Minebea OPT-564-71, Инструкция по эксплуатации

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6
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: N
⋅
m/ 1: k N
⋅
m/ 2: V)
5 0x2334 0x00 UINT16
Torque decimal point position
(0: No decimal point / 1 to 4: Digits after
decimal point)
* Decimal point position is returned as 3
only when the torque units are V and the
decimal point position is 4.
6 0x2335 0x00 UINT16
Torque polarity (135: Counter-clockwise is
+ / 136: Clockwise is +)
7 0x2343 0x00 UINT16 Rotation speed units (1644: fixed at rpm)
8 0x2344 0x00 UINT16
Rotation speed decimal point position
(0: Fixed at no decimal point)
9 0x2345 0x00 UINT16
Rotation speed polarity
(135: Counter-clockwise is + /
136: Clockwise is +)
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
If used in the shipped state without changing the configuration, data will be output once from the
COB-ID 0
ｘ
380+ Device Address and 0
ｘ
480+ Device Address when a communication start request is
received from the master. This is not output if the configuration has been changed.
(*1). Torque format (SINT32)
0x8000_0000: IN-1 error
0x8000_0001: +OL error
0x8000_0002: -OL error
(*2). Rotation speed format (SINT32)
0x8000_0000: The function F-24 setting is OFF (rotation speed detection signal is off).
0x8000_0001: +OS error
0x8000_0002: -OS error