Isel IMD1, Руководство пользователя

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CanOpen protocol
Positioning module UVE8112, IMD10
Receive PDO4 – mapping parameters
Index Sub Name Type Attrib Map Default
value
Meaning
1603 R_ PDO4 mapping RECORD Mapping parameters.
1603 00 PDO Unsigned 8 RW N 2 objects. No. of obj. in Number of
1603 01 Mapping for 1st obj. 60400010 bject. Unsigned 32 RW N 0x Mapping of the 1
st
o
1603 02 Mapping for 2nd obj. 60810020 Unsigned 32 RW N 0x Mapping of the 2
nd
object.
1603 03 Mapping for 3rd obj. 0000000 ct. Unsigned 32 RW N 0x0 Mapping of the 3
rd
obje
1603 04 Mapping for 4th obj. 00000000 Unsigned 32 RW N 0x Mapping of the 4
th
object.
Transmit PDO1 – communication parameters
Ind Attrib Map Default
value
Meaning ex Sub Name Type
1800 T_PDO1 parameters RECORD Comm. parameters.
1800 00 Number of entries Unsigned 8 CONST N 2 Number of entries.
1800 01 COB ID Unsigned 32 RO N
0x180+Node
no.
Identifier of the TxPDO1.
1800 02 Transmission type Unsigned 8 RW N 1 Transfer type of the PDO.
180
for TxPDO1 (in [100 µs]).
0 03 Inhibit time Unsigned 16 RW N 50 Minimal sending interval
1800 04 Compatibility entry Unsigned 8 RW N 0 No function.
1800 05 Event timer Unsigned 16 RW N 0 Timer for cyclic sending
(unit: [1 ms]).
Transmit PDO2 – communication parameters
Index Sub Name Type Attrib Map Default
value
Meaning
1801 T_PDO2 parameters RECORD Comm. parameters.
1801 00 Number of entries Unsigned 8 CONST N 2 Number of entries.
1801 01 COB ID ed 32 de the TxPDO2. Unsign RO N 0x280+No
no. Identifier of
1801 02 Transmission type Unsigned 8 RW N 1 Transfer type of the PDO.
1801 03 nsigned 16 RW N 50 interval
for TxPDO2 (in [100 µs]).
Inhibit time U Minimal sending
1801 04 Compatibility entry Unsigned 8 RW N 0 No function.
1801 05 Event timer Unsigned 16 RW N 0 Timer for cyclic sending
(unit: [1 ms]).
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