Flintec PC6D - Manual (Page 8)

Page Manual PC6D CANopen 8
3 CANopen profile
3.1 The PDOs
The weight and status is sent constantly to the CANbus. The TPDO1 is sent 20 times per
second. The TPDO2 is sent every time the PC6D finishes a triggered measurement or a Set-
Point is crossed. The TPDO3 is sent every time the Tare value is changed.
The format of the TPDO1, TPDO2 and TPDO3 is:
32 bit 16 Bit 8 bits 8 Bit
Weight Module Status Source Unused, zero
The first field is carrying weight information Gross or Net value if it is a TDPO1, Average
or Set-Point weight if it is a TPDO2.
Tare value if TPDO3.
Then module state follows as a 16 bit field width the following values:
$0001 - Under range
$0002 - Over range
$0004 - Not within Zero range (not yet implemented, zero)
$0008 - Exactly zero
$0010 - No motion, still stand, steady state
$0020 - Tare set
$0040 - Preset tare (0=tare is measured, 1=tare is set by user)
$0080 - Invalid weighing (wire-break, A/D ref. out of range)
$0100 - Set-point 1 (source>limit)
$0200 - Set-point 2
$0400 - Set-point 3
$0800 - Set-point 4
$1000 - Unused, zero
$2000 - Unused, zero
$4000 - Unused, zero
$8000 - Cold start
Source is zero in TPDO1 and TPDO3, and has the following meaning in TPDO2:
0 – (zero) Average result
1 – Setpoint 1 crossed
2 – Setpoint 2 crossed
3 – Setpoint 3 crossed
4 – Setpoint 4 crossed