CANopen Device Specifications
The system supports the following CANopen devices:
HCMS8 Specification
This plug-in is developed for a joystick based on the HCMS8 controller.
Specification Name | HCMS8 |
|---|---|
Default Node ID | 0x49 |
Communication Baudrate | 250 kbps |
Data Byte Ordering | Little Endian |
PDO Mapping
PDO | COB-ID | Data Segment Count | Data Segments |
|---|---|---|---|
TPD01 | 0x183 | 1 | 8 |
Hardware Inputs
Label | Data Type | PDO (COB-ID) | Event Time | Inhibit Time | Data Location | Data Length | Notes |
|---|---|---|---|---|---|---|---|
AI-00 | unsigned int16 | TPDO5 (0x1C9) | 0 | 0 | byte 0-1 | 11 bits |
|
AI-01 | unsigned int16 | TPDO5 (0x1C9) | 0 | 0 | byte 2-3 | 11 bits |
|
AI-02 | unsigned int16 | TPDO5 (0x1C9) | 0 | 0 | byte 4-5 | 11 bits |
|
DI-00 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 0 | 1 bit | 1 = button pressed |
DI-01 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 1 | 1 bit | 1 = button pressed |
DI-02 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 2 | 1 bit | 1 = button pressed |
DI-03 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 3 | 1 bit | 1 = button pressed |
DI-04 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 4 | 1 bit | 1 = button pressed |
DI-05 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 5 | 1 bit | 1 = button pressed |
DI-06 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 6 | 1 bit | 1 = button pressed |
DI-07 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 6, bit 7 | 1 bit | 1 = button pressed |
DI-08 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 0 | 1 bit | 1 = button pressed |
DI-09 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 1 | 1 bit | 1 = button pressed |
DI-10 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 2 | 1 bit | 1 = button pressed |
DI-11 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 3 | 1 bit | 1 = button pressed |
DI-12 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 4 | 1 bit | 1 = button pressed |
DI-13 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 5 | 1 bit | 1 = button pressed |
DI-14 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 6 | 1 bit | 1 = button pressed |
DI-15 | bool | TPDO5 (0x1C9) | 0 | 0 | byte 7, bit 7 | 1 bit | 1 = button pressed |
Hardware Outputs
Label | Data Type | PDO (COB-ID) | Event Time | Inhibit Time | Data Location | Data Length | Notes |
|---|---|---|---|---|---|---|---|
DO-00 | bool | RPDO1 (0x249) | 24 ms |
| byte 0, bit 0 | 1 bit | 0 = Light Off |
DO-01 | bool | RPDO1 (0x249) | 24 ms |
| byte 0, bit 1 | 1 bit | 0 = Light Off |
DO-02 | bool | RPDO1 (0x249) | 24 ms |
| byte 0, bit 2 | 1 bit | 0 = Light Off |
DO-03 | bool | RPDO1 (0x249) | 24 ms |
| byte 0, bit 3 | 1 bit | 0 = Light Off |
DO-04 | bool | RPDO1 (0x249) | 24 ms |
| byte 0, bit 4 | 1 bit | 0 = Light Off |
DO-05 | bool | RPDO1 (0x249) | 24 ms |
| byte 0, bit 5 | 1 bit | 0 = Light Off |
DO-06 | bool | RPDO1 (0x249) | 24 ms |
| byte 0, bit 6 | 1 bit | 0 = Light Off |
DO-07 | bool | RPDO1 (0x249) | 24 ms |
| byte 0, bit 7 | 1 bit | 0 = Light Off |
Thumper (optional) | bool | RPDO2 (0x349) |
|
| byte 0, bit 2 | 1 bit | 0 = Vibrate Off |
Heartbeat
Direction | Rate | Format | Notes |
|---|---|---|---|
From | 250 ms | NMT status from node ID 49 | Standard NMT heartbeat should be sent every 250 ms. |
Software Extension
Extension name: HCMS8
Software Inputs
Field Name | Field Type | Device Mapping | Notes |
|---|---|---|---|
Digital Input 1 | bool | DO-00 | true light is on |
Digital Input 2 | bool | DO-01 | true light is on |
Digital Input 3 | bool | DO-02 | true light is on |
Digital Input 4 | bool | DO-03 | true light is on |
Digital Input 5 | bool | DO-04 | true light is on |
Digital Input 6 | bool | DO-05 | true light is on |
Digital Input 7 | bool | DO-06 | true light is on |
Digital Input 8 | bool | DO-07 | true light is on |
Enable Thumper |
|
| Enable thumper, work with field thumper frequency |
Thumper Frequency | double | Thumper |