CANopen Programmer's Manual - Maccon.de

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APPENDIX C: OBJECTS BY FUNCTION This chapter lists the objects in functional groups. (The groupings match the titles of the sections of this manual that describe the objects.) They include: Objects that Define SDOs and PDOs ........................................................................................................ 245 Network Management Objects................................................................................................................... 245 Device Control And Status Objects ............................................................................................................ 244 Error Management Objects ........................................................................................................................ 245 Basic Amplifier Configuration Objects........................................................................................................ 245 Basic Motor Configuration Objects ............................................................................................................ 247 Real-time Amplifier and Motor Status Objects ........................................................................................... 248 Digital I/O Configuration Objects ................................................................................................................ 249 Position Loop Configuration Objects .......................................................................................................... 249 Velocity Loop Configuration Objects .......................................................................................................... 250 Current Loop Configuration Objects .......................................................................................................... 250 Stepper Mode Objects ............................................................................................................................... 251 Homing Mode Operation Objects ............................................................................................................... 251 Profile Mode Objects .................................................................................................................................. 251 Interpolated Position Mode Objects ........................................................................................................... 252 Alternative Control Source Objects ............................................................................................................ 252 Copley Controls 244
CANopen Programmer’s Manual C: Objects By Function Objects that Define SDOs and PDOs Server SDO Parameters Index 0x1200 ..................................................................................................... 31 SDO Receive COB-ID Index 0x1200, Sub-Index 1 ............................................................................. 31 SDO Transmit COB-ID Index 0x1200, Sub-Index 2 ............................................................................. 31 Receive PDO Communication Parameters Index 0x1400 – 0x1407 ........................................................ 31 PDO COB-ID Index 0x1400 – 7, Sub-Index 1 ....................................................................... 31 PDO Type Index 0x1400 – 7, Sub-Index 2 ....................................................................... 32 Receive PDO Mapping Parameters Index 0x1600 – 0x1607 .................................................................... 32 Number Of Mapped Objects Index 0x1600 – 7, Sub-index 0 ................................................................ 32 PDO Mapping Index 0x1600 – 7, Sub-Index 1 – 8 ................................................................. 32 Receive PDO Mapping Parameters Index 0x1700.................................................................................... 33 Number Of Mapped Objects Index 0x1700, Sub-index 0 ...................................................................... 33 PDO Mapping Index 0x1700, Sub-Index 1 – 4 ....................................................................... 33 Receive PDO Mapping Parameters Index 0x1701.................................................................................... 34 Number Of Mapped Objects Index 0x1701, Sub-index 0 ...................................................................... 34 PDO Mapping Index 0x1701, Sub-Index 1 – 3 ....................................................................... 34 Receive PDO Mapping Parameters Index 0x1702.................................................................................... 34 Number Of Mapped Objects Index 0x1702, Sub-index 0 ...................................................................... 34 PDO Mapping Index 0x1702, Sub-Index 1 – 2 ....................................................................... 35 Transmit PDO Communication Parameters Index 0x1800 – 0x1807 ....................................................... 35 PDO COB-ID Index 0x1800 – 7, Sub-index 1 ....................................................................... 35 PDO type Index 0x1800 – 7, Sub-index 2 ....................................................................... 36 Transmit PDO Mapping Parameters Index 0x1A00 – 0x1A07 ................................................................. 37 Number Of Mapped Objects Index 0x1A00 – 7, Sub-index 0 ............................................................... 37 PDO Mapping Index 0x1A00 – 7, Sub-Index 1 – 8 ................................................................ 37 Network Management Objects COB-ID Sync Message Index 0x1005 ...................................................................................................... 46 Communication Cycle Period Index 0x1006 ............................................................................................. 46 Guard Time Index 0x100C...................................................................................................................... 46 Life Time Factor Index 0x100D ................................................................................................................. 47 High-resolution Time Stamp Index 0x1013 ............................................................................................... 47 Producer Heartbeat Time Index 0x1017 ................................................................................................... 47 Emergency Object ID Index 0x1014 ......................................................................................................... 47 Emergency Object ID Inhibit Time Index 0x1015...................................................................................... 47 Network Options Index 0x21B .................................................................................................................. 48 Abort Option Code Index 0x6007 .............................................................................................................. 48 Serial Port Command Send Index 0x2000 ................................................................................................ 48 Device Control And Status Objects Control Word Index: 0x6040 ..................................................................................................................... 58 Status Word Index 0x6041 ...................................................................................................................... 58 Manufacturer Status Register Index 0x1002 ............................................................................................. 60 Network Status Word Index 0x21B4 ......................................................................................................... 61 'Sticky' Event Status Register Index 0x2180 ............................................................................................. 62 Latched Event Status Register Index 0x2181 ........................................................................................... 62 Limit Status Mask Index 0x2184 ............................................................................................................... 62 Quick Stop Option Code Index 0x605A .................................................................................................... 63 Shutdown Option Code Index 0x605B ...................................................................................................... 63 Disable Operation Option Code Index 0x605C ......................................................................................... 63 Halt Option Code Index 0x605D ............................................................................................................... 64 Mode Of Operation Index 0x6060 ............................................................................................................. 64 Mode Of Operation Display Index 0x6061 ................................................................................................ 64 Position Offset in CST Mode Index 0x60B0 .............................................................................................. 64 Velocity Offset in CSV Mode Index 0x60B1 .............................................................................................. 65 Velocity Offset in CSV Mode Index 0x60B2 .............................................................................................. 65 Desired State Index 0x2300 ...................................................................................................................... 65 Copley Controls 245
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