CAN-Bus for CVP - User manual

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1 CAN-Bus for CVP - User manual Proportional Valves With digital integrated electronic Type CVP with CAN-Bus interface CVP Manuale rev.01 27/03/2006 p.i/24 Re: CAN-Bus for CVP_Manuale_en_rev01

2 Manuale Elettronica Digitale Integrata CVP Indice Indice Indice I 1 CAN Bus - Device Profile The CAN Application Layer Communication Objects COB Identifier for proportional valves Process Data Object (PDO) PDO communication Service Data Object (SDO) Driver Status (6041h-0) Driver Control Emergency Object Profile Areas- Object groups OBJECT DICTIONARY... 8 CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.1/24

3 Manuale Elettronica Digitale Integrata CVP CAN Bus - Device Profile 1 CAN Bus - Device Profile 1.1 The CAN Application Layer The CANopen Application Layer and communication profile (CiA DS-301) supports direct access to device parameters and transmission of time-critical process data. The CANopen network management services simplify project design, system integration and diagnostics. In each decentralized control application there are different kind of messages called Communication Objects (COB). CANopen defines all these Communication Objects and describes them in the Object Dictionary (OD) that contains all parameters of the device. Parameters are accessible by a 16-bit index and, in the case of Arrays and Records, there is an additionally 8-bit sub-index (see 5-9 Object Dictionary). 1.2 Communication Objects The Identification code (called COB-ID) makes possible, for the proportional digital valve, to sort and manage its relevant Communication Objects (COBs) including hydraulic parameters. Communication Objects are described in the following sections Process Data Objects (PDO) Service Data Objects (SDO) Synchronization Object (SYNC) Time Stamp Object (TIME) Network Management Objects (NMT) Emergency Object (EMCY) 1.3 COB Identifier for proportional valves The COB-ID and Data Segment, shown in the following diagram, compose the basic structure of a Communication Object: S O M COB-ID R T R CTRL Data Segment CRC A C K EOM CAN -Frame COB-ID Communication Object Identifier Data Segment In case of PDO and SDO, this field Includes index of valve parameters The following diagram shows the layout of the 11 bit COB Identifier : Function Code Node Number Bit 0-6 Node Number (node ID, range between 1 and 127 default 10) Bit 7-10 Function Code (number of the communication object) CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.2/24

4 Manuale Elettronica Digitale Integrata CVP CAN Bus - Device Profile Communic. Object Table 5-1 Predefined COB-ID for proportional valves Communication parameter at index Priority Data segment for digital proportional valves and PDO mapping Function Code (bin) Resulting COB-Ids EMERGENCY 0x1014 Error codes x81..0xFF TPDO 1 0x1800 Transmit status word (6041h) x181..0x1FF RPDO 1 0x1400 Receive control word (6040h) x201..0x27F TPDO 2 RPDO 2 0x1801 0x1401 Transmit status word (6041h), transducer actual value (6301h) Receive control word (6040h), flow input reference (6300h) Dec. Hex x281..0x2FF x301..0x37F SDO (tx) 0x1200 Object Dictionary and hydraulic x581..0x5FF SDO (rx) 0x1200 parameters management x601..0x67F NMT Error Control 0x X1017 Low Nodeguard transmit error control x701..0x77F NMT - Network Management x0 1.4 Process Data Object (PDO) The real time process data objects (PDO) like Input Reference and monitors, are managed with high priority mode to transfer data that are time-critical. For proportional valves they are defined by DSP 408. The PDOs link to some entries in the device Object Dictionary and provide a highly dynamic exchange communication with the proportional valve. Each PDO is structured in two parts: the communication parameters (communication capabilities) and the mapping parameters (information about the contents and the behavior of the PDOs). There are two kinds of use for PDOs: Transmit-PDOs (TPDO) from valve to Master unit and Receive-PDOs (RPDO) from Master unit to the valve. The Table 4-1 shows the Predefined connection set and PDO mapping structure within the Device Object Dictionary after switching on the proportional digital valve. 1.5 PDO communication A Transmit PDO can be triggered in 3 modes: asynchronously (ASYNC event-controlled) That mean a PDO is sent by the valve as soon as the process value mapped on PDO changes.(see diagram) This is the default transmission type (255) and with inhibit time of 2 ms and status=disabled composes the default TPDO settings. as response to an RTR message sent with the COB-Id of the TPDO requested. 1.6 Service Data Object (SDO) The service data objects (SDO) form the communication channel for the transfer of device parameters (e.g. proportional valve programming). Since these parameters are transferred acyclically, the SDO objects have a low priority. With Service Data Objects (SDOs) the access to entries in the device Object Dictionary is provided and it is possible to read and/or write all the configuration parameters. As these entries may contain data of arbitrary size and type, SDOs can be used to transfer multiple data sets from a valve to master and vice versa. The contents of the data set are defined within the Object Dictionary. CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.3/24

5 Manuale Elettronica Digitale Integrata CVP CAN Bus - Device Profile 1.7 Driver Status (6041h-0) The actual driver status is transmitted via the CAN-Bus communication interface using the status word, a 16 bit parameter collecting many informations about the driver behavior; use PDO messages communication for real time communication Status Word msb lsb bit Coil Ramp Content Active p/q Warning Local Status Running Status (bit 3-0) Shows the status of the electronic driver Local (bit 4) Shows if the driver status is controlled by the driver firmware (Local) or by the CANmaster (Remote Control). Warning (bit 5) If the warning is active, the type of warning is indicated in the specific parameter Alarm Code Error p/q (bit 8) Shows if pressure controller is enabled Ramp Running (bit 9) Shows if the internal ramp generator is running Coil Active (bit15) Shows which Coil is actual working (if two solenoids valve) Driver Status Raw value (bits) Raw value Hex Real value xxxx xxxx xxxx 0000 xxx0 h Not Ready xxxx xxxx xxxx 1000 xxx8 h Init xxxx xxxx xxxx 1001 xxx9 h Disabled xxxx xxxx xxxx 1011 xxxb h Hold xxxx xxxx xxxx 1111 xxxf h Active xxxx xxxx xxxx 0001 xxx1 h Fault xxxx xxxx xxxx 0011 xxx3 h Fault Hold xxxx xxxx xxxx 0111 xxx7 h Fault Reaction CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.4/24

6 Manuale Elettronica Digitale Integrata CVP CAN Bus - Device Profile 1.8 Driver Control If the Local/Remote control (6040h) is set to Remote, and the NMT state is set to Operational the actual driver status may be controlled via the CAN-Bus interface, using the control word (6040h) 16 bit-telegram, that can be sent via SDO communication or, if more performance are needed, via PDO to perform a real time communication. Control Word msb lsb bit Content p/q Control Driver Control (Device States Control Word (6040h) Control (bit 3-0) Sets the valve s status as indicated in the table at side. p/q (bit 8) Enable pressure controller for p/q control valves. 0:pressure controller disabled 1:Pressure controller enabled. Within the p/q-control the p-controller reacts as soon as the actual pressure value exceeds the input reference Raw value (bits) xxxx xxxx xxxx xxx1 xxxx xxxx xxxx xx11 xxxx xxxx xxxx x111 xxxx xxxx xxxx x0xx xxxx xxxx xxxx x00x xxxx xxxx xxxx x000 xxxx xxxx xxxx 0x0x -> xxxx xxxx xxxx 1x0x Real value Previous => New state Init => Disabled Dis => Hold Hold => Active Active => Hold Hold => Disabled Dis => Init Fault => Disabled Local (604Fh-0) Allows to select if the control source of the driver status is internal or via CAN-Bus. Local control (default) The driver status is controlled by the driver firmware Raw value according to the actual valve operation (control word controlled by firmware). If the Set Point is via Bus, it s needed to set the NMT Operational State, in order to have PDO communication and Active internal state. Remote control The driver status is controlled via CAN-Bus by setting the Control Word. Option 1 01 h Local Real value Option 2 00 h Remote Control Default 01 h Local CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.5/24

7 Manuale Elettronica Digitale Integrata CVP CAN Bus - Device Profile 1.9 Emergency Object Emergency object is triggered by the occurrence of a device internal error situation (see Emergency Error Codes) and is transmitted in real time. Emergency object is suitable for interrupt type error alerts and is transmitted only once per error event. As long as no new event errors occur on a device, no further emergency objects will be transmitted. Emergency Error Code No Error Overrun tempo ciclo Overrun comandi CAN Bus Node guarding secondo DS301 Recovery da Bus Off (realizzata Hardware) Main transducer Fault EEPROM in fase salvataggio parametric Errore del software (watchdog) Salvataggio Parametri che prevede il reset del dispositivo (0x0000) (0x6000) (0x8110) (0x8130) (0x8140) (0x5230) (0x5530) (0x6010) (0x6320) Composition of the Emergency Object Cob-Id Data Segment of the Emergency Object is composed of 8 bytes, divided as follow: Byte 0 Byte 1 Byte 2 Byte 3-7 Emergency Error Code Error Register (1001h) Reserved Error Register The error register maintain the alarm error group information, setting one of the 8 bits in the register Error Register (1001h) Bit Meaning 0 Generic error 1 Current 2 Voltage 3 Temperature 4 Communic.error 5 Device profile specific 6 Reserved (always 0) 7 Manufacturer specific CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.6/24

8 Manuale Elettronica Digitale Integrata CVP CAN Bus - Device Profile 1.10 Profile Areas- Object groups Index (Hex) Object Group (Profile Area) FFF Communication Profile Area DS FFF Manufacturer Specific Profile Area (Application) FFF Standardized Device Profile Area DSP 408 v for Hydraulic Devices A000-FFFF Reserved for further use The Communication Profile Area at indices 1000h through 1FFFh contains the communication specific parameters for the CAN network. These entries are common to all devices. The Manufacturer Specific Profile area at indices 2000h through 5FFFh contains all data objects defined by Manufacturer for the specific application to describe the Proportional Hydraulic Valves parameters and the device functionality not included in standardized area. The Standardized Device Profile area at indices 6000h through 9FFFh contains all data objects common to a class of devices that can be read or written via the network. The device profiles may use entries from 6000h to 9FFFh to describe the device parameters and is structured according to the device functionality and different controller modes as shown below Standardized Device Profile Area DSP 408 v for Hydraulic Devices F Device control, F Device information F Actual value conditioning FF Controller output conditioning Controller mode specific blocks F VPOC Valve POsition Control (open loop and closed loop) FF VPRC Valve PRessure Control (open loop and closed loop) F VPQC Valve p/q Control (open loop and closed loop) CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.7/24

9 2 OBJECT DICTIONARY /******************************************************************************************* PARAMETRI CON BACKUP *******************************************************************************************/ // Definizione struttura parametri communication da salvare in flash BYTE CAN_BAUD; // Bit timing linea CAN BYTE NODE; // Indirizzo di nodo UINT32 SYNCID; // COB-ID sul quale si riceve il sync UINT32 CYCLESYNC; // Periodo del sync UINT16 GUARDT; // Guard time BYTE LIFET; // Life time factor BOOL PDOCODCHANGE[ NUM_STD_PDOS ]; // Flag di COB-ID di trasmissione sul PDO variato UINT32 PDOTXCOBID[ NUM_STD_PDOS ]; // COB-ID di trasmissione sul PDO BYTE PDOTXTYPE[ NUM_STD_PDOS ]; // Tipo di trasmissione sui PDO UINT16 PDOTXINHB[ NUM_STD_PDOS ]; // Inhibit time per PDO UINT16 PDOTXEVENT[ NUM_STD_PDOS ]; // Event time per PDO BYTE PDOPARMAP[ NUM_STD_PDOS ]; // Numero di elementi mappati nei PDO UINT32 PDOPARBUFF[ NUM_STD_PDOS ][ 8 ]; // Elenco parametri mappati nei PDO // Struttura parametri manufacturer da salvare in flash INT16 VPOC_IMAXA; // Corrente massima curva caratteristica piano A INT16 VPOC_IMAXB; // Corrente massima curva caratteristica piano B INT16 VPOC_S_A_X[ N_LIN_POINTS ]; // Punti di linearizzazione su X side A INT16 VPOC_S_A_Y[ N_LIN_POINTS ]; // Punti di linearizzazione su Y side A INT16 VPOC_S_B_X[ N_LIN_POINTS ]; // Punti di linearizzazione su X side B INT16 VPOC_S_B_Y[ N_LIN_POINTS ]; // Punti di linearizzazione su Y side B UINT16 VPOC_GAINPROP; // Guadagno proporzionale CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.8/24

10 UINT16 VPOC_GAININT; // Guadagno integrale UINT16 VPOC_FEEDFORWARD; // Guadagno di feedforward BOOL VPOC_CURRLOOP; // Flag di chiusura anello di corrente BOOL VPOC_BISOLENOIDE; // Attivo il secondo solenoide INT16 VPOC_PWM_COMP_X[ N_PWM_POINTS ]; // Punti di compensazione pwm INT16 VPOC_PWM_COMP_Y[ N_PWM_POINTS ]; // Percentuale di compensazione pwm BYTE ANA_OUT_CFG; // Configurazione uscita analogica di monitor float VPOC_RGAINPROP[ N_RGAINPROP ]; // Fattori di riduzione del guadagno proporzionale float VPOC_FGAININT; // Fattore massimo del contributo integrativo BYTE VPOC_ANT_FFW; // Anticipo feedforward BYTE REF_TYPE; // Tipo di segnale di riferimento INT16 REF_HIGH_LEVEL; // Livello alto segnale di riferimento INT16 REF_LOW_LEVEL; // Livello basso segnale di riferimento UINT16 REF_PERIOD; // Periodo del segnale di riferimento INT16 VPRC_BARMAXA; // Bar massimi curva caratteristica piano A INT16 VPRC_BARMAXB; // Bar massimi curva caratteristica piano B UINT16 VPRC_GAINPROP; // Guadagno proporzionale UINT16 VPRC_GAININT; // Guadagno integrale UINT16 VPRC_FEEDFORWARD; // Guadagno di feedforward UINT16 VPRC_MAX_PRESS_TRAS; // massima pressione trasduttore float VPRC_RGAINPROP[ VPRC_N_RGAINPROP ]; // Fattori di riduzione del guadagno proporzionale in pressione float VPRC_FGAININT; // Fattore massimo del contributo integrativo in pressione BYTE VPRC_ANT_FFW; // Anticipo feedforward pressione float VPRC_TH_RGAINPROP; // soglia fattori di riduzione del guadagno proporzionale in pressione float VPRC_TH_FGAININT; // soglia fattore massimo del contributo integrativo in pressione float VPRC_RIF_FIL; // Filtro di riferimento float VPRC_RGAINPROP_NEG; // fattore di riduzione del guadagno float VPRC_RGAININT; // Fattori di riduzione del guadagno proporzionale in pressione BOOL REF_SCALA[ N_ANA_INP ]; // Flag per tipo di riferimento in ingresso TRUE 12 ma é lo 0 UINT16 PERC_SP; // Percentuale di riduzione setpoint INT16 VPRC_BARNOMA; // Bar nominali paino A INT16 VPRC_BARNOMB; // Bar nominali paino B UINT16 PEAKCURR_TIME; // Durata picco di corrente UINT16 WAITCURR_ATUN; // Tempo di attesa assestamento corrente in ms BYTE NUM_SAMP_ATUN; // Numero di campioni di pressione e corrente per media CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.9/24

11 INT16 GAINPROP_ATUN; // Guadagno proporzionale anello di corrente per autotuning INT16 GAININT_ATUN; // Guadagno integrale anello di corrente per autotuning UINT16 VPRC_FPGAININT_LIMIT; // Limite contributo guadagno integrale float VPRC_THR_FEEDOK; // Soglia di pressione al di sotto della quale si apre l'anello BYTE SEL_SOLENOIDE_AB; // Selettore solenoide S1 BYTE SEL_AO_TYPE; // Selettore uscita analogica corrente/tensione // Definizione struttura parametri device profile da salvare in flash INT8 DEVICE_MODE; // Device mode INT8 DEVICE_CTRL_MODE; // Device control mode INT8 DEVICE_LOCAL; // Device local char DEVICE_DESCR[ 32 ]; // Device description INT16 VPOC_HOLD_SET_POINT; // vpoc generator hold set point INT8 VPOC_RAMP_TYPE; // vpoc generator ramp type UINT16 VPOC_ACC_POS; // vpoc ramp acceleration time positive UINT16 VPOC_ACC_NEG; // vpoc ramp acceleration time negative UINT16 VPOC_DEC_POS; // vpoc ramp deceleration time positive UINT16 VPOC_DEC_NEG; // vpoc ramp deceleration time negative INT8 VPOC_DEAD_BAND_COMP_TYP; // vpoc dead band compensation type INT16 VPOC_DEAD_BAND_COMP_ASIDE; // vpoc dead band compensation A side INT16 VPOC_DEAD_BAND_COMP_BSIDE; // vpoc dead band compensation B side INT16 VPOC_DEAD_BAND_COMP_THR; // vpoc dead band compensation threshold UINT16 VPOC_DITHER_FREQ; // vpoc dither frequency BYTE VPRC_TRASD_SUNIT; // vprc trasducer unit INT8 VPRC_TRASD_PREFIX; // vprc trasducer exponent BYTE VPRC_SP_SUNIT; // vprc set point unit INT8 VPRC_SP_PREFIX; // vprc set point exponent CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.10/24

12 /******************************************************************************************* PARAMETRI SENZA BACKUP *******************************************************************************************/ // Definizione struttura parametri communication da non salvare in flash BYTE NMT_STATE; // Stato driver DS301 BOOL READY; // Driver DS301 pronto BYTE ERR_REGISTER; // Error register UINT32 MAN_STATUS_REGISTER; // Manufacturer status register UINT16 ERR_CODE; // Error code BYTE ERR_FIELD[ 5 ]; // Error Field // Struttura parametri manufacturer da non salvare in flash BYTE ACT_CAN_BAUD; // Bit timing linea CAN attivo BYTE ACT_NODE; // Indirizzo di nodo attivo INT16 ACT_SET_POINT; // Set point attuale INT16 ANA_INP_RIF; // Riferimento analogico in ingresso INT16 ANA_FEED_PRESS; // Feedback analogico di pressione INT16 ANA_OUT_V; // Uscita analogica in tensione INT16 ANA_OUT_C; // Uscita analogica in corrente INT16 ANA_SET_POINT; // Set point analogico INT16 REF_SET_POINT; // Set point segnale di riferimento BOOL AUTO_TUNING; // Flag di abilitazione autotarutara linearizzazione UINT16 STEPCURR_ATUN; // Step di corrente per autotuning in ma UINT16 STEPCURR_DB_ATUN; // Step di corrente per autotuning della dead band in ma // Definizione struttura parametri manufacturer da non salvare in flash UINT16 DEVICE_CTRLW; // Device control word UINT16 DEVICE_STATUSW; // Device status word INT16 VPOC_SET_POINT; // vpoc set point INT16 VPOC_DEMAND_VALUE; // vpoc demand value CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.11/24

13 /***************************************************************************** COMMUNICATION AREA *****************************************************************************/ 0x1000, 0x00, DB_T_DWORD, &dwdevice_type, sizeof( UINT32 ), DB_R, FALSE, NULL, 0x1001, 0x00, DB_T_BYTE, &SYSP.COMM.ERR_REGISTER, sizeof( BYTE ), DB_R, TRUE, NULL, 0x1002, 0x00, DB_T_DWORD, &SYSP.COMM.MAN_STATUS_REGISTER, sizeof( UINT32 ), DB_R, TRUE, NULL, 0x1008, 0x00, DB_T_STRING, &StrDeviceName[ 0 ], DIM_DEV_NAME, DB_R, FALSE, NULL, 0x1009, 0x00, DB_T_STRING, &StrHardwareVersion[ 0 ], DIM_HW_VER, DB_R, FALSE, NULL, 0x100A, 0x00, DB_T_STRING, &StrSoftwareVersion[ 0 ], DIM_SW_VER, DB_R, FALSE, NULL, 0x100C, 0x00, DB_T_WORD, &BCK_SYSP.COMM.GUARDT, sizeof( UINT16 ), DB_RW, FALSE, OD_GuardTime, 0x100D, 0x00, DB_T_BYTE, &BCK_SYSP.COMM.LIFET, sizeof( BYTE ), DB_RW, FALSE, OD_GuardTime, 0x1010, 0x00, DB_T_BYTE, &elem[ 4 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x1010, 0x01, DB_T_DWORD, NULL, sizeof( UINT32 ), DB_RW, FALSE, OD_SaveParameters, 0x1010, 0x04, DB_T_DWORD, NULL, sizeof( UINT32 ), DB_RW, FALSE, OD_SaveParameters, 0x1011, 0x00, DB_T_BYTE, &elem[ 4 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x1011, 0x01, DB_T_DWORD, NULL, sizeof( UINT32 ), DB_RW, FALSE, OD_DefaultParameters, 0x1011, 0x04, DB_T_DWORD, NULL, sizeof( UINT32 ), DB_RW, FALSE, OD_DefaultParameters, 0x1018, 0x00, DB_T_BYTE, &elem[ 4 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x1018, 0x01, DB_T_DWORD, &HW_SYSP.HW2_SYSP.VENDOR_ID, sizeof( UINT32 ), DB_R, FALSE, NULL, 0x1018, 0x02, DB_T_DWORD, &HW_SYSP.HW2_SYSP.PROD_ID, sizeof( UINT32 ), DB_R, FALSE, NULL, 0x1018, 0x03, DB_T_DWORD, &dwrev_num, sizeof( UINT32 ), DB_R, FALSE, NULL, 0x1018, 0x04, DB_T_DWORD, &HW_SYSP.HW2_SYSP.SER_NUM, sizeof( UINT32 ), DB_R, FALSE, NULL, CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.12/24

14 0x1400, 0x00, DB_T_BYTE, &elem[ 2 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x1400, 0x01, DB_T_DWORD, &BCK_SYSP.COMM.PDOTXCOBID[ PDO1_RX ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Communication_Object, 0x1400, 0x02, DB_T_BYTE, &BCK_SYSP.COMM.PDOTXTYPE[ PDO1_RX ], sizeof( BYTE ), DB_RW, FALSE, OD_PDO_Communication_Object, 0x1600, 0x00, DB_T_BYTE, &BCK_SYSP.COMM.PDOPARMAP[ PDO1_RX ], sizeof( BYTE ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1600, 0x01, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_RX ][ 0 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1600, 0x02, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_RX ][ 1 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1600, 0x03, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_RX ][ 2 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1600, 0x04, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_RX ][ 3 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1600, 0x05, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_RX ][ 4 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1600, 0x06, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_RX ][ 5 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1600, 0x07, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_RX ][ 6 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1600, 0x08, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_RX ][ 7 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1800, 0x00, DB_T_BYTE, &elem[ 5 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x1800, 0x01, DB_T_DWORD, &BCK_SYSP.COMM.PDOTXCOBID[ PDO1_TX ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Communication_Object, 0x1800, 0x02, DB_T_BYTE, &BCK_SYSP.COMM.PDOTXTYPE[ PDO1_TX ], sizeof( BYTE ), DB_RW, FALSE, OD_PDO_Communication_Object, 0x1800, 0x03, DB_T_WORD, &BCK_SYSP.COMM.PDOTXINHB[ PDO1_TX ], sizeof( UINT16 ), DB_RW, FALSE, OD_PDO_Communication_Object, 0x1800, 0x05, DB_T_WORD, &BCK_SYSP.COMM.PDOTXEVENT[ PDO1_TX ], sizeof( UINT16 ), DB_RW, FALSE, NULL, // PDO2_TX Mapping comunication area 0x1801, 0x00, DB_T_BYTE, &elem[ 5 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x1801, 0x01, DB_T_DWORD, &BCK_SYSP.COMM.PDOTXCOBID[ PDO2_TX ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Communication_Object, 0x1801, 0x02, DB_T_BYTE, &BCK_SYSP.COMM.PDOTXTYPE[ PDO2_TX ], sizeof( BYTE ), DB_RW, FALSE, OD_PDO_Communication_Object, 0x1801, 0x03, DB_T_WORD, &BCK_SYSP.COMM.PDOTXINHB[ PDO2_TX ], sizeof( UINT16 ), DB_RW, FALSE, OD_PDO_Communication_Object, 0x1801, 0x05, DB_T_WORD, &BCK_SYSP.COMM.PDOTXEVENT[ PDO2_TX ], sizeof( UINT16 ), DB_RW, FALSE, NULL, 0x1A00, 0x00, DB_T_BYTE, &BCK_SYSP.COMM.PDOPARMAP[ PDO1_TX ], sizeof( BYTE ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A00, 0x01, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_TX ][ 0 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A00, 0x02, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_TX ][ 1 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.13/24

15 0x1A00, 0x03, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_TX ][ 2 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A00, 0x04, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_TX ][ 3 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A00, 0x05, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_TX ][ 4 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A00, 0x06, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_TX ][ 5 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A00, 0x07, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_TX ][ 6 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A00, 0x08, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO1_TX ][ 7 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, // PDO2_TX Mapping area 0x1A01, 0x00, DB_T_BYTE, &BCK_SYSP.COMM.PDOPARMAP[ PDO2_TX ], sizeof( BYTE ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A01, 0x01, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO2_TX ][ 0 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A01, 0x02, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO2_TX ][ 1 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A01, 0x03, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO2_TX ][ 2 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A01, 0x04, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO2_TX ][ 3 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A01, 0x05, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO2_TX ][ 4 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A01, 0x06, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO2_TX ][ 5 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A01, 0x07, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO2_TX ][ 6 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, 0x1A01, 0x08, DB_T_DWORD, &BCK_SYSP.COMM.PDOPARBUFF[ PDO2_TX ][ 7 ], sizeof( UINT32 ), DB_RW, FALSE, OD_PDO_Mapping_Object, /***************************************************************************** MANUFACTURER AREA *****************************************************************************/ ////////////////////////////////////////////////////////////////////////////// // MANUFACTURER COMMUNICATION 0x2000, 0x00, DB_T_BYTE, &BCK_SYSP.COMM.CAN_BAUD, sizeof( BYTE ), DB_W, FALSE, NULL, 0x2001, 0x00, DB_T_BYTE, &SYSP.MAN.ACT_CAN_BAUD, sizeof( BYTE ), DB_R, FALSE, NULL, 0x2002, 0x00, DB_T_BYTE, &BCK_SYSP.COMM.NODE, sizeof( BYTE ), DB_W, FALSE, NULL, 0x2003, 0x00, DB_T_BYTE, &SYSP.MAN.ACT_NODE, sizeof( BYTE ), DB_R, FALSE, NULL, 0x2004, 0x00, DB_T_BYTE, &SYSP.COMM.NMT_STATE, sizeof( BYTE ), DB_R, FALSE, NULL, 0x2005, 0x00, DB_T_DWORD, NULL, sizeof( UINT32 ), DB_W, FALSE, OD_ResetNode, CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.14/24

16 0x2010, 0x00, DB_T_BOOL, &BCK_SYSP.MAN.VPOC_CURRLOOP, sizeof( BOOL ), DB_RW, FALSE, NULL, 0x2011, 0x00, DB_T_INT, &BCK_SYSP.MAN.VPOC_IMAXA, sizeof( INT16 ), DB_RW, FALSE, OD_CurrentLimit, 0x2012, 0x00, DB_T_INT, &BCK_SYSP.MAN.VPOC_IMAXB, sizeof( INT16 ), DB_RW, FALSE, OD_CurrentLimit, 0x2013, 0x00, DB_T_BOOL, &BCK_SYSP.MAN.VPOC_BISOLENOIDE, sizeof( BOOL ), DB_RW, FALSE, OD_Hy_Parameters, 0x2013, 0x01, DB_T_BYTE, &BCK_SYSP.MAN.SEL_SOLENOIDE_AB, sizeof( BYTE ), DB_RW, FALSE, OD_Hy_Parameters, 0x2014, 0x00, DB_T_BYTE, &BCK_SYSP.MAN.ANA_OUT_CFG, sizeof( BYTE ), DB_RW, FALSE, NULL, 0x2014, 0x01, DB_T_BYTE, &BCK_SYSP.MAN.SEL_AO_TYPE, sizeof( BYTE ), DB_RW, FALSE, NULL, 0x2015, 0x00, DB_T_BYTE, &BCK_SYSP.MAN.REF_TYPE, sizeof( BYTE ), DB_RW, FALSE, OD_Reference_Type, 0x2016, 0x00, DB_T_INT, &BCK_SYSP.MAN.REF_HIGH_LEVEL, sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_User_SetPoint, 0x2016, 0x01, DB_T_INT, &BCK_SYSP.MAN.REF_HIGH_LEVEL, sizeof( INT16 ), DB_RW, FALSE, OD_VPRC_User_SetPoint, 0x2017, 0x00, DB_T_INT, &BCK_SYSP.MAN.REF_LOW_LEVEL, sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_User_SetPoint, 0x2017, 0x01, DB_T_INT, &BCK_SYSP.MAN.REF_LOW_LEVEL, sizeof( INT16 ), DB_RW, FALSE, OD_VPRC_User_SetPoint, 0x2018, 0x00, DB_T_WORD, &BCK_SYSP.MAN.REF_PERIOD, sizeof( UINT16 ), DB_RW, FALSE, OD_Reference_Frequency, 0x2020, 0x00, DB_T_INT, &BCK_SYSP.MAN.VPRC_BARMAXA, sizeof( INT16 ), DB_RW, FALSE, OD_PressureLimit, 0x2021, 0x00, DB_T_INT, &BCK_SYSP.MAN.VPRC_BARMAXB, sizeof( INT16 ), DB_RW, FALSE, OD_PressureLimit, 0x2022, 0x00, DB_T_WORD, &BCK_SYSP.MAN.VPRC_MAX_PRESS_TRAS, sizeof( UINT16 ), DB_RW, FALSE, NULL, 0x2023, 0x00, DB_T_INT, &BCK_SYSP.MAN.VPRC_BARNOMA, sizeof( INT16 ), DB_RW, FALSE, OD_PressureLimit, 0x2024, 0x00, DB_T_INT, &BCK_SYSP.MAN.VPRC_BARNOMB, sizeof( INT16 ), DB_RW, FALSE, OD_PressureLimit, 0x2025,0x00, DB_T_FLOAT, &BCK_SYSP.MAN.VPRC_THR_FEEDOK, sizeof( float ), DB_RW, FALSE, NULL, 0x2030, 0x00, DB_T_BYTE, &elem[ 2 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2030, 0x01, DB_T_INT, &BCK_SYSP.MAN.VPOC_PWM_COMP_X[ 0 ], sizeof( INT16 ), DB_RW, FALSE, NULL, 0x2030, 0x02, DB_T_INT, &BCK_SYSP.MAN.VPOC_PWM_COMP_X[ 1 ], sizeof( INT16 ), DB_RW, FALSE, NULL, CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.15/24

17 0x2031, 0x00, DB_T_BYTE, &elem[ 2 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2031, 0x01, DB_T_INT, &BCK_SYSP.MAN.VPOC_PWM_COMP_Y[ 0 ], sizeof( INT16 ), DB_RW, FALSE, NULL, 0x2031, 0x02, DB_T_INT, &BCK_SYSP.MAN.VPOC_PWM_COMP_Y[ 1 ], sizeof( INT16 ), DB_RW, FALSE, NULL, 0x2040, 0x00, DB_T_BYTE, &elem[ 5 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2040, 0x01, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_X[ 0 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideA, 0x2040, 0x02, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_X[ 1 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideA, 0x2040, 0x03, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_X[ 2 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideA, 0x2040, 0x04, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_X[ 3 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideA, 0x2040, 0x05, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_X[ 4 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideA, 0x2041, 0x00, DB_T_BYTE, &elem[ 5 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2041, 0x01, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_X[ 0 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideA, 0x2041, 0x02, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_X[ 1 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideA, 0x2041, 0x03, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_X[ 2 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideA, 0x2041, 0x04, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_X[ 3 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideA, 0x2041, 0x05, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_X[ 4 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideA, 0x2043, 0x00, DB_T_BYTE, &elem[ 5 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2043, 0x01, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_Y[ 0 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideA, 0x2043, 0x02, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_Y[ 1 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideA, 0x2043, 0x03, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_Y[ 2 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideA, 0x2043, 0x04, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_Y[ 3 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideA, 0x2043, 0x05, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_Y[ 4 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideA, 0x2044, 0x00, DB_T_BYTE, &elem[ 5 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2044, 0x01, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_Y[ 0 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideA, 0x2044, 0x02, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_Y[ 1 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideA, 0x2044, 0x03, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_Y[ 2 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideA, 0x2044, 0x04, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_Y[ 3 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideA, 0x2044, 0x05, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_A_Y[ 4 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideA, CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.16/24

18 0x2050, 0x00, DB_T_BYTE, &elem[ 5 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2050, 0x01, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_X[ 0 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideB, 0x2050, 0x02, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_X[ 1 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideB, 0x2050, 0x03, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_X[ 2 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideB, 0x2050, 0x04, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_X[ 3 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideB, 0x2050, 0x05, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_X[ 4 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideB, 0x2051, 0x00, DB_T_BYTE, &elem[ 5 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2051, 0x01, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_X[ 0 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideB, 0x2051, 0x02, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_X[ 1 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideB, 0x2051, 0x03, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_X[ 2 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideB, 0x2051, 0x04, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_X[ 3 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideB, 0x2051, 0x05, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_X[ 4 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_XLinearizationSideB, 0x2053, 0x00, DB_T_BYTE, &elem[ 5 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2053, 0x01, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_Y[ 0 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideB, 0x2053, 0x02, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_Y[ 1 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideB, 0x2053, 0x03, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_Y[ 2 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideB, 0x2053, 0x04, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_Y[ 3 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideB, 0x2053, 0x05, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_Y[ 4 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideB, 0x2054, 0x00, DB_T_BYTE, &elem[ 5 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2054, 0x01, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_Y[ 0 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideB, 0x2054, 0x02, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_Y[ 1 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideB, 0x2054, 0x03, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_Y[ 2 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideB, 0x2054, 0x04, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_Y[ 3 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideB, 0x2054, 0x05, DB_T_INT, &BCK_SYSP.MAN.VPOC_S_B_Y[ 4 ], sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_YLinearizationSideB, 0x2060, 0x00, DB_T_BYTE, &elem[ 3 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2060, 0x01, DB_T_WORD, &BCK_SYSP.MAN.VPOC_GAINPROP, sizeof( UINT16 ), DB_RW, FALSE, NULL, 0x2060, 0x02, DB_T_WORD, &BCK_SYSP.MAN.VPOC_GAININT, sizeof( UINT16 ), DB_RW, FALSE, NULL, 0x2060, 0x03, DB_T_WORD, &BCK_SYSP.MAN.VPOC_FEEDFORWARD, sizeof( UINT16 ), DB_RW, FALSE, NULL, CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.17/24

19 0x2061, 0x00, DB_T_BYTE, &elem[ 2 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2061, 0x01, DB_T_FLOAT, &BCK_SYSP.MAN.VPOC_RGAINPROP[ 0 ], sizeof( float ), DB_RW, FALSE, NULL, 0x2061, 0x02, DB_T_FLOAT, &BCK_SYSP.MAN.VPOC_RGAINPROP[ 1 ], sizeof( float ), DB_RW, FALSE, NULL, 0x2062, 0x00, DB_T_BYTE, &elem[ 1 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2062, 0x01, DB_T_FLOAT, &BCK_SYSP.MAN.VPOC_FGAININT, sizeof( float ), DB_RW, FALSE, NULL, 0x2063, 0x00, DB_T_BYTE, &BCK_SYSP.MAN.VPOC_ANT_FFW, sizeof( BYTE ), DB_RW, FALSE, OD_VPOC_Ant_Ffw, 0x2064, 0x00, DB_T_BYTE, &elem[ 3 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2064, 0x01, DB_T_WORD, &BCK_SYSP.MAN.VPRC_GAINPROP, sizeof( UINT16 ), DB_RW, FALSE, NULL, 0x2064, 0x02, DB_T_WORD, &BCK_SYSP.MAN.VPRC_GAININT, sizeof( UINT16 ), DB_RW, FALSE, NULL, 0x2064, 0x03, DB_T_WORD, &BCK_SYSP.MAN.VPRC_FEEDFORWARD, sizeof( UINT16 ), DB_RW, FALSE, NULL, 0x2065, 0x00, DB_T_BYTE, &elem[ 3 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2065, 0x01, DB_T_FLOAT, &BCK_SYSP.MAN.VPRC_RGAINPROP[ 0 ], sizeof( float ), DB_RW, FALSE, NULL, 0x2065, 0x02, DB_T_FLOAT, &BCK_SYSP.MAN.VPRC_RGAINPROP[ 1 ], sizeof( float ), DB_RW, FALSE, NULL, 0x2065, 0x03, DB_T_FLOAT, &BCK_SYSP.MAN.VPRC_RGAININT, sizeof( float ), DB_RW, FALSE, NULL, 0x2066, 0x00, DB_T_BYTE, &elem[ 1 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2066, 0x01, DB_T_FLOAT, &BCK_SYSP.MAN.VPRC_FGAININT, sizeof( float ), DB_RW, FALSE, NULL, 0x2067, 0x00, DB_T_BYTE, &BCK_SYSP.MAN.VPRC_ANT_FFW, sizeof( BYTE ), DB_RW, FALSE, OD_VPRC_Ant_Ffw, 0x2068, 0x00, DB_T_BYTE, &elem[ 4 ], sizeof( BYTE ), DB_R, FALSE, NULL, 0x2068, 0x01, DB_T_FLOAT, &BCK_SYSP.MAN.VPRC_TH_RGAINPROP, sizeof( float ), DB_RW, FALSE, NULL, 0x2068, 0x02, DB_T_FLOAT, &BCK_SYSP.MAN.VPRC_TH_FGAININT, sizeof( float ), DB_RW, FALSE, NULL, 0x2068, 0x04, DB_T_FLOAT, &BCK_SYSP.MAN.VPRC_RGAINPROP_NEG, sizeof( float ), DB_RW, FALSE, NULL, 0x2069, 0x00, DB_T_WORD, &BCK_SYSP.MAN.PERC_SP, sizeof( UINT16 ), DB_RW, FALSE, OD_Perc_SP, 0x2070, 0x00, DB_T_BOOL, &SYSP.MAN.AUTO_TUNING, sizeof( BOOL ), DB_RW, FALSE, NULL, 0x2071,0x00, DB_T_BYTE, &stat_tuning, sizeof( BYTE ), DB_R, FALSE, NULL, 0x2071,0x01, DB_T_FLOAT, &mediapress, sizeof( float ), DB_R, FALSE, NULL, 0x2071,0x02, DB_T_FLOAT, &mediacurr, sizeof( float ), DB_R, FALSE, NULL, 0x2072,0x00, DB_T_WORD, &SYSP.MAN.STEPCURR_ATUN, sizeof( UINT16 ), DB_R, FALSE, NULL, 0x2072,0x01, DB_T_WORD, &SYSP.MAN.STEPCURR_DB_ATUN, sizeof( UINT16 ), DB_R, FALSE, NULL, 0x2073,0x00, DB_T_WORD, &BCK_SYSP.MAN.WAITCURR_ATUN, sizeof( UINT16 ), DB_RW, FALSE, NULL, 0x2074, 0x00, DB_T_BYTE, &BCK_SYSP.MAN.NUM_SAMP_ATUN, sizeof( BYTE ), DB_RW, FALSE, NULL, 0x2075, 0x00, DB_T_WORD, &BCK_SYSP.MAN.GAINPROP_ATUN, sizeof( UINT16 ), DB_RW, FALSE, NULL, 0x2075, 0x01, DB_T_WORD, &BCK_SYSP.MAN.GAININT_ATUN, sizeof( UINT16 ), DB_RW, FALSE, NULL, CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.18/24

20 0x2300, 0x00, DB_T_INT, &SYSP.DEV.VPOC_SET_POINT, sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_User_SetPoint, 0x2301, 0x00, DB_T_INT, &SYSP.MAN.ACT_SET_POINT, sizeof( INT16 ), DB_R, TRUE, OD_VPOC_User_SetPoint, 0x2302, 0x00, DB_T_INT, &SYSP.MAN.ANA_SET_POINT, sizeof( INT16 ), DB_R, FALSE, OD_VPOC_User_SetPoint, 0x2314, 0x00, DB_T_INT, &BCK_SYSP.DEV.VPOC_HOLD_SET_POINT, sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_User_SetPoint, 0x2343, 0x00, DB_T_INT, &BCK_SYSP.DEV.VPOC_DEAD_BAND_COMP_ASIDE, sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_User_DeadBandComp, 0x2344, 0x00, DB_T_INT, &BCK_SYSP.DEV.VPOC_DEAD_BAND_COMP_BSIDE, sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_User_DeadBandComp, 0x2345, 0x00, DB_T_INT, &BCK_SYSP.DEV.VPOC_DEAD_BAND_COMP_THR, sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_User_DeadBandCompThr, 0x2380, 0x00, DB_T_INT, &SYSP.DEV.VPOC_SET_POINT, sizeof( INT16 ), DB_RW, FALSE, OD_VPRC_User_SetPoint, 0x2381, 0x00, DB_T_INT, &SYSP.MAN.ACT_SET_POINT, sizeof( INT16 ), DB_R, TRUE, OD_VPRC_User_SetPoint, 0x2382, 0x00, DB_T_INT, &SYSP.MAN.ANA_SET_POINT, sizeof( INT16 ), DB_R, FALSE, OD_VPRC_User_SetPoint, 0x2394, 0x00, DB_T_INT, &BCK_SYSP.DEV.VPOC_HOLD_SET_POINT, sizeof( INT16 ), DB_RW, FALSE, OD_VPRC_User_SetPoint, 0x23C3, 0x00, DB_T_INT, &BCK_SYSP.DEV.VPOC_DEAD_BAND_COMP_ASIDE, sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_User_DeadBandComp, 0x23C4, 0x00, DB_T_INT, &BCK_SYSP.DEV.VPOC_DEAD_BAND_COMP_BSIDE, sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_User_DeadBandComp, 0x23C5, 0x00, DB_T_INT, &BCK_SYSP.DEV.VPOC_DEAD_BAND_COMP_THR, sizeof( INT16 ), DB_RW, FALSE, OD_VPOC_User_DeadBandCompThr, ////////////////////////////////////////////////////////////////////////////// // DEBUGGER & MONITOR AREA 0x5000, 0x00, DB_T_WORD, &WorkCvp.pwm_per, sizeof( UINT16 ), DB_R, TRUE, NULL, 0x5000, 0x01, DB_T_WORD, &WorkCvp.pwm_low, sizeof( UINT16 ), DB_R, TRUE, NULL, 0x5000, 0x02, DB_T_WORD, &WorkCvp.pwm_high, sizeof( UINT16 ), DB_R, TRUE, NULL, 0x5001, 0x00, DB_T_WORD, &WorkCvp.i_sense_offset, sizeof( UINT16 ), DB_R, TRUE, NULL, 0x5002, 0x01, DB_T_WORD, &WorkCvp.i_sense_media_ma, sizeof( UINT16 ), DB_R, TRUE, NULL, 0x5003, 0x00, DB_T_WORD, &WorkCvp.i_sense_interval, sizeof( UINT16 ), DB_R, TRUE, NULL, 0x5005, 0x00, DB_T_FLOAT, &FpPressFeed, sizeof( float ), DB_R, TRUE, NULL, 0x5005, 0x01, DB_T_FLOAT, &FpCurrFeed, sizeof( float ), DB_R, TRUE, NULL, 0x5005, 0x0A, DB_T_FLOAT, &FCurrRif, sizeof( float ), DB_R, TRUE, NULL, CAN-Bus for CVP_Manuale_en_rev01 27/03/2006 p.19/24

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