ECM appsCAN Module Instruction Manual page 41

6.0 Commands to the appsCAN Module
6.1. Configure Activation of RPDOs
Send the following OS Command to configure the module to act on RPDOs immediately
after they are sent.
CANid byte 0
0x600+NID 0x2F
Send the following OS Command to configure the module to act on RPDOs only after also
receiving to SYNC message (see "SYNC Messages" section).
CANid byte 0
0x600+NID 0x2F
SYNC Messages
There are two different types of SYNC messages that can be transmitted. One applies only to
the module selected. The other is a global SYNC which synchronizes the RPDOs of all
modules on the bus configured to require a SYNC message.
To send a SYNC message to only one module, configure any one of the RPDOs for that
module to be the "SYNC" parameter, and transmit a non-zero value. Since RPDOs are sent
as a pair of parameters, the 2
nd
to send a 2 parameter, you can configure it as the "NULL" parameter. See Section 6.13
RPDO Mapping for details on how to map and send RPDOs.
To send a global SYNC message, send the following message. Note that no data is necessary
in the data bytes.
CANid byte 0
0x80
6.2. Configure Analog Outputs (AO1, AO2, AO3, AO4)
Select Output Type
Each of the four analog outputs can be configured as absolute voltages from 0 to 5V or
ratiometrically as a percentage of a 0 to 15V reference input. These settings are controlled by
an 8-bit register that can be accessed by performing an SDO read or write to OD address
0x5023, subindex 0x00.
bit 7 bit 6
Reserved Reserved
Aout#: 0 = configure channel as absolute voltage
1 = configure channel as ratio of the reference associated with this output (i.e. Aout1
uses the voltage reference Vref1).
byte 1 byte 2 byte 3
0x23 0x10
byte 1 byte 2 byte 3
0x23 0x10
nd
parameter you choose will also be applied. If you do not wish
byte 1 byte 2 byte 3
bit 5 bit 4
Reserved Reserved
byte 4 byte 5
0x01 0x33
byte 4 byte 5
0x01 0x34
byte 4 byte 5
bit 3 bit 2
Aout4 Aout3
byte 6 byte 7
byte 6 byte 7
byte 6 byte 7
bit 1 bit 0
Aout2 Aout1
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