Baumer GNAMG - Manual (Page 9)

Manual_GNAMG_CANopen_EN.doc 9/41 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
SDO examples
Parameter request master to slave
Read resolution  object 6000h
COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3
600h+Node-ID 8 40h 00h 60h 0 x x x x
Response of slave to parameter request
COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3
580h+Node-ID 8 4Bh 00h 60h 0 a b C d
Write parameter by master into slave
Angular position Y-axis set slope long by help of object 6112h preset
COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3
600h+Node-ID 8 22h 12h 61h 0 a b c d
Response of slave to write parameter
COB-ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3
580h+Node-ID 8 60h 12h 61h 0 0 0 0 0
3.3.4. Process data communication
Process data objects serve for process data exchange in realtime. PDO transmision is synchronous or cyclic
(asynchronous). The inclination sensor supports PDO1 providing the actual angular position of the two axis of
the inclination sensor and defined in the objects 1800h, 1A00h, 6110h and 6120h .
Synchronous
For synchronous process data transmission the parameter set in object 1800h must be between 1 and F0h
(=240). If for example the parameter is 3, the PDO will be transmitted on every third sync telegram (in case
the parameter is 1, transmission will be on every sync telegram).
In synchronous operation the PDOs are requested by master via sync telegram:
byte 0 byte 1
COB-ID = 80 0
Cyclic (asynchronous)
For cyclic PDO transmission, the parameter written in object 1800h subindex 2 must be FEh or FFh. In
addition, the same object subindex 5 must provide the cycle time in milliseconds. The written time is rounded
to 1 ms. If the parameter is 0ms, the PDO’s won’t be transmitted at all. The function is disabled.