Bei-sensors THK5 Manual de usuario descargar pdf (Pagina 15)

POSI+ CANOPEN USER MANUAL

Version 1.02 Page 15

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1011

RestoreAllDefaultParameters U32 RW 00000001h ="daol" (0x64616F6C) to load

1014

COB-ID EMCY U32 RO 00000081h

COB ID of the emergency object

80h + Node ID

1016 Consumer Heartbeat Time

1016

Number of entries U8 RO 01h

1016

Consumer Heartbeat Time 1 U32 RW 00000000h Yes

Bit0..15 Consumer heartbeat in ms

Bit16..23 Node-ID

1017

Producer HeartBeat Time U16 RW 0000h Yes Producer heartbeat time in ms

1018 Identity Object

1018

LargestSupportedSubindex U8 RO 04h

1018

Vendor ID U32 RO 00000184h Vendor no. issued by CiA

1018

Product code U32 RO 354D4850h

1018

Revision number U32 RO 00010000h Current revision number

1018

Serial number U32 RO xxxxxxxxh Unique consecutive serial number

1200 Server SDO Parameter 0

1200

Number of entries U8 RO 02h

1200

COB-ID Client -> Server U32 RO 00000601h 600h+Node ID

1200

COB-ID Server -> Client U32 RO 00000581h 580h+Node ID

1800

Transmit PDO1

Communication Parameter

1800

NrOfEntries U8 RO 05h

1800

COB-ID U32 RW 00000181h Yes PDO ID = 180h + node ID

1800

TransmissionType U8 RW FEh Yes FEh=User defined, cyclical

1800

InhibitTime U16 RW 0000h Yes

minimum interval for PDO

transmission

multiple of 100µs.

1800

Event Timer U16 RW 0000h Yes Cycle time in ms

1801

Transmit PDO2

Communication Parameter

1801

NrOfEntries U8 RO 05h

1801

COB-ID U32 RW 00000281h Yes PDO ID = 280h + node ID

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POSI+ CANOPEN USER MANUAL 1

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Bei-sensors THK5 Manual de usuario Pagina 15

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