Изменения документа 4. CANopen protocol
Редактировал(а) Admin 2025/12/04 14:01
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... ... @@ -111,32 +111,6 @@ 111 111 )))|U8|- 112 112 |**6-7**|**BUS_VOLTAGE** – напряжение шины питания|U16|0,1В/бит 113 113 114 -== RPDO packets == 115 - 116 -=== CANID ~= 0x200+COBID (0x216 by default) === 117 - 118 -The packet length is 8 bytes. The transmission period is 100 ms. 119 - 120 -Packet content: 121 - 122 -(% style="width:745px" %) 123 -|(% style="width:69px" %)**Byte number**|(% style="width:460px" %)**Parameter name**|(% style="width:121px" %)**Parameter type**|(% style="width:92px" %)**Converting** 124 -|(% style="width:69px" %)**0**|(% style="width:460px" %)((( 125 -**ALLOW_WORK**: 126 - 127 -0 – work is not allowed; 128 - 129 -1 – work is allowed. 130 -)))|(% style="width:121px" %)U8|(% style="width:92px" %)- 131 -|(% style="width:69px" %)**1**|(% style="width:460px" %)((( 132 -**FORCE_SELFTEST** – command to force device self-diagnosis: 133 - 134 -0 – using an internal algorithm for self-diagnosis; 135 - 136 -1 – forced start of self-diagnosis (if active, only self-diagnosis is performed). 137 -)))|(% style="width:121px" %)U8|(% style="width:92px" %)- 138 -|(% style="width:69px" %)**2-7**|(% style="width:460px" %)Reserved (set to 0)|(% style="width:121px" %)-|(% style="width:92px" %)- 139 - 140 140 == SDO dictionary == 141 141 142 142 To set the WARNING and ALARM signal generation levels, the following settings are available, which can be changed via the CANopen SDO protocol: