AXIOMATIC DSP RESOLVER, Руководство пользователя

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DSP resolver user manual User Manual Version 1.15
PDO Index of the
Communication
object Default CAN
ID Notes
TPDO _0 1st transmit PDO 0x1800 0x180 + node ID
TPDO _1 2nd transmit PDO 0x1801 0x280 + node ID
TPDO _2 3rd transmit PDO 0x1802 0x380 + node ID Not supported in resolver
TPDO _3 4 th transmit PDO 0x1803 0x480 + node ID Not supported in resolver
RPDO _0 1st receive PDO 0x1400 0x200 + node ID Not supported in resolver
RPDO _1 2nd receive PDO 0x1401 0x300 + node ID Not supported in resolver
RPDO _2 3rd receive PDO 0x1402 0x400 + node ID Not supported in resolver
RPDO _3 4 th receive PDO 0x1403 0x500 + node ID Not supported in resolver
Table 8.5: The relationship between the default PDO CAN ID and module node ID
To enable the automatic CAN ID calculation PDO's CAN ID should be set as 0 or as the
default ID. If the communication parameters are saved then, the default CAN ID according
to the module's node ID will be calculated after the next power on - power off reset. The
current CAN ID can be read from the corresponding communication parameter object also
in case that the 0 data as CAN ID was used to enable the default CAN ID calculation.
8.3.2 Disabling and enabling a PDO
Transmission (receive or transmit) of an individual PDO is enabled by PDO's valid bit. The
valid bit is part of PDO's COB ID which is located for the first transmit PDO (TPDO_1) in
sub 1 of index 0x1800. A procedure to disable and enable the TPDO_1:
1) Read PDO's current COB ID with the SDO read command. If you are using a
simple “command line” CAN tool send the following message. Assuming that the
node ID of the device to be configured is 0xA.
CAN ID Length 0 1 2 3 4 5 6 7
60A 8 40 00 18 01 00 00 00 00
Module's respond in case that the request was legal:
CAN ID Length 0 1 2 3 4 5 6 7
58A 8 43 00 18 01 8A 01 00 C0
Bytes 4- 7 are the actual data of the object 1800 sub 0. In the reply above the COB ID read
from the module is 0xC000018A.
2) If you want to enable the PDO use logic AND to clear the valid bit: new_COB_ID
= current_COB_ID & 0x7FFFFFFF. To disable the PDO you have to use OR
function to set the bit: new_COB_ID = current_COB_ID | 0x80000000. If you
want to enable the PDO you end up to the following COB ID ( using the data read
previously) new_COB_ID = 0xC000018A & 0x7FFFFFFF = 0x4000018A
3) Send this data to the module
CAN ID Length 0 1 2 3 4 5 6 7
60A 8 23 00 18 01 8A 01 00 40
Module's respond if write succeeded:
CAN ID Length 0 1 2 3 4 5 6 7
58A 8 60 00 18 01 00 00 00 00
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