VIPA System 100V Series, Руководство пользователя

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Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V
2-36 HB100E - SM-CAN - Rev. 15/02
Index Sub-
index Name Type Attr. Map. Default value Meaning
0x1800 0 Number of
Elements
Unsigned8 ro N 0x05 Communication parameter of
the first transmit PDO, sub-index
0: number of following
parameters
1 COB-ID Unsigned32 rw N 0x00000180 +
NODE_ID
COB-ID TxPDO1
2 Transmission
type Unsigned8 rw N 0xFF Transmission type of the PDO
3 Inhibit time Unsigned16 rw N 0x0000 Repetition delay
[value x 100µs]
5 Event time Unsigned16 rw N 0x0000 Event timer [value x 1ms]
Subindex 1 (COB-ID): The lower 11 bit of the 32-bit value (Bits 0-10)
contain the CAN-Identifier, the MSBit (Bit 31) shows, if the PDO is active
(0) or not (1), Bit 30 monitors, if a RTR access to this PDO is allowed (0) or
not (1). The Subindex 2 contains the transmission type, Subindex 3 the
repetition delay between two identical PDOs. If an event timer exists with
an value different 0, the PDO is transmitted after expiration of this timer.
If an inhibit timer exists, the event is delayed for this time.
Index Sub-
index Name Type Attr. Map. Default value Meaning
0x1A00 0 Number of
Elements
Unsigned8 ro N VIPA 153-4CF00=0x01
VIPA 153-4CH00=0x02
VIPA 153-6CL10=0x03
VIPA 153-6CH00=0x02
Mapping parameter of
the first transmit PDO;
sub-index 0: number
of mapped objects
1 1. mapped
object
Unsigned32 ro N 0x60000108 (2 byte index,
1 byte sub-index,
1 byte bit-width)
2 2. mapped
object
Unsigned32 ro N 0x60000208 (2 byte index,
1 byte sub-index,
1 byte bit-width)
3 3. mapped
object
Unsigned32 ro N 0x60000308 (2 byte index,
1 byte sub-index,
1 byte bit-width)
The first send-PDO (RxPDO1) is per default planned for digital inputs.
Depending on the number of equipped inputs, the needed length of the
PDO is evaluated automatically and the according objects are mapped. For
the digital outputs are organized byte by byte, the length of the PDO in
bytes may be read directly in the subindex 0.
If the mapping is changed, you have to adjust the entry in the subindex 0
accordingly.
Communication
parameter TxPDO1
Mapping TxPDO1