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Note:
1. The object with index 0x1000 has the following data format:
Specific functionality
For iKAN-XXX-CPS, the specific functionality is always 0. The I/O functionality defines what
kind of device the iKAN -7232D is. The Bit 20 – 23 is always 0, and the Bit 16, 17, 18, and 19
present the DI, DO, AI, and AO respectively. The iKAN-XXX-CPS supports DO, AO, and AI for
reading, thus the value of the I/O functionality is 0x0E. The general information is 0x191
(0x191=401), it means that the iKAN-XXX-CPS follows the CANopen spec DS401.
2. About the object with index 0x1001 and 0x1003, please refer to section 4.8.2.
3. The object with index 0x1005 stores the SYNC COB-ID. In the iKAN-XXX-CPS, this is used to
receive the SYNC COB-ID. The following table shows the data format of the SYNC.
Bit Number
31(MSB)
28 – 11
10 – 0(LSB)
The iKAN-XXX-CPS doesn't support the SYNC generation, therefore 29-bit ID, bit 30 and bit 31
are always 0.
4. The object with index 0x1008, 0x1009 and 0x100A record the iKAN-XXX-CPS product
information. Note that the data length of the product information is more than 8 bytes, so the
users need use segment method to read. When interpreting these objects, the ASCII table may
be needed.
5. The range of the 0x100C is 0~32767 in iKAN-XXX-CPS.
6. For more information of the object with index 0x100C and 0x100D, please refer to section 4.8.2.
7. For more information of the object with index 0x1014, please refer to section 4.8.1.
8. The object with index 0x1015 store the inhibit time period between two EMCY message. It is
useful for avoiding the large loading on the CAN bus because of transmitting a lot of EMCY
messages. This parameter range is 0~32767 for the iKAN-XXX-CPS, and the unit of EMCY inhibit
Additional information
bit 31~ bit 24
Value
x
30
0
1
29
0
1
0
x
x
bit 23 ~ bit16
I/O functionality
Device profile number
Meaning
do not care
Device does not generate SYNC message
Device generates SYNC message
11-bit ID (CAN 2.0A)
29-bit ID (CAN 2.0B)
If bit 29 is 0
If bit 29 is 1: 28 – 11 bits of 29-bit COB-ID
10 – 0 bits of COB-ID
General Information
bit 15 ~ bit 0
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