Chapter 5 ONLINE HELP SOPAS
LECTOR®620
136 © SICK AG · Germany · All rights reserved · Subject to change without notice 8013778/Y269/2013-11-27
Parameters
5.10.10.1.13 Enable user IO PDOs
If the Enable user IO PDOs parameter is activated, user-defined process data objects
(PDOs) can be sent and received by a script program.
The user-defined PDOs are entries in the object dictionary that are reserved for scripts and
configured in the object dictionary. The reserved PDOs are used to allow the script to receive
status changes from the CAN input modules and control CAN output modules by sending a
PDO. This is how the communication bandwidth of the device is extended in terms of its soft-
ware. The reading device can use the extended communication bandwidth for control tasks
within its surrounding area, even if the required number of switching inputs and outputs for
the control process is not available.
5.10.10.1.14 COB ID RPDO user digital input
The COB ID RPDO user digital input parameter defines the CAN identifier for the user-defi-
ned receive process data objects (RPDOs) received on the reading device.
For the first four receive process data objects (RPDOs), communication and mapping can
be configured by accessing objects 0x1400 to 0x1403 and 0x1600 to 0x1603. The confi-
guration is saved in the device's parameter set. The other RPDOs cannot be configured.
5.10.10.1.15 COB ID TPDO user digital output
The COB ID TPDO user digital output parameter defines the CAN identifier for the user-defi-
ned transmit process data objects (TPDOs) sent by the reading device.
5.10.10.1.16 Number of mapped RPDO bytes
The Number of mapped RPDO bytes parameter defines the scope of the receive process
data objects (RPDOs) that can be received by the script program.
5.10.10.1.17 Number of mapped TPDO bytes
The Number of mapped TPDO bytes parameter defines the scope of the transmit process
data objects (TPDOs) that can be sent by the script program.
5.10.10.1.18 Reading result with SDO/PDO
The Reading result with SDO/PDO parameter determines how the reading result is trans-
mitted within the CANopen protocol.
• W
ITH SDO: The reading result is stored in the object dictionary in the configured output
format. The reading device sends a process data object (PDO) with a status bit set to
DATA
AVAILABLE to indicate that the reading results are available. A CANopen client, typically the
PLC, can load the data via the service data object domain (SDO domain). Once the upload
is complete, the CANopen client issues an enabling signal for the reading results in the ob-
ject dictionary.
• W
ITH PDO: The reading result is transmitted via several consecutive process data objects
(PDOs). The configured reading result is restricted to 50 characters for this transmission. It
is possible to configure the number of PDOs used for the transmission and the identifier of
the first PDO sent. All other PDOs involved in data transmission use continuous identifiers.
• D
EACTIVATED: No reading results are transferred.
The output format is configured on the Output format tab or under the Data processing
folder.
(11 Seiten)
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