Woodward easYgen-3000XT Series, Руководство пользователя

Страница: 783 / 1205

6.4.1.5.2 Default SDO Communication Channel
Another possibility for transmitting a power setpoint is to send the value via default SDO
communication channel. The device listens to the CAN ID 600 (hex) + Node-ID internally
to perform the desired control, the reply is on CAN ID 580 (hex) + Node-ID.
The following example shows the send format on CANopen with Node-ID 1.
The value is sent on the bus via the control parameter 507 of the device.
The hexadecimal value 2000 is calculated internally:
• 507 (dec) -- 1FB (hex) •
• 1FB (hex) + 2000 (hex) = 21FB (hex) •
Please note that high and low bytes are exchanged in the sent value.
ID (hex) Description Data (hex)
601 Remote P setpoint 23 FB 21 01 10 27 00 00
The data (hex) shows the state of parameter 507 to achieve the required control.
The table above shows exemplary send data for the device on the CANopen bus in line 2.
6.4.1.6 Transmitting Multiple Setpoints
A single RPDO can transmit multiple objects. The receive PDO can be used for four
objects with 16 bits (2 bytes).
If larger objects - for example 32 bits (4 bytes), like for voltage and power setpoints - are
used, the maximum number of objects is reduced.
Configure RPDO
⚙
1. ▷
Either on the front panel or using ToolKit navigate to menu [Configure CAN interface 1 /
Receive PDO 1].
2. ▷
Configure the parameters listed below.
ID Parameter Value Comment
9300 COB-ID 00000321
(hex) "COB-ID" set to 00000321.
9910 Number of
Mapped
Objects 3 Three mapped objects are configured
9911 1. Mapped
Object 00509 The "1. Mapped Object" is set to control parameter 509.
783 easYgen-3000XT Series B37574
6 Application Field
6.4.1.5.2 Default SDO Communication Channel
Released