MANUALE ISTRUZIONI / INSTRUCTIONS MANUAL
MTR605/025/DASM - R605/027/DASM - R605/170/DASM
Modello/Model R605DASM
I/ 5
sistema_
elettronico
_60
5_CAN.fm
CAN BUS INTERFACE
Board interfacing makes use of six CAN BUS identifications (stepping-motor)..
P1,P2,P3,P4
= position at 32 bit P1 = bits 31..24
ST1
= status byte 1
D1,D2,D3,D4
= movement at 32 bit D1 = bits 31..24 absolute and relative
M
= Mask, every bit determines a valid field
K
= fraction of step
T
= torque
D
= decay
L
= logical level per home
ID
Tipo
byte 1
2
3
4
5
6
7
8
note
700h
Remote
8
'C
''S
''
''V
''1
''.
''0
''3
'Modello /
release
701h
Data out 5
P1
P2
P3
P4
ST
1
---
---
---
state
702h
Data in
1
00h
---
---
---
---
---
---
---
Home
702h
Data in
5
01h
D1
D2
D3 D4 ---
---
---
Movim.
assoluto
702h
Data in
5
02h
D1
D2
D3 D4 ---
---
---
Movim.
relativo
702h
Data in
1
FFh
---
---
---
---
---
---
---
STOP
703h
Remote
8
'S
''/
''n
'X
X
XX XX XX XX N. serie
704h
Data in
5
M
K
T
D
L
---
---
---
Drive
mode
705h
Data in
7
M
L1
L2
H1 H2 R1 R2 ---
Drive
speed
706h
Data in
1
O
---
---
---
---
---
---
---
Opzioni
707h
Data in
8
C1
C2
C3
C4 C5 C6 C7 C8 Display
1a riga
708h
Data in
8
C9
C10
C11
C1
2
C1
3
C1
4
C1
5
C1
6
Display
1a riga
709h
Data in
8
C17
C18
C19
C2
0
C2
1
C2
2
C2
3
C2
4
Display
2a riga
70Ah Data in
8
C25
C26
C27
C2
8
C2
9
C3
0
C3
1
C3
2
Display
2a riga
