pdcx85 Documentation - 08-18-2008 - 02:45PM - CANopen device - - - - - - - - Object Description - - - - - - - - - - ------------------------------------------------------- ============ Line 0 ============ Summary of line 0: --------------------------------------------------------------------------- 1000 Device Type 1001 Error Register 1017 Producer Heartbeat Time 1018 Identity Object 1400 Receive PDO Communication Parameter 1 1401 Receive PDO Communication Parameter 2 1600 Receive PDO Mapping Parameter 1 1601 Receive PDO Mapping Parameter 2 1800 Transmit PDO Communication Parameter 1 1801 Transmit PDO Communication Parameter 2 1A00 Transmit PDO Mapping Parameter 1 1A01 Transmit PDO Mapping Parameter 2 2000 can_control 2001 can_status 2002 can_command 2003 can_argument 2004 error_id 2005 can_dataid 2006 can_devicedata 2007 can_usrextin Communication Segment Variable - 1000 - Device Type: --------------------------------------------------------------------------- The device type specifies the kind of device. The lower 16 bit contain the device profile number and the upper 16 bit an additional information. Value Min Max Unit Type Access Mapping 0x0000000 0x00000000 0xFFFFFFFF u32 CONST n.a. Variable - 1001 - Error Register: --------------------------------------------------------------------------- The error register is a field of 8 bits, each for a certain error type. If an error occurs the bit has to be set. Bit Meaning 0 generic error 1 current 2 voltage 3 temperature 4 communication error (overrun, error state) 5 device profile specific 6 reserved 7 manufacturer specific Value Min Max Unit Type Access Mapping 0x00 0x00 0xFF u8 RO 0 Variable - 1017 - Producer Heartbeat Time: --------------------------------------------------------------------------- The producer heartbeat time defines the cycle time of the heartbeat. If the time is 0 it is not used. The time has to be a multiple of 1 msec Value Min Max Unit Type Access Mapping 0x000003E8 0x0 0xFFFF u16 RW n.a. Record - 1018 - Identity Object: --------------------------------------------------------------------------- This object contains general information about the device. Sub-Index 1 contains a unique value allocated each manufacturer. Sub-Index 2 identifies the manufacturer specific product code (device version). Sub-Index 3 contains the revision number. Bit 31-16 is the major revision number and Bit 15-0 the minor revision number. Sub-Index 4 identifies a manufacturer specific serial number. 1018:000 number of entries Value Min Max Unit Type Access Mapping 0x4 0x1 0x4 u8 RO n.a. 1018:001 Vendor Id Value Min Max Unit Type Access Mapping 0x0000021A 0x0 0xFFFFFFFF u32 RO n.a. 1018:002 Product Code Value Min Max Unit Type Access Mapping 0x0 0x0 0xFFFFFFFF u32 RO n.a. 1018:003 Revision number Value Min Max Unit Type Access Mapping 0x00010001 0x0 0xFFFFFFFF u32 RO n.a. 1018:004 Serial number Value Min Max Unit Type Access Mapping 0x0 0x0 0xFFFFFFFF u32 RO n.a. Record - 1400 - Receive PDO Communication Parameter 1: --------------------------------------------------------------------------- It contains the communication parameters of the current PDO the device is able to receive. Sub-index 0 contains the number of PDO-parameters implemented. Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled. The transmission mode is defined by sub-index 2. An inhibit time can be defined on sub-index 3 in 100 us. At the 5th sub-index can be defined a event time for asynchron pdos. 1400:000 Number of Entries Value Min Max Unit Type Access Mapping 0x02 0x02 0x05 u8 RO n.a. 1400:001 COB-ID Value Min Max Unit Type Access Mapping 0x00000200 0x00000001 0xFFFFFFFF u32 RW n.a. 1400:002 Transmission Type Value Min Max Unit Type Access Mapping 0xFE 0x0 0xFF u8 RW n.a. Record - 1401 - Receive PDO Communication Parameter 2: --------------------------------------------------------------------------- It contains the communication parameters of the current PDO the device is able to receive. Sub-index 0 contains the number of PDO-parameters implemented. Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled. The transmission mode is defined by sub-index 2. An inhibit time can be defined on sub-index 3 in 100 us. At the 5th sub-index can be defined a event time for asynchron pdos. 1401:000 Number of Entries Value Min Max Unit Type Access Mapping 0x02 0x02 0x05 u8 RO n.a. 1401:001 COB-ID Value Min Max Unit Type Access Mapping 0x00000300 0x00000001 0xFFFFFFFF u32 RW n.a. 1401:002 Transmission Type Value Min Max Unit Type Access Mapping 0xFE 0x00 0xFF u8 RW n.a. Record - 1600 - Receive PDO Mapping Parameter 1: --------------------------------------------------------------------------- The sub-indices contain the indices, the sub-indices and the lengths of the mapped sub-indices. Their structure is as follows: index (16bit) sub-index (8bit) length (8bit) 1600:000 Number of Entries Value Min Max Unit Type Access Mapping 0x01 0x0 0x40 u8 RO n.a. 1600:001 Mapping Entry 1 Value Min Max Unit Type Access Mapping 0x20000010 0x0 0xFFFFFFFF u32 RO n.a. Record - 1601 - Receive PDO Mapping Parameter 2: --------------------------------------------------------------------------- The sub-indices contain the indices, the sub-indices and the lengths of the mapped sub-indices. Their structure is as follows: index (16bit) sub-index (8bit) length (8bit) 1601:000 Number of Entries Value Min Max Unit Type Access Mapping 0x03 0x0 0x40 u8 RO n.a. 1601:001 Mapping Entry 1 Value Min Max Unit Type Access Mapping 0x20000010 0x0 0xFFFFFFFF u32 RO n.a. 1601:002 Mapping Entry 2 Value Min Max Unit Type Access Mapping 0x20020008 0x0 0xFFFFFFFF u32 RO n.a. 1601:003 Mapping Entry 3 Value Min Max Unit Type Access Mapping 0x20030020 0x0 0xFFFFFFFF u32 RO n.a. Record - 1800 - Transmit PDO Communication Parameter 1: --------------------------------------------------------------------------- It contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0 contains the number of PDO-parameters implemented. Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled. The transmission mode is defined by sub-index 2. An inhibit time can be defined on sub-index 3 in 100 us. At the 5th sub-index can be defined a event time for asynchron pdos. 1800:000 Number of Entries Value Min Max Unit Type Access Mapping 0x02 0x02 0x06 u8 RO n.a. 1800:001 COB-ID Value Min Max Unit Type Access Mapping 0x00000180 0x00000001 0xFFFFFFFF u32 RW n.a. 1800:002 Transmission Type Value Min Max Unit Type Access Mapping 0xFE 0x0 0xFF u8 RW n.a. Record - 1801 - Transmit PDO Communication Parameter 2: --------------------------------------------------------------------------- It contains the communication parameters of the current PDO the device is able to transmit. Sub-index 0 contains the number of PDO-parameters implemented. Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled. The transmission mode is defined by sub-index 2. An inhibit time can be defined on sub-index 3 in 100 us. At the 5th sub-index can be defined a event time for asynchron pdos. 1801:000 Number of Entries Value Min Max Unit Type Access Mapping 0x02 0x02 0x06 u8 RO n.a. 1801:001 COB-ID Value Min Max Unit Type Access Mapping 0x00000280 0x00000001 0xFFFFFFFF u32 RW n.a. 1801:002 Transmission Type Value Min Max Unit Type Access Mapping 0xFE 0x00 0xFF u8 RW n.a. Record - 1A00 - Transmit PDO Mapping Parameter 1: --------------------------------------------------------------------------- Contains the mapping for the PDOs the device is able to transmit. The type of the PDO mapping parameter is at index 21h. The subindex 0h contains the number of valid entires within the mapping record. This number of entries is also the number of the application variables which shall be transmitted with the corresponding PDO. The subindicex from 1h to number of entries contain the information about the mapped application variables. These entries describe the PDO contents by their index, subindex and length. Allthree values are hexa-decimal coded. The length entry contains the length of the object in bits (1..40h). This parameter can be used to verify the overall mapping length. It is mandatory. 1A00:000 Number of Entries Value Min Max Unit Type Access Mapping 0x02 0x0 0xFF u8 RO n.a. 1A00:001 Mapping Entry 1 Value Min Max Unit Type Access Mapping 0x20010010 0x0 0xFFFFFFFF u32 RO n.a. 1A00:002 Mapping Entry 2 Value Min Max Unit Type Access Mapping 0x20070010 0x0 0xFFFFFFFF u32 RO n.a. Record - 1A01 - Transmit PDO Mapping Parameter 2: --------------------------------------------------------------------------- Contains the mapping for the PDOs the device is able to transmit. The type of the PDO mapping parameter is at index 21h. The subindex 0h contains the number of valid entires within the mapping record. This number of entries is also the number of the application variables which shall be transmitted with the corresponding PDO. The subindicex from 1h to number of entries contain the information about the mapped application variables. These entries describe the PDO contents by their index, subindex and length. Allthree values are hexa-decimal coded. The length entry contains the length of the object in bits (1..40h). This parameter can be used to verify the overall mapping length. It is mandatory. 1A01:000 Number of Entries Value Min Max Unit Type Access Mapping 0x03 0x0 0xFF u8 RO n.a. 1A01:001 Mapping Entry 1 Value Min Max Unit Type Access Mapping 0x20010010 0x00000000 0xFFFFFFFF u32 RO n.a. 1A01:002 Mapping Entry 2 Value Min Max Unit Type Access Mapping 0x20050008 0x00000000 0xFFFFFFFF u32 RO n.a. 1A01:003 Mapping Entry 3 Value Min Max Unit Type Access Mapping 0x20060020 0x00000000 0xFFFFFFFF u32 RO n.a. Manufacturer Segment Variable - 2000 - can_control: --------------------------------------------------------------------------- Description: CANopen Control Word Function: Device Control Bit Meaning: Bit 0...6 reserved Bit 7 Error Reset Bit 8 Halt Bit 9...15 reserved Value Min Max Unit Type Access Mapping 0x00 0x0000 0xFFFF u16 RW 1 Variable - 2001 - can_status: --------------------------------------------------------------------------- Description: CANopen Status Word Function: Status of Device Bit Meaning: Bit 0...2 reserved Bit 3 Error Bit 4 reserved Bit 5 Halt Bit 6...7 reserved Bit 8 reserved for User Extension Bit 9 reserved Bit 10 Target reached Bit 11...15 reserved Value Min Max Unit Type Access Mapping 0x00 0x0000 0xFFFF u16 RW 1 Variable - 2002 - can_command: --------------------------------------------------------------------------- Description: CANopen Command Specifier Function: selects the command of device Meaning: 01 [hex] move absolute 02 move relative 03 stop motion 04 continue motion 05 reference motion 06 position limit (only for reference motion) 07 set position to zero 08 velocity profile 09 set acceleration 0A set start velocity 0B set end velocity 0C set steps per revolution 0D set motor current 0E set current reduction 0F current limit (only DC-Motor) 10 --- 11 gear ratio numerator 12 gear ratio denominator 13 user units mm/revolution 14 user units units in 1/1, 1/10, 1/100 mm 15 send status 16 clear error 17 send actual position Value Min Max Unit Type Access Mapping 0x00 0x00 0xFF u8 RW 1 Variable - 2003 - can_argument: --------------------------------------------------------------------------- Description: CANopen Command Argument Function: Argument for Command Value Min Max Unit Type Access Mapping 0x0 0x80000000 0x7FFFFFFF i32 RW 1 Variable - 2004 - error_id: --------------------------------------------------------------------------- Description: Device [Manufakturer] Error Code separated in 2 Bytes MSB: error group 1...4 LSB: error number Function: Info about Error Condition Meaning of error number [only LSB relevant]: 00 [hex] no error 02 system error 06 parameter error 14 power stage defect 15 over current 16 problem in hall sensors 1C wrong connection on limit switch 29 unknown command 2A wrong parameter 2C command overrun 3C over temperature 3D following error 3E under voltage 44 motion over limit switch 45 external stop input was active Value Min Max Unit Type Access Mapping 0x00 0x0000 0xFFFF u16 RO 0 Variable - 2005 - can_dataid: --------------------------------------------------------------------------- Description: CANopen Device Data Identifier Function: Identification of data in can_devicedata [index 2006] Meaning: 1: data is absolute position 2: data is relative position 3..... not yet defined Value Min Max Unit Type Access Mapping 0x00 0x00 0xFF u8 RW 1 Variable - 2006 - can_devicedata: --------------------------------------------------------------------------- Description: Data from Device to Master Value Min Max Unit Type Access Mapping 0x00 0x80000000 0x7FFFFFFF i32 RW 1 Variable - 2007 - can_usrextin: --------------------------------------------------------------------------- Description: User Data Extension from Devise to Master reserved: for future user extensions Value Min Max Unit Type Access Mapping 0x0 0x0 0x7FFF i16 RW 1 -- Abbreviations -- bool BOOLEAN i8 INTEGER8 i16 INTEGER16 i32 INTEGER32 u8 UNSIGNED8 u16 UNSIGNED16 u32 UNSIGNED32 r32 REAL32 vstr VISIBLE_STRING ostr OCTET_STRING dom DOMAIN n.a. not allowed This document was created using Design Tool 2.2.11 by port GmbH.