Pdo Configuration; D Emergency Messages; E Changing The Canopen Node Address (Node Id) - ProMinent DELTA Mode D'emploi

Annex
26
C

PDO configuration

The PDO configuration (mapping) of the device cannot be changed
Index S Name
1600h RPDO1
0 number of entries
1 set frequency
1601h RPDO2
0 number of entries
1 batch time stamp
2 batch value
1A00h TPDO1
0 number of entries
1 device state
2 actual frequency
3 stroke length
1A01h TPDO2
0 number of entries
1 niveau
2 actual frequency
D Emergency messages
Sending of emergency messages according to CiA DS 301, 9.25 is supported.
See CANopen object list.
E Changing the CANopen node address (node ID)
The CANopen node address of the device can be changed in two different ways:
• Change via LSS (Layer Setting Services) as described in the CiA specification DSP305 (V1.1).
The admissible range for the node address is 1..99
• Change via the object list via standard SDO traffic.
The presently configured node address can be read or a new node address can be configured
using the object list index 3F40h, subindex 1.
The admissible range for the node address is 1..127
The data type of this entry is UNSIGNED SHORT.
1. In order to change the node address, the new address is written to the index 3F40h,
subindex 1.
CAN message to write the new node address 55:
ID DLC Byte 1
600h + CMD =
8
NodeID 2Bh
2. Writing the signature "save" to the index 1010h, subindex 05, results in saving of the new
node address in the non-volatile memory.
ID DLC Byte 1
600h + CMD =
8
NodeID 23h
3. The changed node address becomes effective upon the next start of the device. A restart of
the device is also possible using the NMT command "ResetNode".
Type
U8 1
U16 0.1% of stroke max
U8 2
U16 enumeration of batch values
U16 strokes
U8 3
U16
U16 0.1% of stroke max
U8 0.1%
U8 2
U8 %
U16 strokes per min
Byte 2 Byte 3 Byte 4
40h 3Fh 01h
Index 3F40h Sindex 1
Byte 2 Byte 3 Byte 4
10h 10Fh 05h
Index 1010h Sindex 5
Static mapping
Byte 5 Byte 6 Byte 7
37h 00h X
NodeID 0037h
Byte 5 Byte 6 Byte 7
73h 61h 76h
"save"
OBV
2A00h
2A02h
2A03h
2A10h
2A01h
2A04h
2A05h
2A06h
Byte 8
X
Byte 8
65h
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