AXIOMATIC DSP RESOLVER, Руководство пользователя

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DSP resolver user manual User Manual Version 1.15
initializing , which a node enters automatically after power-on. Power-on values are the last
stored parameters.
The command specifiers (go to this state) are:
•
1 Start
•
2 Stop
•
128 (0x80) Enter pre-operational
•
129 (0x81) Reset node
•
130 (0x82) Reset communication
CAN ID lenght D0 D1 D2 D3 D4 D5 D6 D7
0x000 2 0x01 0x0A
Table 8.1: NMT message that sets node 10 (0x0A) into the operational state
CAN ID lenght D0 D1 D2 D3 D4 D5 D6 D7
0x000 2 0x01 0x80
Table 8.2: NMT message that sets all nodes into the pre-operational state
8.3 Process data object (PDO)
Process Data Objects (PDOs) carry application data from one node to one or more nodes.
Each PDO message may contain up to 8 bytes of the data. Each PDO has a unique identifier
(CAN ID ).
There are two types of PDOs. Module provides process data to other CAN modules by
sending transmit PDOs (TPDO). Receive PDOs (RPDOs) defines the messages which
carries process data to the module from the other modules connected to the CAN bus.
Devices supporting TPDOs are called PDO producers and devices which are able to receive
PDOs are called PDO consumers. The very same module may provide both those functions.
PDO communication parameters describes the communication capabilities of the PDO.
PDO mapping parameters contains information about the contents of the PDO. The indexes
of the corresponding Object Dictionary entries of the PDO communication and mapping
parameters are computed according to the following formulas:
•
RPDO communication parameter index = 1400h + RPDO-number -1
•
TPDO communication parameter index = 1800h + TPDO-number -1
•
RPDO mapping parameter index = 1600h + RPDO-number -1
•
TPDO mapping parameter index = 1A00h + TPDO-number -1
A pair of communication and mapping parameters is mandatory for each PDO.
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