 2
Reply from KS800:
e.g. following PDO
8 data bytes
COB-ID LEN Channel Xeff Dev. st. Channel st. Ypid
0x80 +node 8 0x05 0x2BC 0x02 0x00 0x00 0x42 0xF4 0x01
⇒
Xeff = 0x0BC = 700 = 700
°
C
⇒
Device Status = 0x00 = kein Fehler
⇒
Channel Status = 0x4200 = Coff = 1, Wint = 1
⇒
Ypid = 0X01F4 = 500 = 50%
After a new SYNC by the master, the data of the next channel, i.e. channel 6 in this case, are
transmitted, etc. After transmission of the eightth channel, restart is at channel 1. With several
KS800 units in a network, the data of the relevant channel are sent by each controller per SYNC
event. (max. 2 channels, if 2 synchronous PD=s are configured)
* ) The COB-ID default value of 0x80 can be changed with object 1005.
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