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Description du protocole HAT 1000 CANopen Safety / HAT 3000 CANopen Safety
9.1.16 Index 1381h: SRDO mapping parameter ............................................................ 17
9.1.17 Index 13FEh: Configuration Valid (read write) ..................................................... 18
9.1.18 Index 13FFh : Safety Configuration Checksum ................................................... 18
9.1.19 Index 1800h : TPDO communication parameter ................................................. 18
9.1.20 Index 1A00h: TPDO mapping parameter ............................................................ 19
9.1.21 Index 1F80h: NMT-Startup (read / write) ............................................................. 20
9.2 Device Profile Specific Entries (DS406) .....................................................................20
9.2.1 Index 6000h: Operating Parameter (read only) ................................................... 20
9.2.2 Index 6001h: Measuring units per revolution (read only) ..................................... 20
9.2.3 Index 6002h : Total measuring range in measuring units (read only) .................. 20
9.2.4 Index 6003h : Preset value (read write) .............................................................. 20
9.2.5 Index 6004h : Position value (read only) ............................................................. 20
9.2.6 Index 6500h : Operating Status (read only)......................................................... 20
9.2.7 Index 6501h : Single-turn resolution and Measuring step (read only) .................. 20
9.2.8 Index 6503h : Alarms (read only) ........................................................................ 21
9.2.9 Index 6504h : Supported alarms (read only) ....................................................... 21
9.2.10 Index 6505h : Warnings (read only) .................................................................... 21
9.2.11 Index 6506h : Supported warnings (read only) .................................................... 21
9.2.12 Index 6507h : Profile and software version (read only) ....................................... 21
9.2.13 Index 6508h : Operating time (read only) ............................................................ 21
9.2.14 Index 6509h : Offset value (read only) ................................................................ 21
9.2.15 Index 650Ah : Module identification (read only) .................................................. 21
9.3 Manufacturer Specific Entries ....................................................................................21
9.3.1 Index 2001h : Node-ID ........................................................................................ 21
9.3.2 Index 2002h : Baudrate....................................................................................... 21
9.3.3 Index 4006h: Position Value (read only) Position invertiert ................................. 22
9.3.4 Indices supplémentaires dans la plage 2000h à 5FFFh (reservé) ....................... 22
10 Layer setting services (LSS) et protocoles ...............................................................23
10.1 Finite state automaton, FSA.......................................................................................24
10.2 Transmission de services LSS ...................................................................................25
10.2.1 Format de message LSS .................................................................................... 25
10.3 Protocoles Switch mode ............................................................................................26
10.3.1 Protocole Switch mode selective ........................................................................ 26
10.3.2 Switch mode selective Protokoll .......................................................................... 26
10.1 Protocoles Configuration ............................................................................................27
10.1.1 Configure protocole Node-ID .............................................................................. 27
10.1.2 Configurer protocole bit timing parameters ......................................................... 27
10.1.3 Protocole Activate bit timing parameters ............................................................. 28
10.1.4 Protocole Store configuration .............................................................................. 29
10.2 Protocoles Inquire LSS-Address ................................................................................29
10.2.1 Protocole Inquire Identity Vendor-ID ................................................................... 29
10.2.2 Protocole Inquire Product-Code .......................................................................... 30
10.2.3 Protocole Inquire Identity Revision-Number ........................................................ 30
10.2.4 Protocole Inquire Identity Serial-Number ............................................................ 31
10.2.5 Protocole Inquire Node-ID .................................................................................. 31
10.3 Protocoles Identification .............................................................................................32
10.3.1 Protocole identify LSS remote slave ................................................................... 32
10.3.2 Protocole LSS identify slave ............................................................................... 33
Edition 25/02/2022
HYDAC ELECTRONIC GMBH
Page 3
Code article : 669985
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