EM32DX-C1【分布式io】-编程知识

1设备类型：

电压：DC24V       
输入16点       
输出16点雷赛 EM32DX-C1 模块是一款基于 ASIC 技术的高性能、高可靠性的 CANopen 总线数字
量输入输出扩展模块，具有 16 路通用输入接口和 16 路通用输出接口。输入输出接口均采用光
电隔离和滤波技术，可以有效隔离外部电路的干扰，以提高系统的可靠性。 
EM32DX-C1 主要用于与雷赛公司支持 CANopen 总线通讯的控制器和支持 CANopen 总线
的控制卡配套使用。

2接线拨码：

名称 功能介绍 
J1 直流 24V 电源输入 
CAN0 CAN0 总线接口 
CAN1 CAN1 总线接口 
P0 通用输入 
P1 通用输出 
SW0 CAN 波特率选择开关 
SW1 CAN ID 站号选择开关 
SW2 终端电阻/输出口初始电平选择开关

网口：

SW0

SW1

SW2

DI

DO

eds文件：

[FileInfo]
FileName=EM32DX-C1.eds     
FileVersion=16
FileRevision=100
EDSVersion=100
Description=EDS for Leadshine EM32DX-C1
CreationTime=15:02PM
CreationDate=12-10-2015
CreatedBy=Leadshine
ModificationTime=15:23PM
ModificationDate=2015-12-10
ModifiedBy=Leadshine[DeviceInfo]
VendorName=Leadshine Technology Co., Ltd.
VendorNumber=0x0331
ProductName=EM32DX-C1
ProductNumber=0x1011
RevisionNumber=101
OrderCode=EM32DX-C1
Baudrate_10=1
Baudrate_20=1
Baudrate_50=1
Baudrate_125=1
Baudrate_250=1
Baudrate_500=1
Baudrate_800=1
Baudrate_1000=1
SimpleBootUpMaster=0
SimpleBootUpSlave=1
Granularity=8
DynamicChannelsSupported=0
GroupMessaging=0
NrOfRXPDO=1
NrOfTXPDO=1
LSS_Supported=0[DummyUsage]
Dummy0001=0
Dummy0002=0
Dummy0003=0
Dummy0004=0
Dummy0005=1
Dummy0006=1
Dummy0007=1[Comments]
Lines=0[MandatoryObjects]
SupportedObjects=3
1=0x1000
2=0x1001
3=0x1018[1000]
ParameterName=Device Type
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0xF0191
PDOMapping=0x0[1001]
ParameterName=Error Register
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=0x0
PDOMapping=0x0[1018]
SubNumber=0x5
ParameterName=Identity Object
ObjectType=0x9[1018sub0]
ParameterName=number of Entries
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x4
PDOMapping=0x0[1018sub1]
ParameterName=Vendor-ID
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x0331
PDOMapping=0x0[1018sub2]
ParameterName=Product code
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x010
PDOMapping=0x0[1018sub3]
ParameterName=Revision number
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x0101
PDOMapping=0x0[1018sub4]
ParameterName=Serial number
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x0001
PDOMapping=0x0[ManufacturerObjects]
SupportedObjects=8
1=0x2000
2=0x2001
3=0x2002
4=0x2003
5=0x2004
6=0x2005
7=0x2006
8=0x2007[2000]
ParameterName=P1         ˿   ʱ  תʱ  
ObjectType=0x8
SubNumber=17[2000sub0]
ParameterName=          
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=16
PDOMapping=0[2000sub1]
ParameterName=P1-01.         ˿ 0    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000sub2]
ParameterName=P1-02.         ˿ 1    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000sub3]
ParameterName=P1-03.         ˿ 2    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000sub4]
ParameterName=P1-04.         ˿ 3    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000sub5]
ParameterName=P1-05.         ˿ 4    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000sub6]
ParameterName=P1-06.         ˿ 5    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000sub7]
ParameterName=P1-07.         ˿ 6    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000sub8]
ParameterName=P1-08.         ˿ 7    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000sub9]
ParameterName=P1-09.         ˿ 8    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000subA]
ParameterName=P1-10.         ˿ 9    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000subB]
ParameterName=P1-11.         ˿ 10    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000subC]
ParameterName=P1-12.         ˿ 11    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000subD]
ParameterName=P1-13.         ˿ 12    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000subE]
ParameterName=P1-14.         ˿ 13    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000subF]
ParameterName=P1-15.         ˿ 14    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2000sub10]
ParameterName=P1-16.         ˿ 15    ʱ  תʱ  
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0[2001]
ParameterName=P2         ˿ڵĴ    ˿ں 
ObjectType=0x8
SubNumber=17[2001sub0]
ParameterName=          
ObjectType=0x7
DataType=0x0005
AccessType=ro
DefaultValue=16
PDOMapping=0[2001sub1]
ParameterName=P2-01.         ˿ 0 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001sub2]
ParameterName=P2-02.         ˿ 1 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001sub3]
ParameterName=P2-03.         ˿ 2 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001sub4]
ParameterName=P2-04.         ˿ 3 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001sub5]
ParameterName=P2-05.         ˿ 4 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001sub6]
ParameterName=P2-06.         ˿ 5 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001sub7]
ParameterName=P2-07.         ˿ 6 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001sub8]
ParameterName=P2-08.         ˿ 7 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001sub9]
ParameterName=P2-09.         ˿ 8 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001subA]
ParameterName=P2-10.         ˿ 9 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001subB]
ParameterName=P2-11.         ˿ 10 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001subC]
ParameterName=P2-12.         ˿ 11 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001subD]
ParameterName=P2-13.         ˿ 12 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001subE]
ParameterName=P2-14.         ˿ 13 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001subF]
ParameterName=P2-15.         ˿ 14 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2001sub10]
ParameterName=P2-16.         ˿ 15 Ĵ    ˿ں 
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0xFFFFFFFF
PDOMapping=0[2002]
ParameterName=P3-01
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0[2003]
ParameterName=P3-02
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0[2004]
ParameterName=P3-03
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0[2005]
ParameterName=P3-04
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0[2006]
ParameterName=P3-05
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0[2007]
ParameterName=P3-06
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0[OptionalObjects]
SupportedObjects=19
1=0x1003
2=0x1005
3=0x1007
4=0x1008
5=0x1009
6=0x100A
7=0x100C
8=0x100D
9=0x1010
10=0x1011
11=0x1014
12=0x1017
13=0x1400
14=0x1600
15=0x1800
16=0x1A00
17=0x6100
18=0x6300
19=0x6301[1003]
SubNumber=0x5
ParameterName=Pre-defined Error Field
ObjectType=0x8[1003sub0]
ParameterName=number of errors
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[1003sub1]
ParameterName=standard error field
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x4
PDOMapping=0x0[1003sub2]
ParameterName=standard error field
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x4
PDOMapping=0x0[1003sub3]
ParameterName=standard error field
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x4
PDOMapping=0x0[1003sub4]
ParameterName=standard error field
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x4
PDOMapping=0x0[1005]
ParameterName=COB-ID SYNC
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x80
PDOMapping=0x0[1007]
ParameterName=Sync Windows Length
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[1008]
ParameterName=device name
ObjectType=0x7
DataType=0x0009
AccessType=const
DefaultValue=CANopen Slave IO
PDOMapping=0x0[1009]
ParameterName=hardware version
ObjectType=0x7
DataType=0x0009
AccessType=const
DefaultValue=V1.01
PDOMapping=0x0[100A]
ParameterName=software version
ObjectType=0x7
DataType=0x0009
AccessType=const
DefaultValue=V1.01
PDOMapping=0x0[100C]
ParameterName=Guard Time
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[100D]
ParameterName=Life Time Factor
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[1010]
SubNumber=0x5
ParameterName=Store Parameters
ObjectType=0x8[1010sub0]
ParameterName=largest supported Sub-Index
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x4
PDOMapping=0x0[1010sub1]
ParameterName=save all parameters
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[1010sub2]
ParameterName=save communication parameters
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[1010sub3]
ParameterName=save application parameters
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[1010sub4]
ParameterName=save manufactury parameters
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[1011]
SubNumber=0x5
ParameterName=restore default parameters
ObjectType=0x8[1011sub0]
ParameterName=largest supported Sub-Index
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x4
PDOMapping=0x0[1011sub1]
ParameterName=restore all default para.
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[1011sub2]
ParameterName=restore comm. default para.
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[1011sub3]
ParameterName=restore app. default para.
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[1011sub4]
ParameterName=restore app. default para.
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[1014]
ParameterName=COB-ID Emergency message
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NODEID+16#80
PDOMapping=0x0[1017]
ParameterName=Producer Heartbeat Time
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0xC8
PDOMapping=0x0[1400]
SubNumber=0x4
ParameterName=RPDO1
ObjectType=0x9[1400sub0]
ParameterName=largest subindex supported
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x3
PDOMapping=0x0[1400sub1]
ParameterName=COB-Id used
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NodeId + 0x200
PDOMapping=0x0[1400sub2]
ParameterName=transmission type
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0x01
PDOMapping=0x0[1400sub3]
ParameterName=inhibit time
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[1600]
SubNumber=0x3
ParameterName=RPDO1 mapping parameter
ObjectType=0x9[1600sub0]
ParameterName=number of mapped objects
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0x2
PDOMapping=0x0[1600sub1]
ParameterName=PDO mapping 1. app. object
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x63000110
PDOMapping=0x0[1800]
SubNumber=0x5
ParameterName=TPDO1
ObjectType=0x9[1800sub0]
ParameterName=largest subindex supported
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x5
PDOMapping=0x0[1800sub1]
ParameterName=COB-ID used
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=$NodeId + 0x180
PDOMapping=0x0[1800sub2]
ParameterName=transmission type
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0x01
PDOMapping=0x0[1800sub3]
ParameterName=inhibit time
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[1800sub5]
ParameterName=event timer
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=0x0
PDOMapping=0x0[1A00]
SubNumber=0x3
ParameterName=TPDO1 mapping parameter
ObjectType=0x9[1A00sub0]
ParameterName=number of mapped objects
ObjectType=0x7
DataType=0x0005
AccessType=rw
DefaultValue=0x2
PDOMapping=0x0[1A00sub1]
ParameterName=PDO mapping 1. app. object
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x61000110
PDOMapping=0x0[6100]
SubNumber=0x2
ParameterName=read input 16-bit
ObjectType=0x8[6100sub0]
ParameterName=number of entries
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x01
PDOMapping=0x0[6100sub1]
ParameterName=IN16bit
ObjectType=0x7
DataType=0x0006
AccessType=rwr
DefaultValue=0x0
PDOMapping=0x1[6300]
SubNumber=0x2
ParameterName=write output 16-bit
ObjectType=0x8[6300sub0]
ParameterName=number of entries
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x01
PDOMapping=0x0[6300sub1]
ParameterName=OUT16bit
ObjectType=0x7
DataType=0x0006
AccessType=rww
DefaultValue=0x0
PDOMapping=0x1[6301]
SubNumber=0x2
ParameterName=read real output 16-bit
ObjectType=0x8[6301sub0]
ParameterName=number of entries
ObjectType=0x7
DataType=0x0005
AccessType=const
DefaultValue=0x01
PDOMapping=0x0[6301sub1]
ParameterName=read_real_OUT16bit
ObjectType=0x7
DataType=0x0006
AccessType=rwr
DefaultValue=0x0
PDOMapping=0x1