3
Contents
1.0
Introduction and General Notes
5
1.1
Introduction
5
1.2
General Notes
5
2.0
Parts
6
3.0
Connecting the NH
3
CAN module
8
3.1
Application Notes
8
4.0
Getting Information from the NH
3
CAN Module
10
4.1 CANopen Message Types
10
5.0
Writing to the NH
3
CAN Module (SDO Write)
12
6.0
Reading from the NH
3
CAN Module (SDO Read)
13
7.0
Identifying the NH
3
CAN Module
14
8.0
Commands to the NH
3
CAN Module
15
8.1
ZEROing and SPANing
15
8.2 Canceling (Erasing) the ZERO and SPAN
16
8.3
Modifying the Pre-Broadcast Averaging of Data
16
8.4
Returning the Pre-Broadcast Averaging to Factory Default
17
8.5
Changing the NID
17
8.6
Changing the TPDO Broadcast Rate
19
8.7
Enable Transmit Process Data Object (TPDO)
20
8.8
Disable Transmit Process Data Object (TPDO)
21
8.9
Transmit Process Data Object Mapping (TPDO MAPPING)
21
Appendix A:
Error Codes and Error Register
23
Appendix B:
ECM CANopen OS Commands
25
Appendix C:
Heartbeat
28
Appendix D:
Process Data Objects
29
Appendix E:
Module EIB mode and Stand-alone Mode
30
Appendix F:
Warranty and Disclaimers
33
Содержание NH3CAN
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