Lika CANopen SFA-10000-CB, Руководство пользователя

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SFA-5000 • SFA-10000 CANopen®
The SYNC transmission mode can be enabled (or disabled) by setting to 0 (or 1)
the most significant bit (MSB) of COB-IB used by PDO (
1801 TPDO
communication parameter 2
/
1802 TPDO communication parameter 3
,
sub1 objects).
PDO4 Cyclic mode : cyclic transmission of velocity value
The encoder uses the PDO4 message to transmit the velocity value cyclically , i.e.
periodically and independently from the Master.
The interval between two issues is set in the
6200-00 Cyclic time
object.
To activate (or deactivate) the cyclic mode it is necessary to set to 0 (or 1) the
most significant bit of COB-ID used by PDO4 (
1803 TPDO communication
parameter 4
, sub 1 object).
NOTE
More than one transmission mode can be active at the same time.
6.7 SDO objects
SDO messages are used to set and read values from the Object dictionary of the
encoder. These parameters are described in the “Object dictionary” section, see
on page 43.
Four bytes at the most are used for CAN data, other four bytes are used for
Command, Index and Sub-index fields. SDO messages are always followed by
confirmation. This means that when the Master sends an SDO message to the
Slave, then the Slave always sends a reply through the suitable SDO message
(and a warning, should an error occur).
Structure of SDO message:
IDENTIFIER 4 to 8 CAN data bytes
COB-ID (hex) 0 1 2 3 4 5 6 7
F.C. Node-ID Com Index Sub Data
1byte LSB MSB 1byte LSB … … MSB
Com
command
Index
parameter index
Sub
parameter sub-index, i.e. second index of the parameter
Data
parameter value (either read or written into the parameter)
MAN SFA_5000_10000_CB E 1.0.odt 6 - CANopen® interface 42 of 88