AXIOMATIC DSP RESOLVER, User Manual

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DSP resolver user manual User Manual Version 1.15
Index Sub Value Mapped
index[sub] Number of
mapped
bits Notes
0x1A00 0 3 Number of mapped objects
0x1A00 1 0x60040020 0x6004[0] 0x20 = 32
0x1A00 2 0x60300110 0x6030[1] 0x10 = 16
0x1A00 3 0x20010010 0x2001[0] 0x10 = 16
0x1A00 4 0 No mapped object
0x1A00 5 0 No mapped object
0x1A00 6 0 No mapped object
0x1A00 7 0 No mapped object
0x1A00 8 0 No mapped object
Table 8.7: An example of PDO mapping parameters
Example of a PDO. The first transmit PDO message from node 10 would look like this if
four bytes of data has been mapped.
CAN ID length D0 D1 D2 D3 D4 D5 D6 D7
0x18A 4 0x01 0x23 0x45 0x67
Table 8.8: An example of PDO message
8.4 Service data object (SDO)
A Service Data Object (SDO) reads from entries or writes to entries of the Object
Dictionary. The SDO transport protocol allows transmitting objects of any size. The first
byte of the first segment contains the necessary flow control information including a toggle
bit to overcome the well-known problem of doubly received CAN frames. The next three
byte of the first segment contain index and sub-index of the Object Dictionary entry to be
read or written.
The last four byte of the first segment carries user data. The second and the following
segments (using the very sameCAN identifier) contain the control byte and up to seven byte
of user data. The receiver confirms each segment or a block of segments, so that a peer-to-
peer communication (client/server) takes place.
8.5 Saving the object dictionary parameters
Parameters in the object Dictionary can be saved by a simple SDO write to the
co_store_params (0x1010) object. After the save command parameters are stored to the
nonvolatile memory, so they are in use also after next power on power down reset.
User is able to decide which type of parameters he wants to save. Parameters are divided in
4 blocks: Communication objects, Manufacturer specific and Device profile specific. The
4
th block is calibration objects in most of the Axiomatic modules.
User is also able to save all parameters at once excluding the calibration parameters by
writing “evas” signature (0x65766173) to the sub 1 of
co_store_params object.
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