1说明：
分布式io，CAN总线，C#上位机二次开发（usb转CAN模块）
2DI：
公共端是： 0V【GND】
X0~X15：自带24v
寄存器地址：0x6100-01
6100H DI输入寄存器 16-bit （16位输入）
00H U8 子索引总数
01H Unsigned16 IN16bit（上传16位输入值）【读DI 15~0】
02H Unsigned16 IN16bit（上传16位输入值）【读DI 31~16】
03H Unsigned16 IN16bit（上传16位输入值）【读DI 47~32】
6300H DO输出寄存器 16-bit
00H U8 子索引总数
01H Unsigned16 OUT16bit（设置16位输出值）【写DO 15~0】
02H Unsigned16 OUT16bit（设置16位输出值）【写DO 31~16】
03H Unsigned16 OUT16bit（设置16位输出值）【写DO 47~32】3DO：
公共端是： 0V【GN】
Y0~Y15：串联继电器
寄存器地址：0x6300-01
4外观：
5SW：
SW1【运行和电阻】
SW1.1 ON运行 OFF停止
SW1.4 ON电阻开 OFF电阻关
SW2【波特率】
SW2.0 1Mbps
SW2.1 500Kbps
SW2.2 250Kbps
SW2.3 125Kbps
其他 无效
SW3【地址1~9】
SW3.1~9 地址只能1~9
X1、X2 远程 CAN 总线接口
X3、X4 本地 CAN 总线接口
X5、X6 IO 接线端子
S1 RUN/STOP、终端电阻选择开关
S2 CAN 总线波特率选择开关
S3 CAN 地址选择开关 
开关 S3 为 CAN 总线地址（节点号）选择开关，其旋钮可设置为 1 到 9，分别代表从站的 节点号为 1 到 9。非 1 至 9 的节点号，系统报错，不能正常初始化。
X1，X2
X3，X4
X5
X6
6eds文件：
[FileInfo]
FileName=EM32DX-C2.eds
FileVersion=11
FileRevision=100
EDSVersion=100
Description=EDS for Leadshine EM32DX-C2
CreationTime=05:02PM
CreationDate=06-25-2013
CreatedBy=Leadshine
ModificationTime=10:23PM
ModificationDate=2013-06-25
ModifiedBy=Leadshine
[DeviceInfo]
VendorName=Leadshine Technology Co., Ltd.
VendorNumber=0x0331
ProductName=EM32DX-C2
ProductNumber=0x0011
RevisionNumber=101
OrderCode=EM32DX-C2
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=P-00
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x000F4240
PDOMapping=0x0
[2001]
ParameterName=P-01
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0
[2002]
ParameterName=P-02
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0
[2002]
ParameterName=P-02
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0
[2003]
ParameterName=P-03
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0
[2004]
ParameterName=P-04
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0
[2005]
ParameterName=P-05
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0
[2006]
ParameterName=P-06
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0
[2007]
ParameterName=P-07
ObjectType=0x7
DataType=0x0007
AccessType=rw
DefaultValue=0x00
PDOMapping=0x0
[OptionalObjects]
SupportedObjects=18
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
[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
