Manual

Doc.Id. HMSI-216-117
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
Chapter 7
7. Supported Objects
The following sections describe the CANopen objects, according to CiA 301 and CiA 302, implemented
within the module and described in the EDS file.
7.1 Static Data Types
According to CiA 301.
7.2 Communication Profile Area
7.2.1 CiA 301 Communication Profile Objects
The table below shows the objects according to CANopen specification CiA 301 rev. 4.2.
Index Object Name subindex Description Type Access Notes
1000h Device Type 00h Type of device U32 RO 0000 0000h (No profile)
1001h Error register 00h Error register, connected to
the EMCY object. Bit 0 indi-
cates a generic error
U8 RO -
1002h Manufacturer
status register
Byte 0: 5000/02h
Byte 1: 5000/03h
Byte 2-3: 5000/01h
U32 RO
1003h Pre-defined
error field
00h Number of errors. Writing a 0
to this subindex clears the
error list.
U8 RW See “CANopen Emergency
Codes” on page 57 for emer-
gency error codes.
01h...05h List of errors. Most recent
error at top of list.
U32 RO
1005h COB-ID Sync 00h COB-ID of the sync message U32 RW -
1006h Communica-
tion Cycle
Period
00h Communication cycle period
(ms).
U32 RW Min: 0 ms, max: 32767 ms.
Only available if SYNC support
is enabled.
1008h Manufacturer
device name
00h The name of the CANopen
module
Visible
string
RO “S7-1200 CM CANopen”
1009h Manufacturer
hardware ver
-
sion
00h Manufacturer hardware ver-
sion
Visible
string
RO Current hardware revision
100Ah Manufacturer
software ver-
sion
00h Manufacturer software ver-
sion
Visible
string
RO Current software revision
100Ch Guard time 00h Used together with “Life time
factor” to decide the node life-
time (ms).
U16 RW Min: 0 ms (default), max:
32767 ms.
100Dh Life time factor 00h If the node has not been
guarded within its lifetime
(“Life time factor”*”Guard
time”), an error event is
logged and a remote node
error is indicated
U8 RW Min: 00h (default). max FFh