gefran RK-5 C, Руководство пользователя, Страница: 23 / 35

23 85201A_RK5C_User Manual_02-2017_ENG
Entry description
SUB Index Name Access Data Type Value Range Default
0
Highest sub-index
supported
RO Unsigned8 4 4
1 Vendor-ID RO Unsigned32 00000093h 00000093h
2 Product code RO Unsigned32 43354B52h 43354B52h
3 Revision number RO Unsigned32 - -
4 Serial number RO Unsigned32 - -
The user can also get the identity object values using the LSS inquire identity services (see LSS protocol description
section). The specific serial number of the device is also printed on the label attached to the case of the device.
1200h – SDO1 server parameter
This object describes the first SDO used on the device.
The values at sub-index 1 and sub-index 2 specify the COB-IDs for the first SDO. The object structure is specified in
the following figure.
31 30 29 28 11 10 0
valid dyn frame Reserved (0 0000h) 11-bit CAN-ID
Figure 37 - Structure of SDO1 COB-ID
The value definition is given in the following table.
Field name Value Description
valid 0 SDO exists / is valid
dyn 0 Value is assigned statically
reserved 0 11-bit CAN-ID valid (CAN base frame)
11 bit CAN-ID
000 Node-ID (default rx)
or
000 Node-ID (default tx)
11-bit CAN-ID of the CAN base frame
Table 6 - SDO1 COB-ID fields
Object description
Index Name
1200h SDO1 server parameter
Entry description
SUB Index Name Access Data Type Value Range Default
0
Highest sub-index
supported
RO Unsigned8 2 2
1
COB-ID
client --> server (rx)
RO Unsigned32 00000601h..0000067Fh
000
Node-ID
2
COB-ID
server --> client (tx)
RO Unsigned32 00000581h..0000057Fh
000
Node-ID