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7 Communication Objects Overview
7
Communication Objects Overview
The Object Dictionary is essentially a group of objects accessible via the network in an ordered pre-defined fashion. Each object uses a 16 bit index.
The Object Dictionary consists of three sections:
• Communications Profile (index numbers 1000 - 1FFF) contains objects related to the CANopen network, which are shared with each device.
• Manufacturer Profile (index numbers 2000 - 5FFF) concerns objects that have been set for manufacturer-specific functions. These objects are
specific to Yaskawa products, and therefore are not compatible with other productsthat may be CANopen.
• Drive and Motion Profile (index numbers 6000 - 9FFF) includes data objects shared among all device classes that can read and write across the
network. SI-S3/V is compatible with DSP 402 Drive and Motion Control Profile and Velocity Mode.
◆
Communication Objects (DS 301)
Index (Hex.)
1000
1001
1003
1005
1008
1009
100A
100C
100D
100E
1010
1011
1014
1016
1017
1018
◆
Manufacturer Specific Objects (DS 301)
Input Objects
■
Index (Hex.)
2000
2010
2020
2030
2040
2050
2060
2070
Output Objects
■
Index (Hex.)
2100
2110
2120
2130
2140
2150
2160
2200
16
Device Type
Error Register
Pre-defined Error Field
COB-ID SYNC Message
Manufacturer Device Name
Manufacturer Hardware Version
Manufacturer Software Version
Guard Time
Life Time Factor
Node Guarding Identifier
Store Parameters
Restore Default Parameters
COB-ID Emergency Object
Consumer Heartbeat Time
Producer Heartbeat Time
Identity Object
Operation Command
Speed Command
Torque Limit
Torque Compensation
MEMOBUS Read Command
MEMOBUS Write Command
MEMOBUS Not Limited Enter Command
MEMOBUS Limited Enter Command
Drive Status
Output Frequency
Output Current
Output Torque
MEMOBUS Read Command Response
MEMOBUS Write Command Response
MEMOBUS Not Limited Enter Command Response
Motor Speed
Name
Name
Name
YASKAWA ELECTRIC SIEP C730600 24A V1000 Option CANopen Technical Manual
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