Canopen Object Implementation; Static Data Types; Communication Profile Area - HMS Anybus X-gateway CANopen User Manual

CANopen Object Implementation

7 CANopen Object Implementation
This section describes the CANopen objects that are implemented in the secondary CANopen
network according to the indicated CANopen specifications and the latest Anybus X-gateway
CANopen EDS file.
7.1

Static Data Types

Implemented according to CiA Draft Standard 301 version 4.2.0.
7.2

Communication Profile Area

7.2.1 Communication Profile Objects
According to CiA Draft Standard 301 version 4.2.0
Index Object Name
Device Type
1000h
1001h Error register
1003h Predefined error
field
COB-ID Sync
1005h
1006h Communication
Cycle Period
1007h Synchronous
Window Length
1008h Manufacturer
device name
1009h Manufacturer
hardware version
100Ah Manufacturer
software version
100Ch Guard time
100Dh Life time factor
1010h Store Parameters
2. The byte order may have to be changed depending on the method of writing to this object.
Anybus ® X-gateway ™ CANopen ® PROFINET
Subindex Description
00h Type of device
00h Error register, connected to the
EMCY object. Bit 0 indicates a
generic error
00h Number of errors. Writing 0
clears the error list.
01h–10h List of errors. Most recent error
at top of list.
00h ID of the sync message
00h Communication cycle period
00h Synchronous Window Length
00h The name of the CANopen
module
00h Manufacturer hardware version
00h Manufacturer software version
00h Used together with "Life time
factor" to decide the node
lifetime in ms
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
00h Largest subindex supported
01h Store all parameters
® IRT (2.32) User Manual
Type Access Notes
U32 RO
0000 0000h (No profile)
U8 RO
See CANopen Emergency
U8 RW
Messages, p. 41
U32 RO
-
U32 RW
U32 RW Only available if SYNC
support is enabled
U32 RW Only available if SYNC
support is enabled
Visible RO "Anybus X-gateway
string CANopen"
Visible RO Current hardware revision
string
RO
Visible Set by HMS
string
U16 RW
0000h (default)
U8 RW
00h (default)
U8 RO 01h
U32 RW
To save a configuration,
write "save" = 73 61 76 65h
to this object.
See also
Parameters, p.
SCM-1202-029 1.2 en-US
44 (60)
2
General Fieldbus
56.