Canopen - Mantracourt DSC User Manual

CANopen®
CANopen® Features Support Summary
Device Profile
NMT support
Boot up
COB ID Distribution
Node ID Distribution
PDO's
SDO's
PDO modes
Variable PDO mapping
Emergency Message
Life Guarding
Heartbeat Producer
Additional Notes:
Changes to NodeID, CANbus Bit Rate and PDO communication Parameters will require the device to be power
cycled.
Object Dictionary Summary
DSC/DLC internal data values are mapped into the object dictionary in three distinct areas :–
1. The main output values are mapped into the 'Device Profile' area, at 6000h onward
2. Special control parameters, specific to the CANopen® version, are at 2000h onward
3. The DCell, DSC internal Configuration parameters are mapped at 5000h onward
Object Sub-
index index
1000 –
–1FFF
2000 0
2001 0
5000 0
–5FFF
6000 0
6001 0
6002 0
The device supports a manufacturer-specific device profile with Limited PDO mapping of 2 objects to each
Transmit PDO. The following communications objects are implemented:–
SDO
•
Transmit PDO-1
•
Transmit PDO-2
•
Transmit PDO-3
•
Transmit PDO-4
•
Mantracourt Electronics Limited
Manufacturer defined (type 0)
Slave device
Minimum boot up device
by SDO (no DBT support)
by SDO (no LMT support)
4tx, 0rx
1
Sync, Async, Cyclic, Acyclic
Y Maximum 2 objects / PDO
Y
N
Y
Type Access
– –
UNSIGNED8 R/W
UNSIGNED8 R/W
REAL32 –
FLOAT32 RO
UNSIGNED16 RO
FLOAT32 RO
Description
Standard communications area
CANopen® node id
CANbus bitrate control
DSC internal parameters
"SYS" main value output (Scaled)
DSC "FLAG" error register
"SYSN" main value (Snapped SYS
Value)
83
[Default]
–
127 (0x7F)
3 = 125kb/s
–
–
–
–
DSC/DLC User Manual