Lika CANopen SFA-10000-CB, Руководство пользователя

Страница: 80 / 88

SFA-5000 • SFA-10000 CANopen®
Encoder  Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 00 60 00 00 00 - -
7.5 Setting the Preset value
6003-00 Preset value
(preset = 1000 = 03E8h)
Master

Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 23 03 60 00 E8 03 00 00
Encoder  Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 03 60 00 00 00 00 00
7.6 Setting the SYNC counter
1801 TPDO communication parameter 2
sub 2 (n = 5 = 05h)
Master

Encoder (Set request)
COB-ID Cmd Index Sub Process data
600+ID 2F 01 18 02 05 - - -
Encoder  Master (Set confirmation)
COB-ID Cmd Index Sub Process data
580+ID 60 01 18 02 00 - - -
7.7 Disabling the SYNC mode
1801 TPDO communication parameter 2
sub 1
Read COB-ID used by PDO2:
Master  Encoder (Req request)
COB-ID Cmd Index Sub Process data
600+ID 40 01 18 01 - - - -
Encoder  Master (Req reply)
COB-ID Cmd Index Sub Process data
580+ID 43 01 18 01 B0 B1 B2 B3
COB-ID used by PDO2 = ( (B3<<24) | (B2<<16) | (B1<<8) | B0 )
set the most significant bit to 1:
B3 |= 0x80;
MAN SFA_5000_10000_CB E 1.0.odt 7 - Setting-up 80 of 88