CANopen Interface for SG5 and SG7

CANopen Interface Manual

6 Object Dictionary

In this chapter all entries in the object dictionary, which are supported by the drives, are listed.

6.1 Communication Profile Area (1000h - 1FFFh)

Index

1000h

1001h

1005h

1006h

1007h

1008h

1009h

100Ah -

100Ch -

100Dh -

1014h -

-

-

-

-

-

-

-

Sub-Index Name

Device Type

Access Type Data Type ro Unsigned32

Always zero (= no standardized device profile).

Error register ro Unsigned8

Only bit 0 is supported, which indicates a generic error.

COB-ID SYNC rw Unsigned32

Defines the COB-ID of the Synchronization Object (SYNC).

Communication cycle period rw Unsigned32

This object defines the communication cycle period in μs. This period defines the

SYNC interval. It is 0 if not used. The object is only relevant for SYNC producers and is not used in CANopen slaves.

Synchronous window length rw Unsigned32

Contains the length of the time window for synchronous PDOs in μs.

It is 0 if not used.

This parameter is for compatibility only, it is not used in the LinMot drive.

Manufacturer Device Name const String

Contains the Device Name (including HW Revision) as an ASCII string.

Manufacturer HW Version const String

Contains the Device Serial Number as an ASCII string.

Manufacturer SW Version const String

Contains the version of the installed firmware as an ASCII string.

Guard Time rw Unsigned16

Contains the Guard Time used in the node guarding protocol.

Life Time Factor rw Unsigned8

Contains the Life Time Factor used in the node guarding protocol.

COB-ID Emergency Object rw Unsigned32

Defines the COB-ID of the emergency object (EMCY).

NTI AG / LinMot

® www.LinMot.com

Page 26/60


Index

1016h

1017h

1018h -

0h

1h

-

-

Sub-Index Name

0h

1h

Consumer heartbeat time

Number of Entries

Consumer heartbeat time 1

-

Access Type Data Type

ro rw

Unsigned8

Unsigned32

The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time configured on the device producing this heartbeat. Monitoring starts after the reception of the first heartbeat. If the consumer heartbeat time is 0 the corresponding entry is not used. The time has to be a multiple of 1ms.

Producer heartbeat time rw Unsigned16

The producer heartbeat time defines the cycle time of the heartbeat. If not used it is to be set to 0. The time has to be a multiple of 1ms.

Identity Object


ro

-

Unsigned8

2h

Vendor ID ro Unsigned32

The vendor ID contains a unique value allocated to each manufacturer of

CANopen devices. The vendor ID of LinMot is 0000 0156h.

Product Code ro Unsigned32

3h

4h

Contains the drive type.

Revision Number ro Unsigned32

Contains the drive version.

Serial Number ro Unsigned32

Contains the last four ASCII characters of the serial number.



Page 27/60


Index

1400h -

Sub-Index Name

Receive PDO Communication

Parameter 0 (RxPDO 1)

0h

1h


COB-ID ro ro

-

Access Type Data Type

-

Unsigned8

Unsigned32

31

0: PDO is valid

1: PDO is invalid

30

0: RTR allowed

1: no RTR allowed

29

0: (11-bit ID)

1: (29-bit ID)

28-11

All 0 if 11-bit identifier

10-0

11-bit identifier

1401h

1402h -

-

2h

0h

1h

2h

0h

1h

2h

The PDO valid/not valid bit allows to select which PDOs are used in the operational state. Only this bit can be changed by writing to this parameter. The identifiers themselves cannot be changed. The default ID is 200h + Node-ID.

Transmission type rw Unsigned8

Only transmission types 1 (cyclic synchronous), 254 (asynchronous) and 250

(poll-request / poll-response) are supported. Type 250 is LinMot specific and not part of the CANopen standard. The Default is 1 (cyclic synchronous).



-


COB-ID ro ro

Unsigned8

Unsigned32

The default ID is 300h + Node-ID. See 1400h sub 1h for additional details.


The default is 1 (cyclic synchronous). See 1400h sub 2h for additional details.



-


COB-ID ro ro

Unsigned8

Unsigned32






Page 28/60


Index

1403h

1600h

16-31 index

1601h

1602h -

-

-

-

Sub-Index Name



0h

1h


COB-ID

2h

0h

1h-8h

-

Access Type ro ro

-

Data Type

Unsigned8

Unsigned32




Receive PDO Mapping


-

Number of mapped application objects in PDO rw Unsigned8

Number of valid mapping entries. Can be between 0 and 8.

PDO Mapping Entry 1-8 rw Unsigned32

Contains the mapping for RxPDO 1. A mapping entry is built as follows:

8-15 sub-index

0-7

Object length

0h

1h-8h

0h

1h-8h



Number of mapped application objects in PDO

rw

-

Unsigned8



Contains the mapping for RxPDO 2 See 1600h sub 1-8h for additional details.



-







Page 29/60


Index

1603h

1800h -

-

Sub-Index Name



0h Number of mapped application objects in PDO

1h-8h

0h

1h

-

Access Type rw

-

Data Type

Unsigned8




Transmit PDO

Communication Parameter 0

(TxPDO 1)

-


COB-ID ro ro

Unsigned8

Unsigned32

31

0: PDO is valid

1: PDO is invalid

2h

3h

4h

30

0: RTR allowed

1: no RTR allowed

29

0: (11-bit ID)

1: (29-bit ID)

28-11

All 0's if 11-bit identifier

10-0

11-bit identifier

The PDO valid/not valid bit allows to select which PDOs are used in the operational state. Only this bit can be changed by writing to this parameter. The identifiers themselves cannot be changed. The default ID is 180h + Node-ID.


Only transmission types 1 (cyclic synchronous), 254 (asynchronous) and 250

(poll-request / poll-response) are supported. Type 250 is LinMot specific and not part of the CANopen standard. The Default is 1 (cyclic synchronous).

Inhibit time rw Unsigned16

This time is a minimum interval for PDO transmission in asynchronous modes.

The value is defined as multiple of 100μs.

Reserved rw Unsigned8

5h Event timer rw Unsigned16

In asynchronous modes additionally an event time can be used for TPDOs. If an event timer exists for a TPDO (value not equal to 0) the elapsed timer is considered to be an event. The event timer elapses as a multiple of 1 ms . This event will cause the transmission of this TPDO in addition to otherwise defined events.



Page 30/60


Index

1801h

1802h -

-

Sub-Index Name

Transmit PDO


(TxPDO 2)

0h

1h

2h


COB-ID

-


-

Data Type

Unsigned8

Unsigned32




3h

4h

5h

Inhibit time rw

See 1800h sub 3h for additional details.

Reserved

-

rw

Event timer rw

Unsigned16

Unsigned8

Unsigned16

0h

1h

2h

3h

4h

5h


Transmit PDO


(TxPDO 3)

-

Number of Entries ro

-

Unsigned8

COB-ID ro Unsigned32




Inhibit time rw Unsigned16


Reserved rw

-

Event timer rw


Unsigned8

Unsigned16



Page 31/60


Index

1803h

1A00h -

1A01h -

-

Sub-Index Name

Transmit PDO


(TxPDO 4)

0h

1h

2h


COB-ID

-


-

Data Type

Unsigned8

Unsigned32




3h

4h

5h

Inhibit time rw


Reserved

-

rw

Event timer rw

Unsigned16

Unsigned8

Unsigned16

0h

1h-8h

0h

1h-8h


Transmit PDO Mapping

Parameter 0 (TxPDO 1)

-

Number of mapped application objects in PDO rw

-

Unsigned8



Contains the mapping for TxPDO 1 See 1600h sub 1-8h for additional details.



-







Page 32/60


Index

1A02h -

Sub-Index Name



0h Number of mapped application objects in PDO

1A03h -

1h-8h

0h

1h-8h

-

Access Type rw

-

Data Type

Unsigned8






-







Page 33/60

CANopen Interface for SG5 and SG7

6 Object Dictionary

6.1 Communication Profile Area (1000h - 1FFFh)

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Table of contents

CANopen Interface for SG5 and SG7

6 Object Dictionary

6.1 Communication Profile Area (1000h - 1FFFh)

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