Flintec PC6D - Manual (Page 22)

Page Manual PC6D CANopen 22
3.5 Quick Start Guide
Notes:
•
The PC6D is always quiet on the CANbus until the NMT Start command is received,
except for the very first ‘node guard’ message.
•
Default setting for PC6D is CANopen address 1 @ 500 kbit/sec.
3.5.1 Process data objects
TPDO1
Weight values are available at all times (see page 7 or 9)
The following table shows the information of TPDO1 (8 byte, firmware 102.183):
32 bit 16 Bit 8 Bit 8 Bit
Weight Module Status Module number Gateway State
Remark: special firmware (version 102.186) supporting 6 byte available on request
Weight Module Status 0 0
Default : net weight.
Refresh time: every 50 ms per channel, see note below.
Format: Floating point single precision (IEEE 754)
Note:
A timer is controlled by index 1006 which is a silence time after transmission of a TPDO1 in
which no further TPDO1 messages is sent regardless of the output rate from the ADC and
filter system. This timer only applies to TPDO1.
This means that the default filter setting FL=3, type IIR, UR=0 produces 1200 samples. But
the default value 50000
µ s in index 1006 means that only every 60
th
sample is actually
transmitted, the 59 others are blocked by this timer.
On the other hand if you use a FIR filter with FL=8 you will only get a maximum of 150
measurements per second even if you try to set the index 1006 to 100
µ s (10kHz). UR will
have the usual effect.
TPDO2
8 byte format as TPDO1, except the “Module Number” contains a code:
0 => Average weight (
is available and refreshes when a new value is ready)
1=> Setpoint 1 crossed
2=> Setpoint 2 crossed
3=> Setpoint 3 crossed
4=> Setpoint 4 crossed