RD4 CANopen®
9 Programming examples
Hereafter are some examples of transmission between Master and Slave devices.
A generic “ID” value is used to indicate the encoder address; Master address is
always 0.
All values are expressed in hexadecimal notation.
Setting the
Operational
/
Pre-operational
state
NMT message
Master
Slave
COB-ID
Cmd
Nodo
Operational
:
000
01
ID
Pre-operational
:
000
80
ID
(preset = 1000 = 3E8h)
Master
Encoder (Set request)
COB-ID
Cmd
Index
Sub
Process data
600+ID
23
00
33
00
E8
03
00
00
Encoder
Master (Set confirmation)
COB-ID
Cmd
Index
Sub
Process data
580+ID
60
00
33
00
00
00
00
00
NOTE
function.
Should the power be turned off or
Reset node
or
Reset communication
commands be sent all data not saved will be lost!
MAN RD4 CB E 1.5
Programming examples
69 of 72