AXIOMATIC DSP RESOLVER, Руководство пользователя

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DSP resolver user manual User Manual Version 1.15
The mapping example below shows how to map co_position_value , co_speed_value[1] and
co_counted_revolutions into the TPDO1:
index s
u
b type acc
ess variable values notes
0x1A00 0 RW co_map_comm_par[0] 3 Number of mapped objects
1 U32 RW 0x60040020 Mapped object: 0x6004,
subindex 0, 32 bits.
(co_position_value)
2 U32 RW 0x60300110 Mapped object: 0x6030,
subindex 1, 16 bits.
(co_speed_value[1])
3 U32 RW 0x20010010 Mapped object: 0x2001,
subindex 0, 16 bits.
(co_counted_revolutions)
4 U32 RW No mapped object
5 U32 RW No mapped object
6 U32 RW No mapped object
7 U32 RW No mapped object
8 U32 RW No mapped object
Table 7.18: Content of TPDO_1 mapping object (0x1A00) when position value, speed
value and number of counted revolutions are mapped to it
7.2.7 The boot up print.
The following print is comes through RS port when then module boots up. The last line is
printed after module has been commanded to the operational state.
Axiomatic MVRES-CO-V2
HW 3.20 STD VER
SW 1.50
Init Fir:
delay: 20 ms order: 201 fs: 5 kHz f band: 2.5 kHz
Load parameters
Calibrate ADC:
k1: 1.00786 o1: -9.35830
k5: 1.00808 o5: -9.67910
init_canopen...
Node id: 127
Baudrate: 125
Adding id 7E5 index 1
Adding id 0 index 2
Adding id 67F index 3
Initializing TPDO 1
ID: 1FF, tr. type: FE
Mapped objects: 1
Mapping index: 6004 address: 518 size: 4
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