Blink Marine CANopen PKP3500SI, Руководство пользователя

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PKP3500SI_CANopenUM_REV1.0 www.blinkmarine.com
40. Object 1600h: Receive PDO mapping Parameter 0
Describes the mapping of LED state PDO Message.
Identifier 615h (600h + current CAN ID)
Byte 0 40h Read Device Register
Byte 1 00h
CAN Object 1600h
Byte 2 16h
Byte 3
00h Number of mapped objects
01h PDO Mapping Entry 1
02h PDO Mapping Entry 2
03h PDO Mapping Entry 3
Byte 4,7 00h Not used
Examples:
Direction Identifier Format Message Data
To Keypad 615 Std 40 00 16 00 00 00 00 00
Keypad reply 595 Std 4F 00 16 00 03 00 00 00 3
To Keypad 615 Std 40 00 16 01 00 00 00 00
Keypad reply 595 Std 43 00 16 01 10 01 01 20 2001 01 10
To Keypad 615 Std 40 00 16 02 00 00 00 00
Keypad reply 595 Std 43 00 16 02 10 02 01 20 2001 02 10
To Keypad 615 Std 40 00 16 03 00 00 00 00
Keypad reply 595 Std 43 00 16 03 10 03 01 20 2001 03 10
Receive PDO mapping Parameter 0:
•
Number of mapped objects: 3;
•
Set LED red: Object 2001h, Sub index 01h, Length 10h;
•
Set LED green: Object 2001h, Sub index 02h, Length 10h;
•
Set LED blue: Object 2001h, Sub index 03h, Length 10h.