Manual

20-COMM-K CANopen Adapter User Manual
Publication 20COMM-UM012B-EN-P
Appendix C
CANopen Objects
Appendix D presents information about the CANopen objects implemented
in this adapter.
CANopen Object Tables
The tables in this section describe the implemented CANopen objects.
Table C.A
describes the objects for the communication profile and
Table C.B
describes the manufacturer specific objects.
Table C.A Communication Profile Area
Topic Page
CANopen Object Tables
C-1
Emergency Object C-4
Index Sub Index Type Access Name and Description
0x1000 0 U32 Read Device Type.
Describes the type of device.
0x1001 0 U8 Error register Bit 0.
Indicates that a generic error has occurred.
0x1003 0 U8 Read/Write Number of errors.
Writing a 0 to this sub index clears the list.
The error list starts at sub index 1.
1…5 U32 Read Pre-defined error field.
A list of errors that have occurred.
Sub index 1 contains the most recent error.
0x1005 0 U32 Read/Write COB-ID Sync.
This is the ID for the sync message.
0x1008 0 Visible
string
Read Manufacturer device name
(Family text from DPI Device object)
0x100A 0 Visible
string
Read Manufacturer software version (Product revision from
DPI Device object as “SW V.MAJOR.MINOR” string)
0x100C 0 U16 Read/Write Guard time
This parameter is used together with Life time factor
for the Life guarding protocol. The NMT master
guards the node at this period in milliseconds.
0x100D 0 U8 Read/Write Life time factor.
If the node has not been guarded in the time period
Life-time factor x Guard time, a “Guard Error” event is
logged and a remote node error is indicated through
the “Life Guarding event” service.
0x1014 0 U32 Read/Write COB-ID EMCY.
This is the ID for the Emergency object
0x1400…
0x1404
0 U8 Read Receive PDO parameter.
Number of entries (= 2)
1 U32 Read/Write COB ID used by PDO
2 U8 Read/Write Transmission type
0x1600…
0x1604
0 U8 Read/Write Receive PDO mapping.
Number of mapped application objects (N)
1…N U32 Read/Write Mapped object #N