AX031701 Taolo e le 'Ngoe ea Lintho tsa Kakaretso
“
Tlhahisoleseding ya Sehlahiswa
Litlhaloso
- Lebitso la Sehlahisoa: Molaoli a le Mong oa Universal Input
- Nomoro ea mohlala: UMAX031701
- Nomoro ea likarolo: AX031701
- Protocol ea Khokahano: CANopen
- Tumellano ea ho Kena: Lisensara tsa analoge bakeng sa voltage, jwale,
frequency/RPM, PWM, le matshwao a dijithale - Laola Algorithms: Proportional-Integral-Derivative Control
(PID)
Litaelo tsa Tšebeliso ea Sehlahisoa
1. Litaelo tsa ho kenya
2.1 Litekanyo le Pinout
Sheba buka ea mosebelisi bakeng sa litekanyo tse qaqileng le pinout
tlhahisoleseding.
2.2 Litaelo tsa ho kenya
Latela litaelo tsa ho instola tse fanoeng bukeng ea mosebelisi
ho seta Selaoli se le Mong sa Universal Input ka nepo.
2. Digital Input Function Block
Sebaka sa tšebetso sa dijithale se kenngoe tšebetsong ha ntho 6112h,
Ts'ebetso ea AI, e hlophiselitsoe karabelo ea tlhahiso ea dijithale.
Ha 6112h e behiloe ho 10 = Kenyelletso ea Digital, ntho 2020h DI
Pullup/Down Mode e etsa qeto ea hore na lets'oao la ho kenya le sebetsa holimo kapa
mafolofolo tlase.
Object 2021h DI Debounce Time e sebelisoa ho kenya letsoho pele ho
state e baloa ke processor, ka nako ea debounce ea kamehla ea
10ms.
Sheba Tafole ea 1 bakeng sa DI Pullup/Down Options:
| Boleng | Tlhaloso |
|---|---|
| 0 | Pullup/Down E holofetse (kenyeletso e phahameng ea impedance) |
| 1 | 10k Pullup Resistor e nolofalitsoe |
| 2 | 10k Pulldown Resistor e Matlafalitsoe |
Setšoantšo sa 3 se bontša hysteresis ka ho kenya letsoho ha u fetola a
sesupo se ikhethileng. Kenyelletso ea dijithale e ka fetoloa ho fihla ho +Vcc
(48Vmax).
LBH
P: Nka fumana kae litšupiso tse ling bakeng sa sena
sehlahisoa?
A: Litšupiso tse ling tsa sehlahisoa sena li fumaneha ho tsoa ho
CAN ho Automation eV webSebaka sa marang-rang ho http://www.can-cia.org/.
"`
MANAKO EA MOSEBETSI UMAX031701 Mofuta oa 1
MOLAOLI OA MOLAOLI OA SEKETSENG
Ka CANopen®
MOEKETSI MOSEBETSI
P/N: AX031701
ACRONYMS AI KA KAA CANopen®
Analog Input (Universal) Controller Area Network CANopen® ke letšoao la khoebo le ngolisitsoeng la sechaba la CAN in Automation eV.
KA-ID
CAN 11-bit Identifier
COB
Sepheo sa Puisano
CTRL
Taolo
DI
Input ea dijithale
EDS
Letlapa la Boitsebiso ba Elektronike
EMCY
Boemo ba tshohanyetso
LSB
Hanyane Bohlokoa Byte (kapa Bit)
LSS
Tšebeletso ea ho lokisa lera
MSB
Bohlokoa ka ho Fetisisa Byte (kapa Bit)
NMT
Tsamaiso ea Marang-rang
PID
Proportional-Integral-Derivative Control
RO
Bala Feela Ntho
RPDO
Ntho e Amogetsoeng ea Boitsebiso ba Tshebetso
RW
Bala/Ngola Ntho
SDO
Ntho ea Boitsebiso ba Tšebeletso
TPDO
Ntho ea Ts'ebetso e Fetisitsoeng
WO
Ngola Feela Ntho
LIEKETSENG
[DS-301]CiA DS-301 V4.1 CANopen Application Layer le Communication Profile. CAN ho Automation 2005
[DS-305]CiA DS-305 V2.0 Layer Setting Service (LSS) le Protocols. CAN ho Automation 2006
[DS-404]CiA DS-404 V1.2 CANopen profile bakeng sa Lisebelisoa tsa Mekhahlelo le Li-Loop Controllers tse Koetsoeng. CAN ho Automation 2002
Litokomane tsena li fumaneha ho tsoa ho CAN in Automation eV websebaka sa marang-rang http://www.can-cia.org/.
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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TAFOLE EA LIKATENG
1. MOKHOAVIEW OA MOLAOLI ……………………………………………………………………………………….1 1.1. Tlhaloso ea Selaoli se le Mong sa 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. Mescellaneous Function Block………………………………………………………………………………..23
2. DITAELO TSA HO KENYA ……………………………………………………………………………….25 2.1. Litekanyo le Pinout…………………………………………………………………………………..25 2.2. Litaelo tsa ho Kena …………………………………………………………………………………….26
3. CANOPEN ® OBJECT DICTIONARY ……………………………………………………………………………..28 3.1. NODE ID le BAUDRATE ………………………………………………………………………………….28 3.2. LINTLHA TSA KHOPANO (DS-301 le DS-404) ………………………………………………………… LITHO TSA KOPO (DS-32) ……………………………………………………………………….3.3 404. LINTHO TSA MOHAPI …………………………………………………………………………………..50
4. LINTLHA TSE LING TSA MOSEBETSI ………………………………………………………………………………….84 4.1. Phepelo ea Matla ………………………………………………………………………………………………… Maikutlo ………………………………………………………………………………………………………..84 4.2. Puisano ………………………………………………………………………………………………………84 4.3. Litlhaloso tse akaretsang ………………………………………………………………………………………84
5. HISTORI YA VERSION………………………………………………………………………………………………..85
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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1. MOKHOAVIEW MOLAOLI
1.1. Tlhaloso ea Molaoli a le Mong oa Universal Input
Bukana e latelang ea Mosebelisi e hlalosa meralo le tšebetso e le selaoli se le seng sa bokahohle sa CANopen ®.
Single Input Controller (1IN-CAN) e etselitsoe litekanyo tse tsoelang pele tsa li-analoge le ho hasa litaba holima bese ea marang-rang ea CANopen. Moralo oa eona oa potoloho o feto-fetohang o e lumella ho lekanya mefuta e fapaneng ea matšoao, ho kenyelletsa le voltage, hona joale, frequency/RPM, PWM le matšoao a dijithale. Li-algorithms tsa taolo ea firmware li lumella bokhoni ba ho etsa liqeto tsa data pele u phatlalatsa ho netweke ea CANopen ntle le tlhoko ea software e ikhethileng.
Li-block tsa tšebetso tse fapaneng tse tšehelitsoeng ke 1IN-CAN li hlalositsoe likarolong tse latelang. Lintho tsohle li ka lokisoa ho sebelisoa lisebelisoa tse tloaelehileng tse fumanehang khoebong tse ka sebelisanang le CANopen ® Object Dictionary ka .EDS file.
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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1.2. Digital Input Function Block
Sesebelisoa sa "Dijithale" sa "Dijithale" (DI) se sebetsa feela ho kenyelletsong ha ntho 6112h, AI Operation, e behiloe karabong ea tlhahiso ea dijithale.
Setšoantšo sa 2 Lintho tsa Kenyelletso tsa Digital
Ha 6112h e behiloe ho 10 = Digital Input, ntho 2020h DI Pullup/Down Mode e tla etsa qeto ea hore na lets'oao la ho kenya le sebetsa holimo (10k pulldown e lumelletsoe, switjha ho +V) kapa e tlase e sebetsang (10k hula e nolofalitsoe, e fetoletsoe ho GND) Likhetho bakeng sa ntho 2020h li bonts'itsoe ho Lethathamo la 1, 'me ea kamehla e ngotsoe ka mongolo o motenya.
Boleng 0 1 2
Moelelo oa ho Pullup/Down Holofetse (kenyeletso e phahameng ea impedance) 10k Pullup Resistor E Nolofalitsoe 10k Pulldown Resistor E Matlafalitsoe
Letlapa la 1: DI Pullup/Down Options
Setšoantšo sa 3 se bonts'a hysteresis ho kenyelletso ha o chencha lets'oao la discrete. Kenyelletso ea dijithale e ka fetoloa ho fihla ho +Vcc (48Vmax.)
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Inpu Voltage (V) Letšoao la Dijithale
Keletso Voltage (V) Letšoao la Dijithale
Discrete Input Active High Hysteresis
Discrete Input Active Low 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
Keletso Voltage Digital Hi/Lo
Keletso Voltage (V) Digital Hi/Lo
Setšoantšo sa 3 Discrete Input Hysteresis
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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Object 2021h DI Debounce Nako e sebelisoa ho kenyelletsong pele mmuso o baloa ke processor. Ka mokhoa o ikhethileng, nako ea debounce ke 10ms.
Setšoantšo sa 4 Digital Input Debouncing
Hang ha boemo bo tala bo hlahlobiloe, boemo bo utloahalang ba ho kenya letsoho bo khethoa ke ntho 6030h DI Polarity. Dikgetho tsa ntho 6030h di bontshitswe ho Lethathamo la 3. Boemo ba `ballotsweng' ba DI bo tla ngollwa ntho e balwang feela 6020h DI Read State e tla ba motswako wa matla a phahameng/tlase mme polarity e kgethilweng. Ka ho sa feleng, ho sebelisoa logic e tloaelehileng ea ho tima / ho tima.
Boleng ba Boleng ba 0 Tloaelehileng On/Off 1 Inverse On/Off 2 Latched Logic
Phahameng ka mafolofolo
Tlase e sebetsang
Naha
PHAHAMENG
PHAKOANE
ON
LOW kapa Open HIGH kapa Open
TLOA
PHAHAMENG
PHAKOANE
TLOA
LOW kapa Open HIGH kapa Open
ON
HO PHAHAMA ho isa HO TLASE HO FIHLELA HO PHAHAMA
Ha ho Phetoho
LOW ho isa ho HIGH HIGH ho isa ho LOW State Change (ke hore, OFF ho ON)
Letlapa la 2: Likhetho tsa DI Polarity khahlano le DI State
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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Ho na le mofuta o mong oa ho kenya `digital' o ka khethoang ha 6112h e setetsoe ho 20 = Analog On/Off. Leha ho le joalo, tabeng ena, ho kenya letsoho ho ntse ho hlophisitsoe e le ho kenngoa ha analog, kahoo lintho tse tsoang ho Analog Input (AI) block li sebelisoa ho e-na le tse boletsoeng ka holimo. Mona, lintho tse 2020h, 2030h le 6030h li hlokomolohuoa, 'me 6020h e ngotsoe ho ea ka logic e bontšitsoeng ho Setšoantšo sa 5. Tabeng ena, MIN parameter e behiloe ke ntho 7120h AI Scaling 1 FV,' me MAX e behiloe ke 7122h AI Scaling. 2 FV. Bakeng sa mekhoa e meng eohle ea ts'ebetso, ntho ea 6020h e tla lula e le zero.
Sets'oants'o sa 5 se Kenyellelitsoeng sa Analog se Baliloe joalo ka Dijithale 1.3. Sethibelo sa Mosebetsi oa Analog Sehlomathiso sa tšebetso sa analoge (AI) ke sehokahanyi sa kamehla sa logic se amanang le kenyeletso ea bokahohle.
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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Setšoantšo sa 6 Lintho tse Kenyellelitsoeng tsa Analog
Object 6112h, AI Operating Mode e etsa qeto ea hore na AI kapa DI block block e amahanngoa le ho kenya. Likhetho tsa ntho 6112h li bonts'itsoe ho Lethathamo la 4. Ha ho boleng bo bong ntle le bo bontšitsoeng mona bo tla amoheloa.
Boleng bo Bolelang 0 Channel Off 1 Ts'ebetso e Tloaelehileng (analoge) 10 Digital Input (ho/ tima) 20 Analog le On/Off
Lethathamo la 3: Likhetho tsa Mokhoa oa Ts'ebetso oa AI
Ntho ea bohlokoa ka ho fetisisa e amanang le AI block block ke ntho 6110h AI Sensor Type. Ka ho fetola boleng bona, le ho amahanngoa le eona ntho ea 2100h AI Input Range, lintho tse ling li tla nchafatsoa ka bo eona ke molaoli. Likhetho tsa ntho 6110h li bonts'itsoe ho Lethathamo la 5, 'me ha ho litekanyetso tse ling ntle le tse bontšitsoeng mona tse tla amoheloa. Kenyelletso ke setup ho metha voltage ka ho sa feleng.
Boleng Bo Bolelang 40 Moqtage Kenyeletso 50 Hona Jwale Ke Kenyo ya 60 Frequency Input (kapa RPM)
10000 PWM Input 10010 Counter
Letlapa la 4: Likhetho tsa Mofuta oa Sensor oa AI
Mekhahlelo e lumelletsoeng e tla ipapisa le mofuta oa sensor ea ho kenya e khethiloeng. Letlapa la 6 le bonts'a kamano lipakeng tsa mofuta oa sensor, le likhetho tse amanang le mefuta e fapaneng. Boleng ba kamehla bakeng sa mofuta o mong le o mong o ngotsoe ka sebete, 'me ntho ea 2100h e tla nchafatsoa ka boleng bona ha 6110h e fetoloa. Lisele tse soeufalitsoeng li bolela hore boleng bo amanang ha bo lumelloe bakeng sa ntho e fapaneng ha mofuta oa sensor o khethiloe.
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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Boleng 0 1 2
Moqtage 0 ho 5V 0 ho 10V
Hajoale 0 ho 20mA 4 ho 20mA
Khafetsa
PWM
0.5Hz ho 20kHz 0.5Hz ho 20kHz
Letlapa la 5: Likhetho tsa AI tsa Input Range Ho latela Mofuta oa Sensor
Counter Pulse Count Nako Window Pulse Window
Ha se lintho tsohle tse sebetsang ho mefuta eohle ea ho kenya. Bakeng sa mohlalaample, ntho 2103h AI Filter Frequency bakeng sa ADC e sebetsa feela ka voltage, hona joale kapa ho hanyetsa ho ntse ho lekanngoa. Maemong ana, ADC e tla itlhopha ka bo eona ho latela Lethathamo la 7, 'me e hlophiselitsoe ho hana lerata la 50Hz ka boiketsetso.
Moelelo oa Boleng 0 Sesefa se Kena Se Tloha Sesefa se le 1 50Hz 2 Sefe 60Hz 3 Sefe 50Hz le 60Hz
Lethathamo la 6: ADC Filter Frequency Options
Ka lehlakoreng le leng, maqhubu le lisebelisoa tsa PWM li sebelisa ntho ea 2020h DI Pullup / Down Mode (sheba Lethathamo la 1)tage, lisebelisoa tsa hajoale le tse hanyetsanang li beha ntho ena ho zero. Hape, ho kenya letsoho khafetsa ho ka fetoloa ka boits'oaro tekanyo ea RPM ho fapana le ho beha ntho 2101h AI Number of Pulses Per Revolution ho boleng boo e seng zero. Mefuta e meng kaofela ea ho kenya e iphapanyetsa ntho ena.
Ka mefuta ea ho kenya ea Frequency/RPM le PWM, AI Debounce Time, ntho 2030h e ka sebelisoa. Likhetho tsa ntho 2030h li bonts'itsoe ho Lethathamo la 2, 'me ea kamehla e ngotsoe ka mongolo o motenya.
Boleng Meelelo 0 Filter Disabled 1 Filter 111ns 2 Filter 1.78 us 3 Filter 14.22 us
Letlapa la 7: AI Debounce Filter Options
Ho sa tsotellehe hore na ke mofuta ofe, leha ho le joalo, lisebelisoa tsohle tsa analog li ka hloekisoa ka ho eketsehileng hang ha data e tala e lekantsoe (ebang ke ho tloha ho ADC kapa Timer.) Mofuta oa 61A0h AI Filter o etsa qeto ea hore na ke mofuta ofe oa filthara o sebelisoang ho Lethathamo la 8. Ka ho feletseng, ho hloekisa software e eketsehileng e holofetse.
Boleng bo Bolelang 0 Ha ho Sesefa 1 Moving Average 2 Repeating Average
Lethathamo la 8: Likhetho tsa Mofuta oa Sesefa sa AI
Object 61A1h AI Filter Constant e sebelisoa le mefuta eohle e meraro ea lihloela ho latela liforomo tse ka tlase:
Palo e se nang sefe: Boleng = Kenyeletso Lintlha ke `setšoantšo' sa boleng ba morao-rao bo lekantsoeng ke ADC kapa sebali-nako.
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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Palo ka sekhahla se tsamaeang ka sekhahla: (Input ValueN-1)
ValueN = BolengN-1 + FilterConstant
Setlhopha sena se bitsoa 1ms e 'ngoe le e 'ngoe. Boleng ba FilterConstant e bolokiloeng nthong ea 61A1h ke 10 ka ho sa feleng.
Palo ka sekhahla se iphetang sa sefe:
InputN
Boleng = N
Palong e 'ngoe le e 'ngoe ea boleng ba ho kenya, e eketsoa ka kakaretso. Ha Nth e 'ngoe le e 'ngoe e baloa, kakaretso e aroloa ka N, 'me sephetho ke boleng bo bocha ba ho kenya. Boleng le khaonta li tla beoa ho zero bakeng sa 'malo o latelang. Boleng ba N bo bolokoa nthong ea 61A1h, 'me ke 10 ka ho sa feleng. Setlhopha sena se bitsoa 1ms e 'ngoe le e 'ngoe.
Theko e tsoang ho sefe e fetotsoe ho latela ntho e baloang feela 2102h AI Decimal Digits FV ebe e ngolloa ntho e baloang feela 7100h AI Input Field Value.
Boleng ba 2102h bo tla itšetleha ka Mofuta oa Sensor oa AI le Input Range e khethiloeng, 'me e tla nchafatsoa ka bo eona ho Lethathamo la 9 ha 6110h kapa 2100h e fetoloa. Lintho tse ling kaofela tse amanang le boleng ba sebaka sa ho kenya li sebelisa ntho ena. Lintho tsena ke 7120h AI Scaling 1 FV, 7122h AI Scaling 2 FV, 7148h AI Span Start, 7149h AI Span End, le 2111h AI Error Clear Hysteresis. Lintho tsena li boetse li ntlafatsoa ka bo eona ha Mofuta kapa Range e fetoloa.
Mofuta oa Sensor le Range
Decimal
Lipalo
Moqtage: Mefuta eohle
3 [mV]
Hona joale: Mefuta eohle
3 [uA]
Khafetsa: 0.5Hz ho isa 20kHz 0 [Hz]
Khafetsa: Mokhoa oa RPM
1 [0.1 RPM]
PWM: Mefuta eohle
1 [0.1 %]
Input ea dijithale
0 [Bula/Tima]
Counter: Pulse Count
0 [lithapo]
Counter: Fensetere ea Nako/Ho Pulse 3 [ms]
Letlapa la 9: AI Decimal Digits FV Ho latela Mofuta oa Sensor
Ke AI Input FV e sebelisoang ke kopo ea ho lemoha phoso, 'me e le letšoao la taolo bakeng sa li-blocks tse ling tsa logic (ke hore taolo ea tlhahiso.) Ntho ea 7100h e ka khoneha ho TPDO,' me e ngotsoe ho TPDO1 ka ho feletseng.
Ntho e balang feela 7130h AI Input Process Boleng le eona e ka khonahala. Leha ho le joalo, litekanyetso tsa kamehla tsa lintho 7121h AI Scaling 1 PV le 7123h AI Scaling 2 PV li behiloe ho lekana 7120h le 7122h ka ho latellana, ha ntho ea 6132h AI Decimal Digits PV e qala ka bo eona ho lekana 2102h. Sena se bolela hore kamano ea kamehla lipakeng tsa FV le PV ke ea motho a le mong, kahoo ntho 7130h ha e etsoe 'mapa ho TPDO ka ho sa feleng.
Ha kamano e fapaneng ea mola pakeng tsa se lekantsoeng khahlano le se romelloang beseng ea CANopen e ka batloa, lintho tse 6132h, 7121h le 7123h li ka fetoloa. The linear
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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likamano profile e bontšoa ho Setšoantšo sa 7 ka tlase. Ha ho ka ba le karabelo e sa tsitsang e ka batloang, ho ka sebelisoa blockup table function block, joalo ka ha ho hlalositsoe karolong ea 1.7.
Setšoantšo sa 7 Kenyelletso ea Analog Linear Scalling FV to PV Joalo ka ha ho boletsoe pejana, lintho tsa FV scaling li nchafatsoa ka bo eona ka mofuta oa Sensor kapa Range liphetoho. Sena ke hobane lintho 7120h le 7122h ha li sebelisoe feela ka mokhoa oa ho fetoha ho tloha FV ho ea ho PV joalokaha ho hlalositsoe ka holimo, empa hape e le meeli e fokolang le e phahameng ha ho kenya letsoho ho sebelisoa ho laola thibela e 'ngoe ea logic. Ka hona, litekanyetso tsa lintho tsena li bohlokoa, leha ntho ea AI Input PV e sa sebelisoe.
Lintho tsa AI Span Start le AI Span End li sebelisetsoa ho lemoha liphoso, kahoo le tsona li nchafatsoa ka mokhoa o ikemetseng bakeng sa litekanyetso tse utloahalang ha Mofuta / Range e fetoha. Ntho ea Error Clear Hysteresis le eona e nchafalitsoe, kaha le eona e lekantsoe ka yuniti e tšoanang le ntho ea AI Input FV.
Lethathamo la 10 le thathamisa litekanyetso tsa kamehla tse kentsoeng linthong 7120h, 7122h, 7148h, 7149h, le 2111h bakeng sa motsoako o mong le o mong oa Sensor Type le Input Range. Hopola hore lintho tsena kaofela li na le linomoro tsa decimal tse sebelisoang ho tsona joalo ka ha li hlalositsoe ho Lethathamo la 9.
Mofuta oa Sensor/ Lekhalo la ho Kena
Moqtage: 0 ho 5V Voltage: 0 ho 10V Hajwale: 0 ho 20mA Hona Jwale: 4 ho 20mA Freq: 0.5Hz ho 20kHz Freq: RPM Mode PWM: 0 ho 100% Digital Input Counter Input
7148h
7120h
7122h
7149h
AI Span Start AI Scaling 1 FV AI Scaling 2 FV AI Span End
(ke hore Error Min) (ke hore Input Min) (ke hore Input Max) (ke hore Error 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%]
TLOA
TLOA
ON
ON
0
0
60000
60000
Letlapa la 10: Li-Defaults tsa Ntho ea AI e Thehiloe ho Mofuta oa Sensor le Range ea ho Kena
Phoso ea 2111h Hlakola Hysteresis
100 [mV] 200 [mV] 250 [uA] 250 [uA] 5 [Hz] 100 [0.1RPM] 10 [0.1%] 0
60000
Ha u fetola lintho tsena, Letlapa la 11 le hlalosa litšitiso tse behiloeng ho e 'ngoe le e' ngoe ho latela mofuta oa Sensor le Input Range e khethiloeng. Maemong 'ohle, boleng ba MAX ke pheletso e kaholimo ea sebaka (ke hore 5V kapa ) Object 7122h e ka se behoe ho feta MAX, athe 7149h e ka beoa ho fihla ho 110% ea MAX. Object 2111h ka lehlakoreng le leng e ka hlophisoa ho fihlela boleng bo phahameng ba 10% ea MAX. Letlapa la 11 le sebelisa yuniti ea motheo ea kenyeletso, empa hopola hore meeli e tla ba le ntho ea 2102h e sebetsang ho bona joalo ka Lethathamo la 9.
Mofuta oa Sensor/ Lekhalo la ho Kena
7148h
7120h
7122h
7149h2111h
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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Moqtage: 0 ho 5V le 0 ho
10V
Hona joale: 0 ho 20mA
0 ho isa ho 7120h
7148h ho 7122h
RPM: 0 ho isa ho 6000RPM
7120h ho 7149h
PWM: 0 ho isa ho 100%
Haeba(7149h>MAX)
Hona joale: 4 ho 20mA
0 ho isa ho 7120h
7148h ho isa ho 7122h Haeba(7148h<4mA) 4mA ho isa ho 7122h
7120h ho isa ho MAX
Khafetsa: 0.5Hz ho 20kHz
0.1Hz ho isa ho 7120h
7148h ho isa ho 7122h Haeba(7148h<0.5Hz) 0.5Hz ho isa ho 7122h
Lethathamo la 11: Mekhahlelo ea Lintho tsa AI e Thehiloe ho Mofuta oa Sensor le Range ea ho Kena
7122h ho isa ho 110% ea
MAX
10% ea MAX
Lintho tsa ho qetela tse amanang le "analoge input block" tse setseng ho buisanoa ke tse amanang le ho lemoha liphoso. Haeba kenyeletso e balwang (kamora ho metha le ho sefa) e wela ka ntle ho sebaka se dumelletsweng, jwaloka ha ho hlaloswa ke dintho tsa AI Span Start le AI Span End, folaga ya phoso e tla hlongwa tshebedisong haeba feela ntho e 2110h AI e fumanwang e dumeletswe. beha ho 'NETE (1).
Ha (7100h AI Input FV <7148h AI Span Start), ho behiloe folakha ea "Out of Range Low". Haeba folakha e lula e sebetsa bakeng sa nako ea 2112h AI ea ho Lieha, molaetsa oa Input Overload Emergency (EMCY) o tla eketsoa ho ntho ea 1003h Pre-Defined Error Field. Ka mokhoa o ts'oanang, ha (7100h AI Input FV> 7149h AI Span End), folakha ea "Out of Range High" e behiloe, 'me e tla hlahisa molaetsa oa EMCY haeba e ka lula e sebetsa nakong eohle ea ho lieha. Boemong bofe kapa bofe, kopo e tla arabela molaetsa oa EMCY joalo ka ha o hlalosoa ke ntho 1029h Boitšoaro ba Phoso ho index e tlase e tsamaellanang le Phoso ea Kenyelletso. Sheba karolo ea 3.2.4 le 3.2.13 bakeng sa boitsebiso bo eketsehileng mabapi le lintho 1003h le 1029h.
Ha phoso e se e lemohuoe, folakha e amanang le eona e tla hlakoloa hang feela ha tlhahiso e khutlela sebakeng. Object 2111h AI Error Hlakola Hysteresis e sebelisoa mona e le hore folakha ea phoso e se ke ea hlongoa/ea hlatsuoa nako le nako ha AI Input FV e ntse e lla ho potoloha boleng ba AI Span Start/End.
Ho hlakola folakha ea "Out of Range Low", AI Input FV >= (AI Span Start + AI Error Clear Hysteresis) Ho hlakola folakha ea "Out of Range High", AI Input FV <= (AI Span End - AI Error Clear Hysteresis) Lifolakha ka bobeli li ke ke tsa sebetsa hang-hang. Ho beha e 'ngoe ea lifolakha tsena ho hlakola e' ngoe ka bo eona.
1.4. Lookup Table Function Block
Tafole ea ho sheba (LTz) li-blocks ha li sebelisoe ka ho sa feleng.
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Setšoantšo sa 16 Lintho tsa Tafole ea ho Batla
Litafole tsa ho sheba li sebelisoa ho fana ka karabelo ea tlhahiso ea ho fihla ho matsoapo a 10 ka kenyelletso. Ka hona, boholo ba lethathamo la lintho 30z4h LTz Point Response, 30z5h LTz Point X-Axis PV le 30z6h Point YAxis PV e bonts'itsoeng setšoantšong sa block ka holimo ke 11.
Tlhokomeliso: Haeba ho hlokahala matsoapo a fetang 10, Logic Block e ka sebelisoa ho kopanya litafole tse tharo ho fumana matsoapo a 30, joalokaha ho hlalositsoe Karolong ea 1.8.
Ho na le li-parameter tse peli tsa bohlokoa tse tla ama tsela eo block block ena e tla sebetsa ka eona. Thepa ea 30z0h Lookup Table z Input X-Axis Source le 30z1h Lookup Table z Input X-Axis Number hammoho e hlalosa mohloli oa taolo bakeng sa boloko ba ts'ebetso. Ha e fetoloa, tafole ea boleng ba ntho 30z5h e hloka ho nchafatsoa ka likhetho tse ncha tse thehiloeng mohloling oa X-Axis o khethiloeng joalo ka ha ho hlalositsoe ho Tafole 15 le 16.
Paramethara ea bobeli e tla ama block block, ke ntho 30z4h sub-index 1 e hlalosang "X-Axis Type". Ka ho sa feleng, litafole li na le tlhahiso ea `Data Response' (0). Ntle le moo, e ka khethoa joalo ka `Karabo ea Nako' (1), e hlalosoang hamorao Karolong ea 1.7.4.
1.4.1. X-Axis, Karabelo ea data ea Input
Tabeng eo "X-Axis Type" = `Data Response', lintlha tse ho X-Axis li emela lintlha tsa mohloli oa taolo.
Bakeng sa mohlalaample, haeba mohloli oa taolo e le Universal Input, seta joalo ka mofuta oa 0-5V, ka mefuta e fapaneng ea ts'ebetso ea 0.5V ho isa ho 4.5V. Ntho ea 30z2h LTz X-Axis Decimal Digits PV e lokela ho hlophisoa hore e tsamaellane le ntho ea 2102 AI Decimal Digits FV. X-Axis e ka hlophisoa hore e be le "LTz Point X-Axis PV sub-index 2" ea 500, 'me setpoint "LTz Point X-Axis PV sub-index 11" e tla behoa ho 4500. Ntlha ea pele "LTz Ntlha ea X-Axis PV sub-index 1” e lokela ho qala ho tloha ho 0 tabeng ena. Bakeng sa boholo ba `Likarabo tsa data', boleng ba kamehla sebakeng sa (1,1) ke [0,0].
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Leha ho le joalo, ha bonyane tlhahiso e ka ba ka tlase ho lefela, mohlalaample kenyeletso e hanyetsang e bonts'ang mocheso ho tloha ho -40ºC ho isa ho 210ºC, ebe "LTz Point X-Axis PV sub-index 1" e tla beoa bonyaneng, ntlheng ena -40ºC.
Tšitiso ho data ea X-Axis ke hore boleng bo latelang ba index bo boholo ho feta kapa bo lekana le bo ka tlase ho eona, joalo ka ha ho bonts'itsoe ho equation e ka tlase. Ka hona, ha u lokisa data ea X-Axis, ho khothalletsoa hore X11 e fetoloe pele, ebe li-index tse tlase ka tatellano e theohang.
MinInputRange <= X1<= X2<= X3<= X4<= X5<= X6<= X7<= X8<= X9<= X10<= X11<= MaxInputRange
Joalokaha ho boletsoe pejana, MinInputRange le MaxInputRange li tla khethoa ke lintho tsa sekala tse amanang le Mohloli oa X-Axis tse khethiloeng, joalo ka ha ho hlalositsoe ho Lethathamo la 17.
1.4.2. Y-Axis, Sephetho sa Tafole ea ho Batla
Ka nako e sa lekanyetsoang, ho nahanoa hore tlhahiso e tsoang ho blockup table task block e tla ba liperesentetagboleng ba ho tloha ho 0 ho isa ho 100.
Ha e le hantle, ha feela lintlha tsohle tsa Y-Axis li le 0<=Y[i]<=100 (moo ke = 1 ho 11) joale li-blocks tse ling tsa ts'ebetso li sebelisa tafole ea ho sheba e le mohloli oa taolo li tla ba le 0 le 100. joalo ka litekanyetso tsa Scaling 1 le Scalling 2 tse sebelisitsoeng lipalong tsa mela e bontšitsoeng ho Lethathamo la 17.
Leha ho le joalo, Y-Axis ha e na lithibelo ho data eo e e emelang. Sena se bolela hore likarabo tse fapaneng kapa tse ntseng li eketseha/ho fokotseha kapa tse ling li ka fumaneha habonolo. Y-Axis ha ea tlameha ho ba liperesentetage sephetho empa e ka emela litekanyetso tse felletseng tsa ts'ebetso.
Bakeng sa mohlalaample, haeba X-Axis ea tafole e ka ba boleng bo hanyetsanang (joalo ka ha bo baloa ho tsoa ho analog), tlhahiso ea tafole e ka ba mocheso ho tloha ho sensor ea NTC ho tloha ho Y1=125ºC ho ea ho Y11= -20ºC. Haeba tafole ena e sebelisoa e le mohloli oa taolo bakeng sa thibelo e 'ngoe ea ts'ebetso (ke hore, karabo ho taolo ea PID), joale Scaling 1 e tla ba -20 le Scaling 2 e tla ba 125 ha e sebelisoa ka mokhoa o tloaelehileng.
Setšoantšo sa 17 Tafole ea ho Batla Example Resistance vs. NTC Temperature
Maemong 'ohle molaoli o sheba mefuta eohle ea lintlha ho li-indices tsa Y-Axis ebe o khetha boleng bo tlaase ka ho fetisisa e le MinOutRange le boleng bo phahameng ka ho fetisisa e le MaxOutRange. Hafeela li se ka bobeli ka har'a sebaka sa 0 ho isa ho 100, li fetisetsoa ka kotloloho ho li-blocks tse ling e le meeli ea tlhahiso ea tafole ea ho sheba. (ke hore, Ho lekanya 1 le Ho lekanya boleng ba 2 ka lipalo tse melang.)
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Le ha lintlha tse ling tsa data li `Ntho e sa tsotelloe' joalo ka ha ho hlalositsoe Karolong ea 1.7.3, li ntse li sebelisoa molemong oa ho khetha Y-Axis. Haeba e se lintlha tsohle tse tla sebelisoa, ho khothaletsoa hore Y10 e behoe pheletsong e fokolang ea sebaka, 'me Y11 e be boemong ba pele. Ka tsela ena, mosebelisi a ka fumana liphetho tse boletsoeng esale pele ha a sebelisa tafole ho khanna block e 'ngoe ea ts'ebetso, joalo ka tlhahiso ea analog.
1.4.3. Supa Ntlha ea Karabelo
Ka mokhoa o ikhethileng, litafole tsohle tse tšeletseng tsa ho sheba li na le karabelo e bonolo ea mela ho tloha ho 0 ho isa ho 100 ka mehato ea 10 bakeng sa lilepe tsa X le Y. Bakeng sa karabelo e bonolo, ntlha e 'ngoe le e 'ngoe ho 30z4h LTz Point Response array e hlophisoa bakeng sa `R.amp Ho' tlhahiso.
Ntle le moo, mosebelisi a ka khetha karabo ea `Mohato oa Ho ea' bakeng sa 30z4h, moo N = 2 ho isa ho 11. Tabeng ena, boleng bofe kapa bofe ba ho kenya lipakeng tsa XN-1 ho XN bo tla fella ka tlhahiso e tsoang ho "loko ea tšebetso ea tafole ea ho sheba ea YN. (Hopola: LTz Point Response sub-index 1 e hlalosa mofuta oa X-Axis)
Setšoantšo sa 18 se bontša phapang lipakeng tsa pro ena e 'meli ea karabelofiles ka li-setting tsa kamehla.
Setšoantšo sa 18 sa Tafole ea ho Fumaneha Mehato ea Ramp le Likarabo tsa Mohato
Qetellong, ntlha efe kapa efe ntle le (1,1) e ka khethoa bakeng sa karabo ea `Iphapanyetsa'. Haeba LTz Point Response sub-index N e behetsoe ho iphapanyetsa, lintlha tsohle ho tloha (XN, YN) ho ea (X11, Y11) le tsona li tla hlokomolohuoa. Bakeng sa lintlha tsohle tse kholo ho feta XN-1, tlhahiso e tsoang lebokoseng la ts'ebetso ea tafole e tla ba YN-1.
Motsoako oa `Ramp Ho', `Jump To' le `Iphapanyetsa' likarabo li ka sebelisoa ho theha sephetho se ikhethileng sa ts'ebelisofile. Example ea moo tlhahiso e tšoanang e sebelisoang e le X-Axis bakeng sa litafole tse peli, empa moo tlhahiso ea profiles `seipone' e mong le e mong bakeng sa karabelo deadband joystick e bontšitsoe Figure 19. The ex.ample bonts'a liperesente tse peli tsa moepatage karabelo ea sehlahisoa bakeng sa lehlakore le leng le le leng la "deadband", empa matsoapo a eketsehileng a ka eketsoa habonolo ha ho hlokahala. (Tlhokomeliso: Tabeng ena, kaha liphetho tsa analoge li arabela ka kotloloho ho profile ho tsoa litafoleng tsa ho sheba, ka bobeli li ka ba le ntho ea 2342h AO Control Response e behiloeng ho `Single Output Pro.file.')
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Setšoantšo sa 19 Tafole ea ho Batla Examples to Setup for Dual-Slope Joystick Deadband Response
Ho akaretsa, Lethathamo la 24 le hlakisa likarabelo tse fapaneng tse ka khethoang bakeng sa ntho 30z4h, ka bobeli bakeng sa mofuta oa X-Axis le ntlha ka 'ngoe e tafoleng.
Sub-Index 1
2 ho isa ho 11 1
2 ho isa ho 11 1
2 ho ea ho 11
Boleng Boleng
0
Karabo ea Lintlha (Mofuta oa X-Axis) Hlokomoloha (ntlha ena le tsohle tse e latelang)
1
Karabelo ea Nako (Mofuta oa X-Axis) Ramp Ho ea (ka nako ena)
2
Ha ho na (e seng khetho e lumelletsoeng) Tlolela ho (ntlha ena)
Lethathamo la 12: Likhetho tsa Karabo ea Ntlha ea LTz
1.4.4. X-Axis, Karabelo ea Nako
Joalokaha ho boletsoe Karolong ea 1.5, tafole ea ho sheba e ka boela ea sebelisoa ho fumana karabo e tloaelehileng ea tlhahiso moo "Mofuta oa X-Axis" e leng `Karabo ea Nako.' Ha sena se khethiloe, X-Axis joale e emela nako, ka li-unit tsa milliseconds, ha Y-Axis e ntse e emela tlhahiso ea block block.
Tabeng ena, mohloli oa taolo ea X-Axis o tšoaroa e le kenyelletso ea digital. Haeba lets'oao e hlile e le sets'oants'o sa analog, se hlalosoa e le "digital input" ho Setšoantšo sa 5. Ha tlhahiso ea taolo e ON, tlhahiso e tla fetoloa ka nako e itseng ho latela pro.file tafoleng ea ho sheba. Hang ha profile e felile (ke hore, e fihletse index 11, kapa karabo ea `Ho hlokomolohuoa'), tlhahiso e tla lula e le tlhahiso ea ho qetela qetellong ea pro.file ho fihlela tlhahiso ea taolo e tima.
Ha tlhahiso ea taolo e TLOhile, tlhahiso e lula e le zero. Ha tlhahiso e hlaha, profile KA MEHLA e qala boemong (X1, Y1) e leng tlhahiso ea 0 bakeng sa 0ms.
Ha u sebelisa tafole ea ho sheba ho khanna sephetho ho latela nako, hoa hlokahala hore lintho tse 2330h R.amp Ho fihlela 2331h Ramp Ka tlase ho "analoge output" block e behetsoe ho zero. Ho seng joalo, sephetho se ke ke sa lumellana le profile joalo ka ha ho lebeletsoe. Hopola hape, hore sekhahla sa AO se lokela ho ba joalo
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beha ho ts'oana le sekhahla sa Y-Axis sa tafole molemong oa ho fumana karabo ea 1:1 ea AO Output FV khahlano le LTz Output Y-Axis PV. Sesebelisoa moo karolo ea karabo ea nako e ka bang molemo ke ho tlatsa clutch ha phetiso e sebetsa. Example ba bang ba tlatsa profiles e bontšoa ho Setšoantšo sa 20.
Setšoantšo sa 20 Tafole ea ho Sheba Nako ea Karabo ea Clutch Tlatsa Profiles
Karabelo ea nako, lintlha tse ho ntho 30z5h LTz Point X-Axis PV e lekantsoe ka milliseconds, 'me ntho ea 30z2h LTz X-Axis Decimal Digits PV e beoa ka bo eona ho 0. Bonyane boleng ba 1ms bo tlameha ho khethoa bakeng sa lintlha tsohle ntle le sub-index 1 e itlhophiselitsoeng ka bo eona ho [0,0]. Nako ea nakoana lipakeng tsa ntlha ka 'ngoe ho X-axis e ka beoa kae kapa kae ho tloha ho 1ms ho isa ho lihora tse 24. [86,400,000 ms] 1.4.5. Sheba Lethathamo la ho Qetela
Ntlha e 'ngoe ea ho qetela mabapi le litafole tsa ho sheba ke hore haeba ho khethoa ho kenngoa ha digital e le mohloli oa taolo bakeng sa X-Axis, ho tla lekanngoa feela 0 (Off) kapa 1 (On). Netefatsa hore lethathamo la data bakeng sa X-Axis e tafoleng e nchafatsoa ka nepo boemong bona.
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1.5. Programmable Logic Function Block The programmable logic block (LBx) mesebetsi ha e sebelisoe ka ho sa feleng.
Setšoantšo sa 21 Lintho tsa Block Block
Sebaka sena sa ts'ebetso ho hlakile hore se rarahane ho feta kaofela, empa se matla haholo. LBx efe kapa efe (moo X=1 ho isa ho 4) e ka hokahanang le litafole tse tharo tsa ho sheba, tseo e 'ngoe ea tsona e ka khethoang feela tlasa maemo a fanoeng. Litafole leha e le life tse tharo ( tsa 6 tse fumanehang) li ka amahanngoa le logic, 'me tse sebelisoang li ka lokisoa ka ho feletseng holim'a ntho 4×01 LBx Lookup Table Number.
Haeba maemo a ka ba joalo hore tafole e itseng (A, B kapa C) e khethiloe joalo ka ha e hlalositsoe Karolong ea 1.8.2, joale tlhahiso e tsoang tafoleng e khethiloeng, ka nako efe kapa efe, e tla fetisetsoa ka kotloloho ho index e tlase e lumellanang le LBx. X ka ntho e ka baloang feela 4020h Logic Block Output PV. Nomoro ea tafole e sebetsang e ka baloa ho tsoa nthong e baloang feela 4010h Logic Block Selected Table.
Ka hona, LBx e lumella likarabo tse tharo tse fapaneng ho kenyelletso e tšoanang, kapa likarabo tse tharo tse fapaneng ho tse fapaneng, ho ba taolo ea mosebetsi o mong, joalo ka analog.
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tlhahiso. Mona, "Mohloli oa Taolo" bakeng sa block e sebetsang e tla khethoa hore e be `Programmable Logic Function Function Block,' joalo ka ha ho hlalositsoe Karolong ea 1.5.
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E le ho nolofalletsa leha e le efe ea li-block blocks, index-sub-index e lumellanang le ntho 4000h Logic Block Enable e tlameha ho hlophisoa ho TRUE. Kaofela li holofalitsoe ka ho sa feleng.
Logic e hlahlojoa ka tatellano e bontšitsoeng ho Setšoantšo sa 22. Ke feela haeba tafole e tlaase ea indexed (A, B, C) e sa khethoa ho tla shejoa maemo a tafole e latelang. Tafole ea kamehla e lula e khethoa hang ha e hlahlojoa. Ka hona hoa hlokahala hore tafole ea kamehla e lule e le index e phahameng ka ho fetisisa tlhophisong efe kapa efe.
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Setšoantšo sa 22 Logic Block Flowchart
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1.5.1. Tekolo ea maemo
Mohato oa pele oa ho fumana hore na ke tafole efe e tla khethoa joalo ka tafole e sebetsang ke ho qala ho lekola
maemo a amanang le tafole e fanoeng. Tafole ka 'ngoe e amana le eona ho fihlela maemo a mararo
e ka hlahlojoang. Lintho tse nang le maemo ke lintho tse tloaelehileng tsa DEFSTRUCT tse hlalosoang joalo ka ha ho bonts'itsoe ho
Lethathamo la 25.
Index Sub-Index Lebitso
Mofuta oa data
4xyz*
0
Lenane la maemo a holimo ka ho fetisisa le tšehelitsoeng UNSIGNED8
1
Khang 1 Mohloli
SAINYWA8
2
Khang 1 Nomoro
SAINYWA8
3
Khang 2 Mohloli
SAINYWA8
4
Khang 2 Nomoro
SAINYWA8
5
Mokhanni
SAINYWA8
* Logic Block X Function Y Condition Z, moo X = 1 ho 4, Y = A, B kapa C, le Z = 1 ho 3
Lethathamo la 13: Tlhaloso ea Sebopeho sa Boemo ba LBx
Lintho 4x11h, 4x12h le 4x13h ke maemo a hlahlobiloeng bakeng sa ho khetha Letlapa A. Lintho 4x21h, 4x22h le 4x23h ke maemo a hlahlobiloeng bakeng sa ho khetha Letlapa la B. Lintho tsa 4x31h, 4x32h tse hlahlojoang ke maemo a 4x33.
Khang ea 1 e lula e le tlhahiso e utloahalang e tsoang ho thibela e 'ngoe ea mosebetsi, joalokaha e thathamisitsoe ho Lethathamo la 15. Joaloka kamehla, ho kenya letsoho ke motsoako oa lintho tse sebetsang thibela 4xyzh sub-index 1 "Khang ea 1 Mohloli" le "Khang ea 1 Nomoro."
Khang ea 2 ka lehlakoreng le leng, e ka ba tlhahiso e 'ngoe e utloahalang joalo ka Khang ea 1, KAPA boleng bo sa feleng bo behiloeng ke mosebelisi. Ho sebelisa kamehla e le khang ea bobeli ts'ebetsong, beha "Argument 2 Source" ho `Constant Function Block', le "Argument 2 Number" ho index e nyenyane e lakatsehang. Ha o hlalosa kamehla, etsa bonnete ba hore e sebelisa qeto e tšoanang (decimal digit) joalo ka tlhahiso ea Argument 1.
Khang ea 1 e hlahlojoa khahlanong le Khang ea 2 e thehiloeng ho "Operator" e khethiloeng ho sub-index 5 ea boemo ba boemo. Likhetho tsa opareitara li thathamisitsoe ho Lethathamo la 26, 'me boleng ba kamehla bo lula bo le `Tekano' bakeng sa lintho tsohle tsa maemo.
Boleng bo Bolelang 0 =, E lekanang 1 !=, Ha e lekane 2 >, E kholo ho Feta 3 >=, E Kholo ho Feta kapa E Lekana 4 <, Ka tlase ho 5 <=, Ka tlase ho Feta kapa Ho Lekana
Lethathamo la 14: LBx Condition Operator Options
Bakeng sa mohlalaample, boemo ba khetho ea phetoho ea phetisetso ea phetisetso, joalo ka ha ho bonts'itsoe ho Setšoantšo sa 20 karolong e fetileng, e ka ba hore Engine RPM e ka tlase ho boleng bo itseng ho khetha Soft Fill pro.file. Tabeng ena, "Argument 1 Source" e ka hlophisoa ho `Analog Input Function Block' (moo tlhahiso e lokiselitsoeng ho nka RPM), "Argument 2 Source" ho `Constant Function Block', le "Operator" ho `< , Ka tlase ho.' Object 5010h Constant FV in sub-index "Argument 2 Number" e tla hlophisoa hore e be RPM efe kapa efe eo kopo e e hlokang.
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Ka ho sa feleng, likhang ka bobeli li behiloe ho `Mohloli oa Taolo ha o Sebelisitsoe' e thibelang boemo, 'me ka boeona e hlahisa boleng ba N/A e le sephetho. Le hoja ka kakaretso ho nkoa hore boemo bo bong le bo bong bo tla hlahlojoa e le 'NETE kapa BOHATA,' nete ke hore ho ka ba le liphetho tse 'nè, joalokaha ho hlalositsoe ho Lethathamo la 27.
Boleng ba 0 1 2 3
Ho bolela Phoso ea 'Nete ea Bohata Ha e sebetse
Lebaka (Khang 1) Operator (Khang 2) = Maaka (Khang 1) Operator (Khang ea 2) = 'Nete ea Khang 1 kapa tlhahiso ea 2 e tlalehiloe e le boemong ba phoso Khang ea 1 kapa 2 ha e fumanehe (ke hore e behiloe ho `Mohloli oa Taolo. Ha e sebelisoe')
Lethathamo la 15: Liphetho tsa Tlhahlobo ea Boemo ba LBx
1.5.2. Khetho ea Lethathamo
E le ho fumana hore na tafole e itseng e tla khethoa, ts'ebetso e utloahalang e etsoa ka liphello tsa maemo a khethiloeng ke logic ho Karolo ea 1.8.1. Ho na le metsoako e 'maloa e utloahalang e ka khethoang, joalokaha e thathamisitsoe ho Lethathamo la 28. Theko ea kamehla ea ntho 4x02h LBx Function Logical Operator e itšetlehile ka sub-index. Bakeng sa index-potlana ea 1 (Letlapa A) le 2 (Lethathamo la B), ho sebelisoa opareitara ea `Cnd1 Le Cnd2 Le Cnd3′, athe index-potlana 3 (Letlapa la C) e hlophisoa joalo ka karabo ea `Default Table".
Boleng Bo Boleng ba Boleng 0 Tafole ya Default 1 Cnd1 And Cnd2 And Cnd3 2 Cnd1 Or Cnd2 Or Cnd3 3 (Cnd1 And Cnd2) Or Cnd3 4 (Cnd1 Or Cnd2) And Cnd3
Lethathamo la 16: Likhetho tsa LBx tsa Mosebetsi oa Logical Operator
Ha se tlhahlobo e 'ngoe le e' ngoe e tla hloka maemo ana a mararo. Nyeoe e fanoeng karolong e ka pele, bakeng sa mohlalaample, e na le boemo bo le bong feela bo thathamisitsoeng, ke hore Engine RPM e be ka tlase ho boleng bo itseng. Ka hona, ho bohlokoa ho utloisisa hore na basebetsi ba bohlale ba ka lekola Phoso kapa sephetho sa N/A joang bakeng sa boemo, joalo ka ha ho hlalositsoe ho Lethathamo la 29.
Tafole e Tloaelehileng ea Operator Cnd1 Le Cnd2 Le Cnd3
Khetha Maemo a Maemo Tafole e Associated e khethiloe ka bo eona hang ha e hlahlojoa. E lokela ho sebelisoa ha maemo a mabeli kapa a mararo a loketse, 'me kaofela e lokela ho ba 'Nete ho khetha tafole.
Haeba boemo leha e le bofe bo lekana le Bohata kapa Phoso, tafole ha e khethoe. N/A e ts'oaroa joalo ka 'Nete. Haeba maemo a mararo kaofela e le 'Nete (kapa N/A), ho khethoa tafole.
Cnd1 Kapa Cnd2 Kapa Cnd3
Haeba((Cnd1==True) &&(Cnd2==True)&&(Cnd3==True)) Joale Sebelisa Tafole e Lokela ho sebelisoa ha boemo bo le bong feela bo le bohlokoa. E ka boela ea sebelisoa le maemo a mabeli kapa a mararo a amehang.
Haeba boemo bofe kapa bofe bo hlahlojoa e le 'Nete, ho khethoa tafole. Phoso kapa liphetho tse N/A li nkuoa e le Bohata
Haeba((Cnd1==True) || (Cnd2==True) || (Cnd3==True)) Ebe U Sebelisa Lethathamo (Cnd1 And Cnd2) Kapa Cnd3 Ho sebelisoa feela ha maemo a mararo kaofela a loketse.
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Haeba ka bobeli Boemo ba 1 le Boemo ba 2 e le 'Nete, KAPA Boemo ba 3 ke 'Nete, ho khethoa tafole. Phoso kapa liphetho tse N/A li nkuoa e le Bohata
Haeba(((Cnd1==True)&&(Cnd2==True)) || (Cnd3==True) ) Joale Sebelisa Tafole (Cnd1 Kapa Cnd2) Le Cnd3 Ho sebelisoa feela ha maemo a mararo kaofela a le bohlokoa.
Haeba Boemo ba 1 le Boemo ba 3 e le 'Nete, KAPA Boemo ba 2 le Boemo ba 3 ke 'Nete, ho khethoa tafole. Phoso kapa liphetho tse N/A li nkuoa e le Bohata
Haeba(((Cnd1==True)||(Cnd2==True)) && (Cnd3==True) ) Joale Sebelisa Lethathamo.
Lethathamo la 17: Tlhahlobo ea Maemo a LBx e Thehiloe ho Moetsi oa Maiketsetso a Khethiloeng
Haeba sephetho sa mosebetsi logic e le 'NETE, joale tafole ea ho sheba e amanang le eona (bona ntho 4x01h) e khethoa hang-hang e le mohloli oa tlhahiso ea logic. Ha ho maemo a mang bakeng sa litafole tse ling tse hlahlojoang. Ka lebaka lena, `Default Table' e lokela ho lula e hlophisoa e le tafole e phahameng ka ho fetisisa ea litlhaku e sebelisoang (A, B kapa C) Haeba ho se na karabo ea kamehla e behiloeng, Letlapa la A le fetoha la kamehla ha ho se maemo a teng bakeng sa tafole efe kapa efe. ho khethoa. Boemo bona bo lokela ho qojoa neng kapa neng ha ho khoneha e le hore ho se ke ha fella ka likarabo tse sa lebelloang tsa tlhahiso.
Nomoro ea tafole e khethiloeng e le mohloli oa tlhahiso e ngotsoe ho sub-index X ea ntho e baloang feela 4010h Logic Block Selected Table. Sena se tla fetoha ha maemo a fapaneng a etsa hore ho sebelisoe litafole tse fapaneng.
1.5.3. Logic Block Output
Hopola hore Lethathamo la Y, moo Y = A, B kapa C ho LBx tshebetso block HA HO bolele ho batla tafole 1 ho 3. Tafole ka 'ngoe e na le ntho 4x01h LBx Lookup Table Number e lumellang mosebedisi ho khetha hore na ba batla litafole life tse amanang le logic block. Litafole tsa kamehla tse amanang le "logic block" li thathamisitsoe ho Lethathamo la 30.
Nomoro ea Block Logic e hlophisitsoeng
1 2 3 4
Tafole A Ho Sheba
Tafole B Sheba
Nomoro ea Letlapa la Thibelo ea Lethathamo
1
2
4
5
1
2
4
5
Letlapa la 18: LBx Litafole tsa ho Sheba ka ho Fetisisa
Nomoro ea Thibelo ea Letlapa la C
3 6 3 6
Haeba Tafole ea Ts'ebetso e amanang le Z (moo Z e lekanang le 4010h sub-index X) e se na "X-Axis Source" e khethiloeng, joale tlhahiso ea LBx e tla lula e le "Ha e Fumane" hafeela tafole eo e khethoa. Leha ho le joalo, haeba LTz e ka hlophisoa bakeng sa karabo e nepahetseng ho kenyelletsong, e ka ba Data kapa Nako, tlhahiso ea LTz block block (ke hore data ea Y-Axis e khethiloeng ho latela boleng ba XAxis) e tla fetoha tlhahiso ea LBx block block ha feela tafole eo e khethoa.
Tlhahiso ea LBx e lula e hlophisoa joalo ka liperesentetage, ho itšetlehile ka mefuta e mengata ea Y-Axis bakeng sa tafole e amanang (sheba Karolo ea 1.7.2) E ngotsoe ho sub-index X ea ntho e baloang feela 4020h Logic Block Output PV ka qeto ea sebaka sa 1 sa decimal.
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1.5.4. Mehopolo ea Tšebeliso
Karolo ena ha e reretsoe ho ba lethathamo le felletseng la menyetla eohle eo Logic Block e fanang ka eona. Ho e-na le hoo, e reretsoe ho bontša kamoo mesebetsi e meng e tloaelehileng, empa e mengata e fapaneng e ka finyelloang ka ho e sebelisa.
a) Dual Speed Application Tlas'a maemo a itseng, tlhahiso ea analog e ka khannoa pakeng tsa Min_A ho Max_A ha tlas'a tse ling, lebelo le lekanyelitsoe ka ho etsa hore tlhahiso e arabele liphetohong pakeng tsa Min_B le Max _B.
b) Multi-Speed Transmission Control Ka ho sebelisa Moputso oa Forward e le monyetla oa tlhahiso e le 'ngoe ea analog, le Reverse input e le e 'ngoe, clutch e tlatsang profiles e ka khethoa ho ipapisitsoe le lebelo la Enjine joalo ka ha ho boletsoe ho examples.
c) Ho fumana tharollo e betere (ke hore, ho fihla matsoapong a 30) sebakeng se hanyetsanang le mocheso bakeng sa sensor ea NTC. Boemo ba Lethathamo la A e tla ba ho hanyetsa ho kenya <= R1, Letlapa la B le kenngoa <= R2 le Tafole C e le ea kamehla bakeng sa litekanyetso tse phahameng tsa ho hanyetsa.
1.6. Mefuta e fapaneng ea Block Work
Ho na le lintho tse ling tse teng tseo ho seng ho buuoe ka tsona, kapa tse boletsoeng ka bokhutšoane ha li feta (ke hore, li-constants.) Lintho tsena ha li hlile ha li amahane, empa kaofela li tšohloa mona.
Setšoantšo sa 23 Lintho tse fapaneng
Objects 2500h E Eketsehileng Taolo e Amoheletsoeng PV, 2502h EC Decimal Digits PV, 2502h EC Scaling 1 PV le EC Scaling 2 PV li boletsoe Karolong ea 1.5, Lethathamo la 16. Lintho tsena li lumella boitsebiso bo eketsehileng bo amohetsoeng ho CANopen ® ho etsoa 'mapa o ikemetseng ho RPDO liboloko tse fapaneng tsa ts'ebetso joalo ka mohloli oa taolo. Bakeng sa mohlalaampLe, loop ea PID e tlameha ho ba le lintho tse peli tse kenang (sepheo le maikutlo), kahoo e 'ngoe ea tsona e tlameha ho tsoa beseng ea CAN. Lintho tsa sekhahla li fanoa ho hlalosa meeli ea data ha e sebelisoa ke block block e 'ngoe, joalo ka ha ho bonts'itsoe ho Lethathamo la 17.
Objects 5020h Power Supply FV le 5030h processor Temperature FV li fumaneha e le maikutlo a 'maloa feela bakeng sa tlhahlobo e eketsehileng.
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Object 5010h Constant Field Value e fanoa ho fa mosebelisi khetho ea boleng bo tsitsitseng bo ka sebelisoang ke li-blocks tse ling tsa tšebetso. Sub-index 1 e tsitsitse e le FALSE (0) mme sub-index 2 e lula e le 'NETE (1). Ho na le li-index tse ling tse 4 tse fanoeng bakeng sa litekanyetso tse ka khethoang ke basebelisi. (Tsa kamehla 25, 50, 75 le 100)
Li-constants li baloa e le data ea 32-bit ea 'nete (float), kahoo ha ho na ntho ea linomoro tsa decimal e fanoeng. Ha u theha kamehla, etsa bonnete ba hore u e etsa ka qeto ea ntho e tla bapisoa le eona.
Li-constants tsa Bohata / 'Nete li fanoe haholo-holo hore li sebelisoe le logic block. Liphetoho tse feto-fetohang li boetse li na le thuso ka logic block, hape li ka sebelisoa e le sepheo sa setpoint bakeng sa thibelo ea taolo ea PID.
Ntho ea ho qetela 5555h Start in Operational e fanoa e le `cheat' ha yuniti e sa rereloa ho sebetsa le marang-rang a CANopen (ke hore taolo e ikemetseng) kapa e sebetsa marang-rang a entsoeng feela makhoba kahoo taelo ea OPERATION e ke ke ea hlola e sebetsa. ho amoheloa ho tsoa ho monghali. Ka ho sa feleng, ntho ena e koetsoe (FALSE).
Ha u sebelisa 1IN-CAN e le molaoli ea ikemetseng moo 5555h e behiloeng ho TRUE, ho kgothaletswa ho tima TPDO tsohle (seta Nako ea Ketsahalo ho zero) e le hore e se ke ea sebetsa ka phoso e tsoelang pele ea CAN ha e sa kopane le bese.
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2. LITAELO TSA HO KENYA
2.1. Litekanyo le Pinout
Mohloli o le Mong oa Input, Dual Output Valve Controller o kentsoe ka har'a sekoahelo sa aluminium se kentsoeng, joalokaha ho bontšitsoe setšoantšong sa 24. Kopano e na le tekanyo ea IP67.
Setšoantšo sa 24 Litekanyo tsa Bolulo
CAN le I/O Connector Pin # Mosebetsi
1 BATT+ 2 Kenyeletso+ 3 CAN_L 4 CAN_H 5 Input6 BATT-
Lethathamo la 19: Pinout ea Sehokelo
6 pin Deutsch IPD sehokelo P/N: DT04-6P Sehokelo sa mating plug se fumaneha joalo ka Axiomatic P/N: AX070119.
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2.2. Litaelo tsa ho kenya
2.2.1. Lintlha & Litemoso
Se ke oa kenya haufi le high-voltage kapa lisebelisoa tsa boemo bo holimo. Theha chassis molemong oa polokeho le ts'ireletso e nepahetseng ea EMI. Ela hloko mocheso oa mocheso o sebetsang. Lithapo tsohle tsa masimo li tlameha ho ba tse loketseng mocheso oo
mefuta-futa. Kenya yuniti e nang le sebaka se loketseng se fumanehang bakeng sa ho sebeletsa le bakeng sa likhoele tse lekaneng tsa terata
ho fihlella (15 cm) le ho imolla khatello (30 cm). Se ke oa hokela kapa oa hakolla yuniti ha potoloho e ntse e sebetsa, ntle le haeba sebaka se tsejoa hore ke sona
e hlokang kotsi.
2.2.2. Ho phahamisa
Module e etselitsoe ho kenngoa holim'a block ea valve. Haeba e kentsoe ka ntle ho sebaka se kampetsoeng, selaoli se lokela ho hlongoa ka tsela e tšekaletseng ka likhokahanyo tse shebileng ka ho le letšehali kapa ka ho le letona, kapa lihokelo li shebile fatše, ho fokotsa monyetla oa ho kena ha mongobo.
Manya lileibole kaofela haeba yuniti e tla penta bocha, kahoo tlhaiso-leseling e lula e bonahala.
Maoto a holimo a kenyelletsa masoba a boholo ba #10 kapa M4.5 bolts. Bolelele ba bolt bo tla khethoa ke botenya ba poleiti ea ho qetela ea mosebelisi. Ka tloaelo 20 mm (3/4 inch) e lekane.
Haeba mojule o phahamiselitsoe hole le boloko ba valve, ha ho terata kapa thapo e har'a e lokelang ho feta limithara tse 30 ka bolelele. Mohala oa ho kenya matla o lokela ho lekanyetsoa ho 10 metres.
2.2.3. Lihokelo
Sebelisa li-plug tsa mating tsa Deutsch IPD tse latelang ho hokela ho lisebelisoa tsa bohlokoa. Wiring ho li-plugs tsena tsa mating li tlameha ho tsamaellana le likhoutu tsohle tse sebetsang tsa lehae. E loketseng lebaleng wiring bakeng sa rated voltage le hona joale li tlameha ho sebelisoa. Tekanyo ea likhoele tse hokelang e tlameha ho ba bonyane 85°C. Bakeng sa thempereichara e ka tlase ho 10°C le ka holimo ho +70°C, sebelisa likhoele tsa masimo tse loketseng mocheso o tlase le o phahameng ka ho fetisisa oa tikoloho.
Sehokelo sa ho Kopana ka Moamoheli
Mating Sockets ka moo ho loketseng (Sheba ho www.laddinc.com bakeng sa tlhahisoleseding e feletseng mabapi le mabitso a teng bakeng sa polaka ena ea ho nyalana.) DT06-12SA le wedge W12S
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2.2.4. Lihokelo tsa Motlakase oa Lerata le Tšireletso
Ho fokotsa lerata, arola lithapo tsohle tsa motlakase le tse tsoang ho tse kenang le tsa CAN. Lithapo tse sirelelitsoeng li tla sireletsa khahlanong le lerata le kentsoeng. Lithapo tsa thebe li lokela ho hokeloa ho matla kapa mohloling oa ho kenya, kapa ho mojaro o tsoang.
Thebe ea CAN e ka kopanngoa ho molaoli ho sebelisa pinana ea CAN Shield e fanang ka sehokelo. Leha ho le joalo qetello e 'ngoe ha ea lokela ho amahanngoa tabeng ena.
Lithapo tsohle tse sebelisitsoeng li tlameha ho ba 16 kapa 18 AWG.
2.2.5. CAN Network Constructions
Axiomatic e khothaletsa hore marang-rang a marotholi a mangata a hahoe ho sebelisoa "ketane ea daisy" kapa "backbone" e nang le mela e mekhutšoanyane ea marotholi.
2.2.6. E KA Felisoa
Hoa hlokahala ho felisa marang-rang; ka hona ho hlokahala pheliso ea kantle ea CAN. Ha ho li-terminator tsa marang-rang tse fetang tse peli tse lokelang ho sebelisoa ho netweke efe kapa efe e le 'ngoe. Terminator ke 121, 0.25 W, 1% metal film resistor e behiloeng pakeng tsa CAN_H le CAN_L qetellong ea li-node tse peli holim'a marang-rang.
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3. CANOPEN ® SEHLOOHO DICTIONARY
Bukantswe ya ntho ya CANopen ya 1IN-CAN Controller e theilwe hodima CiA device profile DS-404 V1.2 (sesebelisoa sa profile bakeng sa Batsamaisi ba Loop ba Koetsoeng). Bukantswe ya dintho e kenyeletsa Dintho tsa Puisano tse fetang ditlhoko tse fokolang ho profile, hammoho le lintho tse 'maloa tse khethehileng tsa moetsi bakeng sa ts'ebetso e atolositsoeng.
3.1. NODE ID le BAUDRATE
Ka ho sa feleng, feme ea 1IN-CAN Controller e tsamaisa thepa e nang le Node ID = 127 (0x7F) le Baudrate = 125 kbps.
3.1.1. LSS Protocol to Update
Mokhoa o le mong feela oo Node-ID le Baudrate li ka fetoloang ka oona ke ho sebelisa Layer Settling Services (LSS) le liprothokholo joalokaha ho hlalositsoe ke CANopen ® standard DS-305.
Latela mehato e ka tlase ho hlophisa mofuta o mong o sebelisa LSS protocol. Haeba ho hlokahala, ka kopo sheba maemo bakeng sa tlhaiso-leseling e batsi mabapi le mokhoa oa ho sebelisa protocol.
3.1.2. Ho beha Node-ID
Beha boemo ba module ho LSS-configuration ka ho romela molaetsa o latelang:
Ntho ea COB-ID Length Data 0 Data 1
Boleng ba 0x7E5 2 0x04 0x01
(cs=4 bakeng sa switch state global) (fetolela boemong ba tlhophiso)
Beha Node-ID ka ho romella molaetsa o latelang:
Ntho ea COB-ID Length Data 0 Data 1
Boleng ba 0x7E5 2 0x11 Node-ID
(cs=17 bakeng sa configure node-id) (seta Node-ID e ncha e le nomoro ea hexadecimal)
Mojule o tla romella karabo e latelang (karabo efe kapa efe e 'ngoe e hlolehile):
Ntho ea COB-ID Bolelele Data 0 Data 1 Data 2
Boleng ba 0x7E4 3 0x11 0x00 0x00
(cs=17 bakeng sa tlhophiso ea node-id)
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Boloka tlhophiso ka ho romella molaetsa o latelang:
Ntho ea COB-ID Length Data 0
Boleng ba 0x7E5 1 0x17
(cs=23 bakeng sa tlhophiso ea lebenkele)
Mojule o tla romella karabo e latelang (karabo efe kapa efe e 'ngoe e hlolehile):
Ntho ea COB-ID Bolelele Data 0 Data 1 Data 2
Boleng ba 0x7E4 3 0x17 0x00 0x00
(cs=23 bakeng sa tlhophiso ea lebenkele)
Beha boemo ba mojule ho ts'ebetso ea LSS ka ho romella molaetsa o latelang: (Hlokomela, mojule o tla itlhophisetsa bocha ho boemo ba pele ho ts'ebetso)
Ntho ea COB-ID Length Data 0 Data 1
Boleng ba 0x7E5 2 0x04 0x00
(cs=4 bakeng sa switch state global) (e fetohela boemong ba ho leta)
3.1.3. Ho beha Baudrate
Beha boemo ba module ho LSS-configuration ka ho romela molaetsa o latelang:
Ntho ea COB-ID Length Data 0 Data 1
Boleng ba 0x7E5 2 0x04 0x01
(cs=4 bakeng sa switch state global) (fetolela boemong ba tlhophiso)
Beha baudrate ka ho romella molaetsa o latelang:
Ntho ea COB-ID Bolelele Data 0 Data 1 Data 2
Boleng ba 0x7E5 3 0x13 0x00 Index
(cs = 19 bakeng sa ho hlophisa liparamente tsa nako e nyane) (fetolela boemong ba ho leta) (khetha index ea baudrate ka tafole 32)
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Index
Bit Rate
0
1 Mbit/s
1 800 kbit/s
2 500 kbit/s
3 250 kbit/s
4 125 kbit/s (ea kamehla)
5
e bolokiloe (100kbit/s)
6
50 kbit/s
7
20 kbit/s
8
10 kbit/s
Lethathamo la 20: LSS Baudrate Indexes
Mojule o tla romella karabo e latelang (karabo efe kapa efe e 'ngoe e hlolehile):
Ntho ea COB-ID Bolelele Data 0 Data 1 Data 2
Boleng ba 0x7E4 3 0x13 0x00 0x00
(cs=19 bakeng sa ho hlophisa liparamente tsa nako e nyane)
Kenya ts'ebetsong li-parameter tsa nako e nyenyane ka ho romela molaetsa o latelang:
Ntho ea COB-ID Bolelele Data 0 Data 1 Data 2
Boleng
0x7E5
3
0x15
(cs=19 bakeng sa ho kenya liparamente tsa nako e nyane)
Ho lieha ho hlalosa nako ka bonngoe ho hlalosa nako ea linako tse peli tsa ho ema ho fihlela phetoho ea nako e fokolang e etsoa (nako ea pele) le pele o fetisetsa molaetsa ofe kapa ofe oa CAN ka li-parameter tse ncha tsa nako ka mor'a ho etsa phetoho (nako ea bobeli). Nako ea ho lieha ha switch ke 1 ms.
Boloka tlhophiso ka ho romella molaetsa o latelang (ho baudrate e NCHA):
Ntho ea COB-ID Length Data 0
Boleng ba 0x7E5 1 0x17
(cs=23 bakeng sa tlhophiso ea lebenkele)
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Mojule o tla romella karabo e latelang (karabo efe kapa efe e 'ngoe e hlolehile):
Ntho ea COB-ID Bolelele Data 0 Data 1 Data 2
Boleng ba 0x7E4 3 0x17 0x00 0x00
(cs=23 bakeng sa tlhophiso ea lebenkele)
Beha boemo ba mojule ho ts'ebetso ea LSS ka ho romella molaetsa o latelang: (Hlokomela, mojule o tla itlhophisetsa bocha ho boemo ba pele ho ts'ebetso)
Ntho ea COB-ID Length Data 0 Data 1
Boleng ba 0x7E5 2 0x04 0x00
(cs=4 bakeng sa switch state global) (e fetohela boemong ba ho leta)
Setlankana se latelang sa skrine (ka ho le letšehali) se bontša hore data ea CAN e rometsoe (7E5h) le ho amoheloa (7E4h) ke sesebelisoa ha baudrate e fetoloa ho 250 kbps ho sebelisoa protocol ea LSS. Setšoantšo se seng (ka ho le letona) se bontša se hatisitsoeng ho example debug RS-232 menu ha opereishene e ntse e etsahala.
Pakeng tsa CAN Frame 98 le 99, baudrate ho sesebelisoa sa CAN Scope e fetotsoe ho tloha ho 125 ho isa ho 250 kbps.
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3.2. LINTLHA TSA TŠEBELETSO (DS-301 le DS-404)
Lintho tsa puisano tse tšehetsoeng ke 1IN-CAN Controller li thathamisitsoe tafoleng e latelang. Tlhaloso e qaqileng haholoanyane ea tse ling tsa lintho e fanoe likhaolong tse latelang. Ke lintho tseo feela tse nang le lisebelisoa tsa profile lintlha tse khethehileng li hlalosoa. Bakeng sa tlhaiso-leseling e batsi ka lintho tse ling, sheba lintlha tsa generic tsa CANopen protocol DS-301.
Index (hex)
1000 1001 1002 1003 100C 100D 1010 1011 1016 1017 1018 1020 1029 1400 1401 1402 1403 1600 1601 1602 1603 1800A1801 1802A1803 1A00 1A01
Ntho
Ngoliso ea Phoso ea Mofuta oa Sesebediswa Ngoliso ea Boemo ba Moetsi e Hlalositsoeng Esale Pele Phoso ea Tšimo ea Tšimo Nako ea Bophelo Nako ea Lebenkele Li-Parameters Khutlisa Li-Parameters tse sa Feleng Moetsi oa Nako ea Sehlahisoa sa Heartbeat Nako Ntho ea Boitsebiso Netefatsa Boitšoaro ba Phoso ea Tlhophiso RPDO1 Paramethara ea Puisano RPDO2 Paramethara ea Puisano RPDO3 Paramethara ea Puisano RPDO4 RPDO1 Parameter ea Puisano RPDO2 RPDORP Parameter ea 'mapa RPDO3 Mapping Parameter RPDO4 Mapping Parameter TPDO1 Puisano Parameter TPDO2 Puisano Parameter TPDO3 Puisano Parameter TPDO4 Puisano Parameter TPDO1 Mapping Parameter TPDO2 Mapping Parameter TPDO3 Mapping Parameter TPDO4 Mapping Parameter
Mofuta oa Ntho
VAR VAR ARRAY VAR VAR ARRAY ARRAY VAR ARRAY ARRAY VAR RECORD ARRAY ARRAY REKHOTA REKHOTA REKHOTA REKHOTA REKHOTA REKHOTA REKHOTA REKHOTA REKHOTA
Mofuta oa data
UNSIGNED32 UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED16 UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED16
SAINYWE32 SA BILENG8
Phihlello
MONATE OA LETSATSI LETSATSI LETSATSI LETSATSI LETSATSI LETSATSI LA LETSATSI LETSATSI LETSATSI LETSATSI LE TSOELA PELE MONGWE KE NNYO
'Mapa oa PDO
Che Che Che Che Che Che Che Che Che Che Che Che Che Che Che Che, Che, Che, Che, Che, Che, Che, Che
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3.2.1. Ntho 1000h: Mofuta oa Sesebelisoa
Ntho ena e na le lintlha tse mabapi le mofuta oa sesebelisoa ho latela pro ea sesebelisoafile DS-404. Paramethara ea 32-bit e arotsoe ka litekanyetso tse peli tsa 16-bit, e bonts'ang lintlha tse akaretsang le tse ling joalo ka ha ho bonts'itsoe ka tlase.
Lintlha tse ling tsa MSB = 0x201F
Lintlha tse akaretsang tsa LSB = 0x0194 (404)
DS-404 e hlalosa sebaka sa Tlhahisoleseling ka tsela e latelang: 0000h = e bolokiloe 0001h = block input block 0002h = analog input block 0004h = digital output block 0008h = analog output block 0010h = controller block (aka PID) 0020h = alarmh block 0040 0800h = e boloketsoe 1000h = e boloketsoe 2000h = thiba ea tafole ea ho sheba (moetsi-ka ho khetheha) 4000h = "logic" block block (moetsi-ka ho khetheha) 8000h = boloko bo fapaneng (ka ho khetheha mohlahisi)
Tlhaloso ea Ntho
Index
1000h
Lebitso
Mofuta oa Sesebelisoa
Mofuta oa Ntho VAR
Mofuta oa data
SAINYWA32
Tlhaloso ea ho Kena
Phihlello
RO
PDO 'mapa No
Lethathamo la lintlha tsa 0xE01F0194
Boleng ba kamehla 0xE01F0194
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3.2.2. Ntho 1001h: Ngoliso ea Liphoso
Ntho ena ke ngoliso ea liphoso ea sesebelisoa. Nako efe kapa efe ha ho na le phoso e bonoang ke 1IN-CAN Controller, Generic Error Bit (bit 0) e behiloe. Ke feela ha ho se na liphoso ka har'a mojulu moo biti ena e tla hlakoloa. Ha ho likotoana tse ling bukeng ena tse sebelisoang ke Molaoli oa 1IN-CAN.
Tlhaloso ea Ntho
Index
1001h
Lebitso
Ngoliso ea liphoso
Mofuta oa Ntho VAR
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Phihlello
RO
PDO 'mapa No
Boleng Range 00h kapa 01h
Boleng ba mantlha 0
3.2.3. Sepheo sa 1002h: Ngoliso ea Boemo ba Moetsi Ntho ena e sebelisetsoa merero ea ho lokisa bothata.
3.2.4. Sepheo sa 1003h: Sebaka sa Phoso se Seng se Hlalositsoe
Ntho ena e fana ka nalane ea liphoso ka ho thathamisa liphoso ka tatellano eo li etsahetseng ka eona. Phoso e eketsoa ka holimo lethathamong ha e etsahala, 'me e tlosoa hang-hang ha boemo ba phoso bo hlakotsoe. Phoso ea morao-rao e lula e le ho sub-index 1, ka sub-index 0 e nang le palo ea liphoso tse lenaneng hajoale. Ha sesebelisoa se le maemong a se nang liphoso, boleng ba subindex 0 ke zero.
Lenane la liphoso le ka hlakoloa ka ho ngola letšoao la zero ho sub-index 0, le tla hlakola liphoso tsohle lethathamong, ho sa tsotellehe hore na li ntse li le teng kapa che. Ho hlakola lenane HA HO bolele hore mojule o tla khutlela boemong ba boitšoaro bo se nang liphoso haeba bonyane phoso e le 'ngoe e ntse e sebetsa.
Molaoli oa 1IN-CAN o na le moeli oa liphoso tse ka holimo ho 4 lenaneng. Haeba sesebelisoa se ngolisa liphoso tse ngata, lenane le tla fokotsoa, 'me lipehelo tsa khale ka ho fetisisa li tla lahleha.
Likhoutu tsa liphoso tse bolokiloeng lethathamong ke linomoro tse sa ngolisoang tsa 32-bit, tse nang le likarolo tse peli tsa 16-bit. Sebaka se tlase sa 16-bit ke khoutu ea phoso ea EMCY, 'me sebaka se phahameng sa 16-bit ke khoutu e khethehileng ea moetsi. Khoutu e ikhethileng ea moetsi e arotsoe ka likarolo tse peli tsa 8-bit, 'me bite e holimo e bonts'a tlhaloso ea phoso, le bite e tlase e bonts'ang mocha oo phoso e etsahetseng ho ona.
Tlhaloso ea Phoso ea MSB
Channel-ID
Khoutu ea Phoso ea LSB EMCY
Haeba ts'ebetso ea "node Guard" e sebelisoa (ha e khothalletsoe ho latela maemo a morao-rao) 'me ho etsahala ketsahalo ea balebeli, sebaka se khethehileng sa moetsi se tla behoa ho 0x1000. Ka lehlakoreng le leng, haeba moreki oa ho otla ha pelo a hlōleha ho amoheloa ka nako e lebeletsoeng, Tlhaloso ea Phoso e tla behoa ho 0x80 le Channel-ID (nn) e tla bonahatsa Node-ID ea mocha oa bareki o neng o sa hlahise. Tabeng ena, tšimo e khethehileng ea moetsi e tla ba 0x80nn. Maemong ana ka bobeli, Khoutu ea Phoso ea EMCY e lumellanang e tla ba Phoso ea Balebeli 0x8130.
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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Ha phoso ea ho kenya analoge e bonoa joalo ka ha e hlalositsoe Karolong ea 1.3 kapa tlhahiso ea analoge e sa sebetse joalo ka ha e hlalositsoe Karolong ea 1.5, Tlhaloso ea Phoso e tla bonts'a hore na mecha kapa li-channel li na le phoso efe ho sebelisoa tafole e latelang. Hape, haeba RPDO e sa amoheloe nakong e lebelletsoeng ea "Sebaka sa Ketsahalo", nako ea ho tima RPDO e tla tšoauoa. Letlapa la 32 le hlahisa Likhoutu tsa Sebaka sa Phoso le meelelo ea tsona.
Khoutu ea Sebaka sa Phoso
00000000h 2001F001h
4001F001h
00008100h 10008130h 80nn8130h
Tlhaloso ea Phoso
20h
40h
00h10h80h
Tlhaloso
ID
Tlhaloso
Khoutu ea EMCY
Phatlalatso ea Phoso ea EMCY (phoso ha e sa sebetsa)
Positive Overload
01h Kenyeletso ea Analoge 1 F001h
(Out of Range High)
Negative Overload
01h Kenyeletso ea Analog 1
F001h
(Ka ntle ho Range Tlase)
Nako ea ho qetela ea RPDO
00h Ha e hlalosoe
8100h
Ketsahalo ea Lifeguard
00h Ha e hlalosoe
8130h
Nako ea ho otla ha pelo
nn Node-ID
8130h
Lethathamo la 21: Likhoutu tsa Tšimo ea Phoso e Seng e Hlalositsoe
Tlhaloso
Kakaretso ya ho Kenyeletsa
Kakaretso ya ho Kenyeletsa
Puisano – generic Lifeguard/Heartbeat Error Lifeguard/Heartbeat Error
Tlhaloso ea Ntho
Index
1003h
Lebitso
Sebaka sa Phoso se Seng se Hlalositsoe
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA32
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Palo ea tse kentsoeng
Phihlello
RW
PDO 'mapa No
Boleng Range 0 ho 4
Boleng ba mantlha 0
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h ho isa ho 4 Sebaka sa phoso se tloaelehileng RO No UNSIGNED32 0
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3.2.5. Ntho ea 100Ch: Nako ea Tebelo
Lintho tse ho index 100Ch le 100Dh li tla bontša nako ea ho lebela e hlophisitsoeng ho latela nako ea bophelo. Nako ea bophelo e atolositsoeng ka nako ea molebeli e fana ka nako ea bophelo bakeng sa protocol ea ho lebela bophelo e hlalositsoeng ho DS-301. Boleng ba Nako ea Balebeli bo tla fanoa ka makhetlo a mangata a ms, 'me boleng ba 0000h bo tla thibela tšireletso ea bophelo.
Ho lokela ho hlokomeloa hore ntho ena, le ea 100Dh li tšehetsoa feela bakeng sa ho lumellana ka morao. Tekanyetso e khothaletsa hore marang-rang a macha a se ke a sebelisa protocol e sireletsang bophelo, empa ho e-na le hoo, ho beha leihlo ho otla ha pelo. Ka bobeli ho lebela bophelo le ho otla ha pelo SEBEKE ho sebetsa ka nako e le 'ngoe.
Tlhaloso ea Ntho
Index
100Bit
Lebitso
Nako ea Balebeli
Mofuta oa Ntho VAR
Mofuta oa data
SAINYWA16
Tlhaloso ea ho Kena
Sub-Index
0h
Phihlello
RW
PDO 'mapa No
Boleng Range 0 ho 65535
Boleng ba mantlha 0
3.2.6. Ntho ea 100Dh: Ntho ea Bophelo Bohle
Nako ea bophelo e atolositsoeng ka nako ea molebeli e fana ka nako ea bophelo bakeng sa protocol ea ho lebela bophelo. Boleng ba 00h bo tla thibela tšireletso ea bophelo.
Tlhaloso ea Ntho
Index
100Dh
Lebitso
Ntho ea nako ea bophelo
Mofuta oa Ntho VAR
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Phihlello
RW
PDO 'mapa No
Boleng Range 0 ho 255
Boleng ba mantlha 0
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3.2.7. Ntho ea 1010h: Li-Parameters tsa Store
Ntho ena e ts'ehetsa ho boloka liparamente mohopolong o sa fetoheng. E le ho qoba ho boloka li-parameter ka phoso, polokelo e etsoa feela ha ho ngoloa ho saena ho itseng ho sub-index e loketseng. Mosaeno ke “boloka”.
Saeno ke nomoro ea 32-bit e sa ngolisoang, e entsoeng ka likhoutu tsa ASCII tsa signature.
litlhaku, ho ea ka tafole e latelang:
MSB
LSB
e
v
a
s
65h 76h 61h 73h
Ha a amohela mosaeno o nepahetseng ho index e nyane e loketseng, Molaoli oa 1IN-CAN o tla boloka liparamente mohopolong o sa fetoheng, ebe o netefatsa phetiso ea SDO.
Ka phihlello ea ho bala, ntho e fana ka tlhaiso-leseling mabapi le bokhoni ba ho boloka ba module. Bakeng sa li-subindex tsohle, boleng bona ke 1h, e leng se bontšang hore Molaoli oa 1IN-CAN o boloka litekanyetso ka taelo. Sena se bolela hore haeba matla a tlositsoe pele ntho ea Store e ngoloa, liphetoho ho Object Dictionary HA LI TLA be li bolokiloe mohopolong o sa fetoheng, 'me li tla lahleha potolohong e latelang ea matla.
Tlhaloso ea Ntho
Index
1010h
Lebitso
Store Parameters
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA32
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 4
Boleng ba mantlha 4
Sub-Index Description Access PDO Mapping Value Range
Boleng ba kamehla
1h
Boloka liparamente tsohle
RW
Che
0x65766173 (ho ngola phihlello)
1h
(ho kena ho bala)
1h
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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Sub-Index Description Access PDO Mapping Value Range
Boleng ba kamehla
2h
Boloka mekhoa ea puisano
RW
Che
0x65766173 (ho ngola phihlello)
1h
(ho kena ho bala)
1h
Sub-Index Description Access PDO Mapping Value Range
Boleng ba kamehla
3h
Boloka liparamente tsa ts'ebeliso
RW
Che
0x65766173 (ho ngola phihlello)
1h
(ho kena ho bala)
1h
Sub-Index Description Access PDO Mapping Value Range
Boleng ba kamehla
4h
Boloka liparamente tsa moetsi
RW
Che
0x65766173 (ho ngola phihlello)
1h
(ho kena ho bala)
1h
3.2.8. Sepheo sa 1011h: Khutlisa Li-Parameters
Sesebediswa sena se tshehetsa ho kgutlisetswa ha maemo a kamehla bakeng sa bukantswe ya ntho mohopolong o sa fetoheng. E le ho qoba ho tsosolosa li-parameter ka phoso, sesebelisoa se tsosolosa li-default feela ha ho ngoloa ho saena ho itseng ho sub-index e loketseng. Saeno ke “moroalo”.
Saeno ke nomoro ea 32-bit e sa ngolisoang, e entsoeng ka likhoutu tsa ASCII tsa signature.
litlhaku, ho ea ka tafole e latelang:
MSB
LSB
d
a
o
l
64h 61h 6Fh 6Ch
Ha a amohela mosaeno o nepahetseng ho index e nyane e loketseng, Molaoli oa 1IN-CAN o tla khutlisa liphoso mohopolong o sa fetoheng, ebe o netefatsa phetiso ea SDO. Litekanyetso tsa kamehla li behiloe hore li sebetse feela ka mor'a hore sesebelisoa se lokisoe bocha kapa ho tsamaisoa ka motlakase. Sena se bolela hore Molaoli oa 1INCAN HA A TLA qala ho sebelisa litekanyetso hang-hang, empa a tsoele pele ho sebelisa boleng bofe kapa bofe bo neng bo le ho Object Dictionary pele ho ts'ebetso ea tsosoloso.
Ka phihlello ea ho bala, ntho e fana ka tlhaiso-leseling mabapi le mokhoa oa ho khutlisa paramethara ea module. Bakeng sa li-index tsohle tse nyenyane, boleng bona ke 1h, e leng se bontšang hore Molaoli oa 1IN-CAN o khutlisetsa li-default taelong.
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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Tlhaloso ea Ntho
Index
1011h
Lebitso
Khutlisa Li-Parameters tsa kamehla
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA32
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 4
Boleng ba mantlha 4
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h Khutlisa liparamente tsohle tsa kamehla RW No 0x64616F6C (ho ngola phihlello), 1h (ho fumana phihlello) 1h
Sub-Index Description Fihla PDO Mapping Value Range Default Value
2h Khutlisa liparamente tsa puisano tsa kamehla RW No 0x64616F6C (ho ngola phihlello), 1h (ho fumana phihlello) 1h
Sub-Index Description Fihla PDO Mapping Value Range Default Value
3h Khutlisa liparamente tsa ts'ebeliso ea kamehla RW No 0x64616F6C (ho fumana phihlello ea ho ngola), 1h (ho kena ho bala) 1h
Sub-Index Description Fihla PDO Mapping Value Range Default Value
4h Khutlisa liparamente tsa moetsi oa kamehla RW No 0x64616F6C (ho fumana phihlello), 1h (ho kena ho bala) 1h
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3.2.9. Sepheo sa 1016h: Nako ea Pelo ea Bareki
1IN-CAN Controller e ka ba moreki oa lintho tse otlang pelo ho isa ho li-module tse 'ne. Ntho ena e hlalosa nako e lebelletsoeng ea potoloho ea ho otla ha pelo bakeng sa li-module tseo, 'me haeba e behiloe ho zero, ha e sebelisoe. Ha e se lefela, nako ke makhetlo a mangata a 1ms, 'me ho shebella ho tla qala ka mor'a kamohelo ea ho otla ha pelo ea pele ho tloha mojulung. Haeba Molaoli oa 1IN-CAN a hloleha ho fumana ho otla ha pelo ho tloha node ka nako e lebelletsoeng, e tla bontša phoso ea puisano, 'me e arabe joalo ka ntho ea 1029h.
Likotoana tsa 31-24
23-16
Boleng bo bolokiloe 00h Node-ID
E khoute joalo ka
SAINYWA8
15-0 Nako ea ho otla ha pelo E SA BONANG16
Tlhaloso ea Ntho
Index
1016h
Lebitso
Nako ea ho otla ha pelo ea bareki
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA32
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Palo ea tse kentsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 4
Boleng ba mantlha 4
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h ho isa ho 4h Nako ea ho otla ha pelo ea bareki RW No UNSIGNED32 0
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3.2.10. Sepheo sa 1017h: Moetsi oa Heartbeat Time
1IN-CAN Controller e ka hlophisoa ho hlahisa ho otla ha pelo ea cyclical ka ho ngola boleng bo se nang zero ho ntho ena. Boleng bo tla fanoa ka makhetlo a 1ms, 'me boleng ba 0 bo tla tima ho otla ha pelo.
Tlhaloso ea Ntho
Index
1017h
Lebitso
Nako ea ho otla ha pelo ea moetsi
Mofuta oa Ntho VAR
Mofuta oa data
SAINYWA16
Tlhaloso ea ho Kena
Sub-Index
0h
Phihlello
RW
PDO 'mapa No
Boleng Range 10 ho 65535
Boleng ba mantlha 0
3.2.11. Sepheo sa 1018h: Ntho ea Boitsebiso
Ntho ea boitsebiso e bonts'a lintlha tsa 1IN-CAN Controller, ho kenyeletsoa id ea morekisi, id ea sesebelisoa, linomoro tsa software le hardware, le nomoro ea serial.
Ho Kenyelletso ea Nomoro ea Phetoho ho sub-index 3, sebopeho sa data se bonts'itsoe ka tlase
Nomoro e kholo ea ntlafatso ea MSB (dikishinari ea ntho)
Hardware Revision
LSB Software Version
Tlhaloso ea Ntho
Index
1018h
Lebitso
Ntho ea Boitsebiso
Mofuta oa Ntho REKOTO
Mofuta oa data
Tlaleho ea Boitsebiso
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Palo ea tse kentsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 4
Boleng ba mantlha 4
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h ID ea morekisi RO No 0x00000055 0x00000055 (Axiomatic)
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Sub-Index Description Fihla PDO Mapping Value Range Default Value
2h Khoutu ea Sehlahisoa RO No 0xAA031701 0xAA031701
Sub-Index Description Fihla PDO Mapping Value Range Default Value
3h Revision Number RO No UNSIGNED32 0x00010100
Sub-Index Description Fihla PDO Mapping Value Range Default Value
4h Serial Number RO No UNSIGNED32 No
3.2.12. Sepheo 1020h: Netefatsa Tlhophiso
Ntho ena e ka baloa ho bona hore na software (mofuta o bonts'itsoeng nthong ea 1018h) e ngotsoe neng. Letsatsi le hlahisoa e le boleng ba hexadecimal bo bontšang letsatsi/khoeli/selemo ho latela mokhoa o ka tlase. Boleng ba nako ho sub-index 2 ke boleng ba hexadecimal bo bonts'ang nako ka hora ea lihora tse 24.
Letsatsi la MSB (ka 1-Byte Hex)
00
Kgwedi (ka 1-Byte Hex) 00
Selemo sa LSB (ka 2-Byte Hex) Nako (ka 2-Byte Hex)
Bakeng sa mohlalaample, boleng ba 0x10082010 bo ka bontša hore software e entsoe ka August 10th, 2010. Nako ea 0x00001620 e tla bontša hore e hlophisitsoe ka 4:20pm.
Tlhaloso ea Ntho
Index
1020h
Lebitso
Netefatsa tlhophiso
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA32
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Palo ea tse kentsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 2
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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Hlaloso ea Bohlokoa ka ho Fetisisa ea Lethathamo la Sub-Index
2 1h Letsatsi la tlhophiso RO No UNSIGNED32 No
Sub-Index Description Fihla PDO Mapping Value Range Default Value
2h Nako ea tlhophiso RO No UNSIGNED32 No
3.2.13. Sepheo 1029h: Boitšoaro ba Phoso
Ntho ena e laola boemo boo Molaoli oa 1IN-CAN a tla behoa ho bona ha ho ka ba le phoso ea mofuta o amanang le index-potlana.
Phoso ea marang-rang e tšoauoa ha RPDO e sa amoheloe ka nako e lebelletsoeng e hlalositsoeng ho "Event Timer" ea lintho tse amanang le puisano, (sheba Karolo ea 3.2.14 bakeng sa tlhaiso-leseling e batsi) kapa haeba mopholosi kapa molaetsa oa ho otla ha pelo o sa amoheloe joalo ka lebeletsoe. Liphoso tsa ho kenya li hlalositsoe Karolong ea 1.3, 'me liphoso tsa tlhahiso li hlalositsoe Karolong ea 1.5.
Bakeng sa li-sub-index tsohle, litlhaloso tse latelang ke 'nete:
0 = Pele ho ts'ebetso (node e khutlela boemong ba pele ho ts'ebetso ha phoso ena e fumanoa)
1 = Ha ho Phetoho ea Naha (node e lula e le boemong bo tšoanang le boo e neng e le ho bona ha phoso e etsahala)
2 = E emisitsoe
(node e kena ka mokhoa o emisitsoeng ha phoso e etsahala)
Tlhaloso ea Ntho
Index
1029h
Lebitso
Boitšoaro bo Phoso
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Palo ea tse kentsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 5
Boleng ba mantlha 5
Sub-Index Description Access PDO Mapping
1h Puisano Phoso RW No
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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Value Range Default Value Sub-Index Tlhaloso Fihla PDO Mapping Value Range Boleng bo Default
Sheba ka holimo 1 (Ha ho Phetoho ea Naha) 2h Phoso ea Kenyelletso ea Dijithale (ha e sebelisoe) RW Che Bona kaholimo ho 1 (Ha ho Phetoho ea Naha)
Sub-Index Description Fihla PDO Mapping Value Range Default Value
3h Analog Input Fault (AI1) RW Ha ho Bona ka holimo 1 (Ha ho Phetoho ea Naha)
Sub-Index Description Fihla PDO Mapping Value Range Default Value
4h Digital Output Fault (ha e sebelisoe) RW Che Bona ka holimo 1 (Ha ho Phetoho ea Naha)
Sub-Index Description Fihla PDO Mapping Value Range Default Value
5h Analog Output Fault (ha e sebelisoe) RW Ha ho Bona ka holimo 1 (Ha ho Phetoho ea Naha)
3.2.14. RPDO Boitšoaro
Ho latela maemo a CANopen ® a DS-301, mokhoa o latelang o tla sebelisoa bakeng sa ho etsa 'mapa bocha, 'me oa tšoana ho li-RPDO le li-TPDO ka bobeli.
a) Senya PDO ka ho beha palo e teng (haholo-holo hanyane) ea sub-index 01h ea paramethara ea puisano ea PDO ho ea ho 1b
b) Tlosa 'mapa ka ho beha index e nyane 00h ea ntho e tsamaellanang ea' mapa ho 0
c) Fetola 'mapa ka ho fetola boleng ba li-indices tse tsamaellanang
d) Nolofatsa 'mapa ka ho beha index e nyane 00h ho palo ea lintho tse entsoeng limmapa
e) Theha PDO ka ho beha palo e teng (haholo-holo hanyane) ea sub-index 01h ea paramethara ea puisano ea PDO ho ea ho 0b
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
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1IN-CAN Controller e ka tšehetsa melaetsa e fihlang ho e mene ea RPDO. Li-RPDO tsohle tse ho 1IN-CAN Controller li sebelisa mekhoa e tšoanang ea puisano ea kamehla, ka li-ID tsa PDO tse behiloeng ho latela sete e hlalositsoeng esale pele ea khokahano e hlalositsoeng ho DS-301. Boholo ba li-RPDO ha li eo, ha ho na RTR e lumelletsoeng, ba sebelisa li-11-bit CAN-IDs (sebopeho sa motheo se nepahetse) 'me kaofela li tsamaisoa ke liketsahalo. Leha bane ba na le 'mapa e nepahetseng ea kamehla e hlalositsoeng (sheba ka tlase) ke RPDO1 feela e lumelloang ka mokhoa oa kamehla (ke hore RPDO e teng).
'Mapa oa RPDO1 ho Object 1600h: ID ea kamehla 0x200 + Node ID
Sub-Index Boleng
Ntho
0
4
Palo ea lintho tse sebelisoang 'mapeng ho PDO
1
0x25000110
E Eketsehileng e Amohetse 1 PV
2
0x25000210
E Eketsehileng e Amohetse 2 PV
3
0x25000310
E Eketsehileng e Amohetse 3 PV
4
0x25000410
E Eketsehileng e Amohetse 4 PV
'Mapa oa RTPDO2 ho Ntho ea 1601h: ID ea kamehla 0x300 + Node ID
Sub-Index Boleng
Ntho
0
2
Palo ea lintho tse sebelisoang 'mapeng ho PDO
1
0x25000510
E Eketsehileng e Amohetse 1 PV (ke hore, PID Control Feedback 1 PV)
2
0x25000610
E Eketsehileng e Amohetse 2 PV (ke hore, PID Control Feedback 2 PV)
3
0
Ha e sebelisoe kamehla
4
0
Ha e sebelisoe kamehla
'Mapa oa RPDO3 ho Object 1602h: ID ea kamehla 0x400 + Node ID
Sub-Index Boleng
Ntho
0
0
Palo ea lintho tse sebelisoang 'mapeng ho PDO
1
0
Ha e sebelisoe kamehla
2
0
Ha e sebelisoe kamehla
3
0
Ha e sebelisoe kamehla
4
0
Ha e sebelisoe kamehla
'Mapa oa RPDO4 ho Object 1603h: ID ea kamehla 0x500 + Node ID
Sub-Index Boleng
Ntho
0
0
Palo ea lintho tse sebelisoang 'mapeng ho PDO
1
0
Ha e sebelisoe kamehla
2
0
Ha e sebelisoe kamehla
3
0
Ha e sebelisoe kamehla
4
0
Ha e sebelisoe kamehla
Ha ho le e 'ngoe ea tsona e nang le tšobotsi ea ho qeta nako e lumelletsoeng, ke hore, "Event Timer" ho sub-index 5 e behiloe ho zero. Ha sena se fetotsoe ho boleng ba non-zero, haeba RPDO e e-s'o amoheloe ho tloha node e 'ngoe ka nako e hlalositsoeng (ha e ntse e le ts'ebetsong ea Ts'ebetso), phoso ea marang-rang e kentsoe,' me molaoli o tla ea ho boemo ba ts'ebetso bo hlalosang Object 1029h sub-index 4.
Tlhaloso ea Ntho
Index
1400h ho 1403h
Lebitso
RPDO parameter ea puisano
Mofuta oa Ntho REKOTO
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-45
Mofuta oa data
Tlaleho ea Puisano ea PDO
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Palo ea tse kentsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 5
Boleng ba mantlha 5
Sub-Index
1h
Tlhaloso
COB-ID e sebelisoang ke RPDO
Phihlello
RW
X RPDOx ID
PDO 'mapa No
1
0200h
Phaello ea Boleng Bona tlhaloso ea boleng ho DS-301
2
0300h
Boleng ba kamehla 40000000h + RPDO1 + Node ID
3
0400h
C0000000h + RPDOx + Node-ID
4
0500h
Node-ID = Node-ID ea mojule. Li-RPDO COB-ID li nchafatsoa ka bo eona haeba li
Node-ID e fetotsoe ke protocol ea LSS.
80000000h ho COB-ID e bontša hore PDO ha e eo (e senyehile)
04000000h ho COB-ID e bontša hore ha ho na RTR e lumelloang ho PDO
Sub-Index Description Fihla PDO Mapping Value Range Default Value
2h Transmission type RO No Bona tlhaloso ea boleng ho DS-301 255 (FFh) = Event Driven
Sub-Index Description Fihla PDO Mapping Value Range Default Value
3h Thibela Nako RW No Bona tlhaloso ea boleng ho DS-301 0
Sub-Index Description Fihla PDO Mapping Value Range Default Value
4h Ho lumellana ho kena RW No UNSIGNED8 0
Sub-Index Description Access PDO Mapping Value Range
5 Nako ea ketsahalo RW No Bona tlhaloso ea boleng ho DS-301
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-46
Boleng ba mantlha 0
Hopola: Nako ea ketsahalo e sa sebetseng ea zero bakeng sa RPDO e bolela hore e tla etsa hore phoso ea marang-rang e tšoauoa haeba e sa amoheloa ka nako ena ha e ntse e sebetsa.
3.2.15. Boitšoaro ba TPDO
Molaoli oa 1IN-CAN a ka ts'ehetsa melaetsa e fihlang ho e mene ea TPDO. Li-TPDO tsohle tse ho 1IN-CAN Controller li sebelisa li-parameter tse tšoanang tsa puisano tsa kamehla, ka li-ID tsa PDO tse behiloeng ho latela sete ea khokahano e hlalositsoeng esale pele e hlalositsoeng ho DS-301. Li-TPDO tse ngata ha li eo, ha ho na RTR e lumelletsoeng, li sebelisa li-11-bit CAN-IDs (sebopeho sa motheo se nepahetse) 'me kaofela li tsamaisoa ke nako. Le hoja tse 'nè li na le limmapa tse nepahetseng tse hlalositsoeng (sheba ka tlase) ke TPDO1 feela e lumelloang ka ho sa feleng (ke hore TPDO e teng).
'Mapa oa TPDO1 ho Ntho 1A00h: ID ea kamehla 0x180 + Node ID
Sub-Index Boleng
Ntho
0
3
Palo ea lintho tse sebelisoang 'mapeng ho PDO
1
0x71000110
Boleng ba Tšimo ea Analog 1
2
0x71000210
Kenyelletso ea Analog 1 Khafetsa E Lekanyetsoang Boleng ba Tšimo
3
0
Ha e sebelisoe kamehla
4
0
Ha e sebelisoe kamehla
'Mapa oa TPDO2 ho Ntho 1A01h: ID ea kamehla 0x280 + Node ID
Sub-Index Boleng
Ntho
0
0
Palo ea lintho tse sebelisoang 'mapeng ho PDO
1
0
Ha e sebelisoe kamehla
2
0
Ha e sebelisoe kamehla
3
0
Ha e sebelisoe kamehla
4
0
Ha e sebelisoe kamehla
'Mapa oa TPDO3 ho Ntho 1A02h: ID ea kamehla 0x380 + Node ID
Sub-Index Boleng
Ntho
0
2
Palo ea lintho tse sebelisoang 'mapeng ho PDO
1
0x24600110
PID Control Output 1 Boleng ba Tšimo
2
0x24600210
PID Control Output 2 Boleng ba Tšimo
3
0
Ha e sebelisoe kamehla
4
0
Ha e sebelisoe kamehla
'Mapa oa TPDO4 ho Ntho 1A03h: ID ea kamehla 0x480 + Node ID
Sub-Index Boleng
Ntho
0
2
Palo ea lintho tse sebelisoang 'mapeng ho PDO
1
0x50200020
Boleng ba Sebaka sa Phepelo ea Matla (e lekantsoe)
2
0x50300020
Boleng ba Sebaka sa Thempereichara (e lekantsoe)
3
0
Ha e sebelisoe kamehla
4
0
Ha e sebelisoe kamehla
Kaha tsohle ntle le TPDO1 e na le sekhahla sa phetisetso ea boleng ba zero (ke hore Sebali sa Ketsahalo ho index e nyane ea 5 ea ntho ea puisano), ke TPDO1 feela e tla phatlalatsoa ka bo eona ha yuniti e kena mokhoeng oa OPERATIONAL.
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-47
Tlhaloso ea Ntho
Index
1800h ho 1803h
Lebitso
TPDO parameter ea puisano
Mofuta oa Ntho REKOTO
Mofuta oa data
Tlaleho ea Puisano ea PDO
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Palo ea tse kentsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 5
Boleng ba mantlha 5
Sub-Index
1h
Tlhaloso
COB-ID e sebelisoang ke TPDO
Phihlello
RW
X
ID ea TPDOx
PDO 'mapa No
1
0180h
Phaello ea Boleng Bona tlhaloso ea boleng ho DS-301
2
0280h
Boleng ba kamehla 40000000h + TPDO1 + Node-ID
3
0380h
C0000000h + TPDOx + Node-ID
4
0480h
Node-ID = Node-ID ea mojule. Li-TPDO COB-ID li nchafatsoa ka bo eona haeba li
Node-ID e fetotsoe ke protocol ea LSS.
80000000h ho COB-ID e bontša hore PDO ha e eo (e senyehile)
04000000h ho COB-ID e bontša hore ha ho na RTR e lumelloang ho PDO
Sub-Index Description Fihla PDO Mapping Value Range Default Value
2h Transmission type RO No See value definition in DS-301 254 (FEh) = Event Driven
Sub-Index Description Fihla PDO Mapping Value Range Default Value
3h Thibela Nako RW No Bona tlhaloso ea boleng ho DS-301 0
Sub-Index Description Fihla PDO Mapping Value Range Default Value
4h Ho lumellana ho kena RW No UNSIGNED8 0
Sub-Index
5
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-48
Tlhaloso Finyella PDO Mapping Value Range Default Value
Nako ea ketsahalo RW No Bona tlhaloso ea boleng ho DS-301 100ms (ho TPDO1) 0ms (ho TPDO2, TPDO3, TPDO4)
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-49
3.3. LITHO TSA KOPO (DS-404)
Index (hex)
6020 6030
7100 6110 6112 7120 7121 7122 7123 7130 6132 7148 7149 61A0 61A1
Ntho
DI Bala State 1 Input Line DI Polarity 1 Input Line AI Input Field Value AI Sensor Type AI Operating Mode AI Input Scaling 1 FV AI Input Scaling 1 PV AI Input Scaling 2 FV AI Input Scaling 2 PV AI Input PV AI Input P Value Input Span Start AI Input Span Qetella Sesefa sa Mofuta oa AI Filter Constant
Mofuta oa Ntho
TS'ELISO TS'OANE
ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY.
Mofuta oa data
BOOLEAN UNSIGNED8 INTEGER16 UNSIGNED16 UNSIGNED8 INTEGER16 INTEGER16 INTEGER16 INTEGER16 INTEGER16 UNSIGNED8 INTEGER16 INTEGER16 UNSIGNED8 UNSIGNED16
Phihlello
MOHLOLO OA RW RW RW RW RW
'Mapa oa PDO
Ee Che
E Che Che Che Che Che Che Che E Che Che Che Che Che Che
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-50
3.3.1. Ntho 6020h: DI Bala State 1 Input Line
Ntho ena e balwang feela e emetse boemo ba ho kenya dijithale ho tswa mothalong o le mong wa ho kenya. Sheba Karolo ea 1.2 bakeng sa lintlha tse ling
Tlhaloso ea Ntho
Index
6020h
Lebitso
DI Bala State 1 Input Line
Mofuta oa Ntho ARRAY
Mofuta oa data
BOOLEAN
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h Digital Input 1 State RO E 0 (OFF) kapa 1 (ON) 0
3.3.2. Ntho 6030h: DI Polarity 1 Input Line
Ntho ena e etsa qeto ea hore na naha e baloa joang pineng ea ho kenya e lumellana le boemo ba logic, hammoho le ntho ea moetsi 2020h, joalokaha e hlalositsoe ho Lethathamo la 3.
Tlhaloso ea Ntho
Index
6030h
Lebitso
DI Polarity 1 Input Line
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Access PDO Mapping Value Range
1h Digital Input 1 Polarity RW No See Table 3
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-51
Boleng ba kamehla 0 (Tlwaelehileng Bule/Tima)
3.3.3. Ntho 7100h: Boleng ba Tšimo ea Kenyo ea AI
Ntho ena e emela boleng bo lekantsoeng ba tlhahiso ea analoge e lekantsoeng ho latela moetsi ntho ea 2102h AI Decimal Digits PV. Karolo ea motheo bakeng sa mofuta o mong le o mong oa ho kenya e hlalositsoe ho Lethathamo la 9, hammoho le qeto ea ho bala feela (dinomoro tsa decimal) e amanang le FV.
Tlhaloso ea Ntho
Index
7100h
Lebitso
Boleng ba Tšimo ea Kenyo ea AI
Mofuta oa Ntho ARRAY
Mofuta oa data
LINTLE16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h AI1 FV RO E, Mofuta oa data o Tobile, bona Lethathamo la 11 No
3.3.4. Ntho ea 6110h: Mofuta oa Sensor oa AI
Ntho ena e hlalosa mofuta oa sensor (input) e hokahaneng le pini ea ho kenya analog.
Tlhaloso ea Ntho
Index
6110h
Lebitso
Mofuta oa Sensor ea AI
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Access
1h AI1 Sensor Mofuta oa RW
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-52
PDO Mapping Value Range Default Value
Che Bona Lethathamo la 5 40 (voltage)
3.3.5. Ntho ea 6112h: Mokhoa oa ho sebetsa oa AI
Ntho ena e nolofalletsa mekhoa e khethehileng ea ho sebetsa bakeng sa ho kenya.
Tlhaloso ea Ntho
Index
6112h
Lebitso
Mokhoa oa ho sebetsa oa AI
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h AI1 Mokhoa oa ho Sebelisa RW Ha ho Bona Lethathamo la 4 1 (ts'ebetso e tloaelehileng)
3.3.6. Ntho 7120h: AI Input Scaling 1 FV
Ntho ena e hlalosa boleng ba tšimo ea ntlha ea pele ea ho lekanya bakeng sa mocha oa ho kenya li-analog, joalokaha ho bontšoa ho Setšoantšo sa 7. E boetse e hlalosa "bonyane" ba boleng ba "analoge" ea tekanyo ea ho kenya letsoho ha u sebelisa tlhahiso ena e le mohloli oa taolo bakeng sa thibelo e 'ngoe ea mosebetsi, e le e hlalositsoe ho Lethathamo la 17 Karolong ea 1.5. E lekantsoe ka yuniti ea 'mele ea FV, ke hore, ntho 2102h e sebetsa ho ntho ena.
Tlhaloso ea Ntho
Index
7120h
Lebitso
Kenyeletso ea AI 1 FV
Mofuta oa Ntho ARRAY
Mofuta oa data
LINTLE16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index
1h
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-53
Tlhaloso Finyella PDO Mapping Value Range Default Value
AI1 Scaling 1 FV RW No See Tafole 11 500 [mV]
3.3.7. Ntho 7121h: AI Input Scaling 1 PV
Ntho ena e hlalosa boleng ba ts'ebetso ea ntlha ea pele ea ho lekanya bakeng sa mocha oa ho kenya analoge, joalokaha ho bontšoa ho Setšoantšo sa 7. E lekanngoa karolong ea 'mele ea PV, ke hore, ntho ea 6132h e sebetsa ho ntho ena.
Tlhaloso ea Ntho
Index
7121h
Lebitso
AI Input Scaling 1 PV
Mofuta oa Ntho ARRAY
Mofuta oa data
LINTLE16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h AI1 Scaling 1 PV RW No Integer16 500 [e tšoanang le 7120h]
3.3.8. Ntho 7122h: AI Input Scaling 2 FV
Ntho ena e hlalosa bohlokoa ba tšimo ea ntlha ea bobeli ea ho lekanya bakeng sa mocha oa ho kenya li-analog, joalokaha ho bontšitsoe setšoantšong sa 7. E boetse e hlalosa "boholo bo phahameng" ba tekanyo ea tlhahiso ea analog ha u sebelisa tlhahiso ena e le mohloli oa taolo bakeng sa thibelo e 'ngoe ea mosebetsi, e le e hlalositsoe ho Lethathamo la 17 Karolong ea 1.5. E lekantsoe ka yuniti ea 'mele ea FV, ke hore, ntho 2102h e sebetsa ho ntho ena.
Tlhaloso ea Ntho
Index
7122h
Lebitso
Kenyeletso ea AI 2 FV
Mofuta oa Ntho ARRAY
Mofuta oa data
LINTLE16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-54
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h AI1 Scaling 2 FV RW No See Tafole 11 4500 [mV]
3.3.9. Ntho 7123h: AI Input Scaling 2 PV
Ntho ena e hlalosa boleng ba ts'ebetso ea ntlha ea bobeli ea calibration bakeng sa mocha oa ho kenya analog,
joalo ka ha ho bonts'itsoe ho Setšoantšo sa 7. E lekantsoe ka yuniti ea 'mele ea PV, ke hore, ntho ea 6132h e sebetsa ho sena.
ntho.
Tlhaloso ea Ntho
Index
7123h
Lebitso
AI Input Scaling 2 PV
Mofuta oa Ntho ARRAY
Mofuta oa data
LINTLE16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h AI1 Scaling 2 PV RW No Integer16 4500 [e tšoanang le 7122h]
3.3.10. Ntho 7130h: Boleng ba Ts'ebetso ea ho Kena ea AI
Ntho ena e emela sephetho sa sekala se kentsoeng se sebelisitsoeng ho Setšoantšo sa 7, 'me se fana ka palo e lekantsoeng e lekantsoeng yuniti ea 'mele ea boleng ba ts'ebetso (e leng °C, PSI, RPM, joalo-joalo) ka qeto e hlalositsoeng ho ntho 6132h AI Decimal Digits PV. .
Tlhaloso ea Ntho
Index
7130h
Lebitso
Boleng ba Mokhoa oa ho Kena oa AI
Mofuta oa Ntho ARRAY
Mofuta oa data
LINTLE16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-55
Boleng ba 1 Boleng ba kamehla ba 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h AI1 Boleng ba Ts'ebetso RO Ee Integer16 No
3.3.11. Sepheo sa 6132h: AI Decimal Digits PV
Ntho ena e hlalosa palo ea linomoro tse latelang ntlha ea decimal (ke hore qeto) ea data e kentsoeng, e hlalosoang ka mofuta oa data Integer16 molemong oa boleng ba ts'ebetso.
ExampLe: Boleng ba ts'ebetso ea 1.230 (Float) bo tla thathamisoa e le 1230 ka sebopeho sa Integer16 haeba palo ea linomoro e behiloe ho 3.
Tlhaloso ea Ntho
Index
6123h
Lebitso
AI Decimal Digits PV
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h AI1 Decimal Digits PV RW No 0 to 4 3 [Volt to mV]
3.3.12. Sepheo sa 7148h: AI Span Start
Boleng bona bo totobatsa moeli o tlase moo ho lebelletsoeng boleng ba tšimo. Litefiso tse ka tlase ho moeli ona li tšoauoa e le tse ngata tse mpe. E lekantsoe ka yuniti ea 'mele ea FV, ke hore, ntho 2102h e sebetsa ho ntho ena.
Tlhaloso ea Ntho
Index
7148h
Lebitso
AI Span Start
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-56
Mofuta oa Lintlha tsa Mofuta oa Ntho
ARRAY INTEGER16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h AI1 Span Start (Phoso Min) RW No See Table 11 200 [mV]
3.3.13. Sepheo sa 7149h: AI Span End
Boleng bona bo totobatsa moeli o ka holimo moo ho lebelletsoeng litekanyetso. Lipalo tse holimo ho feta tekanyo ena li tšoauoa e le tse ngata haholo. E lekantsoe ka yuniti ea 'mele ea FV, ke hore, ntho 2102h e sebetsa ho ntho ena.
Tlhaloso ea Ntho
Index
7149h
Lebitso
AI Span End
Mofuta oa Ntho ARRAY
Mofuta oa data
LINTLE16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h AI1 Span End (Error Max) RW No See Table 11 4800 [mV]
3.3.14. Ntho 61A0h: Mofuta oa Sesefa sa AI
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-57
Ntho ena e hlalosa mofuta oa filthara ea data e tla sebelisoa ho data e kentsoeng e tala, joalo ka ha e baloa ho tloha ho ADC kapa Timer, pele e fetisetsoa ho ntho ea bohlokoa ea tšimo. Mefuta ea lihloela tsa data e hlalositsoe ho Lethathamo la 8, le hore na li sebelisoa joang li hlalositsoe Karolong ea 1.3.
Tlhaloso ea Ntho
Index
61A0h
Lebitso
Mofuta oa Sesefa sa AI
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
Mofuta oa Sesefa sa 1h AI1 RW No See Table 8 0 (ha ho na sefe)
3.3.15. Ntho 61A1h: AI Filter Constant
Ntho ena e hlalosa palo ea mehato e sebelisoang lihloeng tse fapaneng, joalo ka ha ho hlalositsoe Karolong ea 1.3
Tlhaloso ea Ntho
Index
61A0h
Lebitso
AI Filter Constant
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Access PDO Mapping Value Range
1h AI1 Filter Constant RW No 1 ho isa ho 1000
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-58
Boleng ba mantlha 10
3.4. MOHAPI LITŠITSO
Index (hex)
2020 2021 2030 2031 2040 2041 2031
2100 2101 2102 2103 2110 2111 2112
2500 2502 2520 2522
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
Ntho
DI Pull Up/Down Mode 1 Input Line DI Debounce Time DI Debounce Filter 1 Input Line DI Frequency Debounce Time DI Reset Pulse Count DI Nako Window DI Pulse Window AI Input Range AI Number of Pulses Per Revolution AI Decimal Digits FV AI Filter Frequency for ADC Phoso ea AI Ho Tseba Numella Phoso ea AI Hlakola Phoso ea Hysteresis AI Ho Lieha ho Etsahala EC Boleng ba Ts'ebetso bo Amoheletsoeng EC Decimal Digits PV EC Scalling 1 PV EC Scalling 2 PV LTz Input X-Axis Source LTz Input X-Axis Number LTz X-Axis Nomoro ea YLTZ X-Axis -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 Khethiloeng Tafole Logic Output Process Boleng LBx Lookup Table Number LBx Function Logical Operator Logic Logic Condition 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, Kenyeletso e le 'Ngoe ho CANopen Controller V1
Mofuta oa Ntho
ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY
ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY
ARRAY ARRAY ARRAY ARRAY
VAR VAR VAR ARRAY ARRAY ARRAY ARRAY ARRAY
ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY ARRAY.
TLHOKOMELO
Mofuta oa data
UNSIGNED8 UNSIGNED16 UNSIGNED8 UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED8 UNSIGNED16 BOOLEAN INTEGER8 UNSIGNED8 INTEGER16 UNSIGNED16UNSIGNED NED16 UNSIGNED8 UNSIGNED16 INTEGER16 INTEGER8 INTEGER8 UNSIGNED8 UNSIGNED8 INTEGER8 UNSIGNED16 UNSIGNED16 REKHOTA REKHOTA REKHOTA REKHOTA REKHOTA REKHOTA REKHOTA REKHOTA FLOAT16
Phihlello
RW RW RW RW RW RW RW RW RW RW RW RW RW RW RW .
'Mapa oa PDO
Che Che Che Che Che Che Che Che Che
Che Che Che Che Che Che Che Che Che
Ee Che Che Che
Che Che Che Che Che Che Che Che Che E
Che Che E Che Che Che Che Che Che Che Che Che Che Che Che Che Che
Che
A-59
5020 Power Supply Field Value 5030 Processor Temperature Field Value 5555 Qala ka Mokhoa oa Ts'ebetso
Moo z = 1 ho isa ho 6 le x = 1 ho isa ho 4
VAR
FLOAT32
RO
Ee
VAR
FLOAT32
RO
Ee
VAR
BOOLEAN
RW
Che
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-60
3.4.1. Ntho 2020h: DI Pullup/Down Mode 1 Input Line
Ntho ena e etsa qeto ea hore na naha e baloa joang pineng ea ho kenya e lumellana le boemo ba logic, hammoho le ntho ea kopo 6020h, joalokaha e hlalositsoe ho Lethathamo la 3. Likhetho tsa ntho ena li thathamisitsoe ho Lethathamo la 1, 'me molaoli o tla fetola hardware ea ho kenya ho latela ho se boletsoeng.
Tlhaloso ea Ntho
Index
2020h
Lebitso
DI Pullup/Down Mode 1 Input Line
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h Digital Input 1 Pullup/Down RW No See Table 1 0 (ho hula/ho theoha ho holofetse)
3.4.2. Sepheo 2020h: DI Debounce Time 1 Input Line
Ntho ena e etsa qeto ea nako ea debounce e sebelisoang ha tlhahiso e lokisoa e le mofuta oa ho kenya oa digital. Likhetho tsa ntho ena li thathamisitsoe ka tlase.
Tlhaloso ea Ntho
Index
2021h
Lebitso
DI Debounce Time 1 Input Line
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Access PDO Mapping Value Range
1h Digital Input Debounce Nako RW No 0 60000
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-61
Boleng ba kamehla 10 (ms)
3.4.3. Sepheo 2030h: DI Debounce Filter 1 Input Line
Ntho ena e etsa qeto ea nako ea ho fokotseha ha lets'oao la dijithale ha tlhahiso e lokisoa joalo ka mefuta ea ho kenya Frequency/RPM kapa PWM. Likhetho tsa ntho ena li thathamisitsoe ho Lethathamo la 2.
Tlhaloso ea Ntho
Index
2020h
Lebitso
DI Debounce Filter 1 Input Line
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h Digital Input Debounce Sefe RW Ha ho Bona Lethathamo la 2 2 [Sefa 1.78 rona]
3.4.4. Ntho 2031h: AI Frequency Overflow Value
Ntho ena e etsa qeto ea nako ea ho fokotseha ha lets'oao la dijithale ha tlhahiso e lokisoa joalo ka mefuta ea ho kenya Frequency/RPM kapa PWM.
Tlhaloso ea Ntho
Index
2031h
Lebitso
Boleng ba AI Frequency Overflow
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Access PDO Mapping
1h Frequency Overflow Boleng RW No
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-62
Boleng Bophahamo ba 0-50 Boleng bo Default 50 (Hz)
3.4.5. Ntho 2040h: AI Seta Botjha Boleng ba Palo ea Pulse
Ntho ena e etsa qeto ea boleng (ka pulses) e tla tsosolosa mofuta oa Counter input ho qala ho bala ho tloha ho 0 hape. Boleng bona bo nahanoa ha tlhahiso e khethoa e le mofuta oa Counter Input.
Tlhaloso ea Ntho
Index
2040h
Lebitso
AI Reset Pulse Count Value
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA32
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h AI Seta Bocha Palo ea Phallo ea Phallo RW No 0-0xFFFFFFFF 1000 (pulses)
3.4.6. Sepheo sa 2041h: Fensetere ea Nako ea AI Counter
Ntho ena e etsa qeto ea boleng (ka milliseconds) e tla sebelisoa e le fensetere ea nako ea ho bala maqhubu a fumanoang ka hare ho eona. Boleng bona bo nahanoa ha tlhahiso e khethoa e le mofuta oa Counter Input.
Tlhaloso ea Ntho
Index
2041h
Lebitso
Fensetere ea Nako ea AI Counter
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA32
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Tlhaloso
1h AI Counter Time Window
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-63
Fumana Boleng ba Boleng ba 'Mapa ba PDO bo Default Boleng
RW No 0-0xFFFFFFFF 500 (milliseconds)
3.4.7. Sepheo sa 2041h: Fensetere ea AI Counter Pulse
Ntho ena e etsa qeto ea boleng (ka pulses) e tla sebelisoa e le palo ea sepheo sa molaoli ho lemoha le ho fana ka nako (ka milliseconds) e hlokahalang ho finyella palo e joalo. Boleng bona bo nahanoa ha tlhahiso e khethoa e le mofuta oa Counter Input.
Tlhaloso ea Ntho
Index
2041h
Lebitso
Fensetere ea AI Counter Pulse
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA32
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h AI Counter Pulse Window RW No 0-0xFFFFFFFF 1000 (pulses)
3.4.8. Ntho 2100h: AI Input Range
Ntho ena, 'moho le 6110h AI Sensor Type, e hlalosa li-analog input defaults (Letlapa la 10) le mefuta e amohelehang (Letlapa la 11) bakeng sa lintho 2111h, 7120h, 7122h, 7148h le 7149h. Nomoro le mefuta ea mefuta e tla fapana ho latela hore na sensor ea mofuta ofe e hokahaneng le kenyelletso, joalo ka ha ho hlalositsoe ho Lethathamo la 6.
Tlhaloso ea Ntho
Index
2100h
Lebitso
AI Input Range
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-64
Boleng ba 1 Boleng ba kamehla ba 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h AI1 Range RW No See Tafole 6 2 [0-5V]
3.4.9. Sepheo sa 2101h: Palo ea AI ea Pulses Per Revolution
Ntho ena e sebelisoa feela ha mofuta oa "Frequency" o khethiloe ke ntho 6110h. Selaoli se tla fetolela tekanyo ea frequency ka bo eona ho tloha ho Hz ho ea ho RPM ha boleng bo seng lefela bo boletsoe. Tabeng ena, lintho 2111h, 7120h, 7122h, 7148h le 7149h li tla hlalosoa e le data ea RPM. Object 2100h AI Input Range e ntse e tlameha ho hlalosoa ho Hertz, 'me e lokela ho khethoa ho latela maqhubu a lebelletsoeng ao sensor ea RPM e tla sebetsa ho ona.
Tlhaloso ea Ntho
Index
2101h
Lebitso
Palo ea AI ea Pulses Per Revolution
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index
1h
Tlhaloso
AI1 Pulses per Revolution
Phihlello
RW
PDO 'mapa No
Boleng Range 0 ho 1000
Boleng ba mantlha 1
3.4.10. Sepheo sa 2102h: AI Decimal Digits FV
Ntho ena e hlalosa palo ea linomoro tse latelang ntlha ea decimal (ke hore qeto) ea data e kentsoeng, e hlalosoang ka mofuta oa data Integer16 sebakeng sa boleng ba tšimo.
ExampLe: Boleng ba tšimo ba 1.230 (Float) bo tla thathamisoa e le 1230 ka sebopeho sa Integer16 haeba palo ea linomoro e behiloe ho 3.
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-65
Ho phaella ho ntho ea FV 7100h, lintho 2111h, 7120h, 7122h, 7148h le 7149h le tsona li tla hlalosoa ka qeto ena. Ntho ena e baloa-feela, 'me e tla fetoloa ka bo eona ke molaoli ho latela Lethathamo la 9 ho latela mofuta oa tlhahiso ea analoge le mefuta e khethiloeng.
Tlhaloso ea Ntho
Index
2102h
Lebitso
AI Decimal Digits FV
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h AI1 Decimal Digits FV RO No See Table 9 3 [Volt to mV]
3.4.11. Sepheo sa 2103h: AI Filter Frequency bakeng sa ADC
Ntho ena e sebelisoa ho hlakisa frequency ea cutoff filter bakeng sa peripheral ea ADC ho processor. Analog-to-digital converter e sebelisoa le mefuta ea ho kenya analoge: voltage; jwale; le ho hanyetsa. E boetse e sebelisetsoa ho lekanya: tlhahiso ea analog ea hona joale maikutlo; phepelo ea motlakase voltage, le mocheso oa processor. Li-filters tse fumanehang li thathamisitsoe ho Lethathamo la 7.
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-66
Tlhaloso ea Ntho
Index
2104h
Lebitso
AI Filter Frequency bakeng sa ADC
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h ADC Filter Frequency RW No See Tafole 7 1 [Sefa 50Hz]
3.4.12. Ntho ea 2110h: Phoso ea AI e Fumana Nolofatsa
Ntho ena e thusa ho lemoha liphoso le karabelo e amanang le thibelo ea ts'ebetso ea analog. Ha e holofalitsoe, ho kenya ho ke ke ha hlahisa khoutu ea EMCY nthong ea 1003h Pre-Defined Error Field, kapa hona ho thibela tlhahiso leha e le efe e laoloang ke ho kenya letsoho ha ho kenya letsoho ho ka tsoa ka ntle ho mefuta e hlalositsoeng ke lintho 7148h AI Span Start le 7149h AI Span. QETA.
Tlhaloso ea Ntho
Index
2110h
Lebitso
Thusa ho fumana Phoso ea AI
Mofuta oa Ntho ARRAY
Mofuta oa data
BOOLEAN
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
Phoso ea 1h AI1 Fumaneha Numella RW No 0 (FALSE) kapa 1 (NETE) 1 [NETE]
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-67
3.4.13. Sepheo sa 2111h: Phoso ea AI Hlakola Hysteresis
Ntho ena e sebelisetsoa ho thibela ts'ebetso e potlakileng / ho hlakola folakha ea phoso ea ho kenya, le ho romela ntho 1003h ho netweke ea CANopen ®. Hang ha tlhahiso e se e fetile/ka tlas'a meepo e hlalosang sebaka se nepahetseng sa ts'ebetso, e tlameha ho khutlela sebakeng sa ho tlosa/hammoho le boleng bona ho hlakola phoso. E lekantsoe ka yuniti ea 'mele ea FV, ke hore, ntho 2102h e sebetsa ho ntho ena.
Tlhaloso ea Ntho
Index
2111h
Lebitso
Phoso ea AI Hlakola Hysteresis
Mofuta oa Ntho ARRAY
Mofuta oa data
LINTLE16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
Phoso ea 1h AI1 Hlakileng Hysteresis RW No See Table 11 100 [mV]
3.4.14. Ntho 2112h: AI Phoso ea ho lieha ho etsa lintho
Ntho ena e sebelisoa ho sefa mats'oao a bohata le ho thibela ho tlala marang-rang a CANopen ® ka phatlalatso ea ntho ea 1003h ha phoso e setiloe/e hlakoloa. Pele phoso e tsejoa (ke hore, khoutu ea EMCY e kenyelelitsoe lethathamong la tšimo ea liphoso tse hlalositsoeng pele), e tlameha ho lula e sebetsa ho pholletsa le nako e hlalositsoeng nthong ena. Karolo ea 'mele ea ntho ena ke milliseconds.
Tlhaloso ea Ntho
Index
2112h
Lebitso
AI Error Reaction Ho lieha
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 1
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-68
Boleng ba mantlha 1
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h AI1 Ho Lieha ha Karabelo ea Phoso RW No 0 ho isa ho 60,000 1000 [ms]
3.4.15. Ntho ea 2500h: EC Extra Received Process Value
Ntho ena e fana ka mohloli o mong oa taolo e le ho lumella li-blocks tse ling hore li laoloe ke data e amohetsoeng ho tsoa ho CANopen ® RPDO. E sebetsa ka mokhoa o ts'oanang le ntho efe kapa efe e ka ngoloang ea PV, joalo ka 7300h AO Output PV.
Tlhaloso ea Ntho
Index
2500h
Lebitso
EC E Eketsehileng e Amohetse PV
Mofuta oa Ntho ARRAY
Mofuta oa data
LINTLE16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 6
Boleng ba mantlha 6
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h ho isa ho 6h (x = 1 ho isa ho 6) ECx E Amohetse PV RW E Integer16 Che
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-69
3.4.16. Ntho ea 2502h: EC Decimal Digits PV
Ntho ena e hlalosa palo ea linomoro tse latelang ntlha ea decimal (ke hore qeto) ea data e eketsehileng ea taolo, e hlalosoang ka mofuta oa data Integer16 molemong oa boleng ba ts'ebetso.
Tlhaloso ea Ntho
Index
2502h
Lebitso
EC Decimal Digits PV
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 6
Boleng ba mantlha 6
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h ho isa ho 6h (x = 1 ho 6) ECx Decimal Digits PV RW No 0 ho 4 1 (0.1 resolution)
3.4.17. Ntho ea 2520h: EC Scaling 1 PV
Ntho ena e hlalosa boleng ba bonyane ba mohloli oa taolo e eketsehileng. E sebelisitsoe e le boleng ba Scaling 1 ka mesebetsi e meng e thibela ha EC e khethiloe e le mohloli oa lintlha tsa X-Axis, ke hore joalokaha ho bonoa ho Setšoantšo sa 11. Ha ho na unit ea 'mele e amanang le data, empa e sebelisa qeto e tšoanang. joalo ka PV e amohetsoeng joalo ka ha e hlalositsoe ho ntho 2502h, EC Decimal Digits PV. Ntho ena e tlameha ho lula e le nyane ho feta ntho 2522h EC Scaling 2 PV.
Tlhaloso ea Ntho
Index
2520h
Lebitso
EC Scaling 1 PV
Mofuta oa Ntho ARRAY
Mofuta oa data
LINTLE16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 6
Boleng ba mantlha 6
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-70
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h ho isa ho 6h (x = 1 ho 6) ECx Scalling 1 PV RW No -32768 ho 2522h sub-index X 0
3.4.18. Ntho ea 2522h: EC Scaling 2 PV
Ntho ena e hlalosa boleng bo phahameng ba mohloli o eketsehileng oa taolo. E sebelisitsoe e le boleng ba Scaling 2 ka mesebetsi e meng e thibela ha EC e khethiloe e le mohloli oa lintlha tsa X-Axis, ke hore joalokaha ho bonoa ho Setšoantšo sa 11. Ha ho na unit ea 'mele e amanang le data, empa e sebelisa qeto e tšoanang. joalo ka PV e amohetsoeng joalo ka ha e hlalositsoe ho ntho 2502h, EC Decimal Digits PV. Ntho ena e tlameha ho lula e le kholo ho feta ntho 2520h EC Scaling 1 PV.
Tlhaloso ea Ntho
Index
2522h
Lebitso
EC Scaling 2 PV
Mofuta oa Ntho ARRAY
Mofuta oa data
LINTLE16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 6
Boleng ba mantlha 6
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h ho isa ho 6h (x = 1 ho 6) ECx Scalling 2 PV RW No 2520h sub-index X ho 32767 1000 (100.0)
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-71
3.4.19. Ntho 30z0h: LTz Input X-Axis Mohloli
Ntho ena e hlalosa mofuta oa ho kenya o tla sebelisoa ho fumana boleng ba ts'ebetso ea ho kenya X-Axis bakeng sa ts'ebetso ea tafole ea ho sheba. Mehloli e fumanehang ea taolo ho molaoli oa 1IN-CAN e thathamisitsoe ho Lethathamo la 15. Ha se mehloli eohle e tla utloahala ho sebelisoa e le tlhahiso ea X-Axis, 'me ke boikarabelo ba mosebedisi ho khetha mohloli o utloahalang bakeng sa kopo. Khetho ea "Mohloli oa Taolo ha o Sebediswe" e tima sebaka sa tshebetso sa tafole e amanang.
Tlhaloso ea Ntho
Index
30z0h (moo z = 1 ho isa ho 6)
Lebitso
Mohloli oa Mohloli oa X-Axis oa LTz
Mofuta oa Ntho E FETOHANG
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Phihlello
RW
PDO 'mapa No
Boleng ba Boleng Sheba Lethathamo la 15
Boleng ba 0 (taolo ha e sebelisoe, PID e holofetse)
3.4.20. Ntho 30z1h: LTz Input X-Axis Number
Ntho ena e hlalosa palo ea mohloli o tla sebelisoa e le PV ea ho kenya X-Axis bakeng sa mosebetsi oa tafole ea ho sheba. Linomoro tse teng tsa taolo li itšetlehile ka mohloli o khethiloeng, joalokaha ho bontšitsoe Lethathamong la 16. Hang ha e khethiloe, meeli ea lintlha tsa X-Axis e tla thibeloa ke lintho tsa ho lekanya mohloli / nomoro ea taolo joalokaha e hlalositsoe Lethathamong la 17.
Tlhaloso ea Ntho
Index
30z1h (moo z = 1 ho isa ho 6)
Lebitso
LTz Input X-Axis Nomoro
Mofuta oa Ntho E FETOHANG
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Phihlello
RW
PDO 'mapa No
Boleng ba Boleng Sheba Lethathamo la 16
Boleng ba kamehla 0 (mohloli oa taolo ea lefeela)
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-72
3.4.21. Ntho 30z2h: LTz X-Axis Decimal Digits PV
Ntho ena e hlalosa palo ea linomoro tse latelang ntlha ea decimal (e leng qeto) ea data ea tlhahiso ea X-Axis le lintlha tse lethathamong la ho sheba. E lokela ho hlophisoa e lekana le linomoro tsa decimal tse sebelisoang ke PV ho tsoa mohloling oa taolo / nomoro joalo ka ha e hlalositsoe ho Lethathamo la 17.
Tlhaloso ea Ntho
Index
30z2h (moo z = 1 ho isa ho 6)
Lebitso
LTz X-Axis Decimal Digits PV
Mofuta oa Ntho E FETOHANG
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Phihlello
RW
PDO 'mapa No
Phaello ea Boleng 0 ho isa ho 4 (sheba Lethathamo la 17)
Boleng ba mantlha 0
3.4.22. Ntho 30z3h: LTz Y-Axis Decimal Digits PV
Ntho ena e hlalosa palo ea linomoro tse latelang ntlha ea decimal (e leng qeto) ea lintlha tsa Y-Axis tafoleng ea ho sheba. Ha tlhahiso ea Y-Axis e tla ba kenyelletso ho thibela e 'ngoe ea ts'ebetso (ke hore, tlhahiso ea analog), ho kgothaletswa hore boleng bona bo bewe bo lekanang le palo ya didesimali e sebelisoang ke boloko e sebelisang tafole ea ho sheba e le mohloli oa taolo. /nomoro.
Tlhaloso ea Ntho
Index
30z3h (moo z = 1 ho isa ho 6)
Lebitso
LTz Y-Axis Decimal Digits PV
Mofuta oa Ntho E FETOHANG
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Phihlello
RW
PDO 'mapa No
Boleng Range 0 ho 4
Boleng ba mantlha 0
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-73
3.4.23. Ntho 30z4h: Karabo ea Ntlha ea LTz
Ntho ena e etsa qeto ea karabo ea Y-Axis liphetohong tsa tlhahiso ea X-Axis. Boleng bo behiloeng ho sub-index 1 bo khetholla mofuta oa X-Axis (ke hore data kapa nako), ha li-index tse ling kaofela li etsa qeto ea karabelo (r.amp, step, ignore) pakeng tsa lintlha tse peli moepeng. Likhetho tsa ntho ena li thathamisitsoe ho Lethathamo la 24. Sheba setšoantšo sa 18 bakeng sa example ea phapang lipakeng tsa mohato le ramp karabo.
Tlhaloso ea Ntho
Index
30z4h (moo z = 1 ho isa ho 6)
Lebitso
LTz Point Karabo
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 11
Boleng ba mantlha 11
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h X-Axis Type RW No See Table 24 (0 kapa 1) 0 (x-axis data response)
Sub-Index Description Fihla PDO Mapping Value Range Default Value
2h ho isa ho 11h (x = 2 ho 11) LTz Point X Response RW No Bona Lethathamo la 24 (0, 1 kapa 2) 1 (ramp ho araba)
3.4.24. Ntho 30z5h: LTz Point X-Axis PV
Ntho ena e hlalosa data ea X-Axis bakeng sa lintlha tse 11 tsa ho lekanya tafoleng ea ho sheba, e hlahisang matsoapo a 10 a fapaneng a tlhahiso.
Ha karabo ea data e khethiloe bakeng sa mofuta oa X-Axis (index 1 ea ntho 30z4), ntho ena e thibetsoe hoo X1 e ke keng ea ba ka tlase ho boleng ba Scaling 1 ea mohloli / nomoro ea taolo e khethiloeng, 'me X11 e ke ke ea feta. ho feta boleng ba Scaling 2. Lintlha tse ling kaofela li hatelloa ke foromo e ka tlase. Karolo ea 'mele e amanang le data e tla ba ea kenyelletso e khethiloeng,' me e tla sebelisa qeto e hlalositsoeng ho ntho 30z2h, LTz X-Axis Decimal Digits PV.
MinInputRange <= X1<= X2<= X3<= X4<= X5<= X6<= X7<= X8<= X9<= X10<= X11<= MaxInputRange
Ha karabo ea nako e khethiloe, ntlha ka 'ngoe ho X-Axis e ka behoa kae kapa kae ho tloha ho 1 ho isa ho 86,400,000ms.
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-74
Tlhaloso ea Ntho
Index
30z5h (moo z = 1 ho isa ho 6)
Lebitso
LTz Point X-Axis PV
Mofuta oa Ntho ARRAY
Mofuta oa data
LINTLE32
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 11
Boleng ba mantlha 11
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h ho isa ho 11h (x = 1 ho isa ho 11)
LTz Point X-Axis PVx
RW
Che
Sheba ka holimo (data) 1 ho 86400000 (nako)
10*(x-1)
Che
3.4.25. Ntho 30z6h: LTz Point Y-Axis PV
Ntho ena e hlalosa data ea Y-Axis bakeng sa lintlha tse 11 tsa ho lekanya tafoleng ea ho sheba, e hlahisang matsoapo a 10 a fapaneng a tlhahiso. Lintlha ha li na meeli ebile ha li na yuniti ea 'mele e amanang le eona. E tla sebelisa qeto e hlalositsoeng ho ntho 30z3h, LTz Y-Axis Decimal Digits PV.
Tlhaloso ea Ntho
Index
30z6h (moo z = 1 ho isa ho 6)
Lebitso
LTz Point Y-Axis PV
Mofuta oa Ntho ARRAY
Mofuta oa data
LINTLE16
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 11
Boleng ba mantlha 11
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h ho isa ho 11h (x = 1 ho isa ho 11) LTz Ntlha ea Y-Axis PVx RW No Integer16 10*(x-1) [ke hore 0, 10, 20, 30, … 100]
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-75
3.4.26. Ntho 30z7h: LTz Output Y-Axis PV
Ntho ena e balang feela e na le "loko ea ts'ebetso ea tafole ea ho sheba PV e ka sebelisoang e le mohloli oa ho kenya tšebetsong block e 'ngoe (ke hore, tlhahiso ea analog.) Karolo ea 'mele ea ntho ena ha e hlalosoe,' me e tla sebelisa qeto e hlalositsoeng ho ntho 30z3h, LTz Y-Axis Decimal Digits PV.
Tlhaloso ea Ntho
Index
30z7h (moo z = 1 ho isa ho 6)
Lebitso
LTz Output Y-Axis PV
Mofuta oa Ntho E FETOHANG
Mofuta oa data
LINTLE16
Tlhaloso ea ho Kena
Sub-Index
0h
Phihlello
RO
PDO Mapping E
Boleng Range Integer16
Nomoro ea kamehla
3.4.27. Ntho ea 4000h: Logic Block Noble
Ntho ena e hlalosa hore na mohopolo o bontšitsoeng ho Setšoantšo sa 22 o tla hlahlojoa kapa che.
Tlhaloso ea Ntho
Index
4000h
Lebitso
Logic Block Noble
Mofuta oa Ntho ARRAY
Mofuta oa data
BOOLEAN
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 4
Boleng ba mantlha 4
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h ho isa ho 4h (x = 1 ho isa ho 4) LBx Noble RW No 0 (FALSE) kapa 1 (NETE) 0 [FALSE]
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-76
3.4.28. Sepheo sa 4010h: Logic Block Selected Tafole
Ntho ena e baloang feela e bonts'a hore na ke tafole efe e khethiloeng e le mohloli oa mohloli oa logic block ka mor'a hore tlhahlobo e bontšitsoeng ho Setšoantšo sa 22 e etsoe.
Tlhaloso ea Ntho
Index
4010h
Lebitso
Logic Block Khethiloeng Tafole
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 4
Boleng ba mantlha 4
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h ho isa ho 4h (x = 1 ho 4) LBx Tafole e Khethiloeng RO E 1 ho isa ho 6 Che
3.4.29. Sepheo sa 4020h: Logic Block Output PV
Ntho ena e baloang feela e bonahatsa tlhahiso ho tsoa tafoleng e khethiloeng, e hlalosoang e le peresentetage. Meeli bakeng sa peresentetagPhetoho e ipapisitse le mefuta ea litafole tsa ho sheba Y-Axis Output PV joalo ka ha ho bonts'itsoe ho Lethathamo la 17.
Tlhaloso ea Ntho
Index
4020h
Lebitso
Logic Block Output PV
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 4
Boleng ba mantlha 4
Sub-Index Description Access PDO Mapping Value Range
1h ho isa ho 4h (x = 1 ho 4) LBx Output PV RO E E itšetlehile ka Lethathamo le Khethiloeng
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-77
Nomoro ea kamehla
3.4.30. Ntho ea 4x01h: Linomoro tsa Tafole ea ho Batla LBx
Ntho ena e etsa qeto ea hore na ke efe ea litafole tse tšeletseng tsa ho sheba tse tšehetsang ho 1IN-CAN tse amanang le mosebetsi o itseng ka har'a logic block block. Litafole tse fihlang ho tse tharo li ka amahanngoa le mosebetsi o mong le o mong oa logic.
Tlhaloso ea Ntho
Index
4x01h (moo x = 1 ho isa ho 4)
Lebitso
Linomoro tsa Tafole ea ho Batla LBx
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 3
Boleng ba mantlha 3
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h ho isa ho 3h (y = A ho C) LBx Tafole ea ho Batla Y Nomoro RW No 1 ho isa ho 6 Sheba Lethathamo la 30
3.4.31. Ntho ea 4x02h: LBx Mosebetsi oa Logical Operator
Ntho ena e etsa qeto ea hore na liphetho tsa maemo a mararo bakeng sa tšebetso e 'ngoe le e 'ngoe li tla bapisoa joang le tse ling ho fumana boemo ba kakaretso ba tlhahiso ea mosebetsi. Ho na le mesebetsi e ka bang tharo e ka hlahlojoang bolokong bo bong le bo bong ba logic. Likhetho tsa ntho ena li hlalositsoe ho Lethathamo la 28. Sheba Karolo ea 1.8 bakeng sa lintlha tse ling mabapi le hore na ntho ena e sebelisoa joang.
Tlhaloso ea Ntho
Index
4x02h (moo x = 1 ho isa ho 4)
Lebitso
LBx Mosebetsi o utloahalang oa Opereishene
Mofuta oa Ntho ARRAY
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 3
Boleng ba mantlha 3
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-78
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h ho isa ho 3h (y = A ho C) LBx Mosebetsi oa Y Logical Operator RW Ha ho Bona Lethathamo la 28 Mosebetsi oa A = 1 (le kaofela) Mosebetsi oa B = 1 (le kaofela) Mosebetsi C = 0 (ea kamehla)
3.4.32. 3.4.33. 3.4.34. 3.4.35. 3.4.36. 3.4.37. 3.4.38. 3.4.39. 3.4.40.
Ntho 4x11h: LBx Mosebetsi A Condition 1 Ntho 4x12h: LBx Mosebetsi A Condition 2 Ntho 4x13h: LBx Mosebetsi A Condition 3 Ntho 4x21h: LBx Mosebetsi B Condition 1 Object 4x22hction 2x4h Function: LB Function23 Oject3 LB tion 4 Ntho 31x1h : LBx Mosebetsi C Condition 4 Ntho 32x2h: LBx Mosebetsi C Condition 4 Ntho 33x3h: LBx Function C Condition XNUMX
Lintho tsena, 4xyzh, li emela Logic Block z, Function y, Condition z, moo x = 1 ho 4, y = A ho C, le z = 1 ho ea ho 3. Lintho tsena kaofela ke mofuta o khethehileng oa rekoto, e hlalositsoeng ho Lethathamo. 25. Tlhahisoleseding ea mokhoa oa ho sebelisa lintho tsena e hlalositsoe Karolong ea 1.8.
Tlhaloso ea Ntho
Index
4 xyzh
Lebitso
LBx Mosebetsi y Boemo z
Mofuta oa Ntho REKOTO
Mofuta oa data
SAINYWA8
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 5
Boleng ba mantlha 5
Sub-Index Description Fihla PDO Mapping Value Range Default Value
1h Khang 1 Mohloli oa RW No See Tafole 15 1 (CANopen Molaetsa)
Sub-Index Tlhaloso
2h Khang 1 Nomoro
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-79
Fumana PDO 'Mapa oa Boleng ba Boleng ba Tlhophiso ea Boleng bo Tlaleha Tlhaloso ea Lethathamo la Phaello ea PDO ea ho Etsa Limmapa Boleng bo Default
RW No Bona Lethathamo la 16 3 (EC E Amohetse PV 1) 3h Khang ea 2 Mohloli oa RW Ha ho Bona Lethathamo la 15 3 (PV ea Kamehla)
Sub-Index Description Fihla PDO Mapping Value Range Default Value
Khang ea 4h 2 Nomoro ea RW Ha ho Bona Lethathamo la 16 3 (FV 3 kamehla)
Sub-Index Description Fihla PDO Mapping Value Range Default Value
5h Operator RW No See Tafole 26 0 (E lekana)
3.4.41. Ntho ea 5010h: Boleng ba Tšimo ea Kamehla
Ntho ena e fanoe ho lumella mosebedisi ho bapisa le boleng bo tsitsitseng, ke hore, bakeng sa taolo ea setpoint ho lupu ea PID, kapa tlhahlobo e nang le maemo bakeng sa boloko ba kelello. Maemo a mabeli a pele a ntho ena a tsitsitse ho FALSE (0) le 'NETE (1). Ho na le li-index tse ling tse 'ne tse fanang ka lintlha tse ling tse sa lekanyetsoang.
Tlhaloso ea Ntho
Index
5010h
Lebitso
Boleng ba Tšimo ea Kamehla
Mofuta oa Ntho ARRAY
Mofuta oa data
FLOAT32
Tlhaloso ea ho Kena
Sub-Index
0h
Tlhaloso
Index e kholo ka ho fetisisa e tšehelitsoeng
Phihlello
RO
PDO 'mapa No
Boemo ba Boleng 6
Boleng ba mantlha 6
Sub-Index Description Access
1h Kamehla Bohata RO
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-80
PDO Mapping Value Range Default Value
No 0 0 (mashano)
Sub-Index Description Fihla PDO Mapping Value Range Default Value
2h Constant True RO No 1 1 (nnete)
Sub-Index Description Fihla PDO Mapping Value Range Default Value
3h Kamehla FV 3 RW Ha ho Float32 25.0
Sub-Index Description Fihla PDO Mapping Value Range Default Value
4h Kamehla FV 4 RW Ha ho Float32 50.0
Sub-Index Description Fihla PDO Mapping Value Range Default Value
5h Kamehla FV 5 RW Ha ho Float32 75.0
Sub-Index Description Fihla PDO Mapping Value Range Default Value
6h Kamehla FV 6 RW Ha ho Float32 100.0
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-81
3.4.42. Ntho 5020h: Boleng ba Tšimo ea Phepelo ea Matla
Ntho ena e baloang feela e teng molemong oa ho hlahloba maikutlo a bona. E bonahatsa matla a lekantsoengtage ho matlafatsa molaoli. Karolo ea 'mele ea ntho ena ke li-volts.
Tlhaloso ea Ntho
Index
5020h
Lebitso
Boleng ba Tšimo ea Phepelo ea Matla
Mofuta oa Ntho E FETOHANG
Mofuta oa data
FLOAT32
Tlhaloso ea ho Kena
Sub-Index
0h
Phihlello
RO
PDO Mapping E
Boleng Range 0 ho 70 [V]
Nomoro ea kamehla
3.4.43. Ntho 5030h: Boleng ba Tšimo ea Mocheso oa processor
Ntho ena e balang feela e teng molemong oa ho hlahloba maikutlo a bona. E bonahatsa mocheso o lekantsoeng oa processor, o tla lula o sebetsa hoo e ka bang 10°C ho isa ho 20°C ka holim'a tikoloho. Karolo ea 'mele ea ntho ena ke likhato tsa Celsius.
Tlhaloso ea Ntho
Index
5030h
Lebitso
Boleng ba Sebaka sa Mocheso oa processor
Mofuta oa Ntho E FETOHANG
Mofuta oa data
FLOAT32
Tlhaloso ea ho Kena
Sub-Index
0h
Phihlello
RO
PDO Mapping E
Boemo ba Boleng -50 ho isa ho 150 [°C]
Nomoro ea kamehla
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-82
3.4.44. Ntho 5555h: Qala ka Mokhoa oa Ts'ebetso
Ntho ena e lumella yuniti ho qala ka mokhoa oa Ts'ebetso ntle le ho hloka boteng ba CANopen ® Master marang-rang. E reretsoe ho sebelisoa feela ha ho sebetsa molaoli oa 1IN-CAN e le mojule o ikemetseng. Sena se lokela ho lula se behiloe FALSE neng kapa neng ha se hokahantsoe le netweke e tloaelehileng ea master/lekhoba.
Tlhaloso ea Ntho
Index
5555h
Lebitso
Qala ka Mokhoa oa Ts'ebetso
Mofuta oa Ntho E FETOHANG
Mofuta oa data
BOOLEAN
Tlhaloso ea ho Kena
Sub-Index
0h
Phihlello
RW
PDO 'mapa No
Boleng Range 0 (FALSE) kapa 1 (TRUE)
Boleng ba kamehla 0 [FALSE]
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-83
4. LITŠOANTŠISO TSA MOSEBETSI
4.1. Phepelo ea Matla
Tšireletso ea Phano ea Matla
12, 24 VDC nominale (8…36VDC phepelo ea motlakase)
Tšireletso ea reverse polarity e fanoa. Karolo ea phepelo ea motlakase e sireletsa khahlanong le ho phahama ha nakoana le lifupi. Overvolvetage fana ka tšireletso ho fihlela ho 38V. Overvolvetage (ka tlasetagle).
4.2. Lisebelisoa
Mesebetsi ea Analog Input VoltagKeletso
Kenyo ea Hona Joale
Kenyeletso ea PWM
Ho Kena ha Maqhubu
Counter Input Digital Input Function
Ho Kena ho Nepahetse ha Analog Resolution Digital Input Resolution Phoso ea ho Fumana/Karabelo
Moqtage [V], Hona joale [mA], PWM [%], Frequency [Hz], RPM, Counter
0-5V 0-10V
(Impedance 204 K) (Impedans 136 K)
0-20mA 4-20mA
(Impedans 124) (Impedans 124)
0 ho isa ho 100% (ho 0.5Hz ho isa ho 20kHz) E ka khethoang ka 10k ho hula ho + 5V kapa ho hulela ho GND resistor
0.5Hz ho isa ho 20kHz E ka khethoang ke 10k ho hula ho ea ho + 5V kapa ho hulela ho mohanyetsi oa GND
Palo ea Pulse, Fesetere ea ho lekanya, Ho Pulse Fesetereng
5V CMOS, Active High kapa Active Low Selectable 10k hula holimo ho + 5V kapa ho hulela ho GND resistor Tloaelehileng, Inverse kapa Latched (push-button) karabo
<1% phoso e felletseng (mefuta eohle)
12-bit ADC
16-bit sebali sa nako
Ho tsoa ho Range High le Low ho lemoha tlhahiso ea khoutu ea EMCY (ntho 1003h) le karabelo ea phoso e ka khonehang (1029h).
4.3. Puisano
KA
Pheliso ea Marang-rang
1 CAN 2.0B port, protocol CiA CANopen ® Ka mokhoa o ikhethileng, 1IN-CAN Controller e fetisetsa tlhahiso e lekantsoeng (ntho ea FV 7100h) le maikutlo a hona joale a hlahisoang (ntho ea FV 2370h) ho TPDO1
Ho ea ka maemo a CAN, hoa hlokahala ho felisa marang-rang ka li-resistant tsa ho felisa ka ntle. Bahanyetsi ke 120 Ohm, 0.25W bonyane, filimi ea tšepe kapa mofuta o tšoanang. Li lokela ho behoa lipakeng tsa litheminale tsa CAN_H le tsa CAN_L lintlheng tse peli tsa marang-rang.
4.4. Litlhaloso tse akaretsang
Microprocessor
STM32F103CBT7, 32-bit, 128 Kbytes Flash Program Memory
Quiscent Current
Ikopanye le Axiomatic.
Control Logic
Ts'ebetso e ka rarolloang ea basebelisi ba sebelisa Electronic Assistant®
Lipuisano
1 CAN port (CANopen®), SAE J1939 e fumaneha ka kopo.
Maemo a Tshebetso
-40 ho isa ho 85 C (-40 ho isa ho 185 F)
Tshireletso
IP67
Ho lumellana ha EMC
Letšoao la CE
Ho thothomela
MIL-STD-202G, Test 204D le 214A (Sine le Random) 10 g tlhoro (Sine); 7.86 Grms tlhoro (E sa reroang) (E ntse e emetse)
Ho tshoha
MIL-STD-202G, Teko 213B, 50 g (Pending)
Litumello
Letšoao la CE
Lihokelo tsa Motlakase
6 pin Deutsch IPD sehokelo P/N: DT04-6P Sehokelo sa mating plug se fumaneha joalo ka Axiomatic P/N: AX070119.
phini # 1 2 3 4 5 6
Tlhaloso BATT+ Input + CAN_H CAN_L Kenyo BATT-
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-84
5. TS'OANELO TSA TŠEBELETSO
Letsatsi la Phetolelo
1
La 31 Mots'eanong 2016
Mongoli
Liphetoho
Lenaneo la pele la Gustavo Del Valle
UMAX031701, Kenyeletso e le 'Ngoe ho CANopen Controller V1
A-85
LIHLAHISO TSA RONA
Actuator e Laola Licheja tsa Battery CAN Litaolo tsa libese, Gateways CAN/Wifi, CAN/Bluetooth Current Converters DC/DC Power Converters DC Voltage/Current Signal Converters Engine Temperature Scanners Ethernet/CAN Converters Fan Drive Controllers Hydraulic Valve Controllers I/O E Laola LVDT Simulators Machine Controls Motor Controls PID Controls Position Sensors, Angle Measurement Inclinometers Power Supplies PWM Signal Converters/Isolators Signal Conditioners. Mathata Gauge CAN e Laola Li-Suppressors tsa Surge
KOPANE E RONA
Axiomatic e fana ka litsamaiso tsa mochini oa elektroniki, likarolo le litsamaiso ho ea tseleng e kholo, koloi ea khoebo, koloi ea motlakase, sete ea jenereithara ea matla, ho sebetsana le thepa, matla a tsosolositsoeng le limmaraka tsa OEM tsa indasteri.
Re fana ka litharollo tse sebetsang hantle, tse ncha tse shebaneng le ho eketsa boleng ho bareki ba rona.
Re totobatsa tšebeletso le tšebelisano 'moho le bareki ba rona, bafani ba thepa le basebetsi ho aha likamano tsa nako e telele le ho tšepana.
TLHALOSO EA KHABANE LE HO HLAHISA
Axiomatic ke setsi se ngolisitsoeng sa ISO 9001:2008.
TŠEBELETSO
Lihlahisoa tsohle tse tla khutlisetsoa ho Axiomatic li hloka Nomoro ea Tumello ea Lisebelisoa tsa ho Khutlisa (RMA#).
Ka kopo fana ka lintlha tse latelang ha u kopa nomoro ea RMA: · Nomoro ea serial, nomoro ea karolo · Nomoro ea invoice ea Axiomatic le letsatsi · Lihora tsa ts'ebetso, tlhaloso ea bothata · Sets'oants'o sa Wiring, kopo · Maikutlo a mang ha ho hlokahala.
Ha u lokisetsa lipampiri tsa ho khutlisa thomello, ka kopo hlokomela tse latelang. Invoice ea khoebo bakeng sa meetlo (le packing slip) e lokela ho bolela HS (tariff code) ea machaba e lumellanang, mantsoe a boleng le ho khutlisa thepa, joalo ka ha ho bontšitsoe ka mongolo o tšekaletseng o ka tlase. Boleng ba li-unit tse ho invoice ea khoebo bo lokela ho tšoana le theko ea tsona.
Thepa e entsoeng Canada (kapa Finland) e khutliselitsoeng Thepa bakeng sa Tekolo ea Tiisetso, HS: 9813.00 Valuation Identical Goods Axiomatic RMA#
TIISETSO, LITUMELO TSA KOPO/MELAO
Axiomatic Technologies Corporation e na le tokelo ea ho etsa litokiso, lintlafatso, lintlafatso, lintlafatso le liphetoho tse ling lihlahisoa le lits'ebeletso tsa eona ka nako efe kapa efe le ho emisa sehlahisoa kapa tšebeletso efe kapa efe ntle le tsebiso. Bareki ba lokela ho fumana lintlha tsa morao-rao tse nepahetseng pele ba fana ka liodara 'me ba lokela ho netefatsa hore tlhahisoleseling e joalo ke ea morao-rao le hore e felile. Basebelisi ba lokela ho ikhotsofatsa hore sehlahisoa se loketse ho sebelisoa ts'ebelisong e reriloeng. Lihlahisoa tsohle tsa rona li na le waranti e lekanyelitsoeng khahlanong le mefokolo ea thepa le moetso. Ka kopo sheba Tiisetso ea rona, Litumello tsa Kopo/Meeli le Ts'ebetso ea Lisebelisoa tsa ho Khutlisa joalokaha ho hlalositsoe ho www.axiomatic.com/service.html.
LIEKETSENG
Axiomatic Technologies Corporation 5915 Wallace Street Mississauga, KA 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
Litokomane / Lisebelisoa
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AXIOMATIC AX031701 Taolo e le 'Ngoe ea Bokahohle ba Input [pdf] Bukana ea Mosebelisi AX031701 Single Universal Input Controller, AX031701, Taolo e le 'Ngoe ea Universal Input Controller, Taolo ea Kenyelletso, Taolo |