Woodward easYgen-3000XT Series, Руководство пользователя, Страница: 786 / 1205

2. ▷
Configure the parameter listed below.
ID Parameter Value Comment
8993 CANopen
Master On CANopen Master is enabled.
⚙
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 1 One mapped object is configured
9911 1. Mapped
Object 00504 The "1. Mapped Object" is set to control parameter 504.
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Setting the COB-ID to 321 (hex) is exemplary; usually, the PDOs are in the
range of 181 (hex) to 57F (hex).
With this setting, the Receive PDO is set to the address, for which the device is listening
on the bus. The "Number of Mapped Objects" is 1 since 1 mapped object is used. The
request on the bus is sent with the control parameter 504 of the device as mapped
object 1.
CANopen message
The following table shows exemplary send data for the device on the CANopen bus. The
respective bits are enabled by sending the data of the respective lines.
ID (hex) Description Data (hex)
321 Remote P setpoint 2 80 00
321 Remote PF setpoint 2 40 00
321 Remote F setpoint 2 20 00
321 Remote V setpoint 2 10 00
6.4.1.7.2 Default SDO Communication Channel
Another possibility for changing a setpoint is to enable the bit 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.
786 easYgen-3000XT Series B37574
6 Application Field
6.4.1.7.2 Default SDO Communication Channel
Released