Blink Marine CANopen PKP3500SI, Руководство пользователя

Страница: 35 / 38

35/38
PKP3500SI_CANopenUM_REV1.0 www.blinkmarine.com
b) Set periodic state transmission
Identifier 600h + current CAN ID Default 615h
Byte 0 2Bh Set device register
Byte 1 00h
CAN Object 1800h
Byte 2 18h
Byte 3 05h Sub index
Byte 4 YYh YYh: Periodic transmission timer in milliseconds LSByte
Byte 5 XXh XXh: Periodic transmission timer in milliseconds MSByte
Byte 6, 7 00h Not used
Periodic Transmission timer: XXYYh (from 000Ah to FEFFh: from 10 to 65279 milliseconds).
Examples:
Direction Identifier Format Message Data
To Keypad 615 Std 2B 00 18 05 00 00 00 00
Switch off the periodic state
transmission
Keypad reply 595 Std 60 00 18 05 00 00 00 00 Command accepted
To Keypad 615 Std 2B 00 18 05 32 00 00 00 Set period = 50ms
Keypad reply 595 Std 60 00 18 05 00 00 00 00 Command accepted
To Keypad 615 Std 2B 00 18 05 F4 01 00 00 Set period = 500ms
Keypad reply 595 Std 60 00 18 05 00 00 00 00 Command accepted
45. Object 1A00h Transmit PDO Mapping Parameter
Describes the mapping of Key state PDO Message.
Identifier 615h (600h + current CAN ID)
Byte 0 40h Read Device Register
Byte 1 00h
CAN Object 1A00h
Byte 2 1Ah
Byte 3
00h Number of mapped objects
01h PDO Mapping Entry 1
Byte 4,7 00h Not used
Examples:
Direction Identifier Format Message Data
To Keypad 615 Std 40 00 1A 00 00 00 00 00
Keypad reply 595 Std 4F 00 1A 00 01 00 00 00 1
To Keypad 615 Std 40 00 1A 01 00 00 00 00
Keypad reply 595 Std 43 00 1A 01 10 01 00 20 2000 01 10
Transmit PDO Mapping Parameter:
•
Number of mapped objects: 1;
•
Switch state: Object 2000h, Sub index 01h, Length 10h.