APS 6RL Series, Руководство по эксплуатации

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6RL SERIES OPERATION MANUAL
SECTION 7: REMOTE PROGRAMMING
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2018 by Adaptive Power Systems, Inc. (APS) • All Rights Reserved • No reproduction without written authorization from APS.
6RL Series Regenerative DC Load Operation Manual Page 189 of 204
Together with the PDOs defined in the ESI file the complete list of indexes then becomes
accessible and enable the user to completely control the unit.
There is a connection between the CoE indexes and the ModBus register numbers in the
lists. You can translate both back and forth.
►
Translating ModBus register
►
CANopen index
ModBus register number in d 8193
►
convert to hexadecimal = index
Example: You want to set the unit into remote control mode and want to find the
corresponding CoE index. In the register list you have register number 402 for
this task. Calculation: 402 + 8193 = 8595
►
converted to hexa- decimal it is
0x2193, hence index 2193.
►
Translating CANopen index
►
ModBus register
CANopen index in hexadecimal - 0x2001
►
convert to decimal = register
Example: you need know the meaning of the bits in the PDO "Status". Find the
corresponding CoE index in the index list. Here it is 21FA. Calculation: 0x21FA -
0x2001 = 0x1F9
►
converted to decimal it is 505. In the register list you will find
register number 505 and the layout of the 32 bit value.
7.16.4 PDOs
The unit description file defines for our EtherCAT slaves the same set of PDOs:
Name EtherCAT
data type Length
in bytes ModBus
register Short description
Status UDINT 4 505 Unit status
Voltage Monitor UINT 2 507 Actual voltage on DC input/output (in per cent)
Current Monitor UINT 2 508 Actual current on DC input/output (in per cent)
Voltage select UINT 2 500 Set value of voltage (in per cent)
Current select UINT 2 501 Set value of current (in per cent)
Power select UINT 2 502 Set value of power (in per cent)
Resistance select UINT 2 503 Set value of resistance (in per cent)
7.16.5 SDOs
The acyclic data objects for use in the EtherCAT system are defined in your unit and can be
downloaded from it. It requires the unit to be online with the EtherCAT system. There is no
separate documentation for the down- loadable data objects. Like with CANopen (see
section 7.14, “CANopen” on page 178), the register lists which are part of the programming
documentation are the reference for the SDOs to explain data content and function.
7.16.6 Use of the data objects
Please refer to section 7.14.2, “User objects (indexes)” on page 178“.