1、 CanOpen
CAL provides all network management services and packet delivery protocols, but does not define the contents of objects or the types of objects being communicated, which is the entry point of CanOpen. CanOpen is developed on the basis of CAL, using a subset of CAL communication and service protocols, and provides an implementation scheme of distributed control system. The core concept of CanOpen is that device object dictionary (OD: Object Dictonary), can access all slave nodes through object dictionary (OD).
2, dictionary mapping
The current version of the encoder does not support the PDO message, all parameters are configured and accessed through the SDO message.
The CruizCore® R6083V is a 3 axis digital gyroscope and accelerometer. It’s also working as
attitude reference system that among others, can measure angular rate, acceleration and
attitude(yaw is relative to initial orientation) under dynamic conditions. It is a highly compact, light,
and fully self-contained device. Internally, the R6083V contains a 3 axis MEMS gyroscope, and
accelerometer, internal voltage regulator, signal processing circuitry and a RISC microprocessor
running our patented error correcting algorithm. The R6083V uses an adaptive reduced order
Kalman filter to reduce the errors that affect this type of sensors (i.e. bias drift, scale factor,
asymmetry), as the result it produces very accurate stabilized angular rates and heading angle.
The start-up time is less than 1 second, which is used to compute bias parameters; it does not
require further calibration thereafter. The R6083V is the best single axis rate measuring solution
for navigation applications.
