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    Short Manual for the Plustronikmodules with CAN communicationDirectory of RevisionsAuthorized by: Frank GaiserPages: 3Filename: Short Manual PT-A CAN 01.docNo.DescriptionRevision IndexDate of Change0011. Version after Redesign1.007.11.2003

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    Schunk GmbH & Co KGShort Manual PT-A CAN 01.docSeite 21 IntroductionThese instructions are intended to provide initial assistance for commissioning the PTA units.It is imperative that you read the complete operating instructions, which you will find on thisCD. In particular, you should read t...

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    Schunk GmbH & Co KGShort Manual PT-A CAN 01.docSeite 3The PTA unit returns a confirmation telegram (Acknowledge) in response to every commandthat a PTA unit has received. The unit always responds with the CAN ID [0x0A0 + moduleaddress] and the command it has received.The reply telegram has th...

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    Schunk GmbH & Co KGShort Manual PT-A CAN 01.docSeite 4For the unit to be able to process the corresponding values, these must be converted fromdegrees to the radian measure.By way of example, a swivel unit is to turn to 90° at maximum speed and maximumacceleration.Data according to the data ...

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    Schunk GmbH & Co KGShort Manual PT-A CAN 01.docSeite 55.5 Command executionSpecifyaccelerationSpecifyspeedSpecifypositionIt is imperative to keep to this command execution sequence.Home travel and a reset command should be executed before the first command in theprogram.In this example, all c...

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    Schunk GmbH & Co KGShort Manual PT-A CAN 01.docSeite 65.6 Identifier data stream in the case of a PLCWhen working directly with a PLC, the number of bytes sent with the telegram must also becoded with the identifier and the stream must be placed in a whole word.In the example, a home command ...

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