HMS Anybus X-gateway CANopen User Manual page 47

CANopen Object Implementation
Index Object Name
Restore Parameters 00h
1011h
COB-ID EMCY
1014h
Consumer
1016h
Heartbeat Time
1017h Producer Heartbeat
Time
1018h Identity object
1029h Error behavior
object
1400h Receive PDO
parameter
...
147Fh
1600h Receive PDO
mapping
...
167Fh
1800h Transmit PDO
parameter
...
187Fh
3. The byte order may have to be changed depending on the method of writing to this object.
Anybus ® X-gateway ™ CANopen ® PROFINET
Subindex Description
Largest subindex supported
01h Restore all parameters
00h Defines the COB-ID of the
Emergency Object
00h Largest subindex supported
01h - 80h The consumer heartbeat time
defines the expected heartbeat
cycle time and has to be higher
than the corresponding
producer heartbeat time.
Monitoring starts after the
reception of the first heartbeat.
Not used if 0
00h Defines the cycle time of the
heartbeat. Not used if 0
00h Number of entries
01h Vendor ID
02h Product Code
03h Revision Number
04h Serial Number
00h Number of entries
Communication error
01h
02h Profile or manufacturer specific
error
00h Largest subindex supported
01h COB-ID used by PDO
02h Transmission type
00h No. of mapped application
objects in PDO
01h Mapped object #1
02h Mapped object #2
03h Mapped object #3
04h Mapped object #4
05h Mapped object #5
06h Mapped object #6
07h Mapped object #7
08h Mapped object #8
00h Largest subindex supported
01h COB-ID used by PDO
Transmission type
02h
03h Inhibit time
05h Event Timer (ms)
® IRT (2.32) User Manual
Type Access Notes
U8 RO
01h
U32 RW To restore the default values
of a configuration, write
"load" = 6C 6F 61 64h to this
object.
U32 RO
U8 RO
7Fh
U32 RW NodeID + Heartbeat Time.
Bits 31–24: reserved
Bits 23–16: NodeID
Bits 15–0: Heartbeat Time
Value must be a multiple of 1
ms.
Up to 127 nodes can be
monitored.
U16 RW
The time must be at least 10
ms and a multiple of 1 ms
U8 RO
04h
U32 RO 1Bh (HMS Industrial
Networks)
U32 RO 18h (Anybus X-gateway
CANopen)
U32 RO Current software revision
U32 RO
HMS serial number
U8 RO
U8 RO
00h: Change to
Preoperational if currently in
NMT state Operational
U8 RO 00h: Change to
Preoperational if currently in
NMT state Operational
U8 RO
02h
-
U32 RW
U8 RW See PDO Functionality, p. 38
-
U8 RW
-
U32 RW
-
U32 RW
-
U32 RW
-
U32 RW
-
U32 RW
-
U32 RW
-
U32 RW
-
U32 RW
U8 RO 05h
-
U32 RW
U8 RW
See PDO Functionality, p. 38
U16 RW
In steps of 0.1 ms
-
U16 RW
SCM-1202-029 1.2 en-US
45 (60)
3