Table des Matières
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POSIWIRE
®
Manuel de mise en service
Sortie CANopen
Process Data Object (TPDO) Mapping
TPDO
COB-Id
180h
TPDO-01
+Node-Id
280h
TPDO-02
+Node-Id
480h
TPDO-04
+Node-Id
CAM State Data Format
b7
b6
CAM 8
CAM 7
TPDO Default Settings
TPDO
TPDO-01: Position Data, 4 Byte
TPDO-02: Position Data, 4 Byte
TPDO-04: CAM Status, 1 Byte
Baud Rate (Object 2010)
Baud Rate Index
0
1
2
3
4
6
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DLC
Byte0
4 Byte Position Data
4
(LSB)
...
4 Byte Position Data
4
(LSB)
...
CAM
1
State
8 Bit CAM State Register
b5
b4
CAM 6
CAM 5
Default COB-Id
1FFh
2FFh
4FFh
Baud Rate [kbit/s]
1000
800
500
250
125
50
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Data Frame
...
(MSB)
...
(MSB)
b3
b2
CAM 4
CAM 3
Default Transmission Type
Event Timer 100ms (FE, T!=0)
Sync Mode
Change of State Mode
Byte7
b1
b0
CAM 2
CAM 1
MAN-WS-F-15
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Table des Matières
