LinMot CANopen SG5, Руководство пользователя

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CANopen Interface\ PDO Mapping\ RxPDO 2 Default
Value
Motion Cmd Par Byte 8..11 [32Bit] The third 4 bytes of the command
parameters of the motion command
interface. X
By UPID [8-32Bit] This parameter can be used for free
mapping of any parameter or variable
to RxPDO 2 (mapping through Unique
Parameter ID = UPID, 0 = no
mapping). The corresponding data
size in RxPDO 2 is derived from the
mapped UPID.
For Boolean values one byte is used
in the PDO with the lowest bit being
the value of the Boolean. 0x0000
3.5.7 RxPDO 3
These parameters define the mapping of the receive PDO 3.
Eight bytes can be mapped in total.
CANopen Interface\ PDO Mapping\ RxPDO 3 Default
Value
Motion Cmd Slave Header [16Bit] To ensure data consistency with
asynchronous communication modes,
the slave headers have to be used
when spreading motion commands
across several PDOs. -
Motion Cmd Par Byte 10..13 [32Bit] The fourth 4 bytes of the command
parameters of the Motion Command
Interface.
-
Motion Cmd Par Byte 14..15 [16Bit] The second half of the fourth 4 bytes
of the command parameters of the
Motion Command Interface.
-
Motion Cmd Par Byte 12..15 [32Bit] The fifth 4 bytes of the command
parameters of the Motion Command
Interface.
X
Motion Cmd Par Byte 16..19 [32Bit] The sixth 4 bytes of the command
parameters of the Motion Command
Interface.
X
By UPID [8-32Bit] This parameter can be used for free
mapping of any parameter or variable
to RxPDO 3 (mapping through Unique
Parameter ID = UPID, 0 = no
mapping). The corresponding data
size in RxPDO 3 is derived from the
mapped UPID.
For Boolean values one byte is used in
the PDO with the lowest bit being the
value of the Boolean. 0x0000
3.5.8 RxPDO 4
These parameters define the mapping of the receive PDO 4.
Eight bytes can be mapped in total.