Minebea OPT-563B-71, Инструкция по эксплуатации

Страница: 12 / 18

6
5-2. CANopen Object Mapping
Manufacturer-specific Object
Order#
Index
(ADI# + 0x2000)
Sub-index
(ADI Element#)
Data Type Data
1 0x2001 0x00 SINT32 Torque (*1)
2 0x2002 0x00 SINT32 Rotation speed (*2)
3 0x2011
0x01 UINT32 Torque status (*3)
0x02 UINT32 Rotation speed status (*4)
4 0x2333 0x00 UINT16 Torque units (0: Nm, 1: kNm, 2: V)
5 0x2334 0x00 UINT16
Torque decimal places (0: No decimal point, 1 -
4: decimal places)
* Decimal places returned as 3 only if the
torque units are V and the value set specifies
4 decimal places
6 0x2335 0x00 UINT16
Torque polarity (135: + for counter-clockwise,
136: + for clockwise)
7 0x2343 0x00 UINT16 Rotation speed units (1644: rpm fixed)
8 0x2344 0x00 UINT16
Rotation speed decimal places (0: No decimal
point, fixed)
9 0x2345 0x00 UINT16
Rotation speed polarity (135: + for
counter-clockwise, 136: + for clockwise)
10 0x2350 0x00 UINT16 PDO transmission interval (ms)
PDO Mapping
PDO#
Transmission
Details
COB-ID
(*5)
Tx Type Inhibit Time Event Timer Mapped Objects
1
rotation
speed
0x180 COS(254)
0 0
0x2001 - 0x00
0x2002 - 0x00
2
Status 0x280 COS(254)
0 0
0x2011 - 0x01
0x2011 - 0x02

When this device is used without the configuration change from the condition at the shipment, the data from [COB-ID 0
ｘ
380+ Device Address] and [0
ｘ
480+ Device Address] outputs once from master by the communication-start request.
When the configuration has been changed, data is not output.
(*1) Torque value format (SINT32)
0x8000_0000: IN-1 error
0x8000_0001: +OL error
0x8000_0002: -OL error
(*2) Rotation speed value format (SINT32)
0x8000_0000: Function F-24 setting is off (rotation speed detection signal is off).
0x8000_0001: +OS error
0x8000_0002: -OS error