Wieland samos PRO Manual page 145

SDO 1027: Module list
The module list contains the module type and the module number (module ID) of all safe samosPRO
modules in the system.
Example:
Subindex = 03 -> 0x00000602, whereby:
02 = module number
06 = module type
Further information:
1) See: Table "CANopen Emergency Messages" [ch. 10.6, p. 133]
See below: Table "Module types"
2)
Table 107: Content of SDO 1027
Subindex
0
1...15
Table 108: Module types
Subindex
0
1
2
4
6
7
9
14
22
SDO 1400 ... 1403: Communication parameters for the RxPDOs
SDO 1400 to 1403 can be used to configure the communication parameters for RxPDOs 1 to 4, e.g.
SDO 1400 defines the parameters for RxPDO 1, etc.
Table 109: Content of SDO 1400 ... 1403
Subindex
1
2
The receive mode (read/write) determines how the PDO is to be received. For RxPDOs, the receive
mode has been set to 255 (asynchronous mode). In this mode, the data of a RxPDOs received are di-
rectly routed to the outputs.
NOTICE
When the receive mode is set to a value other than 255, an error code is generated (abort code
0609 0030h, invalid parameter value).
SDO 1600 ... 1603: Mapping parameters for the RxPDOs
This SDO cannot be used, as mapping of the RxPDOs takes place with the aid of the samosPLAN 6 .
Also see: Table "Pre-set for the content of the transmit process data objects (TxPDOs)" [ch. 10.8, p. 138]
Wieland Electric GmbH | BA000970 | 07/2019 [9855]
1)
2)
Meaning
SDO 1027 entries
Module slot positions
Module type
SP-COP1 (CPU without Ethernet)
SP-COP2-EN (CPU with Ethernet)
SP-COP2-ENI (CPU with modbus/TCP, PROFINET IO, EtherNet/IP)
SP-SDI (secure input module)
SP-SDIO (secure I/O module)
PROFIBUS DP gateway
CANopen gateway
SP-DIO (non-secure I/O module)
EtherCAT gateway
Mapping Format
COB ID UDINT
Receive mode SINT
CANopen gateway
Format
SINT
SINT
Description
CAN identifier for this PDO,
write-protected
Fix 255 (asynchronous mode)
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