Configuring CAN Parameters
TPDO Overview
Though the TPDO broadcast timing is configurable, the contents of each broadcast are fixed.
For each TPDO, the COB-ID used will be based on the device Node-ID.
2.1.1 TPDO-1
| Parameter |
Value |
| COB-ID |
0x180 + Node-ID |
| Transmission Period (default) |
10 ms |
| Byte |
Parameter |
Unit |
Scale |
| 0 |
Sensor relative position (low byte) |
% |
40.96 |
| 1 |
Sensor relative position (high byte) |
|
|
| 2 |
Sensor relative angle (low byte) |
Degrees |
10 |
| 3 |
Sensor relative angle (high byte) |
|
|
| 4 |
Sensor absolute angle (low byte) |
Degrees |
10 |
| 5 |
Sensor absolute angle (high byte) |
|
|
| 6 |
Heartbeat counter (Or Zero if altered for BAC products) |
# |
1 |
| 7 |
Status * (Or Heartbeat if altered for BAC products) |
Bit-field |
1 |
Status Bit-Field Definition
| Bit |
Description |
| 0 |
Low Magnetic Field |
| 1 |
Travel bounds fault (signal outside calibrated range) |
| 2 |
Redundant sensing mis-match (sensors disagree) |
| 3 |
Sensor 1 error |
| 4 |
Sensor 2 error |
| 5 |
SPI Communications Error – Sensor 1 |
| 6 |
SPI Communications Error – Sensor 2 |
| 7 |
Advanced System Fault |
2.1.2 TPDO-2
| Parameter |
Value |
| COB-ID |
0x280 + Node-ID |
| Transmission Period |
100 ms |
| Byte |
Parameter |
Unit |
Scale |
| 0 |
Sensor 1 raw reading (low byte) |
# |
1 |
| 1 |
Sensor 1 raw reading (high byte) |
|
|
| 2 |
Sensor 2 raw data (low byte) |
# |
1 |
| 3 |
Sensor 2 raw data (high byte) |
|
|
| 4 |
Sensor 2 absolute angle (low byte) |
Degrees |
10 |
| 5 |
Sensor 2 absolute angle (high byte) |
|
|
| 6 |
PCB temperature |
ºC |
1 |
| 7 |
-- |
-- |
-- |