Balluff BTL6-V55 Series, Configuration Manual

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9

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4.2 

TPDO mapping

Offset Name

Format Description

0

Header

Byte

Bit 0…5 message 

counter

–  Bit 6: device status: 

1 = operational 

–  Bit 7: device error: 

1 = general device 

error

1

Byte

TPDO mapping ID: 

default = 0

2

Number of 

channels

Byte

Number of measuring 

channels to be 

measured, possible 

values: 1 or 2

3

Byte

always 0

4

Measuring 

channel 1

Word

AI control word-2 for 

channel 1

–  Bit 0: process value 

invalid

–  Bit 1: positive 

overload

–  Bit 2: negative 

overload

–  Bit 3: reset active 

–  Bit 4: ADC sampling 

enabled 

–  Bit 9: simulation mode 

is active

5

6

int32

AI input process value 

for channel 1

7
8
9

10

Measuring 

channel 2

Word

AI control word-2 

channel 1

–  Bit 0: process value 

invalid

–  Bit 1: positive 

overload

–  Bit 2: negative 

overload

–  Bit 3: reset active 

–  Bit 4: ADC sampling 

enabled 

–  Bit 9: simulation mode 

is active

11

12

int32

AI input process value 

for channel 2

13
14
15

Tab. 4-3:  TPDO mapping

4

Data object mapping (continued)

Register description:

AI_status_word-2 bit description:

Bit 0

Process value invalid (error)

–  Magnet not found 

or

–  Magnet out of range, e.g more than 10 mm 

below the null point or more than 10 mm 

above the end point.

Bit 1

Positive overload (warning)

Magnet out of range, but less than 10 mm above 

the end point.

Bit 2

Negative overload (warning)

Magnet out of range, but less than 10 mm below 

the null point.

Bit 3

Reset active, 1 during channel reset, else 0.

Bit 4

ADC sampling enabled, 1 if the bit 4 in the 

corresponding control word is 1, else 0. If this bit 

is 0, the AI_input_process_value will not be 

refreshed.

Bit 9

Simulation mode is active, reflects the value of 

bit 9 in control word. This bit is for debug 

purposes only.

AI_input_process_value description:

Process value of the corresponding channel, signed 32-bit 

data in 0.1 μm/bit dimension.

Error behavior:

When the BTL detects fewer magnets than the number of 

active measuring channels, then the error bit is active. 

When the error bit is active, all the measuring channels 

show an error. This means, the AI input process value will 

be the highest possible positive number. E.g.: when two 

measuring channels are active and only one magnet exists, 

then both channels will show an error.

BTL6-V55V…

Configuration