Festo CMMP-AS-M3 Serie Manual De Usario página 33

3 Método de acceso CANopen
Sub-Index
Description
Data Type
Access
Mapping PDO
Units
Value Range
Default Value
Tenga en cuenta que los grupos de objetos transmit_pdo_parameter_xxx y
transmit_pdo_mapping_xxx únicamente se pueden escribir si el PDO está desactivado
(bit 31 de cob_id_used_by_pdo_xxx activado)
1. Transmit PDO
Index Comment
1800 _00 number of entries
h h
1800 _01 COB-ID used by PDO
h h
1800 _02 transmission type
h h
1800 _03 inhibit time (100 μs)
h h
1A00 _00 number of mapped objects
h h
1A00 _01 first mapped object
h h
1A00 _02 second mapped object
h h
1A00 _03 third mapped object
h h
1A00 _04 fourth mapped object
h h
2. Transmit PDO
Index Comment
1801 _00 number of entries
h h
1801 _01 COB-ID used by PDO
h h
1801 _02 transmission type
h h
1801 _03 inhibit time (100 μs)
h h
1A01 _00 number of mapped objects
h h
1A01 _01 first mapped object
h h
1A01 _02 second mapped object
h h
1A01 _03 third mapped object
h h
1A01 _04 fourth mapped object
h h
Festo – GDCP-CMMP-M3/-M0-C-CO-ES – 1304a
04
h
fourth_mapped_object_tpdo1
UINT32
rw
no
–
–
Tabla
Type Acc.
UINT8 ro
UINT32 rw
UINT8 rw
UINT16 rw
UINT8 rw
UINT32 rw
UINT32 rw
UINT32 rw
UINT32 rw
Type Acc.
UINT8 ro
UINT32 rw
UINT8 rw
UINT16 rw
UINT8 rw
UINT32 rw
UINT32 rw
UINT32 rw
UINT32 rw
Default Value
03
h
C0000181
h
FF
h
0000
h
01
h
60410010
h
00000000
h
00000000
h
00000000
h
Default Value
03
h
C0000281
h
FF
h
0000
h
02
h
60410010
h
60610008
h
00000000
h
00000000
h
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