ECM NH3CAN, Инструкция по эксплуатации, Страница: 22 / 35

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TPDO ConfigOD
Address
EnableOD
Address
Transmit
CANid
TPDO1 0x1A00 0x1800 0x180 + NID
TPDO2 0x1A01 0x1801 0x280 + NID
TPDO3 0x1A02 0x1802 0x380 + NID
TPDO4 0x1A03 0x1803 0x480 + NID
Write a 0 to the TPDO Configuration OD Address, subindex 0x00 by performing a SDO Write
as follows:
CANid byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x600+NID 0x2F ConfigOD
Address lo
ConfigOD
Address hi
0x00 0x00
Configure the 1
st
PDO by performing a SDO Write follows:
CANid byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x600+NID 0x23 ConfigOD
Address lo
ConfigOD
Address hi
0x01 0x20 0x00 PDO OD
Address lo
PDO OD
Address hi
Configure the 2
nd
PDO by performing a SDO Write follows:
CANid byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x600+NID 0x23 ConfigOD
Address lo
ConfigOD
Address hi
0x02 0x20 0x00 PDO OD
Address lo
PDO OD
Address hi
Enter the number of PDOs in the TPDO by performing a SDO Write as follows:
CANid byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x600+NID 0x2F ConfigOD
Address lo
ConfigOD
Address hi
0x00 0x02
Example: Map the PDO for Pressure (mmHg) and NH
3
to TPDO2 for the module with
NID = 0x02. (Pressure PDO OD Address = 0x2016, NH
3
PDO OD Address = 0x201C,
ConfigOD Address for TPDO2 = 0x1A01)
CANid byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
0x602 0x2F 0x01 0x1A 0x00 0x00
0x602 0x23 0x01 0x1A 0x01 0x20 0x00 0x16 0x20
0x602 0x23 0x01 0x1A 0x02 0x20 0x00 0x1C 0x20
0x602 0x2F 0x01 0x1A 0x00 0x02