Cl4e configuration MODBUS
CL4E支持PDI和标准映射两种控制方案，本例程介绍如何关闭PDI，使用标准映射方案的配置说明，和国产的驱动器不同，本驱动器支持用户自定义配置和修改PDO对象，方便用户按需使用
需要用到的硬件工具和软件如下：
一、CL4E控制器
二、USB数据线/CANOPEN转换器/485线缆，三选一即可，确保能正常连接PNDS软件
三、最新版本的PNDS软件
如何修改和配置映射对象
CL4E 暂不支持直接读取CFG文件作为MODBUS_PDO映射的配置文件，因此修改和配置
PDO对象需要在对象数据字典里进行，详细步骤如下
一、正确连接PNDS软件，读取刷新Object dictionary数据列表
二、2290设置为0，保存（1010:01=1702257011） //关闭PDI功能并保存
三、断电重启，重新连接软件并切换到Object dictionary页面
四、3502:00设置0；3502下面的所有子索引全部清零（0x00000000）；保存
（1010:01=1702257011）//TxPDO 默认配置清除
五、3602:00设置0；3602下面的所有子索引全部清零（0x00000000）；保存
（1010:01=1702257011）//RxPDO 默认配置清除
六、根据实际使用需要配置Tx PDO和Rx PDO，本案以广州某客户的应用为例配置如下：
在Object dictionary页面配置Tx PDO
3602:01=0x20390220 //5000(高16位)+5001 实时电流(2039:02)
3602:02=0x606C0020 //5002(高16位)+5003 实时转速 (6064)
3602:03=0x25000120 //5004(高16位)+5005 报警信息(内部程序自定义2500:01)
3602:00=3 //先配置子索引，索引个数配置最后完成
在Object dictionary页面配置Rx PDO
//以下2400寄存器由内部用户逻辑程序定义，用户可以根据需求自定义逻辑程序并下载至
控制器中
3502:01=0x24000110 //6000 启动
(0x00:无动作 0x01: 速度模式启动(通过速度的正负控制方向) 0x04: 减速度停止)
3502:02=0x24000220 // 6001(高16位)+6002 目标速度(2400:02)
3502:03=0x24000320 //6003(高16位)+6004 加速度(2400:03)
3502:04=0x24000420 //6005(高16位)+6006 减速度
3502:00=4 // //先配置子索引，索引个数配置最后完成
保存（1010:01=1702257011）
七、断电重启，并重新连接，刷新Object dictionary，检查上页配置是否生效，如果错误
需要重新配置
八、根据用户实际要求，决定是否需要刷入NANOJ程序（用户逻辑程序），
本案需要刷入NANOJ程序
CL4E supports two control schemes, PDI and standard mapping. This routine introduces how to close PDI and use the standard mapping scheme configuration instructions. Unlike domestic drivers, this driver supports user-defined configuration and modification of PDO objects, which is convenient for users to use as needed
The hardware tools and software required are as follows:
First, CL4E controller
2. USB data cable / CANOPEN converter / 485 cable, you can choose one of the three to ensure normal connection of PNDS software
Third, the latest version of the PNDS software
How to modify and configure mapping objects
CL4E does not support reading CFG files directly as MODBUS_PDO mapping configuration files, so modify and configure
The PDO object needs to be performed in the object data dictionary. The detailed steps are as follows
First, correctly connect the PNDS software, read and refresh the object dictionary data list
2. Set 2290 to 0 and save (1010: 01 = 1702257011) // Close the PDI function and save
Third, power off and restart, reconnect the software and switch to the Object dictionary page
4. Set 0 at 3502: 00; clear all sub-indexes below 3502 (0x00000000); save
(1010: 01 = 1702257011) // TxPDO default configuration cleared
V. Set 0 at 3602: 00; clear all sub-indexes below 3602 (0x00000000); save
(1010: 01 = 1702257011) // RxPDO default configuration cleared
6. Configure Tx PDO and Rx PDO according to the actual use requirements. In this case, an application from a customer in Guangzhou is used as an example.
Configure Tx PDO on the Object dictionary page
3602: 01 = 0x20390220 // 5000 (high 16 bits) +5001 real-time current (2039: 02)
3602: 02 = 0x606C0020 // 5002 (high 16 bits) +5003 real-time speed (6064)
3602: 03 = 0x25000120 // 5004 (high 16 bits) +5005 alarm information (internal program custom 2500: 01)
3602: 00 = 3 // Configure the sub-index first, and the number of indexes is finally configured.
Configure Rx PDO on the Object dictionary page
// The following 2400 registers are defined by the internal user logic program, users can customize the logic program according to their needs and download it to
In the controller
3502: 01 = 0x24000110 // 6000 start
(0x00: no action 0x01: speed mode start (by positive and negative speed control direction) 0x04: deceleration stop)
3502: 02 = 0x24000220 // 6001 (high 16 bits) + 6002 target speed (2400: 02)
3502: 03 = 0x24000320 // 6003 (high 16 bits) +6004 acceleration (2400: 03)
3502: 04 = 0x24000420 // 6005 (high 16 bits) +6006 deceleration
3502: 00 = 4 // // Configure the sub-index first, and the number of indexes is finally configured.
Save (1010: 01 = 1702257011)
Seven, power off and restart, and reconnect, refresh the object dictionary, check whether the previous page configuration takes effect, if wrong
Need to reconfigure
8. Decide if you need to flash into the NANOJ program (user logic program) according to the actual requirements of the user.
This case needs to be flashed into the NANOJ program