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CANopen add-on module
APPENDIX B
Raw communication example
Start/Stop sending PDOs from all nodes
Rx D
8.790 Id=000 Len=2 Data: 01 00
Rx D
8.850 Id=18A Len=8 Data: DD FD 7A 3E EE 9F 6B 47
Rx D
8.850 Id=38A Len=8 Data: 9E 54 1E 38 0D 88 01 40
Rx D
8.900 Id=48A Len=8 Data: 82 DC 7A 3E 00 00 00 00
Rx D
8.960 Id=48A Len=8 Data: 82 DC 7A 3E 00 00 00 00
Rx D
8.960 Id=28A Len=8 Data: 95 E9 CA 45 00 00 10 27
Rx D
9.070 Id=28A Len=8 Data: 95 E9 CA 45 00 00 10 27
Rx D
9.120 Id=28A Len=8 Data: 95 E9 CA 45 00 00 10 27
Rx D
9.120 Id=18A Len=8 Data: DD FD 7A 3E 0D A0 6B 47
Rx D
9.180 Id=38A Len=8 Data: 9E 54 1E 38 5B 88 01 40
Rx D
9.340 Id=18A Len=8 Data: 60 80 7A 3E 0D A0 6B 47
Rx D
9.400 Id=38A Len=8 Data: 1E 03 1E 38 5B 88 01 40
Rx D
9.400 Id=48A Len=8 Data: 12 21 7A 3E 00 00 00 00
Rx D
9.450 Id=48A Len=8 Data: 12 21 7A 3E 00 00 00 00
Rx D
9.450 Id=28A Len=8 Data: F2 B1 CA 45 00 00 10 27
Rx D
9.560 Id=28A Len=8 Data: F2 B1 CA 45 00 00 10 27
Rx D
9.620 Id=28A Len=8 Data: F2 B1 CA 45 00 00 10 27
Rx D
9.620 Id=18A Len=8 Data: 60 80 7A 3E 2C A0 6B 47
Rx D
9.670 Id=38A Len=8 Data: 1E 03 1E 38 A8 88 01 40
Rx D
9.840 Id=18A Len=8 Data: 3E 24 7A 3E 2C A0 6B 47
Rx D
9.840 Id=38A Len=8 Data: BE 13 1E 38 A8 88 01 40
Rx D
9.890 Id=48A Len=8 Data: E2 31 7A 3E 00 00 00 00
Rx D
10.000 Id=48A Len=8 Data: E2 31 7A 3E 00 00 00 00
Rx D
10.000 Id=28A Len=8 Data: 44 A8 CA 45 00 00 10 27
Rx D
10.110 Id=28A Len=8 Data: 44 A8 CA 45 00 00 10 27
Rx D
10.160 Id=28A Len=8 Data: 44 A8 CA 45 00 00 10 27
Rx D
10.220 Id=18A Len=8 Data: 3E 24 7A 3E 4A A0 6B 47
Rx D
10.330 Id=38A Len=8 Data: BE 13 1E 38 F6 88 01 40
Rx D
10.380 Id=18A Len=8 Data: 78 B4 7A 3E 4A A0 6B 47
Rx D
10.440 Id=38A Len=8 Data: FE 69 1E 38 F6 88 01 40
Rx D
15.110 Id=000 Len=2 Data: 02 00
Send SDO (Reset Totalizer 1)
Rx D
7.580 Id=60A Len=8 Data: 2F 01 21 01 01 37 87 2A //Index for Tot1 is 2101
Rx D
7.580 Id=58A Len=8 Data: 60 01 21 01 00 00 00 00
Send SDO (Read Totalizer 1)
Rx D
135.450 Id=60A Len=8 Data: 40 00 21 01 D0 1C 07 0E //Index for Tot1 is 2101
Rx D
135.450 Id=58A Len=8 Data: 43 00 21 01 3C F4 DA 41
APPENDIX B
SFIDK.PS.023.A2.02
//Start All Cmd
//COB-ID for TxPDO1 is 18Ah
//COB-ID for TxPDO3 is 38Ah
//COB-ID for TxPDO4 is 48Ah
//COB-ID for TxPDO2 is 28Ah
//and so forth...
//Stop All Cmd
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