目 录
1. 概述
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2. 适用范围
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3. 引用标准
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4. 术语定义
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5. CAN 网络拓扑
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6. 物理接口
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7. PDU 格式
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8 驱动电机&控制器
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8.1 PGN=0x006100 EMU 控制 ISG 电机指令第 1 帧.........................................6
8.2 PGN=0x006200 ISG 电机状态反馈第 1 帧 ....................................................7
8.3 PGN=0x006300 ISG 电机状态反馈第 2 帧 ....................................................9
8.4 PGN=0x006400 ISG 电机状态反馈第 3 帧 ..................................................13
8.5 PGN=0x006500 ISG 电机状态反馈第 4 帧 ..................................................13
8.6 PGN=0x005100 EMU 控制 TM1 电机指令第 1 帧 .....................................14
8.7 PGN=0x005200 TM1 电机状态反馈第 1 帧 ................................................15
8.8 PGN=0x005300 TM1 电机状态反馈第 2 帧 ................................................16
8.9 PGN=0x005400 TM1 电机状态反馈第 3 帧 ................................................17
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