ZC-24DI User Manual
Contents
1. Default filter It operates for 40027 FILTER_SAMPLES_NR frequency gt 100 Hz FLASH 40028 FILTER_HIGH_SAMPLES 0 255 FLASH 40029 FILTER_LOW_SAMPLES 0 255 FLASH 40030 PRESET_COUNTER1_H Preset Counter value 0 FLASH RW 0 40032 PRESET_COUNTER2_H Preset Counter vallue 0 FLASH RW o 40034 PRESET COUNTER3 H Preset Counter vallue 0 FLASH RW o 40036 COUNTER4 Preset Counter vallue 0 FLASH RW 0 40038 PRESET_COUNTERS_H Preset Counter vallue 0 FLASH RW 0 40040 PRESET COUNTER6 Preset Counter vallue 0 FLASH RW 0 40042 PRESET COUNTER7 H Preset Counter vallue 0 FLASH RW 0 40044 PRESET_COUNTER8_H Preset Counter vallue 0 FLASH RW o 40046 ADDR CAN CANOpen Address 127 FLASH 40047 BAUD CAN CANOpen Baudrate 20 kbps FLASH 40048 ADDR PARITY MODBUS Modbus Address 1 no parity FLASH 0x0100 40049 BAUD DELAY MopBus Modbus FLASH 0x0500 ee uns GOMWAND AUX Serve egiterforOwwand o Tas p wwe C wena SCS Rw 0 SENECA 1001674 15 of 18 SENECA Status This register contains the states of over temperature and flash errors STATUS Fas o reme Filters For a high input level the filter counter is incremented otherwise for a low level the filter counter is decremented When the filter counter is greater or equal than FILTER_HIGH_SAMPLE the2. 0 1007 0 1008 0 1009 0x100A 0x100C 0x100D 0x1010 Restore All Parameters Communication Write in ASCII load for load UNSIGNED 32 0x1011 Parameters process MSB 0x64616F6C LSB Restore Restore not volatile parameters Application Write in ASCII load for load UNSIGNED 32 Parameters process MSB 0x64616F6C LSB Restore Restore not volatile parameters Mnufactures Write in ASCII load for load UNSIGNED 32 parameters process MSB 0x64616F6C LSB EN EN EN EN EN EN EN E E E E EN ES BEM L SENECA 1001674 6 of 18 SENECA creuse Identity Object Identity Object MaxSubindexNumber Subindex Number UNSIGNED8 a rta s romane fase Server SDO 0x1200 2 of Receive SDO UNSIGNED 32 ES NODEID 0x600 ous COB ID of Transmit SDO UNSIGNED 32 ES NODEID 0x580 Transmit PDO1 Communication Max Subindex Number UNSIGNED 8 3 Parameters NODEID COB ID of TxPDO1 UNSIGNED 32 0 40000180 0 1800 Transmission for TxPDO1 0x00 Synchronous acyclic 2 Transmission Type 0x01 to OxFO Synchronous UNSIGNED 8 RW OxFF cyclic OxFF Asynchronous Inhibit Time Min PDO UNSIGNED 16 0 0000 Transmit PDO5 Communication Max Subindex Number UNSIGNED 8 3 Parameters NODEID COB ID COB
3. SENECA ZC 24DI CANopen Modbus 24 Digital Input 16 Digital input 8 CANopen TPDOs TRANSMISSION TYPE SUPPORTED OBJECT VALUE 0x180x sub 2 TRANSMISSION TYPE From 1 to 240 Synchronous cyclic Counters 32 bit User Manual Contents CANopen Features CANopen PDOs CANopen PDO Transmission Type CANopen Emergency Message CANopen Functional Diagrams CANopen Object Dictionary CANopen PDOs MAPPING OBJECTS FOR DEFAULT MAPPING MAPPED OBJECTS Digital Input COB ID INDEX SUBINDEX 0x6000 A Modbus Features Modbus Register Modbus Command TECHNICAL DATA 20 50 125 250 500 800 BAUD RATE 1000 Kbits s COUNTERS 8 32 bit from input 1 8 MAX FREQUENCY FOR COUNTERS ID RISE TYPICAL ON OFF DELAY 1 ms with filter disabled CANOpen TECHNICAL DATA 0x40000180 Nodeld 0x40000280 Nodeld 0x40000380 Nodeld 0x40000480 Nodeld 0x40000300 1 8 Digital Input 9 16 Digital Input 17 24 Overflow counter 1 8 Counter 1 value Counter 2 value Counter 3 value Counter 4 value Counter 5 value Counter 6 value Counter 7 value 0x6000 0 6000 0 6000 0 2210 0 2210 0 2210 0 2210 0 2210 0 2210 0 2210 ERROR CONTROL NODE GUARDING NODE ID HW SWITCH OR SOFTWARE Event Triggered Sync cyclic PDO MODES Sync acyclic PDO MAPPING VARIABLE PDO LINKING SUPPORTED NUMBER OF SDO 1 SERVER Coun
4. 7 La uence m 9 De eee rmm Jem m SENECA 1001674 13 of 18 SENECA TECHNICAL DATA BAUD RATE 2 4 4 8 9 6 19 2 38 57 6 115 2 Kbits s COUNTERS NR TYPE 8 32 bit from input 1 8 SERVICE LED DESCRIPTION STATE DESCRIPTION LED ERRIAX Data Receiving FAIL Data receiving from MAX FREQUENCY FOR BAUD RATE kbps ADDRESS INPUT LED DESCRIPTION Wid eee LED STATE DESCRIPTION ADD 001 1 8 Input 1 8 is high ADD 002 ADD 003 9 24 is hi 9 24 ADD 005 Input 9 24 is low ee SENECA 1001674 14 of 18 S SENECA mm _ Contes Ram n o courent mw R o __ mW n o 5 couvrent Goumeriow moi mw R o GOUNTERSH RAW o cOUNTERSI Comes owwa mw R o 0 COUNTER o couvre dt Courter mw R Cowmerionwed 0 ON Eos lowword low word EET 1 8 Filter Mask gt filtrate 40025 FILTER MASK 9 16 Input 9 16 Filter Mask FLASH Sa 40026 FILTER MASK 17 24 Input 17 24 Filter Mask FLASH R
5. 8 za Mapping Object NR1 First Object default Input 1 8 UNSIGNED 32 Object NR2 Second Object default Input 9 16 UNSIGNED 32 0x60000108 Object 0x6000 Subindex 1 Length 8 bit 0x60000208 Object Subindex 0x1A00 Length 8 Di 0x60000408 Object Subindex Length 8 bi Fourth Object default Counter Object NR4 Overtlow UNSIGNED 32 Transmit PDO5 Mapping Max Subindex Number Subindex Number UNSIGNED 8 1 Object NR1 First Object default Counter 1 UNSIGNED 32 0x1A04 Object NR2 Second Object default Counter2 UNSIGNED 32 SENECA 1001674 8 of 18 0x22100120 Object 0x2210 Subindex 1 Length 32 bit 0x22100220 Object ae Subindex Length 32 bi 0x60000308 3 Object Third Object default Input 17 24 UNSIGNED 32 Object 22 Subindex Length 8 bi SENECA Transmit 6 Mapping Max Subindex Number UNSIGNED 8 0 22100320 1 Object NR1 First Object default Counter 3 UNSIGNED 32 mw Obiect 0 2210 Subindex 3 0x1A05 Length 32 bit 0x22100420 1 Object 0 2210 2 Object NR2 Second Object default Counter 4 UNSIGNED 32 RW Subindex 4 Length 32 bit Transmit PDO7 Mapping Max Subindex Number UNSIGNED 8 0 22100520 Object 0x2210 1 Object NR1 First Object default Counter 5 UNSIGNED 32 RW Subindex 5 0x1A06 Length 32 bit 0x22100620 2 Object
6. NR2 Second Object default Counter 6 UNSIGNED 32 nw Obiect 0x2210 Subindex 6 Length 32 bit Transmit PDO8 Mapping Max Subindex Number UNSIGNED 8 0 22100720 Object 0x2210 1 Object NR1 First Object default Counter 7 UNSIGNED 32 RW Subindex 7 0x1A07 Length 32 bit 0x22100820 Object 0x2210 2 Object NR2 Second Object default Counter 8 UNSIGNED 32 RW Subindex Length 32 bit Transmit PDO7 EZ Mapping Max Subindex Number UNSIGNED 8 0 22100520 1 Object NR1 First Object default Counter 5 UNSIGNED 32 Object 0 2210 Subindex 5 0x1A06 Length 32 bit 0x22100620 Object 0x2210 2 Object NR2 Second Object default Counter 6 UNSIGNED 32 Subindex 6 Length 32 bit SENECA MI001674 E sui SENECA Manufacturer Profile Area aa Station Address 0x2001 Module Address only if dip switch 4 5 6 7 8 9 10 UNSIGNED 8 are OFF Station Baud Rate only if dip switch 1 2 3 are OFF 1 20Kbps 2 50Kbps 0x2002 Buad Rate 3 125Kbps UNSIGNED 8 4 250Kbps 5 500Kbps 800Kbps 1Mbps Device Max Subindex Number UNSIGNED 8 Internal Station internal Temperature oes e 0X2030 0x2051 Critical Hot Temperature Hi Hi Temperature All operations Stop INTEGER 16 C 10 0x2052 Warning for Too Hot Hi Temperature Temperature INTEGER 16 1610 0 2200 Critical Low Temperature Low Temperature All operations Stop IN
7. R 0 10023 INPUT23 Input23 RAM R 0 10024 INPUT24 Input24 RAM R 0 SENECA 1001674 17 of 18 SENECA S SENECA SENECA s r l Via Germania 34 35127 2 1 CAMIN PADOVA ITALY Tel 39 049 8705359 Fax 39 049 8706287 E mail info seneca it Web www seneca it This document is property of SENECA srl Duplication and reprodution are forbidden if not authorized Contents of the present documentation refers to products and technologies described in it All technical data contained in the document may be modified without prior notice Content of this documentation is subject to periodical revision MI001674 EN 18
8. input is stated High When the filter counter is lower or equal than FILTER LOW SAMPLE the input is stated Low Between FILTER HIGH SAMPLE and FILTER LOW SAMPLE state is asserted dead zone Note that the filter can be disabled by selecting FILTER HIGH SAMPLE NR 1 FILTER LOW SAMPLE 0 FILTER HIGH SAMPLE 0 Command Modbus COMMAND COD DESCRIPTION Ox5Cnn Force Preset of counters corresponding to bits nn Preset value is in registers 40030 40045 Force Reset of counters corresponding to bits nn Force reset bit overflow COUNTER OVERFLOW Ox5Enn corresponding to bits OxBCDO Save data in FLASH Reset Module SENECA 1001674 16 of 18 SENECA 10001 INPUT1 Input1 RAM R 0 10002 INPUT2 Input2 RAM R 0 10003 INPUTS Input3 RAM R 0 10004 INPUT4 Input4 RAM R 0 10005 INPUT5 Input RAM R 0 10006 INPUT6 Input6 RAM R 0 10007 INPUT7 Input7 RAM R 0 10008 INPUT8 Input8 RAM R 0 10009 INPUT9 Input9 RAM R 0 10010 INPUT10 Input10 RAM R 0 10011 INPUT11 Input11 RAM R 0 10012 INPUT12 Input12 RAM R 0 10013 INPUT13 Input13 RAM R 0 10014 INPUT14 Input14 RAM R 0 10015 INPUT15 Input15 RAM R 0 10016 INPUT16 Input16 RAM R 0 10017 INPUT17 Input17 RAM R 0 10018 INPUT18 Input18 RAM R 0 10019 INPUT19 Input19 RAM R 0 10020 INPUT20 Input20 RAM R 0 10021 INPUT21 Input21 RAM R 0 10022 INPUT22 Input22 RAM
9. 1 rising interrupt enabled Counter 1 8 rising interrupt mask enable Mask bit 0 rising interrupt disabled Mask bit 1 rising interrupt enabled Input 1 8 falling interrupt mask enable Mask bit 0 falling interrupt disabled Mask bit 1 falling interrupt enabled UNSIGNED 8 UNSIGNED 8 Input 17 24 falling interrupt mask enable Mask bit 0 falling interrupt UNSIGNED 8 disabled Mask bit 1 falling interrupt enabled Input 17 24 falling interrupt mask enable Mask bit 0 falling interrupt disabled Mask bit 1 falling interrupt enabled Input 9 16 falling interrupt mask enable Mask bit 0 falling interrupt disabled Mask bit 1 falling interrupt enabled UNSIGNED 8 0X6020 EM Read Input 1 Bit Max Subindex Number UNSIGNED 8 S SENECA 1001674 Low Max Subindex Number UNSIGNED 8 SENECA mimo HEE E eee Jouve Jweeee mem queeee Lee m 9 IC CIRE Lee m 38 CIRE Lee a m 9 eee orum gt m s Ces hmmm IC m 9 NN CIRE SCORE GN CIRE Lopes IC m EE MC CR NEN o meevue Et queeee o eme ro ESRI MC gt 7 Tar eserves m eee MC m gt
10. D 8 Filter Mask Enable Subindex Number UNSIGNEDS Input 1 8 Filter enable Mask bit 0 Filter disabled and Counters 1 8 Enabled UNSIGNED 8 OXFF Mask bit 1 Filter enabled 0x6003 and Counters 1 8 Disabled Input 9 16 Filt Le sd er Input 9 16 Filter Mask enable UNSIGNED 8 Input 17 24 Filt os 2 er Input 17 24 Filter Mask enable UNSIGNED 8 SENECA 1001674 11 of 18 SENECA Global Interrupt 0x6005 Enabled Input 1 8 interrupt Low to High mask enable Input 9 16 interrupt Low to High mask enable 0x6007 Input 17 24 interrupt Low to High mask enable Counter 1 8 Overflow interrupt mask enable Input 1 8 interrupt High to Low mask enable Input 9 16 interrupt High to Low mask enable 0X6008 Input 17 24 interrupt High to Low mask enable Input 17 24 interrupt High to Low mask enable 0 TxPDO Asynchronous disabled Interrupt Mask Max Subindex Number UNSIGNED 8 High to Low 1 TxPDO Asynchronous enabled Input 1 8 rising interrupt mask enable Mask bit 0 rising interrupt disabled Mask bit 1 rising interrupt enabled Input 9 16 rising interrupt mask enable Mask bit 0 rising interrupt disabled Mask bit 1 rising interrupt enabled Input 17 24 rising interrupt mask enable Mask bit 0 rising interrupt disabled Mask bit
11. ID of TxPDO5 UNSIGNED 32 0x40000280 0x1804 Transmission Type for 5 0x00 Synchronous acyclic 2 Transmission Type 0x01 to OxFO Synchronous UNSIGNED 8 RW 0x01 cyclic OxFF Asynchronous Inhibit Time Mia a next UNSIGNED 16 0x0000 Transmit PDO6 Communication Max Subindex Number UNSIGNED 8 3 Parameters NODEID COB ID COB ID of TxPDO6 UNSIGNED 32 0x40000380 0x1805 Transmission Type for 0x00 Synchronous acyclic 2 Transmission Type 0x01 to OxFO Synchronous UNSIGNED 8 RW 0x01 cyclic OxFF Asynchronous 3 Inhibit Time Min delay for the next UNSIGNED 16 0x0000 ms 10 Transmit PDO7 0x1806 Communication Max Subindex Number UNSIGNED 8 3 Parameters SENECA 1001674 7 of 18 SENECA NODEID COB ID COB ID of TxPDO7 UNSIGNED 32 0x40000480 Transmission Type for 7 0x00 Synchronous acyclic Transmission Type 0x01 to OxFO Synchronous UNSIGNED 8 RW 0x01 cyclic OxFF Asynchronous Inhibit Time Miri de next PDO UNSIGNED 16 0x0000 Transmit PDO1 Communication Max Subindex Number UNSIGNED 8 3 Parameters NODEID COB ID of TxPDO1 UNSIGNED 32 0x40000300 0x1807 Transmission Type for TxPDO1 0x00 Synchronous acyclic 2 Transmission Type 0x01 to OxFO Synchronous UNSIGNED 8 RW 0x01 cyclic OxFF Asynchronous 3 Inhibit Time Min delay for the nextPDO UNSIGNED 16 RW 0x0000 ms 10 Transmit PDO1 Max Subindex Number UNSIGNED
12. IONARY Communication Profile Area 0x1000 Device Type Device Type Profile 401 0x191 UNSIGNED 32 0x10191 Error register Error register DS 401 UNSIGNED 8 Ro Manufacturer Status Register Status Register UNSIGNED 32 ES SYNC COB ID The device consumes the SYNC UNSIGNED 32 mesage 0x1001 0x1002 0x1005 0x1006 Communication Window Length Sync interval us UNSIGNED 32 Synchronous Time window us for the PDO Window Length transmission after the SYNC HNSIGNED Manufacturer VISIBLE N Manufacturer VISIBLE 3 Manufacturer VISIBLE Guard Time Guard Time ms UNSIGNED 16 RW 0 Max delay between two guarding Life Time Factor telegrams UNSIGNED 8 RW Guard Time Factor Store Parameters Max Subindex Number Ro a Save All Store not volatile parameters Write Parameters in ASCII save for store process UNSIGNED 32 RW 1 MSB 0x65766173 LSB Save Store not volatile parameters Write Communication in ASCII save for store process UNSIGNED 32 RW 1 Parameters MSB 0x65766173 LSB Save Application 3 Parameters Store not volatile parameters UNSIGNED 32 Save 4 Manufactures Store not volatile parameters UNSIGNED 32 Parameters Restore Default Max Subindex Number UNSIGNED 8 Restore not volatile parameters Write in ASCII load for load UNSIGNED 32 process MSB 0x64616F6C LSB Restore Restore not volatile parameters RW
13. TEGER 16 10 0 2210 Command to execute Supported commands are 0x5Cnn Force preset for counter mask nn CPU Command Ox5Dnn Force reset for counter UNSIGNED TB mask nn Ox5Enn Force overflow for counter mask nn SENECA 1001674 10 of 18 Input Filter Max Subindex Number UNSIGNED 8 Parameter Filter Length Number of samples to evaluate UNSIGNED 8 Counter threshold If counter gt threshold_high input for high level is stated high UNSIGNED S Counter threshold If counter lt threshold_low input is for low level stated low UNSIGNED 8 Input Counters Max Subindex Number UNSIGNED 8 Counter 1 Value Counter 1 value UNSIGNED 32 Counter 2 Value UNSIGNED 32 Counter 3 Value Counter 3 value UNSIGNED 32 Counter 4 Value Counter 4 value UNSIGNED 32 SENECA Emm o eere m 0 ener ve comera comerem unsoro Preset for Input La LI e RES Ou ML LES ENG GINOITNIL LIN EN Standard Device Profile Area 8 bit Digital Input m D IDEM Input 1 8 Value Read input 1 8 value UNSIGNED 8 Ro 0 6000 Input 9 16 Value Read input 9 16 value UNSIGNED 8 Ro o Input 17 24 Value Read input 17 24 value UNSIGNED 8 Counter 1 8 Overflow Status Counter 1 8 UNSIGNE
14. U COMMAND OBJECT 0X2051 COMMAND CODE DESCRIPTION ox5Con Force the preset value object 0x2211 for counter n 0 500 Force the reset for counter Force the overflow reset object 0x6000 sub 4 2 of 18 DIP SWITCH CONFIGURATION BAUD RATE Object 0X2200 is used to customize the input filter FILTER PARAMETERS OBJECT 0X2200 SUBINDEX DESCRIPTION Samples Number for filter SOFTWARE SOFTWARE default 40 Hild Proce amen Counter threshold for high level dE 0000001 ADD 001 2 default 20 0000010 ADD 002 Counter threshold for low level hos our e 0000101 ADD 005 500 For high level sample the filter counter is am incremented otherwise for a low level the filter counter is decremented When the filter counter is greater or equal subindex2 the input is stated high When the filter counter is lower or equal subindex3 the input is stated low In beetween subindex2 and subindex3 no state is CANopen LED DESCRIPTION Note that the filter can be disabled by selecting Subindex 1 1 SERVICE DIAGNOSTIC LED DESCRIPTION Subindex 2 0 LED STATE DESCRIPTION Subindex 3 0 BLINKING Object 0x2210 stores the values of the 8 counters in SINGLE FLASH 32 bit format ON Operational mode ERROR At least one error counter has SINGLE FLASH reached or exceeded the warning lev
15. el DOUBLE FLASH GUARD Event The SYNC hasn t received within the configurated communication cycle timeout period The CAN controller ON is bus OFF OFF FAIL Data receiving from ON BLINKING RS232 POWER ON Power Supply DIGITAL COUNTERS OBJECT 0X2210 SUBINDEX DESCRIPTION 1 Preset Counter 1 Value Preset Counter 2 Value Preset Counter 3 Value Preset Counter 4 Value TRIPLE FLASH Preset Counter 5 Value Preset Counter 6 Value Preset Counter 7 Value INPUT LED DESCRIPTION STATE DESCRIPTION ON Input 9 24 is high OFF Input 9 24 is low LED SSENECA 1001674 3 of 18 CANopen DIGITAL INPUT MANAGEMENT 0x6008 is used as Digital Interrupt Mask High Object 0x6003 is used for Input Filter Configuration MASK HIGH TO LOW OBJECT 0X6008 SUBINDEX DESCRIPTION 1 Interrupt mask on falling edsge input 1 8 Interrupt mask on falling edsge input 9 16 FILTER CONSTANT INPUT OBJECT 0X6003 SUBINDEX DESCRIPTION FILTER ENABLED FOR INPUT 1 8 3 Interrupt mask on falling edsge input 17 24 1 2 FILTER ENABLED FOR INPUT 9 16 READ ONLY FILTER ENABLED FOR INPUT s 17 24 READ ONLY For subindex form 1 to 3 if value is 1 than the eneration of TxPDO on falling edge is enable If the value of object 0 6003 subindex 1 is 0 all inputs q Ren from 1 to 8 are configured in counter mode in other word counter mode switched ON If the value of object 0
16. ter 8 value Nodeld 0x2210 Note that TPDO COB ID must starts with 0x4 SUPPORTED APPLICATION 301 v4 02 LAYER 401 v2 01 MI001674 E 1 of 18 SENECA SENECA 55 The Emergency message is composed by 2 bytes of EEC Emergency error code 1 bytes of ER Error Register 4 bytes MEF Manufacturer Error Filled Objects 0x1200 EMERGENCY MESSAGE CODE DESCRIPTION BIT7 BITe BIT5 BIT4 BIT3 2 0 edi emend dnm Where if the bit is 0 means no error CANopen MANUFACTURER SPECIFIC PROFILE If Hardware switches are in from memory mode the node address is selectable by Object 0x2001 NODE ADDRESS OBJECT 0X2001 OBJECT VALUE DESCRIPTION 0 127 Node Address S SENECA 1001674 If Hardware switches in memory mode baud rate is selectable by Object 0x2002 BAUDRATE OBJECT 0X2002 OBJECT VALUE DESCRIPTION 50 Kbit s sexes scosse Object 0x2030 be used for monitoring the CPU temperature CPU TEMPERATURE OBJECT 0X2030 SUBINDEX DESCRIPTION ERROR C 10 95 0 90 02 C 10 25 0 The HOT STOP Temperature sends operational the station in pre The HOT ERROR and the COLD ERROR Temperature sends the Emergency Object The Object is Read Only Object 0X2051 is used to send commands to the station module CP
17. x6003 subindex 1 is not equal to 0 the counter mode is switched OFF Object 0x6005 is used for Interrupt Enable If the value is 1 the station can generate a synchronous TxPDO DEFAULT setting If the value is 0 the station can t generate a synchronous TxPDO Object 0x6007 is used as Digital Interrupt Mask Low to Hgh IINTERRUPT MASK LOW TO HIGH OBJECT 0X6007 SUBINDEX DESCRIPTION Interrupt mask on rising edge input 1 8 2 Interrupt mask rising edge input 9 16 3 Interrupt mask on rising edge input 17 24 4 Interrupt mask for counters overflow For subindex form 1 to 3 if value is 1 than the generation of on rising edge is enabled If subindex 4 value is 1 the generation of TXPDO on all 8 counters overflows is enabled SENECA 1001674 4 of 18 SENECA COUNTER MODE ON Subindex 1 Object 0x6003 0 CANopen FUNCTIONAL DIAGRAM INPUT FILTER MAPPING PARAMETER COMMUNICATION PARAMETER ___0 2200 Ox1A00 0x1800 Can Transmission ENTRY INTO 0x6000 DIGITAL 7 INPUT 9 24 Data selection TRANSMIT TPDO1 INTERRUPT MASK RISING EDGE 0 6005 FALLING INTERRUPT ENABLE EDGE DIGITAL COUNTER 1 8 INTERRUPT MASK 0x6008 Overflow MAP MAP ENTRY INTO INTO INTO Ox1A04 0x1A07 0x1804 0x1807 MAPPING PARAMETER COMMUNICATION PARAMETER Can Transmission SSENECA 1001674 5 of 18 SENECA CANopen OBJECT DICT
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