Lika RD4, Руководство пользователя

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RD4 CANopen®
Structure of TRANSMIT PDO1 messages sent by the Slave device (received by
the Master):
IDENTIFIER 8 CAN data byte
COB-ID (hex) 0 1 2 3 4 5 6 7
F.C. Node-ID Status word
Current
velocity
Current position
180+ Node ID Low High Low High Low … … High
Structure of bytes:
bit 7 6 5 4 3 2 1 0
M.S.bit L.S.bit
7.6.1 “RECEIVE PDO1” message sent by the Master to the Slave
Control Word
Index 0x3100-00. 32 bits. It contains the commands to be sent in real time to
the Slave in order to manage it. See also
3100-00 Control word
on page 63.
Byte 0
Jog +
bit 0 If bit 4
Incremental jog
= 0, as long as
Jog +
= 1, the Slave
moves toward positive direction; otherwise if bit 4
Incremental jog
= 1, the activation of this bit causes at
rising edge the execution of a single step toward positive
direction having the length, expressed in pulses, set next to
the
3117-00 Jog step length
item; then the slave stops
and waits for another issue. Velocity, acceleration and
deceleration are set in objects
3114-00 Jog speed
,
3108-
00 Acceleration
and
3109-00 Deceleration
respectively.
For a detailed description of jog control see on page 26.
Jog -
bit 1 If bit 4
Incremental jog
= 0, as long as
Jog -
= 1, the Slave
moves toward negative direction; otherwise if bit 4
Incremental jog
= 1, the activation of this bit causes at
rising edge the execution of a single step toward negative
direction having the length, expressed in pulses, set next to
the
3117-00 Jog step length
item; then the slave stops
and waits for another issue. Velocity, acceleration and
MAN RD4 CB E 1.5 CANopen® interface 38 of 72