AX031701 Ib qho Universal Input Controller
“
Cov ntaub ntawv khoom
Specifications
- Khoom npe: Ib leeg Universal Input Controller
- Tus Qauv Zauv: UMAX031701
- Qauv Zauv: AX031701
- Kev sib txuas lus raws tu qauv: CANopen
- Input Compatibility: Analog sensors rau voltage, tam sim no,
frequency/RPM, PWM, and digital signals - Tswj Algorithms: Proportional-Integral-Derivative Control
(PID)
Cov lus qhia siv khoom
1. Cov lus qhia kev teeb tsa
2.1 Dimensions thiab Pinout
Xa mus rau tus neeg siv phau ntawv kom ntxaws qhov ntev thiab pinout
cov ntaub ntawv.
2.2 Cov lus qhia installation
Ua raws li cov lus qhia kev teeb tsa uas tau muab hauv phau ntawv siv
teeb tsa Single Universal Input Controller kom raug.
2. Digital Input Function Block
Cov khoom siv digital input thaiv tau qhib thaum khoom 6112h,
AI Kev Ua Haujlwm, tau teeb tsa rau cov lus teb digital.
Thaum 6112h teem rau 10 = Digital Input, khoom 2020h DI
Pullup/Down Mode txiav txim siab seb lub teeb liab tawm tswv yim puas siab lossis
nquag qis.
Yam khoom 2021h DI Debounce Lub Sijhawm yog siv rau cov tswv yim ua ntej
lub xeev tau nyeem los ntawm tus processor, nrog lub sijhawm debounce lub sijhawm ntawm
10ms ib.
Xa mus rau Table 1 rau DI Pullup/Down Options:
| Tus nqi | Lub ntsiab lus |
|---|---|
| 0 | Pullup / Down Disabled (siab impedance input) |
| 1 | 10k Pullup Resistor Enabled |
| 2 | 10k Pulldown Resistor Enabled |
Daim duab 3 qhia txog hysteresis ntawm lub tswv yim thaum hloov ib
discrete teeb liab. Cov tswv yim digital tuaj yeem hloov mus rau + Vcc
(48 Vmax).
FAQ
Q: Qhov twg kuv tuaj yeem nrhiav cov ntaub ntawv ntxiv rau qhov no
khoom?
A: Cov ntaub ntawv ntxiv rau cov khoom no muaj los ntawm
CAN hauv Automation eV webqhov chaw ntawm http://www.can-cia.org/.
“`
Tus neeg siv phau ntawv UMAX031701 Version 1
TSEEM CEEB UNIVERSAL INput Controller
Nrog CANopen®
USER MANUAL
P/N: AX031701
ACRONYMS AI tuaj yeem CANOpen®
Analog Input (Universal) Controller Area Network CANopen® yog ib lub npe lag luam hauv zej zog ntawm CAN hauv Automation eV
CAN-ID
CAN 11-ntsis Identifier
COB
Kev sib txuas lus Object
CTRL
Tswj
DI
Cov tswv yim digital
EDS
Electronic Data Sheet
EMCY
Kev kub ntxhov
LSB
Yam tsawg kawg nkaus Byte (los yog ntsis)
LSS
Layer Settling Service
MSB
Feem ntau Qhov Tseem Ceeb Byte (lossis ntsis)
NMT
Network Management
PID
Proportional-Integral-Derivative Control
RO
Nyeem Tsuas Object
RPDO
Tau txais txheej txheem Cov Ntaub Ntawv Khoom
RW
Nyeem/Sau Object
SDO
Cov Ntaub Ntawv Kev Pabcuam
TPDO
Hloov Cov Txheej Txheem Cov Ntaub Ntawv Cov Khoom
WO
Sau Ib Yam
REFERENCES
[DS-301]CiA DS-301 V4.1 CANopen Daim Ntawv Thov Txheej thiab Kev Sib Txuas Lus Profile. CAN hauv Automation 2005
[DS-305]CiA DS-305 V2.0 Layer Setting Service (LSS) thiab raws tu qauv. CAN hauv Automation 2006
[DS-404]CiA DS-404 V1.2 CANOpen profile rau ntsuas Devices thiab kaw voj Controllers. CAN hauv Automation 2002
Cov ntaub ntawv no muaj los ntawm CAN hauv Automation eV webqhov chaw http://www.can-cia.org/.
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
ii
TAB SIS
1 OVVIEW NTAWM CONTROLER ………………………………………………………………………………….1 1.1. Nqe lus piav qhia ntawm Single Universal Input Controller …………………………………………………….1 1.2. Digital Input Function Block……………………………………………………………………………… 2 1.3. Analog Input Function Block ……………………………………………………………………………….5 1.4. Lookup Table Function Block ………………………………………………………………………………..10 1.5. Programmable Logic Function Block………………………………………………………………….16 1.6. Miscellaneous Function Block………………………………………………………………………………..23
2. INSTALLATION INSTALLATION INSTALLATIONS ………………………………………………………………………….25 2.1. Dimensions thiab Pinout ……………………………………………………………………………… 25 2.2. Installation Instructions ……………………………………………………………………………… 26
3. CANOPEN ® OBJECT DICTIONARY ………………………………………………………………………………..28 3.1. NODE ID thiab BAUDRATE ……………………………………………………………………………….28 3.2. Kev Sib Txuas Lus (DS-301 thiab DS-404) ……………………………………………………32 3.3. APPLICATION OBJECTS (DS-404) …………………………………………………………………….50 3.4. MANUFACTURER OBJECTS ……………………………………………………………………………….59
4. TECHNICAL SPECIFICATIONS ……………………………………………………………………………….84 4.1. Power Supply …………………………………………………………………………………………… 84 4.2. Inputs ………………………………………………………………………………………………………… 84 4.3. Kev sib txuas lus …………………………………………………………………………………………… 84 4.4. General Specifications …………………………………………………………………………………………… 84
5. VERSION HISTORY…………………………………………………………………………………………………………..85
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
iii
1 OVVIEW NTAWM CONTROLER
1.1. Nqe lus piav qhia ntawm Tib Universal Input Controller
Cov neeg siv phau ntawv hauv qab no piav qhia txog kev tsim qauv thiab kev ua haujlwm ntawm ib qho kev tawm tswv yim thoob ntiaj teb CANopen ® maub los.
Ib qho Input Controller (1IN-CAN) yog tsim los rau kev ntsuas txuas ntxiv ntawm analog sensors thiab tshaj tawm cov ntaub ntawv mus rau CANopen network tsheb npav. Nws qhov kev tsim hluav taws xob hloov pauv tau tso cai rau nws ntsuas ntau hom teeb liab, suav nrog voltage, tam sim no, zaus / RPM, PWM thiab digital signals. Lub firmware tswj algorithms tso cai rau lub peev xwm ntawm kev ua cov ntaub ntawv txiav txim siab ua ntej tshaj tawm mus rau CANopen network yam tsis tas yuav tsum muaj kev cai software.
Ntau yam kev ua haujlwm thaiv kev txhawb nqa los ntawm 1IN-CAN tau piav qhia hauv ntu hauv qab no. Tag nrho cov khoom yog cov neeg siv-configurable siv cov qauv kev lag luam uas muaj peev xwm cuam tshuam nrog CANopen ® Object Dictionary ntawm .EDS file.
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-1
1.2. Digital Input Function Block
Cov tswv yim digital (DI) muaj nuj nqi thaiv tsuas yog siv tau ntawm cov tswv yim thaum cov khoom 6112h, AI Kev Ua Haujlwm, tau teeb tsa rau cov lus teb digital.
Daim duab 2 Digital Input Objects
Thaum 6112h teem rau 10 = Digital Input, kwv yees 2020h DI Pullup / Down Mode yuav txiav txim siab seb lub teeb liab tawm tswv yim puas siab (10k rub down enabled, hloov mus rau +V) lossis qis qis (10k rub tawm qhib, hloov mus rau GND) Cov kev xaiv rau cov khoom 2020h muaj nyob rau hauv Table 1, nrog rau lub neej ntawd bolded.
Tus nqi 0 1 2
Lub ntsiab lus Pullup / Down Disabled (siab impedance input) 10k Pullup Resistor Enabled 10k Pulldown Resistor Enabled
Table 1: DI Pullup/Down Options
Daim duab 3 qhia txog hysteresis ntawm lub tswv yim thaum hloov lub teeb liab discrete. Cov tswv yim digital tuaj yeem hloov mus rau +Vcc (48Vmax.)
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-2
Inpu Voltage (V) Digital Signal
Cov lus qhia Voltage (V) Digital Signal
Discrete Input Active Siab Hysteresis
Discrete Input Active Tsawg Hysteresis
5
1
5
1
4.5
0.9
4.5
0.9
4
0.8
4
0.8
3.5
0.7
3.5
0.7
3
0.6
3
0.6
2.5
0.5
2.5
0.5
2
0.4
2
0.4
1.5
0.3
1.5
0.3
1
0.2
1
0.2
0.5
0.1
0.5
0.1
0
0
0
0
Cov lus qhia Voltage Digital Hi/Lo
Cov lus qhia Voltage (V) Digital Hi/Lo
Daim duab 3 Discrete Input Hysteresis
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-3
Yam khoom 2021h DI Debounce Lub Sijhawm yog siv rau cov tswv yim ua ntej lub xeev tau nyeem los ntawm processor. Los ntawm lub neej ntawd, lub sijhawm debounce yog 10ms.
Daim duab 4 Digital Input Debouncing
Thaum lub xeev raw tau raug soj ntsuam, lub hauv paus ntsiab lus ntawm cov tswv yim yog txiav txim los ntawm cov khoom 6030h DI Polarity. Cov kev xaiv rau cov khoom 6030h muaj nyob rau hauv Table 3. Lub xeev 'xoo' ntawm DI uas yuav raug sau rau cov khoom nyeem nkaus xwb 6020h DI Read State yuav yog ib qho kev sib xyaw ua ke ntawm siab / qis thiab polarity xaiv. Los ntawm lub neej ntawd, ib txwm siv rau / tawm logic.
Tus nqi txhais tau tias 0 Ib txwm On/Off 1 Inverse On/Off 2 Lached Logic
Active Siab
Active Tsawg
Xeev
HIGH
QEEJ
ON
LOW lossis Qhib HIGH lossis Qhib
OFF
HIGH
QEEJ
OFF
LOW lossis Qhib HIGH lossis Qhib
ON
HIGH rau LOW LOW mus HIGH
Tsis Hloov
LOW rau HIGH HIGH rau LOW Lub Xeev Hloov (ie OFF rau ON)
Table 2: DI Polarity Options piv rau DI State
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-4
Muaj lwm hom 'digital' input uas tuaj yeem xaiv tau thaum 6112h teem rau 20 = Analog On / Off. Txawm li cas los xij, nyob rau hauv cov ntaub ntawv no, cov tswv yim tseem raug teeb tsa raws li cov tswv yim analog, thiab yog li ntawd cov khoom siv los ntawm Analog Input (AI) thaiv yog siv los ntawm cov uas tau tham saum toj no. Ntawm no, cov khoom 2020h, 2030h thiab 6030h yog ignored, thiab 6020h yog sau raws li ib tug logic nyob rau hauv daim duab 5. Nyob rau hauv cov ntaub ntawv no, lub MIN parameter yog teem los ntawm cov khoom 7120h AI Scaling 1 FV, thiab MAX yog teem los ntawm 7122h AI Scaling 2 fwv. Rau tag nrho lwm hom kev khiav hauj lwm, khoom 6020h yuav ib txwm yog xoom.
Daim duab 5 Analog Input Read as Digital 1.3. Analog Input Function Block Lub analog input (AI) muaj nuj nqi thaiv yog lub neej ntawd logic koom nrog cov tswv yim thoob ntiaj teb.
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-5
Daim duab 6 Analog Input Objects
Yam khoom 6112h, AI Kev Ua Haujlwm Hom txiav txim siab seb AI lossis DI muaj nuj nqi thaiv puas cuam tshuam nrog cov tswv yim. Cov kev xaiv rau cov khoom 6112h muaj nyob rau hauv Table 4. Tsis muaj qhov tseem ceeb tshaj li qhov qhia ntawm no yuav raug lees txais.
Tus nqi txhais tau tias 0 Channel Tawm 1 Kev Ua Haujlwm Zoo (analog) 10 Cov tswv yim digital (on / off) 20 Analog thiab On / Off
Table 3: AI Operating Mode Options
Cov khoom tseem ceeb tshaj plaws nrog rau AI muaj nuj nqi thaiv yog khoom 6110h AI Sensor Hom. Los ntawm kev hloov tus nqi no, thiab cuam tshuam nrog nws cov khoom 2100h AI Input Range, lwm yam khoom yuav raug hloov kho los ntawm tus maub los. Cov kev xaiv rau cov khoom 6110h tau pom nyob rau hauv Table 5, thiab tsis muaj qhov tseem ceeb tshaj li qhov qhia ntawm no yuav raug lees txais. Cov tswv yim yog teeb tsa los ntsuas voltage los ntawm lub neej ntawd.
Nqe Lus Nug 40 Voltage Input 50 Current Input 60 Zaus Input (los yog RPM)
10000 PWM Input 10010 Counter
Table 4: AI Sensor Hom Kev Xaiv
Cov kev tso cai yuav nyob ntawm seb hom input sensor xaiv. Table 6 qhia txog kev sib raug zoo ntawm hom sensor, thiab cov kev xaiv sib txuam. Lub neej ntawd tus nqi rau txhua qhov ntau yog bolded, thiab khoom 2100h yuav cia li hloov kho nrog tus nqi no thaum 6110h hloov. Greyed tawm hlwb txhais tau hais tias tus nqi sib koom tsis raug tso cai rau ntau yam khoom thaum lub hom sensor tau xaiv.
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-6
Tus nqi 0 1 2
Voltage 0-5V 0-10V
Tam sim no 0 txog 20mA 4 rau 20mA
Ntau zaus
PWM
0.5Hz txog 20kHz 0.5Hz txog 20kHz
Table 5: AI Input Range Options nyob ntawm seb hom Sensor
Counter Pulse Count Sijhawm Qhov rai Pulse Window
Tsis yog txhua yam khoom siv rau txhua hom kev nkag. Rau example, object 2103h AI Filter Frequency rau ADC tsuas yog siv tau nrog lub voltage, tam sim no lossis resistive input raug ntsuas. Hauv cov xwm txheej no, ADC yuav cia li lim raws li Table 7, thiab tau teeb tsa rau 50Hz suab tsis lees paub los ntawm lub neej ntawd.
Tus nqi txhais tau tias 0 Input Lim Tawm 1 Lim 50Hz 2 Lim 60Hz 3 Lim 50Hz thiab 60Hz
Table 6: ADC Filter Frequency Options
Conversely, zaus thiab PWM inputs siv khoom 2020h DI Pullup/Down Mode (saib Table 1) thaum vol.tage, tam sim no thiab resistive inputs muab cov khoom no rau xoom. Tsis tas li ntawd, qhov kev tawm tswv yim zaus tuaj yeem hloov mus rau qhov ntsuas RPM hloov pauv tsuas yog los ntawm kev teeb tsa cov khoom 2101h AI Tus lej Pulses Ib Revolution mus rau qhov tsis yog xoom tus nqi. Tag nrho lwm hom input tsis quav ntsej cov khoom no.
Nrog zaus / RPM thiab PWM cov tswv yim, AI Debounce Lub Sijhawm, khoom 2030h tuaj yeem siv tau. Cov kev xaiv rau cov khoom 2030h muaj nyob rau hauv Table 2, nrog rau lub neej ntawd bolded.
Tus nqi txhais tau tias 0 Lim Disabled 1 Lim 111ns 2 Lim 1.78 us 3 Lim 14.22 us
Table 7: AI Debounce Filter Options
Txawm li cas los xij, txawm li cas los xij, tag nrho cov analog inputs tuaj yeem raug lim ntxiv thaum cov ntaub ntawv nyoos tau ntsuas (txawm los ntawm ADC lossis Timer.) Object 61A0h AI Filter Type txiav txim siab seb hom lim siv li cas hauv Table 8. Los ntawm lub neej ntawd, ntxiv software filtering ua neeg tsis taus.
Tus nqi txhais tau tias 0 Tsis Lim 1 Tsiv Nruab Nrab 2 Rov Ua Qhov Nruab Nrab
Table 8: AI Filter Type Options
Object 61A1h AI Filter Constant yog siv nrog tag nrho peb hom lim raws li cov qauv hauv qab no:
Kev suav nrog tsis muaj lim: Tus nqi = Input Cov ntaub ntawv tsuas yog 'snapshot' ntawm tus nqi tshiab ntsuas los ntawm ADC lossis timer.
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-7
Kev suav nrog qhov txav nruab nrab lim: (Input ValueN-1)
ValueN = ValueN-1 + FilterConstant
Cov lim no hu ua txhua 1ms. Tus nqi FilterConstant khaws cia hauv cov khoom 61A1h yog 10 los ntawm lub neej ntawd.
Kev suav nrog qhov rov ua dua qhov nruab nrab lim:
InputN
Tus nqi = N
Ntawm txhua qhov kev nyeem ntawv ntawm tus nqi nkag, nws ntxiv rau cov lej. Ntawm txhua Nth nyeem, cov lej tau muab faib los ntawm N, thiab qhov tshwm sim yog tus nqi nkag tshiab. Tus nqi thiab tus txee yuav raug teem rau xoom rau kev nyeem tom ntej. Tus nqi ntawm N yog khaws cia rau hauv cov khoom 61A1h, thiab yog 10 los ntawm lub neej ntawd. Cov lim no hu ua txhua 1ms.
Tus nqi los ntawm cov lim yog hloov raws li cov khoom nyeem nkaus xwb 2102h AI Decimal Digits FV thiab tom qab ntawd sau rau cov khoom nyeem nkaus xwb 7100h AI Input Field Value.
Tus nqi ntawm 2102h yuav nyob ntawm seb AI Sensor Hom thiab Cov Lus Qhia Tawm tau xaiv, thiab yuav raug hloov kho tshiab rau ntawm Table 9 thaum twg 6110h lossis 2100h hloov. Tag nrho lwm yam khoom uas cuam tshuam nrog tus nqi nkag teb kuj siv cov khoom no. Cov khoom no yog 7120h AI Scaling 1 FV, 7122h AI Scaling 2 FV, 7148h AI Span Pib, 7149h AI Span End, thiab 2111h AI yuam kev Clear Hysteresis. Cov khoom no kuj tau hloov kho tshiab thaum Hom lossis Range hloov.
Sensor Hom thiab Range
Decimal
Cov lej
Voltage: Txhua Qhov Chaw
3 [mV]
Tam sim no: Tag nrho cov ntau yam
3 [ua]
Zaus: 0.5Hz txog 20kHz 0 [Hz]
Zaus: RPM hom
1 [0.1 RPM] ceev
PWM: All Ranges
1 [0.1%]
Cov tswv yim digital
0 [On/Off]
Counter: Pulse suav
0 [pulses]
Counter: Lub Sijhawm / Pulse Window 3 [ms]
Table 9: AI Decimal Digits FV Nyob ntawm hom Sensor
Nws yog AI Input FV uas yog siv los ntawm daim ntawv thov kom paub qhov yuam kev, thiab ua lub teeb liab tswj rau lwm cov logic blocks (ie tso zis tswj.) Object 7100h yog mappable rau TPDO, thiab yog mapped rau TPDO1 los ntawm lub neej ntawd.
Nyeem-tsuas khoom 7130h AI Input Process Tus nqi kuj yog mappable. Txawm li cas los xij, qhov tseem ceeb ntawm cov khoom 7121h AI Scaling 1 PV thiab 7123h AI Scaling 2 PV yog teem kom sib npaug 7120h thiab 7122h feem, thaum khoom 6132h AI Decimal Digits PV tau pib ua kom sib npaug 2102h. Qhov no txhais tau hais tias qhov kev sib raug zoo ntawm FV thiab PV yog ib-rau-ib, yog li khoom 7130h tsis tau kos npe rau TPDO los ntawm lub neej ntawd.
Yuav tsum muaj qhov sib txawv ntawm qhov sib txawv ntawm qhov ntsuas piv rau qhov xa mus rau CANopen tsheb npav xav tau, cov khoom 6132h, 7121h thiab 7123h tuaj yeem hloov pauv. Cov linear
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-8
kev sib raug zoo profile yog qhia hauv daim duab 7 hauv qab no. Yog xav tau cov lus teb uas tsis yog-linear, lub rooj saib xyuas lub luag haujlwm thaiv tuaj yeem siv hloov pauv, raws li tau piav qhia hauv ntu 1.7.
Daim duab 7 Analog Input Linear Scaling FV to PV Raws li tau hais ua ntej lawm, FV scaling cov khoom tau hloov kho tshiab nrog Sensor Hom lossis Range hloov. Qhov no yog vim hais tias cov khoom 7120h thiab 7122h tsis tsuas yog siv nyob rau hauv ib tug linear conversion ntawm FV mus rau PV raws li tau piav saum toj no, tab sis kuj raws li qhov tsawg kawg nkaus thiab siab tshaj plaws txwv thaum lub tswv yim yog siv los tswj lwm logic block. Yog li ntawd, qhov tseem ceeb ntawm cov khoom no tseem ceeb, txawm tias AI Input PV khoom tsis raug siv.
AI Span Pib thiab AI Span End cov khoom siv rau kev tshawb nrhiav qhov txhaum, yog li lawv kuj tau hloov kho tshiab rau qhov muaj txiaj ntsig zoo raws li Hom / Ntau qhov hloov pauv. Qhov yuam kev Clear Hysteresis khoom kuj tau hloov kho, raws li nws ib yam nkaus thiab ntsuas nyob rau hauv tib lub tsev raws li AI Input FV khoom.
Table 10 teev cov txiaj ntsig zoo uas tau thauj mus rau hauv cov khoom 7120h, 7122h, 7148h, 7149h, thiab 2111h rau txhua hom Sensor thiab Input Range ua ke. Nco qab tias cov khoom no txhua tus muaj tus lej lej siv rau lawv raws li tau teev tseg hauv Table 9.
Sensor Hom / Input Range
Voltage:0a5v wbtage: 0 txog 10V Tam sim no: 0 txog 20mA Tam sim no: 4 mus rau 20mA Freq: 0.5Hz txog 20kHz Freq: RPM Hom PWM: 0 txog 100% Digital Input Counter Input
7148h ib
7120h ib
7122h ib
7149h ib
AI Span Pib AI Scaling 1 FV AI Scaling 2 FV AI Span End
(ie yuam kev Min) (ie Input Min) (ie Input Max) (ie yuam kev Max)
200 [mV]
500 [mV]
4500 [mV]
4800 [mV]
200 [mV]
500 [mV]
9500 [mV]
9800 [mV]
0 [ua]
0 [ua]
20000 [ua]
20000 [ua]
1000 [ua]
4000 [ua]
20000 [ua]
21000 [ua]
100 [Hz]
150 [Hz]
2400 [Hz]
2500 Hz]
500 [0.1RPM] 1000 [0.1RPM] 30000 [0.1RPM] 33000 [0.1RPM]
10 [0.1%]
50 [0.1%]
950 [0.1%]
990 [0.1%]
OFF
OFF
ON
ON
0
0
60000
60000
Table 10: AI Object Defaults Raws li Sensor Hom thiab Input Range
2111h yuam kev Clear Hysteresis
100 [mV] 200 [mV] 250 [uA] 250 [uA] 5 [Hz] 100 [0.1RPM] 10 [0.1%] 0
60000
Thaum hloov cov khoom no, Table 11 qhia txog qhov ntau yam txwv qhov chaw ntawm txhua qhov raws li Sensor Hom thiab Cov Khoom Siv Ntau Yam uas tau xaiv. Nyob rau hauv txhua rooj plaub, tus nqi MAX yog qhov kawg ntawm qhov ntau (piv txwv li 5V lossis ) Khoom 7122h tsis tuaj yeem teeb tsa siab dua MAX, qhov 7149h tuaj yeem teeb tsa mus txog 110% ntawm MAX. Yam khoom 2111h ntawm qhov tod tes tsuas tuaj yeem teeb tsa tus nqi siab tshaj ntawm 10% ntawm MAX. Table 11 siv lub hauv paus chav tsev ntawm cov tswv yim, tab sis nco qab cov kev txwv tseem yuav muaj cov khoom 2102h siv rau lawv raws li Table 9.
Sensor Hom / Input Range
7148h ib
7120h ib
7122h ib
7149h2111 ua
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-9
Voltage:0a5v ua
10v XNUMX
Tam sim no: 0-20mA
0 rau 7120h
7148h txog 7122h
Ceev: 0-6000RPM
7120h txog 7149h
PWM: 0-100%
Yog tias (7149h> MAX)
Tam sim no: 4-20mA
0 rau 7120h
7148h txog 7122h Yog (7148h <4mA) 4mA txog 7122h
7120h rau MAX
Zaus: 0.5Hz txog 20kHz
0.1Hz txog 7120h
7148h txog 7122h Yog tias (7148h <0.5Hz) 0.5Hz txog 7122h
Table 11: AI Object Range Raws li Sensor Hom thiab Input Range
7122h rau 110% ntawm
MAX
10% ntawm MAX
Cov khoom kawg uas cuam tshuam nrog cov analog input thaiv sab laug los tham txog yog cov uas cuam tshuam nrog kev tshawb nrhiav qhov txhaum. Yog tias cov khoom siv suav nrog (tom qab ntsuas thiab lim) poob sab nraud ntawm qhov tso cai, raws li tau hais los ntawm AI Span Pib thiab AI Span End cov khoom, tus chij yuam kev yuav raug teeb tsa hauv daim ntawv thov yog thiab tsuas yog cov khoom 2110h AI yuam kev tshawb pom Enabled yog teem rau TRUE (1).
Thaum (7100h AI Input FV < 7148h AI Span Pib), tus chij "Tawm Ntawm Qhov Tsawg" tau teeb tsa. Yog tias tus chij tseem nyob twj ywm rau 2112h AI yuam kev Reaction ncua sij hawm, ib qho Input Overload Emergency (EMCY) cov lus yuav raug ntxiv rau qhov khoom 1003h Pre-Defined Error Field. Ib yam li ntawd, thaum (7100h AI Input FV> 7149h AI Span End), tus chij "Tawm Ntawm Qhov Siab" tau teeb tsa, thiab yuav tsim cov lus EMCY yog tias nws nyob twj ywm hauv lub sijhawm ncua. Nyob rau hauv ob qho tib si, daim ntawv thov yuav hnov mob rau EMCY cov lus raws li tau hais tseg los ntawm cov khoom 1029h Kev Coj Tus Cwj Pwm ntawm lub sub-index sib haum rau qhov Input Fault. Xa mus rau ntu 3.2.4 thiab 3.2.13 yog xav paub ntxiv txog cov khoom 1003h thiab 1029h.
Thaum pom qhov txhaum lawm, tus chij koom nrog yuav raug tshem tawm tsuas yog thaum cov tswv yim rov qab los rau hauv ntau yam. Yam khoom 2111h AI yuam kev Clear Hysteresis siv ntawm no kom tus chij yuam kev yuav tsis raug teeb tsa / tshem tawm tsis tu ncua thaum AI Input FV hovers nyob ib ncig ntawm AI Span Pib / Xaus tus nqi.
Txhawm rau tshem tawm "Tshaj Tawm Tsawg" tus chij, AI Input FV >= (AI Span Pib + AI yuam kev Clear Hysteresis) Txhawm rau tshem tawm "Tshaj Tawm Siab" chij, AI Input FV <= (AI Span End - AI yuam kev Clear Hysteresis) Ob tus chij tsis tuaj yeem ua haujlwm ib zaug. Teem ib qho ntawm cov chij no cia li tshem tawm lwm tus.
1.4. Nrhiav Table Function Block
Lub rooj saib xyuas (LTz) muaj nuj nqi thaiv tsis siv los ntawm lub neej ntawd.
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Daim duab 16 Nrhiav cov khoom
Cov rooj saib xyuas yog siv los muab cov lus teb tso tawm txog li 10 qhov chaw ib qho kev nkag. Qhov loj ntawm cov khoom 30z4h LTz Point Response, 30z5h LTz Point X-Axis PV thiab 30z6h Point YAxis PV qhia hauv daim duab thaiv saum toj no yog li 11.
Lus Cim: Yog tias xav tau ntau dua 10 nqes hav, Logic Block tuaj yeem siv los ua ke mus txog peb lub rooj kom tau 30 nqes hav, raws li tau piav qhia hauv Tshooj 1.8.
Muaj ob qhov tsis tseem ceeb uas yuav cuam tshuam li cas qhov kev ua haujlwm thaiv no yuav coj li cas. Cov khoom 30z0h Lookup Table z Input X-Axis Source thiab 30z1h Lookup Table z Input X-Axis Number ua ke txheeb xyuas qhov chaw tswj kev ua haujlwm thaiv. Thaum nws raug hloov, lub rooj cov txiaj ntsig hauv cov khoom 30z5h yuav tsum tau hloov kho nrog cov kev hloov tshiab raws li X-Axis qhov chaw xaiv raws li tau piav qhia hauv Cov Lus 15 thiab 16.
Qhov thib ob parameter uas yuav cuam tshuam rau kev ua haujlwm thaiv, yog khoom 30z4h sub-index 1 uas txhais tau tias "X-Axis Hom". Los ntawm lub neej ntawd, cov ntxhuav muaj 'Cov Ntaub Ntawv Teb' cov zis (0). Xwb, nws tuaj yeem raug xaiv ua 'Lub Sijhawm Teb' (1), uas tau piav qhia tom qab hauv Tshooj 1.7.4.
1.4.1. X-Axis, Input Data Teb
Nyob rau hauv rooj plaub uas "X-Axis Hom" = 'Cov ntaub ntawv teb', cov ntsiab lus ntawm X-Axis sawv cev rau cov ntaub ntawv ntawm qhov chaw tswj.
Rau example, yog tias qhov chaw tswj yog Universal Input, teeb tsa raws li 0-5V hom, nrog kev khiav hauj lwm ntau ntawm 0.5V txog 4.5V. Object 30z2h LTz X-Axis Decimal Digits PV yuav tsum tau teeb tsa kom phim cov khoom 2102 AI Decimal Digits FV. Lub X-Axis tuaj yeem teeb tsa kom muaj "LTz Point X-Axis PV sub-index 2" ntawm 500, thiab setpoint "LTz Point X-Axis PV sub-index 11" yuav raug teem rau 4500. Thawj taw tes "LTz Point X-Axis PV sub-index 1" yuav tsum pib ntawm 0 hauv qhov no. Rau feem ntau 'Cov Ntaub Ntawv Teb', tus nqi pib ntawm qhov taw tes (1,1) yog [0,0].
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Txawm li cas los xij, yog tias qhov kev tawm tswv yim tsawg kawg yog tsawg dua xoom, piv txwv liample ib tug resistive input uas yog reflecting kub nyob rau hauv lub cheeb ntawm -40ºC rau 210ºC, ces lub "LTz Point X-Axis PV sub-index 1" yuav tsum tau teem rau qhov tsawg kawg nkaus xwb, nyob rau hauv cov ntaub ntawv no -40ºC.
Qhov kev txwv ntawm X-Axis cov ntaub ntawv yog tias tus nqi ntsuas tom ntej yog ntau dua lossis sib npaug rau ib qho hauv qab nws, raws li qhia hauv kab zauv hauv qab no. Yog li ntawd, thaum kho cov ntaub ntawv X-Axis, nws raug nquahu kom X11 hloov ua ntej, tom qab ntawd txo qis hauv kev txiav txim siab.
MinInputRange <= X1<= X2<= X3<= X4<= X5<= X6<= X7<= X8<= X9<= X10<= X11<= MaxInputRange
Raws li tau hais ua ntej, MinInputRange thiab MaxInputRange yuav raug txiav txim siab los ntawm cov khoom siv scaling txuam nrog X-Axis Source uas tau xaiv, raws li tau teev tseg hauv Table 17.
1.4.2. Y-Axis, Lookup Table Output
Los ntawm lub neej ntawd, nws yog assumed tias cov zis los ntawm lub lookup rooj function block yuav yog ib tug percentage tus nqi hauv thaj tsam ntawm 0 txog 100.
Qhov tseeb, tsuav yog tag nrho cov ntaub ntawv hauv Y-Axis yog 0 <= Y[i] <= 100 (qhov twg kuv = 1 txog 11) ces lwm cov haujlwm thaiv siv lub rooj saib raws li kev tswj hwm yuav muaj 0 thiab 100. raws li Scaling 1 thiab Scaling 2 qhov tseem ceeb siv nyob rau hauv linear xam pom nyob rau hauv Table 17.
Txawm li cas los xij, Y-Axis tsis muaj kev txwv ntawm cov ntaub ntawv uas nws sawv cev. Qhov no txhais tau hais tias kev hloov pauv lossis nce / txo qis lossis lwm cov lus teb tuaj yeem tsim tau yooj yim. Y-Axis tsis tas yuav yog percentage tso zis tab sis tuaj yeem sawv cev tag nrho cov txheej txheem cov txiaj ntsig hloov.
Rau example, yuav tsum X-Axis ntawm ib lub rooj yog tus nqi resistive (raws li nyeem los ntawm ib qho analog input), cov zis ntawm lub rooj yuav kub los ntawm ib tug NTC sensor nyob rau hauv qhov ntau Y1 = 125ºC rau Y11 = -20ºC. Yog tias cov lus no tau siv los ua qhov chaw tswj hwm rau lwm qhov kev ua haujlwm thaiv (xws li cov lus tawm tswv yim rau PID tswj), ces Scaling 1 yuav yog -20 thiab Scaling 2 yuav yog 125 thaum siv cov qauv linear.
Daim duab 17 Lookup Table Example Resistance vs. NTC Kub
Nyob rau hauv txhua rooj plaub tus maub los saib tag nrho cov ntau yam ntawm cov ntaub ntawv nyob rau hauv lub Y-Axis sub-indices thiab xaiv tus nqi qis tshaj li MinOutRange thiab tus nqi siab tshaj li MaxOutRange. Ntev npaum li lawv tsis yog ob qho tib si hauv 0 txog 100 ntau yam, lawv raug xa ncaj qha mus rau lwm qhov kev ua haujlwm blocks raws li cov kev txwv ntawm cov lus pom cov zis. (piv txwv li Scaling 1 thiab Scaling 2 qhov tseem ceeb hauv kev suav cov kab.)
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Txawm hais tias qee cov ntaub ntawv cov ntsiab lus yog 'tsis quav ntsej' raws li tau piav qhia hauv Tshooj 1.7.3, lawv tseem siv nyob rau hauv kev txiav txim siab Y-Axis. Yog tias tsis yog tag nrho cov ntaub ntawv cov ntsiab lus yuav raug siv, nws raug pom zoo tias Y10 raug teeb tsa rau qhov kawg ntawm qhov kawg, thiab Y11 mus rau qhov siab tshaj plaws ua ntej. Txoj kev no, tus neeg siv tuaj yeem tau txais cov txiaj ntsig kwv yees thaum siv lub rooj tsav tsheb rau lwm qhov kev ua haujlwm thaiv, xws li cov zis analog.
1.4.3. Point to Point Teb
Los ntawm lub neej ntawd, tag nrho rau lub rooj saib muaj cov lus teb yooj yim ntawm 0 txog 100 hauv cov kauj ruam ntawm 10 rau ob qho tib si X thiab Y axes. Rau cov lus teb ncaj nraim, txhua qhov taw qhia hauv 30z4h LTz Point Response array yog teeb tsa rau `Ramp To' tso zis.
Xwb, tus neeg siv tuaj yeem xaiv 'Step To' cov lus teb rau 30z4h, qhov twg N = 2 rau 11. Nyob rau hauv rooj plaub no, ib qho input tus nqi ntawm XN-1 rau XN yuav ua rau ib qho kev tso tawm los ntawm lookup table function block ntawm YN. (Nco qab: LTz Point Response sub-index 1 txhais cov hom X-Axis)
Daim duab 18 qhia qhov txawv ntawm ob qho lus teb profiles nrog lub neej ntawd nqis.
Daim duab 18 Lookup Table Defaults nrog Ramp thiab Kauj Ruam Teb
Thaum kawg, ib qho ntsiab lus tshwj tsis yog (1,1) tuaj yeem xaiv rau qhov 'tsis quav ntsej' teb. Yog tias LTz Point Response sub-index N tau teeb tsa kom tsis quav ntsej, ces tag nrho cov ntsiab lus ntawm (XN, YN) mus rau (X11, Y11) kuj yuav raug tsis quav ntsej. Rau tag nrho cov ntaub ntawv ntau dua XN-1, cov zis los ntawm lub rooj saib xyuas kev ua haujlwm thaiv yuav yog YN-1.
Ib qho kev sib xyaw ntawm 'Ramp Rau ', 'Dhia Rau' thiab 'tsis quav ntsej' cov lus teb tuaj yeem siv los tsim cov ntawv thov tshwj xeeb tso tawm profile. Ib example ntawm qhov twg tib lub tswv yim siv raws li X-Axis rau ob lub rooj, tab sis qhov twg cov zis profiles 'daim iav' ib leeg rau ib tug deadband joystick teb yog qhia nyob rau hauv daim duab 19. Tus example qhia ib tug dual nqes hav percentage tso zis teb rau txhua sab ntawm lub deadband, tab sis ntxiv slopes tuaj yeem yooj yim ntxiv raws li xav tau. (Ceeb Toom: Nyob rau hauv cov ntaub ntawv no, txij li thaum lub analog outputs yog teb ncaj qha rau tus profile los ntawm cov rooj saib, ob qho tib si yuav muaj cov khoom 2342h AO Control Teb teeb tsa rau 'Single Output Profile.')
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Daim duab 19 Lookup Table Examples mus teeb rau Dual-Slope Joystick Deadband Teb
Txhawm rau kom ua tiav, Table 24 qhia txog cov lus teb sib txawv uas tuaj yeem xaiv rau cov khoom 30z4h, ob qho tib si rau hom X-Axis thiab rau txhua lub ntsiab lus hauv lub rooj.
Sub-Index 1
2-11 1 Nws
2-11 1 Nws
2 rau 11
Lub ntsiab lus muaj nuj nqis
0
Cov ntaub ntawv teb (X-Axis Hom) Tsis quav ntsej (lub ntsiab lus no thiab txhua yam ua raws nws)
1
Lub Sijhawm Teb (X-Axis Hom) Ramp Rau (qhov no)
2
N/A (tsis yog ib qho kev xaiv) Dhia mus rau (qhov no)
Table 12: Ltz Point Response Options
1.4.4. X-Axis, Lub Sijhawm Teb
Raws li tau hais hauv Tshooj 1.5, lub rooj saib xyuas kuj tuaj yeem siv tau kom tau txais cov lus teb cov lus teb uas "X-Axis Hom" yog 'Lub Sijhawm Teb'. Thaum qhov no raug xaiv, X-Axis tam sim no sawv cev rau lub sijhawm, nyob rau hauv units ntawm milliseconds, thaum lub Y-Axis tseem sawv cev rau qhov tso tawm ntawm cov haujlwm thaiv.
Hauv qhov no, X-Axis tswj qhov chaw raug kho raws li cov tswv yim digital. Yog hais tias lub teeb liab yog ib qho analog input, nws yog txhais raws li ib tug digital input ib daim duab 5. Thaum tus tswj input yog ON, cov zis yuav raug hloov nyob rau hauv ib lub sij hawm raws li tus profile nyob rau hauv lub rooj saib xyuas. Ib zaug profile tau tiav lawm (piv txwv li mus txog qhov ntsuas 11, lossis ib qho 'Ignored' teb), cov zis yuav nyob twj ywm ntawm qhov kawg tso tawm ntawm qhov kawg ntawm cov profile kom txog thaum tus tswj input tig OFF.
Thaum tus tswj input yog OFF, cov zis yog ib txwm nyob zero. Thaum cov tswv yim los ON, tus profile Ib txwm pib ntawm txoj hauj lwm (X1, Y1) uas yog 0 tso zis rau 0ms.
Thaum siv lub rooj saib kom tsav cov zis raws li lub sijhawm, nws yog qhov yuav tsum tau ua kom cov khoom 2330h Ramp nce 2331hamp Nyob rau hauv lub analog tso zis muaj nuj nqi thaiv yog teem rau xoom. Txwv tsis pub, cov txiaj ntsig tso zis yuav tsis phim tus profile raws li xav tau. Nco qab, kuj, tias AO scaling yuav tsum yog
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teem kom phim Y-Axis scaling ntawm lub rooj thiaj li yuav tau txais 1: 1 cov lus teb ntawm AO Output FV piv rau LTz Output Y-Axis PV. Ib daim ntawv thov uas lub sij hawm teb feature yuav muaj txiaj ntsig yog sau lub clutch thaum muaj kev sib kis. Ib example ntawm ib co fill profiles yog qhia hauv daim duab 20.
Daim duab 20 Lookup Table Time Response Clutch Fill Profiles
Nyob rau hauv ib lub sij hawm teb, cov ntaub ntawv nyob rau hauv cov khoom 30z5h LTz Point X-Axis PV yog ntsuas nyob rau hauv milliseconds, thiab khoom 30z2h LTz X-Axis Decimal Digits PV yog cia li teem rau 0. Qhov tsawg kawg nkaus tus nqi ntawm 1ms yuav tsum tau xaiv rau tag nrho cov ntsiab lus uas tsis yog. sub-index 1 uas tau teem rau [0,0]. Lub sijhawm ncua sij hawm ntawm txhua qhov taw tes ntawm X-axis tuaj yeem teeb tsa nyob qhov twg los ntawm 1ms txog 24 teev. [86,400,000 ms] 1.4.5. Lookup Table Final Note
Ib daim ntawv kawg hais txog cov rooj saib yog tias yog cov tswv yim digital raug xaiv los ua qhov chaw tswj hwm rau X-Axis, tsuas yog 0 (Off) lossis 1 (On) yuav raug ntsuas. Xyuas kom meej tias cov ntaub ntawv ntau yam rau X-Axis ntawm lub rooj tau hloov kho kom tsim nyog hauv qhov xwm txheej no.
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1.5. Programmable Logic Function Block Lub programmable logic block (LBx) tsis siv los ntawm lub neej ntawd.
Daim duab 21 Logic Block Objects
Qhov kev ua haujlwm thaiv no yog pom tseeb qhov nyuaj tshaj plaws ntawm lawv txhua tus, tab sis muaj zog heev. Ib qho LBx (qhov twg X = 1 txog 4) tuaj yeem txuas nrog mus txog peb lub rooj saib, ib qho twg yuav raug xaiv tsuas yog nyob rau hauv cov xwm txheej. Txhua peb lub rooj (ntawm cov muaj 6) tuaj yeem cuam tshuam nrog cov logic, thiab cov uas siv tau yog tag nrho ntawm cov khoom 4 × 01 LBx Lookup Table Number.
Yog tias cov xwm txheej zoo li cov lus tshwj xeeb (A, B lossis C) tau raug xaiv raws li tau piav qhia hauv Tshooj 1.8.2, tom qab ntawd cov khoom siv los ntawm cov lus xaiv, txhua lub sijhawm, yuav raug xa ncaj qha mus rau LBx qhov sib thooj sub-index. X hauv cov ntawv nyeem nkaus xwb mappable 4020h Logic Block Output PV. Tus lej xov tooj nquag tuaj yeem nyeem los ntawm cov khoom nyeem nkaus xwb 4010h Logic Block Selected Table.
Yog li ntawd, ib qho LBx tso cai rau peb cov lus teb sib txawv rau tib lub tswv yim, lossis peb cov lus teb sib txawv rau cov khoom siv sib txawv, los ua tus tswj hwm rau lwm qhov thaiv, xws li analog.
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tso zis. Ntawm no, "Control Source" rau reactive block yuav raug xaiv los ua 'Programmable Logic Function Block,' raws li tau piav qhia hauv Tshooj 1.5.
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Yuav kom pab tau ib qho ntawm cov logic blocks, qhov sib thooj sub-index hauv cov khoom 4000h Logic Block Enable yuav tsum tau teem rau TRUE. Lawv tag nrho cov neeg xiam oob qhab los ntawm lub neej ntawd.
Logic raug soj ntsuam nyob rau hauv qhov kev txiav txim nyob rau hauv daim duab 22. Tsuas yog hais tias ib tug qis indexed rooj (A, B, C) tsis tau raug xaiv yuav cov xwm txheej rau lub rooj tom ntej no. Lub ntsiab lus yog ib txwm xaiv thaum nws raug soj ntsuam. Nws yog vim li no yuav tsum tau hais tias lub ntsiab lus ib txwm yog qhov ntsuas siab tshaj plaws hauv txhua qhov kev teeb tsa.
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Daim duab 22 Logic Block Flowchart
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1.5.1 ib. Kev ntsuam xyuas
Thawj kauj ruam hauv kev txiav txim siab lub rooj twg yuav raug xaiv raws li lub rooj ua haujlwm yog thawj zaug ntsuas qhov
tej yam kev mob txuam nrog ib lub rooj muab. Txhua lub rooj tau txuam nrog nws mus txog peb yam xwm txheej
uas tuaj yeem ntsuas tau. Cov khoom raws li kev cai yog kev cai DEFSTRUCT cov khoom txhais raws li qhia hauv
Table 25.
Index Sub-Index Name
Hom ntaub ntawv
4 xyj*
0
Siab tshaj sub-index txhawb UNSIGNED8
1
Kev sib cav 1 Source
TSIS MUAJ 8
2
Argument 1 Number
TSIS MUAJ 8
3
Kev sib cav 2 Source
TSIS MUAJ 8
4
Argument 2 Number
TSIS MUAJ 8
5
Tus neeg ua haujlwm
TSIS MUAJ 8
* Logic Block X Function Y Condition Z, qhov twg X = 1 txog 4, Y = A, B lossis C, thiab Z = 1 txog 3
Table 13: LBx Condition Structure Definition
Cov khoom 4x11h, 4x12h thiab 4x13h yog cov xwm txheej ntsuas rau xaiv Table A. Cov khoom 4x21h, 4x22h thiab 4x23h yog cov xwm txheej uas tau soj ntsuam rau xaiv Table B. Cov khoom 4x31h, 4x32h thiab 4x33h cov xwm txheej rau xaiv Cluated.
Kev sib cav 1 yeej ib txwm yog cov khoom tsim tawm los ntawm lwm qhov kev ua haujlwm thaiv, raws li teev nyob rau hauv Table 15. Raws li ib txwm muaj, cov tswv yim yog kev sib xyaw ua ke ntawm cov khoom thaiv kev ua haujlwm 4xyzh sub-index 1 "Cov Lus Sib Tham 1 Qhov Chaw" thiab "Kev Sib Tham 1 Tus lej."
Sib cav 2 ntawm qhov tod tes, tuaj yeem yog lwm qhov kev tsim tawm xws li nrog Kev Sib Tham 1, LOSSIS tus nqi tas li los ntawm tus neeg siv. Txhawm rau siv qhov tsis tu ncua raws li qhov kev sib cav thib ob hauv kev ua haujlwm, teeb tsa "Kev Sib Tham 2 Qhov Chaw" rau 'Kev Ua Haujlwm Tsis Txaus Siab', thiab "Kev Sib Tham 2 Tus lej" rau qhov xav tau sub-index. Thaum txhais qhov tsis tu ncua, xyuas kom meej tias nws siv tib qhov kev daws teeb meem (tus lej lej) raws li Kev Sib Tham 1 cov tswv yim.
Kev sib cav 1 raug ntsuas tawm tsam Argument 2 raws li "Operator" xaiv nyob rau hauv sub-index 5 ntawm cov khoom siv. Cov kev xaiv rau tus neeg teb xov tooj tau teev nyob rau hauv Table 26, thiab lub neej ntawd tus nqi yog ib txwm 'Equal' rau txhua yam khoom siv.
Tus nqi txhais tau tias 0 =, sib npaug 1 !=, Tsis sib npaug 2 >, Ntau dua 3 >=, Ntau dua lossis sib npaug 4 <, Tsawg dua 5 <=, Tsawg dua lossis sib npaug
Table 14: LBx Condition Operator Options
Rau example, ib qho xwm txheej rau kev hloov pauv kev hloov pauv, raws li pom hauv daim duab 20 hauv ntu dhau los, tuaj yeem yog lub cav RPM tsawg dua li qee tus nqi los xaiv Soft Fill profile. Hauv qhov no, "Kev Sib Tham 1 Qhov Chaw" tuaj yeem raug teeb tsa rau 'Analog Input Function Block' (qhov twg cov tswv yim raug teeb tsa rau RPM khaws), "Kev Sib Tham 2 Qhov Chaw" rau 'Kev Ua Haujlwm Tsis Txaus Siab', thiab "Tus Neeg Ua Haujlwm" rau `< , Tsawg dua.' Object 5010h Constant FV ntawm sub-index "Kev Sib Tham 2 Tus lej" yuav raug teeb tsa rau txhua qhov kev txiav tawm RPM daim ntawv thov xav tau.
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Los ntawm lub neej ntawd, ob qho kev sib cav tau teeb tsa rau 'Control Source Not Use' uas cuam tshuam qhov xwm txheej, thiab tau txais txiaj ntsig ntawm N / A raws li qhov tshwm sim. Txawm hais tias feem ntau suav hais tias txhua qhov xwm txheej yuav raug ntsuas raws li qhov tseeb lossis FALSE, qhov tseeb yog tias yuav muaj plaub qhov txiaj ntsig tau, raws li tau piav qhia hauv Table 27.
Tus nqi 0 1 2 3
Lub ntsiab lus dag tseeb yuam kev tsis siv tau
Yog vim li cas (Kev Sib Tham 1) Tus neeg teb xov tooj (Kev Sib Tham 2) = False (Argument 1) Operator (Argument 2) = True Argument 1 or 2 output was report as being in an error state Argument 1 or 2 is not available (ie set to 'Control Source Tsis siv')
Table 15: LBx Condition Evaluation Results
1.5.2 ib. Kev xaiv rooj
Txhawm rau txiav txim siab seb ib lub rooj twg yuav raug xaiv, kev ua haujlwm ntawm cov txheej txheem yog ua los ntawm cov txiaj ntsig ntawm cov xwm txheej raws li tau txiav txim los ntawm cov laj thawj hauv Tshooj 1.8.1. Muaj ntau qhov sib xyaw ua ke uas tuaj yeem xaiv tau, raws li tau teev tseg hauv Table 28. Tus nqi qub rau cov khoom 4x02h LBx Function Logical Operator yog nyob ntawm sub-index. Rau sub-index 1 (Table A) thiab 2 (Table B), tus "Cnd1 Thiab Cnd2 Thiab Cnd3" tus neeg teb xov tooj yog siv, whereas sub-index 3 (Table C) yog teeb tsa raws li 'Default Table" teb.
Tus nqi txhais tau tias 0 Default Table 1 Cnd1 Thiab Cnd2 Thiab Cnd3 2 Cnd1 Los Cnd2 Los Cnd3 3 (Cnd1 Thiab Cnd2) Los yog Cnd3 4 (Cnd1 Los Cnd2) Thiab Cnd3
Table 16: LBx Function Logical Operator Options
Tsis yog txhua qhov kev ntsuam xyuas yuav xav tau tag nrho peb yam xwm txheej. Cov ntaub ntawv muab rau hauv seem ua ntej, rau example, tsuas yog muaj ib qho xwm txheej teev tseg, piv txwv li tias Lub Cav RPM qis dua tus nqi. Yog li ntawd, nws yog ib qho tseem ceeb kom nkag siab tias yuav ua li cas cov neeg ua haujlwm muaj kev sib cav yuav ntsuas qhov yuam kev lossis N / A tshwm sim rau ib qho xwm txheej, raws li tau teev tseg hauv Table 29.
Logical Operator Default Table Cnd1 Thiab Cnd2 Thiab Cnd3
Xaiv Cov Txheej Txheem Cov Txheej Txheem Koom Tes Lub Rooj Sib Tham yuav raug xaiv sai li sai tau thaum nws raug tshuaj xyuas. Yuav tsum tau siv thaum ob lossis peb yam xwm txheej cuam tshuam, thiab txhua yam yuav tsum muaj tseeb los xaiv lub rooj.
Yog tias ib qho xwm txheej sib npaug False lossis yuam kev, lub rooj tsis raug xaiv. Ib qho N/A raug kho zoo li qhov tseeb. Yog tias tag nrho peb yam xwm txheej muaj tseeb (lossis N / A), lub rooj raug xaiv.
Cnd1 or Cnd2 or Cnd3
Yog tias((Cnd1==True) &&(Cnd2==True)&&(Cnd3==True)) Ces Siv Table Yuav tsum siv thaum tsuas yog ib qho xwm txheej cuam tshuam. Kuj tseem siv tau nrog ob lossis peb yam xwm txheej.
Yog tias ib qho xwm txheej raug ntsuas raws li qhov tseeb, lub rooj raug xaiv. Kev ua yuam kev lossis N/A cov txiaj ntsig tau raug kho raws li False
Yog ((Cnd1==True) || (Cnd2==True) || (Cnd3==True)) Ces Siv Table (Cnd1 Thiab Cnd2) Los yog Cnd3 Yuav tsum tau siv tsuas yog thaum tag nrho peb tej yam kev mob muaj feem xyuam.
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Yog tias ob qho xwm txheej 1 thiab qhov xwm txheej 2 yog qhov tseeb, LOSSIS Tus Txheej Txheem 3 yog qhov tseeb, lub rooj raug xaiv. Kev ua yuam kev lossis N/A cov txiaj ntsig tau raug kho raws li False
Yog tias(((Cnd1==True)&&(Cnd2==True)) || (Cnd3==True)) Ces Siv Table (Cnd1 Los Cnd2) Thiab Cnd3 Yuav tsum tau siv tsuas yog thaum tag nrho peb tej yam kev mob muaj feem xyuam.
Yog Cov Txheej Txheem 1 Thiab Cov Txheej Txheem 3 muaj tseeb, LOSSIS Cov Txheej Txheem 2 Thiab Cov Txheej Txheem 3 muaj tseeb, lub rooj raug xaiv. Kev ua yuam kev lossis N/A cov txiaj ntsig tau raug kho raws li False
Yog tias(((Cnd1==True)||(Cnd2==True)) && (Cnd3==True)) Ces Siv Table
Table 17: LBx Kev Ntsuam Xyuas Cov Txheej Txheem Raws li Cov Neeg Ua Haujlwm Xaiv Logical
Yog tias qhov tshwm sim ntawm qhov kev ua haujlwm logic yog qhov tseeb, tom qab ntawd lub rooj sib txuas saib (saib khoom 4x01h) raug xaiv tam sim ntawd los ua qhov chaw rau cov khoom tso tawm. Tsis muaj cov xwm txheej ntxiv rau lwm lub rooj raug tshuaj xyuas. Vim li no, 'Default Table' yuav tsum tau teeb tsa raws li lub rooj ntawv siab tshaj plaws uas tau siv (A, B lossis C) Yog tias tsis muaj cov lus teb raug teeb tsa, Table A yuav ua lub neej ntawd thaum tsis muaj cov xwm txheej muaj tseeb rau ib lub rooj. raug xaiv. Qhov xwm txheej no yuav tsum raug zam thaum twg los tau kom tsis txhob ua rau cov lus teb tsis tau tshwm sim.
Tus lej xov tooj uas tau raug xaiv raws li qhov tso zis tau sau rau sub-index X ntawm readonly object 4010h Logic Block Selected Table. Qhov no yuav hloov raws li cov xwm txheej sib txawv ua rau cov rooj sib txawv siv.
1.5.3 ib. Logic Block Output
Nco qab tias Table Y, qhov twg Y = A, B lossis C hauv LBx muaj nuj nqi thaiv tsis txhais hais tias nrhiav rooj 1 txog 3. Txhua lub rooj muaj khoom 4x01h LBx Lookup Table Number uas tso cai rau tus neeg siv xaiv cov rooj saib uas lawv xav tau cuam tshuam nrog tshwj xeeb logic block. Cov rooj sib tham nrog rau txhua lub logic thaiv tau teev nyob rau hauv Table 30.
Programmable Logic Block Number
1 2
Table A Saib
Table B Saib
Table Block Number Table Block Number
1
2
4
5
1
2
4
5
Table 18: LBx Default Lookup Tables
Table C Lookup Table Block Number
3 6
Yog hais tias qhov cuam tshuam Lookup Table Z (qhov twg Z sib npaug 4010h sub-index X) tsis muaj "X-Axis Source" xaiv, ces cov zis ntawm LBx yuav ib txwm yog "Tsis Muaj" tsuav yog xaiv lub rooj. Txawm li cas los xij, yuav tsum LTz tau teeb tsa rau cov lus teb siv tau rau cov tswv yim, tsis yog Cov Ntaub Ntawv lossis Lub Sijhawm, cov zis ntawm LTz muaj nuj nqi thaiv (piv txwv li cov ntaub ntawv Y-Axis uas tau xaiv raws li tus nqi XAxis) yuav dhau los ua cov khoom tsim tawm. LBx muaj nuj nqi thaiv kom ntev li ntev tau xaiv lub rooj ntawd.
LBx tso zis yog ib txwm teeb raws li ib tug percentage, raws li qhov ntau ntawm Y-Axis rau lub rooj sib txuas (saib Tshooj 1.7.2) Nws tau sau rau sub-index X ntawm cov khoom nyeem nkaus xwb 4020h Logic Block Output PV nrog kev daws teeb meem ntawm 1 decimal qhov chaw.
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1.5.4 ib. Cov tswv yim thov
Ntu no tsis yog txhais tau tias yog ib daim ntawv teev tag nrho cov muaj peev xwm uas Logic Block muaj. Xwb, nws yog txhais tau tias yuav qhia tau li cas qee qhov sib txawv, tab sis kev siv dav dav tuaj yeem ua tiav los ntawm kev siv nws.
a) Dual Speed Application Raws li qee qhov xwm txheej, qhov tso tawm analog tuaj yeem tsav ntawm Min_A mus rau Max_A thaum nyob hauv lwm tus, qhov nrawm raug txwv los ntawm kev muaj cov lus teb rau cov kev hloov pauv ntawm cov tswv yim ntawm Min_B thiab Max _B.
b) Multi-Speed Transmission Control Los ntawm kev siv lub Forward input raws li ib tug pab tau ntawm ib tug analog tso zis, thiab lub rov qab input raws li lwm yam, txawv clutch sau profiles tuaj yeem raug xaiv raws li Cav Ceev raws li tau tham hauv yav dhau los examples.
c) Tau txais kev daws teeb meem zoo dua (piv txwv li mus txog 30 qhov chaw siab tshaj) ntawm qhov ntsuas kub ntawm qhov nkhaus rau NTC sensor. Cov xwm txheej rau Table A yuav yog input resistance <= R1, Table B yog input <= R2 thiab Table C raws li lub neej ntawd rau siab kuj muaj nuj nqis.
1.6. Lwm yam Function Block
Muaj qee yam khoom siv uas tseem tsis tau tham txog, lossis hais luv luv hauv kev dhau mus (piv txwv li.) Cov khoom no tsis tas yuav cuam tshuam nrog ib leeg, tab sis txhua tus tau tham ntawm no.
Daim duab 23 Lwm Yam Khoom
Yam khoom 2500h Extra Control Tau txais PV, 2502h EC Decimal Digits PV, 2502h EC Scaling 1 PV thiab EC Scaling 2 PV tau hais nyob rau hauv Tshooj 1.5, Table 16. Cov khoom no tso cai rau cov ntaub ntawv ntxiv tau txais ntawm CANopen ® RPDO los ua daim ntawv qhia ntau yam muaj nuj nqi blocks raws li kev tswj qhov chaw. Rau example, ib lub voj PID yuav tsum muaj ob lub tswv yim (lub hom phiaj thiab tawm tswv yim), yog li ib tus ntawm lawv yuav tsum tuaj ntawm lub npav CAN. Cov khoom scaling yog muab los txhais cov kev txwv ntawm cov ntaub ntawv thaum nws siv los ntawm lwm qhov kev ua haujlwm thaiv, raws li qhia hauv Table 17.
Yam khoom 5020h Fais Fab FV thiab 5030h Tus Txheej Txheem Kub FV yog muaj raws li kev nyeem ntawv nkaus xwb rau kev kuaj mob ntxiv.
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Yam khoom 5010h Constant Field Value yog muab los muab cov neeg siv kev xaiv rau tus nqi ruaj khov uas tuaj yeem siv los ntawm lwm cov haujlwm thaiv. Sub-index 1 yog tsau li FALSE (0) thiab sub-index 2 yeej ib txwm TRUE (1). Muaj 4 lwm sub-indexes muab rau cov neeg siv xaiv qhov tseem ceeb. (Defaults 25, 50, 75 thiab 100)
Cov ntawv tsis tu ncua tau nyeem raws li 32-ntsis tiag (float) cov ntaub ntawv, yog li tsis muaj tus lej lej raug muab. Thaum teeb tsa qhov tsis tu ncua, nco ntsoov ua nws nrog kev daws teeb meem ntawm cov khoom uas yuav muab piv nrog nws.
False/True constants yog muab los siv nrog cov logic block. Cov kev hloov pauv tsis tu ncua kuj tseem muaj txiaj ntsig nrog cov logic thaiv, thiab lawv tuaj yeem siv los ua lub hom phiaj rau PID tswj thaiv.
Yam khoom kawg 5555h Pib hauv Kev Ua Haujlwm yog muab raws li 'kev dag' thaum lub tsev tsis yog npaj los ua haujlwm nrog CANopen network (piv txwv li kev tswj hwm ib leeg) lossis ua haujlwm ntawm lub network uas tsuas yog ua qhev yog li OPERATION cov lus txib yuav tsis tau txais los ntawm tus tswv. Los ntawm lub neej ntawd cov khoom no yog neeg xiam (FALSE).
Thaum siv 1IN-CAN ua tus tswj hwm ib leeg nyob qhov twg 5555h tau teeb tsa rau TRUE, nws raug nquahu kom lov tes taw tag nrho TPDOs (teeb tsa lub sijhawm Timer rau xoom) kom nws tsis khiav nrog qhov tsis tu ncua CAN yuam kev thaum tsis txuas nrog tsheb npav.
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2. INSTALLATION CEEB TOOM
2.1. Dimensions thiab Pinout
Lub Ib Leeg Input, Dual Output Valve Controller yog ntim rau hauv ib lub hnab ntim khoom txhuas, raws li pom hauv daim duab 24. Lub rooj sib txoos yog IP67.
Daim duab 24 Housing Dimensions
CAN thiab I/O Connector Pin # Function
1 BATT+ 2 Input+ 3 CAN_L 4 CAN_H 5 Input6 BATT-
Table 19: Connector Pinout
6 tus pin Deutsch IPD connector P/N: DT04-6P A mating plug kit yog muaj li Axiomatic P/N: AX070119.
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2.2. Cov lus qhia kev teeb tsa
2.2.1. Lus Ceeb Toom & Ceeb Toom
Tsis txhob nruab ze high-voltage los yog cov khoom siv siab tam sim no. Hauv pem teb lub chassis rau kev nyab xeeb thiab tsim nyog EMI shielding. Nco ntsoov qhov kev khiav hauj lwm qhov kub thiab txias. Tag nrho cov kab hluav taws xob yuav tsum haum rau qhov kub thiab txias
ntau. Txhim kho chav tsev nrog qhov chaw tsim nyog muaj rau kev pabcuam thiab rau cov hlua hlau txaus
nkag mus (15 cm) thiab strain nyem (30 cm). Tsis txhob txuas lossis txiav tawm lub tsev thaum lub voj voog nyob, tshwj tsis yog thaj chaw paub tias yog
tsis muaj kev phom sij.
2.2.2. Mounting
Lub module yog tsim los rau mounting ntawm lub valve thaiv. Yog hais tias nws yog mounted yam tsis muaj ib tug enclosure, tus maub los yuav tsum tau mounted horizontally nrog connectors tig sab laug los yog sab xis, los yog nrog cov connectors tig mus, kom txo tau cov dej noo nkag.
Npog txhua daim ntawv lo yog tias lub tsev yuav tsum tau pleev xim dua, yog li cov ntaub ntawv daim ntawv lo tseem pom.
Mounting ob txhais ceg suav nrog qhov loj me rau #10 lossis M4.5 bolts. Lub ntsia liaj qhov rooj ntev yuav raug txiav txim los ntawm tus neeg siv kawg lub mounting phaj thickness. Feem ntau 20 hli (3/4 nti) yog txaus.
Yog hais tias lub module yog mounted deb ntawm lub valve thaiv, tsis muaj hlau los yog cable nyob rau hauv lub sam xauv nees yuav tsum tshaj 30 meters nyob rau hauv ntev. Lub hwj chim input thaiv yuav tsum txwv rau 10 meters.
2.2.3. Kev sib txuas
Siv cov nram qab no Deutsch IPD mating plugs los txuas rau cov khoom siv hluav taws xob. Kev xaim rau cov mating plugs yuav tsum ua raws li tag nrho cov cai hauv zos. Tsim cov kab hluav taws xob rau qhov ntsuas voltage thiab tam sim no yuav tsum tau siv. Qhov ntsuas ntawm cov kab txuas txuas yuav tsum yog tsawg kawg 85 ° C. Rau ambient kub hauv qab 10 ° C thiab siab dua +70 ° C, siv cov kab hluav taws xob tsim nyog rau ob qho tib si yam tsawg kawg nkaus thiab siab tshaj plaws ambient kub.
Receptacle Mating Connector
Mating Sockets raws li qhov tsim nyog (Saib rau www.laddinc.com yog xav paub ntxiv txog cov kev sib cuag muaj nyob rau ntawm no mating plug.) DT06-12SA thiab wedge W12S
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2.2.4. Lub suab nrov hluav taws xob txuas thiab thaiv kev tiv thaiv
Txhawm rau txo cov suab nrov, cais tag nrho cov hluav taws xob thiab cov xaim hluav taws xob los ntawm cov kev tawm tswv yim thiab CAN. Shielded xov hlau yuav tiv thaiv cov suab nrov nrov. Shield xov hlau yuav tsum tau txuas nrog ntawm lub hwj chim los yog input qhov chaw, los yog ntawm cov zis load.
CAN Shield tuaj yeem txuas nrog ntawm tus maub los siv CAN Shield tus pin muab rau ntawm qhov txuas. Txawm li cas los xij, lwm qhov kawg yuav tsum tsis txhob txuas nrog rau qhov no.
Txhua cov xov hlau siv yuav tsum yog 16 lossis 18 AWG.
2.2.5. CAN Network Constructions
Axiomatic tau pom zoo tias ntau qhov kev sib txuas ua ke tau tsim los siv "daisy saw" lossis "caj qaum" teeb tsa nrog cov kab luv luv.
2.2.6. CAN Termination
Nws yog qhov tsim nyog los txiav tawm lub network; yog li yuav tsum muaj kev txiav tawm sab nraud CAN. Tsis pub ntau tshaj ob lub network terminators yuav tsum tau siv rau ntawm ib lub network. Lub terminator yog 121, 0.25 W, 1% hlau zaj duab xis resistor muab tso rau ntawm CAN_H thiab CAN_L terminals kawg ntawm ob qhov ntawm lub network.
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3. CANOPEN ® OBJECT DICTIONARY
CANopen phau ntawv txhais lus ntawm 1IN-CAN Controller yog raws li CiA ntaus ntawv profile DS-404 V1.2 (duab profile rau Closed Loop Controllers). Cov khoom siv phau ntawv txhais lus suav nrog Cov Khoom Sib Txuas Lus tshaj qhov tsawg kawg nkaus uas yuav tsum tau muaj nyob rau hauv profile, nrog rau ntau qhov chaw tsim khoom tshwj xeeb rau kev ua haujlwm txuas ntxiv.
3.1. NODE ID thiab BAUDRATE
Los ntawm lub neej ntawd, 1IN-CAN Controller ships Hoobkas programmed nrog Node ID = 127 (0x7F) thiab nrog Baudrate = 125 kbps.
3.1.1. LSS raws tu qauv hloov tshiab
Tib txoj kev uas Node-ID thiab Baudrate tuaj yeem hloov pauv tau yog siv Cov Kev Pabcuam Txheej Txheem Txheej Txheem (LSS) thiab cov txheej txheem raws li tau teev tseg los ntawm CANopen ® tus qauv DS-305.
Ua raws li cov kauj ruam hauv qab no los teeb tsa qhov hloov pauv uas siv LSS raws tu qauv. Yog tias xav tau, thov xa mus rau tus qauv kom paub meej ntxiv txog kev siv cov txheej txheem.
3.1.2. Kev teeb tsa Node-ID
Teem lub xeev module rau LSS-configuration los ntawm kev xa cov lus hauv qab no:
Yam khoom COB-ID Length Data 0 Data 1
0x7E5 2 0x04 0x01
(cs = 4 rau hloov lub xeev thoob ntiaj teb) (hloov mus rau lub xeev configuration)
Teem lub Node-ID los ntawm kev xa cov lus hauv qab no:
Yam khoom COB-ID Length Data 0 Data 1
Tus nqi 0x7E5 2 0x11 Node-ID
(cs = 17 rau configure node-id) (set tshiab Node-ID ua tus lej hexadecimal)
Lub module yuav xa cov lus teb hauv qab no (txhua qhov lus teb yog qhov ua tsis tiav):
Yam khoom COB-ID Length Data 0 Data 1 Data 2
0x7E4 3 0x11 0x00 0x00
(cs=17 rau configure node-id)
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Txuag lub configuration los ntawm kev xa cov lus hauv qab no:
Yam khoom COB-ID Length Data 0
0x7E5 1 0x17
(cs = 23 rau kev teeb tsa hauv khw)
Lub module yuav xa cov lus teb hauv qab no (txhua qhov lus teb yog qhov ua tsis tiav):
Yam khoom COB-ID Length Data 0 Data 1 Data 2
0x7E4 3 0x17 0x00 0x00
(cs = 23 rau kev teeb tsa hauv khw)
Teem lub xeev module rau LSS-kev ua haujlwm los ntawm kev xa cov lus hauv qab no: (Ceeb toom, lub module yuav rov pib dua nws tus kheej rov qab mus rau lub xeev ua ntej ua haujlwm)
Yam khoom COB-ID Length Data 0 Data 1
0x7E5 2 0x04 0x00
(cs = 4 rau hloov lub xeev thoob ntiaj teb) (hloov mus rau lub xeev tos)
3.1.3. Kev teeb tsa Baudrate
Teem lub xeev module rau LSS-configuration los ntawm kev xa cov lus hauv qab no:
Yam khoom COB-ID Length Data 0 Data 1
0x7E5 2 0x04 0x01
(cs = 4 rau hloov lub xeev thoob ntiaj teb) (hloov mus rau lub xeev configuration)
Teem lub baudrate los ntawm kev xa cov lus hauv qab no:
Yam khoom COB-ID Length Data 0 Data 1 Data 2
Tus nqi 0x7E5 3 0x13 0x00 Index
(cs = 19 rau configure me ntsis sij hawm tsis) (hloov mus rau lub xeev tos) (xaiv baudrate index ib lub rooj 32)
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Index
Tus nqi qis
0
1 Mbit / s
1 kbit / s
2 kbit / s
3 kbit / s
4 125 kbit / s (default)
5
tseg (100 kbit / s)
6
50 kbit / s
7
20 kbit / s
8
10 kbit / s
Table 20: LSS Baudrate Indexs
Lub module yuav xa cov lus teb hauv qab no (txhua qhov lus teb yog qhov ua tsis tiav):
Yam khoom COB-ID Length Data 0 Data 1 Data 2
0x7E4 3 0x13 0x00 0x00
(cs = 19 rau configure me ntsis sij hawm tsis)
Qhib lub sijhawm me ntsis los ntawm kev xa cov lus hauv qab no:
Yam khoom COB-ID Length Data 0 Data 1 Data 2
Tus nqi
0 x7e5
3
0 x 15
(cs = 19 rau qhib lub sijhawm me ntsis)
Qhov ncua sij hawm ntawm tus kheej txhais lub sijhawm ntawm ob lub sijhawm tos kom txog thaum lub sijhawm hloov pauv me ntsis (thawj lub sijhawm) thiab ua ntej xa cov lus CAN nrog lub sijhawm tshiab me ntsis tom qab ua qhov hloov pauv (lub sijhawm thib ob). Lub sijhawm hloov pauv ncua sijhawm yog 1 ms.
Txuag qhov kev teeb tsa los ntawm kev xa cov lus hauv qab no (ntawm NEW baudrate):
Yam khoom COB-ID Length Data 0
0x7E5 1 0x17
(cs = 23 rau kev teeb tsa hauv khw)
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Lub module yuav xa cov lus teb hauv qab no (txhua qhov lus teb yog qhov ua tsis tiav):
Yam khoom COB-ID Length Data 0 Data 1 Data 2
0x7E4 3 0x17 0x00 0x00
(cs = 23 rau kev teeb tsa hauv khw)
Teem lub xeev module rau LSS-kev ua haujlwm los ntawm kev xa cov lus hauv qab no: (Ceeb toom, lub module yuav rov pib dua nws tus kheej rov qab mus rau lub xeev ua ntej ua haujlwm)
Yam khoom COB-ID Length Data 0 Data 1
0x7E5 2 0x04 0x00
(cs = 4 rau hloov lub xeev thoob ntiaj teb) (hloov mus rau lub xeev tos)
Cov kev ntes hauv qab no (sab laug) qhia tau tias CAN cov ntaub ntawv raug xa (7E5h) thiab tau txais (7E4h) los ntawm lub cuab yeej thaum lub baudrate tau hloov mus rau 250 kbps siv LSS raws tu qauv. Lwm daim duab (txoj cai) qhia tias tau luam tawm ntawm tus example debug RS-232 ntawv qhia zaub mov thaum lub sijhawm ua haujlwm.
Ntawm CAN Ncej 98 thiab 99, baudrate ntawm CAN Scope cuab yeej tau hloov pauv ntawm 125 txog 250 kbps.
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3.2. COV CHAW UA HAUJ LWM (DS-301 thiab DS-404)
Cov khoom sib txuas lus txhawb nqa los ntawm 1IN-CAN Controller tau teev nyob rau hauv cov lus hauv qab no. Cov lus piav qhia ntxaws ntxiv ntawm qee yam ntawm cov khoom tau muab rau hauv cov tshooj hauv qab no. Tsuas yog cov khoom uas muaj cov cuab yeej-profile cov lus qhia tshwj xeeb tau piav qhia. Yog xav paub ntxiv txog lwm yam khoom, xa mus rau CANopen raws tu qauv specification DS-301.
Index (zeeg)
1000 1001 1002 1003 100C 100D 1010 1011 1016 1017 1018 1020 1029 1400 1401 1402 1403 1600 1601 1602 1603 1800 1801A1802 1803A1 00A1 01A1
Yam khoom
Ntaus hom yuam kev Register Chaw tsim tshuaj paus Status Register Pre-Defined yuam kev Field Guard Sijhawm Lub Sij Hawm Lub Sij Hawm Lub Sij Hawm Lub Sij Hawm Lub Sij Hawm Lub Sij Hawm Lub Sij Hawm Lub Sij Hawm Lub Sij Hawm Lub Sij Hawm Lub Sij Hawm Lub Sij Hawm Lub Sij Hawm Lub Sij Hawm Cov Khoom Siv Rov Qab Siv Cov Khoom Siv Lub Plawv Lub Sijhawm Cov Khoom Siv Lub Plawv Lub Sijhawm Tus Kheej Lub Sijhawm Txheeb Xyuas Kev Teeb Meem yuam kev RPDO1 Kev Sib Txuas Lus Parameter RPDO2 Kev Sib Txuas Lus Parameter RPDORPDORP3 Kev Sib Txuas Lus Parameter Mapping Parameter RPDO4 Mapping Parameter RPDO1 Mapping Parameter TPDO2 Kev Sib Txuas Lus Parameter TPDO3 Kev Sib Txuas Lus Parameter TPDO4 Kev Sib Txuas Lus Parameter TPDO1 Kev Sib Txuas Lus Parameter TPDO2 Mapping Parameter TPDO3 Mapping Parameter TPDO4 Mapping Parameter TPDO1 Mapping Parameter
Yam khoom
VAR VAR ARRAY VAR VAR ARRAY ARRAY ARRAY VAR RECORD ARRAY RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD RECORD
Hom ntaub ntawv
TXOJ CAI 32 TXOJ HAUJ LWM 8 TXOJ HAUJ LWM 32 TXOJ HAUJ LWM 32 TXOJ HAUJ LWM 16 TXOJ HAUJ LWM 8 TXOJ HAUJ LWM 32 TXOJ HAUJ LWM 32 TXOJ HAUJ LWM 32
UNSIGNED32 UNSIGNED8
Nkag mus
ROOJ RO RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW
PDO Mapping
Tsis muaj leej twg tsis muaj leej twg tsis muaj leej twg tsis muaj leej twg tsis muaj tsis muaj tsis muaj tsis muaj tsis muaj tsis muaj tsis muaj tsis muaj tsis muaj tsis muaj tsis muaj
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-32
3.2.1. Yam khoom 1000h: Ntaus Hom
Cov khoom no muaj cov ntaub ntawv hais txog hom ntaus ntawv raws li tus ntaus ntawv profile DS-404 UAS. Lub 32-ntsis parameter yog muab faib ua ob 16-ntsis qhov tseem ceeb, qhia General thiab Ntxiv cov ntaub ntawv raws li qhia hauv qab no.
MSB Cov Ntaub Ntawv Ntxiv = 0x201F
LSB General Information = 0x0194 (404)
DS-404 txhais cov ntaub ntawv ntxiv raws li hauv qab no: 0000h = reserved 0001h = digital input block 0002h = analog input block 0004h = digital output block 0008h = analog output block 0010h = controller block (aka … PID) 0020h = 0040 alarm 0800h = ua 1000h = reserved 2000h = lookup table block (chaw tsim tshuaj paus-specific) 4000h = programmable logic block (manufacturer-specific) 8000h = lwm yam block (chaw tsim tshuaj paus-specific)
Object Description
Index
1000h ib
Lub npe
Ntaus hom
Yam khoom VAR
Hom ntaub ntawv
TSIS MUAJ 32
Kev piav qhia nkag
Nkag mus
RO
PDO Mapping No
Tus nqi ntau 0xE01F0194
Default Tus Nqi 0xE01F0194
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-33
3.2.2. Yam khoom 1001h: Kev Sau Npe yuam kev
Cov khoom no yog qhov yuam kev sau npe rau lub cuab yeej. Txhua lub sijhawm muaj qhov yuam kev los ntawm 1IN-CAN Controller, Generic Error Bit (ntsis 0) tau teeb tsa. Tsuas yog tias tsis muaj qhov yuam kev hauv module yuav qhov me ntsis no yuav raug tshem tawm. Tsis muaj lwm cov khoom hauv cov npe no siv los ntawm 1IN-CAN Controller.
Object Description
Index
1001h ib
Lub npe
Kev Sau Npe yuam kev
Yam khoom VAR
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 00h lossis 01h
Default Tus nqi 0
3.2.3. Yam khoom 1002h: Chaw tsim khoom Status Register Cov khoom no yog siv rau cov chaw tsim khoom lag luam debug lub hom phiaj.
3.2.4. Yam khoom 1003h: Pre-Defined yuam kev Field
Cov khoom no muab keeb kwm yuam kev los ntawm kev teev cov kev ua yuam kev hauv qhov kev txiav txim uas lawv tau tshwm sim. Ib qho yuam kev raug ntxiv rau saum cov npe thaum nws tshwm sim, thiab raug tshem tawm tam sim ntawd thaum qhov kev ua yuam kev tau raug tshem tawm. Qhov tseeb yuam kev yog ib txwm nyob ntawm sub-index 1, nrog sub-index 0 uas muaj cov lej ntawm qhov yuam kev tam sim no hauv cov npe. Thaum lub cuab yeej nyob hauv lub xeev tsis muaj qhov yuam kev, tus nqi ntawm subindex 0 yog xoom.
Daim ntawv teev npe yuam kev yuav raug tshem tawm los ntawm kev sau xoom rau sub-index 0, uas yuav tshem tawm txhua qhov yuam kev ntawm daim ntawv, txawm tias lawv tseem nyob. Clearing daim ntawv tsis txhais hais tias lub module yuav rov qab mus rau qhov yuam kev-dawb tus cwj pwm lub xeev yog tias tsawg kawg yog ib qho yuam kev tseem ua haujlwm.
1IN-CAN Controller muaj qhov txwv ntawm qhov siab tshaj plaws ntawm 4 qhov yuam kev hauv daim ntawv. Yog tias lub cuab yeej sau npe yuam kev ntau, daim ntawv teev npe yuav raug txiav, thiab cov ntawv qub tshaj plaws yuav ploj.
Cov lej yuam kev khaws cia hauv daim ntawv yog 32-ntsis tus lej tsis tau kos npe, suav nrog ob 16-ntsis teb. Qhov qis 16-ntsis teb yog EMCY yuam kev code, thiab qhov siab dua 16-ntsis teb yog cov chaw tsim khoom tshwj xeeb. Cov chaw tsim khoom tshwj xeeb cov cai tau muab faib ua ob 8-ntsis teb, nrog cov byte siab dua qhia qhov kev piav qhia yuam kev, thiab qis byte qhia cov channel uas qhov yuam kev tshwm sim.
MSB yuam kev Description
Channel-ID
LSB EMCY yuam kev Code
Yog siv node-guarding (tsis pom zoo raws li tus qauv tshiab) thiab muaj ib tug lifeguard tshwm sim, cov chaw tsim tshuaj paus tshwj xeeb teb yuav raug teem rau 0x1000. Ntawm qhov tod tes, yog tias tus neeg siv lub plawv dhia tsis tuaj yeem tau txais nyob rau hauv lub sijhawm xav tau, Cov Lus Qhia yuam kev yuav raug teeb tsa rau 0x80 thiab Channel-ID (nn) yuav cuam tshuam txog Node-ID ntawm cov neeg siv khoom channel uas tsis tsim tawm. Hauv qhov no, cov chaw tsim khoom tshwj xeeb yuav yog 0x80nn. Hauv ob qho xwm txheej, qhov sib thooj EMCY yuam kev Code yuav yog Tus Saib Xyuas yuam kev 0x8130.
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-34
Thaum ib qho analog input txhaum yog pom raws li tau piav nyob rau hauv Tshooj 1.3 los yog ib qho analog tso zis tsis ua hauj lwm raws li tau piav nyob rau hauv Tshooj 1.5, ces qhov yuam kev piav qhia yuav cuam tshuam dab tsi channel (s) ua txhaum siv cov lus hauv qab no. Tsis tas li, yog tias RPDO tsis tau txais nyob rau hauv lub sijhawm xav tau "Tsev Xwm Txheej Txheej Txheem", lub sijhawm RPDO yuav raug chij. Table 32 qhia txog qhov tshwm sim yuam kev Field Codes thiab lawv lub ntsiab lus.
yuam kev Field Code
00000000h 2001F001h
4001f001 ua
00008100h 10008130h 80nn8130h
Kev piav qhia yuam kev
20h ib
40h ib
00h10h 80
Lub ntsiab lus
ID
Lub ntsiab lus
EMCY Code
EMCY yuam kev rov pib dua (kev ua txhaum tsis ua haujlwm lawm)
Positive Overload
01h Analog tswv yim 1 F001h
(Tawm ntawm Qhov Siab Siab)
Negative Overload
01h Analog tswv yim 1
F001h ib
(Tawm ntawm Range Low)
RPDO sij hawm
00h Tsis qhia
8100h ib
Lifeguard Event
00h Tsis qhia
8130h ib
Heartbeat Timeout
nn Node-ID
8130h ib
Table 21: Pre-Defined Error Field Codes
Lub ntsiab lus
Tawm tswv yim dhau
Tawm tswv yim dhau
Kev sib txuas lus – generic Lifeguard/Heartbeat Error Lifeguard/Heartbeat Error
Object Description
Index
1003h ib
Lub npe
Pre-Defined yuam kev Field
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 32
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Tus lej nkag
Nkag mus
RW
PDO Mapping No
Tus nqi ntau yam 0 txog 4
Default Tus nqi 0
Sub-Index Description Access PDO Mapping Value Range Default Value
1h mus rau 4 Standard yuam kev teb RO Tsis muaj UNSIGNED32 0
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-35
3.2.5. Yam khoom 100Ch: Lub Sijhawm Saib Xyuas
Cov khoom ntawm qhov ntsuas 100Ch thiab 100Dh yuav tsum qhia lub sijhawm tiv thaiv kev teeb tsa ntsig txog lub sijhawm lub neej. Lub sijhawm ua haujlwm ntawm lub neej sib npaug nrog lub sijhawm saib xyuas muab lub sijhawm rau lub neej rau txoj kev tiv thaiv lub neej tau piav qhia hauv DS-301. Lub Sijhawm Saib Xyuas tus nqi yuav tsum muab ntau ntawm ms, thiab tus nqi ntawm 0000h yuav tsum tsis txhob siv lub neej tiv thaiv.
Nws yuav tsum raug sau tseg tias cov khoom no, thiab ntawm 100Dh tsuas yog txhawb nqa rov qab sib raug zoo. Tus qauv pom zoo tias cov tes hauj lwm tshiab tsis siv txoj cai tiv thaiv lub neej, tab sis saib xyuas lub plawv dhia. Kev tiv thaiv lub neej thiab lub plawv dhia tsis tuaj yeem ua haujlwm ib txhij.
Object Description
Index
100 Chh
Lub npe
Lub Sijhawm Saib Xyuas
Yam khoom VAR
Hom ntaub ntawv
TSIS MUAJ 16
Kev piav qhia nkag
Sub-Index
0h
Nkag mus
RW
PDO Mapping No
Tus nqi ntau yam 0 txog 65535
Default Tus nqi 0
3.2.6. Yam khoom 100Dh: Lifetime Factor
Lub neej lub sij hawm qhov tseem ceeb sib npaug nrog lub sij hawm tus neeg saib xyuas muab lub neej lub sij hawm rau lub neej guarding raws tu qauv. Tus nqi ntawm 00h yuav tsum lov tes taw kev tiv thaiv lub neej.
Object Description
Index
100dh ua
Lub npe
Lub sijhawm ua neej
Yam khoom VAR
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Nkag mus
RW
PDO Mapping No
Tus nqi ntau yam 0 txog 255
Default Tus nqi 0
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-36
3.2.7 ib. Yam khoom 1010h: Khw Parameters
Cov khoom no txhawb kev txuag ntawm cov tsis muaj nyob rau hauv lub cim xeeb uas tsis yog-volatile. Txhawm rau kom tsis txhob cia qhov tsis raug los ntawm kev ua yuam kev, kev cia tsuas yog ua tiav thaum kos npe tshwj xeeb sau rau qhov tsim nyog sub-index. Qhov kos npe yog "txuag".
Kev kos npe yog 32-ntsis tus lej tsis tau kos npe, suav nrog ASCII cov lej ntawm kos npe
cov cim, raws li cov lus hauv qab no:
MSB
LSB
e
v
a
s
65 h 76h 61h 73h
Thaum txais kev kos npe raug rau qhov tsim nyog sub-index, 1IN-CAN Controller yuav khaws cov kev txwv tsis pub dhau lub cim xeeb, thiab tom qab ntawd paub meej tias SDO kis tau tus mob.
Los ntawm kev nyeem ntawv, cov khoom muab cov ntaub ntawv hais txog lub module lub peev xwm txuag. Rau tag nrho cov subindexes, tus nqi no yog 1h, qhia tias 1IN-CAN Controller txuag tsis tau ntawm cov lus txib. Qhov no txhais tau hais tias yog tias lub hwj chim raug tshem tawm ua ntej lub khw muag khoom tau sau, kev hloov pauv rau Cov Lus Qhia Txog Object yuav TSIS tau txais kev cawmdim hauv lub cim xeeb uas tsis yog-volatile, thiab yuav ploj mus rau lub zog tom ntej.
Object Description
Index
1010h ib
Lub npe
Khw Parameters
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 32
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 4
Default Tus nqi 4
Sub-Index Description Access PDO Mapping Tus nqi Range
Default tus nqi
1h
Txuag tag nrho cov kev txwv
RW
Tsis muaj
0x65766173 (sau nkag)
1h
(nyeem nkag)
1h
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-37
Sub-Index Description Access PDO Mapping Tus nqi Range
Default tus nqi
2h
Txuag kev sib txuas lus tsis
RW
Tsis muaj
0x65766173 (sau nkag)
1h
(nyeem nkag)
1h
Sub-Index Description Access PDO Mapping Tus nqi Range
Default tus nqi
3h
Txuag daim ntawv thov tsis
RW
Tsis muaj
0x65766173 (sau nkag)
1h
(nyeem nkag)
1h
Sub-Index Description Access PDO Mapping Tus nqi Range
Default tus nqi
4h
Txuag manufacturers parameter
RW
Tsis muaj
0x65766173 (sau nkag)
1h
(nyeem nkag)
1h
3.2.8 ib. Yam khoom 1011h: Restore Parameters
Cov khoom no txhawb nqa qhov rov qab los ntawm qhov tseem ceeb rau cov khoom siv phau ntawv txhais lus hauv lub cim xeeb uas tsis muaj qhov tsis zoo. Txhawm rau kom tsis txhob rov qab kho qhov tsis raug los ntawm kev ua yuam kev, lub cuab yeej rov kho qhov qub tsuas yog thaum kos npe tshwj xeeb sau rau qhov tsim nyog sub-index. Qhov kos npe yog "load".
Kev kos npe yog 32-ntsis tus lej tsis tau kos npe, suav nrog ASCII cov lej ntawm kos npe
cov cim, raws li cov lus hauv qab no:
MSB
LSB
d
a
o
l
64h 61h 6 xf
Thaum txais kev kos npe raug cai rau qhov tsim nyog sub-index, 1IN-CAN Controller yuav rov qab ua qhov qub hauv lub cim xeeb uas tsis yog-volatile, thiab tom qab ntawd paub meej tias SDO kis tau tus mob. Lub neej ntawd qhov tseem ceeb tau teeb tsa siv tau tsuas yog tom qab lub cuab yeej rov pib dua lossis lub zog-cycled. Qhov no txhais tau hais tias 1INCAN Controller yuav TSIS tsis pib siv qhov tseem ceeb tam sim ntawd, tab sis txuas ntxiv mus los ntawm txhua yam muaj nuj nqis nyob rau hauv Object Dictionary ua ntej rov ua haujlwm.
Los ntawm kev nyeem ntawv, tus kwv muab cov ntaub ntawv hais txog lub module lub neej ntawd parameter rov qab muaj peev xwm. Rau tag nrho cov sub-indexes, tus nqi no yog 1h, qhia tias 1IN-CAN Controller rov qab ua raws li cov lus txib.
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-38
Object Description
Index
1011h ib
Lub npe
Restore Default Parameters
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 32
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 4
Default Tus nqi 4
Sub-Index Description Access PDO Mapping Value Range Default Value
1h Restore tag nrho lub neej ntawd tsis RW Tsis muaj 0x64616F6C (sau nkag), 1h (nyeem nkag) 1h
Sub-Index Description Access PDO Mapping Value Range Default Value
2h Restore default kev sib txuas lus tsis RW Tsis muaj 0x64616F6C (sau nkag), 1h (nyeem nkag) 1h
Sub-Index Description Access PDO Mapping Value Range Default Value
3h Restore default application parameters RW Tsis muaj 0x64616F6C (sau nkag), 1h (nyeem nkag) 1h
Sub-Index Description Access PDO Mapping Value Range Default Value
4h Restore default chaw tsim tshuaj paus tsis RW Tsis muaj 0x64616F6C (sau nkag), 1h (nyeem nkag) 1h
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-39
3.2.9 ib. Yam khoom 1016h: Consumer Heartbeat Time
1IN-CAN Controller tuaj yeem yog cov neeg siv khoom ntawm lub plawv dhia mus txog plaub lub modules. Cov khoom no txhais tau lub sijhawm xav tau lub plawv dhia lub sijhawm rau cov modules, thiab yog tias teem rau xoom, nws tsis siv. Thaum tsis yog xoom, lub sijhawm yog ntau yam ntawm 1ms, thiab kev saib xyuas yuav pib tom qab txais tos thawj lub plawv dhia los ntawm lub module. Yog hais tias 1IN-CAN Controller tsis tau txais lub plawv dhia los ntawm ib qho ntawm lub sijhawm xav tau, nws yuav qhia txog kev sib txuas lus yuam kev, thiab teb raws li cov khoom 1029h.
Ib 31-24
23-16 : kuv
Tus nqi Reserved 00h Node-ID
Encoded as
TSIS MUAJ 8
15-0 Lub Sijhawm Lub Plawv Hlwb UNSIGNED16
Object Description
Index
1016h ib
Lub npe
Lub sijhawm siv lub plawv dhia
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 32
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Tus lej nkag
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 4
Default Tus nqi 4
Sub-Index Description Access PDO Mapping Value Range Default Value
1h mus rau 4h Cov neeg siv lub plawv dhia lub sij hawm RW Tsis muaj UNSIGNED32 0
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-40
3.2.10. Yam khoom 1017h: Lub Sijhawm Ua Tau Zoo Tshaj Plaws
1IN-CAN Controller tuaj yeem teeb tsa los tsim lub plawv dhia nrawm los ntawm kev sau tus nqi tsis yog xoom rau cov khoom no. Tus nqi yuav muab nyob rau hauv ntau ntawm 1ms, thiab tus nqi ntawm 0 yuav tsum lov tes taw lub plawv dhia.
Object Description
Index
1017h ib
Lub npe
Tsim lub plawv dhia lub sij hawm
Yam khoom VAR
Hom ntaub ntawv
TSIS MUAJ 16
Kev piav qhia nkag
Sub-Index
0h
Nkag mus
RW
PDO Mapping No
Tus nqi ntau yam 10 txog 65535
Default Tus nqi 0
3.2.11. Yam khoom 1018h: Lub Hom Phiaj
Cov khoom ntiag tug qhia txog cov ntaub ntawv ntawm 1IN-CAN Controller, suav nrog tus neeg muag khoom id, ntaus ntawv ID, software thiab hardware version tooj, thiab tus lej xov tooj.
Nyob rau hauv Revision Number nkag ntawm sub-index 3, hom ntawv ntawm cov ntaub ntawv yog raws li qhia hauv qab no
MSB Major revision number (object dictionary)
Kho vajtse kho
LSB Software Version
Object Description
Index
1018h ib
Lub npe
Tus Kheej Object
Yam khoom RECORD
Hom ntaub ntawv
Cov Ntaub Ntawv Keeb Kwm
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Tus lej nkag
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 4
Default Tus nqi 4
Sub-Index Description Access PDO Mapping Value Range Default Value
1h Tus neeg muag khoom ID RO No 0x00000055 0x00000055 (Axiomatic)
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-41
Sub-Index Description Access PDO Mapping Value Range Default Value
2h Product Code RO No 0xAA031701 0xAA031701
Sub-Index Description Access PDO Mapping Value Range Default Value
3h Revision Number RO No UNSIGNED32 0x00010100
Sub-Index Description Access PDO Mapping Value Range Default Value
4h Serial Number RO Tsis Muaj UNSIGNED32 No
3.2.12. Yam khoom 1020h: Txheeb xyuas Configuration
Cov khoom no tuaj yeem nyeem kom pom tias hnub twg lub software (version pom hauv cov khoom 1018h) tau muab tso ua ke. Hnub tim yog sawv cev raws li tus nqi hexadecimal uas qhia hnub / hli / xyoo raws li hom ntawv hauv qab no. Lub sij hawm tus nqi ntawm sub-index 2 yog tus nqi hexadecimal qhia lub sij hawm hauv 24 teev
MSB Hnub (hauv 1-Byte Hex)
00
Lub hli (hauv 1-Byte Hex) 00
LSB Xyoo (hauv 2-Byte Hex) Sijhawm (hauv 2-Byte Hex)
Rau example, tus nqi ntawm 0x10082010 yuav qhia tau tias software tau muab tso ua ke rau lub Yim Hli 10th, 2010. Lub sijhawm tus nqi ntawm 0x00001620 yuav qhia tias nws tau muab tso ua ke thaum 4:20 teev tsaus ntuj.
Object Description
Index
1020h ib
Lub npe
Tshawb xyuas kev teeb tsa
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 32
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Tus lej nkag
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 2
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-42
Default Value Sub-Index Description Access PDO Mapping Value Range Default Value
2 1h Configuration date RO No UNSIGNED32 No
Sub-Index Description Access PDO Mapping Value Range Default Value
2h Configuration time RO Tsis muaj UNSIGNED32 No
3.2.13. Yam khoom 1029h: Tus cwj pwm yuam kev
Cov khoom no tswj lub xeev tias 1IN-CAN Controller yuav raug teeb tsa rau hauv rooj plaub ntawm qhov yuam kev ntawm hom cuam tshuam nrog sub-index.
Kev ua txhaum ntawm lub network raug teeb tsa thaum tsis tau txais RPDO nyob rau lub sijhawm xav tau uas tau teev tseg hauv "Tsev Xwm Txheej Txheej Txheem" ntawm cov khoom sib txuas lus, (saib Tshooj 3.2.14 rau cov lus qhia ntxiv) lossis yog tsis tau txais cov lus ceeb toom lub neej lossis lub plawv dhia tsis tau txais raws li xav tau. Input faults yog txhais nyob rau hauv Tshooj 1.3, thiab output faults yog txhais nyob rau hauv Tshooj 1.5.
Rau txhua qhov sub-indexes, cov ntsiab lus hauv qab no muaj tseeb:
0 = Pre-Operational (node rov qab mus rau lub xeev ua ntej ua haujlwm thaum kuaj pom qhov txhaum)
1 = Tsis Muaj Lub Xeev Hloov (node tseem nyob hauv tib lub xeev nws tau nyob rau thaum qhov txhaum tshwm sim)
2 = Nres
(node nkag mus rau hauv hom nres thaum qhov txhaum tshwm sim)
Object Description
Index
1029h ib
Lub npe
Tus cwj pwm yuam kev
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Tus lej nkag
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 5
Default Tus nqi 5
Sub-Index Description Access PDO Mapping
1h Kev Sib Txuas Lus Fault RW No
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-43
Tus nqi Range Default Tus nqi Sub-Index Description Access PDO Mapping Tus nqi Range Default Value
Saib saum toj 1 (Tsis Muaj Lub Xeev Hloov) 2h Digital Input Fault (tsis siv) RW Tsis Pom saum 1 (Tsis Muaj Lub Xeev Hloov)
Sub-Index Description Access PDO Mapping Value Range Default Value
3h Analog Input Fault (AI1) RW Tsis Pom saum 1 (Tsis Muaj Lub Xeev Hloov)
Sub-Index Description Access PDO Mapping Value Range Default Value
4h Digital Output Fault (tsis siv) RW Tsis Pom saum 1 (Tsis Muaj Lub Xeev Hloov)
Sub-Index Description Access PDO Mapping Value Range Default Value
5h Analog Output Fault (tsis siv) RW Tsis Pom saum 1 (Tsis Muaj Lub Xeev Hloov)
3.2.14. RPDO Cwj Pwm
Raws li CANopen ® tus qauv DS-301, cov txheej txheem hauv qab no yuav tsum tau siv rau kev rov ua dua, thiab zoo ib yam rau RPDOs thiab TPDOs.
a) Ua kom puas PDO los ntawm kev teeb tsa me ntsis tshwm sim (qhov tseem ceeb tshaj me ntsis) ntawm sub-index 01h ntawm raws li PDO kev sib txuas lus parameter rau 1b
b) Disable mapping los ntawm kev teeb tsa sub-index 00h ntawm cov khoom sib txuas ua ke rau 0
c) Hloov kho daim ntawv qhia los ntawm kev hloov cov txiaj ntsig ntawm qhov sib thooj sub-indices
d) Ua kom daim ntawv qhia los ntawm kev teeb tsa sub-index 00h rau tus naj npawb ntawm cov khoom siv
e) Tsim PDO los ntawm kev teeb tsa me ntsis tshwm sim (qhov tseem ceeb tshaj me ntsis) ntawm sub-index 01h ntawm raws li PDO kev sib txuas lus parameter rau 0b
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-44
1IN-CAN Controller tuaj yeem txhawb nqa txog plaub RPDO lus. Txhua RPDOs ntawm 1IN-CAN Controller siv cov kev sib txuas lus zoo sib xws, nrog PDO IDs teeb tsa raws li kev sib txuas ua ntej tau teev tseg hauv DS-301. Feem ntau RPDOs tsis muaj nyob, tsis muaj RTR tso cai, lawv siv 11-ntsis CAN-IDs (piv txwv li siv tau) thiab lawv txhua qhov kev tshwm sim-tsav. Thaum tag nrho plaub muaj kev siv tau raws li daim ntawv teev npe teev tseg (saib hauv qab) tsuas yog RPDO1 tau qhib los ntawm lub neej ntawd (piv txwv li RPDO muaj).
RPDO1 Mapping ntawm Object 1600h: Default ID 0x200 + Node ID
Sub-Index Tus nqi
Yam khoom
0
4
Tus lej ntawm daim ntawv thov cov khoom siv hauv PDO
1
0 x 25000110
Ntxiv tau txais 1 PV
2
0 x 25000210
Ntxiv tau txais 2 PV
3
0 x 25000310
Ntxiv tau txais 3 PV
4
0 x 25000410
Ntxiv tau txais 4 PV
RTPDO2 Mapping ntawm Object 1601h: Default ID 0x300 + Node ID
Sub-Index Tus nqi
Yam khoom
0
2
Tus lej ntawm daim ntawv thov cov khoom siv hauv PDO
1
0 x 25000510
Ntxiv tau txais 1 PV (piv txwv li PID Tswj Cov Lus Teb 1 PV)
2
0 x 25000610
Ntxiv tau txais 2 PV (piv txwv li PID Tswj Cov Lus Teb 2 PV)
3
0
Tsis siv los ntawm lub neej ntawd
4
0
Tsis siv los ntawm lub neej ntawd
RPDO3 Mapping ntawm Object 1602h: Default ID 0x400 + Node ID
Sub-Index Tus nqi
Yam khoom
0
0
Tus lej ntawm daim ntawv thov cov khoom siv hauv PDO
1
0
Tsis siv los ntawm lub neej ntawd
2
0
Tsis siv los ntawm lub neej ntawd
3
0
Tsis siv los ntawm lub neej ntawd
4
0
Tsis siv los ntawm lub neej ntawd
RPDO4 Mapping ntawm Object 1603h: Default ID 0x500 + Node ID
Sub-Index Tus nqi
Yam khoom
0
0
Tus lej ntawm daim ntawv thov cov khoom siv hauv PDO
1
0
Tsis siv los ntawm lub neej ntawd
2
0
Tsis siv los ntawm lub neej ntawd
3
0
Tsis siv los ntawm lub neej ntawd
4
0
Tsis siv los ntawm lub neej ntawd
Tsis muaj leej twg muaj lub sijhawm ua haujlwm tau qhib, piv txwv li "Event Timer" ntawm sub-index 5 yog teem rau xoom. Thaum qhov no tau hloov mus rau qhov tsis yog xoom, yog tias RPDO tsis tau txais los ntawm lwm qhov ntawm lub sijhawm teev tseg (thaum nyob rau hauv Kev Ua Haujlwm), lub network ua txhaum yog qhib, thiab tus maub los yuav mus rau lub xeev kev ua haujlwm hauv lub xeev. Yam khoom 1029h sub-index 4.
Object Description
Index
1400h txog 1403h
Lub npe
RPDO kev sib txuas lus parameter
Yam khoom RECORD
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-45
Hom ntaub ntawv
PDO Cov Ntaub Ntawv Sib Txuas Lus
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Tus lej nkag
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 5
Default Tus nqi 5
Sub-Index
1h
Kev piav qhia
COB-ID siv los ntawm RPDO
Nkag mus
RW
X RPDOx ID
PDO Mapping No
1
0200h ib
Tus nqi Range Saib tus nqi txhais hauv DS-301
2
0300h ib
Default Value 40000000h + RPDO1 + Node ID
3
0400h ib
C0000000h + RPDOx + Node-ID
4
0500h ib
Node-ID = Node-ID ntawm lub module. Lub RPDO COB-IDs tau hloov kho tshiab yog tias cov
Node-ID yog hloov los ntawm LSS raws tu qauv.
80000000h hauv COB-ID qhia tias PDO tsis muaj nyob (ua kom puas tsuaj)
04000000h hauv COB-ID qhia tias tsis muaj RTR tso cai rau PDO
Sub-Index Description Access PDO Mapping Value Range Default Value
2h kis tau tus mob hom RO Tsis pom tus nqi txhais hauv DS-301 255 (FFh) = Kev tshwm sim Tsav
Sub-Index Description Access PDO Mapping Value Range Default Value
3h Inhibit Time RW Tsis Pom tus nqi txhais hauv DS-301 0
Sub-Index Description Access PDO Mapping Value Range Default Value
4h Compatibility nkag RW Tsis muaj UNSIGNED8 0
Sub-Index Description Access PDO Mapping Tus nqi Range
5 Event-timer RW Tsis Pom tus nqi txhais hauv DS-301
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-46
Default Tus nqi 0
Nco qab: Lub sijhawm tsis yog xoom rau RPDO txhais tau hais tias nws yuav ua rau muaj kev cuam tshuam hauv lub network yog tias nws tsis tau txais nyob rau hauv lub sijhawm no thaum nyob rau hauv Kev Ua Haujlwm.
3.2.15. TPDO Cwj Pwm
1IN-CAN Controller tuaj yeem txhawb nqa txog plaub TPDO lus. Txhua TPDOs ntawm 1IN-CAN Controller siv cov kev sib txuas lus zoo sib xws, nrog PDO IDs teeb tsa raws li kev sib txuas ua ntej tau teev tseg hauv DS-301. Feem ntau TPDOs tsis muaj nyob, tsis muaj RTR tso cai, lawv siv 11-ntsis CAN-IDs (tus ncej siv tau) thiab lawv txhua lub sijhawm-tsav. Thaum tag nrho plaub muaj kev siv tau raws li daim ntawv teev tseg (saib hauv qab) tsuas yog TPDO1 tau qhib los ntawm lub neej ntawd (piv txwv li TPDO muaj).
TPDO1 Mapping ntawm Object 1A00h: Default ID 0x180 + Node ID
Sub-Index Tus nqi
Yam khoom
0
3
Tus lej ntawm daim ntawv thov cov khoom siv hauv PDO
1
0 x 71000110
Analog Input 1 Teb Tus nqi
2
0 x 71000210
Analog Input 1 zaus ntsuas teb tus nqi
3
0
Tsis siv los ntawm lub neej ntawd
4
0
Tsis siv los ntawm lub neej ntawd
TPDO2 Mapping ntawm Object 1A01h: Default ID 0x280 + Node ID
Sub-Index Tus nqi
Yam khoom
0
0
Tus lej ntawm daim ntawv thov cov khoom siv hauv PDO
1
0
Tsis siv los ntawm lub neej ntawd
2
0
Tsis siv los ntawm lub neej ntawd
3
0
Tsis siv los ntawm lub neej ntawd
4
0
Tsis siv los ntawm lub neej ntawd
TPDO3 Mapping ntawm Object 1A02h: Default ID 0x380 + Node ID
Sub-Index Tus nqi
Yam khoom
0
2
Tus lej ntawm daim ntawv thov cov khoom siv hauv PDO
1
0 x 24600110
PID Control Output 1 Teb Tus nqi
2
0 x 24600210
PID Control Output 2 Teb Tus nqi
3
0
Tsis siv los ntawm lub neej ntawd
4
0
Tsis siv los ntawm lub neej ntawd
TPDO4 Mapping ntawm Object 1A03h: Default ID 0x480 + Node ID
Sub-Index Tus nqi
Yam khoom
0
2
Tus lej ntawm daim ntawv thov cov khoom siv hauv PDO
1
0 x 50200020
Power Supply Field Value ( ntsuas)
2
0 x 50300020
Processor Temperature Field Value (raug ntsuas)
3
0
Tsis siv los ntawm lub neej ntawd
4
0
Tsis siv los ntawm lub neej ntawd
Txij li tag nrho tab sis TPDO1 muaj pes tsawg tus nqi sib kis tus nqi (piv txwv li Event Timer hauv sub-index 5 ntawm kev sib txuas lus khoom), tsuas yog TPDO1 yuav tau txais kev tshaj tawm thaum lub tsev mus rau hauv OPERATIONAL hom.
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-47
Object Description
Index
1800h txog 1803h
Lub npe
TPDO kev sib txuas lus parameter
Yam khoom RECORD
Hom ntaub ntawv
PDO Cov Ntaub Ntawv Sib Txuas Lus
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Tus lej nkag
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 5
Default Tus nqi 5
Sub-Index
1h
Kev piav qhia
COB-ID siv los ntawm TPDO
Nkag mus
RW
X
TPDOx ID
PDO Mapping No
1
0180h ib
Tus nqi Range Saib tus nqi txhais hauv DS-301
2
0280h ib
Default Value 40000000h + TPDO1 + Node-ID
3
0380h ib
C0000000h + TPDOx + Node-ID
4
0480h ib
Node-ID = Node-ID ntawm lub module. TPDO COB-IDs tau hloov kho tshiab yog tias cov
Node-ID yog hloov los ntawm LSS raws tu qauv.
80000000h hauv COB-ID qhia tias PDO tsis muaj nyob (ua kom puas tsuaj)
04000000h hauv COB-ID qhia tias tsis muaj RTR tso cai rau PDO
Sub-Index Description Access PDO Mapping Value Range Default Value
2h kis tau tus mob hom RO Tsis Pom tus nqi txhais hauv DS-301 254 (FEh) = Kev tshwm sim tsav
Sub-Index Description Access PDO Mapping Value Range Default Value
3h Inhibit Time RW Tsis Pom tus nqi txhais hauv DS-301 0
Sub-Index Description Access PDO Mapping Value Range Default Value
4h Compatibility nkag RW Tsis muaj UNSIGNED8 0
Sub-Index
5
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-48
Nqe lus piav qhia nkag mus rau PDO Daim Ntawv Qhia Tus Nqi Ntau Yam Tus Nqi Default
Event-timer RW Tsis Pom tus nqi txhais hauv DS-301 100ms (ntawm TPDO1) 0ms (ntawm TPDO2, TPDO3, TPDO4)
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-49
3.3. APPLICATION OBJECTS (DS-404)
Index (zeeg)
6020
7100 6110 6112 7120 7121 7122 7123 7130 6132 7148 7149 61A0 61A1
Yam khoom
DI Read State 1 Input Line DI Polarity 1 Input Line AI Input Field Value AI Sensor Hom AI Kev Ua Haujlwm AI Input Scaling 1 FV AI Input Scaling 1 PV AI Input Scaling 2 FV AI Input Scaling 2 PV AI Input Process Tus nqi AI Decimal lej PV AI Input Span Pib AI Input Span End AI Lim Hom AI Lim tas li
Yam khoom
ARAY ARAY
ARRAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY
Hom ntaub ntawv
BOOLEAN UNSIGNED8 INTEGNED16 UNSIGNED16 UNSIGNED8 INTEGNED16 INTEGNED16 INTEGER16 INTEGER16 INTEGNED16 UNSIGNED8 INTEGNED16 UNSIGNED16 UNSIGNED8
Nkag mus
RO RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW
PDO Mapping
Yog Tsis muaj
Yog Tsis Muaj Tsis Muaj Tsis Muaj Tsis Muaj Tsis Muaj Tsis Muaj Tsis Muaj Tsis Muaj Tsis Muaj Tsis Tau
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-50
3.3.1. Yam khoom 6020h: DI Read State 1 Input Line
Cov khoom nyeem nkaus xwb no sawv cev rau lub xeev cov tswv yim digital los ntawm ib kab lus nkag. Xa mus rau Tshooj 1.2 yog xav paub ntxiv
Object Description
Index
6020h ib
Lub npe
DI Nyeem State 1 Input Kab
Yam khoom hom ARRAY
Hom ntaub ntawv
BOOLEAN
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h Digital Input 1 Lub Xeev RO Yog 0 (OFF) lossis 1 (ON) 0
3.3.2. Yam khoom 6030h: DI Polarity 1 Input Kab
Cov khoom no txiav txim siab seb lub xeev nyeem li cas ntawm tus pin input sib raug rau lub xeev logic, nrog rau cov khoom tsim khoom 2020h, raws li tau teev tseg hauv Table 3.
Object Description
Index
6030h ib
Lub npe
DI Polarity 1 Input Kab
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Tus nqi Range
1h Digital Input 1 Polarity RW Tsis Pom Table 3
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-51
Default Value 0 (Nco ntsoov On/Off)
3.3.3. Yam khoom 7100h: AI Input Field Tus nqi
Cov khoom no sawv cev rau qhov ntsuas tus nqi ntawm cov khoom siv analog uas tau ntsuas raws li cov khoom lag luam 2102h AI Decimal Digits PV. Lub hauv paus chav tsev rau txhua hom kev tawm tswv yim yog txhais hauv Table 9, nrog rau kev nyeem ntawv nkaus xwb (tus lej lej) cuam tshuam nrog FV.
Object Description
Index
7100h ib
Lub npe
AI Input Field Tus nqi
Yam khoom hom ARRAY
Hom ntaub ntawv
INTEGER 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 FV RO Yog Cov Ntaub Ntawv Hom Tshwj Xeeb, saib Table 11 No
3.3.4. Yam khoom 6110h: AI Sensor Hom
Cov khoom no txhais cov hom sensor (input) uas txuas nrog tus pin input pin.
Object Description
Index
6110h ib
Lub npe
AI Sensor Hom
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access
1h AI1 Sensor Hom RW
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-52
PDO Mapping Tus Nqi Ntau Yam Tus Nqi Default
Tsis Pom Table 5 40 (voltage)
3.3.5. Yam khoom 6112h: AI Kev Ua Haujlwm Hom
Cov khoom no enables tshwj xeeb kev khiav hauj lwm hom rau cov tswv yim.
Object Description
Index
6112h ib
Lub npe
AI kev ua haujlwm hom
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Kev Ua Haujlwm Hom RW Tsis Pom Table 4 1 (kev ua haujlwm li qub)
3.3.6. Yam khoom 7120h: AI Input Scaling 1 FV
Cov khoom no piav qhia txog tus nqi teb ntawm thawj qhov ntsuas qhov ntsuas rau qhov kev sib txuas lus analog, raws li pom hauv daim duab 7. Nws kuj txhais tau tias "tsawg kawg" tus nqi ntawm cov khoom siv analog thaum siv qhov kev tawm tswv yim no los ntawm kev tswj hwm rau lwm qhov thaiv, xws li tau piav nyob rau hauv Table 17 hauv Tshooj 1.5. Nws yog ntsuas nyob rau hauv lub cev chav tsev ntawm FV, piv txwv li khoom 2102h siv rau cov khoom no.
Object Description
Index
7120h ib
Lub npe
AI Input Scaling 1 FV
Yam khoom hom ARRAY
Hom ntaub ntawv
INTEGER 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index
1h
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-53
Nqe lus piav qhia nkag mus rau PDO Daim Ntawv Qhia Tus Nqi Ntau Yam Tus Nqi Default
AI1 Scaling 1 FV RW No See Table 11 500 [mV]
3.3.7. Yam khoom 7121h: AI Input Scaling 1 PV
Cov khoom no txhais cov txheej txheem tus nqi ntawm thawj calibration point rau analog input channel, raws li qhia nyob rau hauv daim duab 7. Nws yog scaled nyob rau hauv lub cev ntawm lub PV unit, piv txwv li khoom 6132h siv rau cov khoom no.
Object Description
Index
7121h ib
Lub npe
AI Input Scaling 1 PV
Yam khoom hom ARRAY
Hom ntaub ntawv
INTEGER 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Scaling 1 PV RW No Integer16 500 [same as 7120h]
3.3.8. Yam khoom 7122h: AI Input Scaling 2 FV
Cov khoom no piav qhia txog tus nqi teb ntawm qhov thib ob calibration point rau analog input channel, raws li qhia nyob rau hauv daim duab 7. Nws kuj txhais tau tias "siab tshaj" tus nqi ntawm cov analog input range thaum siv cov tswv yim no raws li kev tswj qhov chaw rau lwm qhov kev ua haujlwm thaiv, xws li tau piav nyob rau hauv Table 17 hauv Tshooj 1.5. Nws yog ntsuas nyob rau hauv lub cev chav tsev ntawm FV, piv txwv li khoom 2102h siv rau cov khoom no.
Object Description
Index
7122h ib
Lub npe
AI Input Scaling 2 FV
Yam khoom hom ARRAY
Hom ntaub ntawv
INTEGER 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-54
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Scaling 2 FV RW No See Table 11 4500 [mV]
3.3.9. Yam khoom 7123h: AI Input Scaling 2 PV
Cov khoom no txhais cov txheej txheem tus nqi ntawm qhov thib ob calibration point rau analog input channel,
raws li qhia nyob rau hauv daim duab 7. Nws yog scaled nyob rau hauv lub cev chav tsev ntawm lub PV, piv txwv li khoom 6132h siv rau qhov no
khoom.
Object Description
Index
7123h ib
Lub npe
AI Input Scaling 2 PV
Yam khoom hom ARRAY
Hom ntaub ntawv
INTEGER 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Scaling 2 PV RW No Integer16 4500 [same as 7122h]
3.3.10. Yam khoom 7130h: AI Input Process Tus nqi
Cov khoom no sawv cev rau qhov tshwm sim ntawm qhov kev ntsuas kev nkag mus rau ib daim duab 7, thiab muab qhov ntsuas qhov ntsuas qhov ntsuas hauv lub cev ntawm cov txheej txheem tus nqi (piv txwv li ° C, PSI, RPM, thiab lwm yam) nrog cov kev daws teeb meem uas tau teev tseg hauv cov khoom 6132h AI Decimal Digits PV .
Object Description
Index
7130h ib
Lub npe
AI Input Process Tus nqi
Yam khoom hom ARRAY
Hom ntaub ntawv
INTEGER 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-55
Tus nqi Range 1 Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Txheej Txheem Tus Nqi RO Yog Integer16 No
3.3.11. Yam khoom 6132h: AI Decimal Digits PV
Cov khoom no piav qhia txog tus lej ntawm tus lej tom qab tus lej lej (xws li kev daws teeb meem) ntawm cov ntaub ntawv nkag, uas tau txhais nrog cov ntaub ntawv hom Integer16 hauv cov txheej txheem tus nqi khoom.
Example: Tus txheej txheem tus nqi ntawm 1.230 (Float) yuav raug coded li 1230 hauv Integer16 hom yog tias tus lej lej raug teeb tsa rau 3.
Object Description
Index
6123h ib
Lub npe
AI Decimal Digits PV
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Decimal Digits PV RW No 0 to 4 3 [Volt to mV]
3.3.12. Yam khoom 7148h: AI Span Pib
Tus nqi no qhia txog qhov kev txwv qis dua qhov twg cov txiaj ntsig tau xav tau. Cov nqi teb uas qis dua qhov kev txwv no yog cim tias tsis zoo overload. Nws yog ntsuas nyob rau hauv lub cev chav tsev ntawm FV, piv txwv li khoom 2102h siv rau cov khoom no.
Object Description
Index
7148h ib
Lub npe
AI Span Pib
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-56
Yam Hom Cov Ntaub Ntawv Hom
ARRAY INTEGER 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Span Pib (Error Min) RW Tsis Pom Table 11 200 [mV]
3.3.13. Yam khoom 7149h: AI Span End
Tus nqi no qhia txog qhov txwv sab saud uas yuav tsum muaj qhov tseem ceeb. Cov nqi teb uas siab dua qhov kev txwv no raug cim tias yog qhov zoo tshaj. Nws yog ntsuas nyob rau hauv lub cev chav tsev ntawm FV, piv txwv li khoom 2102h siv rau cov khoom no.
Object Description
Index
7149h ib
Lub npe
AI Span End
Yam khoom hom ARRAY
Hom ntaub ntawv
INTEGER 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Span End (Error Max) RW No See Table 11 4800 [mV]
3.3.14. Yam khoom 61A0h: AI Lim Hom
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-57
Cov khoom no txhais cov hom ntaub ntawv lim uas yuav siv rau cov ntaub ntawv raw cov ntaub ntawv, raws li nyeem los ntawm ADC lossis Timer, ua ntej nws dhau mus rau qhov khoom muaj nqis. Cov hom ntaub ntawv lim tau txhais hauv Table 8, thiab lawv siv li cas tau teev tseg hauv Tshooj 1.3.
Object Description
Index
61h0 ua
Lub npe
AI Lim Hom
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Lim Hom RW Tsis Pom Table 8 0 (tsis muaj lim)
3.3.15. Yam khoom 61A1h: AI Filter Constant
Cov khoom no txhais cov kauj ruam uas siv nyob rau hauv ntau cov lim dej, raws li tau hais tseg hauv Tshooj 1.3
Object Description
Index
61h0 ua
Lub npe
AI Filter Constant
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Tus nqi Range
1h AI1 Filter Constant RW No 1 txog 1000
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-58
Default Tus nqi 10
3.4. QHOV CHAW UA HAUJ LWM
Index (zeeg)
2020 2021 2030 2031 2040 2041 2031
2100 2101 2102 2103 2110 2111 2112
2500 2502
30z0 30z1 30z2 30z3 30z4 30z5 30z6 30z7
4000 4010 4020 4 × 01 4 × 02 4 × 11 4 × 12 4 × 13 4 × 21 4 × 22 4 × 23 4 × 31 4 × 32 4 × 33
5010
Yam khoom
DI Pull Up/Down Mode 1 Input Line DI Debounce Time DI Debounce Lim 1 Input Line DI Frequency Debounce Time DI Reset Pulse Count DI Time Window DI Pulse Window AI Input Range AI Number of Pulses Per Revolution AI Decimal Digits FV AI Filter AI yuam kev tshawb pom Pab kom AI yuam kev Clear Hysteresis AI yuam kev Reaction ncua ncua EC Ntxiv Txheej Txheem Tus nqi EC Decimal lej PV EC Scaling 1 PV EC Scaling 2 PV LTz Input X-Axis Source LTz Input X-Axis Number LTz X-Axis PV LTz Digits -Axis Decimal Digits PV LTz Point Response LTz Point X-Axis PV LTz Point Y-Axis PV LTz Output Y-Axis PV Logic Block Enable Logic Block Selected Table Logic Output Process Tus nqi LBx Lookup Table Number LBx Function Logical Operator Logic Block A Function A Xwm Txheej 1 Logic Block A Function A Condition 2 Logic Block A Function A Condition 3 Logic Block A Function B Condition 1 Logic Block A Function B Condition 2 Logic Block A Function B Condition 3 Logic Block A Function C Condition 1 Logic Block A Function C Condition 2 Logic Block A Function C Condition 3 Constant Field Value
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
Yam khoom
ARRAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY
ARRAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY
ARRAY ARAY ARAY ARAY ARAY
VAR VAR VAR VAR ARRAY ARRAY ARRAAY ARAY ARAY
ARRAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY ARAY
ARRAY
Hom ntaub ntawv
UNSIGNED8 UNSIGNED16 UNSIGNED8 UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED8 UNSIGNED16 UNSIGNED8 UNSIGNED8 UNSIGNED16 BOOLEAN INTEGNED16 UNSIGNED16 UNSIGNED8NTEGNED 16 TXOJ HAUJ LWM 16 TXOJ HAUJ LWM 8 TXOJ HAUJ LWM 8 TXOJ HAUJ LWM 8 TXOJ HAUJ LWM 8 TXOJ HAUJ LWM 8 TXOJ HAUJ LWM 16 TXOJ HAUJ LWM 16 TXOJ HAUJ LWM 16 TXOJ HAUJ LWM 8 TXOJ HAUJ LWM 8 TXOJ CAI
Nkag mus
RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW rw
PDO Mapping
Tsis Yog Tsis Muaj Tsis Tau
Tsis Yog Tsis Muaj Tsis Tau
Yog Tsis Muaj Tsis Tau
Tsis Yog Tsis Yog Tsis Yog Tsis Yog
Tsis Yog Tsis Muaj Tsis Muaj Tsis Muaj Tsis Muaj Tsis Muaj Tsis Muaj Tsis Muaj Tsis Muaj Tsis Muaj Tsis Tau
Tsis muaj
A-59
5020 Power Supply Field Value 5030 Processor Kub Field Tus nqi 5555 Pib hauv hom kev ua haujlwm
Qhov twg z = 1 txog 6 thiab x = 1 txog 4
VAR
FLOAT 32
RO
Yog lawm
VAR
FLOAT 32
RO
Yog lawm
VAR
BOOLEAN
RW
Tsis muaj
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-60
3.4.1. Yam khoom 2020h: DI Pullup/Down Mode 1 Input Line
Cov khoom no txiav txim siab seb lub xeev tau nyeem li cas ntawm tus pin input sib raug rau lub xeev logic, nrog rau daim ntawv thov khoom 6020h, raws li tau hais tseg hauv Table 3. Cov kev xaiv rau cov khoom no tau teev nyob rau hauv Table 1, thiab tus maub los yuav kho cov khoom siv nkag raws li rau yam uas tau teev tseg.
Object Description
Index
2020h ib
Lub npe
DI Pullup/Down Mode 1 Input Kab
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h Digital Input 1 Pullup/Down RW No See Table 1 0 (rub/down disabled)
3.4.2. Yam khoom 2020h: DI Debounce Lub Sijhawm 1 Input Kab
Cov khoom no txiav txim siab lub sij hawm debounce tau thov thaum cov tswv yim raug teeb tsa raws li hom digital input. Cov kev xaiv rau cov khoom no tau teev tseg hauv qab no.
Object Description
Index
2021h ib
Lub npe
DI Debounce Lub Sijhawm 1 Input Kab
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Tus nqi Range
1h Digital Input Debounce Lub Sijhawm RW No 0 60000
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-61
Default Value 10 (ms)
3.4.3. Yam khoom 2030h: DI Debounce Filter 1 Input Kab
Cov khoom no txiav txim siab lub sij hawm debounce ntawm lub teeb liab digital thaum lub tswv yim raug teeb tsa raws li Hom Zaus / RPM lossis PWM cov tswv yim. Cov kev xaiv rau cov khoom no tau teev nyob rau hauv Table 2.
Object Description
Index
2020h ib
Lub npe
DI Debounce Lim 1 Input Kab
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h Digital Input Debounce Lim RW Tsis Pom Table 2 2 [Filter 1.78 us]
3.4.4 ib. Yam khoom 2031h: AI Frequency Overflow Value
Cov khoom no txiav txim siab lub sij hawm debounce ntawm lub teeb liab digital thaum lub tswv yim raug teeb tsa raws li Hom Zaus / RPM lossis PWM cov tswv yim.
Object Description
Index
2031h ib
Lub npe
AI Frequency Overflow Tus Nqi
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping
1h Zaus Tshaj Tawm Tus Nqi RW No
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-62
Tus nqi ntau yam 0-50 Default Value 50 (Hz)
3.4.5 ib. Yam khoom 2040h: AI Reset Pulse suav tus nqi
Cov khoom no txiav txim siab tus nqi (hauv pulses) uas yuav rov pib dua Counter input hom pib suav los ntawm 0 dua. Tus nqi no raug txiav txim siab thaum cov tswv yim raug xaiv ua Counter Input hom.
Object Description
Index
2040h ib
Lub npe
AI Reset Pulse suav tus nqi
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 32
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI Reset Pulse suav Tus Nqi RW Tsis Muaj 0-0xFFFFFFFF 1000 (pulses)
3.4.6. Yam khoom 2041h: AI Counter Time Window
Cov khoom no txiav txim siab tus nqi (hauv milliseconds) uas yuav siv los ua lub sijhawm lub qhov rais suav cov pulses pom hauv nws. Tus nqi no raug txiav txim siab thaum cov tswv yim raug xaiv ua Counter Input hom.
Object Description
Index
2041h ib
Lub npe
AI Counter Time Window
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 32
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description
1h AI Counter Time Window
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-63
Nkag mus rau PDO Daim Ntawv Qhia Tus Nqi Ntau Yam Tus Nqi Default
RW No 0-0xFFFFFFFF 500 (milliseconds)
3.4.7 ib. Yam khoom 2041h: AI Counter Pulse Window
Cov khoom no txiav txim siab tus nqi (hauv pulses) uas yuav siv los ua lub hom phiaj suav rau tus tswj xyuas thiab muab lub sijhawm (hauv milliseconds) yuav tsum ncav cuag li suav. Tus nqi no raug txiav txim siab thaum cov tswv yim raug xaiv ua Counter Input hom.
Object Description
Index
2041h ib
Lub npe
AI Counter Pulse Window
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 32
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI Counter Pulse Window RW No 0-0xFFFFFFFF 1000 (pulses)
3.4.8 ib. Yam khoom 2100h: AI Input Range
Cov khoom no, ua ke nrog 6110h AI Sensor Hom, txhais cov analog input defaults (Table 10) thiab tso cai ntau yam (Table 11) rau cov khoom 2111h, 7120h, 7122h, 7148h thiab 7149h. Tus naj npawb thiab hom ntawm qhov sib txawv yuav txawv raws li hom sensor txuas nrog cov tswv yim, raws li tau piav qhia hauv Table 6.
Object Description
Index
2100h ib
Lub npe
AI Input Range
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-64
Tus nqi Range 1 Default Value 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Range RW No See Table 6 2 [0-5V]
3.4.9 ib. Yam khoom 2101h: AI Number of Pulses Per Revolution
Cov khoom no tsuas yog siv thaum "Frequency" input type tau raug xaiv los ntawm cov khoom 6110h. Tus maub los yuav cia li hloov qhov ntsuas zaus ntawm Hz rau RPM thaum tus nqi tsis yog xoom tau teev tseg. Hauv qhov no, cov khoom 2111h, 7120h, 7122h, 7148h thiab 7149h yuav raug txhais ua RPM cov ntaub ntawv. Yam khoom 2100h AI Input Range tseem yuav tsum tau teev tseg hauv Hertz, thiab yuav tsum tau xaiv raws li qhov xav tau ntau zaus uas RPM sensor yuav ua haujlwm hauv.
Object Description
Index
2101h ib
Lub npe
AI Number of Pulses Per Revolution
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index
1h
Kev piav qhia
AI1 Pulses per Revolution
Nkag mus
RW
PDO Mapping No
Tus nqi ntau yam 0 txog 1000
Default Tus nqi 1
3.4.10 Nws. Yam khoom 2102h: AI Decimal Digits FV
Cov khoom no piav qhia txog tus lej ntawm tus lej tom qab tus lej lej (xws li kev daws teeb meem) ntawm cov ntaub ntawv nkag, uas tau txhais nrog cov ntaub ntawv hom Integer16 hauv cov khoom muaj nqis.
Example: Tus nqi teb ntawm 1.230 (Float) yuav raug coded li 1230 hauv Integer16 hom yog tias tus lej lej raug teeb tsa rau 3.
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-65
Ntxiv rau cov khoom FV 7100h, cov khoom 2111h, 7120h, 7122h, 7148h thiab 7149h kuj tseem yuav tau teev nrog qhov kev daws teeb meem no. Cov khoom no yog nyeem nkaus xwb, thiab yuav raug hloov kho los ntawm tus maub los raws li Table 9 nyob ntawm seb hom analog input thiab ntau yam uas tau xaiv.
Object Description
Index
2102h ib
Lub npe
AI Decimal Digits FV
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 Tus lej lej FV RO Tsis Pom Table 9 3 [Volt rau mV]
3.4.11. Yam khoom 2103h: AI Filter Frequency rau ADC
Cov khoom no yog siv los qhia qhov kev txiav tawm lim zaus rau ADC peripheral ntawm lub processor. Lub analog-rau-digital converter yog siv nrog analog input hom: voltage; tam sim no; thiab resistive. Nws kuj yog siv los ntsuas: analog tso tawm tswv yim tam sim no; zog mov voltage, thiab processor kub. Cov lim dej muaj nyob rau hauv Table 7.
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-66
Object Description
Index
2104h ib
Lub npe
AI Filter Frequency rau ADC
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h ADC Lim zaus RW Tsis Pom Table 7 1 [Filter 50Hz]
3.4.12. Yam khoom 2110h: AI yuam kev nrhiav kom tau
Cov khoom no ua rau kev tshawb pom qhov yuam kev thiab cov tshuaj tiv thaiv cuam tshuam nrog cov analog input function thaiv. Thaum xiam oob qhab, cov tswv yim yuav tsis tsim ib qho EMCY code hauv cov khoom 1003h Pre-Defined Error Field, los yog nws yuav lov tes taw ib qho kev tawm tswv yim los ntawm cov tswv yim yuav tsum cov tswv yim tawm mus ntawm ntau yam raws li tau hais los ntawm cov khoom 7148h AI Span Pib thiab 7149h AI Span Xaus.
Object Description
Index
2110h ib
Lub npe
AI yuam kev Detect Enable
Yam khoom hom ARRAY
Hom ntaub ntawv
BOOLEAN
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 yuam kev Tshawb Pom Pab RW Tsis Muaj 0 (FALSE) lossis 1 (TRUE) 1 [TRUE]
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-67
3.4.13. Yam khoom 2111h: AI yuam kev Clear Hysteresis
Cov khoom no yog siv los tiv thaiv kev ua kom sai / tshem tawm ntawm tus chij input txhaum, thiab xa cov khoom 1003h mus rau CANopen ® network. Thaum cov tswv yim tau mus saum toj no / hauv qab qhov pib uas txhais tau hais tias qhov kev khiav hauj lwm siv tau, nws yuav tsum rov qab los rau hauv ntau qhov rho tawm / ntxiv rau qhov nqi no kom tshem tawm qhov txhaum. Nws yog ntsuas nyob rau hauv lub cev chav tsev ntawm FV, piv txwv li khoom 2102h siv rau cov khoom no.
Object Description
Index
2111h ib
Lub npe
AI yuam kev Clear Hysteresis
Yam khoom hom ARRAY
Hom ntaub ntawv
INTEGER 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 yuam kev Clear Hysteresis RW Tsis Pom Table 11 100 [mV]
3.4.14 ib. Yam khoom 2112h: AI yuam kev tshwm sim qeeb
Cov khoom no yog siv los lim tawm spurious signals thiab tiv thaiv saturating CANopen ® network nrog tshaj tawm ntawm cov khoom 1003h raws li qhov txhaum yog teeb tsa / tshem tawm. Ua ntej qhov txhaum raug lees paub (piv txwv li EMCY code raug ntxiv rau hauv daim ntawv teev npe ua ntej qhov yuam kev), nws yuav tsum nyob twj ywm nyob rau lub sijhawm teev tseg hauv cov khoom no. Lub cev lub cev rau cov khoom no yog milliseconds.
Object Description
Index
2112h ib
Lub npe
AI yuam kev tshwm sim qeeb
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 1
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-68
Default Tus nqi 1
Sub-Index Description Access PDO Mapping Value Range Default Value
1h AI1 yuam kev Reaction ncua RW Tsis muaj 0 txog 60,000 1000 [ms]
3.4.15 Nws. Yam khoom 2500h: EC Ntxiv Cov Txheej Txheem Tau Txais Tus Nqi
Cov khoom no muab ib qho kev tswj xyuas ntxiv txhawm rau tso cai rau lwm cov haujlwm thaiv kom tswj tau los ntawm cov ntaub ntawv tau txais los ntawm CANopen ® RPDO. Nws ua haujlwm zoo ib yam li lwm cov khoom sau tau, mappable PV, xws li 7300h AO Output PV.
Object Description
Index
2500h ib
Lub npe
EC Ntxiv Tau Txais PV
Yam khoom hom ARRAY
Hom ntaub ntawv
INTEGER 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 6
Default Tus nqi 6
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 6h (x = 1 to 6) ECx Tau txais PV RW Yes Integer16 No
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-69
3.4.16. Yam khoom 2502h: EC Decimal Digits PV
Cov khoom no piav qhia txog tus lej ntawm tus lej tom qab tus lej lej (xws li kev daws teeb meem) ntawm cov ntaub ntawv tswj ntxiv, uas tau txhais nrog cov ntaub ntawv hom Integer16 hauv cov txheej txheem tus nqi khoom.
Object Description
Index
2502h ib
Lub npe
EC Decimal Digits PV
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 6
Default Tus nqi 6
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 6h (x = 1 to 6) ECx Decimal Digits PV RW No 0 to 4 1 (0.1 daws)
3.4.17 Nws. Yam khoom 2520h: EC Scaling 1 PV
Cov khoom no txhais qhov tsawg kawg nkaus tus nqi ntawm qhov kev tswj xyuas ntxiv. Nws siv raws li Scaling 1 tus nqi los ntawm lwm cov haujlwm blocks thaum EC tau raug xaiv los ua qhov chaw rau X-Axis cov ntaub ntawv, piv txwv li pom hauv daim duab 11. Tsis muaj lub cev koom nrog cov ntaub ntawv, tab sis nws siv tib qhov kev daws teeb meem. raws li qhov tau txais PV raws li tau hais tseg hauv cov khoom 2502h, EC Decimal Digits PV. Cov khoom no yuav tsum ib txwm me dua cov khoom 2522h EC Scaling 2 PV.
Object Description
Index
2520h ib
Lub npe
EC Scaling 1 PV
Yam khoom hom ARRAY
Hom ntaub ntawv
INTEGER 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 6
Default Tus nqi 6
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-70
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 6h (x = 1 to 6) ECx Scaling 1 PV RW No -32768 to 2522h sub-index X 0
3.4.18 Nws. Yam khoom 2522h: EC Scaling 2 PV
Cov khoom no txhais tus nqi siab tshaj plaws ntawm qhov kev tswj xyuas ntxiv. Nws siv raws li Scaling 2 tus nqi los ntawm lwm cov haujlwm blocks thaum EC tau raug xaiv los ua qhov chaw rau X-Axis cov ntaub ntawv, piv txwv li pom hauv daim duab 11. Tsis muaj lub cev lub cev koom nrog cov ntaub ntawv, tab sis nws siv tib qhov kev daws teeb meem. raws li qhov tau txais PV raws li tau hais tseg hauv cov khoom 2502h, EC Decimal Digits PV. Cov khoom no yuav tsum ib txwm loj dua cov khoom 2520h EC Scaling 1 PV.
Object Description
Index
2522h ib
Lub npe
EC Scaling 2 PV
Yam khoom hom ARRAY
Hom ntaub ntawv
INTEGER 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 6
Default Tus nqi 6
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 6h (x = 1 to 6) ECx Scaling 2 PV RW No 2520h sub-index X to 32767 1000 (100.0)
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-71
3.4.19 Nws. Yam khoom 30z0h: Ltz Input X-Axis Source
Cov khoom no txhais cov hom kev tawm tswv yim uas yuav siv los txiav txim siab X-Axis cov txheej txheem nkag tus nqi rau lub rooj saib xyuas. Cov chaw tswj muaj nyob rau ntawm 1IN-CAN maub los tau teev nyob rau hauv Table 15. Tsis yog txhua qhov chaw yuav ua rau muaj kev nkag siab zoo rau siv raws li X-Axis input, thiab nws yog tus neeg siv lub luag haujlwm los xaiv qhov chaw uas ua rau muaj kev nkag siab zoo rau daim ntawv thov. Kev xaiv ntawm "Control Source Not Use" disables the link lookup table function block.
Object Description
Index
30z0h (qhov twg z = 1 txog 6)
Lub npe
Ltz Input X-Axis Source
Yam khoom VARIABLE
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Nkag mus
RW
PDO Mapping No
Tus nqi Range Saib Table 15
Default Value 0 (tswj tsis siv, PID neeg xiam)
3.4.20 Nws. Yam khoom 30z1h: Ltz Input X-Axis Number
Cov khoom no txhais cov naj npawb ntawm qhov chaw uas yuav siv los ua X-Axis input PV rau lub rooj saib xyuas. Cov lej tswj muaj nyob ntawm qhov chaw xaiv, raws li qhia hauv Table 16. Thaum xaiv, cov kev txwv rau cov ntsiab lus ntawm X-Axis yuav raug txwv los ntawm cov khoom ntsuas ntawm qhov chaw tswj / tus lej raws li tau teev tseg hauv Table 17.
Object Description
Index
30z1h (qhov twg z = 1 txog 6)
Lub npe
Ltz Input X-Axis Number
Yam khoom VARIABLE
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Nkag mus
RW
PDO Mapping No
Tus nqi Range Saib Table 16
Default Value 0 (null tswj qhov chaw)
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-72
3.4.21. Yam khoom 30z2h: LTz X-Axis Decimal Digits PV
Cov khoom no piav qhia txog tus lej ntawm tus lej tom qab tus lej lej (xws li kev daws teeb meem) ntawm X-Axis cov ntaub ntawv nkag thiab cov ntsiab lus hauv lub rooj saib. Nws yuav tsum tau teem kom sib npaug rau tus lej lej siv los ntawm PV los ntawm kev tswj qhov chaw / tus lej raws li tau teev tseg hauv Table 17.
Object Description
Index
30z2h (qhov twg z = 1 txog 6)
Lub npe
LTz X-Axis Decimal Digits PV
Yam khoom VARIABLE
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Nkag mus
RW
PDO Mapping No
Tus nqi ntau yam 0 txog 4 (saib Table 17)
Default Tus nqi 0
3.4.22 ib. Yam khoom 30z3h: LTz Y-Axis Decimal Digits PV
Cov khoom no piav qhia txog tus lej ntawm tus lej tom qab tus lej lej (xws li kev daws teeb meem) ntawm Y-Axis cov ntsiab lus hauv lub rooj saib. Thaum cov zis Y-Axis yuav nkag mus rau lwm qhov kev ua haujlwm thaiv (piv txwv li qhov tso tawm analog), nws pom zoo tias tus nqi no yuav tsum muab sib npaug rau tus lej lej siv los ntawm qhov thaiv uas yog siv lub rooj saib raws li qhov chaw tswj. / tus lej.
Object Description
Index
30z3h (qhov twg z = 1 txog 6)
Lub npe
Ltz Y-Axis Decimal Tus lej PV
Yam khoom VARIABLE
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Nkag mus
RW
PDO Mapping No
Tus nqi ntau yam 0 txog 4
Default Tus nqi 0
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-73
3.4.23. Yam khoom 30z4h: LTz Point Response
Cov khoom no txiav txim siab Y-Axis cov lus teb rau cov kev hloov pauv hauv X-Axis tswv yim. Tus nqi teev hauv sub-index 1 txiav txim siab hom X-Axis (xws li cov ntaub ntawv lossis lub sijhawm), thaum tag nrho lwm cov sub-indexes txiav txim siab cov lus teb (ramp, kauj ruam, tsis quav ntsej) nruab nrab ntawm ob lub ntsiab lus ntawm qhov nkhaus. Cov kev xaiv rau cov khoom no muaj nyob rau hauv Table 24. Saib daim duab 18 rau ib qho example ntawm qhov sib txawv ntawm ib kauj ruam thiab ramp teb.
Object Description
Index
30z4h (qhov twg z = 1 txog 6)
Lub npe
Ltz Point teb
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 11
Default Tus nqi 11
Sub-Index Description Access PDO Mapping Value Range Default Value
1h X-Axis Hom RW Tsis Pom Table 24 (0 lossis 1) 0 (x-axis cov ntaub ntawv teb)
Sub-Index Description Access PDO Mapping Value Range Default Value
2h to 11h (x = 2 to 11) LTz Point X Response RW No See Table 24 (0, 1 or 2) 1 (ramp rau teb)
3.4.24 ib. Yam khoom 30z5h: LTz Point X-Axis PV
Cov khoom no txhais cov ntaub ntawv X-Axis rau 11 cov ntsiab lus calibration ntawm lub rooj saib, uas ua rau 10 qhov sib txawv qhov chaw tso zis.
Thaum cov ntaub ntawv teb raug xaiv rau hom X-Axis (sub-index 1 ntawm cov khoom 30z4), cov khoom no raug txwv xws li X1 tsis tuaj yeem tsawg dua qhov Scaling 1 tus nqi ntawm cov xaiv tswj qhov chaw / tus lej, thiab X11 tsis tuaj yeem ntau dua. tshaj qhov Scaling 2 tus nqi. Cov ntsiab lus ntxiv yog txwv los ntawm cov qauv hauv qab no. Lub cev lub cev koom nrog cov ntaub ntawv yuav yog cov lus xaiv xaiv, thiab nws yuav siv qhov kev daws teeb meem uas tau teev tseg hauv cov khoom 30z2h, LTz X-Axis Decimal Digits PV.
MinInputRange <= X1<= X2<= X3<= X4<= X5<= X6<= X7<= X8<= X9<= X10<= X11<= MaxInputRange
Thaum lub sij hawm teb tau raug xaiv, txhua lub ntsiab lus ntawm X-Axis tuaj yeem teeb tsa qhov twg los ntawm 1 txog 86,400,000ms.
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-74
Object Description
Index
30z5h (qhov twg z = 1 txog 6)
Lub npe
Ltz Point X-Axis PV
Yam khoom hom ARRAY
Hom ntaub ntawv
INTEGER 32
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 11
Default Tus nqi 11
Sub-Index Description Access PDO Mapping Value Range Default Value
1h-11h (x = 1-11)
Ltz Point X-Axis PVx
RW
Tsis muaj
Saib saum toj (cov ntaub ntawv) 1 txog 86400000 (lub sijhawm)
10 * (x-1)
Tsis muaj
3.4.25 Nws. Yam khoom 30z6h: Ltz Point Y-Axis PV
Cov khoom no txhais cov ntaub ntawv Y-Axis rau 11 cov ntsiab lus calibration ntawm lub rooj saib, uas ua rau 10 qhov sib txawv qhov chaw. Cov ntaub ntawv yog unconstrained thiab tsis muaj lub cev koom nrog nws. Nws yuav siv qhov kev daws teeb meem uas tau teev tseg hauv cov khoom 30z3h, LTz Y-Axis Decimal Digits PV.
Object Description
Index
30z6h (qhov twg z = 1 txog 6)
Lub npe
Ltz Point Y-Axis PV
Yam khoom hom ARRAY
Hom ntaub ntawv
INTEGER 16
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 11
Default Tus nqi 11
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 11h (x = 1 to 11) LTz Point Y-Axis PVx RW No Integer16 10*(x-1) [ie 0, 10, 20, 30, … 100]
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-75
3.4.26. Yam khoom 30z7h: Ltz tso zis Y-Axis PV
Cov khoom nyeem nkaus xwb no muaj cov lus saib xyuas kev ua haujlwm thaiv PV uas tuaj yeem siv los ua qhov chaw nkag rau lwm qhov kev ua haujlwm thaiv (xws li cov zis analog.) Lub cev lub cev rau cov khoom no tsis tau txhais, thiab nws yuav siv qhov kev daws teeb meem uas tau teev tseg hauv cov khoom 30z3h, Ltz Y-Axis Decimal Tus lej PV.
Object Description
Index
30z7h (qhov twg z = 1 txog 6)
Lub npe
Ltz tso zis Y-Axis PV
Yam khoom VARIABLE
Hom ntaub ntawv
INTEGER 16
Kev piav qhia nkag
Sub-Index
0h
Nkag mus
RO
PDO Mapping Yes
Tus nqi Range Integer16
Default Tus Nqi No
3.4.27 Nws. Yam khoom 4000h: Logic Block Enable
Cov khoom no txhais tau hais tias los yog tsis yog lub logic hauv daim duab 22 yuav raug soj ntsuam.
Object Description
Index
4000h ib
Lub npe
Logic Block Enable
Yam khoom hom ARRAY
Hom ntaub ntawv
BOOLEAN
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 4
Default Tus nqi 4
Sub-Index Description Access PDO Mapping Value Range Default Value
1h to 4h (x = 1 to 4) LBx Enable RW No 0 (FALSE) or 1 (TRUE) 0 [FALSE]
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-76
3.4.28 Nws. Yam khoom 4010h: Logic Block Selected Table
Cov khoom nyeem nkaus xwb no qhia txog lub rooj twg uas tau xaiv los ua qhov tso zis rau lub logic thaiv tom qab qhov kev ntsuam xyuas pom hauv daim duab 22 tau ua tiav.
Object Description
Index
4010h ib
Lub npe
Logic Block Xaiv Table
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 4
Default Tus nqi 4
Sub-Index Description Access PDO Mapping Value Range Default Value
1h txog 4h (x = 1 txog 4) LBx Selected Table RO Yes 1 to 6 No
3.4.29 Nws. Yam khoom 4020h: Logic Block Output PV
Cov khoom nyeem nkaus xwb no qhia txog cov khoom siv los ntawm cov lus xaiv, txhais ua ib qho percentage. Cov txwv rau percentage hloov dua siab tshiab yog nyob ntawm qhov ntau ntawm cov rooj saib Y-Axis Output PV raws li qhia hauv Table 17.
Object Description
Index
4020h ib
Lub npe
Logic Block Output PV
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 4
Default Tus nqi 4
Sub-Index Description Access PDO Mapping Tus nqi Range
1h txog 4h (x = 1 txog 4) LBx Output PV RO Yog Nyob ntawm Cov Rooj Xaiv
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-77
Default Tus Nqi No
3.4.30 Nws. Yam khoom 4x01h: LBx Lookup Table Numbers
Cov khoom no txiav txim siab qhov twg ntawm 1 lub rooj saib xyuas kev txhawb nqa ntawm XNUMXIN-CAN yog txuam nrog ib qho haujlwm tshwj xeeb hauv qhov muab logic block. Txog li peb lub rooj tuaj yeem txuas rau txhua qhov kev ua haujlwm logic.
Object Description
Index
4x01h (qhov twg x = 1 txog 4)
Lub npe
LBx Saib Cov Xov Tooj
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 3
Default Tus nqi 3
Sub-Index Description Access PDO Mapping Value Range Default Value
1h txog 3h (y = A rau C) LBx Lookup Table Y Number RW No 1 to 6 See Table 30
3.4.31 Nws. Yam khoom 4x02h: LBx Function Logical Operator
Cov khoom no txiav txim siab seb qhov txiaj ntsig ntawm peb yam xwm txheej rau txhua qhov haujlwm yuav raug muab piv rau ib leeg los txiav txim siab tag nrho lub xeev ntawm cov khoom tso tawm. Muaj txog peb txoj haujlwm uas tuaj yeem ntsuas tau hauv txhua lub logic block. Cov kev xaiv rau cov khoom no tau txhais nyob rau hauv Table 28. Saib Tshooj 1.8 yog xav paub ntxiv txog seb cov khoom no siv li cas.
Object Description
Index
4x02h (qhov twg x = 1 txog 4)
Lub npe
LBx Function Logical Operator
Yam khoom hom ARRAY
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 3
Default Tus nqi 3
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-78
Sub-Index Description Access PDO Mapping Value Range Default Value
1h mus rau 3h (y = A rau C) LBx Function Y Logical Operator RW Tsis Pom Table 28 Function A = 1 (thiab tag nrho) Function B = 1 (thiab tag nrho) Function C = 0 (default)
3.4.32. 3.4.33. 3.4.34. 3.4.35. 3.4.36 ib. 3.4.37. 3.4.38. 3.4.39 ib. 3.4.40 ib.
Object 4x11h: LBx Function A Condition 1 Object 4x12h: LBx Function A Condition 2 Object 4x13h: LBx Function A Condition 3 Object 4x21h: LBx Function B Condition 1 Object 4x22h: LBx Function Bx2 Object: LBx Function B Condition 4 x23h : LBx Function C Condition 3 Object 4x31h: LBx Function C Condition 1 Object 4x32h: LBx Function C Condition 2
Cov khoom no, 4xyzh, sawv cev rau Logic Block z, Function y, Condition z, qhov twg x = 1 txog 4, y = A rau C, thiab z = 1 txog 3. Tag nrho cov khoom no yog hom tshwj xeeb ntawm cov ntaub ntawv, txhais hauv Table 25. Cov ntaub ntawv hais txog kev siv cov khoom no tau txhais hauv Tshooj 1.8.
Object Description
Index
4 xyj
Lub npe
LBx Function y Condition z
Yam khoom RECORD
Hom ntaub ntawv
TSIS MUAJ 8
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 5
Default Tus nqi 5
Sub-Index Description Access PDO Mapping Value Range Default Value
1h Argument 1 Source RW No See Table 15 1 (CANopen Message)
Sub-Index Description
2h Argument 1 Number
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-79
Nkag mus rau PDO Daim Ntawv Qhia Tus Nqi Ntau Yam Tus Nqi Default Tus Nqi Qis Qis Nqe Lus Qhia Nkag PDO Mapping Tus Nqi Ntau Yam Tus Nqi Default
RW Tsis Pom Table 16 3 (EC Tau Txais PV 1) 3h Kev Sib Tham 2 Source RW Tsis Pom Table 15 3 (Constant PV)
Sub-Index Description Access PDO Mapping Value Range Default Value
4h Argument 2 Number RW No See Table 16 3 (Constant FV 3)
Sub-Index Description Access PDO Mapping Value Range Default Value
5h Operator RW Tsis Pom Table 26 0 (Equals)
3.4.41 Nws. Yam khoom 5010h: Tus nqi tam sim no
Cov khoom no yog muab los tso cai rau tus neeg siv los sib piv nrog tus nqi ruaj khov, piv txwv li rau kev teeb tsa tswj hauv lub voj PID, lossis hauv kev ntsuas kev ntsuas rau lub logic thaiv. Thawj ob qhov tseem ceeb hauv cov khoom no yog kho ntawm FALSE (0) thiab TRUE (1). Muaj plaub lwm sub-indexes muab rau lwm cov ntaub ntawv tsis txwv.
Object Description
Index
5010h ib
Lub npe
Tus nqi tam sim no
Yam khoom hom ARRAY
Hom ntaub ntawv
FLOAT 32
Kev piav qhia nkag
Sub-Index
0h
Kev piav qhia
Qhov loj tshaj sub-index txaus siab
Nkag mus
RO
PDO Mapping No
Tus nqi ntau yam 6
Default Tus nqi 6
Sub-Index Description Access
1h Tsis tu ncua RO
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-80
PDO Mapping Tus Nqi Ntau Yam Tus Nqi Default
Tsis muaj 0 (false)
Sub-Index Description Access PDO Mapping Value Range Default Value
2h Constant True RO No 1 1 (muaj tseeb)
Sub-Index Description Access PDO Mapping Value Range Default Value
3h Constant FV 3 RW Tsis Muaj Float32 25.0
Sub-Index Description Access PDO Mapping Value Range Default Value
4h Constant FV 4 RW Tsis Muaj Float32 50.0
Sub-Index Description Access PDO Mapping Value Range Default Value
5h Constant FV 5 RW Tsis Muaj Float32 75.0
Sub-Index Description Access PDO Mapping Value Range Default Value
6h Constant FV 6 RW Tsis Muaj Float32 100.0
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-81
3.4.42 Nws. Yam khoom 5020h: Fais fab mov Field Value
Cov khoom nyeem nkaus xwb no muaj rau kev tshuaj xyuas cov ntsiab lus. Nws qhia txog qhov ntsuas voltage powering tus maub los. Lub cev lub cev rau cov khoom no yog volts.
Object Description
Index
5020h ib
Lub npe
Fais fab mov Field Value
Yam khoom VARIABLE
Hom ntaub ntawv
FLOAT 32
Kev piav qhia nkag
Sub-Index
0h
Nkag mus
RO
PDO Mapping Yes
Tus nqi ntau yam 0 txog 70 [V]
Default Tus Nqi No
3.4.43 Nws. Yam khoom 5030h: Processor Temperature Field Value
Cov khoom nyeem nkaus xwb no muaj rau kev tshuaj xyuas cov ntsiab lus. Nws qhia txog qhov ntsuas kub ntawm lub processor, uas yuav ib txwm khiav li ntawm 10 ° C mus rau 20 ° C saum toj ib puag ncig. Lub cev lub cev rau cov khoom no yog degrees Celsius.
Object Description
Index
5030h ib
Lub npe
Processor Temperature Field Tus nqi
Yam khoom VARIABLE
Hom ntaub ntawv
FLOAT 32
Kev piav qhia nkag
Sub-Index
0h
Nkag mus
RO
PDO Mapping Yes
Tus nqi ntau -50 txog 150 [°C]
Default Tus Nqi No
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-82
3.4.44 Nws. Yam khoom 5555h: Pib ua haujlwm hom
Cov khoom no tso cai rau chav tsev pib ua haujlwm yam tsis tas yuav tsum muaj CANopen ® Master hauv lub network. Nws yog npaj los siv tsuas yog thaum khiav lub 1IN-CAN maub los ua ib qho module stand-alone. Qhov no yuav tsum tau teeb tsa FALSE thaum twg nws txuas nrog tus qauv tswv / qhev network.
Object Description
Index
5555h ib
Lub npe
Pib hauv Kev Ua Haujlwm Hom
Yam khoom VARIABLE
Hom ntaub ntawv
BOOLEAN
Kev piav qhia nkag
Sub-Index
0h
Nkag mus
RW
PDO Mapping No
Tus nqi Range 0 (FALSE) lossis 1 (TRUE)
Default Value 0 [FALSE]
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-83
4. TECHNICAL SPECIFICATIONS
4.1. Fais fab mov
Fais fab mov Input Protection
12, 24 VDC nominal (8… 36VDC fais fab mov ntau)
Rov qab polarity tiv thaiv yog muab. Fais fab mov input seem tiv thaiv tsis pub dhau surges thiab luv. Overvoltage tiv thaiv mus txog 38V yog muab. Overvoltage (uatagthiab).
4.2. Cov tswv yim
Analog Input Functions Voltage Input
Cov tswv yim tam sim no
PWM Input
Zaus Input
Counter Input Digital Input Function
Input Accuracy Analog Input Resolution Digital Input Resolution Error Detection/Reaction
Voltage [V], Current [mA], PWM [%], Frequency [Hz], RPM, Counter
0-5V 0-10V
(Impedance 204 K) (Impedance 136 K)
0-20mA 4-20mA
(Impedance 124) (Impedance 124)
0 mus rau 100% (ntawm 0.5Hz txog 20kHz) Xaiv tau 10k rub mus rau +5V lossis rub down rau GND resistor
0.5Hz txog 20kHz Xaiv tau 10k rub mus rau +5V lossis rub mus rau GND resistor
Pulse suav, ntsuas qhov rais, Pulses hauv Qhov rai
5V CMOS, Active High lossis Active Tsawg Xaiv 10k rub mus rau + 5V lossis rub mus rau GND resistor Ib txwm, Inverse lossis latched (push-khawm) teb
<1% tag nrho scale yuam kev (txhua hom)
12-ntsis ADC
16-ntsis timer
Tawm ntawm Range High thiab Low detection EMCY code tiam (khoom 1003h) thiab ua txhaum cov tshuaj tiv thaiv tau (1029h).
4.3. Kev sib txuas lus
YOG
Network Termination
1 CAN 2.0B chaw nres nkoj, raws tu qauv CiA CANopen ® Los ntawm lub neej ntawd, 1IN-CAN Controller xa cov khoom ntsuas ntsuas (FV khoom 7100h) thiab tso tawm cov lus tawm tswv yim tam sim no (FV khoom 2370h) ntawm TPDO1
Raws li tus qauv CAN, nws yog ib qho tsim nyog yuav tsum tau txiav tawm lub network nrog kev txiav tawm sab nraud. Cov resistors yog 120 Ohm, 0.25W yam tsawg kawg nkaus, hlau zaj duab xis lossis hom zoo sib xws. Lawv yuav tsum muab tso rau ntawm CAN_H thiab CAN_L terminals ntawm ob qhov kawg ntawm lub network.
4.4. General Specifications
Microprocessor
STM32F103CBT7, 32-ntsis, 128 Kbytes Flash Program Memory
Quiescent Current
Hu rau Axiomatic.
Tswj Logic
Tus neeg siv programmable functionality siv Electronic Assistant®
Kev sib txuas lus
1 CAN chaw nres nkoj (CANopen®), SAE J1939 muaj nyob rau ntawm kev thov.
Cov xwm txheej ua haujlwm
-40 txog 85 C (-40 txog 185 F)
Kev tiv thaiv
IP67
Kev ua raws li EMC
CE kos npe
Kev vibration
MIL-STD-202G, Test 204D thiab 214A (Sine thiab Random) 10 g ncov (Sine); 7.86 Grms ncov (Random) (Tsav)
poob siab
MIL-STD-202G, Test 213B, 50 g (Tsav)
Kev pom zoo
CE kos npe
Kev sib txuas hluav taws xob
6 tus pin Deutsch IPD connector P/N: DT04-6P A mating plug kit yog muaj li Axiomatic P/N: AX070119.
Pin #1 2 3 4 5 6
Nqe lus piav qhia BATT + Input + CAN_H CAN_L Cov Lus Qhia BATT-
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-84
5. VERSION HISTORY
Version Hnub tim
1
Peb Hlis 31, 2016
Tus sau
Kev hloov kho
Gustavo Del Valle Initial Draft
UMAX031701, Ib qho kev tawm tswv yim rau CANopen Controller V1
A-85
Peb cov khoom
Actuator Controls Battery Chargers CAN tsheb npav Controls, Gateways CAN/Wifi, CAN/Bluetooth Current Converters DC/DC Fais fab Converters DC Vol.tage/Tam sim no Signal Converters Cav Kub Scanners Ethernet/CAN Converters Ntxuam Tsav Controllers Hydraulic Valve Controllers I/O Tswj LVDT Simulators Tshuab Tswj Lub Cev Tsav Tswj PID Tswj Txoj Haujlwm Sensors, Lub Cev Ntsuas Inclinometers Cov Khoom Siv Hluav Taws Xob PWM Cov Khoom Siv Hluav Taws Xob Hluav Taws Xob Hluav Taws Xob Hluav Taws Xob Hluav Taws Xob Hluav Taws Xob Hluav Taws Xob Hluav Taws Xob Hluav Taws Xob Hluav Taws Xob Hluav Taws Xob Hluav Taws Xob Hluav Taws Xob Hluav Taws Xob Hluav Taws Xob Lim Gauge tuaj yeem tswj cov Surge Suppressors
Peb lub tuam txhab
Axiomatic muab cov tshuab hluav taws xob tswj, cov khoom siv, thiab cov tshuab rau kev tawm ntawm txoj kev loj, kev lag luam tsheb, hluav taws xob tsheb, lub tshuab hluav taws xob teeb, cov khoom siv, lub zog tauj dua tshiab thiab kev lag luam OEM.
Peb muab cov kev daws teeb meem zoo, tsim kho tshiab uas tsom rau kev ntxiv tus nqi rau peb cov neeg siv khoom.
Peb hais txog kev pabcuam thiab kev koom tes nrog peb cov neeg siv khoom, cov chaw muag khoom, thiab cov neeg ua haujlwm los tsim kev sib raug zoo mus ntev thiab kev ntseeg siab.
QUALITY DESIGN THIAB MANUFACTURING
Axiomatic yog ISO 9001: 2008 qhov chaw sau npe.
Kev Pabcuam
Tag nrho cov khoom yuav tsum xa rov qab mus rau Axiomatic yuav tsum tau xa rov qab cov ntaub ntawv tso cai naj npawb (RMA#).
Thov muab cov ntaub ntawv hauv qab no thaum thov tus lej RMA: · Tus lej Serial, tus lej ntu · Axiomatic invoice naj npawb thiab hnub tim · Sijhawm ua haujlwm, piav qhia txog teeb meem · Kev teeb tsa teeb tsa, daim ntawv thov · Lwm cov lus pom raws li xav tau
Thaum npaj cov ntaub ntawv xa rov qab, thov nco ntsoov cov hauv qab no. Daim ntawv tshaj tawm kev lag luam rau kev lis kev cai (thiab daim ntawv ntim khoom) yuav tsum hais txog kev sib haum xeeb thoob ntiaj teb HS (tariff code), kev ntsuas tus nqi thiab xa cov khoom xa rov qab, raws li qhia hauv kab lus hauv qab no. Tus nqi ntawm cov chav nyob ntawm daim ntawv tshaj tawm kev lag luam yuav tsum zoo ib yam rau lawv cov nqi yuav khoom.
Cov Khoom Ua Hauv Tebchaws Canada (lossis Finland) Cov Khoom Xa Rov Qab Rau Kev Ntsuam Xyuas Kev Pov Hwm, HS: 9813.00 Kev Ntsuas Tus Kheej Cov Khoom Siv Axiomatic RMA#
WARRANTY, APPLICATION APPROVALS/LIMITATIONS
Axiomatic Technologies Corporation muaj txoj cai los kho, hloov kho, txhim kho, txhim kho, thiab lwm yam kev hloov pauv rau nws cov khoom thiab cov kev pabcuam txhua lub sijhawm thiab txiav tawm ib yam khoom lossis kev pabcuam yam tsis muaj ntawv ceeb toom. Cov neeg siv khoom yuav tsum tau txais cov ntaub ntawv tseem ceeb tshaj plaws ua ntej muab xaj thiab yuav tsum xyuas kom meej tias cov ntaub ntawv no yog tam sim no thiab tiav. Cov neeg siv yuav tsum txaus siab rau lawv tus kheej tias cov khoom tsim nyog siv rau hauv daim ntawv thov npaj. Tag nrho peb cov khoom muaj ib tug txwv warranty tiv thaiv tsis xws luag nyob rau hauv cov khoom thiab workmanship. Thov xa mus rau peb Warranty, Application Approvals/Limitations and Return Materials Process raws li tau piav nyob rau ntawm www.axiomatic.com/service.html.
Hu rau
Axiomatic Technologies Corporation 5915 Wallace Street Mississauga, ON CANADA L4Z 1Z8 TEL: +1 905 602 9270 FAX: +1 905 602 9279 www.axiomatic.com
Axiomatic Technologies Oy Höytämöntie 6 33880 Lempäälä FINLAND TEL: +358 103 375 750 FAX: +358 3 3595 660 www.axiomatic.fi
Copyright 2018
Cov ntaub ntawv / Cov ntaub ntawv
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AXIOMATIC AX031701 Ib qho Universal Input Controller [ua pdf] Tus neeg siv phau ntawv AX031701 Ib qho Universal Input Controller, AX031701, Ib Leeg Universal Input Controller, Universal Input Controller, Input Controller, Controller |