West Control Solutions KS 800 CANopen Interface Manual - Manual (Page 11)

KS 800 CAN-Interface
3.2 Control Record (KS800 receive PDO):
The structure of the Control Record is:
Index Subindex Field Data Type
43 0 number of supported entries in the record unsigned8
1 channel number unsigned8
2 Wvol (set point) FixedPoint1
3 Yman (manual controller output) FixedPoint1
4 control byte unsigned8
5 update byte unsigned8
I.e the following data in detail can be received via receive PDOs:
channel
→
data[ 0]
Wvol (set-point)
→
data[ 1, 2]
low byte data[ 1]
high byte data[ 2]
Yman (controller output value)
→
data[ 3, 4]
low byte data[ 3]
high byte data[ 4]
control information:
→
data[ 5]
Bit 0 - A[0] / M [0/1]
Bit 1 - COFF [1]
Bit 2 - W/W2 [0/1]
Bit 3 - Wext/Wint [0/1]
Bit 4 - Ostart [1]
update information:
→
data[ 6]
Bit 0 - A/M [0/1]
Bit 1 - COFF [1]
Bit 2 - W/W2 [0/1]
Bit 3 - Wext/Wint [0/1]
Bit 4 - Ostart [1]
Bit 6 - Yman [1]
Bit 7 - Wvol [1]
The update information permits selection which data from the control record are taken over by
KS800. If one of the bits is set, the relevant data on the KS800 are updated.
9499 040 49511 11