Elmomc CANopen DS 301 Implementation Guide Instrukcja Użytkownika Pobierz pdf (Strona 4)

Chapter 9: Binary Interpreter Commands ........................................................................... 9-1

9.1 Binary Interpreter Commands and Results ..................................................... 9-2

9.1.1 Set and Query Commands ............................................................................... 9-2

9.1.1.1 RPDO2 Structure ............................................................................... 9-2

9.1.1.1 TPDO2 Structure................................................................................ 9-4

9.1.2 Execute Command............................................................................................ 9-5

9.2 ASCII Interpreter Commands not Supported by Binary Interpreter .................... 9-6

Chapter 10: The OS Interpreter ........................................................................................... 10-1

Chapter 11: The EDS............................................................................................................. 11-1

Chapter 12: Communication Profile................................................................................... 12-1

Object 0x1000: Device type...................................................................................................... 12-1

Object 0x1001: Error register................................................................................................... 12-2

Object 0x1002: Manufacturer status register........................................................................... 12-3

Object 0x1003: Pre-defined error field...................................................................................... 12-3

Object 0x1005: COB-ID SYNC message.................................................................................. 12-4

Object 0x1008: Manufacturer device name .............................................................................. 12-5

Object 0x1009: Manufacturer hardware version...................................................................... 12-6

Object 0x100A: Manufacturer software version ...................................................................... 12-6

Object 0x100B: Node ID .......................................................................................................... 12-7

Object 0x1010: Save parameters .............................................................................................. 12-7

Object 0x1011: Restore parameters .......................................................................................... 12-8

Object 0x1012: COB-ID time stamp ........................................................................................ 12-9

Object 0x1013: High-resolution time stamp........................................................................... 12-10

Object 0x1014: COB-ID emergency object............................................................................. 12-11

Object 0x1016: Consumer heartbeat time............................................................................... 12-12

Object 0x1017: Producer heartbeat time................................................................................. 12-13

Object 0x1018: Identity object ............................................................................................... 12-14

Object 0x1023: OS command and prompt.............................................................................. 12-15

Object 0x1024: OS command mode........................................................................................ 12-17

Object 0x1029: Error behavior ............................................................................................... 12-17

Object 0x1200: SDO server parameter................................................................................... 12-18

Objects 0x1400 - 0x1403: Receive PDO communication parameter ...................................... 12-20

Objects 0x1800 - 0x1803: Transmit PDO communication parameter ................................... 12-23

Objects 0x1A00 - 0x1A03: Transmit PDO mapping............................................................. 12-25

Chapter 13: Manufacturer-specific Objects....................................................................... 13-1

Object 0x2001: PVT data......................................................................................................... 13-1

Object 0x2002: PT data............................................................................................................ 13-2

Object 0x2004: ECAM data ..................................................................................................... 13-3

Object 0x2012: Binary interpreter input.................................................................................. 13-4

Object 0x2013: Binary interpreter output................................................................................ 13-4

Object 0x2030: Recorder data .................................................................................................. 13-5

Object 0x2040: Coordinate system group ID ......................................................................... 13-10

Object 0x2041: Amplifier-free running timer ........................................................................ 13-11

Object 0x2082: CAN controller status ................................................................................... 13-11

Object 0x208A: Begin time .................................................................................................... 13-13

Object 0x2090: Firmware download....................................................................................... 13-13

CANopen DS 301 Implementation Guide Contents

MAN-CAN301IG (Ver. 2.1)

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