Jetter JVM-407B-HMI, Руководство пользователя

Страница: 125 / 300

Jetter AG 125
JVM-407B CANopen® STX API
The CANID parameter is used to transfer the CAN identifier. The CAN
identifier is generated with a macro. The CAN identifier depends on the node
ID of the other communicating user and on whether it is a PDO1, PDO2,
PDO3 or PDO4 message.
Macro definitions:
#Define
CANOPEN_PDO1_RX (NodeID) ((NodeID) +
0x180
)
#Define
CANOPEN_PDO2_RX (NodeID) ((NodeID) +
0x280
)
#Define
CANOPEN_PDO3_RX (NodeID) ((NodeID) +
0x380
)
#Define
CANOPEN_PDO4_RX (NodeID) ((NodeID) +
0x480
)
#Define
CANOPEN_PDO1_TX (NodeID) ((NodeID) +
0x200
)
#Define
CANOPEN_PDO2_TX (NodeID) ((NodeID) +
0x300
)
#Define
CANOPEN_PDO3_TX (NodeID) ((NodeID) +
0x400
)
#Define
CANOPEN_PDO4_TX (NodeID) ((NodeID) +
0x500
)
Example for calling up the macro:
CANOPEN_PDO2_RX (64)

The resulting CAN identifier is: 2C0h = 40h + 280h
For CANopen® the following CAN identifier distribution is predefined. In this
case, the node number is embedded in the identifier.
11-bit identifier
(binary)
Identifier
(decimal)
Identifier
(hexadecimal)
Description
000000000000 0 0 Network management
000100000000 128 80h Synchronization
0001xxxxxxxx 129 - 255 81h - FFh Emergency
0011xxxxxxxx 385 - 511 181h - 1FFh PDO1 (tx)
0100xxxxxxxx 513 - 639 201h - 27Fh PDO1 (rx)
0101xxxxxxxx 641 - 767 281h - 2FFh PDO2 (tx)
0110xxxxxxxx 769 - 895 301h - 37Fh PDO2 (rx)
0111xxxxxxxx 897 - 1023 381h - 3FFh PDO3 (tx)
1000xxxxxxxx 1025 - 1151 401h -47Fh PDO3 (rx)
1001xxxxxxxx 1153 - 1279 481h - 4FFh PDO4 (tx)
1010xxxxxxxx 1281 - 1407 501h - 57Fh PDO4 (rx)
1011xxxxxxxx 1409 - 1535 581h - 5FFh Send SDO
1100xxxxxxxx 1537 - 1663 601h - 67Fh Receive SDO
1110xxxxxxxx 1793 - 1919 701h - 77Fh NMT error control
xxxxxxxx = Node number 1 - 127
Parameter CANID
Default CAN identifier
distribution