TANDELTA OQSExISG2, Руководство пользователя

Страница: 86 / 130

Page | 84
ID DLC B0 B1 B2 B3 B4 B5 B6 B7
Command 0x600+ NodeID 0x08 0x40 0x00 0x18 0x05 NA NA NA NA
Reply 0x580+ NodeID 0x08 0x40 0x00 0x18 0x05
<Timer
LSB> <Timer
MSB>
NA NA
To change the Event Timer value to <NewTime> use the following command
ID DLC B0 B1 B2 B3 B4 B5 B6 B7
Command 0x600+ NodeID 0x08 0x2E 0x00 0x18 0x05
<NewTime
LSB>
<NewTime
MSB>
NA NA
Reply 0x580+ NodeID 0x08 0x60 0x00 0x18 0x05 NA NA NA NA
PDO Data Selection and Format: Object 0x1A00, subindex 1 and 2. These values are 0x61300320
(Oil Condition, F32 format) and 0x61300120 (Oil Temperature, F32 format) by default and can
be changed. New variables, in different formats can be selected from the Object Dictionary as
detailed above. To read use the following command.
ID DLC B0 B1 B2 B3 B4 B5 B6 B7
Command 0x600+ NodeID 0x08 0x40 0x00 0x1A 0x01(2) NA NA NA NA
Reply 0x580+ NodeID 0x08 0x40 0x00 0x1A 0x01(2)
<Variable
LSB> <Variable
byte1> <Variable
byte2> <Variable
MSB>
The Variable bytes for the default configuration would be 20, 03, 30, 61 for the oil condition
value in F32 format, and 20, 01, 30, 61 for the oil temperature in F32 format.
To change the PDO Data Selection and Format to <NewPDO> use the following command
ID DLC B0 B1 B2 B3 B4 B5 B6 B7
Command 0x600+ NodeID 0x08 0x23 0x00 0x1A 0x01(2)
<Variable
LSB> <Variable
byte1> <Variable
byte2> <Variable
MSB>
Reply 0x580+ NodeID 0x08 0x60 0x00 0x1A 0x01(2) NA NA NA NA
For example, the Variable bytes needed to set the two values returned by the PDO to Oil
Condition in I32 format (0x91300120) and Oil Temperature in I32 format (0x91100120) would
entail writing 20, 03, 30, 91 to subindex 01, and 20, 01, 30, 91 to subindex 02
– see above in the
Object Dictionary.
11.2.5.2 Network Operation without CANOpen Master
After connecting the Sensor to the network and applying power, the Sensor will enter the pre-
operational state and issue the boot-up message as described above. In normal operation with a
CANOpen Master present, the Master will then issue a command to set the Sensor into a fully
operational mode and take over control. If the Master is not present this same operation can be
done by setting the Sensor to Self-Starting mode. This is done by setting NMT Startup, Object
0x1F80, to 0x12 and then restarting the Sensor, as follows
ID DLC B0 B1 B2 B3 B4 B5 B6 B7
Command 0x600+ NodeID 0x08 0x2F 0x80 0x1F 0x00 0x12 NA NA NA
Reply 0x580+ NodeID 0x08 0x60 0x80 0x1F 0x00 NA NA NA NA
The Sensor will now be in Self-Starting mode and will automatically enter full Operational mode
after every startup. SYNC commands can then be issued by any other CANOpen device to elicit
the Sensor’s normal PDO response which is to send the Oil Condition and Temperature in 32-bit
floating point format. This will be as follows:
ID DLC B0 B1 B2 B3 B4 B5 B6 B7