Pilz PMCtendo DD5, Руководство по эксплуатации

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EtherCAT
Operating Manual EtherCAT for, PMCtendo DD5 and PMCprotego D
1002906-EN-02
29
Byte 5 0x03 CoE object
Byte 6 0x00 PDO number 0
Byte 7 0x20 PDO number 0 and SDO request
Byte 8 0x2B 2 Byte write access
Byte 9 0x12 SDO object 0x1C12
Byte 10 0x1C SDO object 0x1C12
Byte 11 0x01 Subindex 1
Byte 12 0x04 Data value 0x00001704
Byte 13 0x17 Data value 0x00001704
Byte 14 0x00 Data value 0x00001704
Byte 15 0x00 Data value 0x00001704
The response from the servo amplifier must be:
Byte 0 0x0E The following 14 Bytes include data (from Byte 2 to Byte 15)
Byte 1 0x00 The following 14 Bytes include data (from Byte 2 to Byte 15)
Byte 2 0x00 Address 0
Byte 3 0x00 Address 0
Byte 4 0x00 Channel 0 and priority 0
Byte 5 0x03 CoE object
Byte 6 0x00 PDO number 0
Byte 7 0x20 PDO number 0 and SDO request
Byte 8 0x60 Successful write access
Byte 9 0x12 SDO object 0x1C12
Byte 10 0x1C SDO object 0x1C12
Byte 11 0x01 Subindex 1
Byte 12 0x00 Data value 0x00000000
Byte 13 0x00 Data value 0x00000000
Byte 14 0x00 Data value 0x00000000
Byte 15 0x00 Data value 0x00000000