Baumer G1-G2-G0-GE-GB-GXxxx - Manual (Page 12)

Manual_CANopen_BIDE_EN.docx 12/52 Baumer IVO GmbH & Co. KG
21.11.12 Villingen-Schwenningen, Germany
Overview
In the following table, the different transmission modes for PDOs are summarized:
1800h
2800h Summarized description
Sub2 Sub5
FEh 3ms 0 Cyclical transmission every 3 ms
FEh 5ms 2 Every 5 ms, the PDO is sent twice if there is a change
FEh 0ms 0 Transmit PDO switched off
FEh 0ms xxx Transmit PDO switched off
3 xxx 0 Transmit with every third sync telegram
3 xxx 2Bh On every third sync telegram, but only 43 times in total (=2Bh).
PDO (Position)
PDO1 telegram structure:
ID
DLC Byte 1 Byte 2 Byte 3 Byte 4
181h 4 Xx Xx Xx Xx
ID
: 180h + node ID
Length : 4 DataByte
Byte1 - 4 : Current position in increments
PDO2 telegram structure:
ID
DLC Byte 1 Byte 2 Byte 3 Byte 4
281h 4 Xx Xx Xx Xx
ID
: 280h + node ID
Length : 4 DataByte
Byte1 - 4 : Current position in increments