CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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<strong>CANopen</strong> Programmer’s <strong>Manual</strong> C: Objects By Function<br />
Objects that Define SDOs and PDOs<br />
Server SDO Parameters In<strong>de</strong>x 0x1200 ..................................................................................................... 31<br />
SDO Receive COB-ID In<strong>de</strong>x 0x1200, Sub-In<strong>de</strong>x 1 ............................................................................. 31<br />
SDO Transmit COB-ID In<strong>de</strong>x 0x1200, Sub-In<strong>de</strong>x 2 ............................................................................. 31<br />
Receive PDO Communication Parameters In<strong>de</strong>x 0x1400 – 0x1407 ........................................................ 31<br />
PDO COB-ID In<strong>de</strong>x 0x1400 – 7, Sub-In<strong>de</strong>x 1 ....................................................................... 31<br />
PDO Type In<strong>de</strong>x 0x1400 – 7, Sub-In<strong>de</strong>x 2 ....................................................................... 32<br />
Receive PDO Mapping Parameters In<strong>de</strong>x 0x1600 – 0x1607 .................................................................... 32<br />
Number Of Mapped Objects In<strong>de</strong>x 0x1600 – 7, Sub-in<strong>de</strong>x 0 ................................................................ 32<br />
PDO Mapping In<strong>de</strong>x 0x1600 – 7, Sub-In<strong>de</strong>x 1 – 8 ................................................................. 32<br />
Receive PDO Mapping Parameters In<strong>de</strong>x 0x1700.................................................................................... 33<br />
Number Of Mapped Objects In<strong>de</strong>x 0x1700, Sub-in<strong>de</strong>x 0 ...................................................................... 33<br />
PDO Mapping In<strong>de</strong>x 0x1700, Sub-In<strong>de</strong>x 1 – 4 ....................................................................... 33<br />
Receive PDO Mapping Parameters In<strong>de</strong>x 0x1701.................................................................................... 34<br />
Number Of Mapped Objects In<strong>de</strong>x 0x1701, Sub-in<strong>de</strong>x 0 ...................................................................... 34<br />
PDO Mapping In<strong>de</strong>x 0x1701, Sub-In<strong>de</strong>x 1 – 3 ....................................................................... 34<br />
Receive PDO Mapping Parameters In<strong>de</strong>x 0x1702.................................................................................... 34<br />
Number Of Mapped Objects In<strong>de</strong>x 0x1702, Sub-in<strong>de</strong>x 0 ...................................................................... 34<br />
PDO Mapping In<strong>de</strong>x 0x1702, Sub-In<strong>de</strong>x 1 – 2 ....................................................................... 35<br />
Transmit PDO Communication Parameters In<strong>de</strong>x 0x1800 – 0x1807 ....................................................... 35<br />
PDO COB-ID In<strong>de</strong>x 0x1800 – 7, Sub-in<strong>de</strong>x 1 ....................................................................... 35<br />
PDO type In<strong>de</strong>x 0x1800 – 7, Sub-in<strong>de</strong>x 2 ....................................................................... 36<br />
Transmit PDO Mapping Parameters In<strong>de</strong>x 0x1A00 – 0x1A07 ................................................................. 37<br />
Number Of Mapped Objects In<strong>de</strong>x 0x1A00 – 7, Sub-in<strong>de</strong>x 0 ............................................................... 37<br />
PDO Mapping In<strong>de</strong>x 0x1A00 – 7, Sub-In<strong>de</strong>x 1 – 8 ................................................................ 37<br />
Network Management Objects<br />
COB-ID Sync Message In<strong>de</strong>x 0x1005 ...................................................................................................... 46<br />
Communication Cycle Period In<strong>de</strong>x 0x1006 ............................................................................................. 46<br />
Guard Time In<strong>de</strong>x 0x100C...................................................................................................................... 46<br />
Life Time Factor In<strong>de</strong>x 0x100D ................................................................................................................. 47<br />
High-resolution Time Stamp In<strong>de</strong>x 0x1013 ............................................................................................... 47<br />
Producer Heartbeat Time In<strong>de</strong>x 0x1017 ................................................................................................... 47<br />
Emergency Object ID In<strong>de</strong>x 0x1014 ......................................................................................................... 47<br />
Emergency Object ID Inhibit Time In<strong>de</strong>x 0x1015...................................................................................... 47<br />
Network Options In<strong>de</strong>x 0x21B .................................................................................................................. 48<br />
Abort Option Co<strong>de</strong> In<strong>de</strong>x 0x6007 .............................................................................................................. 48<br />
Serial Port Command Send In<strong>de</strong>x 0x2000 ................................................................................................ 48<br />
Device Control And Status Objects<br />
Control Word In<strong>de</strong>x: 0x6040 ..................................................................................................................... 58<br />
Status Word In<strong>de</strong>x 0x6041 ...................................................................................................................... 58<br />
Manufacturer Status Register In<strong>de</strong>x 0x1002 ............................................................................................. 60<br />
Network Status Word In<strong>de</strong>x 0x21B4 ......................................................................................................... 61<br />
'Sticky' Event Status Register In<strong>de</strong>x 0x2180 ............................................................................................. 62<br />
Latched Event Status Register In<strong>de</strong>x 0x2181 ........................................................................................... 62<br />
Limit Status Mask In<strong>de</strong>x 0x2184 ............................................................................................................... 62<br />
Quick Stop Option Co<strong>de</strong> In<strong>de</strong>x 0x605A .................................................................................................... 63<br />
Shutdown Option Co<strong>de</strong> In<strong>de</strong>x 0x605B ...................................................................................................... 63<br />
Disable Operation Option Co<strong>de</strong> In<strong>de</strong>x 0x605C ......................................................................................... 63<br />
Halt Option Co<strong>de</strong> In<strong>de</strong>x 0x605D ............................................................................................................... 64<br />
Mo<strong>de</strong> Of Operation In<strong>de</strong>x 0x6060 ............................................................................................................. 64<br />
Mo<strong>de</strong> Of Operation Display In<strong>de</strong>x 0x6061 ................................................................................................ 64<br />
Position Offset in CST Mo<strong>de</strong> In<strong>de</strong>x 0x60B0 .............................................................................................. 64<br />
Velocity Offset in CSV Mo<strong>de</strong> In<strong>de</strong>x 0x60B1 .............................................................................................. 65<br />
Velocity Offset in CSV Mo<strong>de</strong> In<strong>de</strong>x 0x60B2 .............................................................................................. 65<br />
Desired State In<strong>de</strong>x 0x2300 ...................................................................................................................... 65<br />
Copley Controls 245