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–
PowerTruck_CANOpen_UM_REV1.5
27.
Object 1A00h Transmit PDO Mapping Parameter
Describes the mapping of KEY and Encoder state PDO Message.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 1A00h
Byte 2
1Ah
Byte 3
00h
Number of mapped objects
01h
PDO Mapping Entry 1
02h
PDO Mapping Entry 2
03h
PDO Mapping Entry 3
Byte 4,7
00h
Not used
Example:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 00 1A 00 00 00 00 00
Keypad reply
595
Std
4F 00 1A 00 03 00 00 00
3
To Keypad
615
Std
40 00 1A 01 00 00 00 00
Keypad reply
595
Std
43 00 1A 01 08 01 00 20
2000 01 08h
Transmit PDO Mapping Parameter:
•
Number of mapped objects: 3;
•
Switch state: Object 2000h, Sub index 01h, Length 08h;
•
Encoder direction counter: Object 2000h, Sub index 02h, Length 08h.
•
Encoder tick counter: Object 2000h, Sub index 03h, Length 10h.
28.
Object 2000h: Key and Encoder state
a)
Sub 1 – Key State
This module contains all the button state information. A one indicates the button is
pressed; a zero indicates the button is not pressed.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 2000h
Byte 2
20h
Byte 3
01h
Sub index
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format Message
Data
To Keypad
615
Std
40 00 20 01 00 00 00 00
Keypad
reply
595
std
4F 00 20 00 01 00 00 00
No key pressed
4F 00 20 01 01 00 00 00
Key K1 pressed
4F 00 20 01 02 00 00 00
Key K2 pressed
4F 00 20 01 04 00 00 00
Key K3 pressed
4F 00 20 01 08 00 00 00
Key K4 pressed
4F 00 20 01 10 00 00 00
Key K5 pressed
4F 00 20 01 20 00 00 00
Key K6 pressed
4F 00 20 01 40 00 00 00
Key K7 pressed
4F 00 20 01 41 00 00 00
Keys K7 and K1 pressed
4F 00 20 01 07 00 00 00
Keys K1, K2 and K3 pressed
4F 00 20 01 7F 00 00 00
All keys pressed
