Manual
Table Of Contents
- Important User Information
- P. About This Document
- 1. Product Overview
- 2. CANopen Fieldbus Functionality
- 3. Transparent CAN Mode
- 4. Installation
- 5. Configuration
- 6. CANopen Module Specification
- 7. Supported Objects
- 8. Interface Functions
- A. Technical Specification
- B. Status LED Timing Diagrams
- C. CANopen Emergency Codes
- D. Error Codes (RET)
Supported Objects 36
Doc.Id. HMSI-216-117
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
7.3 Manufacturer Specific Objects
One or several variable data objects are connected to each PDO. This is configured during the config-
uration phase. There are 64 Receive PDOs and 64 Transmit PDOs.
Index Subindex Type Access Name and description Comment
5000h - RECORD Status CM CANopen
00h U8 RO Largest subindex supported
01h U16 RO Event indication CM CANopen For more information, see page 38.
02h U8 RO CM CANopen state For more information, see page 39.
03h U8 RO CM CANopen communication status For more information, see page 39.
04h U16 RO CM CANopen configuration bits For more information, see page 40.
5001h - ARRAY Assigned slaves bit list
00h U8 RO Largest subindex supported
01h U32 RO Node-ID 1-32 Bit n represents Node-ID (n+1).
02h U32 RO Node-ID 33-64 Bit n represents Node-ID (n+33).
03h U32 RO Node-ID 65-96 Bit n represents Node-ID (n+65).
04h U32 RO Node-ID 97-127 Bit n represents Node-ID (n+97). Bit
31 is always 0.
5002h - ARRAY Configured slaves bit list
00h U8 RO Largest subindex supported
01h U32 RO Node-ID 1-32 Bit n represents Node-ID (n+1).
02h U32 RO Node-ID 33-64 Bit n represents Node-ID (n+33).
03h U32 RO Node-ID 65-96 Bit n represents Node-ID (n+65).
04h U32 RO Node-ID 97-127 Bit n represents Node-ID (n+97). Bit
31 is always 0.
5003h - ARRAY Fault slaves bit list
00h U8 RO Largest subindex supported
01h U32 RO Node-ID 1-32 Bit n represents Node-ID (n+1).
02h U32 RO Node-ID 33-64 Bit n represents Node-ID (n+33).
03h U32 RO Node-ID 65-96 Bit n represents Node-ID (n+65).
04h U32 RO Node-ID 97-127 Bit n represents Node-ID (n+97). Bit
31 is always 0.
5004h - ARRAY Operational slaves bit list
00h U8 RO Largest subindex supported
01h U32 RO Node-ID 1-32 Bit n represents Node-ID (n+1).
02h U32 RO Node-ID 33-64 Bit n represents Node-ID (n+33).
03h U32 RO Node-ID 65-96 Bit n represents Node-ID (n+65).
04h U32 RO Node-ID 97-127 Bit n represents Node-ID (n+97). Bit
31 is always 0.
5005h - ARRAY Stopped slaves bit list
00h U8 RO Largest subindex supported
01h U32 RO Node-ID 1-32 Bit n represents Node-ID (n+1).
02h U32 RO Node-ID 33-64 Bit n represents Node-ID (n+33).
03h U32 RO Node-ID 65-96 Bit n represents Node-ID (n+65).
04h U32 RO Node-ID 97-127 Bit n represents Node-ID (n+97). Bit
31 is always 0.