BONFIGLIOLI ACTIVE Manual page 9

The implementation of CANopen is based on Version 4.01 of DS301. The differences
to older implementations based on Version 2.0 are shown in the following table.
Boot-up message
0x1004
Number of supported PDO's
0x100E
Guarding identifier
Communication parameter
second RxPDO
Communication parameter
second TxPDO
Mapping parameter
second RxPDO
Mapping parameter
second TxPDO
0x1016
Consumer heartbeat
0x1017
Producer heartbeat
0x1018
Identity object
(*) These changes are not changes to the standard, but an adaptation of the
implementation compared with older versions.
Caution!
06/05
06/05
Object
Emergency object without
data
Identifier 128 + NodeID
available
available
0x1405 (*)
0x1805 (*)
0x1605 (*)
0x1A05 (*)
not available
not available
not available
CANopen to Version 4.01 alternatively supports the guarding OR
heartbeat monitoring mechanisms. Only one of these two methods may
be used.
Version 2.0
Heartbeat object with data
byte (content = 0)
Identifier = 1792 + NodeID
not available
not available
Identifier = 1792 + NodeID
now object 0x1401
now object 0x1801
now object 0x1601
now object 0x1A01
available
three subscribers to monitor
available
available
Vendor ID = 0x000000D5
Version 4.01
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