Flintec PC6D User Manual download pdf (Page 22)

Page Manual PC6D CANopen

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 µs in index 1006 means that only every 60

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 µs (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

1 2 ... 17 18 19 20 21 22 23 24 25 26 27 ... 44 45

No comments

Flintec PC6D User Manual Page 22