GD350变频器 canopen通讯报文

发表于 2024-7-10 18:16:53

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启动初始化:<table width="530"><tbody><tr class="firstRow"><td width="195" valign="top" style="border: 1px solid windowtext; padding: 0px 7px;">COB+ID</td><td width="335" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">报文</td></tr><tr><td width="195" valign="top" style="border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-left: 1px solid windowtext; border-image: initial; border-top: none; padding: 0px 7px;">000</td><td width="182" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x01</td><td width="153" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x00</td></tr></tbody></table>复位设备：<table width="528"><tbody><tr class="firstRow"><td width="195" valign="top" style="border: 1px solid windowtext; padding: 0px 7px;">COB+ID</td><td width="333" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">报文</td></tr><tr><td width="195" valign="top" style="border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-left: 1px solid windowtext; border-image: initial; border-top: none; padding: 0px 7px;">000</td><td width="182" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x81</td><td width="151" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x00</td></tr></tbody></table>PDO1 Rx:（用来读写变频器的相关参数）PDO1 Tx:（用来返回变频器的相关参数） <table><tbody><tr class="firstRow"><td width="57" valign="top" style="border: 1px solid windowtext; padding: 0px 7px;">请求码  </td><td width="321" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">功能</td><td width="57" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">响应码</td><td width="90" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">功能</td></tr><tr><td width="57" valign="top" style="border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-left: 1px solid windowtext; border-image: initial; border-top: none; padding: 0px 7px;">0</td><td width="321" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">无任务</td><td width="57" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0</td><td width="90" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">无响应</td></tr><tr><td width="57" valign="top" style="border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-left: 1px solid windowtext; border-image: initial; border-top: none; padding: 0px 7px;">1</td><td width="321" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">读取参数值</td><td width="57" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">1</td><td width="90" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">读写成功</td></tr><tr><td width="57" valign="top" style="border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-left: 1px solid windowtext; border-image: initial; border-top: none; padding: 0px 7px;">2</td><td width="321" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">修改参数值[只是修改 RAM]</td><td width="57" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">3</td><td width="90" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">读写错误</td></tr><tr><td width="57" valign="top" style="border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-left: 1px solid windowtext; border-image: initial; border-top: none; padding: 0px 7px;">4</td><td width="321" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">修改参数值 [RAM 和 EEPROM 都修改]（保留）</td><td width="57" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="90" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td></tr></tbody></table> 发送：(canopen节点号为3)<table><tbody><tr class="firstRow"><td width="81" rowspan="2" valign="top" style="border: 1px solid windowtext; padding: 0px 7px;">COB-ID</td><td width="145" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">请求码</td><td width="146" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">参数地址</td><td width="153" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">请求数据</td></tr><tr><td width="80" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte0</td><td width="64" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte1</td><td width="80" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte2</td><td width="66" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte3</td><td width="80" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte4</td><td width="72" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte5</td></tr><tr><td width="81" valign="top" style="border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-left: 1px solid windowtext; border-image: initial; border-top: none; padding: 0px 7px;">0x203</td><td width="80" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x02  </td><td width="64" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x00</td><td width="80" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x0A</td><td width="66" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x00</td><td width="80" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x88</td><td width="72" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x13</td></tr></tbody></table>接收：<table><tbody><tr class="firstRow"><td width="67" rowspan="2" valign="top" style="border: 1px solid windowtext; padding: 0px 7px;">COB-ID</td><td width="93" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">响应码</td><td width="131" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">错误代码</td><td width="140" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">响应数据数据</td><td width="48" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;"> </td><td width="48" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;"> </td></tr><tr><td width="45" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte0</td><td width="48" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte1</td><td width="75" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte2</td><td width="56" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte3</td><td width="77" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte4</td><td width="63" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte5</td><td width="48" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte6</td><td width="48" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte7</td></tr><tr><td width="67" valign="top" style="border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-left: 1px solid windowtext; border-image: initial; border-top: none; padding: 0px 7px;">0x183</td><td width="45" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x01  </td><td width="48" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x00</td><td width="75" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x0A</td><td width="56" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x00</td><td width="77" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x88</td><td width="63" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x13</td><td width="48" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x00</td><td width="48" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">0x00</td></tr></tbody></table> 主站向3号canopen从站的地址（P 00.10，键盘设定频率）写入50.00Hz，从站响应写入成功。 PDO2 Rx:（控制字+PZD2+PZD3+PZD4）PDO2 Tx:（状态字+PZD2+PZD3+PZD4）发送：(canopen节点号为3)<table><tbody><tr class="firstRow"><td width="61" rowspan="2" valign="top" style="border: 1px solid windowtext; padding: 0px 7px;">COB-ID</td><td width="112" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">控制字</td><td width="113" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD2发送</td><td width="115" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD3发送</td><td width="124" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD4发送</td></tr><tr><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte0</td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte1</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte2</td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte3</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte4</td><td width="56" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte5</td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte6</td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte7</td></tr><tr><td width="61" valign="top" style="border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-left: 1px solid windowtext; border-image: initial; border-top: none; padding: 0px 7px;">0x303</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="56" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td></tr></tbody></table>接收：<table><tbody><tr class="firstRow"><td width="61" rowspan="2" valign="top" style="border: 1px solid windowtext; padding: 0px 7px;">COB-ID</td><td width="112" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">状态字</td><td width="113" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD2接收</td><td width="115" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD3接收</td><td width="124" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD4接收</td></tr><tr><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte0</td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte1</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte2</td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte3</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte4</td><td width="56" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte5</td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte6</td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte7</td></tr><tr><td width="61" valign="top" style="border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-left: 1px solid windowtext; border-image: initial; border-top: none; padding: 0px 7px;">0x283</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="56" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td></tr></tbody></table>PDO3 Rx:（PZD5+PZD6+PZD7+PZD8）PDO3 Tx:（PZD5+PZD6+PZD7+PZD8）发送：(canopen节点号为3)<table><tbody><tr class="firstRow"><td width="61" rowspan="2" valign="top" style="border: 1px solid windowtext; padding: 0px 7px;">COB-ID</td><td width="112" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD5发送</td><td width="113" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD6发送</td><td width="115" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD7发送</td><td width="124" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD8发送</td></tr><tr><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte0</td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte1</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte2</td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte3</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte4</td><td width="56" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte5</td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte6</td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte7</td></tr><tr><td width="61" valign="top" style="border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-left: 1px solid windowtext; border-image: initial; border-top: none; padding: 0px 7px;">0x403</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="56" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td></tr></tbody></table>接收：<table><tbody><tr class="firstRow"><td width="61" rowspan="2" valign="top" style="border: 1px solid windowtext; padding: 0px 7px;">COB-ID</td><td width="112" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD5</td><td width="113" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD6接收</td><td width="115" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD7接收</td><td width="124" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD8接收</td></tr><tr><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte0</td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte1</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte2</td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte3</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte4</td><td width="56" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte5</td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte6</td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte7</td></tr><tr><td width="61" valign="top" style="border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-left: 1px solid windowtext; border-image: initial; border-top: none; padding: 0px 7px;">0x383</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="56" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td></tr></tbody></table>PDO4 Rx:（PZD9+PZD10+PZD11+PZD12）PDO4 Tx:（PZD9+PZD10+PZD11+PZD12）发送：(canopen节点号为3)<table><tbody><tr class="firstRow"><td width="61" rowspan="2" valign="top" style="border: 1px solid windowtext; padding: 0px 7px;">COB-ID</td><td width="112" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD9发送</td><td width="113" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD10发送</td><td width="115" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD11发送</td><td width="124" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD12发送</td></tr><tr><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte0</td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte1</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte2</td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte3</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte4</td><td width="56" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte5</td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte6</td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte7</td></tr><tr><td width="61" valign="top" style="border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-left: 1px solid windowtext; border-image: initial; border-top: none; padding: 0px 7px;">0x503</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="56" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td></tr></tbody></table>接收：<table><tbody><tr class="firstRow"><td width="61" rowspan="2" valign="top" style="border: 1px solid windowtext; padding: 0px 7px;">COB-ID</td><td width="112" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD9接收</td><td width="113" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD10接收</td><td width="115" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD11接收</td><td width="124" colspan="2" valign="top" style="border-top: 1px solid windowtext; border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-image: initial; border-left: none; padding: 0px 7px;">PZD12接收</td></tr><tr><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte0</td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte1</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte2</td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte3</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte4</td><td width="56" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte5</td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte6</td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;">Byte7</td></tr><tr><td width="61" valign="top" style="border-right: 1px solid windowtext; border-bottom: 1px solid windowtext; border-left: 1px solid windowtext; border-image: initial; border-top: none; padding: 0px 7px;">0x483</td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="54" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="59" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="56" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td><td width="62" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid windowtext; border-right: 1px solid windowtext; padding: 0px 7px;"> </td></tr></tbody></table>

GD350变频器 canopen通讯报文

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