VIPA CPU 21 Series, Руководство пользователя

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Chapter 8 Deployment CPU 21xCAN Manual VIPA CPU 21x
8-26 HB103E - Rev. 05/45
Index Sub-
index Name Type Attr. Map. Default value Meaning
0x1017 0 Producer
heartbeat
time Unsigned16 rw N 0x0000 Defines the cycle time of
heartbeat in ms
Index Sub-
index Name Type Attr. Map. Default value Meaning
0x1018 0 Identity
Object Unsigned8 ro N 0x04 Contains general
Information about the device
(number of entries)
1 Vendor ID Unsigned32 ro N 0xAFFEAFFE Vendor ID
2 Product
Code Unsigned32 ro N 0x2142CA02 Product Code
3 Revision
Number Unsigned32 ro N Revision Number
4 Serial
Number Unsigned32 ro N Serial Number
Index Sub-
index Name Type Attr. Map. Default value Meaning
0x1400
...
0x1427
0 Number of
Elements
Unsigned8 ro N 0x02 Communication parameter
for the first receive PDOs,
Subindex 0: number of
following parameters
1 COB-ID Unsigned32 rw N 0xC0000200
+ NODE_ID COB-ID RxPDO1
2 Transmis-
sion type Unsigned8 rw N 0xFF Transmission type of the
PDO
Sub-index 1 (COB-ID): The lower 11Bit of the 32Bit value (Bits 0-10)
contain the CAN identifier, the MSBit (Bit 31) shows if the PDO is active (1)
or not(0), Bit 30 shows if a RTR access to this PDO is permitted (0) or not
(1).
The sub-index 2 contains the transmission type.
Producer
Heartbeat Time
Identity Object
Communication
parameter RxPDO