West Control Solutions KS98-1 - Manual (Page 191)

RM 200
Data transmission in both directions is asynchronous. Data are transmitted only if changed (only the related PDOs).
Checking, if changes were made is dependent on the accuracy of the data format (LSB). In both directions, the min. re -
fresh rate is 100 ms.
Max. 5 PDOs + 1status PDO are sent by the RM node dependent on the number of modules in the nodes.
Max. 5 PDOs are sent to the RM node by KS 98-1.
KS98-1 cross communication
Data transmission is asynchronous. Data are transmitted only when changes occurred (only the related PDOs). The min.
refresh rate is 200 ms.
Max. 5 PDOs are sent dependent on the quantity of data connected to CSEND.
Max. 5 PDOs are received by KS 98-1.
Instruments from other manufacturers
Instruments from other manufacturers - sensors / actuators – can be addressed via synchronous data communication
(send and receive PDOs), or using asynchronous data communication via SDOs. For reduction of the bus activities,
checking for data changes is done by the sending side.
PDO reception can be influenced only by increasing the “Inhibit time” on the sensor side, in order to prevent informa -
tion from being sent more frequently than once per 100 ms (KS 98-1 calculation cycle). Received data bytes can be con -
verted into the internal format flexibly using function block AOCTET . The operating principle of the block for the
sending side is equal.
The receive and send interfaces (CPREAD/CPWRIT) are handled at intervals of 100 ms.
In block number range 21-40, max. 40 PDO addresses (COB-ID=Communication OBject Identifier: basic address + node
address) can be addressed.
The data definition according to DS301 V4.0 complies with the Intel notation. The hearbeat protocol, which is offered
by some manufacturers, is not supported.
+ Recommendation for safe operation:
9499-040-82711 Description of KS 98-1 CAN bus extension
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