Gotting HG G-84300ZC, Описание устройства

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Device Description HG G-84300ZC | English, Revision 08 | Date: 28.05.2020
23
CANopen® Interface – Chapter 7
7.1.2 Reception Object
Length: 1 Byte
Explanations for Command:
7.2 Heartbeat
The device supports the heartbeat mode. If a heartbeat time > 0 is entered in the
CAN menu with each end of the heartbeat timer, the device mode is transmitted via
the identifier 0x700 + node address.
Table 12
CANopen®: Structure of the system status
Bit Meaning
1 Value 1

Drift compensation activated
2 Value 1

Acknowledgment: Angle set to 0
o
3
–
4
5
Value 1

Drift compensation ok (this function can be influenced
via Drift Margin , see 5.3 on page 15)
6
–
7
8
Value 1

Parameter error, see section 3.6 on page 11
Table 13
CANopen®: Structure reception box
Byte Data
1 Command, see Table 14
Table 14
CANopen®: Structure of a command
Bit Meaning
1 Value 1

Activate drift compensation
2 Value 1

Set angle to 0°
3
–
4
5
6
7
8
Table 15
CANopen®: Heartbeat device mode
Device mode Code
stopped 0x04
preoperational 0x7f
operational 0x05